78results about How to "Flexible drive mode" patented technology

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

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

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

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

This invention discloses a dynamic electric source management frame which consists of operating point management, operating status management, strategy management, equipment restraint management, system loading detection and strategy optimization. The operating point refers to straggling parameter collection; the operating status refers to mapping of multi-operating points; the management strategy refers to defining the detailed operating points mapped by the operating status; the restraint management was realized by claiming restriction on DPM through drive; the loading detection checks the function burden of the system; strategy optimization was realized by calculating the outcome of the detection.

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

The invention provides a polarity-reversal signal converting method and device and a display. The polarity-reversal signal converting method comprises the steps of judging whether the conversion of a polarity-reversal signal is needed or not currently, generating a judgment result, and changing the polarity-reversal signal output to a data driver currently when the judgment result shows that the conversion of the polarity-reversal signal is needed currently. The polarity-reversal signal provided to the data driver can be changed according to different conditions, so that the driving mode of the data driver is more flexible.

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

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

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

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

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

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

The invention discloses a micro-mechanical space optical modulator, belonging to the fields of micro-opto-electric-mechanic system technology and communication technology. The optical modulator comprises an optical grating with adjustable period and a micro-torsion mirror, wherein the optical grating with the adjustable period sequentially comprises an optical grating device layer 6 and an optical grating insulating layer 5 from top to bottom; the micro-torsion mirror sequentially comprises a micro-torsion mirror device layer 3, a micro-torsion mirror insulating layer 2 and a micro-torsion mirror base layer 1; and the optical grating with the adjustable period is combined with the micro-torsion mirror into a whole by bonding through the optical grating insulating layer 5 and the micro-torsion mirror device layer 3. The micro-mechanical space optical modulator has the beneficial effects that the micro-torsion mirror is integrated with the optical grating with the adjustable period, so that the functions of an optical switch and an optical attenuator are realized at the same time; the selection of a plurality of optical channels can be realized by the torsion of the micro-torsion mirror, so that the number of light path switching elements can be reduced, and the stability and the response speed of the light path can be improved; and the micro-mechanical space optical modulator can accurately control the optical attenuation when realizing the optical attenuation function.

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

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

The invention relates to the field of medical instruments and in particular provides a portable acupuncture-simulating rehabilitation massage device. The following solution is proposed for solving the problem that the conventional portable acupuncture-simulating rehabilitation massage device cannot massage the soles of feet and shanks at the same time. The device comprises an installing shell with an opening at the top; a hollow installing plate is fixed in the installing shell; an inner gear is arranged in the installing plate; a T-shaped block is fixed to the top of the inner gear and the T-shaped block comprises a rectangular section and a round section arranged up and down; a bottom massage device is arranged in the installing shell and the outer side of the bottom massage structure is provided with a limiting sleeve and a fixing sleeve; the limiting sleeve is located on the outer side of the fixing sleeve; the bottom portions of the limiting sleeve and the fixing sleeve are fixedly connected with the installing plate. The device can be used for performing acupuncture-simulating massage on the soles of feet and shanks at the same time through cooperation of structure such as a servo motor, a first gear, a second gear and a third gear.

A space crane with six degree of freedom includes a lifting arm mechanism and an arm telescoping mechanism. The lifting arm mechanism is composed of a cargo boom and a suspension boom for the crane to complete spatial operations such as container grab, lifting and unloading; and the parallel boom telescoping mechanism consists of three mechanism sub-chains in series connection. A mechanism connection mode is adopted to enable the crane with compact structure and high reliability. The space crane with six degree of freedom can effectively overcome the shortcomings of high processing precision of hydraulic components, high maintenance cost, low reliability and easy oil leakage of a hydraulic crane, has the advantages of simple control and large work space, and can be widely used in complex operations such as container grab, lifting and unloading.

