33results about How to "Overcomes the disadvantages of being installed in a joint position" patented technology

A freedom degree changeable link mechanism carrying operation mechanical arm containing a revolute pair locking device comprises a base 1, a big arm telescoping mechanism, a lower arm lifting mechanism, a wrist connecting rod keeping mechanism, a wrist 27, a vacuum suction cup 28, a servo drive device, a first locking device 25 and a second locking device 26. The big arm telescoping mechanism is composed of a fourth connecting rod 5, a first drive rod 3, a second drive rod 20 and a first connecting rod 22. The keeping mechanism is composed of a second connecting rod 17, a keeping connecting rod 18 and a big arm 8. The first locking device 25 is arranged on a second revolute pair 4, and the second locking mechanism 26 is arranged on a tenth revolute pair 16. The servo drive device comprises a first servo motor and a second servo motor which are connected with the first drive rod 3 and the second drive rod 20 to drive the first drive rod 3 and the second drive rod 20 to rotate. The freedom degree changeable link mechanism carrying operation mechanical arm adopts a freedom degree changeable connecting rod transmission mechanism to replace traditional hydraulic transmission, and the defects that a hydraulic carrying operation mechanical arm is complex in hydraulic system and prone to oil leakage are overcome.

The invention discloses a servo drive rod type variable-degree-of-freedom mechanical arm for transport operation. The servo drive rod type variable-degree-of-freedom mechanical arm for transport operation comprises a base, a big arm telescopic mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a vacuum suction cup, a servo drive device and two locking devices. The big arm telescopic mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, wherein one end of the first connecting rod is connected with the base through a first rotating pair, the other end of the first connecting rod is connected with one end of the third connecting rod through a third rotating pair, the other end of the third connecting rod is connected with the second connecting rod through a fourth rotating pair, one end of the second connecting rod is connected with the base through a second rotating pair, and the other end of the second connecting rod is connected with a big arm through a fifth rotating pair. The locking devices are installed on the corresponding rotating pairs. A connecting rod transmission mechanism is adopted to replace a traditional hydraulic transmission mode, the defects that a hydraulic system of a hydraulic transport operation mechanical arm is complex, prone to oil leakage and the like can be overcome, and as the locking devices are installed on the corresponding rotating pairs, transport operation of three degrees of freedom can be achieved through two driving rods.

The invention discloses a feed stacking mechanism arm with a variable degree-of-freedom link mechanism. The feed stacking mechanism arm comprises a base 1, a big arm lifting mechanism, a wrist link pitch mechanism, a wrist 27, claws 28, a servo driving device, a first locking device 5 and a second locking device 12, wherein the big arm lifting mechanism comprises a big arm 8, a fourth link 3 and a fifth link 6; the wrist link pitch mechanism comprises a driving rod 16, a first link 18, a second link 21 and a third link 11; the first locking device 5 and the second locking device 12 are separately arranged on an eleventh revolute pair 4 and an eighth revolute pair 7, and can be locked in due time according to different working conditions of a feed stacking mechanical arm structure; the servo driving device comprises a first servo motor which is connected with the driving rod 16, so that the servo motor is driven to rotate; and the first locking device 5 and the second locking device 12 are locked by adopting an electromagnetic mode. According to the feed stacking mechanism arm disclosed by the invention, the two-degree-of-freedom feed stacking operation can be realized by only using one driving rod, so that the use amount of motors is reduced and the construction cost of the feed stacking mechanical arm structure is reduced.

Disclosed is a mechanical arm with a locking-device-contained motion range changeable link mechanism and used for assembling work. The mechanical arm is characterized by comprising a base 19, a second driving rod 21, a second connecting rod 2, an upper arm 4, a wrist connecting rod 7, a first driving rod 17, a big arm 9, a fourth connecting rod 14, a first connecting rod 12, a wrist 27, an assembling clamping paw 28, a servo driving device and a third connecting rod 10; a first electromagnetic locking device 23 is installed on a second revolute pair 15; a second electromagnetic locking device 24 is installed on a tenth revolute pair 3; the servo driving device comprises a first servo motor and a second servo motor, and the first servo motor and the second servo motor are connected to the first driving rod 17 and the second driving rod 21 to drive the first driving rod 17 and the second driving rod 21 to rotate; the first electromagnetic locking device 23 and the second electromagnetic locking device 24 are locked through an electromagnetism method to jointly complete motion of rising and falling of the big arm and pitching of the wrist connecting rod and the wrist and the like, and to jointly achieve the assembling work of the assembling clamping paw 28. According to the mechanical arm with the locking-device-contained motion range changeable link mechanism and used for the assembling work, the motion range changeable link driving mechanism is utilized to replace a traditional hydraulic drive, and the shortcomings that a hydraulic pressure assembling work mechanical arm is complicated in hydraulic system and prone to oil leakage are overcome.

