319 results about "Kinematic pair" patented technology

The invention discloses a space flexible mechanical arm rope cluster active and passive hybrid driving module and method.The space flexible mechanical arm rope cluster active and passive hybrid driving module comprises a rope cluster multi-axis driving module, the rope cluster multi-axis driving module comprises a plurality of rope cluster driving modules, each rope cluster driving module comprises a rope driving mechanism and a driving rope, one end of each driving rope is connected with the corresponding rope driving mechanism and is driven by the corresponding rope driving mechanism to linearly move, and the other end of each driving rope is driven by the corresponding rope driving mechanism; the other end of the driving rope is connected with a kinematic pair of any arm section in the arm section; and the segmented equal-curvature linkage module provides constraint for all the arm sections in the arm sections, the same-direction moving shafts of all the arm sections in the arm sections are coupled together through linkage ropes, and all the arm sections are driven to synchronously move at equal angles under the driving action of the rope cluster multi-shaft driving module. The problems that the motion state of the under-actuated flexible mechanical arm is not unique, and the number of driving units of the full-drive flexible mechanical arm is large are fundamentally solved, and the overall number, quality and power consumption of the driving units are greatly reduced while the motion flexibility, the tail end precision and the structural rigidity are guaranteed.

The invention discloses a balance weight block and a scroll compressor, and relates to the technical field of scroll compressors, in particular to the balance weight block and the scroll compressor. According to the balance weight block and the scroll compressor, the auxiliary oil supply channel is arranged in the balance weight block; and the auxiliary oil supply channel is formed by a balance weight block annular channel and an upward channel on the balance weight block and a transverse channel, an eccentric channel and an annular channel on the driving shaft component or a combination of several of the components. According to the technical scheme, the problems that in the prior art, in the operation process of the scroll compressor, especially under the condition of low-speed operation, enough stirring force cannot be provided for the lubricating agent, so that the thrust surface between the movable scroll component and the main bearing seat is lubricated insufficiently, and consequently excessive abrasion, even kinematic pair failure and the like are caused are solved.

The present invention belongs to the field of mechanical engineering, and particularly relates to an equivalent model of a knocking kinematic pair of a continuous elastic body and a modeling method thereof. An equivalent model is established for the knocking kinematic pair in a continuous elastic body mechanical structure or system, that is, the non-linear mapping relationship between the knocking pulse force and the knocking initial velocity. By assuming that the knocking force pulse is a half-cycle sine wave, and simultaneously using the Hertz contact model and the origin transfer function or impulse response function of the mechanical structure at the knocking contact point to express the contact mechanical properties of the knocking pair material pair and the impedance properties of the mechanical structure at the knocking part, the relationship between the output and input of the non-linear equivalent model, that is, the knocking pulse force and the knocking initial velocity, is derived. Through the method of the present invention, the problem of rapid prediction of the knocking force pulse of a continuous elastic body mechanical structure can be solved.

The invention discloses a drive-by-wire electromagnetic suspension of a heavy-duty vehicle, which belongs to the technical field of vibration reduction of the heavy-duty vehicle and comprises an upper joint and a lower joint which are arranged up and down, the shell is fixedly connected with the lower joint through a lower end cover; one end of the air spring is fixedly connected with the upper connector, and the other end of the air spring is fixedly connected with the shell; the planetary roller screw kinematic pair and the screw nut are positioned in the shell and are rotatably connected with the shell; one end of the lead screw is in threaded connection with the upper joint, and the other end extends into the shell and is matched with the lead screw nut; the permanent magnet is embedded into the outer side of the lead screw nut; and the coil winding is arranged corresponding to the permanent magnet and fixedly mounted on the inner wall of the shell, and the coil winding is matched with the permanent magnet so as to have a generator mode or a motor mode. The roller lead screw and the motor are integrated, the size is greatly reduced, the bearing capacity is improved, the angle module is suitable for a limited space of a heavy-duty vehicle, multiple control modes can adapt to complex working conditions, and the overall performance is improved.

