123results about How to "Drive chain short" patented technology

The invention discloses a medical grinding cutter. The cutter comprises a knife tube component and a grinding head, wherein the grinding head is mounted at the front end of the knife tube component; the grinding head can be driven for pitching and self-rotation; the tail end of the grinding head in the circumference direction is hinged to an inner knife tube in a transmission manner; a flexible transmission section is positioned at the front end of the inner knife tube and used to be hinged to the tail end of the grinding head, and can transfer torque. According to the invention, the medical grinding cutter adopts a direct hinging structure to transfer the transmission between the inner knife tube and the grinding head, can conduct a pitching motion, and adopts a flexible transmission structure to compensate axial deviation caused by pitching and transmission; the transmission structure is simple, and the transmission chain is shorter, which facilitates stable control, so that the operative efficiency is improved; the medical grinding cutter also adopts a structure capable of adjusting both the pitching and circumferential positions of the grinding head, so that the universal orientation adjustment is realized; the medical grinding cutter has a good adaptation to an operative site and higher precision; the operative process efficiency can be improved; the pain of the patients can be minimized, and meanwhile, the treatment cost can be reduced.

The invention belongs to the technical field of power transmission, and particularly relates to a vehicle hybrid power driving system. According to the technical scheme of the multi-axle multi-wheel vehicle hybrid electric driving system, in a mechanical drive section, an engine (1) and a gearbox (3) are longitudinally arranged, an elastic coupler (2) is arranged between the engine and the gearbox, a transfer case (4) is connected to the rear side of the gearbox (3), and the transfer case (4) conducts power distribution and distributes the power into axles through a drive axle; in a dynamic drive section, a wheel edge drive motor (8) and a double-gear gearbox (7) are combined to drive the axles, the wheel edge drive motor (8) is connected to a power management system (21), and the power management system (21) is connected with a battery pack (22) and the gearbox (3). According to the multi-axle multi-wheel vehicle hybrid electric driving system, an inter-axle differential mechanism and an inter-wheel differential mechanism are omitted, the structure of the driving system is simplified, a transmission chain is shortened, and power distribution is flexible.

The invention relates to a worm gear-worm pair backlash eliminating device adopting an enveloping worm, which mainly consists of a worm gear, a cylindrical worm, the enveloping worm, an elastic pre-tightening device and a bearing. The cylindrical worm and the enveloping worm play the main force scale division role and the resistance role respectively, and the two worms are coaxially mounted and carry out the regulation and impose the pre-tightening force on a resistance worm in the axial direction through the elastic pre-tightening device. The pre-tightening device consists of a regulating nut, two spring positioning sleeves and a pre-tightening spring, regulates and pre-tightens the resistance worm in the axial direction through the regulating nut. The elastic pre-tightening device can be one of a spring device, a hydraulic device or a pneumatic device. The resistance enveloping worm and the main force worm are coaxially mounted in the worm gear-worm pair backlash eliminating device, and the axial regulation and the pre-tightening are carried out on the resistance worm through the elastic pre-tightening device, thereby providing the more stable, high-efficient and low-noise transmission and simultaneously having the advantages of compact structure, light weight, low cost and the like. The worm gear-worm pair backlash eliminating device is applied in a transmission mechanism of a rotary workbench of a machine tool and can provide better backlash eliminating effect in comparison with a single worm gear-single worm mechanism or a double-worm gear-worm mechanism.

