Compensation type self-positioning bionic manipulator

Abstract

The invention relates to a compensating self-positioning bionic manipulator, belonging to a mechanical grasping device. technology Field. It includes a mantis hand, a mantis arm and a machine body. The guide countersunk hole on the left end face of the machine body is processed with a threaded countersunk hole around it. The bottom of the guide countersunk hole on the left end face of the machine body has a threaded hole connected to the right end face. The mantis arm body is processed with a stepped countersunk hole. The groove on the mantis arm connecting rod has a circular through hole. The mantis hand is provided with a grab hook and a limit plate. The mantis arm body with a compression spring and a core shaft installed in the stepped countersunk hole is inserted into the guide countersunk hole of the machine body. The end cover is fastened to the left end face of the machine body with bolts. The mantis hand and the mantis arm are hinged with a pin shaft, and the adjusting bolt is screwed into the threaded hole of the machine body. The present invention is based on Bionics principles, It is designed to imitate the action of a mantis' forearm grabbing prey. It has a simple structure, low cost, light weight, easy installation, mild grip, and does not damage materials. It can not only grab metal mesh materials but also non-metal mesh materials. When working, the mantis grabber can quickly and accurately position itself automatically, greatly improving the working efficiency of the bionic manipulator.

Description

Technical Field

[0001] The present invention belongs to a mechanical grasping device field , specifically, a compensating self-positioning bionic manipulator. Background Art

[0002] At present, there are two ways to grab wire mesh materials: finger-like manipulators and electromagnetic suction cups. Finger-like manipulators mainly rely on finger clamping or reverse support to grasp wire mesh materials. Finger-like manipulators are suitable for grasping wire mesh materials with equal and uniform mesh sizes. Because the overall rigidity of the wire mesh materials actually used is not high and the mesh sizes are different, it is difficult for the fingers of the finger-like manipulator to accurately insert the mesh at one time. Even if the mesh is inserted, it is difficult to quickly and accurately grasp the steel wire of the wire mesh, and there is a problem of difficulty and time in grasping. The electromagnetic suction cup converts electrical energy into electromagnetic force to suck the steel wire of the wire mesh material through the suction cup to complete the grasping. When grasping, the suction cup needs to contact with a large area of ​​the steel wire of the wire mesh material. In order to meet the grasping requirements, the area of ​​the electromagnetic suction cup needs to be increased or the number of electromagnetic suction cups needs to be increased, which will cause the electromagnetic suction cup unit to be too large and too heavy. The increase in the number of electromagnetic suction cups will greatly increase the procurement cost and is very uneconomical. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention provides a compensating self-positioning bionic manipulator. Bionics Principles of Learning It is designed to imitate the action of a mantis extending its forearm claw to grab prey. It has a simple structure, low cost, light weight, easy installation, smooth grip, and does not damage materials. When working, the mantis grabber automatically positions quickly and accurately, greatly improving the working efficiency of the bionic manipulator.

[0004] The technical solution adopted by the present invention to solve its technical problems is: a compensating self-positioning bionic manipulator, including a mantis hand, a mantis arm and a body, characterized in that circular through holes are processed on the steps on the front and rear sides of the body, threaded countersunk holes are processed around the guide countersunk holes on the left end face of the body, a threaded hole connected to the right end face is provided at the bottom of the guide countersunk holes on the left end face of the body, a countersunk hole with a step is processed on the right side of the mantis arm, a circular through hole is provided on the side of the groove of the left connecting rod head of the mantis arm, one end of the mantis hand is an arc-shaped grab hook extending downward, a circular through hole is processed on the vertical rectangular steel plate at the other end of the mantis hand, limiting plates are welded on both sides of the mantis hand, the mantis arm body with a compression spring and a core shaft installed in the step countersunk hole is inserted into the guide countersunk hole of the body, the end cover passes through the mantis arm connecting rod and fits on the left end face of the body and is fastened with bolts, the vertical rectangular steel plate of the mantis hand is installed into the groove of the mantis arm connecting rod head and is hinged with a pin, and the adjusting bolt is screwed into the threaded hole on the right end face of the body.

[0005] The beneficial effect of the present invention is that according to Bionics principles,Designed to imitate the action of a mantis's forearm grabbing prey, it has a simple structure, low cost, light weight, easy installation, mild grip, and does not damage materials. It can not only grab metal mesh materials but also non-metal mesh materials. When working, the mantis grabber can quickly and accurately position itself automatically, greatly improving the working efficiency of the bionic manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 It is a schematic front view of the structure of the present invention.

[0007] Figure 2 It is a schematic top view of the structure of the present invention.

[0008] Figure 3 It is a schematic diagram of the structure of the present invention symmetrically installed at the bottom of a double-head hydraulic cylinder.

[0009] Figure 4 It is a schematic diagram of the structure of two pairs of double-head hydraulic cylinders installed at the bottom of the present invention.