A frictional wear test simulation device suitable for a joint kinematic pair belongs to the technical field of frictional wear tests and comprises a bottom plate, a driving execution mechanism, a load simulation mechanism, a joint kinematic pair mechanism and a joint heating execution mechanism. The driving execution mechanism, the load simulation mechanism and the joint heating execution mechanism are all arranged on the bottom plate, and the joint kinematic pair mechanism is connected between the driving execution mechanism and the load simulation mechanism; the joint heating executing mechanism is matched with the joint kinematic pair mechanism for use; a force sensor is arranged between a power output rod of the load simulation driving cylinder and the force transmission block; a temperature sensor is arranged at the end part of a joint shaft pin of the joint kinematic pair mechanism; tilt angle sensors are installed on the surfaces of two joint rods of the joint kinematic pair mechanism, and an angle sensor is installed at the end of a first transmission shaft of the driving execution mechanism. Simulation of real working conditions of heating and loading is met, the friction wear condition of the joint kinematic pair can be truly reflected, and technical support is provided for related research of friction dynamics of the joint kinematic pair.

The invention discloses a space multi-ring robot. The space multi-ring robot comprises a plurality of multi-pair platforms and a plurality of motion branch chains connected between every two multi-pair platforms. The multiple pairs of platforms are platforms comprising a plurality of kinematic pairs connected with the kinematic branch chains, and the number of the kinematic pairs of the multiple pairs of platforms is larger than 2; the kinematic pair is a single-degree-of-freedom kinematic pair or a multi-degree-of-freedom kinematic pair; the number of degrees of freedom of the motion branch chains is larger than 2, and motion pairs of the motion branch chains comprise active motion pairs; the multiple platforms are connected through the movement branch chains according to the specific topological connection relation to jointly form a plurality of space closed loops, and the space multi-loop robot is jointly formed by the space closed loops. The lengths of the moving branch chains between the platforms are changed through the driving motors, the robot can be driven to generate local multi-degree-of-freedom movement and overall movement, rolling or complex deformation movement, and the robot can be used for the fields of rescue and relief work, space exploration, movable buildings and the like.

The invention relates to a temperature control system and a temperature control method for a kinematic pair of a press transmission system in the technical field of presses, and the temperature control system for the kinematic pair of the press transmission system is characterized in that according to the kinematic pair of the press transmission system, a temperature measuring point is arranged at a transmission part which is easy to heat; an infrared thermometer is arranged on a press machine cross beam corresponding to a temperature measuring point and used for directly detecting the temperature of the measuring point, the infrared thermometer is fixed on the press machine cross beam through a mounting support and connected with a programmable logic controller (PLC), and the PLC is further connected with an output display terminal and an overheat alarm. According to the temperature control system for the kinematic pair of the press transmission system, the infrared thermometer for indirectly measuring the temperature is in control connection with the PLC and the lubricating system, so that it is ensured that a transmission part is within a controllable and safe temperature range, and automatic coordination control over the temperature of the transmission part and the lubricating system is achieved.

The invention relates to the technical field of press monitoring, in particular to a monitoring method and system for a hot die forging press, and the method comprises the steps: carrying out the regional division of the hot die forging press; respectively collecting monitoring data of each area; processing and analyzing the monitoring data of the kinematic pair area to obtain temperature dangerous point information and a temperature trend curve of the kinematic pair area; analyzing and processing the monitoring data of the oil product area, a preset oil product threshold value and a service life threshold value to obtain oil product state information; according to the state of the clutch brake, the monitoring data of the clutch brake area and a preset limit displacement value are processed and analyzed, and the abrasion loss of a friction plate of the clutch brake is obtained; and comparing the monitoring data of the tonnage monitoring area with a preset allowable tonnage, and judging whether overload occurs or not according to a comparison result. Real-time monitoring and early warning analysis are carried out on all the areas, the working states of all the areas of the system can be known in time, and the stability of the working state of the press is guaranteed.

