449 results about "Linkage (mechanical)" patented technology

The invention relates to a five-axis linkage numerical control welding machine and the welding technique control method thereof. The welding technique control method comprises the following steps: adopting CAD/CAM to build a welding workpiece model; planning and outputting the specific welding spot sequence data; and then carrying out a coordinate conversion and generating a G-code numerical control program file by applying a specific machine tool kinematical formula. The mechanical transmission system ensures the five-axis linkage according to the converted specific welding-spot data, so as to optimize the position between the welding gun and the welding spot while welding, ensure that the welding product has the advantages of good quality uniformity, high repeatability precision, good movement and power performance, etc.; the mechanical transmission system includes three linear movement guide rails X, Y and Z which drive the welding guns to work, and two rotating shafts which drive the welding guns to rotate, wherein the linear movement guide rails can ensure that the rotating shafts can move transversely in any position in the working space, and the two rotating shafts which drive the welding guns to rotate can ensure that the welding guns can perform a 360-degree rotation round the welding spot, therefore, the welding machine and the control method thereof have the advantages of large machine tool stroke, no dead area, high generality, high suitability, etc.

The invention discloses a five-axis linkage loading test device for a machine tool. The device consists of a following loading mechanism mechanical part and a measurement and control system. The following loading mechanism mechanical part applies a load to a spindle through an interface of the spindle of the machine tool. The measurement and control system is used for realizing servo motor control, mechanism motion control, load calculation and signal processing functions of the following loading mechanism mechanical part. The five-axis linkage loading test method for the machine tool comprises the five major steps of: 1, measuring load data; 2, establishing a load spectrum; 3, organizing tool path data; 4, performing hardware solidification of the data; and 5, calibrating and correcting a database. The device and the method are universal and widely applicable to various types of tests in the reliability of the machine tool, and have practical significance and reference value for the research and development of high-performance load simulators in China.

The invention discloses a double-arm robot performance measuring method based on multiple laser trackers. The double-arm robot performance measuring method based on the multiple laser trackers comprises the following steps that (1-1) a double-arm robot tool coordinate system is established; (1-2) a coordinate conversion relation between base coordinate systems of the laser trackers and base coordinate systems of mechanical arms is established; (1-3) a public base coordinate system is unified; (1-4) robot performance measurement point planning is performed; (1-5) the laser trackers and an I/O synchronization technology are used for simultaneously measuring a double-arm robot; and (1-6) and data processing is performed, and a test report is generated. The double-arm robot performance measuring method has the characteristics that two arms of the double-arm robot can be simultaneously measured, the linkage characteristics of the two-arm robot can be evaluated, the movement points of the two arms do not need to be aligned in timing sequence, the measurement precision is high, and the test process is simple.

The invention provides a mechanical hand for carrying out chamfering polishing on the end face of a gear. A probe at the tail end of the mechanical hand and a polishing head are arranged to be an integrated linkage whole, a master controller enables the probe to make contact with the gear at the set contact pressure value, and the probe is arranged to be a sensor which monitors the contact pressure value in real time. The master controller adjusts the contact pressure value at the next moment. The displacement path of the probe is the polishing path of the polishing head. The invention furtherprovides a polishing method of the mechanical hand for carrying out chamfering polishing on the end face of the gear. The method comprises the steps that 1, the probe makes contact with the edge of the gear at the set contact pressure value; 2, when the gear is rotated, a force sensor feeds the real-time contact pressure value of the probe and the gear back to the master controller; 3, the position of the probe at the next moment is adjusted to enable the probe to be in tight fit with the gear, and copying description is carried out the gear contour; and 4, the polishing head and the probe are in integrated linkage, and the copied contour described by the probe is converted to be the polishing path of the polishing head. The contact force of the probe and the surface of the gear is controllable, the machining precision is high, and polishing quality is good.

The invention discloses a synchronizer gear ring inner ring machining composite clamp which comprises a hollow chuck. A chuck pull rod linkage mechanism is arranged in the hollow chuck. The linkage mechanism drives workpiece pull rods in the hollow chuck. Rotary clamp grooves are formed in the workpiece pull rods and achieve autoroatation under the action of limiting pins so as to drive workpiece press plates on the workpiece pull rods to rotate to fix and loosen a workpiece. A workpiece inner cone top disc and a centre matched with the hollow chuck are designed on a machine tool tailstock to carry out inner ring axial and radial locating of the workpiece. According to the clamp, synchronizer gear ring inner ring clamping machining forming can be achieved at a time; on the premise of guaranteeing the requirements of synchronizer gear ring inner ring inner face and outer face coaxiality, roundness, bounce machining and the like, automatic mechanical arm feeding is facilitated, and meanwhile precise machining of synchronizer gear ring inner rings is achieved; the problem about side connection between procedures is avoided; the machining efficiency is high; the middle work-in-process inventory is cancelled; orders are easy to track; the transfer time is short; and the existing one-piece flow development tendency is met.