The invention provides a timber grab with a freedom-degree-variable linkage mechanism. The timber grab comprises a base (1), a large arm lifting mechanism, a wrist linkage pitch mechanism, a wrist (27), a paw (28), a servo driving device, a first locking device (5) and a second locking device (12); the large arm lifting mechanism comprises a large arm (8), a fourth connecting rod (3) and a fifth connecting rod (6); the wrist linkage pitch mechanism comprises a driving rod (16), a first connecting rod (18), a second connecting rod (21) and a third connecting rod (11); the first locking device (5) and the second locking device (12) are installed on an eleventh rotating pair (4) and an eighth rotating pair (7) correspondingly and can timely lock according to different work conditions of a timber grabbing mechanism; and the servo driving device comprises a first servo motor which is connected with the driving rod (16) to drive the driving rod (16) to rotate, and the first locking device (5) and the second locking device (12) lock in an electromagnetic mode. According to the timber grab with the freedom degree variable linkage mechanism, timber grabbing operation of two freedom degrees can be achieved through one driving rod (16), so that the usage quantity of the motors is reduced, and construction cost of the timber grabbing mechanism is lowered.

A servo driving rod type variable-freedom-degree simple mechanical arm for assembling work comprises a base (1), a large arm (17), a wrist connecting rod pitching mechanism, a wrist (21), an assembling clamping gripper (22), a servo driving device, a first locking device (8) and a second locking device (16); the wrist connecting rod pitching mechanism is composed of a wrist connecting rod and a pitching mechanism, the wrist connecting rod is connected to the large arm (17) through a ninth rotation pair (19) and a tenth rotation pair (20) coaxial with the ninth rotation pair (19), and the pitching mechanism is composed of a driving piece (3), a first connecting rod (5), a second connecting rod (10) and the third connecting rod (9); the first locking device (8) and the second locking device (16) are installed on a fourth rotation pair (7) and a seventh rotation pair (15) correspondingly, so that locking is conducted at the right time according to different work conditions of a mechanism; and electromagnetic locking is achieved through the first locking device (8) and the second locking device (16). According to the servo driving rod type variable-freedom simple mechanical arm for the assembling work, the defect that driving motors of a chain-opening structure all need to be installed on the joint position is overcome, and the number of the used controllable driving motors is smaller than the degree of freedom of a mechanical arm connecting rod mechanism for assembling work.

A servo drive rod type variable freedom degree mechanical arm for assembling work is characterized by comprising a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 31, an assembling clamping claw 32, a servo drive device, a first locking device 9 and a second locking device 19; the big arm lifting mechanism is composed of a big arm 14 and a lifting mechanism; the big arm 14 is connected to the base 1 through a seventh rotation pair 13; the servo drive device comprises a first servo motor connected with a drive rod 3 so as to drive the drive rod 3 to rotate; and the first locking device 9 and the second locking device 19 conduct locking in an electromagnetic manner. According to the servo drive rod type variable freedom degree mechanical arm, a novel connecting rod transmission mechanism is adopted for replacing traditional hydraulic transmission, and the defects that a hydraulic assembling operation mechanical arm hydraulic system is complex, prone to oil leakage, high in requirement for machining precision and the like are overcome; and due to the fact that the locking devices are adopted in rotation pairs, two-freedom-degree assembling work can be achieved only by utilizing one drive rod, and the usage number of motors is reduced.