The rotor type pump body structure comprises an upper flange, a lower flange, a crankshaft, an air cylinder and two sliding piece assemblies, the air cylinder is arranged between the upper flange and the lower flange, the crankshaft is rotationally installed in the upper flange, the air cylinder and the lower flange, a compression cavity is formed in the air cylinder, and the two sliding piece assemblies are arranged in the compression cavity. The crankshaft and the air cylinder are both provided with sliding piece grooves communicated with the compression cavity, one ends of the two sliding piece assemblies are installed in the two sliding piece grooves in a reciprocating motion mode respectively, the other ends of the two sliding piece assemblies extend out of the sliding piece grooves and can make contact with or be separated from the sliding piece grooves along with rotation of the crankshaft, and the crankshaft is a concentric shaft. The crankshaft is a concentric shaft, so that the influence of an eccentric structure on dynamic and static balance of the pump body is reduced, and the stability of the pump body is enhanced. Meanwhile, a double-sliding-piece structure is used, the movement stroke of the sliding pieces is reduced, and the lubricating effect is improved. In addition, a roller is omitted, a relative kinematic pair of the pump body is reduced, and the power and the machining cost of the compressor are reduced.

The invention relates to a data-driven digital twinning virtual model construction and entity synchronization method, which is used for constructing an intelligent production line digital twinning system by analyzing equipment, process flow and data interaction requirements of an actual production line and utilizing an existing five-dimensional model framework. Three-dimensional modeling is carried out on equipment, attributes of rigid bodies, collision bodies and the like, kinematic pairs and constraint conditions are set, physical and virtual mapping is completed, and a virtual model capable of reflecting characteristics of a production line is constructed. Then, an entity communication and data acquisition framework is built, production line equipment is accessed, and a twin database is built by utilizing Profinet or MODBUS TCP and other communication and an OPC UA server; and collecting and processing data according to a preset frequency and transmitting the data into a database. And finally, updating the state of the virtual model according to rules through a data driving engine, and sending an instruction by a human-computer interface through analysis and feedback, thereby realizing virtual-real synchronization and control of the production line, solving the traditional problems, improving the production efficiency and reducing the cost.

The subject of the invention relates to a system for adjustment of a position of measuring sensors for magnetic diagnostics of steel ropes using a passive method, and a measuring head consisting of two head halves, to which head the adjustment system is permanently connected, wherein the system for adjustment of a position of measuring sensors consists of two half-rings, upper and lower (1, 2), which are arranged one opposite to each other around the tested rope (9) and which are connected to each other rotatably by an articulated joint (3), while on each of the half-rings a number of measuring sensors (8) are arranged around the tested rope on each half-ring (1 or 2), the system being characteristic by that the measuring sensors (8) are fixed by means of displacement mechanisms on each of the half-rings (1 and 2), wherein the displacement mechanisms are in the form of kinematic pairs, each of which contains a toothed wheel (5) and a toothed bar (4), and wherein the toothed bars (4) are spaced radially at intervals in each half-ring (1 and 2) in such a way as to allow their simultaneous, centrifugal and sliding displacement in a radial direction, and whereas at least one magnetometer sensor (8) is attached on each radially inner end of the toothed bar (4), while the other opposite end of each toothed bar (4) is couplingly connected by engagement to the corresponding toothed wheel (5).

According to the high-precision positioning platform based on the flexible kinematic pair, high-precision positioning can be achieved, the overall structure of the platform is simplified, occupied space is reduced, and convenience of maintenance and troubleshooting is greatly improved. The bending of the flexible rod is converted into the translation of the rigid piece, so that the three translation degrees of freedom required by the platform are realized, and the purpose of replacing a branched chain by a single kinematic pair is achieved; a single kinematic pair is adopted in the X direction and the Y direction to replace a traditional multi-branch-chain structure, and therefore the platform structure is simplified. The second flexible branch chain and the four flexible kinematic pairs are arranged in a cross-shaped symmetrical mode, and flexible rods in the flexible kinematic pairs are connected in series reversely and arranged symmetrically. Two homonymous drivers are arranged on the same axis, and the two homonymous drivers are made to move in the same direction with the same displacement and force through synchronous control so as to achieve synchronous driving.

