JP3831038B2 - Electromagnetic magnet - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electromagnetic magnet that is disposed in a conveying device for conveying a workpiece that is drawn into a curved shape by a press machine and configured to be capable of attracting the workpiece.
[0002]
[Prior art]
In general, a wide variety of workpieces that are drawn by a press machine are formed. In order to transport the workpiece, a workpiece gripping member that matches each shape is used. For example, when a workpiece having a gently curved surface narrowed in a bowl shape or a waveform is conveyed, an electromagnetic chuck is often attached to the conveyance device so that the workpiece is easily attracted and conveyed with one touch.
[0003]
As a conventional electromagnetic chuck, there is a flat chuck 61 having a very simple structure as shown in FIG. In this type of flat chuck 61, a main pole 63 and an exciting coil 64 are disposed in a cylindrical yoke 62. When the exciting coil 64 is excited, a magnetic flux is generated between the main pole 63, the cylindrical yoke 62, and the workpiece W. The workpiece W can be adsorbed. Therefore, the structure is extremely simple and can be manufactured at a low cost.
[0004]
Further, the electromagnetic chuck 71 shown in FIG. 17 has a plurality of movable yokes 72, and each movable yoke 72 can be moved to an appropriate position according to the shape and size of the workpiece W. It is suitable for adsorbing a workpiece W having a shape (see Japanese Patent Laid-Open No. 7-2481).
[0005]
[Problems to be solved by the invention]
However, the conventional electromagnetic chuck, for example, in the case of the flat chuck 61 shown in FIG. 16, with respect to the workpiece W having a curved surface, a gap is formed on the contact surface with the workpiece W, so that the magnetic flux passes through the air. As a result, not only the suction force is reduced, but also the work W after being sucked is poorly seated, and there is a possibility that the work will be tilted or slipped to cause the work to fall. Also, the electromagnetic chuck 71 provided with a plurality of movable yokes 72 shown in FIG. 17 is not very suitable for a workpiece W having a large weight because the movable yoke 72 is held by a frictional force. Further, the movable yoke 72 may be inclined with respect to the main pole 73 due to the curved surface of the workpiece W, and the movement may be poor.
[0006]
The present invention solves the above-mentioned problems, and can absorb a workpiece with a large adsorption force, and can stably and reliably adsorb a workpiece even when the workpiece is attracted without tilting or sliding. An object is to provide an electromagnetic magnet.
[0007]
[Means for Solving the Problems]
The electromagnetic magnet according to the present invention is configured as follows to solve the above problems. That is,
An electromagnetic magnet disposed in a conveying device for conveying a workpiece drawn into a curved shape by a press machine,
A main pole, a coil wound around the main pole, a movable yoke connected to both side surfaces of the main pole, and a suspension coupled to the transfer device. ,
Each movable yoke has at least two attracting portions on the lower surface portion of the movable yoke , and the movable yoke has a parallel four-bar link mechanism, and each link is pivoted to each adjacent link. Worn and connected,
Among the four links, two links arranged in a horizontal direction with respect to the workpiece are arranged at the center portion of the main pole so that each of the suction portions can move corresponding to the curved workpiece surface. Is pivotally supported by
The main pole is pivotally supported by the suspension so that each movable yoke can move corresponding to a curved work surface,
When the coil is excited, a magnetic flux flows through the main pole, the movable yoke, and the work so that the work can be attracted.
[0010]
The main pole has a parallelogram having two horizontal links arranged vertically parallel to the workpiece and two vertical links arranged vertically to the workpiece. The respective links are pivotally connected to adjacent links, and the horizontal links are pivotally supported by the suspension body at the center thereof. Also good.
[0011]
Further, it is more preferable if the attracting portion of the movable yoke is formed in an arc shape so as to face the surface of the workpiece.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0013]
The configuration of the electromagnetic magnet 1 according to the first embodiment is shown in FIGS. The electromagnetic magnet 1 includes a suspension body 3 connected to a transport robot (not shown), a main pole 6 having a rectangular cross section that is pivotally supported by the suspension body 3, and both side surfaces of the main pole 6 (left and right in FIG. 1). And rotating yokes 8 and 8 disposed in the direction). The suspension body 3 includes a suspension rod 4 having a circular cross-section that is directly connected to the transfer robot, and a U-shaped suspension frame 5 formed with two arms below the suspension rod 4. Non-magnetic main pole support shafts 9 and 9 are rotatably supported from both arms. A male screw 9a is formed at the tip of the main pole support shaft 9 that is pivotally supported by the suspension frame 5, and the male screw 9a is disposed between the main pole support shafts 9 and 9 (see FIG. 2). It is screwed to a female screw 6a formed in the vertical direction. In addition, two exciting coils 11 and 11 are wound around the outer peripheral surface of the main pole 6 having a rectangular cross section with the main pole support shaft 9 interposed therebetween, and female screws 6 b are formed on both end faces of the main pole 6. The yoke support shafts 13 and 13 having a male screw 13a formed at one end are screwed and fixed to the female screw 6b. Each of the yoke support shafts 13 and 13 is formed of a magnetic material or a non-magnetic material, and the rotary yokes 8 and 8 are axially supported at the central portion on the opposite side of the male screw 13a. The rotary yoke 8 has a single plate shape and is formed in a substantially rectangular shape when viewed from the side (see FIG. 2). The lower end protrudes downward from the exciting coil 11 wound around the main pole 6 and has an arc shape on both sides of the lower end. The suction portions 8a and 8a formed in the above are arranged so as to protrude downward.
