80results about How to "Easy to implement remote control" patented technology

Provided is a miniaturization iris identification module adopting active vision feedback, which independently completes collection of eye iris images and process function, and can be used as a miniaturization module with independent iris identification function embedded into and connected to other devices, e.g. a safe box (a safe case), a lock, a finance safety-deposit box, a fire-arm storage box, a bag storage cabinet, a ATM, a POS, a work attendance machine, a gate inhibition controller, a channel controller, a lift controller, a radio set, a copier, a electrograph, a telephone, a printer, a mouse, a computer, a household electrical appliance, a cable TV remoter, a toy, a digital camera, a moving device, a car, a motor, a motor-assisted bicycle and the like, thereby upgrading to a product with iris identification and authentication function.

The invention relates to a controllable stacking robot, which comprises a large arm swinging branched chain, a small arm swinging branched chain, a gesture maintaining branched chain, a tail end actuator and a machine frame. The robot completes the tasks of transporting and stacking on a space as well as flexible and changeable trajectory output according to the combined movement of the large arm swinging branched chain and the small arm swinging branched arm. During a working process, according to two groups of parallelogram structures of the gesture maintaining branched chain, the tail end actuator can be guaranteed to maintain in a horizontal state all the time, all servo motors are arranged on the machine frame, rod pieces can be made into light rods, the robot has small movement inertia and excellent dynamic performance, and can be better satisfied with the requirement of transporting stacks at a high speed. According to the controllable stacking robot, by the adoption of a novel connecting rod mechanism, as a connecting transmission mechanism is simple in structure, the stress of each rod is improved, and the robot is more suitable for manufacturing a large-scale stacking machine.

The invention relates to a large-work-space controllable-mechanism stacker crane. The stacker crane comprises a large-arm swing branch chain, a mid-arm swing branch chain, a small-arm swing branch chain, a posture keeping branch chain, an end executor and a rack. A robot completes carrying stacking operations with large work space and flexible changeable track output through the combined movement of the large-arm swing branch chain, the mid-arm swing branch chain and the small-arm swing branch chain. Three groups of parallelogram structures of the posture keeping branch chain can guarantee that the end executor keeps a horizontal state constantly in a working process, and all servo motors are mounted on the rack, bars can be made into light bars, the robot moving inertia is small, the dynamic performance is good, and requirements for high-speed and heavy-duty carrying and stacking can be well met. According to the stacker crane, a novel connection rod mechanism is utilized, so that the carrying and stacking work space is large, the connection rod transmission mechanism is simple, stresses on the bars are improved, and the manufacture of large stacker crane is applicable.

The invention discloses a metamorphic parallel-connection robot palletizer mechanism. One end of a first driving rod of the metamorphic parallel-connection robot palletizer mechanism is connected with a rack; the other end of the first driving rod is connected with one end of a fourth connecting rod; the other end of the fourth connecting rod is connected with a seventh connecting rod; one end of a second driving rod is connected with the other end of the rack; the other end of the second driving rod is connected with one end of a fifth connecting rod; the other end of the fifth connecting rod is connected with the fourth connecting rod; one end of a first connecting rod is connected with the rack; the other end of the first connecting rod is connected with one end of a second connecting rod and is also connected with the first driving rod, the fourth connecting rod and a third connecting rod; one end of the third connecting rod is connected with the first driving rod, the fourth connecting rod and the second connecting rod simultaneously; the other end of the third connecting rod is connected with one end of a sixth connecting rod; the other end of the sixth connecting rod is connected with one end of the seventh connecting rod; the other end of the seventh connecting rod is connected with a tail end implanter; one end of a spring is connected with the second connecting rod; the other end of the spring is connected with the third connecting rod. Compared with a conventional open-chain type parallel-connection robot palletizer, the metamorphic parallel-connection robot palletizer mechanism has the advantages of high rigidity, high bearing property, small error accumulation, and the like.

