CN107309870A - A kind of paw magnetic on lathe transmission AGV drives repulsion adjusting means and method - Google Patents
A kind of paw magnetic on lathe transmission AGV drives repulsion adjusting means and method Download PDFInfo
- Publication number
- CN107309870A CN107309870A CN201710433971.9A CN201710433971A CN107309870A CN 107309870 A CN107309870 A CN 107309870A CN 201710433971 A CN201710433971 A CN 201710433971A CN 107309870 A CN107309870 A CN 107309870A
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- China
- Prior art keywords
- paw
- electromagnetic driver
- agv
- pressure sensor
- controller
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- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
Abstract
Repulsion adjusting means is driven the invention discloses the paw magnetic on a kind of lathe transmission AGV, paw finger joint including one or more groups of Relative distributions, the electromagnetic driver in electromagnetic driver, two relative finger joints is set in the front end of paw finger joint, and homopolarity relatively, produces repulsion after powered up；Pressure sensor is additionally provided with the paw finger joint, the signal of the pressure sensor is sent in controller after amplifying through signal amplifier, the controller is also connected with the electromagnetic driver.The present invention can be finely tuned AGV paw chucking power, so that not only firm stable but also will not disfiguring workpiece during grabbing workpiece.
Description
【Technical field】
The present invention relates to the technical field of lathe transmission AGV technical field, particularly AGV paws.
【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 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 use AGV to enter by playing the dispatching methods of AGV flexibilities to the workpiece of lathe streamline
Row scheduling.
Graping chaw structure set by common AGV can not strictly be protected to the workpiece surface quality of machine tooling
Shield, the adjustment function of chucking power is limited so that the surface damage increased risk of workpiece semi-finished product, so needing one kind can be to work
The AGV paw chucking power adjusting methods that part chucking power is finely adjusted.
【The content of the invention】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes that the paw magnetic on a kind of lathe transmission AGV drives
Repulsion adjusting method, can be finely tuned AGV paw chucking power so that during grabbing workpiece not only firm stable but also
Will not disfiguring workpiece.
To achieve the above object, the paw magnetic that the present invention is proposed on a kind of lathe transmission AGV drives repulsion adjusting means, bag
The paw finger joint of one or more groups of Relative distributions is included, electromagnetic driver, two relative finger joints are set in the front end of paw finger joint
On electromagnetic driver homopolarity is relative after powered up, produce repulsion；Pressure sensor is additionally provided with the paw finger joint, it is described
The signal of pressure sensor is sent in controller after amplifying through signal amplifier, the controller also with the electromagnetic driver
It is connected.
A kind of paw magnetic on lathe transmission AGV drives repulsion adjusting method, comprises the following steps：
1) electric current is passed through maximum I in controller control electromagnetic drivermax；
2) paw finger joint captures the semi worked pieces in lathe material-falling hopper by the mechanical force of single-pass manner, and now electromagnetism drives
Electric current I is gradually reduced in dynamic device, at the same time,
3) chucking power is delivered to controller by pressure sensor in real time, at the same time,
4) pressure data that controller is transmitted to pressure sensor is compared with setting data；
Under the mechanical force of single-pass manner, the electric current I in electromagnetic driver, pressure sensor feedback signal are gradually reduced
When reaching setting value, the electric current I in Motionless electromagnetic drivera；
5) addressing information of lathe where controller storage AGV, and by IaRelation chain is built with the addressing information；
6) the Datagram AGV is sent to again, before grasping movement starts, to the current settings in electromagnetic driver
For I1=Ia+Ib, wherein, IbFor safe clearance electric current, and I1＜ Imax。
Preferably, the pressure sensor is PZT piezoceramic transducers.
Preferably, the PZT piezoceramic transducers outer surface coating epoxy resin.
Beneficial effects of the present invention：The present invention using electromagnetic repulsion force by, as the regulated quantity of one way mechanical force, passing through electric current
Size controls the size of electromagnetic repulsion force, so that one way mechanical force simple in construction can be adjusted flexibly, and passes through
The initial value relation chain of lathe address information and chucking power is set up, in secondary addressing clamping, clamping adjustment time can be shortened,
And save electric energy.
