38results about How to "Less freedom" patented technology

The invention discloses a continuous-discontinuous numerical simulation method considering a rock mass thermal coupling problem, and the method comprises the steps: dividing a simulation region into a potential damage region and a non-damage region, and carrying out the grid division of the simulation region; then generating a thermal calculation node system and a force calculation node system for analog calculation, wherein a mapping relationship exists between the thermal calculation node system and the force calculation node system; jointing units are arranged on the grid boundary of the potential damage area, and the rock mass fracture process is simulated through damage of the jointing units; the simulation process is decomposed into a plurality of calculation steps, the heat conduction process and the mechanical calculation process in each calculation step are solved in sequence, whether the joint unit is damaged or not is judged according to the deformation and stress state of the joint unit, the mapping relation is updated until the last calculation step is finished, and the thermal fracture process simulation of the rock mass is completed. According to the method, artificial heat transfer parameters can be prevented from being introduced in the heat conduction simulation process, the fracture evolution rule of the local area of the rock mass is researched in a targeted mode, the calculation cost of the model is reduced, and the dynamic fracture process in the rock mass thermal coupling problem is effectively simulated.

The present invention discloses a pneumatic sample transport device based on deceleration and positioning, the device consists of a positioning component and a deceleration component; the positioning component comprises a U-shaped rabbit pipe with an opening downward and one end as a starting end and the other end as a destination end, and a sample transport device arranged in the U-shaped rabbit pipe and transporting target materials from one end to the other end; the U-shaped rabbit pipe and the sample transport device are respectively provided with magnets that attract each other, the deceleration component comprises a ventilation component arranged at the starting end of the U-shaped rabbit pipe, a deceleration component arranged at the destination end of the U-shaped rabbit pipe, and a plurality of sensor components arranged in the bend of the U-shaped rabbit pipe. The present invention decelerates the sample transport device through a control system and positions the sample transport device through the principle of magnetic attraction, thereby avoiding damage to the sample transport device and the contained sample due to severe impact, and improving automation and reducing the difficulty of manipulator design through automatic positioning of the sample transport device.

The invention provides a method for predicting the vibration response of a far-field building structure caused by subway train operation, and the method comprises the steps: decomposing a subway train-rail-tunnel-stratum-building structure coupling system into a target subsystem and a remaining system, and obtaining a target interface between the target subsystem and the remaining system; the incomplete stratum in the remaining system is recovered to a free site layer not containing the building structure; performing dynamic calculation on the constructed hypothetical free field system to obtain displacement, speed and stress response caused by the subway train operation induced free wave field on the target interface; introducing a viscoelastic artificial boundary at the target interface, and constructing a three-dimensional finite element model; calculating an equivalent excitation load of vibration response caused by the subway train by using free wave field displacement, speed and stress response in combination with viscoelastic artificial boundary parameters; and applying the equivalent excitation load to a viscoelastic artificial boundary of the three-dimensional dynamic finite element model so as to predict the vibration response of the far-field building structure caused by subway train operation.

The invention belongs to the technical field of medical instruments, and particularly relates to a scissor type interbody fusion cage which comprises a base and an upper supporting plate, the base is connected with the upper supporting plate through a scissor type jacking mechanism, and protruding teeth are arranged on the base and the upper supporting plate; the shear type jacking mechanism comprises a jacking block, a shaft rod, an arched top plate, a movable block and a push rod; a movable block is installed on the bottom face in the base, and the arched top plate is located between the movable block and the inner wall of the base. The upper end of the arched top plate is connected with the upper supporting plate; the fusion cage is simple in structure, the arched top plate and the movable block are combined into a relatively flat scissor type structure, the size of the fusion cage is further reduced, the fusion cage can be conveniently implanted and used, the thickness can be conveniently adjusted, meanwhile, the freedom degree of movable parts in the fusion cage is reduced and limited, and the stability of the fusion cage after the thickness is adjusted is guaranteed.