The invention relates to the technical field of fire fighting trucks, in particular to an electric control system of a parallel oil-electricity hybrid airport fire fighting truck chassis. The electriccontrol system comprises the following steps of S1, starting an engine and a driving motor to drive the chassis to run; S2, using the engine for driving the chassis to run, using the driving motor for disconnecting with a chassis transmission system through a clutch, using a power takeoff for driving a water pump to act, wherein the driving motor is electrically connected with a power battery, and executing the step S3; and S3, if the electric quantity SOC of the power battery is larger than an upper limit threshold value, using the engine for driving the chassis, and using a generator for assisting with the power battery in supplying power to the driving motor; if the electric quantity SOC of the power battery is smaller than a lower limit threshold value, using the engine for driving the chassis, and using the generator for charging the power battery and supplying power to the driving motor; and if the electric quantity SOC of the power battery is larger than the lower limit threshold value and smaller than the upper limit threshold value, using the engine for driving the chassis, and using the power battery for assisting with the generator in supplying power to the driving motor. According to the electric control system, the problem that the starting acceleration performance of the engine is poor is solved, it is guaranteed that no engine tail gas is exhausted from the automobile in a garage, and the overall cost is reduced.

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

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

The invention relates to a solar-assisted environment-friendly man-powered passenger car comprising a bicycle frame, a front wheel, rear wheels, steering handlebars, a rear axle and a driving device, wherein the front wheel, the rear wheels, the steering handlebars, the rear axle and the driving device are arranged on the bicycle frame; the driving device is used for driving the rear axle; the rear axle is connected with a gear shifting differential for driving a semiaxis of the rear axle to rotate, and the driving device comprises a foot-operated driving device arranged on the bicycle frame and an electric driving device; the foot-operated driving device is connected to the gear shifting differential through a driving chain wheel; and the electric driving device comprises a speed-reducing motor and an energy storage converter connected with the speed-reducing motor, wherein the speed-reducing motor is connected to the gear shifting differential, the electric driving device is also connected with a control system, and the control system comprises a controller for controlling the output of the motor and a manpower sensor connected with the controller. The passenger car is diversified in power, high in flexibility and high in stability and safety, and a user can realize easy foot-operated driving operation.

A 5R-6R-4R three-closed-chain controllable excavation mechanism based on electromagnetism initiative metamorphism comprises a rack, a large arm swing mechanism, a bucket rod lifting mechanism, a bucket retention mechanism and an electromagnetic locking device. The large arm swing mechanism comprises a large arm and a swing mechanism. The bucket rod lifting mechanism comprises a bucket rod and a lifting mechanism. The bucket retention mechanism comprises a bucket and a retention mechanism. The electromagnetic locking device is installed on a revolute pair, and an initiative metamorphism function can be achieved by electromagnetically locking the revolute pair. According to the excavation mechanism, a traditional hydraulic transmission mechanism is replaced by a connecting rod transmission mechanism, so the defects that a hydraulic system of a hydraulic excavator is complex and prone to oil leakage and the like are overcome. Due to the fact that the electromagnetic locking device is adopted in the revolute pair, initiative metamorphism can be achieved according to different operation working conditions, and the excavation mechanism not only has the flexibility of the hydraulic excavator, but also can achieve 3-DOF excavation operation by utilizing two initiative rods, lowers the manufacturing cost and is suitable for manufacturing various excavators and other engineering machinery.

Provided is a multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm. The lower end of a first telescopic rod of the mechanical arm is connected to a working platform; the upper end of the first telescopic rod is connected with one end of a first rod; the other end of the first rod is connected to an actuator; the lower end of a second rod is connected to a sliding block; the sliding block is installed in a sliding groove in the working platform; the upper end of the second rod is connected to a first sliding sleeve; the first telescopic rod is sleeved with the first sliding sleeve; the lower end of a second telescopic rod is connected to the working platform; the upper end of the second telescopic rod is connected to a second sliding sleeve; the first rod is sleeved with the second sliding sleeve; the lower end of a third rod is connected to the working platform; the upper end of the third rod is connected to the first corner of a triangular connection board; one end of a third telescopic rod is connected to the actuator; the other end of the third telescopic rod is connected to the second corner of the triangular connection board; the third corner of the triangular connection board is connected with the first telescopic rod and the first rod. The multi-degree-of-freedom metamorphism parallel-connection stacking mechanical arm has the advantages of large working space, large digging force and good stress of a traditional hydraulic press mechanism, reduces the number of driving rods and controllable motors, and reduces complexity of a rack transmission system.

