A two-degree-of-freedom turntable mechanism for detecting side lever motion state and characteristics

Abstract

The present specification discloses a kind of detection side rod motion state and characteristic two-degree-of-freedom rotary table mechanism, including base assembly, annular frame assembly, U-shaped frame assembly, motor drive assembly and lateral roll balancing assembly, base assembly, including aluminum profile frame and positioning base, annular frame assembly is set on positioning base, realize lateral roll motion in horizontal direction;U-shaped frame assembly is set on annular frame, setting direction is perpendicular to the setting direction of annular frame assembly, to assist to realize the rotation of pitch angle;Motor drive assembly output torque drives annular frame assembly to complete lateral roll motion, and torque sensor measures the angle and torque of rotation;U-shaped frame assembly is fixed with the same driving, detection mode of annular frame assembly, while rotating along with annular frame along lateral roll angle, realize the rotation of pitch angle under the driving of motor, to realize the detection of side rod motion state and characteristic in two degrees of freedom.

Description

Technical Field

[0001] This utility model relates to the field of mechanical control technology, and more specifically, to a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod. Background Technology

[0002] The relative motion characteristics and fatigue strength between the side lever and the actuator are crucial indicators of operating system performance. On one hand, real-time monitoring and analysis of the data from the side lever and actuator are necessary. The side lever, as an input, must provide motion input signal characteristic data, which is then compared with the actuator's motion characteristic data to derive the relative characteristic relationship. On the other hand, the operation of the side lever can be simulated by repeatedly moving the control handle multiple times to verify the fatigue strength between the side lever and the actuator. Currently, it is difficult to accurately fix and position the side lever for dynamic characteristic analysis and fatigue strength verification. Furthermore, the side lever is prone to shaking during movement, affecting measurement accuracy. Moreover, most existing testing equipment is designed for side levers in specific control scenarios and lacks versatility.

[0003] Therefore, there is an urgent need to study a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of the side rod. On the basis of providing support, fixation and positioning for the side rod equipment, it can drive the side rod to move according to the required control signal and provide feedback on the motion state, and on the other hand, it can verify the fatigue strength of the side rod equipment. Utility Model Content

[0004] This specification provides a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, in order to overcome at least one technical problem existing in related technologies.

[0005] According to embodiments of this specification, a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod is provided, comprising a base assembly, a ring frame assembly, a U-shaped frame assembly, a motor drive assembly, and a roll balancing assembly, wherein...

[0006] The base assembly includes an aluminum profile frame and a positioning base. The positioning base is disposed on the upper surface of the aluminum profile frame. The aluminum profile frame is used to support the entire turntable mechanism, and the positioning base is used to position the side rod device to be tested.

[0007] The ring frame assembly is set on the positioning base of the base assembly and is used to fix the side rod device in the horizontal direction to assist in realizing the lateral rolling motion of the side rod device. The lateral rolling motion is the first degree of freedom of the turntable mechanism.

[0008] The U-shaped frame assembly is set on the ring frame, and its setting direction is perpendicular to the setting direction of the ring frame assembly. It is used to fix the side rod device in the vertical direction to assist in realizing the pitch angle rotation of the side rod device. The pitch angle rotation is the second degree of freedom of the turntable mechanism.

[0009] The ring frame assembly and the U-shaped frame assembly include a torque sensor, which is used to measure the angle of rotation of the side rod device;

[0010] The side rod device to be tested is installed inside the aluminum profile frame on the base assembly. The side rod of the side rod device is fixed to the ring frame assembly and the U-shaped frame assembly through the positioning base. The positioning and installation of the side rod device, the ring frame assembly, and the U-shaped frame assembly are all fixed through the positioning base, and the installation axes of the three are kept on the same plane.

[0011] The motor drive assembly includes a motor, which is used to drive the ring frame assembly to move the side rod device in a rolling motion and to drive the U-shaped frame assembly to move the side rod device in a pitch angle rotation.

[0012] The roll balancing assembly is used to balance the weight distribution of the turntable mechanism to ensure motion stability in both degrees of freedom.

[0013] The ring frame assembly is fixedly installed on the positioning base. The motor drive assembly outputs torque to drive the ring frame assembly to complete the roll motion. The torque sensor measures the rotation angle and torque. The U-shaped frame assembly is fixed in the same way as the ring frame assembly in terms of driving and detection. While rotating with the ring frame along the roll angle, it also achieves pitch angle rotation under the drive of the motor, so as to realize the detection of the motion state and characteristics of the side rod in two degrees of freedom.

[0014] Preferably, the base assembly includes an aluminum profile frame, a positioning base, a three-axis displacement stage, a positioning base support plate, a roll motor support plate, a die-cast corner bracket, adjustable feet, a first positioning support, a second positioning support, a pressure block, a quick-release pin, a positioning shaft, an adjustable clamping head, and a fixed-side roll bearing seat, wherein...

[0015] The aluminum profile frame is a multi-layered ribbed frame support structure used to support the entire turntable mechanism. Inside the aluminum profile frame, there is a three-axis displacement stage. On the upper surface of the aluminum profile frame, there are a positioning base, a positioning base support plate, a roll motor support plate, a die-cast corner seat, adjustable feet, a first positioning support, a second positioning support, a pressure block, a quick-release pin, a positioning shaft, an adjustable clamping head, and a fixed side roll bearing seat.

[0016] Positioning base support plate, which is fixedly connected to aluminum profile frame;

[0017] The positioning base is set above the positioning base support plate and is fixedly connected to the positioning base support plate by a die-cast corner bracket;

[0018] The side rod device is set on a three-axis displacement platform inside the aluminum profile frame. It is positioned with the positioning base via a positioning shaft and a first positioning support and a second positioning support. The first positioning support is set in the middle of the positioning base, and the second positioning support is set at the end of the positioning base away from the motor drive assembly. The axes of the first positioning support and the second positioning support are perpendicular to each other.

[0019] The positioning shaft is installed on the side rod device and connected to the positioning support via a pressure block and a quick-release pin;

[0020] The three-axis displacement stage is used to adjust the position of the side rod device along the X, Y, and Z axes to ensure that the positioning shaft installed on the side rod device and the first and second positioning supports installed on the positioning base cooperate with each other.

[0021] An adjustable clamping head, mounted on a positioning base, is used for secondary reinforcement of the side rod equipment;

[0022] Adjustable support feet are set on the side of the positioning base support plate near the motor drive assembly and are fixedly connected to the positioning base support plate for limiting protection of the ring frame assembly in the power-off state.