The invention relates to the technical field of mechanical equipment, and discloses a device for changing the rotating speed based on gravity variations to prevent a feeding machine from being blocked. The device comprises a supporting plate. Due to the cooperative use of a threaded stud, a first sliding block, a small rotating wheel and a transverse rod, the conveying speed is increased, a blocked feeding pipe is automatically dredged, the phenomenon that a machine breaks down due to the fact that the machine cannot run normally is avoided, and the service life period of the device is prolonged. Due to the cooperative use of a baffle, a connecting rod and a connecting block, when a bearing plate descends to drive the baffle to be closed, the blocked feeding pipe can be automatically closed, and conveying burdens of the feeding pipe are relieved. Due to cooperative use of the baffle and the connecting rod, consequent reactions are in linkage, the linkage of the whole device is improved, and operation is easier and more convenient. Dredging can be performed by means of gravity variations of the bearing plate, and no other external energy needs to be supplied, so that the whole device is more intelligent and more environmentally friendly, and the using cost is lower.

The invention relates to a reasonable matching method of a walking beam type pumping unit and electromotors. The method comprises the steps that firstly, a pumping unit database is built; secondly, an electromotor database is built; thirdly, a rod tube database is built; fourthly, four-bar linkage movement calculation is conducted on the pumping unit; fifthly, polished rod loads of a rod pumped well are calculated; sixthly, the torque of a reduction gearbox is calculated; seventhly, input end parameters of the driving electromotor are calculated; eighthly, the seventh step is repeated, and calculation is conducted on input end parameters of each one of a three-phase asynchronous electromotor, a double-power electromotor, a high slip electromotor and a permanent-magnet synchronous electromotor; ninthly, reasonable matching is conducted on the matched rod pumped well and the electromotor, calculation results of the eighth step are compared with a standard configuration electromotor scheme, and after screening based on constraint conditions is conducted, the scheme having the highest comprehensive electricity-saving ratio is the optimized electromechanical reasonable matching scheme. The method is beneficial to improving the power utilizing rate and efficiency of a driver electromotor, improving the current situation of 'big Mara trolleys', and achieving energy saving and emission reduction.

The invention relates to a robot control device, a robot control method, and a picking device. According to one embodiment, the robot control device is used for a mechanical arm including a linkage rod and a motor used for rotationally driving the linkage rod. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.

The invention relates to a hardware workpiece punching device capable of automatically pushing materials. The device comprises a base, a support rod, a cross rod, an operation table, a raw material box, a punching mechanism and a material pushing mechanism, wherein the hardware workpiece punching device capable of automatically pushing the materials realizes continuous punching of a workpiece through the punching mechanism, and realizes automatic intermittent material pushing of the workpiece through the material pushing mechanism, compared with an existing punching device, through linkage of the material pushing mechanism and the punching mechanism, the device achieves online material pushing and punching of the workpiece, efficiency is improved, a pure mechanical mechanism is adopted for linkage, use of electronic elements such as a sensor is avoided, stability of the device is improved, the service life of the device is prolonged, meanwhile, operation of the punching mechanism and the material pushing mechanism is achieved through one output end, energy is saved, compared with an existing material pushing mechanism, movement of rolling wheels is limited, damped and lubricated through a rolling unit, a buffering unit and a lubricating unit, a push rod moves more stably, and the better material pushing effect is achieved.

The invention discloses a linkage mechanism experimental system which comprises a supporting platform, a crank support and a guide rail support, wherein cranks, connecting rods, slide blocks and slide block guide rails are sequentially arranged between the crank support and the guide rail support; a crankshaft is driven by a hand shank. Three cranks of different lengths, five connecting rods of different lengths and two slide block guide rails of different lengths are arranged in the system disclosed by the invention, and the slide block guide rails can be fixed in two positions of different heights by virtue of threaded holes of different heights in the guide rail support so as to be selected during assembling. The system disclosed by the invention is used for allowing students to select member sizes, assemble centered or biased crank slide bar (slide block) mechanisms, detect displacement errors and personally perceive mechanical properties of the mechanisms according to the specified slide bar (slide block) travel and other requirements. The experimental system disclosed by the invention contributes to allowing the students to cognize and understand the influences of kinematic pair structures and member sizes on mechanism motion output, the influences of kinematic accuracy and movement pair clearances on the mechanism motion accuracy, the influences of the member sizes on the mechanical properties of the mechanisms and the like.

