3459 results about "Torque sensor" patented technology

Provided is a self-adaptive identification method for nonlinear dynamic parameters of a reducer, which belongs to the design field of a reducer. The method includes: modeling a harmonic reducer corresponding to a flexible joint as a concatemer of a rigid reducer and an elastic torsion spring, and carrying out dynamic theoretical modeling and parameter variable independence processing on the concatemer to form a dynamic equation for parameter identification; giving an optimized motion trajectory to each joint of a robot and controlling the robot to act accordingly, acquiring relevant data needed for parameter identification based on a built-in torque sensor and double encoders inside the joint; using an offline identification algorithm to accurately identify a plurality of dynamic parameters of a collaborative robot considering joint flexibility and friction, and obtaining a minimum parameter set.

The invention relates to the technical field of water-based paint production, in particular to a water-based paint stirring device with a viscosity detection function, which comprises a mounting seat, a stirring tank is arranged at one corner of the top of the mounting seat, and a tank cover is arranged at the top of the stirring tank; the stirring assembly is arranged in the stirring tank; the bubble adsorption assembly is arranged at the other corner of the mounting seat; the detection assembly comprises a high-frequency ultrasonic probe arranged on the inner wall of the stirring tank, a micro torque sensor and a temperature compensation module which are integrated in the stirring assembly, and a microwave resonant cavity sensor located on the bubble adsorption assembly. Compared with the prior art, the multi-mode viscosity accurate detection and bubble dynamic control of the water-based paint coating in the stirring process are realized through the arrangement of the detection assembly and the cooperative work of the high-frequency ultrasonic probe, the micro torque sensor, the temperature compensation module and the microwave resonant cavity sensor.

The invention discloses a control system and method of an intelligent screw grouting extruder, and belongs to the technical field of wire and cable production, and the control system comprises the following steps: a flow control module monitors the material flow in real time, and adjusts the feeding amount through fluctuation detection and frequency analysis; the temperature control module monitors and predicts temperature deviation through a temperature sensor and adjusts heating power; the rotating speed control module initializes the rotating speed of the screw according to material characteristics and monitors the load of the screw through the torque sensor so as to dynamically adjust the rotating speed of the screw; the pressure adjusting module monitors and adjusts the pressure of the inner cavity of the extruder in real time, and adjusts the distance between the die orifice and the screw rod by calculating the pressure deviation; the quality detection module detects the physical and visual quality of the product on line through a laser range finder and an image recognition technology, and carries out comprehensive quality evaluation; according to the invention, the problem of how to dynamically adjust the running state of the extruder according to real-time parameters such as temperature, flow, pressure and rotating speed is solved, so that the consistency of the thickness of a cable sheath layer and the product quality is ensured.

The invention belongs to the technical field of automatic assembly, and discloses an automatic assembly system and method for a large nut of a water turbine ball valve, and the system comprises a mechanical arm, an end effector and an intelligent nut tightening control system. The end effector integrates an electromagnet adsorption mechanism, a servo drive rotating mechanism, a floating compensation mechanism and a visual recognition mechanism, nuts of different specifications are grabbed in a self-adaptive mode through an electromagnet, submillimeter-level accurate positioning is achieved through a laser galvanometer stereo camera, and the assembling posture is automatically adjusted in combination with the floating compensation mechanism. The intelligent control system adopts a staged tightening strategy, performs real-time monitoring through a torque sensor, and has a dual protection mechanism. The hydraulic turbine ball valve large nut assembling machine achieves full-automatic assembling of hydraulic turbine ball valve large nuts, has the advantages of being high in assembling efficiency, high in positioning precision, high in adaptability, reliable in quality and the like, solves the problems that manual assembling is large in labor intensity, many in potential safety hazards, poor in quality consistency and the like, and remarkably improves the assembling quality and efficiency of key parts of a hydropower station.