The invention belongs to the technical field of electrolytic hydrogen production, and particularly relates to a seawater in-situ hydrogen production method. According to the method, a phase change mass transfer tank is included and comprises a seawater area (1), a phase change mass transfer layer (2) and an electrolyte area (3); seawater is discharged from a seawater tank, sequentially passes through a prefilter, a first-stage heat exchanger and a second-stage heat exchanger, and enters the seawater area (1) for phase change mass transfer; electrolyte enters the electrolyte area (3) from the electrolyte mixing tank; the phase-change mass transfer is carried out at the phase-change mass transfer layer (2), and the phase-change mass transfer layer (2) is an IPN film; and discharging from the electrolyte area (3) to an electrolytic cell for electrolytic hydrogen production. The IPN membrane is prepared from polyvinyl alcohol and polyimide, and through a series of modification measures such as fluorination, it is ensured that the IPN membrane has high hydrophobicity and good water vapor permeability, so that the efficiency of electrolytic hydrogen production is improved; in addition, the IPN film is simple and convenient to prepare and operate and high in yield.

The invention requests to protect a reinforcement learning mixing method applied to assembly sequence planning, the assembly sequence planning can be essentially understood as a sorting of product parts, the excellent assembly sequence can shorten the production cycle of products, and the production cost is reduced. In the invention, a reinforcement learning algorithm, i.e., a Greedy-QS algorithm, which combines a Q-learning algorithm and a Sarsa algorithm is provided to solve the problem of assembly sequence planning. In the work of the method, firstly, the to-be-assembled product is reasonably abstracted into a mathematical model expressed by several Boolean matrixes, the complexity of the assembly model is reduced, the operability of the algorithm for the assembly sequence planning problem is improved, and then the optimal solution is solved by using the Greedy-QS algorithm. Experiments prove that compared with a Q-learning algorithm, a Sarsa algorithm and a Q-SARSA algorithm, the Greedy-QS algorithm has a faster convergence speed in the assembly sequence planning problem, the obtained reward value of the optimal assembly sequence is higher, and the advantages of the Q-learning algorithm and the Sarsa algorithm are both achieved.

The invention provides a preparation method of a modified nano particle-acrylamide copolymerization type anti-scouring flocculating agent. The preparation method comprises the following steps: firstly, partially modifying nanoparticles by using a silane coupling agent; then taking the modified nanoparticles, acrylamide and acrylic acid as monomers, taking ammonium persulfate, sodium hydrogen sulfite and azobis (isobutylamidine) as initiators, and synthesizing modified nanoparticle-acrylamide copolymerized hyperbranched polymer gel by using an aqueous solution polymerization method under a nitrogen condition; and finally, granulating, drying and crushing to obtain flocculant powder. According to the present invention, the hyperbranched polymer molecules using the nanoparticles as the core and the organic polymer as the branched chain are adopted as the flocculant to improve the flowing water washing resistance and the dispersion resistance of the underwater non-dispersible concrete mixture, and the water reducing agent has the certain water reducing effect so as to effectively improve the concrete fluidity;

The invention provides a titanium oxide film catalytic material for rapid high-yield synthesis of imine as well as a preparation method and application of the titanium oxide film catalytic material. The titanium oxide film catalytic material has continuous and adjustable interlayer spacing on the premise of retaining a titanium oxide nanosheet structure, and rapid and high-yield synthesis of catalytic imine is realized through a two-dimensional nano confinement channel provided by a titanium oxide nanosheet between film layers and a synergistic catalytic effect of photoexcited active oxygen species; and the synthesis of the imine is completed in a continuous mobile phase reaction mode, and the product flows out along with the mobile phase and is separated from the system, so that the separation and purification process is simplified.

The disclosure provides a rockfill concrete three-dimensional fine numerical model, a construction method and a device. A convex polyhedron random aggregate for representing rockfill in rockfill concrete is generated in a sample space, a random placement of rockfill is simulated by simulating a gravity compaction process, and a corresponding surface grid is formed on each rockfill surface. The rockfill surface grid with potential contact is detected, the local surface grid is adjusted, a contact surface is generated, and a rockfill self-supporting framework is obtained. Under the constraint of the rockfill self-supporting framework and the boundary of the sample space, the rockfill, the self-compacting concrete and the interface transition zone are discretized by a three-dimensional body grid, and the rockfill concrete three-dimensional fine numerical model is obtained. The disclosure can truly and accurately reflect the physical characteristics of rockfill concrete based on the polyhedron random aggregate. The rockfill contact surface and the rockfill boundary surface generated by detecting the rockfill grid with potential contact and adjusting the local grid according to the optimal strategy can fully represent the characteristics of the rockfill self-supporting framework.

