CN107297645B - A kind of grasping mechanism of lathe semi-finished product transmission AGV - Google Patents
A kind of grasping mechanism of lathe semi-finished product transmission AGV Download PDFInfo
- Publication number
- CN107297645B CN107297645B CN201710433258.4A CN201710433258A CN107297645B CN 107297645 B CN107297645 B CN 107297645B CN 201710433258 A CN201710433258 A CN 201710433258A CN 107297645 B CN107297645 B CN 107297645B
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- CN
- China
- Prior art keywords
- driven device
- finger joint
- magnetic driven
- finished product
- rubber layer
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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 mechanisms of lathe semi-finished product transmission AGV a kind of, including gripper, it is characterized in that, the gripper includes multiple finger joints, the finger joint outer layer is rubber layer, rubber layer is internally provided with hard shell bracket, miniature magnetic driven device is provided in hard shell bracket, the magnetic driven device includes a silicon steel core, is wound with coil windings on the silicon steel core, the magnetic driven device homopolarity in opposite finger joint is opposite, is interacted when magnetic driven device is powered with repulsion.The present invention can make AGV during between the semi-finished product of machine tooling grabs and is transmitted to the lathe of next process, will not generate damage to workpiece, grab stronger and conveniently.
Description
[technical field]
The present invention relates to the technical fields of AGV, the especially technical field of AGV grasping mechanism.
[background technique]
AGV full name Automated Guided Vehicle independently guides Travel vehicle, in automatic Material Handling System
To extensive use.
It during machine tooling, is 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 just needs to carry out intelligent scheduling, present solution to the semi-finished product of upper level machine tooling
Job Scheduling is mostly carried out using manipulator, however the bulk of manipulator is limited serious, can not be suitble to various changeable
Occasion in apply, and AGV can by play flexibility, it is more convenient to the Job Scheduling of lathe assembly line.
In the AGV of Machinetool workpiece crawl, grasping mechanism has potential damage risk to semi-finished product, so needing
Grasping mechanism is designed.
[summary of the invention]
The object of the invention is to solve the problems of the prior art, propose that a kind of lathe semi-finished product transmits AGV's
Grasping mechanism can make AGV between the semi-finished product of machine tooling is grabbed and is transmitted to the lathe of next process
During, damage will not be generated to workpiece, grabbed stronger and conveniently.
To achieve the above object, the invention proposes the grasping mechanisms of lathe semi-finished product transmission AGV a kind of, including hand
Pawl, which is characterized in that the gripper includes multiple finger joints, and the finger joint outer layer is rubber layer, and rubber layer is internally provided with hard shell
Bracket, is provided with miniature magnetic driven device in hard shell bracket, and the magnetic driven device includes a silicon steel core, the silicon steel core
On be wound with coil windings, the magnetic driven device homopolarity in opposite finger joint is opposite, magnetic driven device be powered when with repulsion phase
Interaction.
Preferably, it is provided with miniature piezo-ceramic sensor between the hard shell bracket and rubber layer of the finger joint end,
The miniature piezo-ceramic sensor is provided with electrode outlet line.
Preferably, the coil windings and electrode outlet line are both connected on a power amplifier, the power is put
Big device is connected on a controller by conducting wire.
Preferably, the upside of finger joint is arranged in the controller.
Preferably, the controller is 80C51 single-chip microcontroller.
Beneficial effects of the present invention: the present invention, which passes through, sets finger joint type for the gripper for being used to grab, and has crawl flexible
The characteristics of, on the surface of finger joint, rubber layer is set, enabling to gripper to scratch risk to the mantle friction of semi-finished product reduces,
Miniature piezo-ceramic sensor is set in finger joint again, enables to chucking power to obtain acquisition feedback, and eventually by with line
The magnetic driven device for enclosing winding puts up a resistance adjustment to the chucking power between finger joint, so that chucking power not only firm stable but also had had flexible
Property.
Feature and advantage of the invention will be described in detail by embodiment combination attached drawing.
[Detailed description of the invention]
Fig. 1 is the finger joint structural schematic diagram in the grasping mechanism of lathe semi-finished product transmission AGV of the present invention.
In figure: 1- finger joint, 2- rubber layer, 3- miniature piezo-ceramic sensor, 4- magnetic driven device, 5- power amplifier, 6-
Controller.