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 structural representation of the paw magnetic drive repulsion adjusting means on lathe transmission AGV of the present invention；
Fig. 2 is the FB(flow block) of the paw magnetic drive repulsion adjusting method on lathe transmission AGV of the present invention.
In figure：1- paws finger joint, 2- pressure sensors, 3- electromagnetic drivers, 4- controllers, 5- memories.
【Embodiment】
Refering to Fig. 1, the paw magnetic on a kind of lathe transmission AGV of the invention drives repulsion adjusting means, including one or more groups of
The paw finger joint 1 of Relative distribution, sets the electromagnetism in electromagnetic driver 3, two relative finger joints to drive in the front end of paw finger joint 1
Homopolarity is relative after powered up for dynamic device 3, produces repulsion；Pressure sensor 2 is additionally provided with the paw finger joint 1, the pressure is passed
The signal of sensor 2 is sent to after amplifying through signal amplifier in controller 4, the controller 4 also with the phase of electromagnetic driver 3
Connection.
A kind of paw magnetic on lathe transmission AGV drives repulsion adjusting method, comprises the following steps：
1) electric current is passed through maximum I in the control of controller 4 electromagnetic driver 3max
2) paw finger joint 1 captures the semi worked pieces in lathe material-falling hopper by the mechanical force of single-pass manner, now electromagnetism
Electric current I is gradually reduced in driver 3, at the same time,
3) chucking power is delivered to controller 4 by pressure sensor 2 in real time, at the same time,
4) pressure data that controller 4 is transmitted to pressure sensor 2 is compared with setting data；
Under the mechanical force of single-pass manner, the electric current I in electromagnetic driver 3, the feedback letter of pressure sensor 2 are gradually reduced
When number reaching setting value, the electric current I in Motionless electromagnetic driver 3a；
5) addressing information of lathe where the storage of controller 4 AGV, and by IaRelation chain is built with the addressing information；
6) the Datagram AGV is sent to again, and before grasping movement starts, the electric current in electromagnetic driver 3 is set
It is set to I1=Ia+Ib, wherein, IbFor safe clearance electric current, and I1＜ Imax。
The pressure sensor 2 is PZT piezoceramic transducers.The PZT piezoceramic transducers outer surface applies shroud
Oxygen tree fat.
The present invention, by the way that as the regulated quantity of one way mechanical force, electromagnetic repulsion force is controlled into electromagnetic repulsion force by size of current
Size so that one way mechanical force simple in construction can be adjusted flexibly, and by setting up lathe address information
With the initial value relation chain of chucking power, in secondary addressing clamping, clamping adjustment time can be shortened, and save electric energy.
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. the paw magnetic on a kind of lathe transmission AGV drives repulsion adjusting means, it is characterised in that：Including one or more groups of relative points
The paw finger joint of cloth, the electromagnetic driver in electromagnetic driver, two relative finger joints is set in the front end of paw finger joint logical
Homopolarity is relative after electricity, produces repulsion；Pressure sensor, the signal warp of the pressure sensor are additionally provided with the paw finger joint
It is sent to after signal amplifier amplification in controller, the controller is also connected with the electromagnetic driver.
2. the paw magnetic on lathe transmission AGV as claimed in claim 1 drives repulsion adjusting method, it is characterised in that：
1) electric current is passed through maximum I in controller control electromagnetic drivermax；
2) paw finger joint captures the semi worked pieces in lathe material-falling hopper by the mechanical force of single-pass manner, now electromagnetic driver
Middle electric current I is gradually reduced, at the same time,
3) chucking power is delivered to controller by pressure sensor in real time, at the same time,
4) pressure data that controller is transmitted to pressure sensor is compared with setting data；
Under the mechanical force of single-pass manner, the electric current I in electromagnetic driver is gradually reduced, pressure sensor feedback signal reaches
During setting value, the electric current I in Motionless electromagnetic drivera；
5) addressing information of lathe where controller storage AGV, and by IaRelation chain is built with the addressing information；
6) the Datagram AGV is sent to again, is I to the current settings in electromagnetic driver before grasping movement starts1
=Ia+Ib, wherein, IbFor safe clearance electric current, and I1＜ Imax。
3. the paw magnetic on lathe transmission AGV as claimed in claim 2 drives repulsion adjusting method, it is characterised in that：The institute
Pressure sensor is stated for PZT piezoceramic transducers.
