Novel variable-freedom-degree-linkage-mechanism feed stacking mechanical arm provided with rotation pair locking devices
A technology of link mechanism and rotating pair, which is applied in the stacking, unstacking, transportation and packaging of objects, etc., and can solve the problem of the variable degree of freedom mechanism of the mechanical arm of feed stacking and the large influence of hydraulic oil temperature , affecting feed quality and other issues, to overcome the high precision requirements of components, improve stability and reliability, and simplify the complexity
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[0007] A new feed stacking mechanical arm with a variable degree of freedom linkage mechanism including a rotating pair locking device, including a base 19, a second active rod 21, a second connecting rod 2, an upper arm 4, a wrist connecting rod 7, and a first active rod 17. The big arm 9, the fourth connecting rod 14, the first connecting rod 12, the wrist 27, the claw 28, the servo drive device and the third connecting rod 10; the base 19 is installed on a movable rotary platform; the first One end of the second active rod 21 is connected to the base 19 through the eighth rotating pair 20, the other end of the second active rod 21 is connected to one end of the second connecting rod 2 through the ninth rotating pair 1, and the other end of the second connecting rod 2 is rotated by the tenth The pair 3 is connected to one end of the upper arm 4, and the other end of the upper arm 4 is connected to the wrist link 7 through the eleventh rotating pair 6; one end of the first act...
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