扭矩

According to the biaxial reciprocating gear-driven principle that presents by professor He guo jin in this thesis, the biaxial reciprocating cylinder gear reducer has been designed and interiorinput power of this reducer is forty watt.

本文根据何国金教授提出的两平行轴间多级圆柱齿轮来复传动原理，设计了一台两平行轴大速比来复传动圆柱齿轮减速器，其输入功率为40w，这种减速器中的双联齿轮与轴之间为空套联接，双联齿轮所在的轴段只受弯矩，不受扭矩；也就是说，输入轴只有靠近电动机一端的20mm长度上受扭矩，输出轴只是在靠近外伸输出端与其键联接的齿轮和外伸端部之间承受扭矩，因此轴的扭转刚度高。

As an assembly tool of the big diameter bolts, hydraulic torque wrenches have many advantages, such as big output torque, easy operation, being able to be used conveniently in the incommodious room, and comparatively precise control of the magnitude of torque.

液压扭矩扳手作为一种大直径螺栓的装配工具，具有很多的优点，如输出扭矩大，使用方便，能够在狭窄的空间范围内使用，且能够比较准确控制预紧扭矩的大小等。

While the pure toque is combined by suspension center torque and balancing weight torque, so the change of pure torque can be achieved by changing the motion rule of suspension center and the size of offset angle.

净扭矩是由悬点载荷造成的扭矩和平衡重产生的平衡力矩两项的合成，改变悬点运动规律和平衡重的偏置角可以引起净扭矩的变化。

Utilize energy method to research crook problem of drilling rod under pressure and act on together, having studied the crooked influence to the drilling rod of torsion emphatically, the theory analyses found that Axial load, hole vertex angle and torque are important factors of influence drilling rod crook.

利用能量方法研究了压力和扭矩共同作用下钻杆的弯曲问题，着重研究了扭矩对钻杆弯曲的影响，理论分析发现，轴向载荷，钻孔顶角和扭矩是影响钻杆弯曲的重要因素。

Taking a single disk rotor with hinged ends as research object, to a different forward and backward whirling type the effect and its innate laws of the magnitude and acting direction of the constant torque on the stability are proposed by means of the eigenvalue theory of real linear systems.

以两端简支的单圆盘转子为对象，利用非线性振动理论的多尺度方法，研究了简谐扭矩作用下具有时变参数激励系统的近似解，指出系统出现不稳定组合式共振的可能性并给出了定常扭矩、简谐扭矩、外阻尼对不稳定区域边界条件的影响。

The torque measurement is one of important contents of transmission line. The non-Contract torque measurement method with high precision and high stability is one of hotpots that research machine quantity measurement in various countries today. Therefore, research on a non-contract torque sensor based on screw-type differential transformer is put forward.

扭矩测量是传动线路中的重要内容之一，高精度、高稳定性的非接触式扭矩测量方法是当今各国机械量测量研究的热点之一，为此，提出了一种基于螺管形差动变压器的非接触式扭矩传感器的研究。

For the first time, a screw pile and pile driver system for preventing flood and rushing to deal with an emergency was manufactured. The screw piles of the system is different from screw drills used to sap, and it doesn't push soils out. Analyses, including the screw pile's structural strength analysis and the screw blade's welding analysis, were done by ANSYS, which showed that the screw pile's structural strength is enough and that the distort of the screw blade is small. Testing on the screw pile and pile driver system showed that the system performed stably and could meet the need of preventing flood and rushing to deal with an emergency. A mechanics model of interaction of a screw pile and soil was built, and expressions of torque of screw pile's cylindrical part on the condition of screw pile's crew part being driven into soil fully were gained, then the relation of the torque with screw pitch and out diameter of cylinder, which shows the torque decreases with the screw pitch increasing, and that the torque increases with the out diameter of cylinder increasing, which was according with the experiments of the screw pile's being driven into soils, and thus a screw pile with the best structure was chosen. Experiments of bionic surface showed that, on the condition of certain pressure on the surface, the protruding bionic surface can not reduce adhesion and resistance and that the corrugated bionic surface can reduce adhesion and resistance. An orthogonal experiment of the corrugated bionic surface was done with the factors including the width of protrusion, the space between two protrusions, the trolley's velocity and the vertical surface pressure and with the surface frictional coefficient as the experimental target, and some inclusions were drawn that the best combination of the factors was acquired and that the width of protrusion affected the surface frictional coefficient remarkably.

