Method for grabbing industrial waste by virtue of servo motor-driven variable-degree-of-freedom connecting bar mechanism

Abstract

The invention relates to a method for grabbing industrial waste by virtue of a servo motor-driven variable-degree-of-freedom connecting bar mechanism. The method is characterized in that the servo motor-driven variable-degree-of-freedom connecting bar mechanism comprises a base (1), a big arm (17), a wrist connecting bar pitching mechanism, a first locking device (8) and a second locking device (16), wherein the wrist connecting bar pitching mechanism comprises a wrist connecting bar and a pitching mechanism, the wrist connecting bar is connected to the big arm (17) through a ninth rotating pair (19) and a tenth rotating pair (20) which are coaxially arranged, the pitching mechanism comprises a driving component (3), a first connecting rod (5), a second connecting rod (10) and a third connecting rod (9), and the first locking device (8) and the second locking device (16) are respectively mounted on a fourth rotating pair (7) and a seventh rotating pair (15) and are used for locking in proper time according to different work stations of the mechanism; and the first connecting rod (5), a second connecting rod (10) are used for locking in an electromagnetic manner. By virtue of the method, the disadvantage that driving motors being of an open chain structure need to be mounted at joint positions is overcome, and the number of adopted controllable driving motors is smaller than the degree of freedom of the connecting rod mechanism.

Description

technical field [0001] The invention relates to the mechanical field, in particular to a method for grasping and packing industrial waste by using a servo motor to drive a variable-degree-of-freedom linkage mechanism. 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 will pollute th...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a servo motor-driven variable degree of freedom connecting rod mechanism to carry out the industrial waste grabbing operation method, which overcomes the shortcomings of the hydraulic system components of the hydraulic industrial waste grabbing machine, such as high precision requirements, complex structure, and easy oil leakage, etc. The drive motors of the open chain structure need to be installed at the joint position, and the number of controllable drive motors is less than the degree of freedom of the linkage mechanism of the industrial waste grabbing machine, which overcomes the need for the existing mechanical electric industrial waste grabbing mechanism to be equipped with a connection The shortcomings of controlling the same number of control motors as the degree of freedom of the rod mechanism simplify the complexity of the structure and reduce the weight, moment of inertia, volume and cost of the mechanism

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