The invention provides an automatic follow sun device and a connecting drive mechanism and relates to the solar energy utilization technical field; the automatic follow sun device is formed by that: a push-pull device of a bracket is accurately controlled by a controller to drive a ratchet wheel device intermittently; the ratchet wheel device is connected with and drives a light absorbing body to rotate and follow the sun, or an electromotor of the bracket and a clutch of a ratchet wheel row are accurately controlled by the controller; the electromotor drives the ratchet wheel row; the ratchet wheel row is connected with and intermittently drives the light absorbing body to rotate and follow the sun; a connecting drive mechanism is a mechanism which uses parallel connecting rods to hinge a plurality of parallel light absorbing bodies in parallel. The invention provides a follow device with short gearing chain, simple and reliable structure and accurate follow angle: each drive only feeds the light absorbing body to rotate several percent degrees or even a smaller angle uniformly. The invention has millions of evolvement proposals and wide application scope and can be widely used in a photovoltaic battery plate, a solar cooker, a flat plate heat collector, a solar furnace, a solar energy boiler and a solar energy utilization device to follow the sun.

The invention discloses a medical grinding tool and a driving assembly. The tool comprises a tool pipe assembly and a grinding head at the front end of the tool pipe assembly, the grinding head can be arranged in the mode of being capable of being driven to pitch and rotate, the tail end of the grinding head is hinged to an inner tool pipe in the mode of transmission in the circumferential direction, and the grinding head in the hinge structure has axial moving margin relative to the inner tool pipe. The direct hinge structure is adopted to transmit transmission between the inner tool pipe and the grinding head, pitching motion can be done, the structure is simple, a transmission chain is short, stable control is facilitated, and therefore operation efficiency is improved. The structure that the pitching and circumferential positions of the grinding head both can be adjusted is adopted, universal orientation adjustment of the grinding head is achieved, in the operation process, the grinding head can achieve longitudinal and circumferential position adjustment according to changes of operation orientation, the medical grinding tool has good orientation on a surgical spot, good precision is achieved, the efficiency of the operation process is improved, the postoperative recovery cycle is shortened, the pain of a patient is relieved, and meanwhile treatment cost is lowered.

The drive mechanism comprises the drive mechanism bracket, the driving chain, the system for measuring the position of the rod and the magnetic damper. The driving chain consists of the motor, the gear reduction mechanism and the chain wheel. The magnetic champer comprises the moving disc, the upper and lower magnetic discs and the bearing seat. Since playing the damping function only without the driving function as well as the adjustable structure, the magnetic damper provides the features of shorter driving chain, smooth reliable driving and large enough brake moment. Said mechanism reduces the influence of the precision of manufacturing and assembling the control rod driving mechanism on the rod drop as well as eliminates the 'scraping' between the moving disc and the magnetic disc.

The invention discloses a method for generating power by utilizing a speed reducing plate. The speed reducing plate, an elastic air bag, a check valve, an air storage tank, a pressure control valve, a pneumatic motor, an electric generator and the like are adopted in the method. When an automobile wheel crushes the speed reducing plate, the speed reducing plate compresses the elastic air bag to enable air in the elastic air bag to pass through the check valve through an air pipe and flow to the air storage tank. When pressure of the air storage tank achieves set pressure, the air in the air storage tank passes through a pressure control valve to push the pneumatic motor through the air pipe, and finally the pneumatic motor drives the electric generator to generate the power. When the automobile wheel leaves the speed reducing plate, the elastic air bag ejects the speed reducing plate through the elasticity of itself, and the air is automatically sucked in. The method for generating the power by utilizing the speed reducing plate converts the gravitational potential energy and the kinetic energy into the electric energy when a vehicle passes by the speed reducing plate, and an energy storage effect is obtained. The elastic air bag under the speed reducing plate has buffering and damping functions, and severe impact of the speed reducing plate on the vehicle is reduced.

The present invention is full automatic speed reducing clutch, the washing machine therewith and washing method, and relates to washing machine technology. The washing machine includes one outer tub, one inner tub, one wavy wheel, and one full automatic harmonic pulse speed reducing clutch, which has output shaft as the wavy wheel oscillating shaft capable of rotating and oscillating in the self aligning bearing. The full automatic harmonic pulse speed reducing clutch has simple structure, homogeneous stress, smooth transmission, high transmission efficiency, high bearing capacity and long service life. The washing mode of the washing machine includes the high frequency inclined swinging of the wavy wheel to produce powerful harmonic pulse wave and the low speed reciprocating rotation of the wavy wheel to knead, stir and wash clothing The washing machine has high detergency, less clothing twisting, less wear to clothing, time saving, water saving and other advantages.

