36results about How to "Flexible track output" patented technology

The invention relates to a spatial six-mobility drilling robot mechanism, which comprises a one-dimensional rotating large arm mechanism, a two-dimensional rotating small arm mechanism and a three-dimensional rotating platform mechanism which are connected in series, wherein a rotating large arm is driven by a linear driver, a rotating small arm is driven by two linear drivers, a rotating platform is driven by three linear drivers in parallel, and a frame can be installed on a traveling device or a fixed rotating device. The drilling robot mechanism has the advantages of large working space, agile track, simple and compact overall structure, and good error compensation and strong impact bearing capability of the rotating platform which is uniformly distributively supported by the linear drivers, good stability during drilling and capability of realizing high-precision operation. According to the invention, various terminal actuators with different purposes are installed on a three-dimensional rotating platform, thus the spatial six-mobility drilling robot mechanism can be applied to carrying, stacking, assembling, cutting and other industrial production, and can also be applied to fields, such as excavators and other engineering machinery as well as bionic arms, bionic legs and other bionic mechanisms and the like.

The invention discloses a two-degree-of-freedom double-closed-loop combination drive reach stacker comprising a hoisting arm, a hoisting arm lifting mechanism and a hoisting arm telescoping mechanism, wherein the lower end of a pitching arm of the hoisting arm is hinged with the middle part of a frame, a swing arm of the hoisting arm is hinged to the pitching arm; the hoisting arm lifting mechanism comprises a lifting rocker rod and a lifting connection rod, the lower end of the lifting rocker rod is hinged with the front part of the frame, the upper end of the lifting connection rod is hinged with a body of the swing arm, the other two ends of the lifting rocker rod and the lifting connection rod are hinged; the hoisting arm telescoping mechanism comprises a telescoping rocker rod and a telescoping connection rod, the lower end of the telescoping rocker rod is hinged with the rear part of the frame, a composite hinge is formed by the front end of the telescoping connection rod and the hinge point of the swing arm and the pitching arm, and the other ends of the telescoping rocker rod and the telescoping connection rod are hinged. According to the reach stacker, a strategy of combination drive of a high-power general motor and a small-power servo motor is adopted, and compared with a pure servo motor or a hydraulic drive mode, the reach stacker has the advantages of high power output, high reliability, low construction cost, and low maintenance cost.

The invention discloses a heavy-load-type container reach stacker crane. A suspension arm comprises a rotating arm, an upper lift arm and a lower lift arm; the front ends of the upper lift arm and the lower lift arm are provided with clamping devices; a suspension arm lift mechanism comprises front and rear connecting rod assemblies which are symmetrically arranged at two sides of the suspension arm; the front connecting rod assembly is a five-connecting-rod mechanism arranged below the front part of the suspension arm and comprises front rocker rods, front connecting rods, middle connecting rods and middle rocker rods; the rear connecting rod assembly is arranged behind the suspension arm and comprises rear rocker rods and rear connecting rods; drives of the front rocker rods and the rear rocker rods are both conventional high-power motors correspondingly arranged on a carriage; drives of the middle rocker rods are low-power servo motors correspondingly arranged on the carriage. According to the invention, the strategy that the high-power conventional motor and the low-power servo motors are used for hybrid driving is adopted, compared with the mode of pure servo motors or hydraulic driving, the heavy-load-type container reach stacker crane has greater power output, higher reliability and larger working space; meanwhile, the whole crane is low in manufacturing cos, and is low in maintaining cost.

The invention relates to a plane two-degree-of-freedom nine-rod servo drive reach stacker for containers. The plane two-degree-of-freedom nine-rod servo drive reach stacker for the containers comprises a suspension arm, a suspension arm lifting mechanism and a suspension arm telescoping mechanism, wherein the suspension arm comprises a rotating arm and a telescopic arm; the lower end of the rotating arm is hinged to the middle of a frame; the telescopic arm is mounted on the rotating arm through a sliding pair; a clamping device is arranged at the front end of the telescopic arm; the suspension arm telescoping mechanism comprises a telescopic rocker and a telescopic connecting rod; the telescopic rocker is hinged to the front part of the frame; the telescopic connecting rod is hinged to the telescopic arm and the telescopic connecting rod; the suspension arm lifting mechanism comprises a lifting four-rod linkage mechanism and a lifting transmission rod; the lifting four-rod linkage mechanism comprises front lifting rockers and rear lifting rockers, which are hinged to the rear part of the frame, as well as lifting connecting rods; the lifting transmission rod is hinged to one hinged point of the rotating arm and the lifting connecting rods. The plane two-degree-of-freedom nine-rod servo drive reach stacker for the containers realizes clamping, lifting and carrying operation of the containers under the combined driving of the suspension arm lifting mechanism and the suspension arm telescopic mechanism, and has the advantages of small movement inertia, flexible track output, high precision and the like.