The embodiment of the invention provides a mechanical arm insertion and extraction control method and device, test equipment and a storage medium, and the method comprises the steps that sensor data for sensing the working environment of a mechanical arm is received, and the working environment is the environment where the mechanical arm executes insertion and extraction operation on a target interface; according to the sensor data, the tail end acting force of a tail end executor of the mechanical arm and the pose of the target interface are determined; and under the condition that any one of the tail end acting force and the pose of the target interface is abnormal, control parameters of the mechanical arm are adjusted. According to the embodiment of the invention, the detection results of the visual sensor and the force / torque sensor are fused, the process of executing the plugging operation of the mechanical arm is monitored in real time, and once the target interface pose or the tail end acting force is abnormal, the motion track of the mechanical arm is immediately corrected and the insertion force is adjusted, so that self-adaptive adjustment is realized; and the success rate and the automation level of the plugging task are effectively improved.

New and innovative systems and methods for calibrating and correcting sensors associated with a collaborative robot are disclosed. An example system comprises: at least one robotic arm; a sensor affixed to a location on the robotic arm, wherein the sensor measures force and torque across six degrees of freedom (6DOF); a processor; and memory. The system may receive, from the sensor, sensor input in real-time that indicate a measured force or torque. The system may generate, in real-time, sensor corrections that correspond to offset, linear, and non-linear deviations of the measured force in each sensor axis. The sensor corrections may correspond to offset, linear, and non-linear cross-coupling of the measured force between two or more sensor axes. The sensor corrections may be determined by applying offset, linear, and non nonlinear corrections to each degree of freedom (DOF) from every other DOF.

The invention provides an intelligent whipping control and monitoring system for an eggbeater, and the system comprises a rotating speed sensor, a torque sensor and a temperature sensor which are respectively used for detecting the rotating speed of the eggbeater, the torque change in the stirring process and the temperature of a stirred material in real time, and transmitting a detection signal to a control host. The control host comprises a processor and a memory, and standard torque curve databases corresponding to different whipping types are stored in the memory. And the processor calculates an actual torque curve of the current whipping process according to the sensor signal, and compares the actual torque curve with a standard torque curve in real time. When it is detected that the actual torque curve deviates from the standard torque curve and exceeds a preset threshold value, the system automatically adjusts the output power of the eggbeater motor so as to optimize the beating effect. According to the egg beater, accurate control over the beating process can be achieved, the stability of food material beating is improved, manual operation errors are reduced, and the intelligent level of the egg beater is improved.

The invention relates to an intelligent CNC (computer numerical control) machining method which comprises the following steps: dynamically monitoring a tool-workpiece interaction interface in a CNC machining process through a multi-dimensional torque sensor array to obtain a machining process feature data set, and analyzing a tool motion track in real time to obtain a tool motion state feature quantity; secondly, performing multi-scale analysis by adopting a wavelet packet decomposition technology, and determining processing quality evaluation data; and if the data does not reach the preset standard, performing microstructure reconstruction on the surface of the workpiece based on the data, and generating a workpiece processing state characteristic spectrum. Then, comprehensively analyzing the atlas by utilizing a multi-objective optimization technology to obtain a processing parameter optimization sequence; and finally, implementing closed-loop feedback control on the numerical control system according to the optimized sequence, and generating a real-time processing control instruction. The key problem of how to improve the automation level and the machining precision in the CNC machining process through an intelligent means is solved.

The invention discloses an immersive master-slave teleoperation anthropomorphic robot system with force feedback, a master end assembly comprises a seat, a master end control arm, a force feedback manipulator, a VR visual device, a data sensing glove and a master end controller, and the master end assembly is a master control end; the slave end assembly comprises a movable chassis, a movable trunk, a slave end mechanical arm, a slave end manipulator, a binocular camera and a slave end controller, and the slave end controller is in electric signal connection with the movable chassis, the movable trunk, the slave end mechanical arm, the slave end manipulator, the binocular camera, the six-dimensional torque sensor and the master end controller; the wireless controller is in electric signal connection with the master end controller and the slave end controller, the wireless controller has a slave end control mode and a force feedback teleoperation mode, and in the slave end control mode, the wireless controller controls the movable chassis to move; in the force feedback teleoperation mode, the master end control arm and the force feedback mechanical arm synchronously move with the slave end mechanical arm and the slave end mechanical arm correspondingly.