Provided is a rotatable manipulation arm with a metamorphic function. The lower end of a first telescopic rod of the manipulation arm is connected to a working platform, and the upper end of the first telescopic rod is connected to a first sliding sleeve. A first rod is sleeved with the first sliding sleeve, the lower end of the first rod is connected to the working platform, and the upper end of the first rod is connected to one end of a second rod. The other end of the second rod is connected to an actuator. The lower end of a second telescopic rod is connected to a sliding block which is mounted in a sliding groove of the working platform, and the upper end of the second telescopic rod is connected to a second sliding sleeve. The second rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the working platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the second corner of the triangular connecting plate, and the other end of the third telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is connected with the first rod and the second rod at the same time. The rotatable manipulation arm has the advantages of being large in working space, high in digging force, good in stress and the like as a traditional hydraulic mechanism; meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a rack transmission system is lowered.

Provided is a rotatable multiple-connecting-rod controllable excavating mechanism having a metamorphic function. One end of a second driving part of the excavating mechanism is connected to a machine frame through an eighth rotating pair, the other end of the second driving part is connected with one end of a third connecting rod through a ninth rotating pair, the other end of the third connecting rod is connected with one end of a second connecting rod through a tenth rotating pair, and the other end of the second connecting rod is connected to a bucket through an eleventh rotating pair. One end of the first driving part is connected to the other end of the machine frame and connected with one end of a bucket rod, and the other end of the bucket rod is connected to the bucket. One end of a large arm is connected to the machine frame through a first rotating pair, the other end of the large arm is connected with one end of a first connecting rod through a second rotating pair, the other end of the first connecting rod is connected with the second connecting rod through a third rotating pair, and the other end of the second connecting rod is connected to the third connecting rod through a fourth rotating pair. The rotatable multiple-connecting-rod controllable excavating mechanism utilizes connecting rod transmission to replace hydraulic transmission, and the shortcomings of high maintenance cost, high hydraulic element cost, large operation noise and the like of a traditional excavating machine are overcome.

The invention discloses a controllable mechanism type industrial robot manipulator. The lower end of a first rod of the manipulator is connected to a work platform, the upper end of the first rod is connected to one end of a second rod, the other end of the second rod is connected to an actuator, the lower end of a first telescopic rod is connected to the work platform, the upper end of the first telescopic rod is connected to a first slide sleeve, the first slide sleeve is arranged on the first rod in a sleeving mode, the lower end of a second telescopic rod is connected to a slide block, the slide block is installed in a slide groove, the upper end of the second telescopic rod is connected to a third slide sleeve, the third slide sleeve is arranged on the second rod in a sleeving mode, one end of a third rod is connected to a second slide sleeve, the second slide sleeve is arranged on the second telescopic rod in a sleeving mode, the other end of the third rod is connected to the actuator, and the work platform is installed on a trolley. The controllable mechanism type industrial robot manipulator has the advantages of traditional hydraulic mechanisms with large work space is large, large digging force and good stressing performance, the number of driving rods and controllable motors is lowered, and the complexity of a machine frame drive system is lowered.

The invention relates to a multiple-degree-of-freedom industrial robot manipulator. A lower end of a first rod of the manipulator is connected to a working platform, while an upper end of the first rod is connected with one end of a second rod; the other end of the second rod is connected to an actuator; a lower end of a first expansion link is connected to a slider that is mounted in a sliding groove; an upper end of the first expansion rod is connected to a first sliding sleeve; the first sliding sleeve sleeves the first rod; a lower end of a second expansion link is connected to the working platform, while an upper end of the second expansion link is connected to a third sliding sleeve; the third sliding sleeve sleeves the second rod; one end of a third rod is connected to a second sliding sleeve that sleeves the second expansion link, while the other end of the third rod is connected to the actuator; the working platform is mounted on a trolley. The multiple-degree-of-freedom industrial robot manipulator has the advantages of large working space, large digging force, good stress and the like of a traditional hydraulic machine mechanism, and furthermore, the number of active rods and controllable motors is further reduced, and the complexity of a frame transmission system is reduced.