[0023] A roll motor support plate is vertically installed on the edge of the positioning base support plate near the motor drive assembly to support the motor that drives the roll motion.

[0024] The fixed-side roll bearing housing is located inside the roll motor support plate and is used to connect the motor shaft that drives the roll motion.

[0025] Preferably, the annular frame assembly includes a roll rotation bracket, a roll drive shaft assembly, a roll support shaft assembly, a fixed-side pitch bearing housing, and a mounting-side roll bearing housing, wherein...

[0026] The roll rotation bracket is fixedly connected to the positioning base support plate; the roll drive shaft assembly and the roll support shaft assembly cooperate with each other. The roll drive shaft assembly is located on the side closer to the motor drive assembly, and the roll support shaft assembly is located on the side farther from the motor drive assembly. Both are fixed to the positioning base. The roll support shaft assembly is used to provide support for the roll shaft, and the roll drive shaft assembly, in addition to providing support, is used to provide the corresponding drive structure and detection structure for the roll movement of the roll shaft.

[0027] The roll drive shaft system assembly includes a torque sensor, a first torque sensor adapter, a second torque sensor adapter, a flat key, a roll rotation bracket connector, a roll shaft, paired diagonal contact ball bearings, a roll bearing pull-out collar, and a roll shaft end limit block; the roll support shaft system assembly includes a roll rotation bracket connector, a roll shaft, paired diagonal contact ball bearings, a bearing pull-out collar, and a roll shaft end limit block;

[0028] The roll shaft passes through the roll motor support plate and is fixedly connected to the roll rotating bracket connector. The roll shaft is also fixedly connected to the roll rotating bracket. The roll bearing pull-out collar and the paired angular contact ball bearings are installed on the roll shaft one after the other and are axially fixed by the roll shaft end limit block. The roll shaft end limit block is fixedly connected to the roll shaft. The roll bearing pull-out collar is used to assist in the pull-out of the bearing.

[0029] A flat key, one end of which is connected to the output shaft of the motor of the motor drive assembly, and the other end of which is engaged with the keyway on the first torque sensor adapter to realize the transmission of the output torque of the motor drive assembly;

[0030] A torque sensor is mounted on the roll shaft. The first torque sensor adapter is fixedly connected to the outer ring of the torque sensor, and the second torque sensor adapter is fixedly connected to the inner ring of the torque sensor and the roll rotation bracket connector, respectively.

[0031] A fixed-side rolling bearing housing is mounted on a positioning base, and the outer rings of the paired angular contact ball bearings on the rolling drive shaft assembly and the rolling support shaft assembly are embedded in the fixed-side rolling bearing housing; a mounting-side rolling bearing housing is mounted on the rolling shaft and fixedly connected to the fixed-side rolling bearing housing to achieve the fixation of the rolling drive shaft assembly and the rolling support shaft assembly on the positioning base;

[0032] The fixed pitch bearing housing is located in the middle of the roll rotation bracket and is fixed to the roll rotation bracket.

[0033] Preferably, the U-shaped frame assembly includes a pitch drive shaft system assembly, a pitch support shaft system assembly, a rod head assembly, a mounting-side pitch bearing seat, a pitch shaft end limiting block, and a lead lever head, wherein,

[0034] The pitch axis is divided into two sides: the drive-side pitch axis is closer to the motor drive assembly, and the support-side pitch axis is closer to the roll trim assembly. The pitch support shaft assembly supports the pitch axis, and the pitch drive shaft assembly drives the pitch axis to rotate in pitch angles. The lever head assembly spans the middle of the ring frame assembly, and the lead lever head is vertically set in the center of the U-shaped frame assembly. The lever head assembly is used to adjust the position and angle of the lead lever head. The side pitch bearing seat is installed and fixedly connected to the fixed side pitch bearing seat of the ring frame assembly.

[0035] The pitch drive shaft assembly includes a flat key, a torque sensor, a third torque sensor adapter, a fourth torque sensor adapter, a drive-side pitch shaft, a deep groove ball bearing, and a pitch bearing pull-out collar.

[0036] A flat key, one end of which is connected to the output shaft of the motor of the motor drive assembly, and the other end is installed in the keyway of the third torque sensor adapter and the drive-side pitch shaft to realize the transmission of torque from the motor assembly to the pitch drive shaft assembly and then to the stick head assembly;

[0037] A torque sensor is mounted on the drive-side pitch axis. The third torque sensor adapter is fixedly connected to the outer ring of the torque sensor, and the fourth torque sensor adapter is fixedly connected to the inner ring of the torque sensor and the drive-side pitch axis, respectively.

[0038] The pitch bearing pull-out collar and the deep groove ball bearing are installed onto the drive-side pitch shaft in sequence.

[0039] The pitch support shaft system assembly includes a support-side pitch shaft, a flat key, a deep groove ball bearing, and a pitch bearing pull-out collar. The connection method is the same as that of the pitch drive shaft system assembly.

[0040] The clubhead assembly includes a pitch axis adapter, a first telescopic beam, a second telescopic beam, a guide shaft, a guide shaft support, a guide shaft fixing seat, a clubhead bearing seat, a clubhead bearing seat end cap, a pair of diagonal contact ball bearings, a lock nut, a clubhead adjusting nut, and an adjusting nut handle;

[0041] Symmetrical telescopic beam structures are provided on both sides of the clubhead assembly. The telescopic beam structure includes a first telescopic beam and a second telescopic beam, with the first telescopic beam at the bottom and the second telescopic beam at the top. The first telescopic beam is designed with a sliding groove and is stacked with the second telescopic beam to form a telescopic beam assembly. The first telescopic beam is connected to the pitch drive shaft system assembly and the pitch support shaft system assembly on both sides of the clubhead assembly through a pitch shaft adapter, and is fixed by a pitch shaft end limit block. The pitch shaft end limit block is fixedly connected to the ends of the drive-side pitch shaft and the support-side pitch shaft, respectively.

[0042] The guide shaft is horizontally set, with its two ends respectively cooperating with the guide shaft support seat and the guide shaft fixing seat. One end of the guide shaft fixing seat is fixedly connected to the second telescopic beam.

[0043] The lever head is vertically positioned and is located in the middle of the guide shaft via a lever head bearing seat.

[0044] The end cap of the rod head bearing housing is mounted on the rod head bearing housing;

[0045] The outer ring of the paired angular contact ball bearing mates with the rod head bearing housing and is fixed by the rod head bearing housing end cap, while the inner ring mates with the rod head adjusting nut and is fixed by the locking nut.

