EP2465806B1 - Magnetgreifer - Google Patents

Magnetgreifer Download PDF

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Publication number
EP2465806B1
EP2465806B1 EP20100015772 EP10015772A EP2465806B1 EP 2465806 B1 EP2465806 B1 EP 2465806B1 EP 20100015772 EP20100015772 EP 20100015772 EP 10015772 A EP10015772 A EP 10015772A EP 2465806 B1 EP2465806 B1 EP 2465806B1
Authority
EP
European Patent Office
Prior art keywords
magnetic
holding magnet
recess
magnetic piston
valve
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.)
Active
Application number
EP20100015772
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2465806A1 (de
Inventor
Walter Thiel
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.)
Trumpf Werkzeugmaschinen SE and Co KG
Original Assignee
Trumpf Werkzeugmaschinen SE and Co KG
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 Trumpf Werkzeugmaschinen SE and Co KG filed Critical Trumpf Werkzeugmaschinen SE and Co KG
Priority to EP20100015772 priority Critical patent/EP2465806B1/de
Priority to JP2011267619A priority patent/JP5827881B2/ja
Priority to US13/326,486 priority patent/US8573662B2/en
Priority to CN201110431711.0A priority patent/CN102530705B/zh
Publication of EP2465806A1 publication Critical patent/EP2465806A1/de
Application granted granted Critical
Publication of EP2465806B1 publication Critical patent/EP2465806B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/02—Permanent magnets [PM]
    • H01F7/0231—Magnetic circuits with PM for power or force generation
    • H01F7/0252—PM holding devices
    • H01F7/0257—Lifting, pick-up magnetic objects
    • 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