The invention discloses a multi-freedom-degree industrial machine operation arm mechanism. The lower end of a first rod of the mechanism is connected to a work platform. The upper end of the first rod is connected to a first sliding sleeve. A second rod is sleeved with the first sliding sleeve. One end of the second rod is connected to an actuator. The other end of the second rod is connected with the upper end of a first telescopic rod. The lower end of the first telescopic rod is connected to a sliding block. The sliding block is installed in a sliding groove in the work platform. The lower end of a second telescopic rod is connected to the work platform. The upper end of the second telescopic rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the work platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the second corner of the triangular connecting plate, and the other end of the third telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is also connected with the first telescopic rod and the second rod at the same time. The multi-freedom-degree industrial machine operation arm mechanism has the beneficial effects of being large in working space and excavating force, good in stress and the like, meanwhile, the number of drive rods and controllable motors is reduced, and complexity of a rack transmission system is lowered.

The invention discloses a loading mechanism adopting MDOF (multiple degree of freedom) controllable connecting rods. Two ends of a second driving lever of a lifting mechanism are connected with a stander and a first end of a first support frame respectively; two ends of a third connecting rod are connected with the stander and a second end of the first support frame, and a third end of the first support frame is connected with a bucket; two ends of a first driving lever of a bucket turnover mechanism are connected with the stander and one end of a first connecting rod respectively, the other end of the first connecting rod is connected with a first end of a second support frame, a second end of the second support frame is connected with one end of the a second connecting rod, a third end of the second support frame is connected with the second driving lever, and the other end of the second connecting rod is connected with the bucket. The loading mechanism can solve the defects that a traditional hydraulic loading machine is complicated in system, easy to leak oil, high in machining precision requirement and the like, and has the advantages of an MDOF controllable mechanism type loading machine, such as flexibility, rapid action and the like; moreover, a connecting rod transmission part is more simple, each rod and each joint bear force batter, and a work space is larger, so that the loading mechanism is more suitable for manufacturing various loading machines and other engineering machinery.

Provided is a loading machine with the active metamorphic function. A bucket turnover mechanism of the loading machine is composed of a bucket and a turnover mechanism. The bucket is connected to a big arm through a ninth rotation pair and a tenth rotation pair which are coaxial. The turnover mechanism is composed of a driving piece, a first connecting rod, a second connecting rod and a third connecting rod. One end of the driving piece is connected to a machine frame, the other end of the driving piece is connected with the first connecting rod. the other end of the first connecting rod is connected to the second connecting rod, the other two ends of the second connecting rod are connected with the bucket and the third connecting rod respectively, the third connecting rod is connected with the big arm, a locking device is installed on a rotation pair, and the active metamorphic function is achieved by locking the rotation pair. The loading machine with the active metamorphic function overcomes the shortcomings that a hydraulic system of a hydraulic loading machine is complex, the requirement for machining accuracy is high and oil leakage occurs easily, can achieve active metamorphosis according to different operating conditions, not only has the flexibility of the hydraulic loading machine, but also can achieve the loading operations of two degrees of freedom, and is applicable to manufacturing various loading machines and other engineering machines.

The invention relates to an industrial robot manipulator capable of achieving multi-angle working. The lower end of a first stretching rod of the manipulator is connected to a sliding block, the sliding block is installed in a sliding groove of a working platform, the upper end of the first stretching rod is connected with one end of a second rod, and the other end of the second rod is connected to an actuator; the lower end of a first rod is connected to the working platform, the upper end of the first rod is connected to a third sliding sleeve, and the second rod is sleeved with the third sliding sleeve; and the lower end of a second stretching rod is connected to the working platform, the upper end of the second stretching rod is connected to a first sliding sleeve, and the first rod is sleeved with the first sliding sleeve; and one end of a third rod is connected to the third sliding sleeve, the other end of the third rod is connected to the actuator, and the working platform is installed on a trolley. According to the industrial robot manipulator, the beneficial effects of large working space, large digging force, good stress and the like of a traditional hydraulic machine mechanism are achieved; and meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a rack transmission system is reduced.