The present application discloses a bogie and a rail vehicle. The bogie includes an axle bridge, a first elastic member, a second elastic member, a first support frame and a second support frame; the lower ends of the two elastic members are connected to the axle bridge; the first support frame is used to be fixedly connected to the body of the rail vehicle; the second support frame is connected to the upper ends of the two elastic members, and the second support frame is rotatably connected to the first support frame. Thus, the first support frame is used to be connected to the body, the second support frame is connected to the upper ends of the two elastic members, the lower ends of the two elastic members are connected to the axle bridge, and the first support frame is rotatably connected to the second support frame. In this way, when the rail vehicle provided with the bogie is traveling along the extension direction of the track beam, if there is a difference in the height position of the two running surfaces of the track beam, the car body swings around the rotation axis of the first support frame and the second support frame, and the car body has less freedom of swinging, which can improve the riding experience of the people in the car body.

This application discloses a low-scaling coarse-grained modeling method and related apparatus based on machine learning, belonging to the field of molecular dynamics simulation technology. The method includes: acquiring full-atom data of the target system; constructing a coarse-grained model to be learned; the potential function form of the coarse-grained model to be learned includes a potential energy expression describing polar correlation interactions, and the coarse-grained model to be learned is a model validated by full-atom data; using the full-atom data as the optimization target, the potential function parameters to be determined in the coarse-grained model to be learned are automatically iteratively optimized using machine learning methods until preset conditions are met, and the optimized coarse-grained model is output. While preserving key electrostatic and dipole physics mechanisms, this method significantly reduces the degrees of freedom of the coarse-grained model and reduces human intervention through a highly automated process, thereby improving the computational efficiency of complex system simulations and enhancing the model's accuracy, stability, and cross-system transferability.

The fluid conveying equipment comprises a medicine storage device, a rotating sleeve, a ratchet wheel, a ratchet wheel transmission part and a power assembly, and a piston rod of the medicine storage device is sleeved with the rotating sleeve in a threaded connection mode; the ratchet wheel is mounted on the rotating sleeve in a circumferential limiting manner; the ratchet wheel transmission part is elastically clamped on the tooth surface of the ratchet wheel; the power assembly is in transmission connection with the ratchet transmission part; wherein the power assembly has a first working mode and a second working mode for continuous operation, and in the first working mode, the power assembly drives the ratchet wheel transmission part to perform first movement and is in linkage with the ratchet wheel to rotate by a first angle in the preset direction; in the second working mode, the power assembly drives the ratchet wheel transmission part to conduct second movement and is in linkage with the ratchet wheel to rotate by a second angle in the preset direction. In this way, the structure of the fluid conveying equipment can be simplified, the size is reduced, and the control precision and reliability of the fluid conveying equipment during working are improved.

The present invention relates to a method for calibrating a camera using a calibrated robot. First, the robot is pre-calibrated using a calibrated camera to obtain calibration parameters of the robot. Then, the camera to be calibrated is replaced with the calibrated camera to collect images for calibration, and the parameters of the camera to be calibrated are solved. By using this method, the result of calibration using a long focal length module is sufficiently accurate, and the accuracy of image recognition for large distortion effects is improved.

The present invention provides a titanium oxide film catalytic material for rapid and high-yield synthesis of imines, and a preparation method and use thereof. The titanium oxide film catalytic material has a continuously adjustable interlayer spacing while retaining the titanium oxide nanosheet structure, and realizes rapid and high-yield catalytic synthesis of imines through the synergistic catalytic effect of the two-dimensional nano-confined channels provided by the titanium oxide nanosheets between the film layers and the active oxygen species excited by light, and the synthesis of the imines is completed in a continuous mobile phase reaction mode, and the product flows out with the mobile phase and leaves the system, simplifying the separation and purification process.

The present application relates to the technical field of vehicles, in particular to a load wheel chain assembly, comprising a load wheel and a load wheel suspension, the load wheel is installed on the load wheel suspension, the load wheel suspension is sequentially connected in series, forming a flexible load wheel chain assembly. The load wheel chain assembly can be used as a load wheel and a supporting belt wheel, and can guide the rubber track by limiting the lateral displacement (along the width direction of the track) of the rubber track, thereby avoiding the occurrence of the off-track condition. The flexible form of the load wheel chain assembly can make the ground contacting part of the walking system better adapt to the change of the terrain, and facilitate the adjustment of the ground contacting area of the walking system.

