Method adopting servo motor-driven three-degree-of-freedom connecting rod mechanism for industrial waste grabbing and loading operation

Abstract

A method adopting a servo motor-driven three-degree-of-freedom connecting rod mechanism for industrial waste grabbing and loading operation is characterized in that the servo motor-driven three-degree-of-freedom connecting rod mechanism comprises a base 10, a first driving rod 1, a second driving rod 2, a third driving rod 3, a fourth connecting rod 5, a fifth connecting rod 6, a connecting part 7, a big arm 4, an upper arm 8 and a servo driving device; one end of the connecting part 7 is connected with the fifth connecting rod 6 through an eight rotating pair 19, and one end of the connectingpart 7 is connected with the big arm 4; and the servo driving device comprises a first servo motor, a second servo motor and a third servo motor which are connected with the first driving rod 1, thesecond driving rod 2 and the third driving rod 3 correspondingly so as to drive the first driving rod 1, the second driving rod 2 and the third driving rod 3 to rotate. The mode that the motors are mounted on the base is adopted for replacing a series mechanism that motors are mounted on a mechanical arm originally, and the defects that existing mechanisms are high in arm weight, poor in dynamic property and the like are 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 using a three-degree-of-freedom linkage mechanism driven by a servo motor. 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...

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

Sometimes there will be overheating, weak work and other phenomena; hydraulic components require high machining accuracy, strict assembly requirements, difficult manufacturing, and high technical maintenance requirements during use.

With the increase of the functions of the industrial waste grabbing machine, its hydraulic system is becoming more and more complex, and the failure is more sudden and hidden

The mechanical industrial waste grabbing machine uses mechanical transmission parts to realize the industrial waste grabbing action. It has the advantages of firmness and durability. However, the traditional single-degree-of-freedom mechanical industrial waste grabbing machine cannot complete complex actions, and its application range is very limited. The mechanical type can The control mechanism electric industrial waste grabbing machine replaces the hydraulic transmission with a connecting rod mechanism. When the active rod is driven by a servo motor, it is easy to realize automation and numerical control, which solves some shortcomings of the hydraulic system.

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