The invention discloses a controllable mechanism type movable mechanical arm. The lower end of a first rod of the mechanical arm is connected to a work platform. The upper end of the first rod is connected with one end of a second rod. The other end of the second rod is connected to an actuator. The lower end of a first telescopic rod is connected to the work platform. The upper end of the first telescopic rod is connected to a first sliding sleeve. The second rod is sleeved with the first sliding sleeve. The lower end of a third rod is connected to a sliding block which is installed in a sliding groove in the work platform. The upper end of the third rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. One end of a spring is fixed to the work platform, and the other end of the spring is fixed to the first corner of a triangular connecting plate. One end of a second telescopic rod is connected to the second corner of the triangular connecting plate. The other end of the second telescopic rod is connected to the actuator. The third corner of the triangular connecting plate is connected with the first rod and the second rod at the same time. The controllable mechanism type movable mechanical arm has the beneficial effects of large working space, large excavating force, good stress and the like of a traditional hydraulic mechanism, meanwhile, the number of driving rods and controllable motors is reduced, and complexity of a rack transmission system is lowered.

The invention discloses a multi-degree-of-freedom metamorphism controllable excavation mechanism comprising a parallelogram bucket maintaining mechanism. The multi-degree-of-freedom metamorphism controllable excavation mechanism comprises a rack, a big arm swing mechanism, a bucket rod raising and dropping mechanism, a bucket overturning mechanism and two electromagnetic locking devices. The big arm swing mechanism comprises a big arm and a swing mechanism. The bucket rod raising and dropping mechanism comprises a bucket rod and a raising and dropping mechanism. The bucket overturning mechanism comprises a bucket and an overturning mechanism. The electromagnetic locking devices are mounted on a revolute pair and achieve the active metamorphism function by electromagnetically locking the revolute pair. According to the multi-degree-of-freedom metamorphism controllable excavation mechanism comprising the parallelogram bucket maintaining mechanism, a link transmission mechanism is used for replacing traditional hydraulic transmission, so the defects that a hydraulic system of a hydraulic excavator is complex, prone to oil leakage and the like can be overcome; due to the fact that the electromagnetic locking devices are mounted on the revolute pair, active metamorphism can be realized according to different working conditions; the flexibility of the hydraulic excavator is obtained, and excavation operation at three degrees of freedom can be achieved just through two driving rods, so that the manufacturing cost of the excavation mechanism is lowered, and the excavation mechanism is suitable for manufacturing various excavators and other engineering machinery.

The invention discloses a mechanical arm working at multiple angles. The lower end of a first rod of the mechanical arm is connected to a work platform through a first rotation pair; the upper end of the first rod is connected with one end of a second rod through a second rotation pair; the other end of the second rod is connected to an executor through a third rotation pair; the lower end of a telescopic rod is connected to the work platform through a fourth rotation pair; the upper end of the telescopic rod is connected to a second slide sleeve through a fifth rotation pair; the second rod is sleeved with the second slide sleeve; the lower end of a third rod is connected to a slider through a sixth rotation pair; the slider is installed in a slide groove of the work platform; the upper end of the third rod is connected to a first slide sleeve through a rotating pair; the first rod is sleeved with the first slide sleeve; and the work platform is installed on a trolley through an eighth rotation pair. The number of driving rods and controllable motors is reduced while the mechanical arm working at multiple angles has the beneficial effects that a traditional hydraulic machine mechanism is large in work space and excavating force, good in stress and the like, and the complexity of a machine frame transmission system is reduced.

The invention relates to a large-workspace controllable stack device. The stack device comprises a large arm swing branched chain, a middle arm swing branched chain, a small arm swing branched chain, a posture maintaining branched chain, an end actuator and a rack. A robot completes work of the carrying stack with large workspace and flexible track output through combined motion of the large arm swing branched chain, the middle arm swing branched chain and the small arm swing branched chain. During operation, three groups of parallelogram structures of the posture maintaining branched chain can guarantee the end actuator to be in a horizontal state. All servo motors are installed on the rack, bars are light, the motion inertia of the robot is small, the dynamics performance is good, and the requirement for the high-speed overload carrying stack can be better satisfied.