The invention belongs to the technical field of coal mine downhole railless auxiliary transportation equipment design and manufacturing and particularly provides a mining driving force self adoption multi-gear automatic speed changing double-motor steering drive axle. By adoption of the mining driving force self adoption multi-gear automatic speed changing double-motor steering drive axle, the problem that a mining electric drive vehicle cannot efficiently meet the demands of coal mine downhole complex and variable working conditions is solved. The steering drive axle comprises a water cooled middle double-drive anti-explosion motor, a first planetary reducing mechanism, a second planetary reducing mechanism, a differential mechanism, an axle shaft, an axle shell and an electronic control unit. The mining driving force self adoption multi-gear automatic speed changing double-motor steering drive axle simultaneously has the functions of driving, steering, automatic speed changing, active safety, travelling braking and parking braking, and mechanical control gear shifting devices, clutches, transmissions, transmission shafts, mechanical differential mechanisms and the like needed by traditional vehicles are omitted, so that a drive system and a whole vehicle are simple in structure and short in transmission chain, and transmission efficiency is improved.

The invention discloses a heliostat of a double-push-rod structure. The heliostat comprises reflectors, heliostat frames, a main beam, a supporting base, a connecting base and a first bearing. The main beam is used for mounting of the heliostat frames. The heliostat frames are used for supporting the reflectors. The main beam is connected with and arranged on the connecting base. The main beam can rotate around itself to do horizontal rotational motion. The supporting base and the connecting base are connected through the first bearing, and the connecting base can rotate around the supporting base to do azimuth rotational motion. The connecting base is driven by an azimuth telescopic push rod to do azimuth rotational motion around the vertical axis of the supporting base. The main beam is driven by a horizontal telescopic push rod to do horizontal rotational motion around the horizontal axis of the main beam. The heliostat of the double-push-rod structure has a short transmission chain, and the precision of the rotation angle is easy to control. Moreover, the number of main parts is small, and the machining and manufacturing difficulty and the manufacturing cost are reduced.

The invention relates to a sampling and collection integrated spiral continuous self-contained collector, which comprises a rotating shaft, a motor, a transmission gear pair and a sample collection cavity, wherein the rotating shaft is provided with a contact probe, a spiral wing and a shaft collar; the diameter of the middle cavity body of the sample collection cavity is larger than that of the upper part of the sample collection cavity; the upper part of the sample collection cavity is provided with a collection cavity upper platform; the collection cavity upper platform is provided with a hinge hole and a motor; the rotating shaft is arranged in an inner cylinder of the sample collection cavity; the upper part of the rotating shaft is provided with a transmission cone gear; a cavity cover is in threaded connection with the sample collection cavity; and a main shaft of the motor is provided with a transmission gear pair consisting of a motor shaft gear and the transmission cone gear. During sampling, the hinge hole and the motor are connected with a mechanical arm and a power source for control operation respectively; the control motor drives the cone gear pair to rotate; when the rotating shaft rotates, a sample is shoveled by the spiral wing; and the sample enters the sample collection cavity along with upward thrust force of the spiral wing. The collection device integrates sampling and collection, has a simple structure, a short transmission chain and low power consumption, and can be combined with the operating mechanical arm for sampling on the moon or in environments which are not suitable for human operation.

