Method of carrying out industrial waste seizing and loading operation by adopting dual-servo motor driven variable-degree-of-freedom multi-link mechanism

Abstract

The invention discloses a method of carrying out industrial waste seizing and loading operation by adopting a dual-servo motor driven variable-degree-of-freedom multi-link mechanism. The method is characterized in that the dual-servo motor driven variable-degree-of-freedom multi-link mechanism comprises a base 1, a large arm lifting mechanism, a wrist link pitching mechanism, a servo driving device, a first locking device 5 and a second locking device 12; the large arm lifting mechanism comprises a large arm 8, a fourth link 3 and a fifth link 6; the wrist link pitching mechanism comprises a driving rod 16, a first link 18, a second link 21 and a third link 11; the first locking device 5 and the second locking device 12 are respectively arranged on an eleventh rotation pair 4 and an eighth rotation pair 7, and can carry out timing locking according to different working conditions; the servo driving device comprises a first servo motor; the first servo motor is connected with the driving rod 16 and drives the driving rod 16 to rotate; and the first locking device 5 and the second locking device 12 adopt an electromagnetic mode for locking. According to the method, two-degree-of-freedom operation can be realized simply by using one driving rod, the use quantity of motors is reduced, and the construction cost is reduced.

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 multi-linkage mechanism with variable degrees of freedom driven by double servo motors. 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 hydrauli...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for grabbing and loading industrial waste by using a variable-degree-of-freedom multi-link mechanism driven by dual servo motors to overcome the high precision requirements, complex structure, and easy oil leakage of the hydraulic system components of the hydraulic industrial waste grabbing machine. Disadvantage, to overcome the disadvantage that the driving motors of the open chain structure need to be installed at the joint position, and make the number of controllable driving motors less than the degree of freedom of the linkage mechanism of the industrial waste grabbing machine, and overcome the needs of the existing mechanical electric industrial scrap grabbing mechanism Equipped with the same number of control motors as the degree of freedom of the linkage mechanism to control the shortcomings, simplify the complexity of the structure, and reduce the weight, motion inertia, volume and cost of the mechanism

Images