EP0129127A1 - Umschaltbarer Magnet - Google Patents

Umschaltbarer Magnet Download PDF

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Publication number
EP0129127A1
EP0129127A1 EP84106298A EP84106298A EP0129127A1 EP 0129127 A1 EP0129127 A1 EP 0129127A1 EP 84106298 A EP84106298 A EP 84106298A EP 84106298 A EP84106298 A EP 84106298A EP 0129127 A1 EP0129127 A1 EP 0129127A1
Authority
EP
European Patent Office
Prior art keywords
magnetic
electromagnet
permanent magnet
load
armature
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.)
Ceased
Application number
EP84106298A
Other languages
German (de)
English (en)
French (fr)
Inventor
Rudi Metz
Herbert Scholl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
EMAG Maschinenfabrik GmbH
Original Assignee
EMAG Maschinenfabrik GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by EMAG Maschinenfabrik GmbH filed Critical EMAG Maschinenfabrik GmbH
Publication of EP0129127A1 publication Critical patent/EP0129127A1/de
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/02—Permanent magnets [PM]
    • H01F7/04—Means for releasing the attractive force
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • H01F2007/208—Electromagnets for lifting, handling or transporting of magnetic pieces or material combined with permanent magnets

Definitions

  • the invention relates to a magnetic gripper with an excitation winding on the pole shoes having electromagnets and a permanent magnet which holds the load to be transported in the event of a power failure.
  • the object of the invention is to design a magnetic gripper of the type specified in the preamble of claim 1 such that it can be controlled not only in the operating state in which the electromagnet is effective, but also when only the permanent magnet is effective.
  • a magnetic gripper of the type specified in the preamble of claim 1 in that the pole pieces of the permanent magnet are or are arranged in parallel to that of the electromagnet in extension of the pole pieces of the electromagnet and the magnetic yoke of the permanent magnet, and that in each case only a magnetic yoke of the interrupted magnetic yokes can be closed by an armature which can be displaced between the magnetic yokes.
  • the magnetic gripper can be switched by moving the armature, and there are several options for moving the armature.
  • the armature closes the yoke of the electromagnet
  • there are two oppositely directed pole pieces one pole piece being associated with the electromagnet and the other pole piece with the permanent magnet, so that the effect of the permanent magnet is essentially without influence on the Electromagnet remains.
  • the armature closes the back of the permanent magnet
  • the effects of the permanent magnet and the electromagnet are added, provided the latter is switched on. This is the position of the anchor in which the load is raised and carried.
  • the armature can be moved into one of its two end positions by a coil arranged inside the permanent magnet, depending on the polarity of the current pulse acting on it, in which it closes either the magnetic yoke of the electromagnet or that of the permanent magnet.
  • the magnetic gripper Due to the described design of the magnetic gripper, there is not only the possibility of switching the electromagnet but also the permanent magnet in such a way that it additionally acts on the pole shoes of the electromagnet or not, which also makes it possible to put the load down and, if appropriate, also to pick up the load, when the electromagnet is not in operation.
  • this embodiment offers the essential advantage that this magnetic gripper can be used to demagnetize the transported load if it is made of ferromagnetic material, provided that in a further embodiment of the invention the magnetic body is constructed from several transformer sheets in the manner of an AC magnet and that the excitation windings of the electromagnet can be acted upon by direct current or alternating current.
  • Demagnetization is therefore only possible due to the switchability of the magnetic gripper, since without such a switchability the permanent magnet would not only interfere, but would also be destroyed by this demagnetization process.
  • a magnetic field can be built up between the pole pieces of the electromagnet to compensate for a stray field of the permanent magnet, which is generated, for example, by a permanent magnet which counteracts the stray field or it can be between the pole pieces of the electromagnet, an auxiliary yoke can be provided as a magnetically conductive short circuit.
  • a method for picking up and holding a load made of ferromagnetic material is characterized according to the invention by the use of a magnetic gripper according to one of claims 1 to 7 and further characterized in that the armature is brought into that position by a current pulse in which it Inference of the permanent magnet concludes that the excitation windings are then acted upon by direct current in such a way that the electric field and the permanent field add up and that the direct current is switched off and the armature is brought into a position in which the magnetic return of the Permanent magnet interrupts.
  • This displacement of the armature is explained further above and can be brought about by an opposite direct current pulse, by a specific current pulse in an auxiliary winding in the region of the permanent magnet or by a mechanical auxiliary device.
  • a method for demagnetizing a load consisting of ferromagnetic material is characterized by the use of a magnetic gripper according to one of claims 1 to 7 and further characterized in that the load is placed on a base by means of the magnetic gripper, the direct current is switched off and the armature is in that position is brought in which it closes the magnetic yoke of the electromagnet, that then the excitation winding is acted upon by alternating current, that the field strength of the electromagnet acted upon by alternating current is then reduced to zero and that the pole pieces of the electromagnet are generated at least at the beginning of the alternating current Magnetic field are in close contact with the load. This close contact is necessary in order to allow the magnetic flux through the load without gap losses.
