Method for grabbing and loading waste with multi-freedom-degree linkage mechanism

Abstract

A method for grabbing and loading waste with a multi-freedom-degree linkage mechanism is characterized in that the multi-freedom-degree linkage mechanism comprises a rotating platform, a wrist connection rod, a big arm, a big arm drive rod, a big arm connection rod, a forearm drive rod, a forearm, a forearm connection rod, a big arm and forearm connection rod, a wrist, a gripper, a drive device and a base, one end of the forearm drive rod is connected to the rotating platform, the other end of the forearm drive rod is connected with one end of the forearm, the other end of the forearm is connected with one end of the forearm connection rod, the other end of the forearm connection rod is connected to the wrist connection rod, one end of the big arm and forearm connection rod is connected tothe forearm, and the other end of the big arm and forearm connection rod is connected to the big arm, and the drive device comprises a first servo motor and a second servo motor which are connected with the big arm drive rod and the forearm drive rod correspondingly and drive the big arm drive rod and the forearm drive rod correspondingly. According to the method for grabbing and loading the waste with the multi-freedom-degree linkage mechanism, the multi-link parallel mechanism is adopted, all the drive motors are installed on the rotating platform to drive the drive rods, and the multi-freedom-degree linkage mechanism is high in rigidity, low in inertia, good in dynamic property, rapid in response and capable of improving grabbing efficiency.

Description

technical field [0001] The invention relates to the field of loading machinery, in particular to a waste grasping operation method using a multi-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 the environment; hydraulic oil is grea...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a method for grasping and loading waste materials using a multi-degree-of-freedom linkage mechanism, which overcomes the shortcomings of the hydraulic system components of the hydraulic industrial waste material grasping machine, such as high precision requirements, complex structure, and easy oil leakage, and solves the problem of open-chain structure drive. The motors are all installed at the joints, resulting in a large moment of inertia of the arm, a decrease in dynamic performance, a large cumulative error, a small bearing capacity, and a complex structure.

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