571 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.

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.

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 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 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 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 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.

The invention discloses an ultrathin coreless torque motor, and relates to the technical field of motors. Comprising a base, concentric-square-shaped frames are fixedly installed on the left side and the right side of the top wall of the base, the same shell is installed on the inner walls of the two concentric-square-shaped frames, a heat dissipation shell is installed on the right side wall of the shell, an anti-skid assembly is installed on the bottom wall of the base, a heat dissipation assembly is installed on the outer wall of the shell, and a reinforcing assembly is installed in the shell. The heat dissipation assembly comprises a stator, the stator is fixedly connected with the inner wall of the shell, according to the ultrathin coreless torque motor, under the mutual cooperation of the heat dissipation assembly and the heat conduction ceramic, the problem that a heat conduction path in the torque motor is interrupted can be solved through the distribution of multi-layer composite heat dissipation components, and the heat dissipation efficiency is improved. And heat in the motor can be quickly conducted and dissipated outwards, so that the problem of demagnetization caused by too high heat in the motor is prevented, and the stability and safety of the torque motor during working can be 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 the technical field of medical instruments, and discloses a spiral guide wire device and a resistance adjusting method thereof.The spiral guide wire device comprises a guide wire body, the guide wire body comprises a wire core and a spiral outer skin, and the spiral outer skin is a PTFE coating layer and provided with a spiral groove; the extrusion device is used for extruding the guide wire body and comprises a barrel, an extrusion ring, a speed sensor and a torque motor, the barrel is sleeved with the extrusion ring, the torque motor drives the extrusion ring to rotate through a transmission chain, the barrel is provided with an extrusion block matched with an extrusion ball, and the speed sensor is arranged at an outlet of the barrel and used for collecting the speed value when the guide wire body is delivered; the control device is electrically connected with the speed sensor and the torque motor; and the control device dynamically regulates and controls the forward and reverse rotation of the torque motor based on the speed value by collecting the speed value of the speed sensor, so as to dynamically regulate the resistance of the guide wire body. By dynamically adjusting the resistance of the guide wire, the stability of the entering speed of the guide wire is ensured.

The invention discloses a flexible humanoid robot joint control method based on a frameless torque motor, which belongs to the technical field of robot intelligent control and comprises the steps of hardware platform building, compliance control modeling, environmental perception enhancement and intelligent strategy integration. According to the joint mixed compliance control method based on the double-ring disturbance observer, the joint can keep the expected mechanical compliance characteristic and the stable force control response under the complex contact condition; therefore, safe, stable and high-consistency control of the flexible humanoid robot joint under various working conditions such as free movement, flexible contact and load interaction is achieved. By adopting a depth observer fusion perception method based on passivity, reliable extraction and enhanced perception of external acting force of the joint are realized on the premise of not introducing extra unstable factors, so that the robot joint can stably distinguish self motion disturbance and real environment interaction under complex motion and contact conditions, and the robot joint is more stable in motion and contact. And a timely and credible environment sensing basis is provided for compliance control.

The present invention discloses an integrated power inspection exoskeleton lightweight modular structure, which relates to the technical field of intelligent power equipment, including a shell mechanism, and an assembly mechanism is fixedly connected to the front end surface of the shell mechanism. The main body of the assembly mechanism is a ring structure, which solves the problem that the existing exoskeleton has a large dead weight and thus increases the extra burden on the user. When in use, the driving machinery needs to rely on an external power module for driving. Under this driving mode, it is impossible to replace the backup power supply and the drive unit, and it is impossible to adapt to the problem of rapid switching under different torque requirements. Through the arc-shaped cooperation between the limiting mechanism and the limiting component, and the hexagonal locking structure of the limiting plug and the limiting slot, the servo motor and the energy storage component can be quickly replaced, and different torque motors or backup batteries can be switched without tools, thereby solving the problem that the existing exoskeleton relies on a single power supply and cannot adapt to complex working conditions, thereby improving operation continuity.

The embodiment of the invention discloses a hollow, double-braided and integrated robot joint module with high torque density, and relates to the technical field of frameless torque motors and robot integrated joints. The joint module comprises a planetary reducer, a hollow shaft, a composite Halbach structure frameless torque motor and the like. According to the composite Halbach structure frameless torque motor, through the distribution design of the main magnet and the auxiliary magnet in the steel ring magnetic group and the ferromagnetic design arranged on the main magnet and / or the auxiliary magnet, the effect of increasing the rotating speed and the torque of the shutdown module is achieved. The air cooling design of a variable-torsion-angle structure is adopted for the joint module, so that the temperature rise of the joint module during working can be effectively reduced; the hollow design of the joint module facilitates wiring planning and management in subsequent integration of the joint; the joint module adopts a magnetic double-braided design, has the function of synchronously detecting the rotation angles and the rotation speeds of an input end motor and an output end planetary reducer, and improves the joint transmission precision through position synchronization and speed synchronization.

