991 results about "Torque motor" patented technology

The invention relates to the technical field of torque motors, in particular to a torque performance detection system and method for a torque motor. The method comprises the following steps: evaluating the initial performance of the motor by acquiring object data of the torque motor and acquiring structural data; predicting a torque fluctuation dynamic overrun condition according to the initial performance of the motor, further evaluating an electromechanical coupling chain scission effect, and calculating a dynamic thermal load overload degree; evaluating the abnormal condition of the motor, analyzing the operation balance attenuation trend of the motor, and carrying out optimization processing based on the performance attenuation condition and the aging fault probability of the motor; according to the invention, the torque motor is optimized, so that the operation efficiency of the torque motor is higher.

The invention relates to the field of fault detection, and discloses a fault online diagnosis method for a low-speed large-torque motor control system, and the method comprises the steps: collecting the multi-dimensional parameters of the three-phase current of a motor, the voltage of a DC bus, the position of a motor rotor, the speed of the motor rotor, and the temperature of a radiator based on a sensor group; carrying out data preprocessing on the collected multi-dimensional parameters to remove noise interference; extracting fault features related to current, voltage, rotor motion and temperature from the preprocessed data; a dynamic threshold value is constructed based on fault features, non-fault parameter fluctuation and fault abnormity are distinguished through multi-feature correlation analysis, and online fault diagnosis is achieved; and finally, outputting a diagnosis result containing the fault type and the fault early warning information. Through multi-dimensional parameter acquisition and dynamic correlation diagnosis, the comprehensiveness and accuracy of fault diagnosis are improved, the false alarm rate is effectively reduced, and the method can adapt to the complex working conditions of load fluctuation and rotating speed switching of the low-speed large-torque motor.

The invention discloses a manufacturing method of a frameless torque motor stator core, the stator core comprises a stator yoke part, a stator tooth part and a stator coil, the stator yoke part is in a circular ring shape, the stator tooth part is in a sun tooth type structure, the stator tooth part comprises a circular ring part, a tooth boot part and a tooth body part, the stator tooth part is embedded in the stator yoke part, and the tooth body part is in a sun tooth type structure. The plurality of tooth body parts are uniformly distributed, high-temperature-resistant insulating films are prepared on the surfaces of the stator yoke part and the stator tooth parts, and the stator coils are arranged on the peripheral sides of the tooth body parts in a sleeving manner; the manufacturing method comprises the following steps: S100, manufacturing the stator yoke part and the stator tooth part, and carrying out coating treatment; s200, winding to form a stator coil; s300, assembling a stator iron core; s400, welding a wire pin; s500, pouring glue and drying; s600, boring and shaping: boring the inner side of the circular ring part and the solidified potting glue, and boring off the circular ring part, so that two adjacent tooth shoe parts are completely isolated, and the closed slot of the stator core is bored to form an open slot; and S700, carrying out performance detection.

The invention provides a rotary table bearing-torque motor thermal vibration coupling modeling method, and relates to the technical field of machine tool reliability analysis. Comprising the steps of calculating bearing restoring force, torque and elastic rigidity; giving a dynamic balance equation of the main shaft system; unbalanced magnetic pulling force and unbalanced mass excitation are calculated; a displacement field is solved, and load changes caused by the displacement field are transmitted to the thermal model; the contact force borne by the bearing is updated by considering the load effect related to displacement, and the friction heat generation of the bearing and the heat generation of each part of the motor are calculated; calculating thermal deformation and thermal displacement of the bearing; thermal resistance among nodes is calculated, and a temperature field equilibrium equation is given through a thermal resistance network to achieve rapid thermal-mechanical coupling analysis; the thermal equilibrium equation is solved to calculate temperature response; importing the latest temperature into the kinetic model; lubricating grease viscosity and bearing thermal deformation are updated; and repeating the steps to finally obtain the main shaft displacement field and temperature field response. The method is high in accuracy, high in universality, low in test cost and high in test efficiency.