A variable mobility connecting rod mechanism driven by a servomotor is characterized by comprising a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a servo drive device, a first locking device 9 and a second locking device 19; the large arm lifting mechanism consists of a large arm 14 and a lifting mechanism, the large arm 14 is connected on the base 1 by a seventh rotary pair 13, and the servo drive device comprises a first servomotor, which is connected to an active rod 3 to drive the same to rotate; and the first locking device 9 and the second locking device 19 are locked by an electromagnetic manner. The novel connecting rod transmission mechanism is adopted to replace traditional hydraulic transmission, the defects that the hydraulic system of a hydraulic sugarcane grabbing machine is complex, easy for oil leakage, high in machining precision requirement and the like are solved, since the locking devices are adopted on the rotary pair, the sugarcane grabbing operation of two freedom degrees can be realized by using one active rod, and a use number of the electromotor is reduced.

A multi-link mechanism with a variable activity degree driven by a servo motor, comprising: a base 1, a boom lifting mechanism, a wrist link pitching mechanism, a servo drive device, a first locking device 5, and a second locking device 18; The boom lifting mechanism is composed of a boom 9 and a lifting mechanism, the wrist link pitch mechanism is composed of a wrist link 22 and a pitch mechanism, and the first locking device 5 and the second locking device 18 are respectively installed on the On the three rotating pairs 6 and the seventh rotating pair 17, timely locking is performed according to different working conditions; the servo drive device includes a first servo motor, which is connected with the first active lever 14 to drive its rotation; the first locking device 5 and the second locking device 18 are locked electromagnetically. The invention overcomes the disadvantages of complex hydraulic system, high machining accuracy and easy oil leakage, and uses a locking device on the revolving pair to realize two degrees of freedom operations, and the number of servo drive motors used is less than the degrees of freedom of the connecting rod mechanism.

A method for grabbing and loading industrial wastes by a variable-degree-of-freedom connecting rod mechanism comprising a rotating pair locking device is characterized in that the variable-degree-of-freedom connecting rod mechanism comprising the rotating pair locking device comprises a base 1, a big arm retractable mechanism, a lower arm lifting mechanism, a wrist connecting rod maintaining mechanism, a servo driving device, a first locking device 25 and a second locking device 26, wherein the big arm retractable mechanism consists of a fourth connecting rod 5, a first driving rod 3, a second driving rod 20 and a first connecting rod 22; the maintaining mechanism consists of a second connecting rod 17, a maintaining connecting rod 18 and a big arm 8; the first locking device 25 is mounted on a second rotating pair 4; the second locking device 26 is mounted on a tenth rotating pair 16; and the servo driving device comprises a first servo motor and a second servo motor which are connected with the first driving rod 3 and the second driving rod 20 so as to drive the first driving rod 3 and the second driving rod 20 to rotate. The variable-degree-of-freedom connecting rod transmission mechanism replaces traditional hydraulic transmission, and therefore, the shortcoming that a hydraulic system is complicated and leaks oil easily is overcome.

The invention discloses a variable-degree-of-freedom link mechanism mechanical arm for carrying operation. The variable-degree-of-freedom link mechanism mechanical arm comprises a base 1, a large arm lifting mechanism, a wrist link pitching mechanism, a wrist 27, a vacuum chuck 28, a servo driving device, a first locking device 5 and a second locking device 12; the large arm lifting mechanism comprises a large arm 8, a fourth link 3 and a fifth link 6; the wrist link pitching mechanism comprises a driving rod 16, a first link 18, a second link 21 and a third link 11; the first locking device 5 and the second locking device 12 are respectively arranged on an eleventh rotation pair 4 and an eighth rotation pair 7, and can carried out timing locking according to different working conditions of the variable-degree-of-freedom link mechanism mechanical arm; the servo driving device comprises a first servo motor; the first servo motor is connected with the driving rod 16 and drives the driving rod 16 to rotate; and the first locking device 5 and the second locking device 12 adopt an electromagnetic mode for locking. Two-degree-of-freedom carrying operation can be realized simply by using one driving rod, the use quantity of motors is reduced, and the construction cost of the variable-degree-of-freedom link mechanism mechanical arm is reduced.

