Method for grabbing and loading industrial wastes by variable-degree-of-freedom connecting rod mechanism comprising rotating pair locking device

Abstract

A method for grabbing and loading industrial wastes by a variable-degree-of-freedom connecting rod mechanism comprising a rotating pair locking device is characterized in that the variable-degree-of-freedom connecting rod mechanism comprising the rotating pair locking device comprises a base 1, a big arm retractable mechanism, a lower arm lifting mechanism, a wrist connecting rod maintaining mechanism, a servo driving device, a first locking device 25 and a second locking device 26, wherein the big arm retractable mechanism consists of a fourth connecting rod 5, a first driving rod 3, a second driving rod 20 and a first connecting rod 22; the maintaining mechanism consists of a second connecting rod 17, a maintaining connecting rod 18 and a big arm 8; the first locking device 25 is mounted on a second rotating pair 4; the second locking device 26 is mounted on a tenth rotating pair 16; and the servo driving device comprises a first servo motor and a second servo motor which are connected with the first driving rod 3 and the second driving rod 20 so as to drive the first driving rod 3 and the second driving rod 20 to rotate. The variable-degree-of-freedom connecting rod transmission mechanism replaces traditional hydraulic transmission, and therefore, the shortcoming that a hydraulic system is complicated and leaks oil easily is overcome.

Description

technical field [0001] The invention relates to the field of machinery, in particular to a method for grasping and loading industrial waste by a variable-degree-of-freedom linkage mechanism including a rotary pair locking device. 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 oil wil...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a variable degree of freedom link mechanism with a rotary pair locking device for industrial waste grabbing and loading operations, which overcomes the high precision requirements, complex structure, and easy oil leakage of the hydraulic system components of the hydraulic industrial waste grabbing machine. Disadvantage, to overcome the disadvantage that the driving motors of the open chain structure need to be installed at the joint position, and make the number of controllable driving motors less than the degree of freedom of the linkage mechanism of the industrial waste grabbing machine, and overcome the needs of the existing mechanical electric industrial scrap grabbing mechanism Equipped with the same number of control motors as the degree of freedom of the linkage mechanism to control the shortcomings, simplify the complexity of the structure, and reduce the weight, motion inertia, volume and cost of the mechanism

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