The invention discloses a large lead screw pair comprehensive test bench compatible with lead screw main transmission and nut main transmission, and belongs to the field of mechanical device performance test, the device comprises a lathe bed part, a head motor seat, a head seat, a tail seat and a double-workbench part are arranged on the lathe bed part, and the linear movement of the lathe bed part is guided and limited. The head motor base drives the lead screw shaft to rotate through a coupler. The headstock and the tailstock support two ends of the lead screw shaft. The double-workbench part comprises a nut workbench (provided with a tested nut) and a torque motor workbench (provided with a frameless torque motor and capable of driving the nut to rotate). The precision testing assembly measures actual rotation and linear displacement through an angle encoder and a linear grating ruler. The temperature rise measuring assembly detects the head end, tail end and middle section temperature of the lead screw shaft; the vibration test assembly detects the vibration characteristics through a plurality of vibration sensors, so that one device can meet the test requirements of lead screw pairs of different driving forms, and the universality and economical efficiency of the device are remarkably improved.

This invention discloses a laser engraving system and method for a high-ink-capacity ceramic anilox roller, relating to the field of ceramic roller laser engraving, aiming to solve the problems of limited ink capacity and low production efficiency in existing technologies. The system includes a laser head, a ceramic roller, and a cell observation instrument, and also includes modules for cell image acquisition, test point positioning, engraving control, analysis, and sub-scanning planning. The laser head includes a laser, a high-frequency torque motor, etc. The high-frequency torque motor can drive the movement of a reflector to adjust the laser beam trajectory. The method generates anilox data, positions cells and test points, matches laser power to engrave test points, compares data output strategies, and dynamically adjusts the sub-scanning trajectory before engraving. This invention adopts a dual-scanning trajectory, combined with real-time visual feedback to adaptively control laser power and trajectory, to achieve fine cell engraving, improve ink capacity, ink transfer uniformity, and production efficiency, and avoid ceramic damage.

The invention relates to an active gravity compensation spacecraft cabin separation test system and method. The test system is mainly composed of a tension control system, a comprehensive control system, a high-speed measurement subsystem, a system support subsystem and other subsystems. The tension control system and the comprehensive control system are closed-loop control systems taking a high-precision and fast-response torque motor as a core; the high-speed measurement system is used for acquiring parameters such as the inter-cabin separation speed and the angular speed, and performing whole-course monitoring on the state of an inter-cabin separation surface; the system support is a main bearing structure of the tension control system and the separation cabin section, provides a separation simulation space for a spacecraft, and provides an operation platform for ground workers at the same time. By adopting the test system disclosed by the invention, the vertical separation of the large spacecraft during ground development can be realized, the gravity unloading efficiency is as high as 95-105%, and effective separation parameters are obtained.

This invention discloses a metal waste recycling and processing device and its usage method, relating to the field of metal recycling technology. It includes a machine base, an installation box mounted on top of the machine base, a feeding hopper mounted on top of the installation box, a crusher installed inside the installation box, and two rollers rotatably mounted inside the crusher. A torque sensor is rotatably connected to the outer right end of the rear roller, and a high-torque motor is installed at the right end of the rear roller. An abutment block is installed on the outer side of both the front and rear rollers. This invention features an abutment block; when the hardness of the metal material is high, leading to increased roller torque and bearing friction, a pusher block drives the abutment block to press against the roller along a slide block, cooperating with the inner rollers to provide support force compensation for the roller, reducing relative bearing friction. When the pusher block moves upward, it simultaneously contacts the oil pusher plug, squeezing lubricating oil which is then delivered to the oil tank via a hose, achieving simultaneous support force compensation and lubrication protection.

The invention relates to a face gear robot joint module which comprises a shell, a frameless torque motor, a face gear shaft, a face gear and an output flange plate. The frameless torque motor is installed on the front portion in the shell, and the face gear shaft is vertically and rotatably installed on the rear portion in the shell. The face gear is fixedly arranged in the middle of the face gear shaft in a sleeving mode, and the frameless torque motor drives the face gear to rotate through a speed reducing mechanism. And the output flange plate is fixedly connected with the lower end of the face gear shaft. The invention has the following beneficial effects: 1, the meshing noise is reduced; the problems that a planetary gear mechanism is complex in assembly, difficult to maintain and large in back clearance are solved; the number of overall parts of equipment is reduced, and the part manufacturing difficulty and the assembly requirement are lowered. And 4, the production cost can be greatly reduced by 50%.

The present application relates to the technical field of disc type motor, and aims to provide a low energy consumption torque variable motor, which comprises a plurality of disc type motor units arranged along the same line and connected in series on the same output shaft, and the output torque of the output shaft is driven by selecting one or more disc type motor units to drive the output shaft. The present application can reduce energy consumption, meet the demand of large torque output and seamless switching, and the disc type design of the motor unit can reduce the weight and save the cost. The gap between the disc type motor units is also conducive to ventilation and cooling, which is beneficial to maintaining a better temperature condition of the whole machine.