In a torque sensor, a sleeve is an annular member that is attached to a first rotating member. An intermediate member is an annular member that is placed on an outer circumferential surface of the sleeve. A magnet is an annular member that is placed on an outer circumferential surface of the intermediate member. A yoke is attached to a second rotating member and faces the magnet in a radial direction. A rotating member connecting portion of the sleeve has a cylindrical shape and is contact with the first rotating member. An intermediate member connecting portion is at a position shifted with respect to the rotating member connecting portion in an axial direction. The intermediate member includes a thin portion and a thick portion having a thickness greater than that of the thin portion.

The invention discloses an automatic stacking method and device, a terminal and a storage medium, and the method comprises the steps that package information of a to-be-stacked package is obtained according to an acquisition device, and an optimal stack type is matched for the to-be-stacked package in combination with historical stack type data of an automatic stacking system; carrying out point cloud segmentation on the tray with the stacked parcels through a preset segmentation model to obtain a segmentation result, calculating a tray gap in combination with the optimal stack type and a preset path planning algorithm, and generating a stacking path; the flexible clamping jaw device is controlled to grab the parcels to be stacked, the grabbing posture is corrected in real time in combination with feedback of the torque sensor, and the mechanical arm is controlled to execute stacking according to the stacking path; and when the segmentation result of the tray is matched with the optimal stack type, a stacking three-dimensional model is generated, the stacking three-dimensional model is bound with the AGV below the tray, and the AGV is controlled to be automatically put in storage. According to the method, stacking and warehousing are completed through stack type matching and path planning, and the adaptability and the space utilization rate of a stacking system are improved.

The invention discloses a wheel-foot robot, and relates to the technical field of robots, the wheel-foot robot comprises a head and neck assembly, a trunk assembly, two groups of upper limb assemblies, two groups of lower limb assemblies and two groups of wheel-foot moving bases, the wheel-foot robot is provided with stereoscopic vision, can sense the environment and recognize human beings, and two hands cooperatively execute operation tasks; precise torque sensors in the arm joints facilitate safe and sensitive interaction when physically cooperating with humans. The trunk is telescopic, and the working height can be increased. The whole robot has more than twenty degrees of freedom, has the movement functions of fast movement, agile obstacle avoidance, steady uphill and downhill, impact interference resistance and the like, is an ideal carrier for general artificial intelligence, and when the robot works in place, the jacking mechanism at the bottom of the wheel foot base can support the robot body, so that the robot can bear high-load or high-dynamic operation. The robot can be switched among a plurality of modes which are not limited to standing, squatting, moving and the like, and is suitable for a plurality of application scenes.

The invention discloses an online calibration device and calibration method for a compatible torque sensor. Two calibration arm parts are symmetrically and detachably connected to the circumferential direction of a calibration arm mounting flange; the loading device is arranged corresponding to the lower end of one calibration arm pull rod; the first force sensor is connected to the upper surface of the output end of the loading device. The compatibility of the on-line calibration device for the compatible torque sensor is reflected in that when different torque sensors are calibrated, corresponding calibration arm mounting flanges are replaced. The invention further provides a compatible torque sensor online calibration method, different loading forces are applied through the loading device, and then the torque value T calibration value and the torque sensor output value T output value variation are calculated and calibrated, so that the linearity and the repetition precision of the torque sensor are calibrated.

