Freedom degree changeable link mechanism carrying operation mechanical arm containing revolute pair locking device
A connecting rod mechanism and locking device technology, which is applied in the direction of manipulators, program-controlled manipulators, conveyor objects, etc., can solve the problem of variable degree of freedom mechanism of unseen handling manipulators, large influence of hydraulic oil temperature, hydraulic oil Environmental pollution and other problems, to achieve the effect of improving stability and reliability, compact structure, and good dynamic performance
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[0007] A variable-degree-of-freedom link mechanism handling operation robot arm with a rotating pair locking device, including a base 1, a large arm telescopic mechanism, a lower arm lifting mechanism, a wrist link holding mechanism, a wrist 27, a vacuum suction cup 28, and a servo drive device , the first locking device 25 and the second locking device 26; the base 1 is installed on the movable slewing platform; 20 and the first connecting rod 22, the first active rod 3 is connected to the base 1 through the first rotating pair 2, the other end of the first active rod 3 is connected to the fourth connecting rod 5 through the second rotating pair 4, the second The active rod 20 is connected to the base 1 through the third rotating pair 19, the other end of the second active rod 20 is connected to the first connecting rod 22 through the fourth rotating pair 21, and the other end of the first connecting rod 22 is connected to the first connecting rod 22 through the fifth rotating...
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