The invention discloses a device and method for measuring the median force of a torque motor, and belongs to the technical field of electro-hydraulic servo valve detection equipment.The device comprises a support, a testing tool, a lifting sliding table, a translation mechanism, a force sensor and a small ball clamp, the lifting sliding table is arranged at the lower end of the support, and the translation mechanism is arranged at the upper end of the support; the small ball clamp comprises a clamp pipe with a vertical through opening in the middle, a ball holding type clamp head part located in the clamp pipe and a double-end screw installed at one end of the clamp pipe and used for being connected with a force sensor, and through the mode, the torque motor neutral-position force measuring device is compact in structure, convenient to adjust and high in measuring precision; precise adjustment of the position of the small ball is achieved through the lifting and fine adjustment structure, and stable and reliable meso-position force measurement is achieved through the high-precision sensor and the light fixture structure.

This invention discloses a hollow robotic joint module with adjustable output modes. [Solution] The robot joint module is equipped with an output flange shaft, on which a harmonic reducer, a dual torque motor, a brake, an angle encoder, and a drive controller are mounted in front of the output flange shaft from front to back. The drive controller can switch the output mode by acquiring data from the angle encoder and the dual torque motor in real time and controlling the opening and closing of the brake. The harmonic reducer, dual torque motor, and brake are attached to the output flange shaft by a wave generator, and the output flange shaft and the wave generator are mounted coaxially. By integrating and applying a dual circular spline harmonic reducer, a dual torque motor, a friction brake, and an angle encoder, the present invention ensures structural compactness while realizing two different types of output modes: a low rotational speed / high load mode and a high rotational speed / low load mode, providing an effective solution for applications in various working conditions of robot joints.

The invention discloses a wide-temperature-range stable output brushless torque motor, relates to the technical field of brushless torque motors, and solves the technical problem of heat preservation, the wide-temperature-range stable output brushless torque motor comprises a base, the top of the base is provided with a bottom plate, the bottom plate is fixedly provided with a brushless torque motor body, and the base is provided with a temperature adjusting assembly; the temperature adjusting assembly comprises a reciprocating block slidably mounted on the base, a heat preservation plate and a heating rod are fixedly mounted on the side, away from the base, of the reciprocating block, a rotating plate with a starting button is rotatably mounted on the side, close to the brushless torque motor body, of the reciprocating block, and a sliding groove is formed in the side, close to the heat preservation plate, of the base. A moving plate with a cooling fan is slidably mounted in the sliding groove, and a connecting rope is fixedly mounted between the moving plate and the reciprocating block; and the heating and heat preservation capability of the device can be improved, and the wide temperature application range of the device can be widened.

The application relates to a chassis angle system-based automobile brake judder bench test method, which comprises the following steps: S1, obtaining a chassis angle system and fixing the chassis angle system on a bench; S2, setting experimental variables; S3, setting changes of brake oil pressure and bench static torque motor torque; S4, controlling one experimental variable in friction plate wear rate, brake disc temperature, humidity and brake disc rotation direction, and not controlling other experimental variables, and performing brake judder experiments on the fixed chassis angle system; S5, obtaining sensor feedback data; S6, using vibration acceleration signals at brake calipers in the feedback data to analyze whether brake judder occurs, if not, returning to S4 to perform brake judder experiments again, otherwise, performing S7; and S7, analyzing various parameters of brake judder in the experiments based on the vibration acceleration signals at the brake calipers. Compared with the prior art, the application has the advantages of more comprehensively analyzing automobile brake judder and the like.

The utility model relates to solid waste recycling equipment technical field, concretely is a kind of solid waste recycling resource utilization equipment with collection structure, it includes: casing, controller, torque motor and broken roll a;The side of casing is connected with controller by screw, and the back of casing is connected with torque motor by motor base, the output end of torque motor is connected with broken roll a by shaft coupling and passes through the inner wall of casing, broken roll a is rotated on the inner wall of casing, and the front of broken roll a is connected with gear a by bolt, the side of gear a is engaged with gear b. The solid waste recycling resource utilization equipment with collection structure, through starting drive motor drives belt conveyor to swing, solid waste is turned over, electromagnet adsorbs metal waste in solid waste, and metal waste falls into the hopper below casing, and then the solid waste recycling resource utilization equipment is used to collect metal waste.

The application discloses a robot leg structure and a control method thereof. The structure comprises a hip joint module, a thigh module, a knee joint module, a shank module and a foot end module. A flat plate stopper is arranged on a structure connecting surface of each of the hip joint module, the thigh module, the knee joint module, the shank module and the foot end module, and the modules are connected based on the flat plate stopper. The hip joint module comprises a first driving unit, a second driving unit and a third driving unit. The first driving unit controls a roll freedom degree, the second driving unit controls a pitch freedom degree, and the third driving unit controls a yaw freedom degree. Driving axes of the first driving unit, the second driving unit and the third driving unit are perpendicular to each other and intersect at the same point. The knee joint module is driven based on a torque motor. A rotor of the torque motor is connected with the thigh module, and a stator of the torque motor is connected with the shank module. The robot leg structure has the advantages of improving motion stability, enhancing joint control precision and optimizing dynamic response capability.