42results about How to "Overcoming oil spills" patented technology

The invention belongs to the technical field of structure vibration control, and particularly relates to a parallel damping and spring unit ternary vibration reduction device, a design method and an assembling method. The device comprises a spring unit, a damping unit and an inerter unit. The damping unit is connected with the spring unit in parallel through a connecting piece and then connected with the inerter unit in series to form a parallel damping and spring unit ternary vibration reduction structure. Two ball screw transmission systems are adopted, the parallel damping and spring unit ternary vibration reduction structure is formed, and the tuning function can be achieved for inertia force. Continuous adjustment of the inertia force can be achieved by changing the size of a flywheel, and the energy absorbing capability of the inerter unit can be brought into full play. In addition, the assembling technology is adopted in the device, and the advantages that adjustment is easy, durability is good, and the energy consumption capability is high are achieved.

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 belongs to the technical field of structure vibration control and particularly relates to an inerter unit and spring unit parallel connection ternary vibration reducing device and a design and assembling method. The device comprises a spring unit, a damping unit and an inerter unit. The spring unit and the inerter unit are connected in parallel, and then the spring unit and the inerter unit are connected with the damping unit in series to form a ternary vibration reducing structure. By means of the inerter unit and spring unit parallel connection ternary vibration reducing deviceand the design and assembling method, two sets of ball screw transmission systems are adopted for achieving the inerter unit and spring unit parallel connection ternary vibration reducing structure,a turning effect can be achieved on damping force, the energy consumption capability of the damping unit is sufficiently developed, and the energy consumption and vibration reducing efficiency of thevibration reducing device is improved. In addition, an assembly technology is adopted, and the beneficial effects that adjusting is easy, durability is good, and the energy consumption capability is high are achieved.

A connecting rod type variable freedom degree fodder stacking mechanical arm driven by a servo motor is characterized by comprising a base 1, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 31, a paw 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, and 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 which is 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. A novel connecting rod transmission mechanism is adopted in the connecting rod type variable freedom degree fodder stacking mechanical arm for replacing traditional hydraulic transmission, and the defects that a hydraulic fodder stacking mechanical arm hydraulic system is complex, oil leakage is likely to happen, and the machining precision requirement is high are overcome; the locking devices are adopted in rotation pairs so that the two-freedom-degree fodder stacking operation can be achieved by utilizing one drive rod, and the number of adopted motors is reduced.

The invention discloses a multi-connecting-rod variable-freedom-degree feed stacking manipulator driven by servo motors. The multi-connecting-rod variable-freedom-degree feed stacking manipulator 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 gripper 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 is mounted on a seventh revolute pair 16, and the second locking device 24 is mounted on an eleventh revolute pair 19; the servo driving device comprises a first servo motor connected with the driving rod 13 to drive the driving rod 13 to rotate; and the first locking device 23 and the second locking device 24 are used for locking in an electromagnetic way. According to the multi-connecting-rod variable-freedom-degree feed stacking manipulator, a hydraulic mechanism is replaced with a connecting rod driving mechanism, so that the defects that the hydraulic mechanism is prone to oil leakage, complex in mechanism and the like are overcome; the locking devices are adopted by the revolute pairs for adapting to different working conditions; and the amount of the used motors is smaller than the freedom degree of the mechanism.

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 novel fodder stacking mechanical arm adopting servo motors to drive a multi-freedom-degree connecting rod mechanism comprises a base 9, a first driving rod 1, a second driving rod 2, a third driving rod 3, a third connecting rod 4, a fourth connecting rod 7, a first connecting rod 5, a big arm 6, a wrist 20, a pawl 8 and a servo drive device. One end of the big arm 6 is connected with the fourth connecting rod 7 through a ninth rotation pair 19, and the other end of the big arm 6 is connected with the pawl 8 through the wrist 20. The servo drive device comprises the first servo motor, the second servo motor and the third servo motor, all of which are connected with the first driving rod 1, the second driving rod 2 and the third driving rod 3 correspondingly so as to drive the first driving rod 1, the second driving rod 2 and the third driving rod 3 to rotate. The first driving rod 1, the second driving rod 2 and the third driving rod 3 jointly conduct driving to finish the big arm ascending and descending, pitching of the wrist 20 and other movements, and the fodder stacking work of the pawl 8 is achieved. According to the novel fodder stacking mechanical arm, the motors are arranged on the base, and the problems that an arm of an open chain mechanism is heavy, and the dynamic performance is poor are solved.