The invention relates to a method for grabbing industrial waste by virtue of a servo motor-driven variable-degree-of-freedom connecting bar mechanism. The method is characterized in that the servo motor-driven variable-degree-of-freedom connecting bar mechanism comprises a base (1), a big arm (17), a wrist connecting bar pitching mechanism, a first locking device (8) and a second locking device (16), wherein the wrist connecting bar pitching mechanism comprises a wrist connecting bar and a pitching mechanism, the wrist connecting bar is connected to the big arm (17) through a ninth rotating pair (19) and a tenth rotating pair (20) which are coaxially arranged, the pitching mechanism comprises a driving component (3), a first connecting rod (5), a second connecting rod (10) and a third connecting rod (9), and the first locking device (8) and the second locking device (16) are respectively mounted on a fourth rotating pair (7) and a seventh rotating pair (15) and are used for locking in proper time according to different work stations of the mechanism; and the first connecting rod (5), a second connecting rod (10) are used for locking in an electromagnetic manner. By virtue of the method, the disadvantage that driving motors being of an open chain structure need to be mounted at joint positions is overcome, and the number of adopted controllable driving motors is smaller than the degree of freedom of the connecting rod mechanism.

The invention discloses a variable-activity connecting rod mechanism driven by a servo motor. The variable-activity connecting rod mechanism comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a servo drive device, a first locking device 5 and a second locking device 22. The large arm lifting mechanism comprises a large arm 20, a first connecting rod 3 and a second connecting rod 6. The wrist connecting rod pitching mechanism comprises a drive rod 17, a third connecting rod 15, a connecting piece 13 and a fourth connecting rod 11. The first locking device 5 and the second locking device 22 are installed on a second rotation pair 4 and a fifth rotation pair 7 correspondingly. The servo drive device comprises the first servo motor which is connected with the drive rod 17 to drive the drive rod 17 to rotate. The first locking device 5 and the second locking device 22 conduct locking in an electromagnetic manner. According to the variable-activity connecting rod mechanism, work of two freedom degrees can be achieved simply through one drive rod, the use number of motors is reduced, and the manufacturing cost of the mechanism is reduced.

The invention discloses an industrial waste grabbing and loading method with a variable-range-of-motion connecting rod mechanism driven by a servo motor. The industrial waste grabbing and loading method is characterized in that the variable-range-of-motion connecting rod mechanism driven by the servo motor comprises a base, a large arm telescoping mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a paw, a servo driving device and two locking devices, wherein the large arm telescoping mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is connected with the base by virtue of a first revolving pair, the other end of the first connecting rod is connected with one end of the third connecting rod by virtue of a third revolving pair, the other end of the third connecting rod is connected with the second connecting rod by virtue of a fourth revolving pair, one end of the second connecting rod is connected with the base by virtue of a second revolving pair, the other end of the second connecting rod is connected with a large arm by virtue of a fifth revolving pair, and the locking devices are installed on the revolving pairs. According to the industrial waste grabbing and loading method, the connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, so that the defects of complex hydraulic system, easiness in oil leakage and the like of a hydraulic industrial waste grabbing and loading machine can be solved; the locking devices are installed on the revolving pairs, so that the three-degree-of-freedom operation can be realized only by utilizing two driving rods.

The invention discloses a servo drive rod variable-degree-of-freedom mechanical arm for carrying operation. The mechanical arm is characterized by comprising a base 1, a large arm lifting mechanism, awrist connecting rod pitching mechanism, a wrist 31, a vacuum sucker 32, a servo driving device, a first locking device 9 and a second locking device 19; the large arm lifting mechanism consists of alarge arm 14 and a lifting mechanism; the large arm 14 is connected to the base 1 through a seventh rotating pair 13; the servo driving device comprises a first servo motor which is connected with adriving rod 3 and drives the driving rod 3 to rotate; and the first locking device 9 and the second locking device 19 are locked by adopting an electromagnetic mode. A novel connecting rod transmission mechanism is adopted to replace traditional hydraulic transmission; the defects of complicated hydraulic system, easy oil leakage, high machining precision requirement and the like in a hydraulic carrying operation mechanical arm are solved; and as the locking devices are adopted on a rotating pair, one driving rod can be used for realizing two-degree-of-freedom carrying operation, and the motoruse number is reduced.