The invention discloses a hand exoskeleton control system and method for piano on-demand auxiliary teaching. The hand exoskeleton control system comprises a hand exoskeleton mechanical module, a dynamics module, an outer ring admittance controller, an inner ring position controller and an online compensation unit. The hand exoskeleton mechanical module is composed of a servo motor, a dynamic torque sensor, a hand exoskeleton base, a shaft sleeve, a palm fixing plate and a finger module. The dynamics module is used for constructing a dynamics simplified model of the finger module; the outer ring admittance controller is used for generating a compliant trajectory compensation amount conforming to the actual dynamic response; the inner ring position controller is used for dynamically adjusting the output torque of the servo motor, reducing buffeting of the sliding mode and realizing finger playing trajectory tracking; and the online compensation unit is used for performing real-time estimation and feed-forward compensation on a nonlinear disturbance term existing in the tracking error of the inner loop position controller based on the RBF neural network.

The intelligent drill bit comprises a drill bit body, a supporting mechanism, a measuring mechanism and a controller, and the drill bit body comprises a fixing part and a cutting part; the supporting mechanism comprises at least one supporting assembly in one-to-one correspondence with the telescopic holes. The measuring mechanism comprises a torque sensor and at least one vibration sensor in one-to-one correspondence with the supporting rods. The drill bit has the beneficial effects that the rock cutting amount of the drill bit during rotation each time is controlled through the cutting depth, so that the rock cutting amount of single rotation of the drill bit is controlled to be smaller in a harder rock stratum so as to reduce the load of the drill bit, and the rock cutting amount of single rotation of the drill bit is controlled to be larger in a softer rock stratum so as to improve the drilling efficiency; by means of the device, the drilling parameters of the drill bit can be automatically adjusted according to different working conditions, and the drill bit can keep the best drilling effect in various different stratums.

The invention relates to the technical field of geotechnical engineering testing, in particular to a gravity type multifunctional in-situ testing device and a gravity type multifunctional in-situ testing method, and the testing device consists of three parts, namely a penetration system, a shearing system and a power system. The penetration system comprises a spindle-shaped full-flow penetration probe and a motion sensor. The shearing system comprises two arc-shaped shearing plates, a power shaft and a torque sensor. The power system comprises a moving empennage, a motor, a storage battery and an information collector. The device is hoisted to a test point to be thrown, so that the device freely falls and can penetrate into a soft soil layer, motion parameters of the device in the process of penetrating into the soft soil are tested and recorded, and the characteristics of the soil layer are obtained; and the arc-shaped shear plate is opened and rotated, so that the undrained shear strength of the soft soil layer is obtained. The test platform is convenient to arrange and high in test efficiency and accuracy. Excessive manpower is not needed, and the automation degree is high. Therefore, the technical problems that a test platform of an existing in-situ test device is difficult to arrange and low in automation degree can be solved.

The invention belongs to the technical field of mechanical test tool equipment, and particularly relates to an electro-hydraulic speed regulator test testing device. Comprising the steps that a virtual diesel engine model generates a signal and supplies the signal to a rotating speed controller, an alternating current power supply supplies power to a frequency converter to drive a motor to operate, and the rotating speed of the motor is transmitted to an electro-hydraulic speed regulator through a first coupler to drive a main pump in the electro-hydraulic speed regulator to build pressure; a hydraulic bridge circuit in the electro-hydraulic speed regulator acts to drive the output shaft to rotate, the output shaft transmits an output signal back to the virtual diesel engine model through the flywheel, the magnetic powder brake and the angle sensor, and the virtual diesel engine model feeds back the signal to the magnetic powder brake through the brake controller; and the output torque of the electro-hydraulic speed regulator is ensured to meet the operation requirement and is confirmed by the torque sensor. The electro-hydraulic speed regulator test device has the advantages that the electro-hydraulic speed regulator test device is provided with the outer circulation oil way, and the test requirements of various electro-hydraulic speed regulators can be met.