[0046] The adjusting nut handle is fixedly connected to the rod head adjusting nut. When the lead screw head is engaged with the rod head adjusting nut, the height of the rod head assembly along the lead screw head direction can be adjusted by adjusting the adjusting nut handle.

[0047] In the pitch drive shaft system assembly and the pitch support shaft system assembly, the outer rings of the deep groove ball bearings are respectively embedded in the fixed pitch bearing housings on both sides of the annular frame assembly, and are fixedly connected to the fixed pitch bearing housings by installing the pitch bearing housings.

[0048] Preferably, the motor drive assembly includes a roll motor assembly and a pitch motor assembly, wherein the roll motor assembly is positioned perpendicular to the pitch motor assembly.

[0049] The roll motor assembly includes: a servo motor, a reducer, a photoelectric sensor, an adjustable limit stop, a roll motor support, and an output shaft adapter.

[0050] The reducer is fixedly connected to the servo motor and the roll motor support on both sides, and the output shaft adapter is fixedly connected to the output shaft of the reducer; the photoelectric sensor is fixedly connected to the roll motor support, and the adjustable limit plate is fixed on the output shaft adapter. The adjustable limit plate is provided with a sliding groove. The adjustable limit plate is manually adjusted to switch the level of the photoelectric sensor at different detection angles, so as to realize the function of two-degree-of-freedom rotation angle limit indication.

[0051] The pitch motor assembly includes: a servo motor, a reducer, a photoelectric sensor, an adjustable limit stop, a pitch motor support, and an output shaft adapter. The connection method is the same as that of the roll motor assembly.

[0052] The roll motor assembly is fixed to the roll motor support plate via the roll motor bracket and is in a supported state. The pitch motor assembly is fixed to the roll rotating bracket via the pitch motor bracket and is in a suspended state. Both the roll and pitch motor assemblies transmit torque through the output shaft adapter and the first torque sensor adapter.

[0053] Preferably, the roll trimming assembly includes a pitch motor support, a cylindrical counterweight, a limiting block, a lead screw, and a counterweight ball, wherein...

[0054] The cylindrical counterweight is fixedly connected to the pitch motor support, and the counterweight ball is fixedly connected to the end of the lead screw to form a counterweight bar. The cylindrical counterweight is screwed into the lead screw through the threaded engagement of the lead screw and the cylindrical counterweight. The weight is adjusted to the left and right sides in the roll direction by fine adjustment according to the screwing depth.

[0055] The limiting block is assembled to the end of the cylindrical counterweight. When the U-shaped frame assembly rotates, the limiting boss at the tail of the pitch axis on its supporting side contacts the limiting block to achieve pitch direction limiting.

[0056] Preferably, the motors of the turntable mechanism are all direct-drive servo motors, and the motors are equipped with angle encoders to detect the rotation angle in real time.

[0057] Preferably, the turntable structure is mainly made of 304 stainless steel and 42CrMo alloy structural steel, and the aluminum profile frame supporting the turntable structure is made of 6063 material with a side length of 60 mm.

[0058] Preferably, the roll bearing housing is made of paired angular contact ball bearings, and the pitch shaft is made of two sets of deep groove ball bearings installed in series.

[0059] Preferably, a fuma wheel is installed at each of the four corners of the bottom of the aluminum profile frame.

[0060] The beneficial effects of the embodiments in this specification are as follows:

[0061] This specification provides an embodiment of a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod. This two-degree-of-freedom turntable mechanism can adjust, support, fix, and position the side rod device, and drive the side rod to realize specific motion modes of two rotational degrees of freedom according to the instructions of the control system. It has high motion accuracy and good positioning accuracy, and can detect the rotation angle and torque in real time during the motion.

[0062] The innovative aspects of the embodiments in this specification include:

[0063] 1. The structural design of the two-degree-of-freedom turntable used for side rod dynamic signal detection and fatigue strength verification in this specification includes a base assembly, a ring frame assembly, a U-shaped frame assembly, a motor drive assembly, and a roll balancing assembly. The cooperation between these components and the structural design are one of the innovative points of the embodiments in this specification.

[0064] 2. In this specification, the turntable mechanism integrates three-axis displacement and attitude adjustment with the turntable structure, and detects the rotation angle and torque in real time during the motion, which is one of the innovative points of the embodiments in this specification.

[0065] 3. In this specification, a photoelectric sensor is used to realize manually adjustable two-degree-of-freedom rotation for angle detection. The matching lever head replaces the original equipment side rod to achieve height adjustment according to usage requirements. The connection is stable and highly versatile, which helps to improve the motion characteristics of the mechanism. This is one of the innovative points of the embodiments in this specification. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments or related technologies of this specification, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 A schematic diagram of a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, provided as an embodiment of this specification;

[0068] Figure 2 This is a schematic diagram of a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, provided as an embodiment of this specification.

[0069] Figure 3This is a schematic diagram of a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, provided as an embodiment of this specification.

[0070] Figure 4 This specification provides a schematic diagram of the structure of a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, based on one embodiment of the present specification.

[0071] Figure 5 This specification provides a schematic diagram of the structure of a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, based on one embodiment. Detailed Implementation

[0072] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0073] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this specification are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0074] This specification discloses a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, which will be described in detail below.

[0075] Figure 1 This is a schematic diagram of a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, provided as an embodiment of this specification. Figure 1 As shown, a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod includes a base assembly 100, a ring frame assembly 200, a U-shaped frame assembly 300, a motor drive assembly 400, and a roll balancing assembly 500, wherein...

[0076] The base assembly 100 includes an aluminum profile frame and a positioning base. The positioning base is disposed on the upper surface of the aluminum profile frame. The aluminum profile frame is used to support the entire turntable mechanism, and the positioning base is used to position the side rod device to be tested.

[0077] The ring frame assembly 200 is mounted on the positioning base of the base assembly and is used to fix the side rod device in the horizontal direction to assist in realizing the lateral rolling motion of the side rod device. The lateral rolling motion is the first degree of freedom of the turntable mechanism.

[0078] The U-shaped frame assembly 300 is mounted on the ring frame and its setting direction is perpendicular to that of the ring frame assembly. It is used to fix the side rod device in the vertical direction to assist in realizing the pitch angle rotation of the side rod device. The pitch angle rotation is the second degree of freedom of the turntable mechanism.