The invention provides a hinge and foldable equipment, relates to the technical field of electronic equipment, and aims to solve the problems that the hinge is complex in structure and poor in stability. The hinge comprises a main shaft, a first folding assembly and a second folding assembly, the first folding assembly and the second folding assembly are symmetrically arranged on the two sides of the main shaft, and the first folding assembly and the second folding assembly can rotate relative to the main shaft; the first folding assembly can comprise a first rotating part and a first nesting shaft; the first nesting shaft is rotationally connected with the main shaft through an arc-shaped surface, the first rotating part is rotationally connected with the first nesting shaft through an arc-shaped surface, and the rotating axis of the first rotating part coincides with the rotating axis of the first nesting shaft, so that the rotating connection between the first rotating part and the main shaft can be realized. The hinge has the advantage of being simple in structure, the contact area between kinematic pairs can be effectively increased through the arc-shaped faces of the first nesting shaft and the second nesting shaft, and good stability is achieved.

The invention provides a robust hydraulic control and simulation system and method for a mechanical arm, and the method comprises the steps: determining the position and type of a kinematic pair based on a three-dimensional model, and building a multi-body dynamics simulation system of the mechanical arm; determining a transmission mode according to the hydraulic original drawing, and establishing a hydraulic transmission simulation system of the mechanical arm; and an action execution control algorithm is designed, and a feedback control simulation system of the mechanical arm is established. According to the simulation system, a joint simulation technology is adopted, intercommunication among a multi-body dynamics system, a hydraulic transmission system and a feedback control system is achieved, and a mechanical-hydraulic-control joint simulation platform is formed. On the basis, a robust hydraulic transmission system and a robust feedback control system are designed, and finally the performance of the mechanical arm in the complex environment is improved.

The invention discloses a high-frequency reciprocating friction testing machine for simulating a high-temperature gas environment atmosphere and a testing method, and relates to the technical field of basic tribology testing of kinematic pairs under complex working conditions. The high-frequency reciprocating friction testing machine comprises a weight loading and force measuring module, a high-frequency reciprocating motion and temperature control module and a gas environment adjusting module, the weight loading and force measuring module comprises a loading mechanism lifting platform, a loading mechanism and a quick-release clamp; the loading mechanism lifting platform is connected with a loading mechanism, and a quick-release clamp is connected below the loading mechanism; the high-frequency reciprocating motion and temperature control module comprises a lower sample mounting container and a high-frequency voice coil motor module; the sample mounting container is driven by the high-frequency voice coil motor module to reciprocate; the gas environment adjusting module comprises a gas environment box and a gas tank. Multiple influence factors such as the temperature, the motion frequency, the motion stroke, the loading force and the environment atmosphere are comprehensively considered, and a reliable basic tribology test system is established for the kinematic pair under the complex working condition.

The invention relates to a novel four-degree-of-freedom 3-PRPaRamp and a preparation method thereof. The invention discloses an RUPUR space series-parallel manipulator and a working method, and belongs to the technical field of space kinematic pair rigid-flexible series-parallel machinery. The RUPUR space series-parallel manipulator comprises a fixed platform, a movable platform, a PRPaR driving branch and an RUPUR series branch chain; the two ends of the PRPaR driving branch and the two ends of the RUPUR series-connection branch chain are connected with the fixed platform and the movable platform, and under the action of the PRPaR driving branch and the RUPUR series-connection branch chain, translation of the movable platform in the three-dimensional direction and rotation of the movable platform in the vertical direction are achieved, so that the movable platform has four degrees of freedom. Meanwhile, the three PRPaR driving branches and the RUPUR series branch chain enable the mechanism to have larger bearing capacity, the mechanism can effectively avoid singular positions under kinematics interference among the four mechanisms and influence of rotating pairs in the mechanisms, the working space of the whole mechanism is increased, and the overall rigidity and flexibility of the mechanism are improved.