The invention provides a substance taking and releasing device having a mechanical arm. The substance taking and releasing device having the mechanical arm comprises a linear driver connected with themechanical arm, a drawing device connected with the linear driver and clamping jaws which are arranged on two sides of the linear driver and are used for clamping two sides of a logistics object, wherein the linear driver is used for driving the drawing device to perform expanding and contracting movement, and the clamping jaws are linked with the linear driver; and when the linear driver is contracted, the clamping jaws are closed up, and when the linear driver is extended, the clamping jaws are opened. According to the substance taking and releasing device having the mechanical arm disclosed by the invention, the advantages of a sucker and the advantages of the clamping jaws are combined; to the logistics object stored in a narrow space, the drawing device is driven by the linear driverto extend and adsorb the object, besides, the linkage relationship between the drawing device and the linear driver is utilized, when the substance taking and releasing device having the mechanical arm is contracted, two sides of the logistics object are further clamped by the clamping jaws, and the logistics object is taken out, so that the logistics object in the narrow space can be flexibly and reliably taken out, and after contraction, much work space cannot be occupied, and the moving of the mechanical arm is convenient.

The invention discloses a dual-purpose mechanical arm for intelligent manufacturing, and belongs to the technical field of intelligent manufacturing mechanical arms. According to the dual-purpose mechanical arm for intelligent manufacturing, a dual-motor mechanism is arranged in a driving mechanism to drive overall device driving, and a servo motor on one side is started to rotate backwards to drive an air inlet driving mechanism; due to the fact that a ratchet wheel is arranged in the upper end of a linkage mechanism, the linkage mechanism is not driven to rotate at this moment, a movable chassis is driven to move, and a grabbing claw is driven to open; then after the mechanical arm is moved to a designated spot, a servo motor on the other side is started to rotate backwards, the air inlet driving mechanism is driven to move, the movable chassis is driven to move, and the grabbing claw is driven to grab designated articles; and after the grabbing claw is closed at an idle state, a cross screwdriver is formed at the front end, and screw mounting work can be conducted.

The invention provides a square tube two-way synchronous bending machining device for mechanical equipment production and assembly. The square tube two-way synchronous bending machining device comprises arc-shaped base plates; L-shaped supporting frames A are further slidably mounted at the outer sides of the arc-shaped base plates correspondingly, the L-shaped supporting frames A are slidably mounted in adjusting grooves A through clamping plates at the bottoms of the L-shaped supporting frames A, threaded cylinders are further connected to the bottoms of the clamping plates, and adjusting screw rods are inserted into the threaded cylinders in a penetrating manner and engaged with the threaded cylinders correspondingly; and a driving mechanism is installed at the inner side of a machiningplatform and is in transmission connection with tube bending linkage gears on the tube bending mechanisms, the front end of a discharging push rod is of a U-shaped structure and is connected with twosets of L-shaped supporting frames B, and the rear end of the discharging push rod is connected with an inner baffle, then penetrates through a U-shaped frame and is sleeved with a reset spring. theadjusting screw rods drive the two L-shaped supporting frames A to conduct synchronous sliding adjustment so that the bent lengths of the two ends of a square tube can be kept consistent all the time,the bent square tube can be pushed out by pushing an outer baffle and the L-shaped supporting frames B, and the square tube returns under the action of the reset spring and the inner baffle after being loosened.

The invention relates to an automatic continuous punching device for a metal plate. The automatic continuous punching device for the metal plate comprises a base, a supporting rod, a cross rod, a driving mechanism, a conveying mechanism and a punching mechanism, the conveying mechanism is arranged on the base, and the punching mechanism is arranged above the conveying mechanism. According to the automatic continuous punching device for the metal plate, the conveying mechanism and the punching mechanism are driven by the driving mechanism to intermittently operate, continuous punching of workpieces is achieved, and compared with an existing punching device, the automatic continuous punching device has the advantages that operation of the conveying mechanism and the punching mechanism is achieved through one output end, energy is saved, meanwhile, linkage is adopted by the conveying mechanism and the punching mechanism, online punching of the workpieces is achieved, the linkage adopts a pure mechanical structure, the stability of the device is improved, and the service life of the device is prolonged. Compared with an existing punching mechanism, the mechanism adopts the mechanical structure to replace air cylinder driving, the stability is improved, meanwhile, the movement of a movable rod is buffered and positioned through a positioning assembly, the device runs more stably, and the practicability is improved.