A hollow shaft torque motor of the photocuring 3D printer comprises a rotor, a stator and a hollow shaft, and the stator is fixed to a workbench; the lifting pipe is in threaded engagement with the hollow shaft, and the lifting pipe can only reciprocate in the vertical direction; the sleeve is fixed on the stator, the trough is engaged on the sleeve in a threaded manner, and the guide rod on the hollow shaft is slidably arranged in the guide hole of the trough wall in a penetrating manner; when the rotor rotates, the trough reciprocates between the first working position and the second working position, and the lifting pipe reciprocates between the third working position and the fourth working position. When the material groove is located at the first working position and the lifting pipe is located at the third working position, printing is conducted; and when the material groove is located at the third working position and the lifting pipe is located at the fourth working position, the release film is separated from the product model. The invention further discloses a photocuring 3D printing method. The moving distance and speed of the printing platform are reduced through descending of the material groove, abrasion of the ball screw and the lead screw nut is reduced, and the service life of equipment is prolonged.

A five-axis laser machining device, relating to the technical field of five-axis laser machining devices. A high-torque motor is provided, so as to adapt to cutting machining of large workpieces; a rotary table is connected to an output end of the high-torque motor; the rotary table comprises a swing arm and a carrier plate; the swing arm is of an inclined lowered structure; there is a gap between the upper end surface of the carrier plate and the rotation axis of the rotary table; by means of the arrangement, the end of the rotary table facing a laser module has a large lowering space that is used for installing a large workpiece; and an output shaft of the high-torque motor is arranged facing towards one side of a support, such that when the workpiece moves in a Y axis, the high-torque motor does not affect a second driving mechanism and a third driving mechanism, the structure being ingenious.

The invention discloses a stability analysis method and system for a torque motor driving system, and particularly relates to the technical field of torque motor driving. The time delay is gradually increased and reduced in a simulation environment, response change data output by the controller and input by the motor driving system are obtained, the response sensitivity of the controller under different time delay conditions is evaluated, and the response rate stability of the motor driving system is evaluated in combination with a load abrupt change situation. The real-time performance of a controller responding to a motor driving system is evaluated through a machine learning model, when the real-time performance is low, an abnormal detection mechanism is adopted to identify an unstable time period, and parameters of the controller are dynamically adjusted, so that the problems of oscillation, overmodulation and instability caused by a time-lag effect are effectively reduced, and the stability of the controller is improved. The stability and reliability of a motor driving system in high-speed or precise control application are improved, the real-time response capability of a controller in a dynamic environment can be remarkably improved, and the system is prevented from being out of control or damaged.

The invention discloses a straight bar splicing type stator core for a frameless torque motor, and relates to the field of stator cores, the straight bar splicing type stator core comprises a stator core body, the initial state of the stator core body is a straight bar shape, stator core split bodies are arranged in a straight line, the inner side projection of the stator core body is provided with a stator core tooth part, and the inner side projection of the stator core body is provided with a stator core tooth part. Coils are sequentially wound on the tooth parts of the stator core, and after the coils are wound, the stator core body is subjected to integral circle surrounding welding. According to the straight bar splicing type stator iron core for the frameless torque motor, the stator iron core body adopts a straight bar type design, the split structures of the stator iron core body are arranged in a straight line, and the connection part of each split body is provided with a process hole which is specially used for eliminating internal stress generated in the manufacturing and operation processes, so that the production process is simplified, the production efficiency is improved, and the production cost is reduced. And the uniformity and the stability of the iron core are ensured, the stress concentration is effectively reduced, the production speed and the production efficiency are improved, meanwhile, the manual intervention requirement is reduced, and large-scale manufacturing is facilitated.

According to the technical scheme, the underwater rotary hydraulic proportional valve is characterized in that the underwater rotary hydraulic proportional valve comprises a valve body, a steel sleeve, a shell, a coil, a magnet yoke, a stator iron core, an inner end cover, a sealing ring a, a dustproof screw, a sealing ring b, a rotary transformer, a permanent magnet, a sealing ring c, a valve sleeve, a valve element, a bearing and a sealing ring d, and is characterized in that a plurality of hydraulic oil ports are formed in the valve body; the hydraulic oil port is communicated with the oil port through the multiple valve cavities, the shell is installed at one end of the valve body, a driving cavity is formed in the shell, and the valve element and a rotating shaft of the motor are integrated. The wet-type limited angle torque motor is adopted to drive the rotary valve and the valve element to rotate, a motion conversion device is omitted, the valve element and the valve sleeve rotate relatively, friction force is small, the anti-pollution capacity is high, the axial leakage problem does not exist, a motor shaft of the limited angle torque motor can rotate within a limited angle range, and the advantages of being convenient to control, large in torque density, high in reliability and the like are achieved. And the method is simple and reliable.