[0079] The ring frame assembly 200 and the U-shaped frame assembly 300 include torque sensors for measuring the angle of rotation of the side rod device.

[0080] The side rod device to be tested is installed inside the aluminum profile frame on the base assembly. The side rod of the side rod device is fixed to the ring frame assembly and the U-shaped frame assembly through the positioning base. The positioning and installation of the side rod device, the ring frame assembly, and the U-shaped frame assembly are all fixed through the positioning base, and the installation axes of the three are kept on the same plane.

[0081] The motor drive assembly 400 includes a motor, which is used to drive the ring frame assembly to move the side rod device in a rolling motion and to drive the U-shaped frame assembly to move the side rod device in a pitch angle rotation.

[0082] The 500 roll balancing assembly is used to balance the weight distribution of the turntable mechanism to ensure stable motion in both degrees of freedom.

[0083] The ring frame assembly 200 is fixedly installed on the positioning base. The motor drive assembly outputs torque to drive the ring frame assembly to complete the roll motion. The torque sensor measures the rotation angle and torque. The U-shaped frame assembly 300 is fixed in the same driving and detection method as the ring frame assembly 200. While rotating with the ring frame along the roll angle, it also achieves pitch angle rotation under the drive of the motor, so as to realize the detection of the motion state and characteristics of the side rod in two degrees of freedom.

[0084] Figures 2-5 The following is a schematic diagram of the structure of a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, provided as an embodiment of this specification. The diagram is shown from multiple perspectives.

[0085] In a specific embodiment, the base assembly 100 includes an aluminum profile frame 3, a positioning base 11, a three-axis displacement stage 2, a positioning base support plate 17, a roll motor support plate 18, a die-cast corner bracket 12, adjustable feet 10, a first positioning support 15, a second positioning support 13, a pressure block 32, a quick-release pin 31, a positioning shaft 14, an adjustable clamping head 33, and a fixed-side roll bearing seat 39.

[0086] The aluminum profile frame 3 is a frame support structure with multiple layers of ribs, used to support the entire turntable mechanism; a three-axis displacement stage 2 is set inside the aluminum profile frame 3; and a positioning base 11, a positioning base support plate 17, a roll motor support plate 18, a die-cast corner seat 12, an adjustable support leg 10, a first positioning support 15, a second positioning support 13, a pressure block 32, a quick-release pin 31, a positioning shaft 14, an adjustable clamping head 33, and a fixed side roll bearing seat 39 are set on the upper surface of the aluminum profile frame 3.

[0087] The positioning base support plate 17 is fixedly connected to the aluminum profile frame 3.

[0088] The positioning base 11 is located above the positioning base support plate 17 and is fixedly connected to the positioning base support plate 17 by the die-cast corner bracket 12.

[0089] The side rod device is installed on the three-axis displacement stage 2 inside the aluminum profile frame 3, and is positioned with the positioning base 11 via the positioning shaft 14, the first positioning support 15 and the second positioning support 13; the first positioning support 15 is located in the middle of the positioning base 11, and the second positioning support 13 is located at the end of the positioning base 11 away from the motor drive assembly 400, and the axes of the first positioning support 15 and the second positioning support 13 are perpendicular to each other.

[0090] The positioning shaft 14 is mounted on the side rod device and is connected to the positioning support via a pressure block 32 and a quick-release pin 31.

[0091] The three-axis displacement stage 2 is used to adjust the position of the side rod device along the X, Y, and Z axes to ensure that the positioning shaft 14 installed on the side rod device and the first positioning support 15 and the second positioning support 13 installed on the positioning base 11 cooperate with each other.

[0092] An adjustable clamping head 33 is mounted on the positioning base 11 and is used for secondary reinforcement of the side rod device.

[0093] Adjustable support feet 10 are set on the side of the positioning base support plate 17 near the motor drive assembly 400 and are fixedly connected to the positioning base support plate 17 for limiting protection of the ring frame assembly 200 in the power-off state.

[0094] The roll motor support plate 18 is vertically disposed on one side edge of the positioning base support plate 17 near the motor drive assembly 400, and is used to support the motor that drives the roll motion.

[0095] The fixed-side roll bearing housing 39 is located inside the roll motor support plate 18 and is used to connect the motor shaft that drives the roll motion.

[0096] In this embodiment, to ensure that the roll and pitch axes of the dual-degree-of-freedom turntable are coaxial with the two-degree-of-freedom axes of the side rod device, the positioning and installation of the side rod device and the roll / pitch frame are both fixed by a positioning base, ensuring that the installation axes are on the same horizontal plane. The positioning base support plate is fixedly connected to the aluminum profile frame, and the positioning base is fixedly connected to the positioning base support plate by die-cast corner brackets. The side rod device and the positioning base are positioned by a positioning shaft and the first and second positioning supports. The positioning shaft and the positioning supports are detachable by pressure blocks and quick-release pins. The three-axis displacement stage can adjust the position of the side rod device along the X, Y, and Z axes and is self-locking. While supporting and fixing the side rod device, it also enables precise spatial adjustment of the side rod device, ensuring that the positioning shaft installed on the side rod device and the positioning support installed on the positioning base cooperate. The adjustable clamping head on the positioning base can provide secondary reinforcement to the side rod device. The adjustable support feet are fixedly connected to the positioning base support plate and are used for limit protection of the ring frame assembly in the off state.

[0097] In a specific embodiment, the annular frame assembly 200 includes a roll rotation bracket 24, a roll drive shaft assembly, a roll support shaft assembly, a fixed-side pitch bearing seat 25, and a mounting-side roll bearing seat 22, wherein...

[0098] The roll rotation bracket 24 is fixedly connected to the positioning base support plate 17; the roll drive shaft assembly and the roll support shaft assembly cooperate with each other. The roll drive shaft assembly is located on the side closer to the motor drive assembly 400, and the roll support shaft assembly is located on the side away from the motor drive assembly 400. Both are fixed to the positioning base 11. The roll support shaft assembly is used to provide support for the roll shaft, and the roll drive shaft assembly, in addition to providing support, is used to provide the corresponding drive structure and detection structure for the roll motion of the roll shaft.

[0099] The roll drive shaft assembly includes a torque sensor 19, a first torque sensor adapter 35, a second torque sensor adapter 20, a flat key 34, a roll rotation bracket connector 21, a roll shaft 36, a pair of diagonal contact ball bearings 38, a roll bearing pull-out collar 37, and a roll shaft end limit block 40; the roll support shaft assembly includes a roll rotation bracket connector 21, a roll shaft 36, a pair of diagonal contact ball bearings 38, a bearing pull-out collar 37, and a roll shaft end limit block 40.