4. the paw magnetic on lathe transmission AGV as claimed in claim 3 drives repulsion adjusting method, it is characterised in that：The PZT
Piezoceramic transducer outer surface coats epoxy resin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433971.9A CN107309870A (en) | 2017-06-09 | 2017-06-09 | A kind of paw magnetic on lathe transmission AGV drives repulsion adjusting means and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710433971.9A CN107309870A (en) | 2017-06-09 | 2017-06-09 | A kind of paw magnetic on lathe transmission AGV drives repulsion adjusting means and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107309870A true CN107309870A (en) | 2017-11-03 |
Family
ID=60183721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710433971.9A Pending CN107309870A (en) | 2017-06-09 | 2017-06-09 | A kind of paw magnetic on lathe transmission AGV drives repulsion adjusting means and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107309870A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108657812A (en) * | 2018-07-11 | 2018-10-16 | 苏州太阳井新能源有限公司 | A kind of polysilicon chip electromagnetism folding clamp |
| WO2019179901A1 (en) * | 2018-03-19 | 2019-09-26 | Fives Cinetic | Parts transfer system for workshop |
| CN110316563A (en) * | 2019-07-19 | 2019-10-11 | 常州华德机械有限公司 | There is one kind electric magnetic controlled formula liner plate to fill discharge mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07171783A (en) * | 1993-12-17 | 1995-07-11 | Nec Corp | Robot hand |
| CN101624099A (en) * | 2008-07-12 | 2010-01-13 | 克朗斯股份公司 | Clamp |
| CN105108764A (en) * | 2015-09-14 | 2015-12-02 | 南京工程学院 | Robot intelligent manipulator and control system thereof |
| CN205588323U (en) * | 2016-03-12 | 2016-09-21 | 天津市威科特科技有限公司 | Can effectively prevent too big gripper of clamp force |
| CN206201003U (en) * | 2016-11-28 | 2017-05-31 | 山东科技大学 | One kind gripping adjustable electromagnetic mechanical paw of power |
-
2017
- 2017-06-09 CN CN201710433971.9A patent/CN107309870A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07171783A (en) * | 1993-12-17 | 1995-07-11 | Nec Corp | Robot hand |
| CN101624099A (en) * | 2008-07-12 | 2010-01-13 | 克朗斯股份公司 | Clamp |
| CN105108764A (en) * | 2015-09-14 | 2015-12-02 | 南京工程学院 | Robot intelligent manipulator and control system thereof |
| CN205588323U (en) * | 2016-03-12 | 2016-09-21 | 天津市威科特科技有限公司 | Can effectively prevent too big gripper of clamp force |
| CN206201003U (en) * | 2016-11-28 | 2017-05-31 | 山东科技大学 | One kind gripping adjustable electromagnetic mechanical paw of power |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019179901A1 (en) * | 2018-03-19 | 2019-09-26 | Fives Cinetic | Parts transfer system for workshop |
| CN108657812A (en) * | 2018-07-11 | 2018-10-16 | 苏州太阳井新能源有限公司 | A kind of polysilicon chip electromagnetism folding clamp |
| CN110316563A (en) * | 2019-07-19 | 2019-10-11 | 常州华德机械有限公司 | There is one kind electric magnetic controlled formula liner plate to fill discharge mechanism |
| CN110316563B (en) * | 2019-07-19 | 2020-10-30 | 常州华德机械有限公司 | Electric magnetic control type lining plate feeding and discharging mechanism |
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