The invention belongs to the field of joint structures and particularly relates to a joint mechanism. A mounting seat is taken as a fixed rack, a wave generator of a harmonic reducer is driven by a rotating shaft of a rotating driving element to rotate at a high speed and enables a flexible gear to deform flexibly, the flexible gear is in meshing drive with a rigid gear fixed on the mounting seat, power is output by an output shaft fixed on the flexible gear, and low-speed rotation is performed. The harmonic reducer has the small tooth difference and the high ratio, the axial size is small, and the joint mechanism adopts compact integral structure and has a short driving chain and small error accumulation. The joint mechanism has high structural rigidity and can bear large axial load, radial load, torsional force load, overturning force load and load in a combined form. The joint mechanism is applicable to occasions with the single rotation degree of freedom, when the joint mechanism is applied to a wearable exoskeleton robot, a rotating joint arm is driven directly, the rotating driving element is located on one side of joint rotating sides, so that wearing on the other side is facilitated, and the wearing experience is improved.

The invention discloses a high-precise rotating working platform directly driven by a torque motor, which comprises a rotating platform body, wherein the rotating platform body is fixed with an inner shell, a tensing sleeve and a bearing flange, the tensing sleeve is arranged in a rotating sleeve, the torque motor is arranged between the inner shell and the rotating platform body, the upper end of the inner shell is fixed with a reading head support, the inner shell is fixed with a lower oil distributing shaft, the lower end of the lower oil distributing shaft is connected with an oil collecting disc, the oil collecting disc is provided with an oil return pipe, the lower oil distributing shaft is connected with an upper oil distributing shaft, the upper oil distributing shaft is fixed on a rotating body, the rotating body is fixed on the rotating sleeve, the lower end of the rotating body is provided with an angle encoder, the upper end of the rotating body is provided with a following clamper, a positioning ring and an upper cover board, the positioning ring is sheathed outside the following clamp, the rotating platform body is connected with the stator of the torque motor, the rotating sleeve is connected with the rotor of the torque motor, a bearing is arranged between the rotating sleeve and the rotating body, and the outer ring of the bearing is connected with the rotating platform body through the bearing flange. The high-precise rotating working platform disclosed by the invention has the advantages of simple structure, high precision, high rotational frequency and good brake effect.

The invention provides a device and method for recovering the inertial energy of automobile wheels, belonging to the fields of automobile energy saving and emission reduction and new energy electric vehicles. The invention adds a fixed internal gear insert on the inner ring of the automobile wheel hub. When the automobile wheel rotates, the power increases through the internal gear transmission mechanism and directly drives the permanent magnet synchronous generator to generate electricity, which is generated by the brake pedal sensor and the tire speed sensor. The signal controls the opening and closing of the electromagnetic clutch, which directly drives the permanent magnet synchronous generator to generate electricity. At the moment of braking and deceleration of the car, it can quickly release and recover the inertial energy of the car wheels in large quantities, and provide power to the battery or the power network of the whole vehicle. The device has the advantages of simple structure, small volume, high energy recovery rate, good reliability, low manufacturing cost, and certain technical and economic feasibility.

The invention discloses a mixer vehicle, comprising: a frame; a first axle assembly; a second axle assembly spaced apart from the first axle assembly in front-rear direction and comprising two axle assemblies spaced part in the front-rear direction, wherein each axle assembly comprises an axle housing assembly that comprises an axle housing component and two axle shafts positioned in the axle housing component, at least one of the two axle assemblies is an electric drive axle assembly which also comprises an electric power assembly, the electric power assembly comprises a power motor, a transmission and a differential, the differential has a transmission housing, the power motor is fixed on the transmission housing, the differential is supported on the transmission housing, the differential is positioned in the axle housing component, and the transmission housing is fixed on the axle housing component; a suspension system, wherein all the axle assemblies are connected with a frame through the suspension system. The mixer vehicle according to the invention is compact in structure, high in integrity and green.