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.

The invention discloses a servo-driven variable-motion-degree connecting rod mechanism mechanical arm used for assembling work. The mechanical arm comprises a base, a large arm ascending and descending mechanism, a wrist connecting rod pitching mechanism, a wrist, assembling clamping claws and a servo driving device. The large arm ascending and descending mechanism is composed of a second driving rod (19), a third connecting rod (3) and a large arm (5). One end of the second driving rod (19) is connected with the base (1) through a second rotating pair (17), and the other end of the second driving rod (19) is connected with the large arm (5) through a third rotating pair (18). One end of the third connecting rod (3) is connected with the base (1) through a tenth rotating pair (2), and the other end of the third connecting rod (3) is connected with the large arm (5) through a first rotating pair (4). The servo driving device comprises a first servo motor and a second servo motor. The first servo motor and the second servo motor are connected with a first driving rod (15) and a second driving rod (19) correspondingly so that the first driving rod (15) and the second driving rod (19) can be driven to rotate, motions such as ascending and descending of the large arm and pitching of a wrist connecting rod (7) and the wrist (27) are completed jointly, and assembling work of the assembling clamping claws (28) is achieved. By means of the servo-driven variable-motion-degree connecting rod mechanism mechanical arm, the defect that all servo motors of open-chain structures need to be mounted at the joint positions is overcome, and stability and reliability of operation of the arm are improved.

The invention discloses a variable-freedom-degree connecting rod type fodder stacking mechanical arm driven by a servo motor. The variable-freedom-degree connecting rod type fodder stacking mechanical arm comprises a base 1, a large arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist 27, a gripper 28, 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 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 a 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-freedom-degree connecting rod type fodder stacking mechanical arm driven by the servo motor, fodder stacking work of two freedom degrees can be achieved through one drive rod, the use number of motors is reduced, and the manufacturing cost of the fodder stacking mechanical arm 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.

The invention provides a multi-connecting-rod variable-freedom-degree wood grasping machine provided with servo motors for driving. The multi-connecting-rod variable-freedom-degree wood grasping machine provided with the servo motors for driving 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 paw 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 mounted on a seventh revolute pair 16 and an eleventh revolute pair 19 correspondingly. The servo driving device comprises the first servo motor, and the first servo motor is connected with the driving rod 13 to drive the driving rod 13 to rotate. The first locking device 23 and the second locking device 24 are locked in an electromagnetic mode. According to the multi-connecting-rod variable-freedom-degree wood grasping machine provided with the servo motors for driving, a connecting-rod transmission mechanism is used for replacing a hydraulic mechanism, and the defects that the hydraulic mechanism is prone to oil leakage, complex and the like are overcome; and since the locking devices are arranged on the revolute pairs, the multi-connecting-rod variable-freedom-degree wood grasping machine can adapt to different working conditions, and the number of the adopted motors is smaller than the freedom degree of the mechanism.

The invention provides a dual servo motor driven variable degree-of-freedom multi-linkage mechanism for a gas cutting blanking machine. The multi-linkage mechanism comprises a base 1, a big arm lifting mechanism, a gripper linkage pitching mechanism, a gripper 27, a cutting gun 28, a servo-driving 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 gripper linkage 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 respectively mounted on an eleventh rotating pair 4 and an eighth rotating pair 7, so as to perform timely locking according to different working conditions of a gas cutting blanking mechanism; the servo-driving device comprises a first servo motor which is connected to the driving rod 16 to drive the same to rotate; and the first locking device 5 and the second locking device 12 perform locking in an electromagnetic manner. According to the multi-linkage mechanism, a two-degree-of-freedom gas cutting blanking operation can be realized by using only one driving rod, so that the number of motors is reduced and the cost of the gas cutting blanking mechanism is reduced.