The embodiment of the invention discloses an automobile power-assisted steering test system and method, and relates to the technical field of automobile electronics. An EPS controller in the automobile power-assisted steering test system is used for acquiring an input torque generated by a driver simulation motor through an angle torque sensor; according to the input torque and the state information of the vehicle, the power-assisted torque needing to be output by the EPS motor in the steering process is determined; the power-assisted torque is sent to an EPS motor, so that the EPS motor assists the vehicle in steering; if the input torque, the power-assisted torque and the actual resistance torque of the rocker arm end are balanced in the steering process of the vehicle, and the amplitude and the variation trend of the power-assisted torque all accord with the preset power-assisted characteristic curve, the vehicle power-assisted steering test passes. Therefore, by introducing a driver steering wheel input part and a steering resistance simulation part, the automobile power-assisted steering test system can simulate the working principle of a steering system more truly, so that the test precision and effect are improved.

The invention discloses a crane grab bucket control method in a poor sight environment. S1, starting a lifting mechanism, and enabling the grab bucket to descend at the same speed to realize continuous descending of a non-contact material surface; s2, in the descending process of the grab bucket, the descending of the touched material surface is automatically stopped; s3, when the grab bucket makes contact with the material surface, the lifting mechanism is automatically stopped, and the grab bucket is controlled to automatically sink; and S4, after bucket closing is completed, a lifting mechanism is started, the grab bucket ascends at the same speed, and discharging is completed after the grab bucket ascends in place. According to the invention, the grab bucket of the crane can be controlled in an environment with poor sight, only the characteristics of the permanent magnet synchronous motor are needed, and the existing grab bucket crane does not need to be transformed; the method can be realized without additionally arranging any detection device (without additionally arranging devices such as an absolute value encoder, a torque sensor, a high-precision electronic scale, a high-echo laser scanner, a fog-penetrating camera and the like which need to be added in the traditional scheme). By judging the output current of the lifting and opening-closing frequency converter, the automatic descending function of a non-touched material surface is achieved, the automatic stopping function of a touched material surface is achieved, the grabbing amount is controlled, automatic deceleration stopping during descending is achieved, automatic grabbing sinking of the grab bucket is controlled, and automatic load balancing of the grab bucket is controlled.

The invention belongs to the technical field of coupler testing, and particularly relates to a hydraulic coupler torque testing device which comprises a bottom plate, a movable supporting plate, a driving seat, a transmission part and a dynamic torque sensor, the driving seat rotationally connected to a fixed supporting plate fixedly connected to the bottom plate is in transmission connection with a driving motor, and an inserting rod is slidably connected to a connecting seat of the driving seat; and the inserting rods are connected into arc grooves formed in the driving disc in a sliding manner. According to the invention, the coupling is stably connected to the detection device by using the driving seat and the transmission member for torque testing, the insertion rod on the driving seat can slide on the connection seat for position debugging according to actual connection requirements in the connection process, and the connector of the transmission member can generate proper deformation in the pulling process of the debugging screw rod, so that the coupling can be stably connected to the detection device for torque testing. The driving seat and the transmission part can adapt to the connection requirements of couplings of different sizes, so that the couplings are effectively installed, the torque is effectively tested, the structure is simple, the connection operation is convenient, and the use is convenient.

A system for installing a solar panel may include an end of arm assembly tool and a linear guide assembly coupled to the end of arm assembly tool. The end of arm assembly tool includes a frame and plurality of attachment devices, such as suction cups, coupled to the frame. The linear guide assembly includes a linearly moveable clamping tool including an engagement member configured to engage a clamp assembly slidably coupled to an installation structure, and a force torque transducer configured to move the clamping tool along the installation structure. A controller configured to control the force torque transducer and the plurality of attachment devices. The end of arm assembly tool is coupled to a robotic arm and is part of an assembly robot that includes autonomous and non-autonomous vehicles. The various components can be operated by a control system based on operation instructions received from a neural network.