The invention provides a twenty-degree-of-mobility and six-degree-of-freedom vehicle welding robot. The twenty-degree-of-mobility and six-degree-of-freedom vehicle welding robot comprises a serial connection welding main chain, a rocking arm fine adjustment control sub chain and an actuation mechanism sub chain. The serial connection welding main chain can control the vehicle robot to perform a six-degree-of-freedom motion in space; the rocking arm fine adjustment control sub chain is a four-rod mechanism formed by two rocking arms and two connecting rods, and is mounted on a large arm for fine adjustment control over the main chain through the four-rod mechanism; and the actuation mechanism sub chain supports and the adjusts the large arm. Through connection between multiple mechanical arms and a machine body, six-degree-of-freedom output of a terminal trajectory is realized; and the mechanism has the advantages of quick actions, high precision, low motion inertia, excellent power performances, compact structure, large working space, high bearing capacity, multiple motion trajectory output and simple control, and can be applied to multiple welding fields.

The invention relates to a plane two-degree-of-freedom seven-rod servo drive reach stacker for containers. The plane two-degree-of-freedom seven-rod servo drive reach stacker for the containers comprises a suspension arm, a suspension arm lifting mechanism and a suspension arm telescoping mechanism, wherein the lower end of a rotating arm of the suspension arm is hinged to the middle of a frame; a telescopic arm of the suspension arm is mounted on the rotating arm in a sliding manner; the suspension arm lifting mechanism comprises a lifting rocker and a lifting connecting rod; the lower end of the lifting rocker is hinged to the front part of the frame; the upper end of the lifting connecting rod is hinged to the rotating arm; the lifting rocker is hinged to the other two ends of the lifting connecting rod; the suspension arm telescoping mechanism comprises a telescopic rocker and a telescopic connecting rod; the lower end of the telescopic rocker is hinged to the rear part of the frame; the front end of the telescopic connecting rod is hinged to the telescopic arm; the telescopic rocker is hinged to the other two ends of the telescopic connecting rod. The plane two-degree-of-freedom seven-rod servo drive reach stacker for the containers realizes clamping, lifting and carrying operation of the containers under the combined drive of the suspension arm lifting mechanism and the suspension arm telescopic mechanism, and has the advantages of small movement inertia, flexible track output, high precision and the like.

The invention discloses a two-DOF (Degree-of-Freedom) seven-bar hybrid-driven front hoisting crane, which comprises a hoisting arm, a hoisting arm elevating mechanism and a hoisting arm swinging mechanism, wherein the lower end of an elevating arm of the hoisting arm is hinged in the middle of a frame, and a swing arm of the hoisting arm is hinged with the elevating arm; the hoisting arm elevating mechanism comprises an elevating rocker bar and an elevating connecting bar, the lower end of the elevating rocker bar is hinged with the front part of the frame, the rear end of the elevating connecting bar is hinged with an arm body of the elevating arm, and the elevating rocker bar is hinged with the other two ends of the elevating connecting bar; the hoisting arm swinging mechanism consists of a swinging rocker bar and a swinging connecting bar, the lower end of the swinging rocker bar is hinged with the rear part of the frame, the front end of the swinging connecting bar is hinged with the swinging arm, and the swinging rocker bar is connected with the other two ends of the swinging connecting bar. The swinging rocker bar and the elevating rocker bar adopts the hybrid-driven strategy of a large-power conventional motor and a small-power servo motor, and compared with a purely servo motor or hydraulic driving mode, the two-DOF seven-bar hybrid-driven front hoisting crane has larger power output and higher reliability, and is low in manufacturing cost of the whole crane, and low in maintenance cost.