A spot welding mechanical arm adopting a freedom-degree-variable connecting rod mechanism is composed of a base 1, a large arm 2, a connecting part 4, a wrist connecting rod 5, a welding gun 28, a wrist 27, a drive device, a driving rod 13, a third connecting rod 15, an upper arm 18, a first connecting rod 23, a second connecting rod 22, a first locking device 25 and a second locking device 26. The large arm 2 is connected to the base 1 through a first rotating pair 9. The other end of the large arm 2 is connected with the wrist connecting rod 5 through a third rotating pair 7. The first locking device 25 and the second locking device 26 are mounted on an eighth rotating pair 17 and a twelfth rotating pair 20 correspondingly. The drive device is composed of a first servo motor and connected with the driving rod 13 and drives the driving rod 13. The first locking device 25 and the second locking device 26 are both electromagnetic locking devices. The spot welding mechanical arm overcomes the defect that an existing spot welding mechanical arm mechanism needs to be provided with control motors with the number equal to that of freedom degrees of the connecting rod mechanism to achievecontrol.

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 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 multi-connecting-rod mechanism driven by double servo motors. The multi-connecting-rod mechanism comprises a base 1, a lifting mechanism, a pitching mechanism and a servo drive device. The lifting mechanism comprises a second drive rod 18, a third connecting rod 3 and a fourth connecting rod 5. One end of the first drive rod 15 is connected with the base 1 through a ninth rotation pair 16, and the other end of the first drive rod 15 is connected with one end of a first connecting rod 13 through an eighth rotation pair 14. The other end of the first connecting rod 13 is connected with the first end of a connecting piece 11 through a seventh rotation pair 12. The third end of the connecting piece 11 is connected with the second drive rod 18 through a third rotation pair 19. The other end of a second connecting rod 9 is connected with a wrist connecting rod 7 through a fifth rotation pair 8. The servo drive device comprises the first servo motor and the second servo motor which are connected with the first drive rod 15 and the second drive rod 18 correspondingly to drive the first drive rod 15 and the second drive rod 18 to rotate. The multi-connecting-rod mechanism overcomes the defect that drive motors of open chain structures need to be installed at joint positions.

A servo-motor-drive multi-degree-of-freedom connecting rod mechanism painting operation mechanical arm comprises a base, a big arm lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a nozzle and a servo driving device. The big arm lifting mechanism is composed of a second driving rod 19, a third connecting rod 3 and a big arm 5. One end of the second driving rod 19 is connected with the base 1 through a second rotation pair 17, and the other end of the second driving rod 19 is connected with the big arm 5 through a third rotation pair 18. One end of the third connecting rod 3 is connected with the base 1 through a tenth rotation pair 2, and the other end of the third connecting rod 3 is connected with the big arm 5 through a first rotation pair 4. The servo driving device comprises a first servo motor and a second servo motor. The first servo motor and the second servo motor are connected with a first driving rod 15 and the second driving rod 19 correspondingly to drive the first driving rod 15 and the second driving rod 19 to rotate so that movements such as lifting of the big arm and pitching of a wrist connecting rod 7 and the wrist 27 can be completely jointly, and painting operation of the nozzle 28 is achieved. The defect that all driving motors of an open-chain structure need to be mounted at joints is overcome, and the operation stability and reliability of the arm are improved.

A servo drive type variable-motion-degree-linkage-mechanism mechanical arm for carrying operation comprises a base 1, a big arm ascending and descending mechanism, a wrist connection rod pitching mechanism, a wrist, a vacuum suction cup and a servo drive device. The big arm ascending and descending mechanism is composed of a second driving rod 19, a third connection rod 3 and a big arm body 5. One end of the second driving rod 19 is connected with the base 1 through a second rotation pair 17. The other end of the second driving rod 19 is connected with the big arm 5 through the third rotation pair 18. One end of the third connection rod 3 is connected with the base 1 through the tenth rotation pair 2. The other end of the third connection rod 3 is connected with the big arm 5 through the first rotation pair 4. The servo drive device comprises a first servo motor and a second servo motor, wherein the first servo motor is connected with the first driving rod 15 so as to drive the first driving rod 15 to rotate, the second servo motor is connected with the second driving rod 19 so as to drive the second driving rod 19 to rotate, the first servo motor and the second servo motor jointly complete motions such as ascending and descending of the big arm and pitching of the wrist connection rod 7 and the wrist 27, and then the carrying operation is achieved by the vacuum suction cup 28. The servo drive type variable-motion-degree-linkage-mechanism mechanical arm for the carrying operation overcomes defect that drive motors of an open-chain structure all need to be installed at joint positions, and the stability and reliability of the operation of the mechanical arm are improved.