The invention discloses a numerical control rotary table high-precision direct-drive static pressure supporting structure which comprises a base, a band-type brake mechanism, a torque motor, a motor connecting piece, a workbench, a bearing fixing piece and a static pressure bearing. The band-type brake mechanism is vertically mounted in the middle of the mounting cavity; a stator of the torque motor is fixedly connected with the base; the motor connecting pieces are located in the mounting cavity and distributed on the periphery of the band-type brake mechanism at intervals. The motor connecting pieces are fixedly connected with a rotor of the torque motor. The workbench is fixedly connected with the motor connecting piece and extends out of the mounting cavity; the bearing fixing pieces are located in the mounting cavity and distributed on the periphery of the motor connecting piece at intervals, and the bearing fixing pieces are fixedly connected with the base; the hydrostatic bearing is installed on the bearing fixing piece and located between the working table and the motor connecting piece, so that working oil films are formed in the gap between the hydrostatic bearing and the working table and the gap between the hydrostatic bearing and the motor connecting piece after oil is fed, and the rotation precision is improved.

The invention discloses a stator and rotor punching sheet and magnetic steel for a concentrated winding type frameless torque motor, and belongs to the technical field of concentrated winding type motors, the stator and rotor punching sheet comprises a rotor punching sheet, a stator punching sheet and magnetic steel, and the center of the rotor punching sheet is provided with a rotor iron core; the stator punching sheet is composed of yoke parts and tooth parts, the tooth parts are trapezoidal teeth, the tooth parts and the stator grooves are distributed at equal angles, the tooth parts and the stator grooves are alternately arranged, and the stator grooves are straight grooves; the inner side of the stator punching sheet is also provided with a rotor punching sheet and magnetic steel, the rotor punching sheet and the magnetic steel form a motor rotor, and the motor rotor is a surface-mounted rotor. According to the stator and rotor punching sheet and the magnetic steel for the concentrated winding type frameless torque motor, the winding grooves of the stator iron core are flat-bottom straight grooves, the flat copper wires are wound in the winding grooves, the flat wire coils are fixed to the tooth portions through glue, integral potting is carried out after fixing is completed, and compared with a traditional pear-shaped groove for containing round wire windings, the stator and rotor punching sheet is simple and firm in structure, high in groove fullness rate, high in motor efficiency and improved in stability.

The invention discloses a collimation direct-drive joint with a reversely-installed frameless torque motor combined with an embedded speed reducing mechanism, which comprises a main shell, a rear shell, the reversely-installed frameless torque motor and a planetary reducer, a U-shaped adapter is arranged in the main shell, and the U-shaped adapter divides an inner cavity of the main shell into an inner layer cavity and an outer layer cavity; the back shell is internally provided with an outer-layer cavity and an inner-layer cavity, the reversely-installed frameless torque motor is arranged in the outer-layer cavity, the planetary reducer is arranged in the inner-layer cavity, the reversely-installed frameless torque motor comprises a coil and a magnetic rotor assembly covering the outer side of the coil, the back shell is internally provided with a power board, a control board, an encoder coupling shaft and an encoder, and an insulating column is arranged between the control board and the power board. The reverse frameless torque motor is reasonable in structural design, the reverse frameless torque motor is combined with the planetary reducer, and the planetary reducer is embedded into the coil of the reverse frameless torque motor, so that the reverse frameless torque motor is small in overall occupied space, compact in structure, light in weight, large in bearing torque, high in transmission precision, safe and reliable.