The invention discloses a method of carrying out industrial waste seizing and loading operation by adopting a dual-servo motor driven variable-degree-of-freedom multi-link mechanism. The method is characterized in that the dual-servo motor driven variable-degree-of-freedom multi-link mechanism comprises a base 1, a large arm lifting mechanism, a wrist link pitching mechanism, a servo driving device, a first locking device 5 and a second locking device 12; the large arm lifting mechanism comprises a large arm 8, a fourth link 3 and a fifth link 6; the wrist link pitching mechanism comprises a driving rod 16, a first link 18, a second link 21 and a third link 11; the first locking device 5 and the second locking device 12 are respectively arranged on an eleventh rotation pair 4 and an eighth rotation pair 7, and can carry out timing locking according to different working conditions; the servo driving device comprises a first servo motor; the first servo motor is connected with the driving rod 16 and drives the driving rod 16 to rotate; and the first locking device 5 and the second locking device 12 adopt an electromagnetic mode for locking. According to the method, two-degree-of-freedom operation can be realized simply by using one driving rod, the use quantity of motors is reduced, and the construction cost is reduced.

The invention discloses a variable motion range connection rod mechanism with a revolute pair locking device. The variable motion range connection rod mechanism is characterized by comprising a base 19, a second driving rod 21, a second connection rod 2, an upper arm 4, a wrist connection rod 7, a first driving rod 17, a large arm 9, a fourth connection rod 14, a first connection rod 12, a servo actuating device and a third connection rod 10; a first electromagnetic locking device 23 is installed on a second revolute pair 15; a second electromagnetic locking device 24 is installed on a tenth revolute pair 3; the servo actuating device comprises a first servo motor and a second servo motor and is connected with the first driving rod 17 and the second driving rod 21 so as to drive the first driving rod 17 and the second driving rod 21 to rotate; and the first electromagnetic locking device 23 and the second electromagnetic locking device 24 are locked in an electromagnetic mode. The variable motion range connection rod transmission mechanism replaces traditional hydraulic transmission, and the defects that hydraulic systems are complex and prone to leaking oil are overcome.

The invention relates to a method for driving a link mechanism in variable motion range to grasp industrial wastes by a servo motor. The device is characterized by comprising a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a servo driving device, a first locking device 9 and a second locking device 19, wherein the big arm lifting mechanism is composed of a big arm 14 and a lifting mechanism; the big arm 14 is connected with the base 1 through a seventh rotating pair 13; the servo driving device comprises a first servo motor which is connected with a driving rod 3 and is used for driving the driving rod 3 to rotate; the first locking device 9 and the second locking device 19 are locked in electromagnetic manner. According to the method, a traditional hydraulic driving mechanism is replaced by a novel connecting rod driving mechanism; the defects of complex hydraulic system, easiness in oil leakage, high processing precision requirement, and the like, of a hydraulic industrial waste grasping machine can be overcome; the locking device is arranged on the rotating pair and one driving rod is utilized to realize the grasping operation for the industrial wastes at two degrees of freedom, so that the use quantity of the motor can be reduced.

The invention discloses a connecting rod mechanism driven by a servo motor and having the variable mobility. The connecting rod mechanism includes a base, a big arm telescoping mechanism, a lifting mechanism, a wrist connecting rod elevation mechanism, a wrist, a gripper, a servo drive device and two locking devices. The big arm telescoping mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, one end of the first connecting rod is connected with the base through a first revolute pair, the other end of the first connecting rod is connected with one end of the third connecting rod through a third revolute pair, and the other end of the third connecting rod is connected with the second connecting rod through a fourth revolute pair, one end of the second connecting rod is connected with the base through the second revolute pair, and the other end of the second connecting rod is connected with a big arm through a fifth revolute pair; the locking devices are installed on the revolute pair. The connecting rod transmission mechanism replaces a traditional hydraulic transmission and can avoid the defects that a hydraulic sugarcane gripping machine hydraulic system is complicated and easily leak oil, and since the locking devices are arranged on the revolute pairs, two driving rods can achieve three-degree-of-freedom operation.

