CN107297645A - A kind of lathe semi worked pieces transmit AGV grasping mechanism - Google Patents
A kind of lathe semi worked pieces transmit AGV grasping mechanism Download PDFInfo
- Publication number
- CN107297645A CN107297645A CN201710433258.4A CN201710433258A CN107297645A CN 107297645 A CN107297645 A CN 107297645A CN 201710433258 A CN201710433258 A CN 201710433258A CN 107297645 A CN107297645 A CN 107297645A
- Authority
- CN
- China
- Prior art keywords
- agv
- finger joint
- grasping mechanism
- driven device
- worked pieces
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/008—Catching devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the grasping mechanism that a kind of lathe semi worked pieces transmit AGV, including paw, characterized in that, the paw includes multiple finger joints, the finger joint outer layer is rubber layer, rubber layer is internally provided with duricrust support, miniature magnetic driven device is provided with duricrust support, the magnetic driven device includes being wound with coil windings on a silicon steel core, the silicon steel core, the magnetic driven device homopolarity in relative finger joint is relative, is interacted when magnetic driven device is powered with repulsion.The present invention can make AGV during being captured the semi worked pieces of machine tooling and being delivered to the lathe of next process, damage will not be produced to workpiece, crawl is more firmly and conveniently.
Description
【Technical field】
The present invention relates to the technical field of AGV technical field, particularly AGV grasping mechanisms.
【Background technology】
AGV full name AutomatedGuidedVehicle, i.e., autonomous guiding Travel vehicle, are obtained in automatic Material Handling System
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 carried out plus processing, and the time that some technique is processed on certain a machine tool is shorter, and lower one of technique is in secondary machine
Process time on bed is longer, and this is accomplished by carrying out intelligent scheduling, present solution party to the semi-finished product of upper level machine tooling
Method mostly carries out Job Scheduling using manipulator, but the bulk of manipulator is limited serious, can not be adapted to various many
Applied in the occasion of change, and AGV can more be facilitated by playing flexibility to the Job Scheduling of lathe streamline.
In the AGV of Machinetool workpiece crawl, grasping mechanism has potential damage risk to semi worked pieces, so needing
Grasping mechanism is designed.
【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 lathe semi worked pieces transmission AGV's
Grasping mechanism, can make AGV being captured the semi worked pieces of machine tooling and being delivered to the lathe of next process
During, damage will not be produced to workpiece, crawl is more firmly and conveniently.
To achieve the above object, the present invention proposes the grasping mechanism that a kind of lathe semi worked pieces transmit AGV, including hand
Pawl, it is characterised in that the paw includes multiple finger joints, the finger joint outer layer is rubber layer, and rubber layer is internally provided with duricrust
Support, is provided with miniature magnetic driven device in duricrust support, and the magnetic driven device includes a silicon steel core, the silicon steel core
On to be wound with the magnetic driven device homopolarity in coil windings, relative finger joint relative, when magnetic driven device is powered with repulsion phase
Interaction.
Preferably, miniature piezo-ceramic sensor is provided between the duricrust support and rubber layer of the finger joint end,
The miniature piezo-ceramic sensor is provided with electrode outlet line.
Preferably, the coil windings are both connected on a power amplifier with electrode outlet line, the power is put
Big device is connected on a controller by wire.
Preferably, the controller is arranged on the upside of finger joint.
Preferably, the controller is 80C51 single-chip microcomputers.
Beneficial effects of the present invention：The present invention is flexible with crawl by the way that the paw for crawl is set into finger joint type
The characteristics of, rubber layer is set on the surface of finger joint, enables to mantle friction of the paw to semi worked pieces to scratch risk reduction,
Miniature piezo-ceramic sensor is set in finger joint again, enables to chucking power to obtain gathering feedback, and eventually through with line
The magnetic driven device of circle winding is put up a resistance adjustment to the chucking power between finger joint so that not only firm stable has flexibly chucking power again
Property.
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 finger joint structural representation in lathe semi worked pieces transmission AGV of the present invention grasping mechanism.
In figure：1- finger joints, 2- rubber layers, 3- miniature piezo-ceramics sensor, 4- magnetic driven devices, 5- power amplifiers, 6-
Controller.
【Embodiment】
Refering to Fig. 1, a kind of lathe semi worked pieces of the invention transmit AGV grasping mechanism, including paw, and its feature exists
In, the paw includes multiple finger joints 1, and the outer layer of finger joint 1 is rubber layer 2, and rubber layer 2 is internally provided with duricrust support,
Miniature magnetic driven device 4 is provided with duricrust support.The magnetic driven device 4 includes twining on a silicon steel core, the silicon steel core
It is wound with coil windings.Miniature piezo-ceramic sensor 3, institute are provided between the duricrust support and rubber layer 2 of the end of finger joint 1
State miniature piezo-ceramic sensor 3 and be provided with electrode outlet line.The coil windings are both connected to a work(with electrode outlet line
On rate amplifier 5, the power amplifier 5 is connected on a controller 6 by wire.The controller 6 is arranged on finger joint 1
Upside.The controller 6 is 80C51 single-chip microcomputers.
Multiple finger joints 1 encompass paw, and the end of finger joint 1 sets attachment structure, can there is the combination of a variety of drive forms,
So that linkage is produced between multiple finger joints 1, so that flexibly stretch, such as pneumatic type, pinion type, pinion and-rack.