[0100] A roll shaft 36 passes through a roll motor support plate 18 and is fixedly connected to a roll rotating bracket connector 21. The roll rotating bracket connector 21 is also fixedly connected to a roll rotating bracket 24. A roll bearing pull-out collar 37 and a pair of diagonal contact ball bearings 38 are successively installed on the roll shaft 36 and are axially fixed by a roll shaft end limiting block 40. The roll shaft end limiting block 40 is fixedly connected to the roll shaft 36. The roll bearing pull-out collar 37 is used to assist in bearing pull-out.

[0101] The flat key 34 is connected at one end to the output shaft of the motor of the motor drive assembly 400, and at the other end to the keyway on the first torque sensor adapter 35 to realize the transmission of the output torque of the motor drive assembly 400.

[0102] A torque sensor 19 is mounted on a roll shaft 36. A first torque sensor adapter 35 is fixedly connected to the outer ring of the torque sensor 19, and a second torque sensor adapter 20 is fixedly connected to the inner ring of the torque sensor 19 and the roll rotation bracket connector 21, respectively.

[0103] The fixed-side roll bearing housing 39 is mounted on the positioning base 11, and the outer rings of the paired angular contact ball bearings 38 on the roll drive shaft assembly and the roll support shaft assembly are embedded in the fixed-side roll bearing housing 39; the mounting-side roll bearing housing 22 is mounted on the roll shaft 36 and is fixedly connected to the fixed-side roll bearing housing 39 to fix the roll drive shaft assembly and the roll support shaft assembly on the positioning base 11.

[0104] The fixed pitch bearing seat 25 is located in the middle of the roll rotation bracket 24 and is fixed to the roll rotation bracket 24.

[0105] In this embodiment, the flat key cooperates with the keyway on the first torque sensor adapter to realize the output torque transmission of the motor assembly, and the rolling bearing pull collar can assist in the pull of the bearing, which facilitates the replacement and maintenance of the bearing in the later stage.

[0106] In a specific embodiment, the U-shaped frame assembly 300 includes a pitch drive shaft system assembly, a pitch support shaft system assembly, a rod head assembly, a mounting-side pitch bearing seat 26, a pitch shaft end limiting block 49, and a lead lever head 51, wherein...

[0107] The pitch axis has a drive-side pitch axis 45 on the side closer to the motor drive assembly and a support-side pitch axis 57 on the side closer to the roll trim assembly. The pitch support shaft system assembly is used to support the pitch axis, and the pitch drive shaft system assembly is used to drive the pitch axis to rotate in pitch angle on the basis of supporting the pitch axis. The rod head assembly spans the middle of the annular frame assembly 200, and the lead lever head 51 is vertically set in the center of the U-shaped frame assembly 300. The rod head assembly is used to adjust the position and angle of the lead lever head 51. The side pitch bearing seat 26 is installed and fixedly connected to the fixed side pitch bearing seat 25 of the annular frame assembly 200.

[0108] The pitch drive shaft assembly includes a flat key 34, a torque sensor 19, a third torque sensor adapter 47, a fourth torque sensor adapter, a drive-side pitch shaft 45, a deep groove ball bearing 48, and a pitch bearing pull-out collar 46.

[0109] The flat key 34 is connected at one end to the output shaft of the motor of the motor drive assembly 400, and at the other end is installed in the keyway of the third torque sensor adapter 47 and the drive-side pitch shaft 45 to realize the transmission of torque from the motor assembly to the pitch drive shaft assembly and then to the stick head assembly.

[0110] Torque sensor 19 is mounted on drive-side pitch axis 45. Third torque sensor adapter 47 is fixedly connected to the outer ring of torque sensor 19. Fourth torque sensor adapter is fixedly connected to the inner ring of torque sensor 19 and drive-side pitch axis 45 respectively.

[0111] The pitch bearing pull-out collar 46 and the deep groove ball bearing 49 are successively installed on the drive-side pitch shaft 45.

[0112] The pitch support shaft system assembly includes a support-side pitch shaft 57, a flat key 34, a deep groove ball bearing 48, and a pitch bearing pull-out collar 46. The connection method is the same as that of the pitch drive shaft system assembly.

[0113] The clubhead assembly includes a pitch axis adapter 56, a first telescopic beam 55, a second telescopic beam 54, a guide shaft 52, a guide shaft support 50, a guide shaft fixing seat 53, a clubhead bearing seat 41, a clubhead bearing seat end cap 43, a pair of diagonal contact ball bearings 38, a lock nut 44, a clubhead adjusting nut 42, and an adjusting nut handle 23.

[0114] Symmetrical telescopic beam structures are provided on both sides of the clubhead assembly. The telescopic beam structure includes a first telescopic beam 55 and a second telescopic beam 54. The first telescopic beam 55 is below and the second telescopic beam 54 is above. The first telescopic beam 55 is designed with a sliding groove and is stacked with the second telescopic beam 54 to form a telescopic beam assembly. The first telescopic beam 55 is connected to the pitch drive shaft system assembly and the pitch support shaft system assembly on both sides of the clubhead assembly through the pitch shaft adapter 56, and is fixed by the pitch shaft end limiting block 49. The pitch shaft end limiting block 49 is fixedly connected to the ends of the drive-side pitch shaft 45 and the support-side pitch shaft 57, respectively.

[0115] The guide shaft 52 is horizontally set, and its two ends are respectively engaged with the guide shaft support 50 and the guide shaft fixing seat 53. One end of the guide shaft fixing seat 53 is fixedly connected to the second telescopic beam 54.

[0116] The lever head 51 is vertically positioned and is located in the middle of the guide shaft 52 via the lever head bearing seat 41.

[0117] The end cap 43 of the rod head bearing seat is mounted on the rod head bearing seat 41.

[0118] The outer ring of the diagonally contact ball bearing 38 mates with the rod head bearing housing 41 and is fixed by the rod head bearing housing end cap 43, while the inner ring mates with the rod head adjusting nut 42 and is fixed by the locking nut 44.

[0119] The adjusting nut handle 23 is fixedly connected to the rod head adjusting nut 42. When the lead screw head 51 is engaged with the rod head adjusting nut 42, the height of the rod head assembly along the direction of the lead screw head 51 can be adjusted by adjusting the nut handle 23.

