Method for conducting waste grabbing and loading work through movable closed-chain connecting rod mechanism
A connecting rod mechanism and mobile technology, which is applied to earth movers/shovels, mechanically driven excavators/dredgers, construction, etc., can solve the problems of large moment of inertia of the arm, decreased dynamic performance, and high precision requirements. To achieve the effect of compact structure, no cumulative error, and high precision requirements
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[0007] The present invention provides a waste grasping operation method using a mobile closed chain linkage mechanism, which includes: a base 3, a rotating platform 1, a telescopic mechanism, a lifting mechanism, a wrist 10 and a claw 12, and a driving device, which is characterized in that it is telescopic The mechanism includes: a first active rod 2, a fourth link 15, a fifth link 4, a first link 6 and a pitch rod 9; one end of the first active rod 2 and the fourth link 15 is connected to the rotating platform 1 through a hinge One end of the fifth link 4 is hinged with the other end of the first active rod 2, one end of the first link 6 is hinged with the other end of the fifth link 4, and one end of the pitch rod 9 is hinged with the other end of the first link 6 The other end is hinged; the other end of the fourth link 15 is hinged with the middle of the first link 6, the lifting mechanism includes a second active rod 8 and a third link 13, one end of the second active rod ...
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