The invention discloses a 12R controllable excavating mechanism capable of realizing big arm swinging through active and alternate metamorphism. The 12R controllable excavating mechanism comprises a frame, a big arm swinging mechanism, a bucket rod elevating mechanism, a bucket overturning mechanism and an electromagnetic locking device, wherein the big arm swinging mechanism comprises a big arm and a swinging mechanism; the bucket rod elevating mechanism comprises a bucket rod and an elevating mechanism; the bucket overturning mechanism comprises a bucket and an overturning mechanism; the electromagnetic locking device is arranged on a revolving pair; an active metamorphism function is realized through electromagnetic locking of the revolving pair. The conventional hydraulic transmission is replaced by a connecting rod transmission mechanism, so that the defects of complexity and easiness in oil leakage in a hydraulic system of a hydraulic excavator are overcome; the electromagnetic locking device is arranged on the revolving pair, and active metamorphism can be performed according to different operation conditions, so that the flexibility of the hydraulic excavator is realized; moreover, three-degree-of-freedom excavating operation can be realized through two driving rods, so that the manufacturing cost of the excavating mechanism is reduced. The 12R controllable excavating mechanism is suitable for manufacturing various excavating machines and other engineering machinery.

The invention discloses a non-linear input mechanism type crane with a metamorphic function. The non-linear input mechanism type crane with the metamorphic function comprises a crane jib telescopic mechanism, a metamorphic control mechanism and a jib adjusting mechanism. The crane jib telescopic mechanism is composed of a crane arm, a jib, a balance weight and lifting loading and unloading pliers and capable of enabling the crane to complete space operations of grabbing, hoisting and swing and unloading of containers; the metamorphic control mechanism and the jib adjusting mechanism are both formed by the connection of connecting rods, and the movement adjustment of the jib is completed through the movement combination effect of the connecting rods. The non-linear input mechanism type crane with the metamorphic function adopts the mechanism type connection, accordingly, the crane has the advantages that the structure is compact, the reliability is high, the control is simple, and the work space is large, and the defects that hydraulic elements of a hydraulic crane is high in machining precision requirement, high in maintenance cost, low in reliability and prone to oil leaking can be effectively overcome.

A dual-metamorphism multi-closed-chain connecting rod controllable excavating mechanism with a 4R-5R big arm tilting mechanism comprises a rack, a big arm tilting mechanism, a bucket arm lifting mechanism, a bucket turnover mechanism and electromagnetic locking devices. The big arm tilting mechanism comprises a big arm and a tilting mechanism, the bucket arm lifting mechanism comprises a bucket arm and a lifting mechanism, the bucket turnover mechanism comprises a bucket and a turnover mechanism, the electromagnetic locking devices are arranged on revolute pairs, and the active metamorphism function is achieved through electromagnetic locking to the revolute pairs. According to the dual-metamorphism multi-closed-chain connecting rod controllable excavating mechanism with the 4R-5R big arm tilting mechanism, a connecting rod drive mechanism is adopted to replace traditional hydraulic drive, the defect that a hydraulic system of a hydraulic excavator is complex and easy to leak oil is overcome. Due to the fact that the electromagnetic locking devices are arranged on the revolute pairs, the active metamorphism is achieved according to different operating conditions, the flexibility of the hydraulic excavator is not only achieved, but also three freedom degree excavating operation is achieved through using two driving levers, the excavating mechanism cost is reduced, and the manufacture of various excavators and other engineering machinery is applicable.

The invention discloses a chemical waste residue and sludge drying device which comprises an air blower, an air heater, a hot air distributor, a feeding port, a multi-stage dynamic material distribution platform and a discharging port. Air is pressurized through the air blower and is conveyed to the air heater to be heated; Heated air is in contact with waste residues and / or sludge falling down along different levels of dynamic material distribution platforms in a baffling manner in the greenhouse from bottom to top, so that moisture is removed, and dry powder which can be directly combusted by equipment such as a boiler is obtained. The device is applied to the coal chemical industry, and solves the problems of high drying cost and poor drying effect of chemical waste residues and sludge.