The invention is suitable for the technical field of vehicles, and provides a multi-degree-of-freedom angle module system for a distributed electric drive chassis, which comprises a hub motor, an upper control arm assembly, a lower control arm assembly, a shock absorber assembly, a steering knuckle and a steering mechanism, one end of the upper control arm assembly is movably hinged to the upper portion of a shell of the hub motor, and the other end of the upper control arm assembly is connected with a vehicle body. The lower control arm assembly is of an approximate linear mechanism structure, one end of the lower control arm assembly is hinged to the lower portion of the hub motor shell, and the other end of the lower control arm assembly is connected with a vehicle body. One end of the steering knuckle is hinged to the steering mechanism through a kinematic pair capable of providing rotational freedom in multiple directions, the other end of the steering knuckle is rigidly connected to a hub motor shell, and the steering mechanism is used for driving the steering knuckle so as to drive the wheel to rotate around the axis of the main pin. The angle module system is compact in structure, has multiple motion functions, and has the technical characteristics of high function cohesion and low system coupling.

The invention discloses an MAA-based three-dimensional joint simulation system and method, and relates to the technical field of network system simulation, and the method comprises the steps: building a control system model according to an expected control function and response performance index of a target system, setting an input / output interface, and generating an FMU file of a dynamic response model of the control system; building a finite element analysis model based on detailed geometric information and material mechanics parameters of the structure, applying structural constraints and loads, obtaining structural modal information, and generating an MNF file bearing the structural modal information: importing an FMU file and the MNF file, establishing a joint simulation model in combination with a kinematic pair and constraints, and calculating and outputting kinematic and dynamic data of the system; data combination is carried out through data conversion interfaces between the modules, real-time interaction and dynamic closed-loop optimization of interdisciplinary data are achieved, the system design is more comprehensive and accurate, and the overall performance and the optimization effect are improved.

The present invention provides a novel sealing structure, belonging to the field of motors. In the present invention, holes are drilled at designated positions on the sealing plate to install bearings, a handle is inserted in the middle of the bearings, the other end of the handle is fixed through a gear, an outer eaves of the sealing plate is provided on the periphery of the handle side of the sealing plate, a slideway is installed on the gear side of the sealing plate, when installing the sealing structure, the sector steel plate is retracted within the area of the sealing plate, after installation and positioning, the handle is rotated to drive the gear to rotate, the gear-rack kinematic pair converts the rotational motion into a linear motion, the sector steel plate is pushed out of the area of the sealing plate to a designated area through the linear motion of the rack in the slideway, and the sector steel plate, the motor end plate and the outer eaves of the sealing plate are fixed through bolts. The present invention greatly improves the sealing performance of large motors, and at the same time solves the single sealing form over a long time, so as to prevent the motor from being damaged after the outer sealing ring fails, and improves the reliable performance of the motor operation.

Provided are a device and method for determining the gap between kinematic pairs in a driven joint of a robot having a driving link and a driven link. The gap detection device comprises: a measuring unit that measures the driving torque or current value of a motor when the robot is actually moving along an arbitrary motion trajectory; a simulation unit that sets an arbitrary second gap amount between the kinematic pairs of a plurality of kinematic pairs, simulates the robot moving along the same motion trajectory as the arbitrary motion trajectory, and estimates the driving torque or current value of the motor; a feature quantity calculation unit that calculates a first feature quantity representing fluctuations in a value related to the measured driving torque or current value, and a second feature quantity representing fluctuations in a value related to the estimated driving torque or current value; and a gap calculation unit that calculates an index related to the first gap amount based on the first feature quantity, the second feature quantity, and the second gap amount.

