Stretchable arm holding barrel feeding mechanism control method and device, equipment and sanitation vehicle

Abstract

The invention discloses a stretchable arm holding barrel feeding mechanism control method and device, equipment and a sanitation vehicle. The method comprises the following steps that an action signal for a stretchable arm holding barrel feeding mechanism is received; and matched real-time current is output to corresponding proportional valves of a stretchable variable-amplitude arm support and a holding claw mechanism according to the action signal and different real-time position intervals of the stretchable variable-amplitude arm support and the holding claw mechanism in the action process, and the stretchable variable-amplitude arm support and the holding claw mechanism are controlled to perform self-adaptive action so as to realize barrel holding and feeding. In the process of controlling the action of the stretchable arm holding barrel feeding mechanism, the current of each valve group of the stretchable variable-amplitude arm support and the holding claw mechanism is dynamically adjusted in real time according to the stress condition and the motion trail of the stretchable variable-amplitude arm support and the holding claw mechanism, so that the problems that the holding barrel feeding operation time is too long, shaking is easy are solved, and the problem of barrel falling/barrel breaking caused by too small or too large force of the holding claws is further solved, and environmental pollution caused by material leakage in the barrel holding and feeding process is avoided.

Description

technical field [0001] The present application relates to the technical field of sanitation equipment, in particular, to a control method, device, equipment and a sanitation vehicle for a telescopic arm bucket loading mechanism. Background technique [0002] At present, most of the common garbage collection and transportation vehicles in the domestic market are completed by dumping garbage bins with feeding mechanisms, mainly including hanging bucket loading and holding bucket loading. Among them, the hanging bucket loading operation requires manual hanging. Buckets and hanging barrels have the following disadvantages: 1. The labor intensity of sanitation workers is high; 2. The labor cost is high. The bucket loading is mainly used for the automatic operation of the robotic arm, and has a high degree of intelligence. However, the current domestic bucket loading technology is not mature and has certain defects. The bucket loading method has the following disadvantages: 1. Th...

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Problems solved by technology

[0003] On the one hand, the embodiment of the present application provides a control method for the feeding mechanism of the telescopic arm holding the bucket to solve the problem of the loading operation of the bucket during the existing loading process. The time is too long, and the technical problem of inclined material leakage is prone to occur

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