The precision workbench comprises a rotary workbench capable of rotating along the B axis and a cradle body, the cradle body is arranged below the rotary workbench, and the two ends, away from the rotary workbench, of the cradle body are connected with A-axis main shafts capable of rotating along the A axis respectively; the outer edge of the A-axis main shaft is connected with a first torque motor, and the first torque motor can drive the cradle body to rotate along the A axis; a second torque motor is connected to the outer side of a rotating shaft of the rotating table and can drive the rotating table to rotate along the B axis. The double rotating shafts are arranged and are directly driven by the torque motors, so that the double rotating shafts have high positioning precision, the torque motors are built-in torque motors, other internal spaces can provide installation spaces for other parts, the internal spaces can be fully utilized, the height of the rotating table is reduced, and the rotating table is convenient to use. And the whole rotary table is more compact in structure.

The invention relates to the technical field of motors, and discloses a frameless torque motor which comprises a stator used for generating a rotating magnetic field, a plurality of stator grooves are formed in the inner wall of the stator at equal intervals, a stator winding is arranged between every two adjacent stator grooves, and a rotor used for generating rotating motion under the rotating magnetic field of the stator. The rotor is arranged in the stator and is concentric with the stator, and an air gap is formed between the rotor and the stator. When the rotor rotates clockwise or anticlockwise, through cooperation of the heat dissipation assembly and the air supply assembly, the fan blades rotate left and right by a certain angle, air flow is driven to enter a cavity formed by the mounting disc, the lower cover plate, the heat dissipation box and the air gaps, and therefore the air flow conducts heat dissipation and cooling on the stator and the rotor; the frameless torque motor is prevented from being damaged due to overheating during long-time operation, and normal operation of the frameless torque motor is guaranteed.

The invention belongs to the field of treatment devices, and particularly relates to a pretreatment device for waste lithium battery recycling, which comprises a main body, an adaptive cutting assembly, a classified dismantling assembly and a cleaning and screening device, the adaptive cutting assembly comprises a supporting frame, a protection plate, a servo motor, a connecting block, a ball screw, a ball nut and a mounting plate. The two sides of the supporting frame and the protection plate are fixedly mounted. The servo motor drives the ball screw at the output end to rotate, rotation motion is converted into linear motion of the ball nut through threaded fit of the ball screw and the ball nut, the mounting plate fixed to one side of the ball nut moves synchronously along with the ball screw, and after the mounting plate reaches a designated point position, the torque motor drives the first transmission wheel at the output end to work; a second transmission wheel is driven through a transmission belt, rotating power is transmitted to a cutting blade through a fixing shaft on the back face of the second transmission wheel, the battery is cut through the cutting blade, the cutting adjusting function is achieved, the problem that batteries of different specifications need to be recycled is solved, and the adaptability in use is improved.

The invention discloses a connecting structure of frameless torque motor flat wire windings, which belongs to the technical field of frameless torque motors, and comprises a stator consisting of a stator core and windings, the stator core comprises stator slots and tooth parts, each phase of winding consists of N sets of two groups of flat wire coils, the width of the flat wire coil is gradually increased from the inner diameter side of the stator to the outer diameter side of the stator, the current direction of the coil accords with regular circulation of positive and negative and positive, each set of coil connecting wire is formed by connecting in the same layer, and compared with a coil with the outer side and the inner side connected with a cross-layer wire, the end space can be reduced, and the end height can be reduced. Compared with a round wire winding, the connection structure of the frameless torque motor flat wire winding has the advantages that the slot fullness rate can be increased, the motor efficiency is high, the stability is improved, the space utilization in a stator slot can be greatly improved through a specific wire connection mode, the space waste in the slot is reduced, the windings are more compact, the overall consumables are less, and the connection and assembly are more convenient.