Definitions

  • the invention relates to a magnetic gripper for gripping and handling of ferromagnetic workpieces according to the preamble of claim 1.
  • This magnetic gripper comprises a housing, on which a housing bottom is provided, which has an end face facing the workpiece to be gripped.
  • a movable up and down magnetic piston is provided in the housing.
  • a connection for a drive fluid for moving the magnetic piston is arranged, so that the magnetic piston is acted upon by a first working pressure and transferred to a working position.
  • the magnetic piston is positioned at or near the housing bottom. With a further working pressure of the magnetic piston is again converted into a rest position in a movement space in which the magnetic piston is positioned away from the housing bottom.
  • the invention is therefore the object of developing a magnetic gripper of the type mentioned in such a way that a simplification in construction and a saving in the individual components is made possible.
  • the holding magnet in the magnetic piston is arranged movable up and down in the magnetic piston and thus simultaneously acts as a detection magnet which opens and closes a valve arrangement of the detection device. It can thereby be achieved that when magnetizing a workpiece and thus gripping a workpiece by the magnetic gripper, the holding magnet is in an active working position and a working pressure of a working fluid of the detection device is maintained. The holding magnet simultaneously closes the valve arrangement in this working position the detection device and acts as a detection magnet for controlling the detection device. As a result, the detection device detects that a component is present on the magnetic gripper. If a component is not gripped by the magnetic gripper, the holding magnet remains in an inactive working position, whereby the valve assembly of the detection device remains open, so that the working pressure drops and the detection device detects that a workpiece is missing or not engaged.
  • the magnetic piston which can be moved up and down in the magnetic gripper preferably has a recess which is open to the housing bottom and in which the holding magnet is guided movable up and down.
  • the holding magnet is guided secured in the magnetic piston and can independently perform a lifting movement of the magnetic piston to control the valve assembly of the detection device in response to the presence of a workpiece.
  • the holding magnet is received in a sliding guide in the magnetic piston, so that the holding magnet can be easily transferred into at least one working position.
  • This sliding guide is preferably designed as a pot-shaped reciprocating piston, which is guided in the recess movable up and down.
  • a sliding guide between the holding magnet and the recess of the magnetic piston can be formed.
  • an elastically resilient element in particular spring element, is provided, through which the holding magnet is pressed into the interior of the recess.
  • a further preferred embodiment of the invention provides that acts on a front wall portion of the recess, a closure element, by which the elastically resilient element between the holding magnet or the sliding guide and a contact surface of the recess is positioned.
  • the restoring force of the elastically yielding element is preferably greater than the weight of the holding magnet and a valve closing member of the valve assembly or the holding magnet of the sliding guide and valve closure member of the valve assembly and smaller than a magnetic force in the presence of a workpiece.
  • the magnetizing force of the holding magnet which preferably extends in the surface at least over half of the diameter of the magnetic piston, is substantially greater than the restoring force of the at least one elastically yielding element.
  • spring elements in particular spring washers, disc springs or other printing elements, can be used.
  • a further preferred embodiment of the invention provides that in the bottom of the recess of the magnetic piston, a through hole is provided as a valve opening which opens and closes a preferably acting on the holding magnet valve closure member in response to the lifting movement of the holding magnet.
  • a valve seat of the valve opening is conically formed with preferably a sealing element, in which engages a complementarily designed valve closure member, so that when a lifting movement of the holding magnet from an inactive working position to an active working position, the valve closure member is transferred to a closed position and the preferably conical surface of the valve closure member with the valve opening adjoin one another.
  • the valve closing member is preferably arranged in an open position.
  • the valve closure member is attached via an adjustable in height to the holding magnet adjustment mechanism, in particular via a screw thread, so that a corresponding adjustment of the closing movement of the valve closing member can be adapted to the maximum stroke of the holding magnet in the recess in a simple manner.
  • the detection device preferably has a passage which extends from the valve opening in the bottom of the recess of the magnetic piston in at least one channel portion between the holding magnet or the sliding guide and the bottom of the recess radially outwardly to a loading bore which passes through an outer wall of the recess ,
  • a further preferred embodiment of the invention provides that formed between the at least one channel portion and the at least one relief bore an annular channel in the bottom of the recess is.
  • the at least one channel section is preferably formed by a groove-shaped recess in the bottom of the recess or in an outer side of the sliding guide or the holding magnet.
  • the arrangement of such a channel section in the holding magnet is provided when a sliding guide is not given, which preferably has a cup-shaped housing and the holding magnet with the exception of the housing bottom facing end face surrounds.
  • a negative pressure or vacuum applied as a working pressure so that the detection device when grasping and handling the workpiece maintains the applied working pressure.
  • a negative pressure or vacuum is applied as the working pressure and the working pressure degrades in the absence, release or storage of the workpiece. This is due in particular to the fact that the retaining magnet is returned to its inactive working position by the resilient element and at the same time the valve arrangement is opened. As a result, ambient air can pass through a through hole leading into the movement space of the magnetic piston flow and pass through the passage to the detection device.
  • the detection device preferably has a sensor which detects at least one working pressure for transferring the magnetic piston into a working position.
  • This embodiment of the sensor makes it possible that, in the case of a plurality of magnetic grippers provided for handling a workpiece, each individual magnetic gripper can be monitored by a sensor assigned to it, wherein the sensors are preferably arranged in a valve strip remote from the magnetic gripper.
  • FIG. 1 shows a schematic side view of a magnetic gripper 11 having a pin 12 in a fastening device 14, for example, to attach this to a robot arm or a handling device.
  • a housing bottom 17 is provided on a preferably cup-shaped housing 16, which is bolted to the housing 16, for example.
  • This housing bottom 17 has an end face 18 against which a workpiece 19 to be gripped, which is partially shown, for example, as a ferromagnetic plate, rests.
