CN107276454A - A kind of low-power consumption paw driver that AGV is transmitted suitable for lathe - Google Patents
A kind of low-power consumption paw driver that AGV is transmitted suitable for lathe Download PDFInfo
- Publication number
- CN107276454A CN107276454A CN201710434557.XA CN201710434557A CN107276454A CN 107276454 A CN107276454 A CN 107276454A CN 201710434557 A CN201710434557 A CN 201710434557A CN 107276454 A CN107276454 A CN 107276454A
- Authority
- CN
- China
- Prior art keywords
- ultra
- agv
- telescopic body
- lathe
- magnetic telescopic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 29
- 239000000919 ceramic Substances 0.000 claims abstract description 19
- 229910052742 iron Inorganic materials 0.000 claims abstract description 15
- 239000003822 epoxy resin Substances 0.000 claims description 4
- 229920000647 polyepoxide Polymers 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000004907 flux Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000009335 monocropping Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/06—Drive circuits; Control arrangements or methods
- H02N2/062—Small signal circuits; Means for controlling position or derived quantities, e.g. for removing hysteresis
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
- H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
- H02N2/04—Constructional details
- H02N2/043—Mechanical transmission means, e.g. for stroke amplification
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of low-power consumption paw driver that AGV is transmitted suitable for lathe, including ultra-magnetic telescopic body, the both sides up and down of the ultra-magnetic telescopic body are pasted with piezoelectric ceramic piece, the left and right ends of ultra-magnetic telescopic body are additionally provided with the permanent magnet being arranged in parallel with the ultra-magnetic telescopic body before being provided with the iron staff of parallel distribution, the iron staff.The paw that the present invention can carry AGV has the ability that grasp force is finely tuned, and low in energy consumption.
Description
【Technical field】
The present invention relates to the technical field of AGV technical field, particularly AGV low-power consumption paw driver.
【Background technology】
AGV full name Automated Guided Vehicle, i.e., autonomous guiding Travel vehicle, in automatic Material Handling System
To extensive use.
During machine tooling, limited by lathe level of processing itself, a complete workpiece is needed in multiple lathes
Upper operation break-down is processed, and the time that some technique is processed on certain a machine tool is shorter, and lower one of technique is in secondary lathe
On process time it is longer, this is accomplished by carrying out intelligent scheduling, present solution to the semi-finished product of upper level machine tooling
Job Scheduling is mostly carried out using manipulator, but the bulk of manipulator is limited serious, can not be adapted to various changeable
Occasion in apply, and by playing the dispatching method of AGV flexibilities, the workpiece of lathe streamline is scheduled, Neng Gougeng
Adapt to current conditions well.
AGV dispatches semi worked pieces, it is necessary to paw be set on AGV, by paw grabbing workpiece, also, because AGV is adopted
Tracked with sensor, the position of setting can not be accurately reached completely, so the crawl position to workpiece is random, if general
Logical mechanical paw, the risk that can have destruction workpiece surface quality.
【The content of the invention】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes a kind of low work(that AGV is transmitted suitable for lathe
Paw driver is consumed, the paw that can carry AGV has the ability that grasp force is finely tuned, and low in energy consumption.
To achieve the above object, the present invention proposes a kind of low-power consumption paw driver that AGV is transmitted suitable for lathe, bag
Ultra-magnetic telescopic body is included, the both sides up and down of the ultra-magnetic telescopic body are pasted with piezoelectric ceramic piece, the left and right of ultra-magnetic telescopic body
The permanent magnetism being arranged in parallel with the ultra-magnetic telescopic body is additionally provided with before being provided at both ends with the iron staff of parallel distribution, the iron staff
Body.
Preferably, the ultra-magnetic telescopic body is giant magnetostrictive rod or stacked in layers film.
Preferably, the piezoelectric ceramic piece is pasted onto on the ultra-magnetic telescopic body using epoxy resin.
Preferably, two outsides of the iron staff are by displacement constraint.
Beneficial effects of the present invention：The present invention applies mechanical force by using piezoelectric ceramic piece to ultra-magnetic telescopic body, from
And permanent magnet can be changed to outside output magnetic force by changing the volume of ultra-magnetic telescopic body, and because piezoelectric ceramics is
Capacitive character, when AGV paw keeps certain chucking power, the deflection of piezoelectric ceramic piece is kept in the presence of constant voltage
Certain value is constant, and now the electric current inside piezoelectric ceramic piece is 0, so power consumption is extremely low；The precision actuation characteristic of piezoelectric ceramic piece,
Also so that the control of output magnetic force is more accurate.
The feature and advantage of the present invention will be described in detail by embodiment combination accompanying drawing.
【Brief description of the drawings】
Fig. 1 is the theory structure schematic diagram for the low-power consumption paw driver that the present invention transmits AGV suitable for lathe.
In figure：1- piezoelectric ceramic pieces, 2- ultra-magnetic telescopics body, 3- permanent magnets, 4- iron staffs.