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 relates to a servo motor drive multi-motion-degree connecting rod mechanism for an oxygen-acetylene cutting machine. The servo motor drive multi-motion-degree connecting rod mechanism comprises a base, a large arm lifting mechanism, a clamp connecting rod pitching mechanism, a clamp, a cutting gun and a servo drive device; the large arm lifting mechanism is composed of a second driving rod (19), a third connecting rod (3) and a large arm (5), one end of the second driving rod (19) is connected with the base (1) through a second rotation pair (17), the other end of the second driving rod (19) is connected with the large arm (5) through a third rotation pair (18), one end of the third connecting rod (3) is connected with the base (1) through a tenth rotation pair (2), and the other end of the third connecting rod (3) is connected with the large arm (5) through a first rotation pair (4); and the servo drive device comprises a first servo motor and a second servo motor which are connected with a first driving rod (15) and the second driving rod (19) to drive the first driving rod (15) and the second driving rod (19) to rotate correspondingly, motions of lifting of the large arm, pitching of a clamp connecting rod (7) and the clamp (27) and the like are jointly completed, and the oxygen-acetylene cutting operation of the cutting gun (28) is achieved. By means of the servo motor drive multi-motion-degree connecting rod mechanism, the defect that a driving motor of an open chain structure needs to be installed at the joint position is overcome, and the arm running stability and reliability are improved.

A servo motor drive two-degree of freedom link mechanism for a simple oxygen-acetylene cutting machine comprises a second drive rod 2, a base 14, a big arm 4, a small arm 7, a holder connecting rod 9, a first drive rod 11, a holder 17, a burning torch 18, a servo drive device and a connecting rod 15. One end of the connecting rod 15 is connected to the big arm 4 through a seventh revolute pair 5, and the other end of the connecting rod 15 is connected with the first drive rod 11 through an eighth revolute pair 10. The base 14 is arranged on a walking chassis. The servo drive device comprises a first servo motor and a second servo motor, the first servo motor is connected with the first drive rod 11 to drive the first drive rod to rotate, the second servo motor is connected with the second drive rod 2 to drive the second drive rod 2 to rotate, the first drive rod 11 and the second drive rod 2 jointly carry out driving to finish big arm ascending and descending and pitching and other movement of the holder 17, and oxygen-acetylene cutting operation of the burning torch 18 is achieved. The servo motor drive two-degree of freedom link mechanism overcomes the defect that a drive motor of an open-chain structure needs to be installed at a joint position, and the stability and reliability of running of the arms are improved.

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 two-degree-of-motion connection rod mechanism maniacal arm for carrying operation. The two-degree-of-motion connection rod mechanism maniacal arm comprises a pedestal 1, a first driving rod 3, a first connection piece 5, a first connection rod 19, a large arm 16, a second connection piece 7, a wrist connection rod 9, a vacuum suction disk 22, a wrist 21, a drive device, a second driving rod 13 and a second connection rod 11, wherein one end of the first driving rod 3 is connected with the pedestal 1 through a first rotating pair 2; one end of the second driving rod 13 is connected with the pedestal 1 through a ninth rotating pair 14, and the other end of the second driving rod 13 is connected with the second connection rod 11 through a tenth rotating pair 12; the second connection rod 11 is connected with the wrist connection rod 9 through an eleventh rotating pair 10; and the drive device consists of a first servo motor and a second servo motor which are respectively connected with the first driving rod 3 and the second driving rod 13 to drive the first driving rod 3 and the second driving rod 13. The two-degree-of-motion connection rod mechanism maniacal arm overcomes the shortcomings that a hydraulic system element of a hydraulic type carrying mechanical arm is high in requirement for precision, complicated in structure, prone to spill, low in reliability, low in transmission efficiency and the like.