  • FIG. 2 is a sectional view taken along the line II in FIG FIG. 1 of the magnetic gripper 11 shown.
  • a magnetic piston 21 is guided in a movement space 24 movable up and down.
  • the magnetic piston 21 according to FIG. 2 is provided in a rest position 37, that is, that it is held in an upper position.
  • the magnetic piston 21 comprises a guide ring 22, to which a seal 23 is assigned, which separates a present above the magnetic piston 21 movement space 24 and a present between the magnetic piston and the housing bottom 17 piston chamber 26.
  • the size of the two spaces 24, 26 determined in inverse proportion to the position of the magnetic piston 21 in the housing 16, ie the rest position 37 according to FIG. 2 and a working position 36 in FIG. 3 ,
  • the movement space 24 is via a through hole 27 with the environment in connection.
  • 27 may be provided to protect against contamination of the movement space in the through hole 27.
  • the piston chamber 26 communicates with a connection 31, in particular a pneumatic connection, to which a pressure line 32 is connected.
  • This pressure line 32 leads to a valve bar with a plurality of control valves 30 via the valve bar 33, the individual pressure lines 32 are controlled by control valves 30, each pressure line 32 is preferably associated with a sensor 35 which monitors the working pressure in the pressure line 32.
  • the signals detected by the sensor 35 are forwarded to an evaluation unit for evaluation and also for controlling the magnetic grippers.
  • a working pressure in particular a negative pressure or a vacuum
  • the magnetic piston 21 is sealed by a seal 23 to the housing, so that the piston chamber 26, which is preferably in communication with the pressure line 32, forms a quasi-closed space.
  • the valve arrangement 59 of the detection device 41 which is coupled to the holding magnet 34, remains open, this cross-sectionally small opening gap does not affect the lifting movement of the magnetic piston.
  • the negative pressure or the vacuum is reduced or introduced pressure pulses in the piston chamber 26, whereby the holding magnet 34 in an inactive working position 43 is pushed back and the valve assembly 59 is opened and the magnetic piston 21 is pressed in a raised position relative to the housing bottom 17, ie in the rest position 37 in accordance FIG. 2 , The movement of the magnetic piston 21 thus takes place in the piston chamber, that is, no large volume flows, compressed air and vacuum must be provided.
  • the holding magnet 34 of the magnetic piston 21 which simultaneously holds the workpiece 19 by magnetization.
  • the operation and interaction of the holding magnet 34 and the detection device 41 will be described with reference to FIGS FIGS. 4a and 4b discussed, in which the magnetic piston 21 is shown enlarged.
  • a recess 45 is provided, which is designed to be open towards the housing bottom 17.
  • the holding magnet 34 is arranged movable up and down, that is, the holding magnet 34 within the recess 45 can perform a stroke from an inactive working position 43 to an active position 42.
  • the inactive working position 43 is in FIG. 4a shown.
  • the active working position 42 is in FIG. 4b shown.
  • the holding magnet 34 is preferably received in a sliding guide 47, which is for example cup-shaped as a reciprocating piston. Alternatively, the holding magnet 34 may also be arranged directly in the recess 45. This sliding guide 47 abuts with a peripheral wall 48 on an outer wall 49 of the recess 45 and is thereby guided in the axial direction of movement.
  • a resilient element 51 is provided, which engages between an attachable to the outer wall 49 closure member 52 and the sliding guide 47 or its peripheral wall 48 or the holding magnet 34.
  • the closure element 52 is preferably designed detachably as an annular screw element.
  • the resilient element 51 may be formed as a compression spring or a plate spring. Likewise, resilient rubber elements can be used.
  • the slide 47 has in the recess 45 an annular collar 54 which at least partially engages in an annular channel 56 which limits the recess 45. Due to the height of the annular collar 54, a defined inactive working position 43 of the holding magnet 34 in the recess 45 can be determined.
  • the detection device 41 comprises the valve arrangement 59 with a valve closing member 61 which comprises a holding section 63 which passes through a valve opening 65 in order to engage in a bore 74 arranged in the longitudinal central axis of the sliding guide 47 and the holding magnet 34.
  • the holding portion 63 is formed as a screw thread, so that the valve closing member 61 adjustable at a distance to the holding magnet 34 and the closed position of the valve assembly 59 is adapted to the maximum stroke of the holding magnet 34 from an active working position 42 to an inactive working position 43.
  • the valve closure member 61 preferably has a conical head which engages a conical valve seat. In this valve seat, a seal 69 is advantageously provided.
  • a passage 71 is formed, which is then released, if the detection device 41 is inactive, that is, the holding magnet 34 is disposed in an inactive working position and the valve closure member 61 is lifted relative to the valve opening 65.
  • This passage 71 comprises the valve opening 65 and at least one adjoining channel section 73 which extends radially outwards and merges into at least one relief bore 74 which opens into an annular space 76 which communicates with the pneumatic port 31 and to the piston chamber 26 borders.
  • FIG. 5 is a schematic view from the outside on the magnetic piston 21 with its outer wall 49 with at least one relief hole 74 shown.
  • FIG. 6 shows a schematic view from above of the magnetic piston 21, in the dashed lines is exemplified in the channel section 73, which leads to the relief hole 74.
  • This channel portion 73 may be incorporated as a groove or groove in the bottom of the recess 45 and constitute a connection between the valve opening 65 and the relief hole 74.
  • the annular collar 54 on the sliding guide 47 is interrupted at individual points, so that passages are formed to the annular channel 56, which in turn communicates with at least one relief hole 74.
  • a restoring force of the resilient element 51 is formed such that it is greater than the weight of the holding magnet 34, the slide 47 and the valve closure member 61 or, if a sliding guide 47 is not provided, larger as the weight of the holding magnet 34 and the valve closing member 61 is.
  • the holding magnet is not transferred from its inactive working position 43 in an active working position 42 and the valve assembly 59 is not closed.
  • the holding magnet 34 moves from an active working position 42 due to the restoring force of the resilient member 51 by a return stroke in an inactive position 43 back.
  • the passage 71 is open, so that from the movement space 24, a subsequent flow of air and thus a pressure equalization can take place. Due to the pressure difference that occurs, the controller recognizes that the workpiece 19 is no longer present or has not been grasped.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
EP20100015772 2010-12-17 2010-12-17 Magnetgreifer Active EP2465806B1 (de)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP20100015772 EP2465806B1 (de) 2010-12-17 2010-12-17 Magnetgreifer
JP2011267619A JP5827881B2 (ja) 2010-12-17 2011-12-07 マグネティックグラブ
US13/326,486 US8573662B2 (en) 2010-12-17 2011-12-15 Magnetic workpiece handling devices
CN201110431711.0A CN102530705B (zh) 2010-12-17 2011-12-16 磁抓斗

