JP2009039849A - Magnet hand - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a magnet hand capable of quickly and certainly removing a work even if oil, water, etc. is attached to a magnetizing surface with the work, in a magnet hand to magnetize a piston on which a magnet is installed by the supply and exhaust of compressed gas to and from a cylinder chamber by making it approach the work and to remove the work by keeping the piston away from the work. <P>SOLUTION: This magnet hand 1 has the magnet 14 installed at the piston 13 having ports 11d, 12a on both sides and reciprocating in a cylinder body 11 by the changeover of the supply and exhaust of the compressed gas to the ports and quickly and certainly removes the work W by introducing the compressed gas or the exhaust pressure of the cylinder chamber 1a to the work W and a cavity 11b of the magnetizing surface of the magnet hand 1 in removing the work W from the magnet hand 1. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a magnet hand that reciprocates a piston equipped with a magnet to magnetically attach and detach a workpiece, and in particular, by introducing a compressed gas between the workpiece and the magnetized surface when removing the workpiece. The present invention relates to a magnet hand that can stably remove a workpiece.

Conventionally, as shown in FIG. 4, a work capable of magnetizing a piston 53 fitted with a magnet 54 by supplying and exhausting compressed gas from a port 51 a in a cylinder body 51 of a magnet hand 5 and a port 52 a of a cover 52. A magnet hand is known that is magnetically attached close to W and, on the contrary, moves the piston 53 away from the work W and removes the work W. In addition, according to Japanese Patent Laid-Open No. 2006-161824, there is a magnetic adsorption device that combines both vacuum adsorption and magnetic adhesion force of a magnet.
JP 2006-161824 A

  However, in the conventional magnet hand, the piston fitted with the magnet is magnetized close to the work that can be magnetized by supplying and exhausting the compressed gas to the cylinder chamber, and then the supply and exhaust of the compressed gas are switched. The piston was moved away from the workpiece, and the workpiece was removed from the magnet hand. However, if oil or moisture adheres between the magnetized surface and the workpiece, the magnetized surface and the workpiece are in close contact with each other. There was a problem that the workpiece could not be removed.

  The present invention solves the above-mentioned problems, and by introducing compressed gas to the magnetized surface of the magnet hand and the workpiece, the workpiece can be quickly and reliably removed from the magic hand, and the cylinder chamber can be used as the compressed gas. The purpose is to propose a new magnet hand that does not lose energy by utilizing the exhaust pressure.

  For this purpose, the magnet hand according to claim 1 of the present invention has ports on both sides, and a work that can be magnetically attached to a piston that reciprocates in the cylinder body by switching between supply and exhaust of compressed gas to the port. When a magnet is attached, the magnet that magnetically attaches the workpiece is mounted. Next, when removing the workpiece, the supply and exhaust of the compressed gas to the port are switched, the piston is moved away from the workpiece, and the compressed gas or cylinder chamber By introducing the exhaust side pressure between the workpiece and the magnetized surface of the magnet hand, the workpiece can be quickly and reliably removed.

  The invention according to claim 2 has ports on both sides of the magnet hand, and can be magnetized by reciprocating a piston with a magnet mounted in the cylinder body by switching between supply and exhaust of compressed gas to the port. In a magnet hand that repeatedly magnetizes and removes a large workpiece, there is a passage leading between the workpiece and the magnetized surface of the magnet hand in the middle of the passage leading to the port side cylinder chamber where pressure is supplied when the workpiece is magnetized. The check valve is housed in the junction of the passage, and when the work is magnetized, the check valve flows from the drive valve to the port through the port and the supply air pressure flows into the cylinder chamber that operates the piston to the work side. The exhaust pressure in the cylinder chamber on the opposite side of the piston is exhausted to the outside through the drive valve. When the workpiece is removed, the drive valve is switched to supply pressure to the cylinder chamber that has been exhausted during magnetic attachment, and the pressure in the cylinder chamber that has been supplied is exhausted. The check valve allows the exhaust pressure in the cylinder chamber to flow from the cylinder chamber through the passage between the workpiece and the magnetized surface of the magnet hand into the magnetized surface, making it compact and allowing the workpiece to be removed quickly and reliably. .