A multi-connecting-rod loading mechanism with the active metamorphic function comprises a rack, a driving rod, supporting frames, a supporting rod, pull rods, movable arms, a bucket and a locking device. One end of the driving rod is connected with the rack, the other end of the driving rod is connected with the first pull rod, the first pull rod is connected with the first supporting frame, the other two ends of the first supporting frame are connected with the second pull rod and the second supporting frame respectively, the second pull rod is connected with the bucket, one end of the second supporting frame is connected with the third pull rod, the other end of the second supporting frame is connected with the rack, the other end of the third pull rod is connected with the supporting rod, the supporting rod is fixed between the movable arms, and the locking device is installed on a revolute pair. According to the multi-connecting-rod loading mechanism, a connecting rod transmission mechanism is adopted for replacing a hydraulic mechanism, so that the defects that the hydraulic mechanism is prone to oil leakage, complex and the like are overcome; moreover, because the locking device is adopted for the revolute pair, active metamorphic operation can be carried out according to requirements of different working conditions, and the multi-connecting-rod loading mechanism is suitable for manufacturing various excavators and other engineering machines.

The invention discloses a multi-freedom-degree controllable loading mechanism with an active metamorphic function. The multi-freedom-degree controllable loading mechanism comprises a frame, a big arm lifting mechanism, a bucket turnover mechanism and two locking devices, wherein the big arm lifting mechanism comprises a big arm and a lifting mechanism; the bucket turnover mechanism comprises a bucket and a turnover mechanism; the locking devices are mounted on revolute pairs, and are used for realizing the active metamorphic function through locking the revolute pairs. According to the invention, as a novel connecting rod transmission mechanism is adopted to replace a traditional hydraulic transmission mechanism, the defects of complexity in a hydraulic system of a hydraulic loading machine, easiness in oil leakage and high processing accuracy requirement are overcome; as the locking devices are adopted on the revolute pairs, active metamorphic operation can be performed according to different operation conditions, flexibility of the hydraulic loading machine is realized, and loading operation under two freedom degrees can be realized by utilizing one driving rod, using amount of motors is reduced, the construction cost of the loading mechanism is reduced, and the multi-freedom-degree controllable loading mechanism is suitable for manufacturing of various loading machines and other engineering machinery.

The invention provides a multi-freedom degree controllable mechanism type mobile stacking robot. The stacking robot comprises a moveable platform, a rotary machine frame, an arm lifting mechanism, a tail end executor translation keeping mechanism and a flanged disc, wherein the rotary machine frame is connected to the moveable platform through a rotary pair; the arm lifting mechanism comprises a big arm, a small arm, a first driving rod, a first connecting rod, a second connecting rod, a third connecting rod, a second driving rod and a fourth connecting rod; each rod is connected through a hinge; the tail end executor translation keeping mechanism comprises a parallelogram mechanism consisting of a big arm, a first auxiliary connecting rod, a triangular auxiliary frame and a rotary machine frame and a parallelogram mechanism consisting of a small arm, a second auxiliary connecting rod, a triangular auxiliary frame and a tail end executor translation keeper. The stacking robot is high in bearing capacity, large in working space and flexible in operation, intelligence and numerical control can be realized under the driving control of a servo motor, and the stacking robot is compact in structure, high in rigidity and better in reliability and dynamic stability.

A simple loading mechanism with the active metamorphic function comprises a rack, a bucket turnover mechanism and a locking device. The bucket turnover mechanism comprises a bucket and a turnover mechanism, the locking device is installed on a revolute pair, and the active metamorphic function is achieved by locking the revolute pair. According to the simple loading mechanism, a connecting rod transmission mechanism is adopted for replacing traditional hydraulic transmission, so that the defects that a hydraulic loader is complex in hydraulic system, high in requirement for machining precision and prone to oil leakage are overcome; because the locking device is adopted for the revolute pair, active metamorphic operation can be carried out according to different operation working conditions; the simple loading mechanism not only has the flexibility of the hydraulic loader but also can achieve loading operation with two degrees of freedom only through one driving rod, the using number of motors is reduced, the manufacturing cost of the loading mechanism is reduced, and the simple loading mechanism is suitable for manufacturing various loaders and other engineering machines.