Technical solutions described herein include a method of controlling an electric power steering system includes determining that one or more hand wheel torque sensors of electric power steering system are not operational and in response generating an assist torque command by estimating a front slip angle based on a motor angle of a motor of the electric power steering system and a vehicle speed. The method also includes converting the front slip angle to a rack force. The method also includes determining an amount of assist torque based on the rack force and controlling the electric power steering system using the generated assist torque command.

The invention relates to the technical field of coupler fatigue test, in particular to coupler fatigue test equipment which comprises a rack, a fixed seat, a sliding seat, a rotating disc, a first mounting plate, a torque sensor and a second mounting plate, the fixed seat is fixedly connected to the rack, the sliding seat is slidably connected to the rack, and the rotating disc is fixedly connected to the rack; the rotating disc is rotatably connected to the fixed seat around the axis of the rotating disc, the rotating axis of the rotating disc is horizontal, the first mounting plate is connected to the end, facing the sliding seat, of the rotating disc, one end of the torque sensor is fixedly connected to the end, facing the fixed seat, of the sliding seat, and the other end of the torque sensor is fixedly connected to the second mounting plate. The torque sensor and the rotating disc are coaxially arranged, and the first mounting plate and the second mounting plate are used for fixing the two ends of the coupler respectively. The torque sensor is adopted for torque acquisition, and the torque sensor and the coupling adopt a direct connection structure, so that errors caused by transmission are reduced, and the fatigue measurement precision of the coupling is improved.

The invention discloses a device and a method for measuring dragging torque of an electronic mechanical brake caliper assembly, and belongs to the technical field of automobile brake system testing. The device comprises a first supporting seat, a driving rotating shaft, a brake disc and a driven rotating shaft assembly with a torque sensor, and precise positioning of a caliper support is achieved through cooperation of a rotating clamp and a guide pin. During testing, the calipers clamp the brake disc firstly to output clamping force and then release pressure, the motor drives the brake disc to rotate by a circle to eliminate inertia moment, and then the torque sensor dynamically collects dragging torque. A modularized brake disc fixing seat is adopted to adapt to products of different specifications, a coupler compensates for shafting offset, a fixing block locking mechanism guarantees non-measurement state safety, and inertia errors are eliminated in combination with a dynamic and static friction separation measurement method. According to the scheme, the problems of positioning deviation, mechanical interference and friction interference in a traditional test are solved, and the measurement precision and efficiency of the dragging torque of the brake calipers are remarkably improved.

The invention relates to a robot self-adaptive control method and system based on visual radiation perception, and relates to the field of intelligent control, environmental data are obtained by integrating a laser radar, a plantar pressure sensor, a joint torque sensor, a binocular camera, an IMU and other sensors, and the environmental data are preprocessed and then input into an environment recognition model to obtain initial environment and attitude information; and constructing a local area map and planning an initial advancing path, evaluating the contact surface type by using a flexible capacitor array and a plantar pressure sensor, and finally matching a motion mode according to an advancing sequence and the surface type and controlling the robot to move. The technical problems that the robot is limited in environment sensing capacity, insufficient in autonomous decision-making capacity and poor in motion control flexibility in the complex, changeable and unknown environment are solved, and efficient environment sensing, autonomous path planning and flexible motion control of the robot in the complex environment are achieved.

The invention discloses a six-dimensional force / torque sensor decoupling system and method based on a width neural network, and the method comprises the steps: in a data collection and preprocessing unit, carrying out the null drift correction and normalization processing of a collected voltage signal through a weight type calibration platform and a data collection card, and forming a network model training data set; carrying out model training on the established six-dimensional force / torque sensor decoupling model of the width neural network, and solving a mapping matrix from a hidden layer to an output layer by adopting an importance score-based neuron pruning algorithm and a Moore-Pengos generalized inverse to obtain optimal model parameters; and finally, inputting the voltage signal subjected to data preprocessing to obtain a real-time output vector, and performing reverse normalization processing to obtain a decoupled six-dimensional force / torque vector. According to the method, precise decoupling of the six-dimensional force / torque sensor is achieved, and the inter-dimensional coupling error is remarkably reduced.