  • the reduction in field strength can be achieved by reducing the current strength. It is also possible to reduce the field strength by increasing the distance between the pole pieces and the load. Finally, it is possible to achieve a reduction in the field strength by a combination of the measures according to claims 10 and 11.
  • reference numerals 1 and 2 denote magnetic alloys which are arranged between a two-part magnetic yoke 3, 3 'and a further two-part magnetic yoke 4, 4'.
  • the magnetic yoke 4, 4 ' is directly connected to pole pieces 5, 6 and, like the latter, is constructed from transformer sheets.
  • the free ends of the pole pieces 5, 6 are designated 7 and 8 and are arranged obliquely to one another so that they form a receiving prism for a ferromagnetic load 9.
  • the pole shoes 5 upd 6 are provided with excitation windings 10 and 11, which can be acted upon both with direct current and with alternating current. Because of the possibility of applying alternating current, the magnetic body is composed of the magnetic yoke 4 and 4 'and the pole pieces 5 and 6 made of transformer sheets in order to avoid the known losses.
  • An armature 13 which can be displaced in the direction of the axis of symmetry in accordance with the double arrow 12 can be moved from its one end position according to FIG. 1, in which it closes the magnetic yoke 3, 3 'into its second end position according to FIG. 2, in which it has the magnetic yoke 4, 4 'closes.
  • the conductive armature has a wedge-shaped upper part 14, a wedge-shaped lower part 15 and a central part 16, which is delimited by parallel walls.
  • the magnetic inferences 3 and 3 'or 4 and 4' have mutually opposite surfaces 17, 17 'and 18, 18' which are inclined as well as the wedge-shaped upper and lower parts 14 and 15 of the armature 13. On these Widespread touches in the respective end positions become created, with the wedge-shaped design of the armature a safe surface contact between the armature and the magnetic yoke is possible.
  • the armature can be shifted to produce various switching states, which are explained below, in various ways.
  • a particularly preferred option is to apply excitation windings 10 and 11 with direct current pulses, the direction of displacement of the armature 13 depending on the polarity of the current pulses.
  • Another possibility is to apply an additional coil 19 with direct current pulses, the direction of displacement here also being dependent on the polarity of the current pulses.
  • This additional coil 19 is provided in the area of the magnetic alloys 1 and 2 between these and the armature 13.
  • the coil 19 is indicated as one possible embodiment in FIG. 1.
  • it is possible to move the armature by mechanical auxiliary devices, for example by pneumatically or hydraulically actuated working cylinders, such a working cylinder being shown schematically in FIG. 2 and denoted by 20.
  • This working cylinder is connected to the armature via a piston rod 21 and can move the armature into one or the other end position after it has been acted upon.
  • the distance of the magnetic yoke 3, 3 'to the magnetic yoke 4, 4' and the size of the armature 13 is chosen so that when the armature is arranged in one end position between the surfaces of the armature and the interrupted magnetic connection, an air gap is present that is denoted by s.
  • the magnetic gripper works as follows.
  • the magnetic gripper is placed with its gripper surfaces 7 and 8 on the load 9 to be transported. It is then ensured by a direct current pulse which flows through the excitation windings 10 and 11 that the armature 13 reaches or remains in the end position shown in FIGS. 1 and 3. Then direct current is sent as a continuous current through the excitation windings 10 and 11 with such a polarity that the magnetic fields of the permanent magnet 1, 2, 3, 3 'and the electromagnet 5, 6, 4, 4', 10 and 11 add up. As a result, the workpiece or the load 9 is held and can be transported by means of the gripper.
  • the permanent magnet is so strong that it can hold the load 9 even in the event of a power failure. Of course, it is also possible to make the permanent magnet so strong that it is able to lift the load without an electrical magnetic field.
  • the magnetic gripper and the load are placed on the base and the direct current is switched off. Thereafter, the excitation coils 2 position 10 and 11 are subjected to a G facilitated current pulse of opposite polarity, whereby the armature 13 in the in Fig. Arrives in which the magnetic yoke 3, 3 'is interrupted and the magnetic yoke 4 and 4' is closed.
  • the demagnetization process can begin.
  • alternating current is sent through the excitation coils 10 and 11, and it is ensured that the field strength steadily decreases from a certain initial value to zero. This can be done by reducing the current or by removing the magnetic gripper from the workpiece 9. However, it is also possible to combine these measures.
  • the armature is in the position shown in FIG. 2 for demagnetizing.
  • a permanent magnet 22 can be provided between the pole shoes 5 and 6, as indicated in FIG. 2, or a magnetic short-circuit line 23 can be provided between the pole shoes 5 and 6 may be arranged.
  • This magnetic short circuit 23 is indicated in Fig. 3.
  • the field generated by a permanent magnet 22 is designed such that it counteracts the stray field of the permanent magnet 1, 2, 3, 3 'and thus prevents an interference effect during demagnetization.
  • the magnetic short circuit 23 short-circuits this leakage flux, so that no disturbing effect of this leakage flux can occur on the gripper surfaces 7 and 8.