The present invention provides an automobile wheel inertial energy hydraulic recovery and comprehensive utilization system and a control method thereof, belonging to the technical field of energy conservation and emission reduction of automobiles. An inner gear ring is additionally arranged and fixed on an automobile hub, when automobile wheels rotate, power passes an inner gear transmission mechanism for acceleration, to directly drive a hydraulic pump / hydraulic motor to work. When the automobile is braked, is subjected to deceleration and slides, the inertial energy of the wheels is quickly largely converted into hydraulic energy to be stored, and when the automobile is started and is subjected to acceleration, the stored hydraulic energy is converted into mechanical energy to be directly provided for the wheels. The hydraulic energy in an energy accumulator can be applied to an automobile steering device hydraulic power assisted system or a disc brake hydraulic system by selecting the switching modes. The device is simple in structure, small in size, high in energy recovery rate and low in manufacturing cost, and has a certain technical and economic feasibility.

The invention discloses a digital hydraulic extruder speed control system and a method. The system comprises a speed setting device, a speed measuring device, a controller and a speed regulating mechanism; wherein the speed setting device and the speed measuring device are both connected with the input end of the controller; and the output end of the controller is connected with the speed regulating mechanism. The system is characterized in that both the detection unit and the control unit of the system adopt a digital component, and all-digital communication of signals of each unit of the system is realized through an industrial field bus. In the control method, asymmetric PID regulation is adopted to obtain a speed control implementation signal and to output the speed control implementation signal to the speed regulating mechanism, and then the speed regulating mechanism regulates the opening degree of the valve core of a water throttling valve in the method of controlling water with oil, thereby realizing the closed-loop control of the extruding speed of the hydraulic extruder. The system and the method disclosed in the invention have the advantages of high anti-interference performance, high reliability and high practicability, and realize the high-precision closed-loop control of the extruding speed of the hydraulic extruder in the special environment.

The invention discloses a vehicle and a drive axle module used for the vehicle. The drive axle module comprises a drive axle assembly, wherein the drive axle assembly comprises two vehicle axle assemblies, each vehicle axle assembly comprises an axle housing assembly, and each axle housing assembly comprises an axle housing module and two semi-axles; at least one of the two vehicle axle assemblies is an electric drive axle assembly; the electric drive axle assembly also comprises an electrodynamic assembly and a suspension device; the electrodynamic assembly comprises a power motor, a transmission and a differential mechanism, the transmission comprises a transmission shell body, the power motor is fixed on the transmission shell body, the differential mechanism is supported on the transmission shell body, the transmission shell body is fixed on the axle housing module, the transmission comprises multiple transmission shafts, the multiple transmission shafts are disposed successively from top to bottom, and the suspension device is connected between the electrodynamic assembly and a frame of the vehicle; and the drive axle module also comprises a suspension system, wherein each vehicle axle assembly is connected to the frame of the vehicle by the suspension system. The drive axle module used for the vehicle disclosed by the invention has the advantages of a compact structure, green and environment-friendly effects and steady transmission.

The invention provides a walking-beam-free type intelligent oil pumping unit. A machine frame is of a steel bracket structure; the upper end of the machine frame is connected with a fixed base through a pull rod hinge; a permanent magnet motor, a driving roller and a guide roller are mounted on a platform on the machine frame; a belt bypasses the driving roller and the guide roller, extends downwards vertically and is fixedly connected with a belt clamp and a beam hanger; the other end of the belt is connected with a weight box; a buffer is arranged on a movable base. The permanent magnet motor directly drives the driving roller to rotate so as to drive the belt to move up and down, and low-mechanical-efficiency complicated structures such as a crank arm balance block and belt wheel transmission of a conventional oil pumping unit are replaced; the belt rectilinearly moves up and down to lift an oil pumping rod, so that the phenomenon of eccentric wear between the oil pumping rod and a wellhead is avoided, the service life of the oil pumping rod is prolonged, the workover operation speed is increased by virtue of an adjustable removal mechanism, the labor intensity of the workover operation is alleviated, and the whole oil pumping unit has the characteristics of simple structure, less movement parts, less transmission chains, high mechanical efficiency, low energy consumption, simplicity in maintenance and reliability in operation.