The invention relates to a high-reliability loading mechanism with the active metamorphic function. One end of a movable arm of the loading mechanism is connected to a rack, the other end of the movable arm is connected with a bucket, one end of a driving rod is connected with the rack, the other end of the driving rod is connected with a first pull rod, and the other end of the first pull rod is connected with a supporting frame. One end of the supporting frame is connected with the rack, the other end of the supporting frame is connected with a second pull rod, and the other end of the second pull rod is connected with the bucket. One end of a first connecting rod is connected with the rack, the other end of the first connecting rod is connected with a second connecting rod, and the other end of the second connecting rod is connected with a supporting rod. A first locking device and a second locking device are installed on a ninth revolute pair and a twelfth revolute pair respectively. According to the high-reliability loading mechanism, a connecting rod transmission mechanism is adopted for replacing a hydraulic mechanism, so that the defects that the hydraulic mechanism is prone to oil leakage and complex are overcome; moreover, because the locking devices are adopted, active metamorphic operation can be carried out according to requirements of different working conditions, and the high-reliability loading mechanism is suitable for manufacturing various excavators and other engineering machines.

The invention discloses an electromagnetic braking initiative metamorphic multi-connecting-rod controllable excavation mechanism. A first driving rod is connected with a machine frame, and the other end of the first driving rod is connected with a big arm through a second rotating pair; a second driving rod is connected with the machine frame, the other end of the second driving rod is connected with a first connecting rod, and the other end of the first connecting rod is connected with the big arm; a lifting rod is connected with the machine frame, the other end of the lifting rod is connected with a bucket rod, and the other end of the bucket rod is connected with a bucket; a second connecting rod is connected with the lifting rod, the other end of the second connecting rod is connected with a turnover rod through a tenth rotating pair, the middle of the turnover rod is connected with the big arm, and the other end of the turnover rod is connected with the bucket; the second rotating pair and the tenth rotating pair are provided with electromagnetic locking devices with the locking function. The electromagnetic braking initiative metamorphic multi-connecting-rod controllable excavation mechanism not only has the flexibility of a hydraulic excavator, but also can achieve the three-degree-of-freedom excavation through the two driving rods, the manufacturing cost of the excavator is lowered, and the electromagnetic braking initiative metamorphic multi-connecting-rod controllable excavation mechanism is applicable to manufacturing of various excavators and other engineering machines.

The invention relates to a simple multi-connecting-rod controllable loader with the active metamorphic function. A big arm of the loader is connected to a rack; a lifting mechanism is composed of the big arm and the rack, and the big arm is connected to the rack; a bucket turnover mechanism is composed of a bucket and a turnover mechanism, the bucket is connected to the big arm, and the turnover mechanism is composed of a driving rod, a first connecting rod, a second connecting rod and a third connecting rod. One end of the driving rod is connected to the rack, the other end of the driving rod is connected with the first connecting rod, the other end of the first connecting rod is connected to the second connecting rod, the other two ends of the second connecting rod are connected with the big arm and the third connecting rod respectively, the other end of the third connecting rod is connected with the bucket, and a locking device is installed on a revolute pair. The simple multi-connecting-rod controllable loader overcomes the defects that a hydraulic loader is complex in hydraulic system, high in requirement for machining precision and prone to oil leakage, active metamorphic operation can be carried out according to different operation working conditions, loading operation with two degrees of freedom is achieved, and it is suitable for manufacturing various loaders and other engineering machines.