The invention discloses a high-integration driving unit with an active variable geometric positioning parameter function. The high-integration driving unit is mainly composed of a wheel assembly, a suspension system, a first actuator and a second actuator. The actuator is arranged on the upper control arm, so that the mechanical load borne by the actuating mechanism during working is effectively reduced. The interior of the actuator is driven by a self-locking mechanism, continuous energy consumption is not needed when positioning parameters are maintained, and the steady-state power consumption of the system is remarkably reduced. In the aspect of mechanism connection, through combined arrangement of kinematic pairs, accurate matching of the degree of freedom of movement of the mechanism is achieved, the problems of interference and movement uncertainty in the adjusting process are effectively solved, and the accuracy of action execution is ensured. The unit integrates the functions of steering, active variable camber, active variable kingpin caster angle and fault tolerance. Dynamic real-time adjustment of geometric parameters is achieved through the compact structural layout, the vehicle control limit and stability are improved, and meanwhile the space utilization rate and work reliability are extremely high.

The utility model discloses an automobile seat back plate device with an angle adjusting table plate, and relates to the field of automobile spare parts, an automobile seat back assembly comprises a back plate body and a table plate pivoted to the back plate body, and the table plate and the back plate body form a kinematic pair through a multi-stage positioning hinge mechanism; the multi-stage positioning hinge mechanism comprises two bearing base rods which are symmetrically arranged, two mounting bases which are matched with the bearing base rods in an aligned manner, and an angle adjusting mechanism. According to the device, through innovative structural design, the function of flexibly adjusting the table plate angle is achieved, the problems that a traditional small table plate of an automobile seat cannot be kept horizontal, use is inconvenient and comfort is poor due to adjustment of the seat backrest angle can be effectively solved, the requirements of passengers for table plate use at different seat backrest angles are met, and the practicability is high. The use experience and the comfort degree of passengers are remarkably improved, and high practicability and market application value are achieved.

This application provides a hinge and a foldable device, and relates to the field of electronic device technologies, to resolve problems of a complex structure and poor stability of a hinge. The hinge provided in this application includes a main shaft, a first folding component, and a second folding component. The first folding component and the second folding component are symmetrically disposed on two sides of the main shaft. The first folding component and the second folding component can rotate relative to the main shaft. The first folding component may include a first rotating part and a first embedded shaft. The first embedded shaft is rotatably connected to the main shaft through an arc-shaped surface, the first rotating part is rotatably connected to the first embedded shaft through an arc-shaped surface, and a rotation axis center of the first rotating part coincides with a rotation axis center of the first embedded shaft, so that the first rotating part can be rotatably connected to the main shaft. The hinge provided in this application has a feature of a simple structure. In addition, a contact area between a kinematic pair is effectively increased through arc-shaped surfaces of the first embedded shaft and a second embedded shaft, and good stability is achieved.

The invention relates to the technical field of mechanism science, in particular to a motion decoupling and position positive solution symbolization one-translation and one-rotation parallel mechanism which comprises a static platform and a movable platform, and a first simple branch chain and a second simple branch chain are connected between the static platform and the movable platform; the first simple branch chain is formed by connecting a first moving pair and a first rotating pair in series, and the second simple branch chain is composed of a second moving pair, a second rotating pair, a third rotating pair, a fourth rotating pair and a fifth rotating pair. Rotation of the movable platform around the axis of the first rotating pair is determined by input of the first moving pair and the second moving pair, motion decoupling is achieved, and a symbolic position positive solution is easy to obtain. The whole parallel mechanism is composed of seven kinematic pairs, the number of the kinematic pairs is relatively small, potential machining errors, assembling gaps and the number of abrasion points can be reduced, the error transmission path between the kinematic pairs can be reduced, errors accumulated on the movable platform can be reduced, and the output motion precision of the movable platform can be improved.

