Industrial waste grabbing and loading method with variable-range-of-motion connecting rod mechanism driven by servo motor

Abstract

The invention discloses an industrial waste grabbing and loading method with a variable-range-of-motion connecting rod mechanism driven by a servo motor. The industrial waste grabbing and loading method is characterized in that the variable-range-of-motion connecting rod mechanism driven by the servo motor comprises a base, a large arm telescoping mechanism, a lifting mechanism, a wrist connecting rod pitching mechanism, a wrist, a paw, a servo driving device and two locking devices, wherein the large arm telescoping mechanism comprises a first connecting rod, a second connecting rod and a third connecting rod, one end of the first connecting rod is connected with the base by virtue of a first revolving pair, the other end of the first connecting rod is connected with one end of the third connecting rod by virtue of a third revolving pair, the other end of the third connecting rod is connected with the second connecting rod by virtue of a fourth revolving pair, one end of the second connecting rod is connected with the base by virtue of a second revolving pair, the other end of the second connecting rod is connected with a large arm by virtue of a fifth revolving pair, and the locking devices are installed on the revolving pairs. According to the industrial waste grabbing and loading method, the connecting rod transmission mechanism is used for replacing traditional hydraulic transmission, so that the defects of complex hydraulic system, easiness in oil leakage and the like of a hydraulic industrial waste grabbing and loading machine can be solved; the locking devices are installed on the revolving pairs, so that the three-degree-of-freedom operation can be realized only by utilizing two driving rods.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a method for grasping and loading industrial waste by using a servo motor to drive a connecting rod mechanism with a variable degree of activity. Background technique [0002] Due to the shortage of personnel in the labor market, the increase in labor costs year by year and the enhancement of enterprises' awareness of labor protection have promoted the wide application of industrial waste grabbing machines in industrial waste grabbing and loading operations. There are two types of industrial waste grabbing machines: mechanical and hydraulic. At present, most of the mechanical arms of industrial waste grabbing machines are driven by hydraulic pressure. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, It is easy to leak due to the wear of internal components, and the leaked hydraulic oi...

AI Technical Summary

Problems solved by technology

There are two types of industrial waste grabbing machines: mechanical and hydraulic. At present, most of the mechanical arms of industrial waste grabbing machines are driven by hydraulic pressure. Since hydraulic transmission uses hydraulic oil as the medium for power transmission, there are the following problems: its starting performance is poor, It is easy to leak due to the wear of internal components, and the leaked hydraulic oil will pollute the environment; hydraulic oil is greatly affected by temperature, the overall efficiency is low, and sometimes there is noise and vibration

At present, there are very few variable-degree-of-freedom mechanisms that can be applied to practical applications, and no variable-degree-of-freedom mechanisms that have been applied to industrial waste grabbing machines have been seen.

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