The invention discloses a two-degree-of-freedom driving controllable hoisting cane comprising a hoisting arm arranged based on a frame, a hoisting arm lifting mechanism and a hoisting arm extending mechanism, wherein the hoisting arm comprises a rotating arm and an extending arm, the lower end of the rotating arm is hinged with the rear middle part of the frame, the rear end of the extending arm is hinged with the upper end of the rotating arm, and a clamping device is installed at the front end of the extending arm; the hoisting arm lifting mechanism is arranged at the front lower part of the hoisting arm and comprises a lifting rocker rod and a lifting connection rod, the lower end of the lifting rocker rod is hinged to the front part of the frame, the lower end of the lifting connection rod is hinged with the upper end of the lifting rocker rod, and the upper end of the lifting connection rod is hinged with the rear middle part of the extending arm; the hoisting arm extending mechanism is arranged at the rear upper part of the hoisting arm and comprises a protraction rocker rod and a protraction connection rod, the lower end of the protraction connection rod is hinged to the rear part of the frame, the rear end of the protraction connection rod is hinged to the upper end of the protraction rocker rod, and the front end of the protraction connection rod is hinged with the middle front part of the extending arm. The crane has the advantages of small movement inertia, flexible track output, high precision, good rigidity, good dynamic performance, high reliability and the like.

The invention discloses a three-freedom-degree servo-driven front lifting crane for containers. The three-freedom-degree servo-driven front lifting crane comprises a rotating arm, an upper hoisting arm and a lower hoisting arm which are arranged on the basis of a frame, wherein a lifting arm comprises the rotating arm, the upper hoisting arm and the lower hoisting arm; clamping devices are arranged at the front ends of the upper hoisting arm and the lower hoisting arm; the lifting-arm hoisting mechanism comprises a front connecting rod component, a middle connecting rod component and a rear connecting rod component which are symmetrically arranged at the two sides of the lifting arm; the front connecting rod component comprises a four-bar linkage mechanism and a transmission rod; the middle connecting rod component comprises a middle rocking rod and a middle connecting rod; the rear connecting rod component comprises a rear rocking rod and a rear connecting rod; the front rocking rod, the middle rocking rod and the rear rocking rod of the four-bar linkage mechanism are respectively driven by rocking-rod servo motors. The three-freedom-degree servo-driven front lifting crane disclosed by the invention has the advantage that the technical problems of high processing and assembling requirement, short service life, oil leakage, inflexible action and the like in a conventional two-freedom-degree hydraulic type front lifting crane for the containers are relatively well solved.

The invention discloses a link mechanism type hybrid-driven reach stacker with three freedom degrees. A lifting arm of the link mechanism type hybrid-driven reach stacker comprises a rotary arm, an upper lifting arm and a lower lifting arm; the front ends of the upper lifting arm and the lower lifting arm are respectively provided with a clamping device; a lifting arm lifting mechanism comprises a front connecting rod assembly and a rear connecting rod assembly which are symmetrically arranged at the two sides of the lifting arm; the front connecting rod assembly comprises a front rocking bar and a front connecting rod which are arranged under the front of the lifting arm; the rear connecting rod assembly comprises a four connecting rod mechanism and a transmission rod which are arranged behind the lifting arm, and a rear rocking bar and a rear connecting rod; the four connecting rod mechanism comprises a rocking bar, a connecting rod and an oscillating bar; the rocking bar is driven by a high-power conventional motor which is correspondingly arranged on a frame; the front rocking bar and the rear rocking bar are driven by a small-power servo motor which is correspondingly arranged on the frame. The link mechanism type hybrid-driven reach stacker has the three freedom degrees, is driven by the high-power conventional motor and the small-power servo motor in a combined way, and is flexible and changeable in output track, high in adaptability and working efficiency, high in power output and reliability and low in whole manufacturing cost and maintenance cost.

The invention discloses a plane two-freedom-degree nine-rod closed-chain type reach stacker. The plane two-freedom-degree nine-rod closed-chain type reach stacker comprises a crane jib and a crane jib lifting telescopic mechanism. A rotatable jib of the crane jib is hinged to the rear portion of a vehicle machine. A telescopic jib is installed on the rotatable jib through a sliding pair. The front end of the telescopic jib is provided with a clamping device. The crane jib lifting telescopic mechanism, namely a five-connecting-rod mechanism assembly comprises front rocking rods, front connecting rods, rear connecting rods and a four-connecting-rod mechanism, wherein the front rocking rods are hinged to the front portion of the vehicle frame, the front connecting rods are hinged to the front rocking rods, the four-connecting-rod mechanism is arranged in the middle of the vehicle frame, and front four-connecting-rod mechanism rocking rods and rear four-connecting-rod mechanism rocking rods are hinged to the vehicle frame. The hinged point between each rear connecting rod and the corresponding rear four-connecting-rod mechanism rocking rod and the hinged point between each rear connecting rod and the corresponding four-connecting-rod mechanism connecting rod are composite hinges. The hinged point between each front connecting rod and the corresponding rear connecting rod is arranged on the telescopic jib. The plane two-freedom-degree nine-rod closed-chain type reach stacker has the advantages that the movement inertia is small, track output is flexible, the precision is high, the rigidity and the dynamic performance are good, and the reliability is high.