The invention discloses a multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator. The multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator comprises a moving base plate, a rotary platform and a working device, wherein the working device comprises a large arm swinging mechanism, a bucket rod lifting mechanism and a bucket overturning mechanism; the large arm swinging mechanism comprises a large arm and a swinging mechanism; the bucket rod lifting mechanism comprises a bucket rod and a lifting mechanism; the bucket overturning mechanism comprises a bucket and an overturning mechanism. According to the multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator, mutual match movement of a movable arm lifting branch chain, a bucket rod swinging branch chain and a bucket overturning branch chain is realized under the matching effect of all driving rod driving states, so that all types of complicated excavation work is finished; the multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator has the flexibility of the controllable mechanism type excavator and a connecting rod transmission part is simpler; the stress between each rod and the connection part is better and the construction cost of the excavator is reduced; the multi-degree-of-freedom multi-connecting-rod controllable mechanism type excavator is suitable for manufacturing various excavators and other engineering machinery.

A multi-connecting-rod controllable excavation mechanism based on electromagnetic initiative metamorphism comprises a rack, a large arm swing mechanism, a bucket rod lifting mechanism, a bucket turnover mechanism and an electromagnetic locking device. The large arm swing mechanism comprises a large arm and a swing mechanism. The bucket rod lifting mechanism comprises a bucket rod and a lifting mechanism. The bucket turnover mechanism comprises a bucket and a turnover mechanism. The electromagnetic locking device is installed on a revolute pair, and an initiative metamorphism function can be achieved by electromagnetically locking the revolute pair. According to the excavation mechanism, a traditional hydraulic transmission mechanism is replaced by a connecting rod transmission mechanism, so the defects that a hydraulic system of a hydraulic excavator is complex and prone to oil leakage and the like are overcome. Due to the fact that the electromagnetic locking device is adopted in the revolute pair, initiative metamorphism can be achieved according to different operation working conditions, and the excavation mechanism not only has the flexibility of the hydraulic excavator, but also can achieve 3-DOF excavation operation by utilizing two initiative rods, lowers the manufacturing cost and is suitable for manufacturing various excavators and other engineering machinery.

The invention discloses a controllable mechanism type transfer robot arm. The lower end of a first telescopic rod of the robot arm is connected to a working platform. The upper end of the first telescopic rod is connected with one end of a first rod. The other end of the first rod is connected to an actuator. The lower end of a second rod is connected to the working platform. The upper end of the second rod is connected to a first sliding sleeve. The first telescopic rod is sleeved with the first sliding sleeve. The lower end of a second telescopic rod is connected to a sliding block. The sliding block is installed in a sliding groove in the working platform. The upper end of the second telescopic rod is connected to a second sliding sleeve. The first rod is sleeved with the second sliding sleeve. The lower end of a third rod is connected to the working platform. The upper end of the third rod is connected to a first corner of a triangular connecting plate. One end of a third telescopic rod is connected to the actuator. The other end of the third telescopic rod is connected to a second corner of the triangular connecting plate. A third corner of the triangular connecting plate is connected with the first telescopic rod and the first rod at the same time. The controllable mechanism type transfer robot arm has the advantages of a traditional hydraulic mechanism that the working space is large, the digging force is large and the stress is good; meanwhile, the number of driving rods and the number of controllable motors are reduced, and the complexity of a machine frame transmission system is lowered.

The invention relates to a spherical fuel element disintegration device, and belongs to the technical field of nuclear fuel element aftertreatment.The device comprises a base, a door-shaped stand column, a first rotating motor, a second rotating motor, a cantilever support, an electrolytic cell, a lead screw motor, a mesh cathode and the like.One side of the door-shaped stand column is fixed on the base, the second rotating motor is relatively fixed with the other side of the door-shaped stand column, the short arm of the cantilever support is in linkage with an output shaft of the second rotating motor, the first rotating motor is fixed at the end of the long arm of the cantilever support, the lead screw motor is fixed on the lower portion of one side of the door-shaped stand column, the electrolytic cell is relatively fixed with a nut through a sliding seat, and the mesh cathode in the electrolytic cell is connected with a negative pole.The spherical fuel element disintegration device is compact in structure, convenient to operate, prone to achieve remote control and very beneficial for breakage mechanism research of coated particles in fuel elements subjected to irradiation or heat treatment and analysis of burnup and fission products, interference and contamination among samples of various batches are effectively avoided.