A solid-liquid bundled rocket structure simplified modeling method, comprising: establishing a rocket structure three-dimensional finite element model, the rocket structure three-dimensional finite element model comprising a main structure model and a secondary structure model of a rocket body; for the main structure model of the rocket body, according to the type of the main structure model of the rocket body, simplifying the type of the main structure model of the rocket body into a low-dimensional model; for the secondary structure model of the rocket body, according to the type of the secondary structure model of the rocket body, simplifying the type of the secondary structure model of the rocket body into a particle element model; simplifying each main structure model and each secondary structure model of the rocket body, and connecting the obtained low-dimensional model and particle element model according to the corresponding relationship of the rocket structure three-dimensional finite element model to obtain a rocket structure simplified model.

The embodiment of the invention discloses a light splitting assembly, a signal transceiver and an optical network, and relates to the field of light. According to the specific scheme, the light splitting assembly comprises a transparent body, a first light filtering element and a first light reflecting element, the transparent body comprises a first surface, a second surface, a third surface and a fourth surface, and the first surface and the second surface are oppositely arranged and are not parallel; the third surface and the fourth surface are oppositely arranged. The first light filtering element is attached to the second surface and is used for transmitting a first light beam from the first surface and reflecting a second light beam from the first surface; the first light reflecting element is attached to the fourth surface and used for reflecting the second light beam. The light path in the transparent body is not influenced by the relative positions of the light splitting assembly and other components, and it is ensured that the light splitting assembly has a good light splitting effect. In addition, the relative position of the first light reflecting element and the first light filtering element does not need to be adjusted, and the installation and adjustment cost is reduced.

The utility model provides a fixed subassembly, battery and battery pack, the fixed subassembly includes side plate and spacer ring, spacer ring is adapted to fix pole core pole ear, spacer ring includes first spacer ring and second spacer ring, first spacer ring is connected with second spacer ring, first spacer ring is equipped with first embedding portion, second spacer ring is equipped with second embedding portion, second spacer ring is equipped with second embedding portion, second spacer ring is equipped with second embedding portion. The first space ring is provided with a first embedding part, the second space ring is provided with a second embedding part, the side plate comprises a clamping structure, and the clamping structure is connected with the first embedding part and / or the second embedding part, so that the side plate and the space ring are fixed. According to the design, the complexity and time consumption of a traditional interference fit mode are avoided, so that the buckling operation is simpler and more convenient.

The embodiment of the invention discloses an order reduction processing method for direct coupling of multiple physical fields of a transformer and a related device, and the method comprises the steps: obtaining and utilizing geometric parameters, material attributes and operation conditions of the transformer, and building a simulation geometric model of the transformer; based on heating, fluid flowing and fluid-solid heat transfer processes during operation of the transformer, constructing an initial coupling model of direct coupling of a heat-fluid-solid multi-physics field of the transformer; and establishing a reduced-order model of a heat-fluid-solid multi-physics field by using a random forest algorithm and the initial coupling model, and performing multi-physics field operation simulation of the transformer according to the simulation geometric model and the reduced-order model to obtain an operation simulation result reflecting the operation condition of the transformer in the multi-physics field. By reducing the order of the initial coupling model through the random forest algorithm, the complexity of the model can be simplified, the degree of freedom in the simulation model can be reduced, the calculation efficiency of simulation can be improved, the requirement for calculation resources can be reduced, and meanwhile the reliability of a result is kept.

The invention relates to a milking execution mechanism and a milking robot, and belongs to the technical field of milking animal milking equipment.The milking execution mechanism comprises a shell, a plurality of milk cup assemblies, a traction assembly and an overturning assembly, and the traction assembly is connected with the milk cup assemblies through flexible traction pieces and can tighten the milk cup assemblies; after the milk cup assembly is connected with a nipple of an animal to be milked, the milk cup assembly can be released, the turnover assembly is located on an extending path of the flexible traction piece, when the flexible traction piece is in a tightened state, the milk cup assembly and the turnover assembly are combined into a whole, the turnover assembly rotates around a turnover shaft, and the milk cup assembly is switched between a vertical posture and an inclined posture. The technical problems that in the prior art, the degree of freedom of a milk cup in a parking position is large, the milk cup is easily kicked by a milking animal and is clamped, and the next operation cannot be carried out can be solved.