Further, in the invention described in claim 3, since a concave gap is provided in the magnetic attachment surface of the magnet hand and the work that can be magnetically attached, and an elastic sealing material is mounted on the outer periphery of the gap, At that time, the exhaust pressure from the cylinder chamber flows into the gap provided on the magnetic attachment surface of the workpiece and the magnet hand and is sealed until the pressure rises to overcome the magnetizing force. Can do.

  According to the magnet hand of the first aspect as described above, conventionally, compressed gas is supplied from the port to one side of the piston on which the magnet in the cylinder body is mounted, the cylinder chamber on the opposite side is exhausted, and the piston is When the workpiece is magnetically attached close to the magnetizable workpiece, and the workpiece is removed from the magnet hand, the drive valve is switched to exhaust the pressure of the cylinder chamber that has been supplied so far, and to the exhausted cylinder chamber. By supplying air, the piston moves away from the work and the magnetic force decreases, so the work can be removed.However, if oil or moisture adheres to the magnetic surface, the magnetic surface of the work and the magnet hand There was a case where the workpiece could not be removed smoothly due to close contact. However, when the workpiece is removed from the magnet hand as in the present invention, the compressed gas or the exhaust pressure of the cylinder chamber is introduced into the magnetized surface of the workpiece and the magnet hand, so that oil or moisture adheres to the magnetized surface. However, the close contact between the workpiece and the hand can be removed smoothly and the workpiece can be removed reliably.

  According to the second aspect of the present invention, on the side of the port that is supplied with air when the workpiece is magnetized, a passage that leads between the workpiece and the magnetized surface of the magnet hand is branched in the middle of the passage that leads from the port to the cylinder chamber. A check valve is housed in the junction of the passage, and when the workpiece is magnetized, the supply air pressure flows into the cylinder chamber from the port. When the workpiece is removed, the check valve allows the exhaust pressure in the cylinder chamber to be transferred from the cylinder chamber to the workpiece and the magnet hand. It flows through the passage between the magnetized surface. In this way, the passage for introducing the exhaust pressure of the cylinder chamber to the magnetized surface of the magnet hand and the air supply passage from the port to the cylinder chamber are integrated into the magnet hand main body, and the inflow direction and the outflow direction are switched by the check valve. This eliminates the need for piping for introducing the exhaust pressure from the exhaust port of the drive valve to the magnet hand, thereby making the whole compact. Further, the introduction of the exhaust pressure work and the magnetized surface of the magnet hand is quicker, and the work can be removed more quickly and reliably.

  According to the third aspect of the present invention, a concave gap is provided in the magnetized surface of the work that can be magnetized and the magnet hand, and the elastic sealing material is formed in the vicinity of the outer periphery of the magnetized surface surrounding the gap. It is mounted so as to seal the air gap, and when removing the workpiece, the exhaust pressure from the cylinder chamber flows into the magnetized surface of the workpiece and the magnet hand by switching the drive valve, but the exhaust pressure is part of the magnetized surface. It takes time to increase the exhaust pressure that flows out from a slight gap and flows into the magnetized surface. Therefore, since the sealing is performed by the elastic sealing material until the pressure in the magnetized surface rises to a pressure that overcomes the magnetizing force, the workpiece can be removed more quickly and reliably.

  Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is shown including the main operation circuit so that the magnet hand of the present invention and its operation can be easily understood. In the magnet hand 1 of the present invention, a cylinder body 11 is partitioned into cylinder chambers 1a and 1b by a piston 13 to which a seal packing 13a is attached. A magnet 14 is attached to the piston 13 on the side close to the workpiece W, and the cylinder chamber 1a. Communicates with a port 12 a disposed in the cover 12, and the cylinder chamber 1 b communicates with a port 11 d disposed in the cylinder body 11. Further, the cover 12 is provided with a port 12c for introducing pressure to the workpiece magnetic attachment surface, and is disposed in the center of the workpiece magnetic attachment surface of the magnet hand 1 through the passage 11a in the cylinder body 11. It communicates with the concave cavity 11b.