研制了防汛抢险螺旋桩机系统，提高了沉桩作业效率；利用ANSYS对桩体进行整体结构强度分析以及螺旋叶片的焊接分析，表明桩体结构强度足够，焊接过程中，螺旋叶片的变形小；对整个螺旋桩机系统进行试验，表明该系统性能可靠，工作稳定，作业效率高，能够满足防汛抢险沉桩作业基本需要；建立了螺旋桩桩土作用力学模型，得出螺旋桩沉桩过程中螺旋桩螺旋部分完全进入土体时螺旋桩圆柱部分所受扭矩以及扭矩与防汛抢险螺旋桩的螺旋导程和圆柱外径的关系曲线，表明螺旋桩螺旋部分完全进入土体时螺旋桩圆柱部分所受扭矩随着螺旋导程的增大而减小，随着圆柱外径的增大而增大，这与螺旋桩沉桩试验结论相符合，据此优选出最佳结构的螺旋桩；仿生曲面试验表明，尺寸较小的球冠突起型仿生曲面在一定压力作用下未能起到减粘降阻的作用，而尺寸较大的波纹型仿生曲面相对平板具有一定的减粘降阻作用；以波纹型仿生曲面突起宽度、波纹型仿生曲面两突起之间间距、台车的牵引速度以及叶片表面垂直载荷为因素，以曲面摩擦系数试验指标进行正交试验，寻求出在一定试验条件下最佳因素水平组合；波纹型仿生曲面突起宽度在本试验条件下对曲面摩擦系数影响显著，而其它几个因素对曲面摩擦系数影响均不显著；通过波纹型仿生曲面突起宽度和台车牵引速度的单因素试验，表明曲面摩擦系数随着仿生曲面突起宽度的增大而减小，而随着台车牵引速度的变化基本保持不变，和正交试验结果保持一致。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

A torque tube assembly is mounted into the mast and supported in three (3) areas; the standard torque tube option is for a 32 m (105 ft.) telescoping mast. Other lengths and configurations are available upon request.

一个扭矩管总成被安装于井架并且在三个区域支持扭矩管；标准的扭矩管选择是用于32米(105英尺)的可伸缩的井架，其它长度和配置根据需求可选。

According to the main equipment of Wei 12-1 workover rig and drilling basis data of adjustment well, the hook load and torque of drill string are found out and a new drilling string is presented by using the torque and drag analysis model and calculating software, on which depend to calculate and evaluate the capacity of main drilling equipment of Wei 12-1 workover rig , such as derrick, drawworks, and rotary table, as well as hoisting equipment (traveling block, hook and swivel) and drill line etc.

根据涠12－1修井机主要配套设备和钻调整井的钻井基础数据，运用钻柱摩阻的计算模型，对侧钻过程中钻柱的摩阻/扭矩进行分析计算，提出新的钻具组合，计算大钩载荷及扭矩载荷，并根据计算出的大钩载荷及扭矩载荷，对平台修井机主要钻井设备井架、绞车、转盘、提升设备、钻井大绳等的承载能力进行分析计算，得出分析研究结论，并提出改造的具体思路及相关配套技术的实施方案。

It has been put forward that there exists single Ball point and double Ball points on the symmetrical connecting-rod curves of equilateral mechanisms.

从鲍尔点的形成原理出发，分析对称连杆曲线上鲍尔点的产生条件，提出等边机构的对称连杆曲线上有单鲍尔点和双鲍尔点。

The factory affiliated to the Group primarily manufactures multiple-purpose pincers, baking kits, knives, scissors, kitchenware, gardening tools and beauty care kits as well as other hardware tools, the annual production value of which reaches US$ 30 million dollars.

集团所属工厂主要生产多用钳、烤具、刀具、剪刀、厨具、花园工具、美容套等五金产品，年生产总值3000万美元，产品价廉物美、选料上乘、质量保证，深受国内外客户的青睐