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Electromagnets (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)
EP84106298A 1983-06-01 1984-06-01 Umschaltbarer Magnet Ceased EP0129127A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3319928A DE3319928C2 (de) 1983-06-01 1983-06-01 Magnetgreifer
DE3319928 1983-06-01

Publications (1)

Publication Number Publication Date
EP0129127A1 true EP0129127A1 (de) 1984-12-27

Family

ID=6200472

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84106298A Ceased EP0129127A1 (de) 1983-06-01 1984-06-01 Umschaltbarer Magnet

Country Status (5)

Country Link
US (1) US4554610A (ja)
EP (1) EP0129127A1 (ja)
JP (1) JPS606584A (ja)
DE (1) DE3319928C2 (ja)
ES (1) ES8505311A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016111908A1 (de) * 2016-06-29 2018-01-04 J. Schmalz Gmbh Greifvorrichtung zum Greifen von ferromagnetischen Gegenständen

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6286389U (ja) * 1985-11-15 1987-06-02
US5332987A (en) * 1992-07-31 1994-07-26 Intermagnetics General Corporation Large gap magnetic suspension system with superconducting coils
US5391036A (en) * 1993-03-15 1995-02-21 International Business Machines Corporation Magnetic transfer device
DE19830349A1 (de) * 1997-07-24 1999-01-28 Siemens Ag Röntgenröhre
US6598621B1 (en) 1998-04-01 2003-07-29 Camcon Ltd. Magnetic drives
US6430828B1 (en) 1998-04-17 2002-08-13 Electronic Measuring Devices, Inc. Coordinate positioning apparatus with indexable stylus, components thereof, and method of using it
US6400549B1 (en) * 2000-05-08 2002-06-04 Harris Corporation Dual cantilevered electromagnet-based gripping apparatus
US7245471B2 (en) * 2003-10-29 2007-07-17 Edw. C. Levy Co. Discharge device for inductive devices
US20060024489A1 (en) * 2004-07-29 2006-02-02 3M Innovative Properties Company Metal matrix composites, and methods for making the same
US20060099883A1 (en) * 2004-11-09 2006-05-11 Cheung Kwan S Battery powered toy horseshoe electromagnet
JP4596890B2 (ja) * 2004-11-11 2010-12-15 シナノケンシ株式会社 アクチュエータ
TWI275891B (en) * 2005-04-29 2007-03-11 Optronics Technology Inc A An electromagnetic actuated adjusting device for camera lens
FI20105582A0 (fi) 2010-05-25 2010-05-25 Kaarinan Robottileikkaus Oy Kiinnityslaite, järjestely ja menetelmä työstettävän esineen kiinnittämiseksi työalustaan
JP5250086B2 (ja) * 2011-07-11 2013-07-31 日本発條株式会社 ロボットハンド
CN102515010A (zh) * 2011-12-29 2012-06-27 河北工业大学 一种轻质金属网状物吸盘
JP5684171B2 (ja) * 2012-02-29 2015-03-11 株式会社東芝 レーザイオン源
KR101553168B1 (ko) * 2014-06-24 2015-09-14 최태광 잔류 자기를 최소화한 자성체 홀딩 장치
CN108346500A (zh) * 2017-01-25 2018-07-31 福特环球技术公司 用于永久磁铁的保持工具及其使用方法
CN109809285B (zh) * 2017-11-22 2023-12-29 陈李果 磁力吸盘、具有其的磁力吊具和起重机
DE102019003454A1 (de) 2018-05-29 2019-12-05 Sew-Eurodrive Gmbh & Co Kg Elektromagnet, insbesondere als Magnetgreifer für einen Roboter und Roboter mit Elektromagnet
CN108789360A (zh) * 2018-08-30 2018-11-13 苏州胜璟电磁科技有限公司 一种电磁铁机械手