The utility model relates to the technical field of pay-off devices, in particular to a building electrical pay-off platform capable of automatically cutting off a cable, which comprises a movable seat, a torque motor, a pinion and a gearwheel, a torque motor is installed on the inner wall of the moving seat in a penetrating mode, the output end of the torque motor is connected with a small gear, one side of the small gear is connected with a large gear in an engaged mode, a supporting mechanism is connected to the upper portion of the small gear, the upper surface, away from the large gear, of the moving seat is connected with a stand column, and the upper portion of the stand column is connected with a first limiting assembly. According to the building electrical pay-off platform capable of automatically cutting off the cable, a gear motor is started to drive a threaded rod to rotate so as to drive an upper cutter plate and a lower cutter plate to rotate in opposite directions to cut off the cable, and then the building electrical pay-off platform automatically cuts off the cable; a wire coil is placed on the surface of the tray, the electric push rod is started to drive the dull polish to open the wire coil from the inside, and then the building electrical pay-off platform adapts to wire coils of various specifications.

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 a multi-degree-of-freedom full-drive dexterous hand and a robot, the multi-degree-of-freedom full-drive dexterous hand comprises a palm and a plurality of fingers, the plurality of fingers are arranged on the palm at intervals, and the fingers comprise a proximal knuckle finger, a middle knuckle finger, a distal knuckle finger, a first motor, a second motor, a third motor and a fourth motor; wherein each of the first motor, the second motor, the third motor and the fourth motor is a frameless torque motor and is used for driving the fingers to bend or stretch so as to grab or release an object. By means of the direct driving mode, the movement of the finger joints is more direct and sensitive, finer and more complex actions can be achieved, and the flexibility of the fingers is greatly improved. Meanwhile, the space occupied by the driving structure is reduced, so that the internal structure of the bionic hand is simpler, more space is provided for layout of all parts of the fingers, and improvement of the overall compactness and miniaturization degree of the bionic hand is facilitated.

The invention relates to a compact heavy-load cycloid oscillating tooth joint module which comprises a frameless torque motor, a joint shell, an eccentric shaft, a reverse cycloid wheel, a forward shock wave wheel, a middle connecting shaft, an epicycloid gear transmission system and a hypocycloid oscillating tooth transmission system. The frameless torque motor is installed in the joint shell, the output end of the frameless torque motor transmits torque to the eccentric shaft, the eccentric shaft drives the reverse cycloidal gear to rotate, and the reverse cycloidal gear and the forward shock wave wheel are connected through a middle connecting shaft and rotate in the same direction. Torque generated by the epicycloid gear transmission system is transmitted to the hypocycloid oscillating tooth transmission system, and the hypocycloid oscillating tooth transmission system outputs torque after speed reduction. The invention has the advantages of high precision, high rigidity, high bearing capacity, small volume, small back clearance and the like, can be used for application scenes with small installation space and heavy load requirements, and is particularly suitable for a small-volume heavy-load joint module of a collaborative robot.

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 a connecting structure of frameless torque motor flat wire windings, which belongs to the technical field of frameless torque motors, and comprises a stator consisting of a stator core and windings, the stator core comprises stator slots and tooth parts, each phase of winding consists of N sets of three groups of flat wire coils, the width of the flat wire coil is gradually increased from the inner diameter side of the stator to the outer diameter side of the stator, the connecting line of the first group of coil and the second group of coil of each set of coil is formed by overturning from the inner side of the stator to the outer side of the stator, and the connecting line of the second group of coil and the third group of coil of each set of coil is formed by connecting on the same layer close to the inner side of the stator. Compared with a traditional pear-shaped groove for placing a round wire winding, the connection structure of the frameless torque motor flat wire winding has the advantages that the groove fullness rate can be increased, the motor efficiency is high, the stability is improved, the utilization rate of the space in a stator groove can be greatly improved through a specific connection mode, the waste of the space in the groove is reduced, the windings are more compact, the overall material consumption is less, and the connection and the assembly are more convenient.

The invention discloses a magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device which comprises a bearing base, and a first bearing seat, a second bearing seat, a first torque motor base, a second torque motor base and an encoder base which are installed on the bearing base through bolts and fixed through bolts. The bearing base is provided with 21 groove-shaped holes which are connected with the transmission system, the transmission system is arranged above the bearing base, a first-class three-dimensional rod piece is arranged above the bearing base, and a magneto-rheological joint module is arranged above the bearing base. The magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device has more comprehensive freedom of motion, so that the rehabilitation training requirements of patients are better met, compared with an exoskeleton robot, the magneto-rheological three-dimensional force feedback type upper limb active and passive rehabilitation training device is simple in structure, high in adaptability and more convenient to install and debug, and meanwhile personalized adjustment can be conducted according to specific conditions of different patients.