The invention relates to the technical field of oil and gas drilling and geological exploration, in particular to a hydraulic winch and a drilling machine. The hydraulic winch comprises a support and two braking assemblies; the support comprises a box assembly and two end cover assemblies; the box assembly comprises a hollow-inside box and two gear case shells symmetrically connected to the two ends of the box; the two braking assemblies are symmetrically arranged at the two ends of the box; each braking assembly comprises a driving mechanism, a speed reducing mechanism and a braking mechanism; the driving mechanisms are arranged on the end cover assemblies; the speed reducing mechanisms are arranged on the gear case shells; the driving mechanisms are connected with the speed reducing mechanisms; and the braking mechanisms are connected between the driving mechanisms and the speed reducing mechanisms. According to the hydraulic winch, when the hydraulic winch needs to be braked, the braking mechanisms can directly brake the driving mechanisms, because the torque generated by the driving mechanisms is small before being transmitted to the speed reducing mechanisms, braking is easy, braking is flexible, reliable and high in safety, and the hydraulic winch is suitable for being used in large hydraulic winches.

The invention discloses a vehicle and a drive axle module used for the vehicle. The drive axle module comprises a drive axle assembly, wherein the drive axle assembly comprises two vehicle axle assemblies which are disposed at an interval along the back-forth direction, each vehicle axle assembly comprises an axle housing assembly, each axle housing assembly comprises an axle housing module and two semi-axles, and the two semi-axles are located inside the axle housing module; at least one of the two vehicle axle assemblies is an electric drive axle assembly, the electric drive axle assembly also comprises an electric power assembly, the electric power assembly comprises a power motor, a transmission and a differential mechanism, the transmission comprises a transmission shell body, the power motor is fixed on the transmission shell body, the differential mechanism is supported on the transmission shell body, the differential mechanism is located in the axle housing module, and the transmission shell body is fixed on the axle housing module; and the drive axle module also comprises a suspension system, wherein each vehicle axle assembly is connected to a frame of the vehicle by the suspension system. The drive axle module disclosed by the invention has the advantages of a compact structure, a high degree of integration and green and environment-friendly effects.

The invention discloses an oil pumping unit system with multiple sections of steam injection packer parts. The oil pumping unit system comprises an oil pumping unit body, a steam injection thermal production oil pump and a packer assembly. The oil pumping unit body is connected with the steam injection thermal production oil pump through a traction system of the oil pumping unit body. The steam injection thermal production oil pump is connected with the packer assembly through a release sub. The packer assembly comprises the release sub, a first oil discharging pipe, a first side sealing spindle, a second oil discharging pipe, a second side sealing spindle, a third oil discharging pipe, a third side sealing spindle, a packer body, a one-way valve, a first spraying head, a second spraying head, a sealing ring, a fourth oil discharging pipe, a third side sealing spindle, a fifth oil discharging pipe, a fourth side sealing spindle, a third spraying head, a ventilation pipe, a cable inletguiding part and a side gas pipeline.

The invention belongs to the technical field of designing and manufacturing of coal mine underground trackless auxiliary equipment, and particularly relates to a totally-closed power transmission device used for a coal mine explosion-proof electric rubber-wheel vehicle. The device comprises a wheel edge transmission speed reduction mechanism, a travel braking mechanism and a parking braking mechanism; the wheel edge transmission speed reduction mechanism is connected with an explosion-proof motor through a coupler, the wheel edge transmission speed reduction mechanism is connected with the travel braking mechanism and the parking braking mechanism, an output shaft of the explosion-proof motor, the coupler, the transmission speed reduction mechanism, the travel braking mechanism and the parking braking mechanism are longitudinally connected in series and fixed and are located on the same central axis, the totally-closed modular combined integrated design is adopted, and the device has the beneficial effects of being compact in structure, convenient to dismount, mount and maintain, pollution-resisting, reliable in explosion-proof property, stable in property, energy-saving, environment-friendly, good in braking cooling effect and the like, and the traveling safety of the rubber-wheel vehicle can be improved.

