The invention relates to a compensation test self positioning bionic manipulator, which belongs to the technical field of mechanical grabbing device. The utility model comprises a praying hand, a praying arm and a body, wherein a threaded counterbore is processed around the guide counterbore of the left end face of the body, a threaded hole connecting the right end face is arranged at the bottom of the guide counterbore of the left end face of the body, a step counterbore is processed on the praying arm body, a circular through-hole is arranged in the groove of the connecting rod of the praying arm, the praying hand is provided with a grab hook and a limit plate, and the praying arm body with a compression spring and a mandrel is inserted into the guide of the body To countersink, fasten the end cover on the left end face of the machine body with bolts, hinge the praying hand and the praying arm with pin shaft, and screw the adjusting bolt into the threaded hole of the machine body. According to the bionics principle, the invention imitates the action design of the mantis's forearm grabbing prey. It has the advantages of simple structure, low cost, light weight, convenient installation, grasping force kneading and no damage to materials. It can not only grab metal grid materials but also non-metal grid materials. When working, the Mantis's grabbing hook can quickly and accurately position itself, greatly improving the working efficiency of the bionic manipulator.
【技术实现步骤摘要】
补偿试自定位仿生机械手
本专利技术属于机械抓取装置领域,具体地说是一种补偿试自定位仿生机械手。
技术介绍
目前钢丝网物料的抓取有指状机械手和电磁吸盘两种抓取方式,指状机械手主要是依靠手指夹取或者反撑抓紧钢丝网物料,指状机械手适用于抓取网格大小相等尺寸统一的钢丝网物料,因实际使用的钢丝网物料整体刚性不高网格尺寸大小不一,致使指状机械手的手指很难一次准确插入网格,即使插入网格也难以快速准确抓到钢丝网的钢丝,存在着抓取难度大用时长的问题,电磁吸盘是将电能转化为电磁力通过吸盘吸紧钢丝网物料的钢丝来完成抓取,抓取时吸盘需要与钢丝网物料的钢丝大面积接触,为达到抓取要求需加大电磁吸盘面积或增加电磁吸盘数量,这将导致电磁吸盘单体过大、过重,电磁吸盘数量增加将使采购成本大幅提高很不经济。
技术实现思路
为了克服现有技术的不足,本专利技术提供一种补偿试自定位仿生机械手,依照仿生学原理模仿螳螂伸出前臂爪钩抓取猎物的动作设计,它结构简单、成本低、重量轻、安装方便、抓力揉和、不损伤物料,工作时螳手抓钩自动定位快速准确,大幅提高了仿生机械手的工作效率。本专利技术解决其技术问题所采用的技术方案是:一种补偿试自定位仿生机械手,包括螳手、螳臂和机体,其特征在于,机体前后两侧台阶加工有圆形通孔,机体左端面的导向沉孔周边加工有螺纹沉孔,机体左端面导向沉孔底部有连接右端面的螺纹孔,螳臂右侧臂身加工有带台阶的沉孔,螳臂左侧连杆头部凹槽侧面有圆形通孔,螳手一端为伸向下方的圆弧形抓钩,螳手另一端竖直的矩形钢板加工有圆形通孔,螳手两侧焊 ...
【技术保护点】
1.一种补偿试自定位仿生机械手,包括螳手、螳臂和机体,其特征在于,机体前后两侧台阶加工有圆形通孔,机体左端面的导向沉孔周边加工有螺纹沉孔,机体左端面导向沉孔底部有连接右侧端面的螺纹孔,螳臂右侧臂身加工有带台阶的沉孔,螳臂左侧连杆头部凹槽侧面有圆形通孔,螳手一端为伸向下方的圆弧形抓钩,螳手另一端竖直的矩形钢板加工有圆形通孔,螳手两侧焊接有限位板,将台阶沉孔装有压缩弹簧、芯轴的螳臂臂身插入机体导向沉孔,端盖穿过螳臂连杆贴合在机体左端面用螺栓紧固,将螳手竖直的矩形钢板装入螳臂连杆头部凹槽用销轴铰接,将调整螺栓拧入机体右端面的螺纹孔中。/n
【技术特征摘要】
1.一种补偿试自定位仿生机械手,包括螳手、螳臂和机体,其特征在于,机体前后两侧台阶加工有圆形通孔,机体左端面的导向沉孔周边加工有螺纹沉孔,机体左端面导向沉孔底部有连接右侧端面的螺纹孔,螳臂右侧臂身加工有带台阶的沉孔,螳臂左侧连杆头部凹槽侧面有圆形通孔,螳手一端为伸向...
【专利技术属性】
技术研发人员:刘之乾,白贤荣,贾钊,杨坤,
申请(专利权)人:威海光威精密机械有限公司,
类型:发明
国别省市:山东;37
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