The invention discloses a large-ink-load ceramic anilox roller laser engraving system and an engraving method thereof, relates to the field of ceramic roller laser engraving, and aims to solve the problems of limited ink load increase, low production efficiency and the like in the prior art. The system comprises a laser head, a ceramic roller and an ink cell observer, and further comprises an ink cell image acquisition module, a test point positioning module, an engraving control module, an analysis module and an auxiliary scanning planning module. The laser head comprises a laser, a high-frequency torque motor and the like, the high-frequency torque motor can drive a reflecting mirror to move so as to adjust a laser beam track, and the method comprises the steps of generating net-shaped data, positioning an ink cell and a test point, matching laser power to engrave the test point, comparing a data output strategy, dynamically adjusting an auxiliary scanning track and then engraving; double scanning tracks are adopted, the laser power and tracks are adaptively controlled in combination with real-time visual feedback, fine engraving of ink cells is achieved, the ink loading amount, the ink transfer uniformity and the production efficiency are improved, and ceramic damage is avoided.

The high-speed AC cradle double-turntable driven by the torque motor comprises two A-axis turntables, two C-axis turntables and a bridge plate, the two A-axis turntables are installed on the left side and the right side of the bridge plate in a bilateral symmetry mode, and the two C-axis turntables are installed in the middle of the bridge plate in a bilateral symmetry mode; each group of A-axis rotary table comprises an A-axis working table, an A-axis torque motor stator, an A-axis torque motor rotor, a motor water-cooled jacket, an A-axis brake mechanism and an A-axis encoder assembly, and each group of C-axis rotary table comprises a C-axis working table, a C-axis torque motor stator, a C-axis torque motor rotor, a C-axis brake mechanism and a C-axis encoder assembly. The two groups of A-axis rotary tables and the two groups of C-axis rotary tables of the double rotary tables are driven by torque motors, and the A-axis encoder assemblies and the C-axis encoder assemblies are arranged for full-closed-loop control, so that high-precision and high-dynamic response is realized, and the double rotary tables are particularly suitable for manufacturing automobile parts on a large scale; and the aluminum alloy parts can be applied to machining of complex multi-angle aluminum alloy parts such as motor shells, speed reducer shells and shock absorption towers.

The invention discloses a thermoplastic composite material double-laser laying and winding head device and a processing method. A torque motor is connected with a composite material tape reel; one end of the tension adjusting mechanism is connected with the composite tape reel, and the other end is connected with the pressure cylinder; the support is connected with the side surface of the tension adjusting mechanism 4; the re-conveying mechanism is fixed to the middle of the tension adjusting mechanism, the first laser head and the second laser head are fixed to the bottom of the tension adjusting mechanism, and the shearing mechanism is located between the re-conveying mechanism and the pressing mechanism. The re-conveying mechanism can be used for re-conveying the composite material strip to a proper position below the pressing mechanism after the composite material strip is cut off; the shearing mechanism is used for shearing the composite material strip when the composite material strip needs to pass through the jump point; the pressing mechanism attaches the composite material strip to the surface of a workpiece in a rolling mode, the shearing mechanism shears the composite material strip, and the composite material strip is laid and wound on the workpiece to form a base material; the pressing mechanism is used for pressing the composite material strip on the base material; the side face of the pressing mechanism is connected with a pressing roller cooling water faucet. According to the invention, the thermoplastic composite material is heated through double laser, so that the reliability of interlayer bonding of the composite material can be improved, the interlayer strength of the thermoplastic composite material is improved, and the laying and winding quality and efficiency of the thermoplastic composite material are improved.