[0120] The outer rings of the deep groove ball bearings in the pitch drive shaft assembly and the pitch support shaft assembly are respectively embedded in the fixed pitch bearing seats 25 on both sides of the annular frame assembly 200, and are fixedly connected to the fixed pitch bearing seats 25 by installing the pitch bearing seats 26.

[0121] In this embodiment, the pitch bearing pull collar can assist in pulling the bearing, which facilitates the replacement and maintenance of the bearing in the future.

[0122] In a specific embodiment, the motor drive assembly 400 includes a roll motor assembly and a pitch motor assembly, wherein the setting direction of the roll motor assembly is perpendicular to the setting direction of the pitch motor assembly.

[0123] The roll motor assembly includes: a servo motor 6, a reducer 5, a photoelectric sensor 4, an adjustable limit stop 8, a roll motor support 7, and an output shaft adapter 9.

[0124] The reducer 5 is fixedly connected to the servo motor 6 and the roll motor support 7 on both sides respectively, and the output shaft adapter 9 is fixedly connected to the output shaft of the reducer 5; the photoelectric sensor 4 is fixedly connected to the roll motor support 7, and the adjustable limit plate 8 is fixed on the output shaft adapter 9. The adjustable limit plate 8 is provided with a sliding groove. The adjustable limit plate is used to switch the level of the photoelectric sensor 4 at different detection angles by manual adjustment, so as to realize the function of two-degree-of-freedom rotation angle limit indication.

[0125] The pitch motor assembly includes: a servo motor 6, a reducer 5, a photoelectric sensor 4, an adjustable limit stop 8, a pitch motor support 16, and an output shaft adapter 9, with the same connection method as the roll motor assembly.

[0126] The roll motor assembly is fixed to the roll motor support plate 18 via the roll motor support 7 and is in a supported state. The pitch motor assembly is fixed to the roll rotation bracket 24 via the pitch motor support 16 and is in a suspended state. Both the roll and pitch motor assemblies transmit torque through the output shaft adapter 9 and the first torque sensor adapter 35.

[0127] In a specific embodiment, the roll balancing assembly 500 includes a pitch motor support 16, a cylindrical counterweight 27, a limiting block 30, a lead screw 28, and a counterweight ball 29, wherein...

[0128] The cylindrical counterweight 27 is fixedly connected to the pitch motor support 16, and the counterweight ball 29 is fixedly connected to the end of the lead screw 28 to form a counterweight bar. The cylindrical counterweight 27 is screwed into the lead screw 28 through the threaded engagement with the cylindrical counterweight 27. The weight is adjusted to the left and right sides in the roll direction by fine adjustment according to the screwing depth.

[0129] The limiting block 30 is assembled to the end of the cylindrical counterweight block 27. When the U-shaped frame assembly rotates 300 degrees, the limiting boss at the tail of the pitch axis 57 on its supporting side contacts the limiting block 30 to achieve pitch direction limiting.

[0130] In this embodiment, the cylindrical counterweight is fixed to the pitch motor support to offset most of the weight on the motor side.

[0131] In practical implementation, to ensure accuracy and meet motion characteristic detection requirements, and to avoid the impact of transmission errors and backlash on motion accuracy, system rigidity, and response speed, direct-drive servo motors are used for both degrees of freedom in the dual-degree-of-freedom state drive. The motors are equipped with angle encoders for real-time rotation angle detection. Static balancing is performed on all rotating parts to reduce the impact of unbalanced torques on the system, further improving system rigidity from a structural perspective. To protect the side rod devices from damage in case of system failure or shutdown, electrical and mechanical limit protection measures are implemented for movement in both degrees of freedom. Adjustable electrical and mechanical limit measures enhance the versatility of the dual-degree-of-freedom turntable. A lever head is used to replace the side rod as the connection structure between the side rod devices and the dual-degree-of-freedom turntable, offering advantages such as stable connection and adjustable side rod T-point height, improving the versatility of the dual-degree-of-freedom turntable and contributing to improved system motion characteristics.

[0132] To ensure the stability and overall structural rigidity of the turntable, the aluminum profile frame supporting the turntable structure is made of 6063 stainless steel with a side length of 60mm, making it lightweight and high-strength. Four casters are installed at the bottom of the frame to meet the support and movement requirements of the two-degree-of-freedom turntable. The two-degree-of-freedom turntable structure mainly uses 304 stainless steel and 42CrMo alloy structural steel, possessing the advantages of high strength and high toughness. Positioning bosses and grooves are designed between each component, facilitating assembly and adjustment while better ensuring the relative positional accuracy of each component. The roll bearings are paired diagonal contact ball bearings, and the pitch axis uses two sets of deep groove ball bearings installed in series, providing good positioning rigidity.

[0133] The working principle of the turntable mechanism in the embodiments of this specification is as follows:

[0134] The ring frame assembly is mounted on the positioning base via a roll drive shaft assembly and a roll support shaft assembly. The roll motor assembly outputs torque to drive the ring frame assembly to complete the roll motion. Simultaneously, the angle encoder built into the servo motor and the torque sensor installed in the roll drive shaft assembly measure the rotation angle and torque. The U-shaped frame assembly is mounted on the ring frame via a pitch drive shaft assembly and a pitch support shaft assembly. Its drive and detection methods are the same as the ring frame assembly. While rotating with the ring frame along the roll angle, it can achieve pitch angle rotation under the drive of the servo motor. A lead lever head, which replaces the side rod on the side rod device, connects to the U-shaped frame and moves with it.

[0135] In summary, the embodiments of this specification provide a two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, controlling the side rod to achieve a specific motion mode with two rotational degrees of freedom, with high detection accuracy and good positioning accuracy, and can detect the rotation angle and torque in real time during the motion.

[0136] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this utility model.