The present invention discloses a servo motor and an automation system. The winding joint (400) of the servo motor adopts a fastening type connector, wherein the fastening type connector comprises a tail clamp shell (2). The connector body (1) of the connector is fastened to the tail clamp shell (2). The tail clamp shell (2) specifically comprises an upper shell (21) and a lower shell (22) which are respectively located on the upper and lower sides of the connector body (1) and assembled together. After the upper shell (21) and the lower shell (22) are assembled, a cavity is formed in which the connector body (1) is fastened. The connector body (1) is fastened inside by the tail clamp shell (2), thereby reducing the radial degree of freedom of the connector body (1), thereby preventing the connector body (1) from being subjected to radial external force, resulting in pin withdrawal, female pin cracking, loosening or falling off of cable connection, etc., thereby improving the reliability and stability of the servo motor.

The invention provides a graphene oxide membrane material and a method for selectively catalyzing an ammonolysis reaction of an epoxy compound by using the graphene oxide membrane material. Through a mild heat treatment procedure, the mixed sp2-sp3 hybrid GO phase is promoted to be converted into different oxidation regions and graphite regions, and ordering of the graphite regions is achieved. The ordering degree is adjusted by regulating and controlling the heat treatment temperature and corresponds to the graphite domains with different numbers and sizes, so that the content of the graphite domains is adjusted. The efficient catalysis of the ammonolysis reaction of the epoxy compound is realized at room temperature in a continuous mobile phase reaction mode by utilizing the stabilizing effect of a two-dimensional nano confinement channel provided by the graphene oxide nanosheet between membrane layers and a graphite domain on the surface of the interlayer nanosheet on an intermediate and combining the synergistic catalytic effect of an acidic catalytic site; the highest reactant conversion rate can reach 100%, the highest reaction zone selectivity can reach 100: 0, the configuration of the obtained main product is opposite to that of the raw material, and the product does not need to be separated and purified and is environment-friendly.

The present invention provides a novel single-degree-of-freedom two-finger coupling clamping manipulator, comprising a bracket, a servo, a gear mechanism, and two symmetrically arranged clamping arms, wherein the servo is arranged on the bracket, and the servo is connected to the two clamping arms through a gear mechanism, and corresponding connecting rod mechanisms are arranged on the two clamping arms. The present invention adopts a single-servo coupling symmetrical clamping method, which greatly reduces the control difficulty compared to the dexterous hand scheme; at the same time, compared to the simple mechanical claw scheme of a single degree of freedom, the volume is reduced within the same grasping range, and it is more flexible; the present invention uses a parallel four-bar linkage mechanism and a reverse four-bar linkage mechanism, which is simple and effective for dynamic transmission, and can accurately grasp objects; the single-servo symmetrical design of the present invention effectively reduces the degree of freedom without losing applicability, reduces costs and processing technology, and is a clamping manipulator with strong applicability.

The invention discloses a neural network construction method for peanut seed phenotypic parameter prediction, which belongs to the technical field of neural networks, is used for peanut seed phenotypic parameter prediction, and comprises the following steps: obtaining a peanut photo as a data source, dividing a training set and a test set, inputting the training set into an improved YOLOv5s neural network for training, and after the training meets a precision requirement, obtaining a prediction result; and inputting the test set into the trained improved YOLOv5s neural network to predict phenotypic parameters of the peanut seeds to obtain the perimeter and the area of the peanut seeds. According to the invention, the prediction frame is generated according to the specific shape of the object and the orientation of the peanut, all-directional dead-angle-free accurate measurement is realized, and the model is enabled to better focus on the feature information of the peanut; more features are fused under the condition that the cost is not increased, and redundant calculation is reduced; and the degree of freedom of the regression process is effectively reduced, so that the convergence speed of the network is accelerated, and the regression accuracy is improved.

The invention discloses a multilayer heterogeneous structure guided wave modeling analysis method based on damping introduction and grid optimization, and belongs to the technical field of aerospace structure health monitoring, and the method comprises the steps: building geometric models of a main bearing-heat insulation tile structure and a piezoelectric element, and defining parameters; defining material parameters of the main bearing-heat insulation tile structure and the piezoelectric element; carrying out multi-physics field coupling setting; a viscous-elastic material is introduced for damping; performing grid division on the structure; and setting a time step for analysis and solution. According to the method, the attenuation effect of related viscous-elastic materials on the guided wave amplitude is considered, grid division is optimized through the sweeping method, the unit freedom degree is remarkably reduced, meanwhile, the grid quality is ensured, and the accuracy of guided wave modeling analysis is further effectively controlled.