A variable-freedom-degree multi-connection-rod mechanism driven by a servo motor is composed of a base 1, a driving rod 13, a first connection rod 15, a first connection piece 5, a fourth connection rod 4, a big arm 2, a wrist connection rod 6, a second connection rod 22, a third connection rod 26, a servo drive device, a first locking device 23 and a second locking device 24. The big arm 2 is connected to the base through a first rotation pair 10. The first locking device 23 and the second locking device 24 are installed on the seventh rotation pair 16 and the tenth rotation pair 19 correspondingly. The servo drive device comprises the first servo motor. The first servo motor is connected with the driving rod 13 so as to drive the driving rod 13 to rotate. The first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner. According to the variable-freedom-degree multi-connection-rod mechanism driven by the servo motor, a hydraulic mechanism is replaced by the connection rod transmission mechanism, and the defects that the hydraulic mechanism is prone to leaking oil, complicated in mechanism and the like are overcome. Because the locking devices are arranged on the rotation pairs, the variable-freedom-degree multi-connection-rod mechanism driven by the servo motor is suitable for different working conditions, and the number of the adopted motor is smaller than the number of freedom degrees of the mechanism.

The invention relates to a variable-degree-of-freedom connecting rod mechanism containing revolving pair locking device. The variable-degree-of-freedom connecting rod mechanism comprises a base 1, a large arm telescoping mechanism, a lower arm lifting mechanism, a wrist connecting rod holding mechanism, a servo driving device, a first locking device 25 and a second locking device 26, wherein the large arm telescoping mechanism is composed of a fourth connecting rod 5, a first driving rod 3, a second driving rod 20 and a first connecting rod 22, the holding mechanism is composed of a second connecting rod 17, a holding connecting rod 18 and a large arm 8, the first locking device 25 is installed on a second revolving pair 4, the second locking device 26 is installed on a tenth revolving pair 16, and the servo driving device comprises a first servo motor and a second servo motor which are connected with the first driving rod 3 and the second driving rod 20 so as to drive the first servo motor and the second servo motor to rotate. According to the variable-degree-of-freedom connecting rod mechanism, the variable-degree-of-freedom connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, so that the defects of complex hydraulic system and easiness in oil leakage are overcome.

The invention discloses a servo drive multi-rod type variable-degree-of-freedom mechanical arm used for transport work. The servo drive multi-rod type variable-degree-of-freedom arm used for the transport work is composed of a base 1, a driving rod 13, a first connecting rod 15, a first connecting piece 5, a fourth connecting rod 4, a big arm 2, a wrist connecting rod 6, a second connecting rod 22, a third connecting rod 26, a wrist 27, a vacuum sucking disc 28, a servo driving device, a first locking device 23 and a second locking device 24; the big arm 2 is connected to the base through a first revolute pair 10, the first locking device 23 and the second locking device 24 are installed on a seventh revolute pair 16 and an eleventh revolute pair 19 respectively, and the servo driving device comprises a first servo motor, and is connected to the driving rod 13 to drive the rotation of the driving rod 13; the first locking device 23 and the second locking device 24 are locked through an electromagnetism mode. According to the servo drive multi-rod type variable freedom mechanical arm used for the transport work, a connecting rod transmission mechanism is adopted to replace a hydraulic mechanism, the disadvantages that the hydraulic mechanism is prone to oil leakage and the mechanism is complicated are solved, through the adoption of a locking device on the revolute pair, different working conditions, and the quantity of the adopted motors is smaller than that of the degree of freedom of the mechanism.

A novel coating work mechanical arm of a variable-freedom link rod mechanism and with a rotating pair locking device is characterized in that a base 19, a second active rod 21, a second link rod 2, an upper arm 4, a wrist link rod 7, first active rod 17, a big arm 9, a fourth link rod 14, a first link rod 12, a wrist 27, a nozzle 28, a servo driving device and a third link rod10 are included; a first electromagnetic locking device 23 is mounted on a second rotating pair 15; a second electromagnetic locking device 24 is mounted on a tenth rotating pair 3; the servo driving device includes the first servo motor and the second servo motor, and the first servo motor and the second servo motor are connected with the first active rod 15 and the second active rod 18 correspondingly so as to drive the first active rod 15 and the second active rod 18 rotate; the first locking device 23 and the second locking device 24 are electromagnetically locked and complete the lifting of the big arm, the pitching of the wrist link rod and the wrist and other motions jointly and the coating work of the nozzle 28 is achieved. By replacing traditional hydraulic transmission with the variable degree-freedom link rod transmission mechanism, the defects of being complex and prone to oil leakage of a hydraulic system of the hydraulic coating work mechanical arm are overcome.

