Compensation test self-positioning bionic manipulator

Abstract

The invention relates to a compensation test self-positioning bionic manipulator, and belongs to the technical field of mechanical grabbing devices. The bionic manipulator comprises mantis hands, mantis arms and a machine body; threaded counter bores are machined around guide counter bores in the left end face of the machine body. A threaded hole connected with the right end surface is formed in the bottom of the machine body left end surface guide counter bore; a stepped counter bore is formed in an arm body of the mantis arm; a groove in a mantis arm connecting rod is provided with a circular through hole, the mantis hand is provided with a claw hook and a limiting plate; the mantis arm body with a compression spring and a mandrel that are installed in the stepped counter bore is inserted into a machine body guide counter bore, an end cover is fastened to the left end face of the machine body through a bolt; the mantis hand is hinged to the mantis arm through a pin shaft, and an adjusting bolt is screwed in the threaded hole of the machine body; the manipulator is based on a bionics principle, and designed by simulating a motion of the mantis forearm grabbing a prey; the bionic manipulator is simple in structure, low in cost, light in weight, convenient to install, capable of achieving kneading through grabbing force, free of damage to materials, capable of grabbing metal grid materials and non-metal grid materials, capable of achieving rapid, accurate and automatic positioning through mantis claw hooks in the working process and capable of greatly improving the working efficiency of the bionic manipulator.

Description

technical field [0001] The invention belongs to the field of mechanical grasping devices, in particular to a bionic manipulator with compensation and self-positioning. Background technique [0002] At present, there are two grabbing methods for steel mesh materials: finger manipulator and electromagnetic sucker. The finger manipulator mainly relies on finger gripping or back support to grasp the steel mesh material. The finger manipulator is suitable for grabbing grids with equal sizes and uniform sizes. Because the overall rigidity of the actual steel mesh material is not high and the mesh size is different, it is difficult for the fingers of the finger-shaped manipulator to insert the mesh accurately at one time, and even if the mesh is inserted, it is difficult to quickly and accurately grasp the wire mesh. Steel wire, there is a problem that it is difficult to grab and take a long time. The electromagnetic chuck converts electrical energy into electromagnetic force and u...

AI Technical Summary

Problems solved by technology

[0002] At present, there are two grabbing methods for steel mesh materials: finger manipulator and electromagnetic sucker. The finger manipulator mainly relies on finger gripping or back support to grasp the steel mesh material. The finger manipulator is suitable for grabbing grids with equal sizes and uniform sizes. Because the overall rigidity of the actual steel mesh material is not high and the mesh size is different, it is difficult for the fingers of the finger-shaped manipulator to insert the mesh accurately at one time, and even if the mesh is inserted, it is difficult to quickly and accurately grasp the wire mesh. Steel wire, there is a problem that it is difficult to grab and take a long time. The electromagnetic chuck converts electrical energy into electromagnetic force and uses the sucker to suck the steel wire of the wire mesh material to complete the grab. When grabbing, the sucker needs to be in contact with the steel wire of the wire mesh material. , in order to meet the grasping requirements, it is necessary to increase the area of ​​the electromagnetic chuck or increase the number of electromagnetic chucks, which will cause the electromagnetic chuck to be too large and heavy, and the increase in the number of electromagnetic chucks will greatly increase the procurement cost, which is very uneconomical

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