A multi-closed-chain controllable excavation mechanism for keeping the posture of a bucket through metamorphism comprises a rack, a big arm swing mechanism, a bucket rod lifting mechanism, a bucket turnover mechanism and an electromagnetic locking device. The big arm swing mechanism comprises a big arm and a swing mechanism body, the bucket rod lifting mechanism comprises a bucket rod and a lifting mechanism body, the bucket turnover mechanism comprises a bucket and a turnover mechanism body, the electromagnetic locking device is installed on a revolute pair, and the active metamorphism function is achieved by conducting electromagnetic locking on the revolute pair. According to the multi-closed-chain controllable excavation mechanism, a connecting rod transmission mechanism is adopted for replacing traditional hydraulic transmission, and the defects that hydraulic excavator hydraulic systems are complex and prone to oil leakage are overcome; because the electromagnetic locking device is adopted for the revolute pair, active metamorphism can be conducted according to different working conditions, and the multi-closed-chain controllable excavation mechanism has the flexibility of hydraulic excavators; three-degree-of-freedom excavation operation can be achieved through two active rods, the fabrication cost of the excavators is reduced, and the multi-closed-chain controllable excavation mechanism is suitable for manufacturing various excavators and other engineering machines.

The invention discloses a multi-freedom-degree controllable mechanism type hybrid carrying robot. The carrying robot is characterized in that one end of a second driving rod is connected to a rotation rack, and the other end of the second driving rod is connected to one end of a first connection rod; the other end of the first connection rod is connected to one end of a second connection rod; the other end of the second connection rod is connected to one end of a shoulder rod; the other end of the shoulder rod is connected to one end of a toggle rod; the other end of the toggle rod is rigidly connected to one end of a fifth connection rod; the other end of the fifth connection rod is connected to one end of a sixth connection rod; the other end of the sixth connection rod is connected to a tail end actuator; one end of a third connection rod is connected to the rotation rack, and the other end of the third connection rod is connected to the second connection rod; one end of a waist rod is connected to the rotation rack, and the other end of the waist rod is connected to the shoulder rod; one end of a third driving rod is connected to the rotation rack, and the other end of the third driving rod is connected to one end of a fourth connection rod; the other end of the fourth connection rod is connected to one end of a tenth connection rod; the other end of the tenth connection rod is connected to a second compound hinge. The hybrid carrying robot is high in bearing capability, flexible in operation, compact in structure and large in working space; meanwhile, the hybrid carrying robot is driven and controlled by a servo motor.

Disclosed is a two freedom degree controllable type loading mechanism with an initiative metamorphic function. The two freedom degree controllable type loading mechanism with the initiative metamorphic function comprises a machine frame, a drive rod, a first rocker arm, a first linkage, a pull rod, a second rocker arm, a second linkage, a large arm, a scraper bucket and two locking devices, wherein one end of the drive rod is connected with the machine frame, the other end of the drive rod is connected with one end of the first rocker arm, the other two ends of the first rocker arm are respectively connected with one end of the pull rod and one end of the first linkage, the other end of the pull rod is connected with the scraper bucket, the other end of the first linkage is connected one end of the second rocker arm, the other two ends of the second rocker arm are respectively connected with one end of the second linkage and one end of the large arm, the other end of the second linkage is connected with the machine frame, the other two ends of the large arm are respectively connected with the scraper bucket and the machine frame, the locking device is installed on a rotation pair, and the locking device can be locked and loosened according to different work conditions so as to complete operation. The two freedom degree controllable type loading mechanism with the initiative metamorphic function uses a linkage mechanism to replace a hydraulic mechanism, can achieve the initiative metamorphic function through the locking device, can achieve two freedom degrees of loading operation only through the one drive rod, and is simple to operate and low in cost.