  Next, the operation will be described. The compressed gas compressed by the compressor 21 is adjusted to the operating pressure of the magnet hand 1 by the fluid pressure adjusting unit 22 and communicated with the air supply port 23b of the drive valve 23. The air supply port 23b and the exhaust ports 23a and 23c of the magnet hand 1 pass through the ports 12a and 11d of the magnet hand 1 and alternately supply and exhaust air to the cylinder chambers 1a and 1b, thereby magnetizing the magnet 14 attached to the piston 13 The work W can be magnetized close to the possible work W, and the work W can be removed away from the work W. Here, when the workpiece W is magnetically attached, by energizing the drive valve 23, the air supply port 23b is connected to the cylinder port 12a, is supplied to the cylinder chamber 1a through the passage 12b, and the cylinder chamber 1b is Since the passage 13e is connected to the exhaust port 23c through the cylinder port 11d, the piston 13 to which the magnet 14 is attached operates, approaches the work W that can be magnetized, and magnetizes the work W.

  Next, when the drive valve 23 is switched, the air supply port 23b is connected to the cylinder port 11d and supplied to the cylinder chamber 1b through the passage 11e, and the cylinder port 12a is connected to the exhaust port 23a. The pressure in the cylinder chamber 1a that has been supplied is exhausted. Here, the exhaust port 23 a is connected to a port 12 c disposed on the main body cover 12 by a pipe 24. Further, the port 12c passes through a passage 11a provided in the main body 11, and is connected to a slight gap 11b provided on the magnetized surface of the magnet hand 1 and the workpiece W, so that the exhaust pressure in the cylinder chamber 1a is changed to the gap 11b. Therefore, even when oil or moisture adheres to and adheres to the magnetic adhesion surface with the workpiece W, the workpiece W can be reliably removed by the introduced pressure. In this case, the pressure can be introduced from the port 12c by another valve (not shown) instead of the exhaust pressure.

  2 and 3 show the magnet hand according to the second embodiment when the workpiece is magnetized and when the workpiece is removed. As in the first embodiment, the magnet hand 3 of the present invention partitions the cylinder body 31 into cylinder chambers 3a and 3b by a piston 33 to which a seal packing 33a is attached. A magnet 34 is mounted, and the cylinder chamber 3 a communicates from a port 35 a provided in the port cover 35 to a passage 35 b and a passage 32 b provided in the cover 32, and a check valve 36 is accommodated at the junction of these passages. Further, the passage 32 b passes through a passage 31 a in the cylinder body 31 and communicates with a concave gap 31 b provided in the center of the magnetized surface of the magnet hand 3 and the workpiece W.

  The operation will be described. As in the first embodiment, the compressed gas compressed by the compressor 41 is adjusted to the operating pressure of the magnet hand 3 by the fluid pressure adjusting unit 42 and is supplied to the air supply port 43b of the drive valve 43. Communicate. When magnetizing a magnetically attachable work W, the supply valve 43b is connected to the cylinder port 35a by energizing the drive valve 43, and the compressed gas passes through the passage 35b from the cylinder port 35a and is elastic. The check valve 36 thus produced is pushed rightward so that the check valve seal end face 36b comes into contact with the valve seat 32a disposed on the main body cover 32 to prevent the check valve 36 from flowing into the passage 32b. Pressed inward, the inside diameter dimension of the mating seal surface 32c becomes smaller, the compressed fluid flows into the cylinder chamber 3a through the passage 32d, and the pressure in the cylinder chamber 3b on the opposite side of the piston 33 passes through the passage 31e to the port 31d. Since the compressed fluid is exhausted by being connected to the exhaust port 43c of the drive valve 43, the piston 33 fitted with the magnet 34 is operated. And, closer to the work W, magnetically attracted to work.

  Next, when the drive valve 43 is switched, the air supply port 43b is connected to the cylinder port 31d and supplied to the cylinder chamber 3b, the cylinder port 35a is connected to the exhaust port 43a, and the pressure in the passage 35b is changed to the port 35a. Thus, the exhaust gas is exhausted from the exhaust port 43a of the drive valve 43, the compressed fluid in the cylinder chamber 3a pushes the check valve 36 in the direction of the cylinder port 35a, and the check valve seal end face 36b is from a valve seat 32a provided in the main body cover 32. The compressed fluid in the cylinder chamber 3a is allowed to flow into the passage 32b, and the seal lip 36a of the check valve 36 presses the seal lip 36a of the check valve 36 outward by the pressure in the cylinder chamber 3a. It has a larger diameter than the inner diameter of the surface 32c, prevents flow to the cylinder port 35a, and has been supplied with air until now. The pressure is passed through the passages 32b and 31a and is connected to the slight gap 31b disposed on the magnetized surface of the magnet hand 3 and the workpiece W so that oil or moisture adheres to the magnetized surface of the workpiece W. The workpiece W can be reliably removed by the introduced pressure even when it is closely attached.