The invention relates to a waist hanging type three-wheel moped based on multi-sensor data fusion driving. Comprising a wearing waistcoat, a button buckle device, a traction device, a middle rotating device, a wheel leg device, a vehicle body fixing frame, an integrated control box and a driving rear wheel. The wearable waistcoat is connected with the middle rotating device through a button buckling device and a traction device, and two driving rear wheels are symmetrically arranged on the two sides of the bottom of the vehicle body fixing frame; an inertial measurement unit IMU is arranged on the wearing waistcoat, a wheel leg driving motor is provided with an absolute value encoder, a wheel leg knee joint torque sensor is arranged in a wheel leg device, a driving rear wheel torque sensor is arranged on an inner side shaft of a driving rear wheel, and a rotating speed encoder is arranged between a driving rear wheel shell and the driving rear wheel torque sensor. The control flexibility is improved, interference to human body movement is reduced, the wheel speed of the driving rear wheel can be adjusted in real time along with the human body movement, the wheel leg driving joint angle is adjusted in real time according to the road condition change, damage to the human body is reduced, and adaptability is improved.

A rotary joint module comprises a rotary joint module output end, a rotary joint module motor end and a rotary joint module position detection end. The rotary joint module of the present invention has strong external force perception capability, high control feedback accuracy, high electromagnetic shielding and compact structure. It is a high-performance force-controlled mechanical arm rotary joint; the encoder position, torque sensor position and communication line position of the rotary joint are all electromagnetically shielded and protected, which can be better adapted to harsh electromagnetic environments. The rotary joint module is designed with a torque sensor for precise force feedback. The rotary joint module is designed with a harmonic reducer, which is mainly composed of a flexible wheel, a steel wheel, a wave generator and a cross roller bearing. The harmonic reducer is mainly used to increase the output torque of the module.

The invention discloses a power system monitoring device and method, and belongs to the technical field of engineering machinery, a power system comprises a gearbox, the gearbox comprises a box body, a bearing and a transmission shaft, the box body is provided with a bearing cavity, the bearing is arranged in the bearing cavity, the transmission shaft is in transmission connection with the bearing, and the power system monitoring device comprises a power generation assembly and a monitoring assembly. The power generation assembly comprises a thermoelectric power generation piece, the hot end of the thermoelectric power generation piece faces the bearing cavity, the cold end of the thermoelectric power generation piece is away from the bearing cavity, and lubricating oil in the bearing cavity can wash the hot end of the thermoelectric power generation piece so that the thermoelectric power generation piece can generate electric energy. The assembly comprises a circuit board and a plurality of sensors, the sensors are electrically connected with the circuit board, the power generation assembly provides electric energy for the circuit board, and the sensors comprise a vibration sensor, a temperature sensor and a torque sensor. The power system monitoring device is adopted in the power system monitoring method. And heat is fully utilized, monitoring can be carried out, the fault rate is reduced, and energy is saved.

The invention relates to a tractor test data acquisition and fault diagnosis system, which belongs to the technical field of agricultural machinery, and comprises a multi-source heterogeneous data acquisition module for performing real-time data acquisition on the working state of the whole tractor through a sensor group deployed at a key part of the tractor; collecting a vibration signal measured by an engine body acceleration sensor; acquiring a real-time rotating speed measured by an engine rotating speed sensor; load torque measured by a torque sensor of the power output shaft is collected; the current instruction rotating speed obtained by the vehicle-mounted control unit is collected; the collected original data are transmitted to the dynamic state evaluation module in real time; the dynamic state evaluation module is used for receiving the multi-dimensional data; carrying out fusion analysis on the multi-dimensional data based on an instantaneous impact index model; according to the method, the system obtains the comprehensive and robust perception capability for the risk, the early-stage and composite impact risk can be accurately recognized, and the misjudgment rate caused by single index fluctuation is greatly reduced.