[0137] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A two-degree-of-freedom turntable mechanism for detecting the motion state and characteristics of a side rod, characterized in that, This includes the base assembly, the ring frame assembly, the U-shaped frame assembly, the motor drive assembly, and the roll trim assembly, among which... The base assembly includes an aluminum profile frame and a positioning base. The positioning base is disposed on the upper surface of the aluminum profile frame. The aluminum profile frame is used to support the entire turntable mechanism, and the positioning base is used to position the side rod device to be tested. The ring frame assembly is set on the positioning base of the base assembly and is used to fix the side rod device in the horizontal direction to assist in realizing the lateral rolling motion of the side rod device. The lateral rolling motion is the first degree of freedom of the turntable mechanism. The U-shaped frame assembly is set on the ring frame, and its setting direction is perpendicular to the setting direction of the ring frame assembly. It is used to fix the side rod device in the vertical direction to assist in realizing the pitch angle rotation of the side rod device. The pitch angle rotation is the second degree of freedom of the turntable mechanism. The ring frame assembly and the U-shaped frame assembly include a torque sensor, which is used to measure the angle of rotation of the side rod device; The side rod device to be tested is installed inside the aluminum profile frame on the base assembly. The side rod of the side rod device is fixed to the ring frame assembly and the U-shaped frame assembly through the positioning base. The positioning and installation of the side rod device, the ring frame assembly, and the U-shaped frame assembly are all fixed through the positioning base, and the installation axes of the three are kept on the same plane. The motor drive assembly includes a motor, which is used to drive the ring frame assembly to move the side rod device in a rolling motion and to drive the U-shaped frame assembly to move the side rod device in a pitch angle rotation. The roll balancing assembly is used to balance the weight distribution of the turntable mechanism to ensure motion stability in both degrees of freedom. The ring frame assembly is fixedly installed on the positioning base. The motor drive assembly outputs torque to drive the ring frame assembly to complete the roll motion. The torque sensor measures the rotation angle and torque. The U-shaped frame assembly is fixed in the same way as the ring frame assembly in terms of driving and detection. While rotating with the ring frame along the roll angle, it also achieves pitch angle rotation under the drive of the motor, so as to realize the detection of the motion state and characteristics of the side rod in two degrees of freedom.

2. The turntable mechanism according to claim 1, characterized in that, The base assembly includes an aluminum profile frame, a positioning base, a three-axis displacement stage, a positioning base support plate, a roll motor support plate, a die-cast corner bracket, adjustable feet, a first positioning support, a second positioning support, a pressure block, a quick-release pin, a positioning shaft, an adjustable clamping head, and a fixed-side roll bearing housing. The aluminum profile frame is a multi-layered ribbed frame support structure used to support the entire turntable mechanism. Inside the aluminum profile frame, there is a three-axis displacement stage. On the upper surface of the aluminum profile frame, there are a positioning base, a positioning base support plate, a roll motor support plate, a die-cast corner seat, adjustable feet, a first positioning support, a second positioning support, a pressure block, a quick-release pin, a positioning shaft, an adjustable clamping head, and a fixed side roll bearing seat. Positioning base support plate, which is fixedly connected to the aluminum profile frame; The positioning base is set above the positioning base support plate and is fixedly connected to the positioning base support plate by a die-cast corner seat; The side rod device is set on a three-axis displacement platform inside the aluminum profile frame. It is positioned with the positioning base via a positioning shaft and a first positioning support and a second positioning support. The first positioning support is set in the middle of the positioning base, and the second positioning support is set at the end of the positioning base away from the motor drive assembly. The axes of the first positioning support and the second positioning support are perpendicular to each other. The positioning shaft is installed on the side rod device and connected to the positioning support via a pressure block and a quick-release pin; The three-axis displacement stage is used to adjust the position of the side rod device along the X, Y, and Z axes to ensure that the positioning shaft installed on the side rod device and the first and second positioning supports installed on the positioning base cooperate with each other. An adjustable clamping head, mounted on a positioning base, is used for secondary reinforcement of the side rod equipment; Adjustable support feet are set on the side of the positioning base support plate near the motor drive assembly and are fixedly connected to the positioning base support plate for limiting protection of the ring frame assembly in the power-off state. A roll motor support plate is vertically installed on the edge of the positioning base support plate near the motor drive assembly to support the motor that drives the roll motion. The fixed-side roll bearing housing is located inside the roll motor support plate and is used to connect the motor shaft that drives the roll motion.

3. The turntable mechanism according to claim 1, characterized in that, The annular frame assembly includes a roll rotation bracket, a roll drive shaft assembly, a roll support shaft assembly, a fixed-side pitch bearing housing, and a mounting-side roll bearing housing, wherein... The roll rotation bracket is fixedly connected to the positioning base support plate; the roll drive shaft assembly and the roll support shaft assembly cooperate with each other. The roll drive shaft assembly is located on the side closer to the motor drive assembly, and the roll support shaft assembly is located on the side farther from the motor drive assembly. Both are fixed to the positioning base. The roll support shaft assembly is used to provide support for the roll shaft, and the roll drive shaft assembly, in addition to providing support, is used to provide the corresponding drive structure and detection structure for the roll movement of the roll shaft. The roll drive shaft system assembly includes a torque sensor, a first torque sensor adapter, a second torque sensor adapter, a flat key, a roll rotation bracket connector, a roll shaft, paired diagonal contact ball bearings, a roll bearing pull-out collar, and a roll shaft end limit block; the roll support shaft system assembly includes a roll rotation bracket connector, a roll shaft, paired diagonal contact ball bearings, a bearing pull-out collar, and a roll shaft end limit block; The roll shaft passes through the roll motor support plate and is fixedly connected to the roll rotating bracket connector. The roll shaft is also fixedly connected to the roll rotating bracket. The roll bearing pull-out collar and the paired angular contact ball bearings are installed on the roll shaft one after the other and are axially fixed by the roll shaft end limit block. The roll shaft end limit block is fixedly connected to the roll shaft. The roll bearing pull-out collar is used to assist in the pull-out of the bearing. A flat key, one end of which is connected to the output shaft of the motor of the motor drive assembly, and the other end of which is engaged with the keyway on the first torque sensor adapter to realize the transmission of the output torque of the motor drive assembly; A torque sensor is mounted on the roll shaft. The first torque sensor adapter is fixedly connected to the outer ring of the torque sensor, and the second torque sensor adapter is fixedly connected to the inner ring of the torque sensor and the roll rotation bracket connector, respectively. A fixed-side rolling bearing housing is mounted on a positioning base, and the outer rings of the paired angular contact ball bearings on the rolling drive shaft assembly and the rolling support shaft assembly are embedded in the fixed-side rolling bearing housing; a mounting-side rolling bearing housing is mounted on the rolling shaft and fixedly connected to the fixed-side rolling bearing housing to achieve the fixation of the rolling drive shaft assembly and the rolling support shaft assembly on the positioning base; The fixed pitch bearing housing is located in the middle of the roll rotation bracket and is fixed to the roll rotation bracket.