The course of work of the present invention：
A kind of lathe semi worked pieces transmission AGV grasping mechanism of the present invention is in the course of the work, real using pneumatic type as one
Example is applied, multiple finger joints 1 are under the driving of end Telescopic-cylinder bar, and the structure that is hinged of end allows multiple finger joints 1 while opening up
Open or shrink, be the crawl or relieving of paw under combination form；When capturing article workpiece, miniature piezo-ceramic sensor 3
The pressure signal of perception is delivered to controller 6 through power amplifier 5, controller 6 compares the size for drawing pressure value, Ran Houjing
Current value in the adjustment magnetic driven device 4 of power amplifier 5, so as to change the magnetic attraction of output, the magnetic between relative finger joint 1 drives
The dynamic homopolarity of device 4 is relative, and the chucking power produced between repulsion, with finger joint 1 produces resistance, just can flexibly finely tune the size of chucking power,
Avoid workpiece damage.
The present invention, by the way that the paw for crawl is set into finger joint type, with capture it is flexible the characteristics of, in the table of finger joint
Face sets rubber layer, enables to mantle friction of the paw to semi worked pieces to scratch risk reduction, and set micro- in finger joint
Type piezoceramic transducer, enables to chucking power to obtain gathering feedback, and eventually through the magnetic driven device with coil windings
Magnetic attraction reinforcing is carried out to the workpiece of clamping so that clamping more firm stable.
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 (5)
1. a kind of lathe semi worked pieces transmit AGV grasping mechanism, including paw, it is characterised in that：The paw includes many
Individual finger joint, the finger joint outer layer is rubber layer, and rubber layer is internally provided with duricrust support, Miniature magnetic is provided with duricrust support
Driver, the magnetic driven device includes being wound with coil windings, relative finger joint on a silicon steel core, the silicon steel core
The magnetic driven device homopolarity it is relative, interacted when magnetic driven device is powered with repulsion.
2. lathe semi worked pieces as claimed in claim 1 transmit AGV grasping mechanism, it is characterised in that：The finger joint end
Miniature piezo-ceramic sensor is provided between the duricrust support and rubber layer in portion, the miniature piezo-ceramic sensor is provided with
Electrode outlet line.
3. lathe semi worked pieces as claimed in claim 1 or 2 transmit AGV grasping mechanism, it is characterised in that：The coil
Winding is both connected on a power amplifier with electrode outlet line, and the power amplifier is connected to a control by wire
On device.
4. lathe semi worked pieces as claimed in claim 3 transmit AGV grasping mechanism, it is characterised in that：The controller
It is arranged on the upside of finger joint.
5. it is as claimed in claim 4, it is characterised in that：The controller is 80C51 single-chip microcomputers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433258.4A CN107297645B (en) | 2017-06-09 | 2017-06-09 | A kind of grasping mechanism of lathe semi-finished product transmission AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433258.4A CN107297645B (en) | 2017-06-09 | 2017-06-09 | A kind of grasping mechanism of lathe semi-finished product transmission AGV |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107297645A true CN107297645A (en) | 2017-10-27 |
| CN107297645B CN107297645B (en) | 2019-05-17 |
Family
ID=60135716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710433258.4A Active CN107297645B (en) | 2017-06-09 | 2017-06-09 | A kind of grasping mechanism of lathe semi-finished product transmission AGV |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107297645B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
| CN201579792U (en) * | 2010-01-21 | 2010-09-15 | 上海大学 | Ultrasonic motor directly-driven dextrous robot hand finger joint mechanism |
| CN102895052A (en) * | 2012-06-21 | 2013-01-30 | 中南大学 | Micro-driving mechanism for quick reflex grabbing of prosthetic hand |
| CN204206925U (en) * | 2014-11-14 | 2015-03-18 | 齐齐哈尔齐三机床有限公司 | Automation fish jar |
| CN104538345A (en) * | 2014-12-31 | 2015-04-22 | 北京七星华创电子股份有限公司 | Disk clamping and rotating device |
| CN105382849A (en) * | 2015-12-24 | 2016-03-09 | 柳超 | Simulation mechanical finger based on electromagnetic drive |
| CN205129641U (en) * | 2015-11-04 | 2016-04-06 | 常亮 | Electromagnetic drive clasper |
-
2017
- 2017-06-09 CN CN201710433258.4A patent/CN107297645B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
| CN201579792U (en) * | 2010-01-21 | 2010-09-15 | 上海大学 | Ultrasonic motor directly-driven dextrous robot hand finger joint mechanism |
| CN102895052A (en) * | 2012-06-21 | 2013-01-30 | 中南大学 | Micro-driving mechanism for quick reflex grabbing of prosthetic hand |
| CN204206925U (en) * | 2014-11-14 | 2015-03-18 | 齐齐哈尔齐三机床有限公司 | Automation fish jar |
| CN104538345A (en) * | 2014-12-31 | 2015-04-22 | 北京七星华创电子股份有限公司 | Disk clamping and rotating device |
| CN205129641U (en) * | 2015-11-04 | 2016-04-06 | 常亮 | Electromagnetic drive clasper |
| CN105382849A (en) * | 2015-12-24 | 2016-03-09 | 柳超 | Simulation mechanical finger based on electromagnetic drive |
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| Publication number | Publication date |
|---|---|
| CN107297645B (en) | 2019-05-17 |
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