  Furthermore, the bottom surface of the magnet hand 3 envelops a concave gap 31b provided at the center of the magnetized surface with the workpiece W, and an outlet of the passage 31a for introducing compressed gas into the gap 31b when the workpiece W is removed, A concave groove slightly shallower than the wire diameter of the elastic seal material (for example, material NBR) is disposed endlessly near the outer periphery of the bottom surface, and the work W is removed when the workpiece W is removed by mounting the elastic seal material in the concave groove. Even if the compressed gas is gradually introduced into the gap 31b on the magnetized surface of the magnet hand 3, the pressure rises to a pressure equivalent to the magnetized force without leaking, so that the workpiece can be removed more quickly.

    As an embodiment of the present invention, the outer diameter of a piston that reciprocates within the cylinder body of a magnet hand is φ56 mm, and a neodymium / iron / boron magnet (abbreviation: Neodymium magnet) is installed, and the distance between the magnet and the iron work is designed to be 2 mm at the time of magnetizing, so that the work can be magnetized with a magnetizing force of 240 N, and the stroke of the piston is set to 20 mm. By switching, when the workpiece is removed, the distance between the magnet and the workpiece becomes 22 mm, and the magnetizing force can be reduced to 1N. However, if there is oil on the magnetized surface, there will be a large variation in the time until the workpiece is removed, but the pressure of 0.3 MPa that was supplied to the cylinder chamber when the workpiece is magnetized will be used as the exhaust pressure when the workpiece is removed. Stable workpiece removal was achieved by introducing it on the magnetized surface of the magnet hand and workpiece. Incidentally, an elastic sealing material of material NBR having an inner diameter of φ78 mm and a wire diameter of φ2.5 mm was attached in the vicinity of the outer periphery of the magnetized surface.

It is sectional drawing of the magnet hand which shows 1st embodiment of this invention. (Including main operating circuit diagram) It is sectional drawing at the time of the workpiece | work magnetizing of the magnet hand which shows 2nd embodiment of this invention. (Including main operating circuit diagram) It is sectional drawing at the time of the workpiece | work discharge | release of the magnet hand which shows 2nd embodiment of this invention. (Including main operating circuit diagram) It is sectional drawing of the conventional magnetic deposition apparatus.

Explanation of symbols

1, 3, 5-Magnet hands 1a, 1b, 3a, 3b, 5a, 5b-Cylinder chambers 11, 31, 51-Cylinder body 11c, 31c-Elastic sealing material 11b, 31b-Air gaps 11d, 12a, 12c, 31d, 35a, 51a, 52a-ports 12, 32, 52-covers 13, 33, 53-pistons 13a, 33a, 53a-seal packing 14, 34, 54-magnet 35-port cover 36-check valves 21, 41, 61- Compressors 22, 42, 62—fluid pressure regulating units 23, 43, 63—drive valves

Claims (3)

  A workpiece having a port on both sides of the cylinder, and a magnet mounted on a piston that reciprocates in the cylinder by switching between supply and exhaust of compressed gas to the port, and the magnet can be magnetized by the operation of the piston A magnet hand in which a compressed gas is introduced between the workpiece and the magnetized surface of the hand when the workpiece is detached in a hand that magnetically attaches the workpiece.   A piston equipped with a magnet is brought close to a work that can be magnetized, and a check valve is accommodated in a passage for supplying compressed gas from the port to the cylinder chamber for magnetizing. The magnet hand according to claim 1, wherein the magnet hand communicates with the cylinder chamber, and when the workpiece is removed, the exhaust pressure of the cylinder chamber is introduced between the magnetized surface of the workpiece and the hand.   A shallow gap is provided in a magnetized surface between a magnet hand and a work that can be magnetized, and an elastic sealing material for reducing exhaust pressure introduced into the gap is attached to the outer periphery of the gap. 2 magnet hands.

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