The invention discloses a variable-degree-of-freedom connecting rod mechanism containing rotating pair locking devices for a novel gas cutting unloading machine. The mechanism comprises a base 1, a large arm extension mechanism, a lower arm lifting mechanism, a clamper connecting rod keeping mechanism, a clamper 27, a cutting gun 28, a servo driving device, a first locking device 25 and a second locking device 26; the large arm extension mechanism consists of a fourth connecting rod 5, a first driving rod 3, a second driving rod 20 and a first connecting rod 22; the keeping mechanism consists of a second connecting rod 17, a keeping connecting rod 18 and a large arm 8; the first locking device 25 is mounted on a second rotating pair 4; the second locking device 26 is mounted on a tenth rotating pair 16; and the servo driving device includes a first servo motor and a second servo motor, which are connected with the first driving rod 3 and the second driving rod 20 to drive the first driving rod 3 and the second driving rod 20 to rotate. The variable-degree-of-freedom connecting rod transmission mechanism is adopted to replace traditional hydraulic transmission to solve the defects of complexity and easiness in oil leakage in a hydraulic system of a hydraulic gas cutting unloading machine.

The invention discloses a simple servo drive rod type mechanical arm with variable freedom degrees for carrying operation. The mechanical arm comprises a base 1, a big arm 17, a wrist connecting rod pitching mechanism, a wrist 21, a vacuum sucker 22, a servo drive device, a first locking device 8 and a second locking device 16; the wrist connecting rod pitching mechanism is composed of a wrist connecting rod and a pitching mechanism; the wrist connecting rod is connected to the big arm 17 through a ninth rotating pair 19 and a tenth rotating pair 20 which are coaxial; the pitching mechanism is composed of a driving part 3, a first connecting rod 5, a second connecting rod 10 and a third connecting rod 9; the first locking device 8 and the second locking device 16 are arranged on a fourth rotating pair 7 and a seventh rotating pair 15 respectively and carry out timely locking according to different working conditions of a mechanism; and the first locking device 8 and the second locking device 16 carry out locking in an electromagnetic mode. According to the simple servo drive rod type mechanical arm with variable freedom degree for the carrying operation, the defect that driving motors of an open chain structure all need to be arranged at joint positions is overcome, and the number of adopted controllable driving motors is smaller than the number of the freedom degrees of a connecting rod mechanism of the mechanical arm for the carrying operation.

The invention discloses a variable-freedom-degree connecting rod mechanism which comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a servo drive device, a first locking device 5 and a second locking device 12. The large arm lifting mechanism comprises a large arm 8, a fourth connecting rod 3 and a firth connecting rod 6. The wrist connecting rod pitching mechanism comprises a drive rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11. The first locking device 5 and the second locking device 12 are installed on an eleventh rotation pair 4 and an eighth rotation pair 7 correspondingly, and timely locking can be conducted according to different working conditions of the mechanism. The servo drive motor comprises a first servo motor which is connected with the drive rod 16 to drive the drive rod 16 to rotate. The first locking device 5 and the second locking device 12 conduct locking in an electromagnetic manner. According to the variable-freedom-degree connecting rod mechanism, work of two freedom degrees can be achieved simply through one drive rod, the use number of motors is reduced, and the manufacturing cost of the mechanism is reduced.

The invention provides a double servo motor-driven variable-degree of freedom multi-connecting rod mechanism comprising a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a servo drive device, a first locking device 5 and a second locking device 12. The big arm lifting mechanism comprises a big arm 8, a fourth connecting rod 3 and a fifth connecting rod 6. The wrist connecting rod pitching mechanism comprises a driving rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11. The first locking device 5 and the second locking device 12 are installed on an eleventh rotating pair 4 and an eighth rotating pair 7 respectively and can perform timely locking according to different working conditions of the mechanism. The servo drive device comprises a first servo motor which is connected with the driving rod 16 to drive the driving rod to rotate. The first locking device 5 and the second locking device 12 achieve locking electromagnetically. The mechanism has the advantages that the work of two degrees of freedom can be fulfilled through one driving rod only, so that the number of motors is reduced and the cost is reduced.

A novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices is characterized by comprising a base 19, a second driving rod 21, a second connection rod 2, an upper arm body 4, a wrist connection rod 7, a first driving rod 17, a big arm body 9, a fourth connection rod 14, a first connection rod 12, a wrist 27, a gripper 28, a servo drive device and a third connection rod 10, wherein a first electromagnetic locking device 23 is installed on a second rotation pair 15, and a second electromagnetic locking device 24 is installed on a tenth rotation pair 3; the servo drive device comprises a first servo motor and a second servo motor, the first servo motor is connected with the first driving rod 17 so as to drive the first driving rod 17 to rotate, and the second servo motor is connected with the second driving rod 21 so as to drive the second driving rod 21 to rotate; and the first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner, the first locking device 23 and the second locking device 24 jointly complete the motions such as ascending and descending of the big arm and pitching of the wrist connection rod and the wrist, and then feed stacking operation can be achieved by the gripper 28. According to the novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with the rotation pair locking devices, a variable-freedom-degree linkage transmission mechanism is adopted to replace traditional hydraulic transmission, and the defects that a hydraulic system of a hydraulic feed stacking mechanical arm is complicated and prone to leaking oil are overcome.

A range of motion variable link mechanism for an oxygen-acetylene cutting machine comprises a base 1, a big arm lifting mechanism, a holder connecting rod pitching mechanism, a holder 27, a burning torch 28, a servo drive device, a first locking device 5 and a second locking device 12. The big arm lifting mechanism comprises a big arm 8, a fourth connecting rod 3 and a fifth connecting rod 6. The holder connecting rod pitching mechanism comprises a drive rod 16, a first connecting rod 18, a second connecting rod 21 and a third connecting rod 11. The first locking device 5 is arranged on an eleventh revolute pair 4, the second locking device 12 is arranged on an eighth revolute pair 7, and the first locking device 5 and the second locking device 12 can carry out timely locking according to different working conditions of an oxygen-acetylene cutting mechanism. The servo drive device comprises a first servo motor connected with the drive rod 16 to drive the drive rod 16 to rotate. The first locking device 5 and the second locking device 12 adopt an electromagnetic manner to carry out locking. The range of motion variable link mechanism can achieve two freedom degrees of oxygen-acetylene cutting operation with only one drive rod, the using number of motors is reduced, and the manufacturing cost of the oxygen-acetylene cutting mechanism is reduced.

A novel welding mechanical arm using a variable freedom degree connecting rod mechanism and comprising rotation pair locking devices is characterized by comprising a base 19, a second drive rod 21, a second connecting rod 2, an upper arm 4, a wrist connecting rod 7, a first drive rod 17, a big arm 9, a fourth connecting rod 14, a first connecting rod 12, a wrist 27, a welding gun 28, a servo drive device and a third connecting rod 10; a second rotation pair 15 is provided with a first electromagnetic locking device 23; a tenth rotation pair 3 is provided with a second electromagnetic locking device 24; the servo drive device comprises a first servo motor and a second servo motor, and the first servo motor and the second servo motor are connected with the first drive rod 17 and the second drive rod 21 so as to drive the first drive rod 17 and the second drive rod 21 to rotate; and the first locking device 23 and the second locking device 24 conduct locking in an electromagnetic manner and jointly finish the movement of big arm ascending and descending, wrist connecting rod and wrist pitching movement and the like, and the welding work of the welding gun 28 is achieved. According to the novel welding mechanical arm using the variable freedom degree connecting rod mechanism and comprising the rotation pair locking devices, the variable freedom degree connecting rod transmission mechanism replaces traditional hydraulic transmission, and the defects that a hydraulic welding mechanical arm hydraulic system is complex, and oil leakage is likely to happen are overcome.