4. The turntable mechanism according to claim 1, characterized in that, The U-shaped frame assembly includes a pitch drive shaft system assembly, a pitch support shaft system assembly, a rod head assembly, a mounting-side pitch bearing seat, a pitch shaft end limiting block, and a lead lever head. The pitch axis is divided into two sides: the drive-side pitch axis is closer to the motor drive assembly, and the support-side pitch axis is closer to the roll trim assembly. The pitch support shaft assembly supports the pitch axis, and the pitch drive shaft assembly drives the pitch axis to rotate in pitch angles. The lever head assembly spans the middle of the ring frame assembly, and the lead screw head is vertically set in the center of the U-shaped frame assembly. The lever head assembly is used to adjust the position and angle of the lead screw head. The side pitch bearing seat is installed and fixedly connected to the fixed side pitch bearing seat of the ring frame assembly. The pitch drive shaft assembly includes a flat key, a torque sensor, a third torque sensor adapter, a fourth torque sensor adapter, a drive-side pitch shaft, a deep groove ball bearing, and a pitch bearing pull-out collar. A flat key, one end of which is connected to the output shaft of the motor of the motor drive assembly, and the other end is installed in the keyway of the third torque sensor adapter and the drive-side pitch shaft to realize the transmission of torque from the motor assembly to the pitch drive shaft assembly and then to the stick head assembly; A torque sensor is mounted on the drive-side pitch shaft. A third torque sensor adapter is fixedly connected to the outer ring of the torque sensor, and a fourth torque sensor adapter is fixedly connected to both the inner ring of the torque sensor and the drive-side pitch shaft. The pitch bearing pull collar and the deep groove ball bearing are installed on the drive-side pitch shaft one after the other. The pitch support shaft system assembly includes a support-side pitch shaft, a flat key, a deep groove ball bearing, and a pitch bearing pull-out collar. The connection method is the same as that of the pitch drive shaft system assembly. The clubhead assembly includes a pitch axis adapter, a first telescopic beam, a second telescopic beam, a guide shaft, a guide shaft support, a guide shaft fixing seat, a clubhead bearing seat, a clubhead bearing seat end cap, a pair of diagonal contact ball bearings, a lock nut, a clubhead adjusting nut, and an adjusting nut handle; Symmetrical telescopic beam structures are provided on both sides of the clubhead assembly. The telescopic beam structure includes a first telescopic beam and a second telescopic beam, with the first telescopic beam at the bottom and the second telescopic beam at the top. The first telescopic beam is designed with a sliding groove and is stacked with the second telescopic beam to form a telescopic beam assembly. The first telescopic beam is connected to the pitch drive shaft system assembly and the pitch support shaft system assembly on both sides of the clubhead assembly through a pitch shaft adapter, and is fixed by a pitch shaft end limit block. The pitch shaft end limit block is fixedly connected to the ends of the drive-side pitch shaft and the support-side pitch shaft, respectively. The guide shaft is horizontally set, with its two ends respectively cooperating with the guide shaft support seat and the guide shaft fixing seat. One end of the guide shaft fixing seat is fixedly connected to the second telescopic beam. The lever head is vertically positioned and is located in the middle of the guide shaft via a lever head bearing seat. The end cap of the rod head bearing housing is mounted on the rod head bearing housing; The outer ring of the paired angular contact ball bearing mates with the rod head bearing housing and is fixed by the rod head bearing housing end cap, while the inner ring mates with the rod head adjusting nut and is fixed by the lock nut. The adjusting nut handle is fixedly connected to the rod head adjusting nut. When the lead screw head is engaged with the rod head adjusting nut, the height of the rod head assembly along the lead screw head direction can be adjusted by adjusting the adjusting nut handle. In the pitch drive shaft system assembly and the pitch support shaft system assembly, the outer rings of the deep groove ball bearings are respectively embedded in the fixed pitch bearing housings on both sides of the annular frame assembly, and are fixedly connected to the fixed pitch bearing housings by installing the pitch bearing housings.

5. The turntable mechanism according to claim 1, characterized in that, The motor drive assembly includes a roll motor assembly and a pitch motor assembly. The roll motor assembly is positioned perpendicular to the pitch motor assembly. The roll motor assembly includes: a servo motor, a reducer, a photoelectric sensor, an adjustable limit stop, a roll motor support, and an output shaft adapter. The reducer is fixedly connected to the servo motor and the roll motor support on both sides, and the output shaft adapter is fixedly connected to the output shaft of the reducer; the photoelectric sensor is fixedly connected to the roll motor support, and the adjustable limit plate is fixed on the output shaft adapter. The adjustable limit plate is provided with a sliding groove. The adjustable limit plate is manually adjusted to switch the level of the photoelectric sensor at different detection angles, so as to realize the function of two-degree-of-freedom rotation angle limit indication. The pitch motor assembly includes: a servo motor, a reducer, a photoelectric sensor, an adjustable limit stop, a pitch motor support, and an output shaft adapter. The connection method is the same as that of the roll motor assembly. The roll motor assembly is fixed to the roll motor support plate via the roll motor bracket and is in a supported state. The pitch motor assembly is fixed to the roll rotating bracket via the pitch motor bracket and is in a suspended state. Both the roll and pitch motor assemblies transmit torque through the output shaft adapter and the first torque sensor adapter.

6. The turntable mechanism according to claim 1, characterized in that, The roll trimming assembly includes a pitch motor support, a cylindrical counterweight, a limit block, a lead screw, and a counterweight ball. The cylindrical counterweight is fixedly connected to the pitch motor support, and the counterweight ball is fixedly connected to the end of the lead screw to form a counterweight bar. The cylindrical counterweight is screwed into the lead screw through the threaded engagement of the lead screw and the cylindrical counterweight. The weight is adjusted to the left and right sides in the roll direction by fine adjustment according to the screwing depth. The limiting block is assembled to the end of the cylindrical counterweight. When the U-shaped frame assembly rotates, the limiting boss at the tail of the pitch axis on its supporting side contacts the limiting block to achieve pitch direction limiting.

7. The turntable mechanism according to claim 1, characterized in that, The motors of the turntable mechanism are all direct-drive servo motors, and each motor is equipped with an angle encoder to detect the rotation angle in real time.

8. The turntable mechanism according to claim 3, characterized in that, The rolling bearing housing is made of paired angular contact ball bearings, and the pitch shaft is made of two sets of deep groove ball bearings installed in series.

9. The turntable mechanism according to claim 1, characterized in that, A fuma wheel is installed at each of the four corners of the bottom of the aluminum profile frame.

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