The invention discloses a floor type multi-rope oil extractor system. The system comprises an oil extractor main body, a gas injection thermal recovery oil extracting pump and a packer module; the oilextractor main body is connected with the gas injection thermal recovery oil extracting pump through a traction system thereof; the gas injection thermal recovery oil extracting pump is connected with the packer module through a hand-free joint; the oil extractor main body comprises a concrete foundation, a shifter guide rail, a rail clamper module, a control cabinet, a bracket, an adjustable balance counterweight, an upper platform, an upper guard combination, a power device, a brake, the traction system and an elevator; the traction system comprises a traction wheel, a steel wire rope, a movable pulley set and a steel wire rope joint; the steel rope is divided into an elevation steel wire rope and a balance steel wire rope; one end of the elevation steel wire rope is fixed on the traction wheel and bypassed through the traction wheel, and the other end is fixedly connected with the steel wire rope joint on the bracket through the elevator and the movable pulley on the elevator; andthe balance steel wire rope is opposite to the elevation steel wire rope, one end is fixed on the traction wheel and bypassed through the traction wheel, and the other end is fixedly connected with the steel wire rope joint on the bracket through the adjustable balance counterweight and the movable pulley on the adjustable balance counterweight.

The invention discloses an accordant junction differential planetary gear train indefinitely variable transmission system which comprises a differential planetary gear train transmission device and a first distributary gear sheathed on one end of an input shaft; another end of the input shaft is connected with a planet carrier, one end of a gear shaft of a second distributary gear is connected with the input shaft of an electric generator or a hydraulic oil pump; an output voltage signal of the electric generator or an output hydraulic signal of the hydraulic oil pump is sent to a speed setting controller which receives the signals output by the electric generator or the hydraulic oil pump, compares the signals with a given value, and outputs a control signal to a motor or a hydraulic motor; the motor or the hydraulic motor receives the control signal from the speed setting controller, the output shaft of the motor or the hydraulic motor is connected with the gear shaft of a sun gear; and a lockup clutch is arranged between an output geared ring and the planet carrier. The system has high mechanical efficiency, can realize high power transmission, and is provided with wider transmission ratio continuous variation range and steady speed change.

The invention discloses a single-eccentric short transmission chain speed reducer. The single-eccentric short transmission chain speed reducer comprises a fixed main body, a bearing sleeve, a power input shaft, a power output shaft and a duplicate gear; the power input shaft comprises positive axis parts at the two ends and an off-axis part in the middle, the axes of the positive axis parts and the off-axis part do not coincide, the duplicate gear is arranged on the off-axis part of the power input shaft in a sleeving mode through a third bearing, and the duplicate gear comprises a first external gear and a second external gear; a first inner gear ring is arranged on the portion, corresponding to the first external gear, of the fixed main body, a second inner gear ring is arranged on the portion, corresponding to the second external gear, of the power output shaft, the first external gear and the first inner gear ring are in internal meshed transmission, and the second external gear and the second inner gear ring are in internal meshed transmission. The single-eccentric short transmission chain speed reducer has the advantages of being simple in structure, short in transmission chain, high in transmission efficiency, stable in transmission, large in transmission moment, wide in speed reducing ratio range and the like.

A hydraulic servo steering engine system belongs to the steering engine device of an aircraft. A direct current motor is fixed on a machine core, the direct current motor is connected with a hydraulic pump, a flow channel and an oil cavity are cast inside the machine core, and the oil cavity is interconnected. Four servo valves are mounted on the machine core axially and symmetrically, each servo valve is respectively connected with an oil cylinder, the piston rod of the oil cylinder is hinged with a connecting rod which is hinged with a rudderpost, the rudderpost is connected with an angular displacement sensor which is connected with a controller, and the controller is connected with the servo valves to form a one-to-four hydraulic servo control system. The invention has new principle, highly integrated structure, small volume, light weight, quick response and high reliability, and is applicable to different severe environments.