The present invention relates to a water body diffuse attenuation coefficient inversion method based on a two-stream method model. The inversion method includes obtaining the absorption coefficient, backscattering coefficient and solar zenith angle of the water body; inputting the obtained absorption coefficient, backscattering coefficient and solar zenith angle into the inversion model to obtain the water body diffuse attenuation coefficient, wherein the inversion model is obtained based on the two-stream method model; the obtaining method includes using the two-stream method model to obtain the expression of the diffuse attenuation coefficient and the irradiance reflectivity just below the water surface to obtain the initial expression of the water body diffuse attenuation coefficient inversion model; pre-processing the initial expression to obtain multiple parameters to be determined; using a preset simulation data set to parameterize each of the parameters to be determined to obtain the final expression of each parameter to be determined, and obtaining the final expression of the water body diffuse attenuation coefficient inversion model based on the final expression of each parameter to be determined, thereby obtaining the inversion model. According to the present invention, the problem that the accuracy of the inversion model of the prior art needs to be improved can be solved.

The invention provides a moment method solving method for an electromagnetic field of an IBC object in a layered medium based on SDIE. The method comprises the following steps that modeling is conducted on a scatterer to be simulated and a background layered medium of the scatterer in COMSOL; mesh generation is carried out on the surface of the scatterer, meshes cannot be distributed in a cross-layer mode, and for areas in different layers, the corresponding meshes adopt different sampling rates to guarantee the calculation accuracy of results; compared with a finite element method for solving such problems, the method has the advantages that mesh generation does not need to be performed on a background medium, and the degree of freedom and memory used for solving an integral equation are far smaller than those used by the finite element method; the method shows excellent calculation efficiency and calculation precision in actual calculation examples.

The utility model discloses a bionic aquatic plant riverway purification device which comprises guide grooves and bionic aquatic plants which are arranged on two sides of a riverway, the guide grooves are formed by pouring concrete, matched buoyancy tanks are arranged in the guide grooves, a telescopic frame is connected between the two opposite buoyancy tanks, the telescopic frame comprises a shear fork mechanism and a plurality of cross rods, and the shear fork mechanism is connected with the bionic aquatic plants. The transverse rod is longitudinally connected between two opposite hinge points of the shear fork mechanism, a transverse through round hole is formed in the support and used for being connected with a transverse first pull rope in a penetrating mode, an aeration pipe is installed on the riverbed under the telescopic frame, and a plurality of transverse second pull ropes are connected into the aeration pipe; the first pull ropes and the second pull ropes are vertically opposite one by one, a plurality of uniformly distributed bionic aquatic plants are connected between the first pull ropes and the second pull ropes, and a plurality of uniformly distributed rotary aeration discs are mounted on the aeration pipe. The bionic aquatic plants are arranged between the telescopic frame and the aeration mechanism, the freedom degree of the bionic aquatic plants is reduced, the winding probability is reduced, and meanwhile aeration can promote growth and reproduction of aerobic bacteria on the bionic aquatic plants.

The invention relates to the technical field of composite material detection, in particular to a hollow particle reinforced composite material interface debonding simulation method based on a VCFEM model, and the method comprises the following steps: S1, creating a geometric model; s2, defining an interface between the matrix and the inclusion, and setting that no delamination is contained at the initial time; s3, simulating the deformation and damage evolution process of the composite material under the action of external force by gradually increasing the applied load or displacement; s4, adopting a grid re-division technology to ensure that the model can dynamically adjust a grid to adapt to a new crack propagation path and a delamination state when the stress of an interface node exceeds a critical value to cause interface debonding; s5, in a numerical simulation stage, generating a stress nephogram after each incremental loading step so as to visually display stress distribution and concentration phenomena in the composite material; according to the method, the interface delamination damage evolution process of a complex composite material structure is effectively simulated.

The present application relates to a kind of heavy load equal material forming robot real-time dynamics digital twin system modeling method, comprising the following steps: S1, only considering the dynamics model of heavy load equal material forming robot of link elastic deformation is established;S2, construct multi-sensor distributed force / position interactive measurement system, arrange grating ruler, encoder, pressure sensor, data fusion is carried out in combination with Kalman filter;S3, PID algorithm is embedded into control system, realizes the closed-loop control of motion trajectory tracking and force feedback;S4, establish the digital twin framework including five dimensions of physical entity, virtual entity, digital data, connection and service.The present application realizes the five-dimensional digital twin system of heavy load equal material forming robot, provides the overall view of robot dynamics through the interaction of physical space and network space, overcomes the problems such as large resource consumption and response delay of high-fidelity simulation.