The invention provides a self-adaptive suspension chassis system based on a mechanical connecting rod mechanism, and belongs to the technical field of robot chassis. The self-adaptive suspension chassis system comprises a completely non-independent connecting rod suspension, a chassis frame and four Mecanum wheel sets; the completely non-independent connecting rods are suspended on the chassis frame; and a connecting rod type spring damping device is arranged on the completely non-independent connecting rod suspension, wherein the two Mecanum wheel sets are symmetrically installed on one sideof the chassis frame and connected with the completely non-independent connecting rods in a suspended mode through the connecting rod type spring damping devices respectively, and the other two Mecanum wheel sets are symmetrically installed on the other side of the chassis frame and connected with the completely non-independent connecting rods in a suspended mode through the connecting rod type spring damping devices respectively. The connecting rod type spring damping device is adopted, so that the system can adapt to various special terrains, the phenomena of shaking and inclining caused bythe fact that the adjacent wheels move in the same direction during speed changing and turning are effectively avoided, and the system is high in impact resistance, stable in connection and high in practicability.

The invention provides a connecting device and an excavator, and relates to the technical field of engineering machinery. The connecting device comprises a rack, an action mechanism, a main hook, a lock hook and a lock catch piece; the main hook is fixedly connected to the rack; the action mechanism comprises a driving piece and a linkage piece; the driving piece and the lock hook are rotationallyconnected with the rack separately; the driving piece is rotationally connected to the lock hook through the linkage piece; the driving piece drives the linkage piece to drive the lock hook to rotatein the direction away from or close to the main hook to be matched with the main hook to be connected with or separated from the accessory; and the lock catch piece is used for abutting against the action mechanism to lock the action mechanism when the lock hook is in the state of being connected with the accessory. According to the invention, the lock hook in the connecting device is matched with the main hook and the accessory in a moving mode to be detachably connected, and the accessory can be rapidly disassembled by operating the lock catch piece and the driving piece so that the accessory replacement difficulty can be reduced, and meanwhile the accessory replacement efficiency can be improved. The mechanical connection mode can effectively simplify a hydraulic control structure in the prior art, and the problem that a hydraulic system is complex in arrangement is avoided.

Systems and methods for robotic surgery are disclosed. In one embodiment, a system comprises a controller configured to control actuation of at least one servo motor; a surgical instrument configured to be movable in a workspace controlled, at least in part, by actuation of the at least one servo motor; and a mechanical tracker linkage coupled between the elongate instrument and a portion of skeletal anatomy of a patient, the tracker linkage comprising one or more joints associated with one or more joint rotation sensors and being configured to send joint signals to the controller; wherein the controller controls positioning of the instrument based at least in part upon the joint signals received from the mechanical tracker.

The invention discloses a novel motor-driven mechanical stretching device. The improved novel motor-driven mechanical stretching device comprises a left side component and a right side component whichare symmetrical, the left side component comprises a leg stretching mechanism, a seat plate linkage mechanism and a backrest mechanism, the seat plate linkage mechanism comprises a front mounting piece, one end of the front mounting piece is pivoted to the front portion of a bottom connecting rod, the other end of the front mounting piece is pivoted with a first front rotating piece, the middle of the front mounting piece is pivoted with a second front rotating piece, the other end of the second front rotating piece is pivoted with a side connecting rod piece, the front end of the side connecting rod piece is pivoted with the middle of the first front rotating piece, the rear end of the side connecting rod piece is pivoted with a rear rotating piece which is pivoted with a rear mounting piece, the other end of the rear mounting piece is pivoted to the rear end of the bottom connecting rod, and the rear rotating piece and the front rotating piece I are pivoted with an assembling side plate simultaneously. The problems that an existing seat plate linkage mechanism is complex in structure, large in number of parts, high in manufacturing cost and high in clamping stagnation risk are solved.