The invention discloses a translational motion idle-stroke transmission coupled and self-adaptive robot finger device and belongs to the technical field of robot fingers. The translational motion idle-stroke transmission coupled and self-adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a transmission mechanism, three gears, three racks, two spring pieces, two shifting levers and two convex blocks. The translational motion idle-stroke transmission coupled and self-adaptive robot finger device achieves the coupled and self-adaptive combined grabbing mode integrally, the two joints can be linked to pinch an object with the tail ends, the actions highly simulate human beings, and besides, the first finger section can be rotated to touch the object firstly, and then the second finger section is rotated to cover and hold the object, so that the effect of self-adaptive grabbing of objects with different shapes and dimensions is achieved. According to the device, transmission is precise and stable, and grabbing is stable and reliable; the two joints are driven through only one driver instead of complex sensing systems and real-time control systems; and meanwhile, the translational motion idle-stroke transmission coupled and self-adaptive robot finger device is simple in structure, short in transmission chain, small in number of parts, small in size, low in weight, easy to assemble and low in manufacturing cost.

The invention discloses a rapier loom noncircular gear planetary gear train weft insertion mechanism. The invention is characterized in that planetary carriers are driven by a main shaft of the loom; a drive noncircular sun gear is moveably sleeved on a driven noncircular sun gear shaft, and the drive noncircular sun gear is fixed and can not move; planetary shafts are driven by the planetary carrier; two noncircular gears are fixedly connected on the planetary shafts, one of noncircular gears is engaged with the drive noncircular sun gear, and the other is engaged with the driven noncircular sun gear; and the driven noncircular sun gear outputs motive power, and then the movement and the motive power of the main shaft of the loom are transferred to a rapier gripper by cylindrical gear drive, bevel gear drive and engagement of a rapier wheel and a rapier tape. A noncircular gear planetary train, the cylindrical gear and a bevel gear mechanism are used to transform uniform rotation of the main shaft of the loom to non-uniform reciprocating movement of the rapier gripper. Optimizing the drive ratio function of the noncircular gear can lead an acceleration rule of the rapier gripper to be an isosceles trapezoid to reduce tension of weft. Relay weft insertion can be achieved through different initial phase angles of the planetary carriers in weft insertion mechanisms symmetrically arranged at the left side and the right side of the rapier loom.

The invention relates to a two-direction perception adaptive robot finger device with a closed-ring flexible piece and a control method of the two-direction perception adaptive robot finger device. The two-direction perception adaptive robot finger device comprises a base, two finger sections, two joint shafts, a driver, a flexible transmission piece, a sensor, a control module, a motor driving module and the like. The two-direction perception adaptive robot finger device realizes four grabbing modes: (1) a mode that the two-way perception adaptive robot finger device performs forward-direction parallel clamping and grabbing; (2) a mode that the two-way perception adaptive robot finger device firstly performs forward-direction parallel clamping and then performs adaptive grabbing; (3) a mode that the two-way perception adaptive robot finger device performs reverse-direction parallel clamping and grabbing; and (4) a mode that the two-way perception adaptive robot finger device firstly performs reverse-direction clamping and then performs adaptive grabbing; therefore, the unidirection adaptive grabbing effect of a conventional perception adaptive finger is achieved, and the two-direction adaptive grabbing effect and the two-direction parallel clamping and grabbing effect, which are not achieved by the conventional perception adaptive finger, are also achieved by the two-direction perception adaptive robot finger device; the grabbing range is large, the grabbing process is stable, the grabbing force is controllable, and a transmission chain is short; when the two-direction perception adaptive robot finger device is used for grabbing different objects, reprogramming is not needed, and the two-direction perception adaptive robot finger device is simple and convenient to use; and the two-direction perception adaptive robot finger device can realize high dexterity, high adaptability, high reliability, high stability and low control difficulty, and is suitable for a robot hand.