762 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 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 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 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 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 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 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 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 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 drill bit auxiliary assembling tool comprises a base, stand columns, a cross beam, a fixed plate, a movable plate, a lifting motor, a torque motor and a rotating assembly, the stand columns are arranged on the two sides of the upper portion of the base in the longitudinal direction, the cross beam is arranged at the top ends of the stand columns on the two sides in the transverse direction, and the fixed plate is arranged on the front side of the cross beam; the back of the movable plate is in up-down sliding connection with the sliding rail through a sliding block, the lifting motor is arranged at the top of the fixed plate and is in transmission connection with the nut through a lead screw, and the torque motor is arranged on the front side of the movable plate and is in transmission connection with the rotating assembly on the lower side of the torque motor. The lifting motor drives the torque motor and the rotating assembly to integrally lift, and the torque motor drives the rotating assembly to rotate, so that a drill bit and a cutter handle on the base are assembled, the labor intensity of workers is reduced, the assembling efficiency is improved, the tightening force of a nut can be accurately controlled, and the working efficiency is improved. Therefore, the assembly precision of the drill bit is ensured.

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 present invention relates to the technical field of motors, and discloses a frameless torque motor, which includes a stator for generating a rotating magnetic field. A plurality of stator slots are equidistantly arranged on the inner wall of the stator, and a stator winding is arranged between two adjacent stator slots. A rotor is used to generate a rotational motion under the action of the rotating magnetic field of the stator. The rotor is arranged inside the stator and concentric with it, and an air gap is arranged between the rotor and the stator. When the rotor rotates clockwise or counterclockwise, through the cooperation of the heat dissipation component and the air supply component, the fan blades rotate a certain angle left and right, so as to drive the air flow into the cavity formed by the mounting plate, the lower cover plate, the heat dissipation box and the air gap, thereby enabling the air flow to dissipate heat and cool the stator and the rotor, avoiding damage to the frameless torque motor due to overheating during long-term operation, and ensuring the normal operation of the frameless torque motor.

The invention discloses a special seed knitting machine for potatoes, which is characterized in that a paper tape reel is mounted on a case, and a paper tape guide mechanism is arranged above the paper tape reel; a seed box and a seed suction device are mounted on the case, and a material guide mechanism is arranged below the seed suction device; a winding mechanism, a rope winding mechanism and a winding mechanism are mounted on the case; comprising a rope winding motor and a winding motor, the rope winding motor drives a rope winding mechanism to rotate according to a set paper tape linear speed, the winding motor drives a winding mechanism to rotate according to a set torque, the winding motor is a torque motor for controlling the tension of a paper tape to be unchanged, and the rope winding motor is a speed regulating motor for controlling the paper tape linear speed. Through mutual cooperation of the rope winding motor and the winding motor, it is ensured that the linear speed and tension of the paper tape are constant, the risk that the paper tape deforms and even is snapped is avoided, the seed suction speed is matched with the linear speed of the paper tape, and the plant spacing uniformity of planting after weaving and the weaving effect are improved.

The invention discloses a torque motor driving control circuit. The circuit comprises an auxiliary power supply module, an ACM32 control system, a DRV8301 drive circuit, a three-phase inverter circuit, a current detection circuit, a three-phase overcurrent protection circuit, a bus voltage detection circuit and a magnetic encoder circuit. Wherein the auxiliary power supply module realizes redundant power supply through an AMS1117 linear voltage regulator or a DRV8301 built-in BUCK circuit; the DRV8301 driving chip integrates the functions of MOS tube driving, BUCK power supply and current amplification, and the circuit structure is simplified; the three-phase overcurrent protection circuit realizes rapid hardware protection based on an LMV331 comparator; the magnetic encoder adopts an MT6826 chip to replace a traditional photoelectric encoder, multi-mode output and SPI configuration are supported, and the detection precision and the integration degree are improved. According to the invention, the response speed and control precision of the system are optimized through modular design, and the stability and reliability are enhanced.

The invention discloses an airborne infrared radiation characteristic measurement pod device. The airborne infrared radiation characteristic measurement pod device comprises a detection unit, a control unit and a servo platform, the detection unit and the control unit are mechanically connected with the servo platform through screws; the detection unit and the control unit are electrically connected with the servo platform through a connector; the detection unit comprises a visible light panchromatic camera, a medium-wave thermal infrared imager, a long-wave thermal infrared imager, a laser range finder and an atmospheric corrector; the control unit comprises a main control assembly, an air pressure control assembly, a temperature control assembly, a black body assembly, a POS assembly and a power supply assembly. The servo platform comprises a shell, an azimuth frame, a pitching frame, a damping assembly, a direct-current brushless torque motor, a rotary transformer and an encoder. The device is suitable for being installed on platforms such as manned aerial vehicles or unmanned aerial vehicles of rotor wings and fixed wings, visible light panchromatic imaging, medium-long wave infrared imaging and temperature measurement of targets in an area can be achieved, and meanwhile distance parameters and atmosphere parameter information on a transmission path are collected.

The invention discloses a high-low temperature high-frequency angular vibration device based on a hydrostatic shaft system, which comprises a high-frequency angular vibration table, a high-low temperature box and a control system, and is characterized in that the high-frequency angular vibration table comprises a base, a hydrostatic bearing, a torque motor, an adapter, an encoder, a conductive slip ring, a thermal insulation shaft and a workbench; the base is located at the bottom, the torque motor stator is fixedly connected with the base and located in the base, the torque motor rotor is connected with the internal motor shaft, the hydrostatic bearing is located on the outer circumference of the base, and the top of the motor shaft is fixedly connected with the hydrostatic bearing through the adapter. An encoder is arranged at the bottom shaft end of the motor shaft; the conductive slip ring is mounted on the encoder; the top of the adapter is connected with a workbench located in the high-low temperature box through a thermal insulation shaft. The control system controls the temperature of the high-low temperature box and the angular frequency, the angular rate and the angular position of the high-frequency angular vibration table. According to the invention, high-frequency angular vibration can be realized in high and low temperature environments.

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 an experimental device and method for measuring the shear flexoelectric coefficient of a non-Newtonian fluid dielectric, and the experimental device comprises a halfpace-shaped container which is made of an insulator material, a cylindrical rotor which is located at the central axis of the interior of the container, a torque motor which is connected with the cylindrical rotor, and metal electrodes which are fixed on the upper and lower inner surfaces of the container. The charge amplifier is connected with the electrodes, the signal processing module is connected with the charge amplifier, the torque motor is used for rotating the cylindrical rotor to generate gradient velocity and strain on the non-Newtonian fluid in the container, and the non-Newtonian fluid dielectric generates shear strain gradient in the axial direction and the radial direction to generate flexoelectric effect electric polarization; polarized charges on the electrodes are sent to the charge amplifier through the electrodes and are converted into voltage signals, the voltage signals are transmitted to the signal processing module to obtain the number of charges, and the shear flexoelectric coefficient of the non-Newtonian fluid dielectric can be obtained by combining container structure parameters.

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.