The invention belongs to the field of metal cold drawing forming technologies, and discloses mechanical equipment. Metal plates, special-shaped materials and the like can be forced by the mechanical equipment to cling to three-dimensional dies to be shaped by the three-dimensional dies by means of multi-dimensional movement, turnover and twisting after the metal plates, the special-shaped materials and the like are stretched to reach yield limit. The mechanical equipment comprises a left working platform, a middle working platform and a right working platform. Two independent four-axis stretching units are respectively arranged on the left working platform and the right working platform, and jaws with tightening devices on the units can be driven by hydraulic systems to carry out X-direction, Y-direction and Z-direction displacement movement and rotation movement. Guide rails, chains and the like are arranged on the left working platform and the right working platform, pin holes and the like are formed in the left working platform and the right working platform, the guide rails, the chains, the pin holes and the like are used for fixing the units, and the units can automatically travel on the platforms by the aid of driving devices, so that requirements on stretching workpieces with different lengths can be met. A T-shaped groove is formed in the surface of the middle working platform and is used for fixing the dies, a hydraulic driving device is arranged below the middle working platform, lifting and front-back turnover movement can be carried out, the hydraulic driving device is matched with a left four-axis movement unit and a right four-axis movement unit, and ten-axis linkage stretching and drawing effects can be realized under instruction operation actions of a hardware control system.

The invention relates to the technical field of screw assembling, in particular to full-automatic screw assembling equipment. A lifting arm and an assembling claw movably connected to the lifting arm are further installed on a second mechanism arm. A feed device comprises a feeding seat connected to a feeding sliding channel, a feeding rod penetrating into the feeding seat to jack up a material piece and a driving mechanism driving the feeding rod to move up and down. In actual work, linkage of a first mechanical arm and the second mechanism arm drives the lifting arm and the assembling claw installed on the lifting arm to swing back and forth on the assembling seat and an assembled part assembly line to achieve the step of full-automatically picking up a screw and assembling the screw. A working procedure of jacking up the screw is arranged on an assembling material channel, the function of feeding one by one is achieved, the assembling quality is improved, meanwhile, the assembling speed and efficiency are also improved, the working load of workers are greatly reduced, the positive effect on mechanical automation scale production is achieved, and practicability and creativity are high.

The invention discloses a novel air bag type pneumatic mechanical claw. The claw comprises a fixed platform and a mechanical claw body, the mechanical claw body comprises a plurality of flexible grabbing fingers capable of deforming and bending, the fixed platform is fastened to a main air cylinder through screws, a piston is arranged in the main air cylinder, the piston is connected with a linkage shaft, and the lower end of the linkage shaft extends out of the main air cylinder. The lower end of the linkage shaft penetrates through the fixed platform and extends out of the lower portion of the fixed platform, the tail end of the linkage shaft is connected with a moving platform, the mechanical claw is located at the bottom of the fixed platform, finger fixing bases are arranged at the tops of the flexible grabbing fingers, and the outer ends of the finger fixing bases are rotationally connected with finger connecting pieces through bearings. The mechanical claw is driven by compressed air, on the premise that high-speed grabbing is guaranteed, control over the opening and closing angle is achieved, meanwhile, the mechanical claw has the advantages that a traditional pneumatic mechanical claw is easy to maintain and easy to drive, the mechanical claw can effectively adapt to objects of various sizes, shapes and materials, and meanwhile damage-free rapid grabbing of soft and vulnerable objects is achieved.

The invention discloses a pure-mechanical type welding jig. The jig comprises a rack, the rack is provided with a welding platform, universal wheels are installed at the bottom of the rack, and the jig further comprises a preliminary locating mechanism, a linkage mechanism and a power source mechanism, wherein the preliminary locating mechanism, the linkage mechanism and the power source mechanism are installed on the welding platform. In the pure-mechanical type welding jig, through the arrangement of the preliminary locating mechanism and the linkage mechanism, a workpiece is precisely and quickly located, multiple workpieces can be clamped in one time, and the problem that positioning is not precisely conducted when multiple workpieces are clamped many times is solved; meanwhile, the pure-mechanical type welding jig is simple in clamping structure, convenient to operate, and safe and reliable, and the welding efficiency is effectively improved. Besides, regarding the arranged power source mechanism, power is input through an operating handle, so that after a cam rotates, the cam supplies power to a disc cam plate, an inner pressing block and an outer pressing block on a pressing plate clamp the workpiece in the transverse direction, and the disc cam plate and the pressing are both designed to be in central symmetry, the situation that the clamp force is not uniformly distributed is solved, and the welding quality is effectively improved.

A crop duster dump gate opens and closes to turn on and off the flow of payload out of the hopper. The traditional mechanical gate is actuated by the pilot through mechanical linkages. The effort required by the pilot to open and close the gate requires significant force and can lead to fatigue or injury. The powered dump gate system is an add-on to the existing traditional mechanical gate system by a booster that is hydraulic, pneumatic, or electric. The powered dump gate eliminates strenuous effort by the pilot and requires no change to the pilot's work environment and methods.