The invention discloses a plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane. The plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane comprises a suspension arm and a suspension arm hoisting and retracting mechanism, wherein a rotary arm of the suspension arm is hinged with the back part of a frame; a retractable arm is mounted on the rotary arm by a sliding pair; the retractable arm is provided with a clamping device; the suspension arm hoisting and retracting mechanism comprises five-connection-rod mechanism assemblies which are symmetrically arranged on the two sides of the suspension arm; each five-connection-rod mechanism assembly comprises a front four-connection-rod mechanism, a front assembly connection rod, a back assembly connection rod and a back four-connection-rod mechanism; each front four-connection-rod mechanism is arranged on the front part of the rack and each back four-connection-rod mechanism is arranged in the middle of the rack; the lower end of each front assembly connection rod is in compound hinging with a connection rod hinging point of each front four-connection-rod mechanism; the lower end of each back assembly connection rod is in the compound hinging with a connection rod hinging point of each back four-connection-rod mechanism; the upper ends of each front assembly connection rod and each back assembly connection rod are hinged on the suspension arm respectively. The plane two-degree-of-freedom eleven-rod double closed-loop sub-chain type container front-handling mobile crane has the advantages of small movement inertia, flexible track output, high precision, good rigidity, high reliability and the like.

The invention discloses a three-degree-of-freedom servo drive loop-type container reach stacker crane. A suspension arm comprises a rotating arm, an upper lift arm and a lower lift arm; front ends of the upper lift arm and the lower lift arm are connected with a clamping device; the suspension arm lift mechanism comprises a front connecting rod assembly and a rear connecting rod assembly which are symmetrically arranged at two sides of the suspension arm; the front connecting rod assembly comprises a front rocker arm and a front connecting rod which are arranged below the front part of the suspension arm; the rear connecting rod assembly comprises a four-connecting-rod mechanism behind the suspension arm and a drive rod as well as a middle rocker arm and a middle connecting rod; the four-connecting-rod mechanism comprises a rear rocker arm, a rear connecting rod and a rear swing rod, wherein drives of the front rocker arm, the middle rocker arm and the rear rock arm are respectively rocker servo motors arranged on a carriage correspondingly. The three-degree-of-freedom servo drive loop-type container reach stacker crane provided by the invention has the advantages of large working space, flexible and variable output tracks, high positioning precision and the like, and moreover, the whole crane is low in manufacturing cost and is low maintaining cost.

The invention relates to a nine-motion-degree robot mechanism. The nine-motion-degree robot comprises a big three-dimensional rotating arm mechanism, a small three-dimensional rotating arm mechanism and a three-dimensional rotating platform mechanism, which are serially connected to each other, wherein three linear drivers are in parallel connection and are used for driving each joint, thereby realizing a big operating space and a flexible track output of the mechanism. The nine-motion-degree robot mechanism is simple and compact in structure and is excellent in error compensation. By mounting end effectors with various different functions on a three-dimensional rotating platform, the nine-motion-degree robot mechanism can be applied to the production of industries, such as carrying, stacking, assembling, cutting, and the like, and also can be applied to the fields of engineering machinery, such as excavators, and bionic mechanisms, such as bionic arms, bionic legs and the like.

The invention relates to a planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane which comprises a boom, a boom elevating mechanism and a boom telescopic mechanism, wherein the boom comprises a swivel arm and a telescopic arm; the lower end of the swivel arm is hinged with the middle of a carriage; the telescopic arm is mounted on the swivel arm by a sliding pair; the telescopic arm is provided with a clamping device; the boom telescopic mechanism is arranged in front of the boom, and comprises a telescopic four-link mechanism and a telescopic transmission rod which are arranged symmetrically at both sides of the telescopic arm; the front end of the telescopic transmission rod is hinged with the telescopic arm, and a hinged point between the rear end of the telescopic transmission rod and a telescopic link form a compound hinge; the boom elevating mechanism is arranged behind the boom, and comprises an elevating four-link mechanism and an elevating transmission rod arranged symmetrically at both sides of the swivel arm; the front end of the elevating transmission rod is hinged with the swivel arm, and a hinged point between the rear end of the elevating transmission rod and an elevating link form a compound hinge. The planer two-degrees-of-freedom eleven-rod servo drive container reach stacker crane has the advantages of small motion inertia, flexible trace output, high precision and the like.