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20100015772 EP2465806B1 (de) 2010-12-17 2010-12-17 Magnetgreifer

Publications (2)

Publication Number Publication Date
EP2465806A1 EP2465806A1 (de) 2012-06-20
EP2465806B1 true EP2465806B1 (de) 2013-11-27

Family

ID=43542857

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20100015772 Active EP2465806B1 (de) 2010-12-17 2010-12-17 Magnetgreifer

Country Status (4)

Country Link
US (1) US8573662B2 (zh)
EP (1) EP2465806B1 (zh)
JP (1) JP5827881B2 (zh)
CN (1) CN102530705B (zh)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI20145100L (fi) * 2014-01-30 2015-07-31 Ixtur Oy Magneetti
WO2016113457A1 (en) * 2015-01-12 2016-07-21 Ixtur Oy Magnet
FI20145103L (fi) * 2014-01-30 2015-07-31 Ixtur Oy Magneetti
EP3100286B1 (en) * 2014-01-30 2018-08-29 Ixtur OY Magnet
FI20145101L (fi) * 2014-01-30 2015-07-31 Ixtur Oy Magneetti ja menetelmä metallilevyjen käsittelemiseksi
CN104227726A (zh) * 2014-09-18 2014-12-24 苏州格雷特机器人有限公司 一种永磁性吸附机械臂
JP6575842B2 (ja) * 2014-12-26 2019-09-18 Smc株式会社 マグネットチャック
DE102015107470A1 (de) 2015-05-12 2016-11-17 Trumpf Gmbh + Co. Kg Verfahren und Vorrichtung zum Abführen eines Werkstücks mit einem unebenen oder konturierten Flächenabschnitt aus einer Bearbeitungsmaschine
US20180036889A1 (en) * 2016-08-08 2018-02-08 Dishcraft Robotics, Inc. Dish Manipulation Systems And Methods
CN106949136B (zh) * 2017-04-26 2022-11-29 深圳市明信测试设备股份有限公司 一种吸盘快速更换机构
US10065327B1 (en) * 2017-10-06 2018-09-04 Chih Hsiang Chen Robotic arm capable of changing clamping heads rapidly
DE102017009319C5 (de) * 2017-10-09 2023-08-03 Günther Zimmer Adaptersystem zur Anbindung des letzten Gliedes einer kinematischen Kette an eine Handhabungsvorrichtung
CN111780654A (zh) * 2020-07-31 2020-10-16 成都双创时代科技有限公司 一种全方向三维精密测量头及其高精度连续测量方法
CN112123852B (zh) * 2020-08-12 2022-02-22 肇庆北新建材有限公司 一种卡式龙骨冲床送料机感应装置
CN112719893B (zh) * 2021-01-18 2021-11-09 东莞坤胜五金制品有限公司 自动化四道二合一马达壳检测组装机
WO2022211583A1 (ko) * 2021-04-01 2022-10-06 주식회사 타스글로벌 선박청소로봇 무선 자석 결합장치
CN113245824B (zh) * 2021-05-31 2022-10-14 深圳市博扬智能装备有限公司 带有浮动压力平衡机构的模组压装装置

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JPS57168888A (en) * 1981-04-07 1982-10-18 Takeshi Kuroda Magnetic adsorption type shifter
CN2054448U (zh) * 1988-07-03 1990-03-14 吉林省高等院校科技开发研究中心 转动式稀土永磁起重永磁铁
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JPH08155874A (ja) * 1994-12-09 1996-06-18 Suzuki Motor Corp 磁性ワークの吸着装置
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DE102004014636B4 (de) * 2004-03-22 2008-01-17 J. Schmalz Gmbh Vorrichtung zum magnetischen Ergreifen von Werkstücken
JP5136975B2 (ja) * 2007-08-07 2013-02-06 株式会社パボット技研 マグネットハンド
EP2085349B1 (de) * 2008-02-04 2014-02-26 TRUMPF Werkzeugmaschinen GmbH + Co. KG Magnetgreifer
US7963578B2 (en) * 2008-05-30 2011-06-21 GM Global Technology Operations LLC Integrated vacuum gripper with internal releasable magnet and method of using same

Also Published As

Publication number Publication date
JP2012131019A (ja) 2012-07-12
US20120153649A1 (en) 2012-06-21
US8573662B2 (en) 2013-11-05
EP2465806A1 (de) 2012-06-20
CN102530705B (zh) 2015-07-22
JP5827881B2 (ja) 2015-12-02
CN102530705A (zh) 2012-07-04

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