The utility model relates to the technical field of camera equipment, and discloses a camera assembly and a vehicle, and the camera assembly comprises a camera, a cover plate, a driving device, and an output shaft; the kinematic pair mechanism is provided with a first rotary connecting part and a second rotary connecting part which are arranged at an interval, the first rotary connecting part is connected with the output shaft, and the second rotary connecting part is suitable for rotating around the output shaft and forming a first motion path with variable strokes; the peripheral surface of the kinematic pair mechanism rotates around the output shaft to form a second motion path with variable stroke; and the camera movement mechanism and the cover plate movement mechanism are respectively connected with one of the second rotary connection part and the peripheral surface of the kinematic pair mechanism. According to the camera assembly provided by the utility model, the cover plate and the camera can be driven to move by utilizing the driving device and the matched transmission mechanism, so that the camera can extend out in a working state and the cover plate can be turned outwards synchronously.

The present application relates to the technical field of three-dimensional modeling, and provides a model building method and apparatus, a storage medium, a program product, an electronic device, and a computer device. The model building method comprises: acquiring a target size parameter and component size parameters of at least two component models, wherein the component models are used for building a target object model; determining a target model combination on the basis of the target size parameter and the component size parameters, wherein the target model combination comprises at least two component models; configuring a kinematic pair between any two component models in the target model combination on the basis of the component type of each component model in the target model combination; and building the target object model by means of the target model combination.

The invention belongs to the technical field of screw drilling tools, and particularly relates to a high-speed transmission shaft assembly which comprises a transmission shaft, a transmission shaft sleeve and a transmission shaft sleeve. The upper TC bearing static sleeve is in interference fit with the transmission shaft; the lower TC bearing static sleeve is in clearance fit with the transmission shaft; the sealing oil injection device comprises a sealing piston located at the upper end of the transmission shaft and a U-shaped sealing ring; the V-shaped sealing ring, the spring and the pressurizing ring are positioned at the lower end of the transmission shaft; lubricating agents are injected into the transmission shaft assembly. The reliability and the service life of the screw drill are remarkably improved and prolonged through structural innovation. Firstly, a traditional upper TC bearing movable sleeve is omitted, a wear-resistant alloy layer is overlaid on the surface of the transmission shaft, the number of kinematic pairs is reduced, the failure problem caused by abrasion of the movable sleeve is avoided, and meanwhile the manufacturing cost is reduced.

This invention provides an active heating method and system for a two-dimensional turntable servo mechanism, belonging to the field of laser communication technology. The method includes acquiring the feedback temperature and motor torque of the azimuth or pitch axis; when the motor torque is zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, heating is performed by determining a first heating power based on the first d-axis current and the electrical control angle; when the motor torque is not zero and the difference between the feedback temperature and the preset temperature is outside the preset temperature range, heating is performed by determining a second heating power based on the second d-axis current and the q-axis current, until the temperature difference returns to the preset range and heating stops. This invention utilizes the heat generated by the motor's own current to replace external heating devices, achieving uniform heating from within, effectively reducing deformation and frictional torque fluctuations in key moving parts caused by temperature gradients, and improving the turning table's pointing accuracy and thermal stability under extreme temperature changes.

The invention relates to the technical field of mechanical kinematic pair connection, in particular to a rapid installation spherical hinge mechanism. The invention relates to a split type ball bearing which comprises an upper ball bearing, a split type lower ball bearing, a ball head, a connecting rod, a screw rod, a first connecting rod fixed joint, a second connecting rod fixed joint and a connecting rod movable joint, the split type lower ball bearing is installed on the lower end face of the upper ball bearing in a sliding mode, and the ball head part of the ball head is located in a ball socket formed by the upper ball bearing and the split type lower ball bearing. The connecting rod comprises four first rod pieces and four second rod pieces; the split type lower ball tile comprises a first lower ball tile and a second lower ball tile which are symmetrically distributed. The screw is in threaded connection with the two connecting rod movable joints and drives the two connecting rod movable joints to be close to each other or away from each other through rotation so as to push the first lower ball tile and the second lower ball tile to be close to each other or away from each other to be opened. The rapid installation spherical hinge mechanism aims at solving the problem that the disassembly efficiency is low on the occasion that a spherical hinge pair is frequently disassembled.