[0010] In the figure, 1. mantis hand, 2. pin shaft, 3. limit plate, 4. mantis arm, 5. machine body, 6. core shaft, 7. compression spring, 8. adjustment bolt, 9. end cover, 10. bolt, 11. double-head hydraulic cylinder, 12. slide rail, 13. slider. DETAILED DESCRIPTION

[0011] The present invention comprises a mantis hand 1, a mantis arm 4 and a body 5, wherein the steps on the front and rear sides of the body 5 are processed with circular through holes, the periphery of the guide countersunk hole on the left end face of the body 5 is processed with a threaded countersunk hole, the bottom of the guide countersunk hole on the left end face of the body 5 is provided with a threaded hole connected to the right end face, the right arm body of the mantis arm 4 is processed with a countersunk hole with a step, the side of the groove of the left connecting rod head of the mantis arm 4 is provided with a circular through hole, one end of the mantis hand 1 is an arc-shaped grab hook extending downward, the vertical rectangular steel plate at the other end of the mantis hand 1 is processed with a circular through hole, limiting plates 3 are welded on both sides of the mantis hand 1, the arm body of the mantis arm 4 equipped with a compression spring 7 and a core shaft 6 in the step countersunk hole is inserted into the guide countersunk hole of the body 5, the end cover 9 passes through the connecting rod of the mantis arm 4 and fits on the left end face of the body 5 and is fastened with a bolt 10, the vertical rectangular steel plate of the mantis hand 1 is installed into the groove of the connecting rod head of the mantis arm 4 and is hinged with a pin 2, and the adjusting bolt 8 is screwed into the threaded hole on the right end face of the body 5.

[0012] In order to ensure that the bionic manipulator is subjected to balanced force during the grabbing process and prevent the mesh material from being displaced, the bionic manipulator is used symmetrically in pairs or multiple pairs. The bionic manipulator can use hydraulic cylinders, air cylinders or electric motors as power sources to provide driving force. The hydraulic cylinder providing driving force is now used as an example to illustrate: a plurality of sliders 13 connected to the cylinder rod of the double-headed hydraulic cylinder 11 are symmetrically installed on the slide rails 12 symmetrically fixed at the bottom of the cylinder body of the double-headed hydraulic cylinder 11. After the rectangular protrusion on the top of the body 5 of the bionic manipulator is embedded in the groove at the bottom of the slider 13 for positioning, the bionic manipulator is fixed to the bottom of the slider 13 with fastening bolts. The number of bionic manipulators symmetrically installed at the bottom of the double-headed hydraulic cylinder 11 is determined according to the rigidity characteristics of the mesh material to be grabbed. Before grabbing the mesh material, the spacing between the bionic manipulator hooks symmetrically installed at the bottom of the double-headed hydraulic cylinder 11 can be adjusted by the hydraulic system. After receiving the grabbing work instruction, the bionic manipulator moves vertically to the surface of the mesh material with the double-headed hydraulic cylinder 11. When the bionic manipulator When the grab hook of the mantis hand 1 of the bionic manipulator is inserted into the mesh of the material and the limit plate 3 contacts the surface of the mesh material so that the mantis hand 1 cannot move, the hydraulic control system issues an instruction to retract the cylinder rod of the double-head hydraulic cylinder 11. Driven by the driving force F of the cylinder rod of the double-head hydraulic cylinder 11, the grab hook of the mantis hand 1 of the bionic manipulator hooks the mesh of the mesh material. Because the mesh of general metal mesh materials is formed by butt welding of steel wires, the welding firmness between steel wires is poor, and the strength of mesh materials made of non-metallic materials is even worse. As far as the steel wire mesh is concerned, the grab hook of the mantis hand 1 of the bionic manipulator can only hook one steel wire at a time. The situation of mesh materials made of other non-metallic materials is similar. The impact force when the double-head hydraulic cylinder 11 is instantly started can easily pull the welding part apart and damage the steel wire mesh. In order to prevent the impact force from damaging the mesh material, the bionic manipulator reduces the impact caused by the driving force F by applying the pre-tightening force Fn to the mantis arm 4 through the compression spring 7 installed in the guide countersunk hole of the body 5, thereby realizing the compensatory function of the bionic manipulator.

[0013] The relationship between the driving force F and the preload force Fn is as follows:

[0014] When the mantis hands are used symmetrically in pairs, F>Fn;

[0015] When N mantis hands are used symmetrically, F / N>Fn;

[0016] On the premise of meeting the above conditions, it is necessary to ensure that the value of F-Fn or F / N-Fn can meet the requirements of the bionic manipulator hook to grasp the mesh of the mesh material without damaging the mesh material. The size of Fn can be adjusted by adjusting the bolt 8. Another function of designing the compression spring 7 is that due to the size error of the mesh material during production and the different sizes of the mesh, the time when the N bionic manipulators hook the material mesh is not uniform. When some of the bionic manipulators first hook the material mesh, under the continued drive of the F-Fn or F / N-Fn force value, the bionic manipulator that has not hooked the material mesh further squeezes the compression spring 7, so that the mantis arm 4 drives the mantis hand 1 to continue to retract until all the hooks hook the material mesh, thereby realizing the self-positioning function of the bionic manipulator. In addition, when the bionic manipulator hook is inserted into the material mesh, the compression spring 7 can also play a role in instantly correcting the position of the hook.

Claims

1. A compensating self-positioning bionic manipulator, comprising a mantis hand, a mantis arm and a body, characterized in that: There are circular through holes processed on the steps on the front and rear sides of the body, threaded countersunk holes are processed around the guide countersunk holes on the left end face of the body, and there is a threaded hole connected to the right end face at the bottom of the guide countersunk holes on the left end face of the body. A countersunk hole with a step is processed on the right side of the mantis arm, and there is a circular through hole on the side of the groove on the head of the left connecting rod of the mantis arm. One end of the mantis hand is an arc-shaped grab hook extending downward, and the other end of the mantis hand is processed with a circular through hole in the vertical rectangular steel plate. Limiting plates are welded on both sides of the mantis hand, and the mantis arm body with a compression spring and a core shaft installed in the step countersunk hole is inserted into the guide countersunk hole of the body, the end cover passes through the mantis arm connecting rod and fits on the left end face of the body and is fastened with bolts, the vertical rectangular steel plate of the mantis hand is installed into the groove of the mantis arm connecting rod head and hinged with a pin, and the adjusting bolt is screwed into the threaded hole on the right end face of the body.

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