Method for conducting waste grabbing and loading work through movable closed-chain connecting rod mechanism

Abstract

A method for conducting waste grabbing and loading work through a movable closed-chain connecting rod mechanism is characterized in that the closed-chain connecting rod mechanism comprises a base, a rotation platform, a telescopic mechanism, a lifting mechanism, a wrist, a gripper and a drive device. The closed-chain connecting rod mechanism is characterized in that the telescopic mechanism of theclosed-chain connecting rod mechanism comprises a first driving rod, a fourth connecting rod, a fifth connecting rod, a first connecting rod and a pitching rod; one end of the first driving rod and one end of the fourth connecting rod are connected with the rotation platform through hinges, one end of the fifth connecting rod is hinged to the other end of the first driving rod, one end of the first connecting rod is hinged to the other end of the fifth connecting rod, and one end of the pitching rod is hinged to the other end of the first connecting rod; and the other end of the fourth connecting rod is hinged to the middle portion of the first connecting rod. The drive device comprises two servo motors, and the two servo motors are connected with the first driving rod and a second driving rod correspondingly and drive the first driving rod and the second driving rod correspondingly. By means of the method, running stability and reliability of a grabbing and loading machine are improved, the accumulative error is avoided, and precision is high; and the structure is compact, rigidity is high, the bearing capability is high, inertia is low, and the dynamic performance is good.

Description

Technical field [0001] The invention relates to the field of mechanical engineering, in particular to a method for grabbing and installing waste materials by adopting a movable closed chain link mechanism. Background technique [0002] Due to the shortage of personnel in the labor market, labor costs have increased year by year, and enterprises' awareness of labor protection has increased, which has 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 hydraulically driven. Because hydraulic oil is used as a power transmission medium in hydraulic transmission, there are the following problems: its startability is poor, It is easy to cause leakage after internal components are worn, and the leaked hydraulic oil will pollute the environment; hydraulic ...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a mobile closed-chain link mechanism waste grabbing operation method, which overcomes the shortcomings of hydraulic system components such as high precision requirements, complex structure, and easy oil leakage, and solves the open chain structure at the same time. The drive motors are all installed at the joints, resulting in a large moment of inertia of the arm, a decrease in dynamic performance, large cumulative errors, small bearing capacity, and complex structures.

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