The invention discloses a four-connecting-rod fluid loading and unloading arm, which belongs to the technical field of port and wharf fluid loading and unloading equipment, comprises a stand column, an inner arm pipe, an outer arm pipe and a rotary joint, and is characterized in that the inner arm pipe is connected with an inner arm counterweight beam, and a first counterweight block is mounted on the inner arm counterweight beam; the outer arm pipe is connected with the outer arm balance weight beam, the inner side of the inner arm balance weight beam is rotationally connected with one end of the balance weight plate, and the other end of the balance weight plate is connected with the outer arm balance weight beam through the connecting rod. The rotary joint comprises an outer ring cylinder, an inner ring cylinder, a second frameless torque motor and a sealing mechanism; the outer ring cylinder sleeves the outer side of the inner ring cylinder; a second frameless torque motor is fixedly installed in the annular containing groove, and the inner ring of the second frameless torque motor is connected with the outer wall of the inner ring cylinder. And telescopic pipe mechanisms are respectively arranged in pipe cavities of the upright post, the inner arm pipe and the outer arm pipe. Compared with the prior art, the inner pipe arm and the outer pipe arm are prevented from being shrunk and deformed when encountering cold.

The invention discloses a direct-drive torque motor with a transmission structure, which comprises a shell, a partition plate and a support frame are arranged in the shell, a stator and a rotor are arranged on one side of the partition plate, an output shaft penetrates through the partition plate, one end of the output shaft is connected with the rotor, and the other end of the output shaft is connected with the support frame. A driving bevel gear is arranged on the output shaft between the partition plate and the supporting frame, the driving bevel gear and the output shaft rotate coaxially and can move in the axial direction of the output shaft, and the portions, on the two sides of the driving bevel gear, of the output shaft are sleeved with the same buffer springs. According to the principle that helical gears can bear axial force when being meshed with each other, the same buffer springs are additionally arranged on the two sides of the driving helical gear to push the driving helical gear, the driving helical gear can rotate when a motor drives, and a transmission helical gear cannot rotate along with the driving helical gear due to the fact that the transmission helical gear is related to a load. Therefore, the driving bevel gear can axially slide along the output shaft and compress the buffer spring, and the influence of direct transmission of force on the service life of the gear and the motor output shaft is avoided.

The invention belongs to the field of encoder mounting structures of torque motors, and particularly relates to a locking device for a high-precision magnetoelectric encoder based on an alternating-current permanent magnet torque motor, which is applied to the alternating-current permanent magnet torque motor, the alternating-current permanent magnet torque motor comprises a motor shaft and a motor shell, and an encoder is fixed on the motor shell. The locking device comprises a locking shaft sleeve and a rotary locking assembly, and the locking shaft sleeve is in threaded connection with the end of the motor shaft; the rotary locking assembly comprises a limiting bolt in sliding connection with the locking shaft sleeve through a limiting chute, an embedded pin with a trapezoidal cross section, and a chute which is arranged between the encoder rotor shaft sleeve and the motor shaft and is matched with the embedded pin in shape; on the premise that the aim of locking is achieved through inclined plane contact, sliding of the limiting bolt in the limiting sliding groove is achieved by rotating the locking shaft sleeve, the action that the embedded pin is obliquely inserted into the inclined groove is achieved through the radial displacement amount of the starting end and the tail end in the limiting sliding groove, and convenience of disassembly and assembly of the encoder and the motor shaft is achieved.

The invention provides a joint module of a humanoid robot, and relates to the technical field of robot joints, the joint module comprises a joint driving mechanism, the joint driving mechanism comprises a module lower shell, a module upper shell, a radial adjusting end, a frameless torque motor, a harmonic reducer and an encoder; and the frameless torque motor is detachably mounted in the module lower shell. The radial distance adjusting mechanism is matched with the synchronous pushing mechanism, accurate adjustment of the radial distance and the position of the radial adjusting end is achieved, the driving unit controls the power switching assembly, power of the frameless torque motor is transmitted to the screw rod through the speed reduction transmission assembly, the limiting embracing ring is driven to ascend and descend, and therefore the position of the radial adjusting end is accurately adjusted; meanwhile, the infrared distance detection assembly detects distance data in real time and feeds back the distance data to the control system, data support is provided for accurate adjustment, and the problem that in the prior art, a joint module cannot meet the requirement for complex operation accuracy is effectively solved.