【Embodiment】
Refering to Fig. 1, a kind of low-power consumption paw driver that AGV is transmitted suitable for lathe of the present invention, including ultra-magnetic telescopic
Body, the both sides up and down of the ultra-magnetic telescopic body are pasted with piezoelectric ceramic piece, and the left and right ends of ultra-magnetic telescopic body are provided with flat
The permanent magnet being arranged in parallel with the ultra-magnetic telescopic body is additionally provided with before the iron staff of row distribution, the iron staff.
Preferably, the ultra-magnetic telescopic body is giant magnetostrictive rod or stacked in layers film.
Preferably, the piezoelectric ceramic piece is pasted onto on the ultra-magnetic telescopic body using epoxy resin.
Preferably, two outsides of the iron staff are by displacement constraint.
The course of work of the present invention：
The present invention it is a kind of suitable for lathe transmit AGV low-power consumption paw driver in the course of the work, to piezoelectric ceramics
The battery lead plate of piece 1 applies driving voltage so that the two poles of the earth of piezoelectric ceramic piece 1 are upheld or shunk, and is glued in the high rigidity of epoxy resin
Under continuous cropping is used, magnetostrictor 2 is stretched or compressed, and the magnetic force part that permanent magnet 3 is exported directly is applied by the end of iron staff 4
On another homopolarity iron staff 4 on to relative paw finger joint, repulsion is formed, one is manufactured to the clamping grasp force of AGV paws
Dynamic equilibrium condition, another part magnetic flux that permanent magnet 3 is exported enters in ultra-magnetic telescopic body 2, and ultra-magnetic telescopic body 2 is stretched
Contracting can cause the change of its interior flux, so that the output magnetic force of the end of iron staff 4 produces change, be embodied on AGV paws,
Grasp force can be finely adjusted, and when keeping a fixed grasp force, energy expenditure is minimum.
The present invention, mechanical force is applied by using piezoelectric ceramic piece to ultra-magnetic telescopic body, so as to super by changing
The volume of magnetostrictor and change permanent magnet to outside output magnetic force, and because piezoelectric ceramics is capacitive character, when AGV hand
When pawl keeps certain chucking power, the deflection of piezoelectric ceramic piece keeps certain value constant in the presence of constant voltage, now
Electric current inside piezoelectric ceramic piece is 0, so power consumption is extremely low；The precision actuation characteristic of piezoelectric ceramic piece, also causes output magnetic force
Control it is more accurate.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme belong to protection scope of the present invention.
Claims (4)
1. a kind of low-power consumption paw driver that AGV is transmitted suitable for lathe, it is characterised in that：Including ultra-magnetic telescopic body, institute
The both sides up and down for stating ultra-magnetic telescopic body are pasted with piezoelectric ceramic piece, and the left and right ends of ultra-magnetic telescopic body are provided with parallel distribution
Iron staff, the permanent magnet being arranged in parallel with the ultra-magnetic telescopic body is additionally provided with before the iron staff.
2. AGV low-power consumption paw driver is transmitted suitable for lathe as claimed in claim 1, it is characterised in that：It is described super
Magnetostrictor is giant magnetostrictive rod or stacked in layers film.
3. AGV low-power consumption paw driver is transmitted suitable for lathe as claimed in claim 1, it is characterised in that：The pressure
Electroceramics piece is pasted onto on the ultra-magnetic telescopic body using epoxy resin.
4. AGV low-power consumption paw driver is transmitted suitable for lathe as claimed in claim 1, it is characterised in that：The iron
Two outsides of rod are by displacement constraint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434557.XA CN107276454A (en) | 2017-06-09 | 2017-06-09 | A kind of low-power consumption paw driver that AGV is transmitted suitable for lathe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710434557.XA CN107276454A (en) | 2017-06-09 | 2017-06-09 | A kind of low-power consumption paw driver that AGV is transmitted suitable for lathe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107276454A true CN107276454A (en) | 2017-10-20 |
Family
ID=60067561
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710434557.XA Pending CN107276454A (en) | 2017-06-09 | 2017-06-09 | A kind of low-power consumption paw driver that AGV is transmitted suitable for lathe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107276454A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1395325A (en) * | 2002-07-12 | 2003-02-05 | 清华大学 | Three-component compound magnetoelectric material using organic polymer as adhesive and its preparation method |
| CN1755962A (en) * | 2005-07-25 | 2006-04-05 | 中国人民解放军国防科学技术大学 | Nickel/piezoelectric ceramic laminar composite material with magnetoelectric effect and preparation process thereof |
| CN103872944A (en) * | 2014-03-03 | 2014-06-18 | 浙江科技学院 | Precise-controlled micropower member and method |
-
2017
- 2017-06-09 CN CN201710434557.XA patent/CN107276454A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1395325A (en) * | 2002-07-12 | 2003-02-05 | 清华大学 | Three-component compound magnetoelectric material using organic polymer as adhesive and its preparation method |
| CN1755962A (en) * | 2005-07-25 | 2006-04-05 | 中国人民解放军国防科学技术大学 | Nickel/piezoelectric ceramic laminar composite material with magnetoelectric effect and preparation process thereof |
| CN103872944A (en) * | 2014-03-03 | 2014-06-18 | 浙江科技学院 | Precise-controlled micropower member and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171020 |
|
| WD01 | Invention patent application deemed withdrawn after publication |