[specific embodiment]
Refering to fig. 1, a kind of grasping mechanism of lathe semi-finished product transmission AGV of the present invention, including gripper, feature exist
In, the gripper includes multiple finger joints 1, and 1 outer layer of finger joint is rubber layer 2, and rubber layer 2 is internally provided with hard shell bracket,
Miniature magnetic driven device 4 is provided in hard shell bracket.The magnetic driven device 4 includes a silicon steel core, is twined on the silicon steel core
It is wound with coil windings.Miniature piezo-ceramic sensor 3, institute are provided between the hard shell bracket and rubber layer 2 of 1 end of finger joint
It states miniature piezo-ceramic sensor 3 and is provided with electrode outlet line.The coil windings and electrode outlet line are both connected to a function
On rate amplifier 5, the power amplifier 5 is connected on a controller 6 by conducting wire.The controller 6 is arranged in finger joint 1
Upside.The controller 6 is 80C51 single-chip microcontroller.
Multiple finger joints 1 encompass gripper, and connection structure is arranged in the end of finger joint 1, can there are many combination of drive form,
So that linkage is generated between multiple finger joints 1, to flexibly stretch, such as pneumatic type, pinion type, pinion and-rack.
The course of work of the present invention:
A kind of grasping mechanism of lathe semi-finished product transmission AGV of the present invention is one real with pneumatic type during the work time
Example is applied, for multiple finger joints 1 under the driving of end Telescopic-cylinder bar, the structure that is hinged of end opens up multiple finger joints 1 simultaneously
It opens or shrinks, be the crawl or relieving of gripper under combination form；When grabbing article workpiece, miniature piezo-ceramic sensor 3
The pressure signal of perception is transmitted to controller 6 through power amplifier 5, controller 6 compares the size for obtaining pressure value, then passes through
Power amplifier 5 adjusts the current value in magnetic driven device 4, to change the magnetic attraction of output, the magnetic between opposite finger joint 1 is driven
Dynamic 4 homopolarity of device is opposite, and the chucking power generated between repulsion, with finger joint 1 generates resistance, just can flexibly finely tune the size of chucking power,
Avoid workpiece damage.
The present invention has the characteristics that crawl is flexible, in the table of finger joint by setting finger joint type for the gripper for being used to grab
Rubber layer is arranged in face, and enabling to gripper to scratch risk to the mantle friction of semi-finished product reduces, and is arranged in finger joint micro-
Type piezoceramic transducer enables to chucking power to obtain acquisition feedback, and eventually by the magnetic driven device with coil windings
Magnetic attraction reinforcing is carried out to the workpiece of clamping, so that clamping stronger stabilization.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (2)
1. a kind of grasping mechanism of lathe semi-finished product transmission AGV, including gripper, the gripper includes multiple finger joints, described
Finger joint outer layer is rubber layer, and rubber layer is internally provided with hard shell bracket,
It is characterized by: being provided with miniature magnetic driven device in the hard shell bracket, the magnetic driven device includes a silicon steel iron
Core is wound with coil windings on the silicon steel core, and the magnetic driven device homopolarity in opposite finger joint is opposite, in magnetic driven device
It is interacted when energization with repulsion；Miniature piezo-ceramic sensing is provided between the hard shell bracket and rubber layer of the finger joint end
Device, the miniature piezo-ceramic sensor are provided with electrode outlet line；The coil windings and electrode outlet line are both connected to one
On a power amplifier, the power amplifier is connected on a controller by conducting wire；
Multiple finger joints end Telescopic-cylinder bar driving under, end be hinged structure enable multiple finger joints be unfolded simultaneously or
It shrinks, is the crawl or relieving of gripper under combination form；When grabbing article workpiece, miniature piezo-ceramic sensor will be perceived
Pressure signal be transmitted to controller through power amplifier, controller relatively obtains the size of pressure value, then through power amplification
Device adjusts the current value in magnetic driven device, to change the magnetic attraction of output；Magnetic driving homopolarity between opposite finger joint is opposite,
The chucking power generated between repulsion, with finger joint generates resistance, just can flexibly finely tune the size of chucking power, avoid workpiece damage.
2. the grasping mechanism of lathe semi-finished product transmission AGV as described in claim 1, it is characterised in that: the controller
The upside of finger joint is set.
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 CN107297645A (en) | 2017-10-27 |
| CN107297645B true 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 |
|---|---|
| CN107297645A (en) | 2017-10-27 |
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