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3316514A (en) * 1965-03-29 1967-04-25 Westinghouse Electric Corp Fail safe electro-magnetic lifting device with safety-stop means
DE1514732A1 (de) * 1966-02-24 1969-09-04 Scholl Dr Herbert Schaltbares Dauermagnetsystem
DE1614727A1 (de) * 1967-05-10 1970-12-10 Standard Elektrik Lorenz Ag Kraftmagnetsystem mit Dauermagneten
US3567045A (en) * 1969-07-28 1971-03-02 Fmc Corp Magnetic can handling apparatus with demagnetization
FR2045587A1 (ja) * 1969-06-03 1971-03-05 Pihant Bernard
FR2216657A1 (ja) * 1973-02-02 1974-08-30 Noual Emile

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1381216A (fr) * 1962-01-09 1964-12-14 Circuit électromagnétique plus spécialement destiné aux relais et transformateurs différentiels
DE1613034A1 (de) * 1967-10-06 1971-04-08 Max Baermann Durch Gleichstromimpulse schalt- und regelbares,polarisiertes Magnetsystem,vorzugsweise fuer Wirbelstrom- und/oder Hysteresebremsen bzw.-kupplungen

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3316514A (en) * 1965-03-29 1967-04-25 Westinghouse Electric Corp Fail safe electro-magnetic lifting device with safety-stop means
DE1514732A1 (de) * 1966-02-24 1969-09-04 Scholl Dr Herbert Schaltbares Dauermagnetsystem
DE1614727A1 (de) * 1967-05-10 1970-12-10 Standard Elektrik Lorenz Ag Kraftmagnetsystem mit Dauermagneten
FR2045587A1 (ja) * 1969-06-03 1971-03-05 Pihant Bernard
US3567045A (en) * 1969-07-28 1971-03-02 Fmc Corp Magnetic can handling apparatus with demagnetization
FR2216657A1 (ja) * 1973-02-02 1974-08-30 Noual Emile

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016111908A1 (de) * 2016-06-29 2018-01-04 J. Schmalz Gmbh Greifvorrichtung zum Greifen von ferromagnetischen Gegenständen
DE102016111908B4 (de) * 2016-06-29 2018-01-11 J. Schmalz Gmbh Greifvorrichtung zum Greifen von ferromagnetischen Gegenständen

Also Published As

Publication number Publication date
DE3319928C2 (de) 1985-06-27
DE3319928A1 (de) 1984-12-06
JPS606584A (ja) 1985-01-14
ES533007A0 (es) 1985-06-01
US4554610A (en) 1985-11-19
ES8505311A1 (es) 1985-06-01

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PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

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AK Designated contracting states

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17P Request for examination filed

Effective date: 19850227

17Q First examination report despatched

Effective date: 19860410

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Effective date: 19881017

RIN1 Information on inventor provided before grant (corrected)

Inventor name: METZ, RUDI

Inventor name: SCHOLL, HERBERT