[0014]
Accordingly, the main pole 6 acts on the suspension frame 5 so as to be swingable around the main pole support shaft 9, and the rotary yoke 8 acts on the main pole 6 so as to be swingable around the yoke support shaft 13. Therefore, the two rotary yokes 8 and 8 are moved to face the workpiece W surfaces, and the suction portions 8a and 8a of the rotary yoke 8 can come into contact with the workpiece W at the respective positions. Therefore, the adsorption part 8a is moved downward in the front-rear and left-right directions. The swing range of the rotary yoke 8 is regulated by a stopper (not shown). This type of electromagnetic magnet can be manufactured with a simple configuration because the rotating yoke is formed of a single plate for the main pole.
[0015]
Next, the effect | action which adsorb | sucks the workpiece | work W of the electromagnetic magnet 1 comprised as mentioned above is demonstrated along FIGS. The workpiece W drawn by a press machine (not shown) is sucked. Since the workpiece W is formed to have a saddle shape or a gently curved surface having a waveform, the electromagnetic magnet 1 connected to the transfer robot is moved toward the workpiece W while the arm of the transfer robot is lowered, The main pole 6 is swung around the main pole support shaft 9 with respect to the suspension frame 5 so that the respective suction surfaces 8a of the two rotary yokes 8 can come into contact with the curved surface of the workpiece W (see FIG. 4). ), The rotary yoke 8 is swung about the yoke support shaft 13 with respect to the main pole 6 (see FIG. 5).
[0016]
When each attracting portion 8a comes into contact with the curved surface of the workpiece W, the exciting coil 11 is energized and excited. A magnetic flux flows between the main pole 6, the movable yoke 8, and the work W, and the work W is attracted to the electromagnetic magnet 1. Thereafter, the workpiece W is moved upward while maintaining the press-processed posture by the raising of the arm of the transfer robot, and is further transferred to a transfer pallet (not shown).
[0017]
The electromagnetic magnet 21 of the 2nd form is shown by FIGS. In addition, the code | symbol is unified about the same member as a 1st form. The electromagnetic magnet 21 includes a suspension body 3 connected to a conveying device (not shown), a main pole 26 pivotally supported by the suspension body 3, and an excitation coil 11 and a main pole 26 wound around the outer peripheral surface of the main pole 26. The movable yoke 28 pivotally supported on both side surfaces of the electromagnetic magnet 1 is mainly provided, and the connection state of the suspension body 3 and the main pole 26 is formed in the same manner as the electromagnetic magnet 1 of the first embodiment. The connection state of the main pole 26 and the movable yoke 28 and the configuration of the movable yoke 28 are different.
[0018]
In FIG. 6, the movable yoke 28 has two horizontal links 29 and 29 arranged in the upper and lower directions in the horizontal direction and two vertical links 30 and 30 arranged in the left and right directions in the vertical direction. The link 29 and the vertical link 30 are pivotally attached to the link shaft 32, respectively. On the other hand, link support plates 27 and 27 longer than the main pole 26 in the longitudinal direction are fixed to both end faces of the main pole 26 by bolts, and two horizontal links 29 and 29 are linked to each link support plate 27. It is pivotally attached by 33. Further, an arcuate adsorbing portion 30 a is formed on the lower surface of each vertical link 30. Accordingly, the movable yoke 28 forms a parallel four-joint link mechanism, the horizontal links 29 and 29 are swung around the link support shafts 33 and 33, and the vertical links 30 and 30 are maintained in parallel while the work W surface is maintained. It is moved to face. Therefore, the four adsorption | suction parts 30a can contact the workpiece | work W in each position.
[0019]
As shown in FIGS. 9 to 10, the electromagnetic magnet 21 moves down toward the workpiece W while the arm of the transfer robot (not shown) is lowered, and the vertical links 30 of the two movable yokes 28. The main pole 26 is swung with respect to the suspension frame 5, and the lateral link 29 of the movable yoke 28 is swung with respect to the link support plate 27 so that all the suction portions 30 a can come into contact with the workpiece W having a curved surface. The Accordingly, the movable yoke 28 moves up and down while keeping the two vertical links 30 parallel to each other, so that the center line of the suspension bar 4 and the center line of the movable yoke 28 are in contact with the workpiece W without being displaced. be able to. Then, when the exciting coil 11 is energized after the respective attracting portions 30a are in contact with the workpiece W, magnetic flux flows through the main pole 26, the link support plate 27, the movable yoke 28, and the workpiece W, and the workpiece W is electromagnetically moved. It is attracted to the magnet 21. And it is conveyed by the conveyance pallet similarly to the above-mentioned 1st form. Therefore, the electromagnetic magnet 21 can perform more stable suction on the workpiece W having a curved surface.
[0020]
A third form of electromagnetic magnet 41 is shown in FIGS. In addition, the code | symbol is unified about the same member as a 1st form. The electromagnetic magnet 41 includes a suspension body 43 connected to a transport device (not shown), a main pole 46 pivotally supported by the suspension body 43, and the exciting coil 11 and the main pole 46 wound around the outer peripheral surface of the main pole 46. A movable yoke 49 pivotally supported on both side surfaces of the main body 46 is mainly provided, and the configuration of the main pole 46 and the connection state of the suspended body 43 and the main pole 46 to the electromagnetic magnet 1 of the second embodiment. And the connection state of the main pole 46 and the movable yoke 49 differs, and the movable yoke 49 is comprised in substantially the same way.
[0021]
The main pole 46 is arranged in the left-right direction as a vertical link pivotally attached to the upper main pole 46A / lower main pole 4 and the upper main pole 46A / lower main pole 46B arranged in two upper and lower stages as horizontal links. The upper main pole 46A and the upper main pole 46B are arranged on both sides of the suspension frame 45 of the suspension body 43. Each arm is pivotally supported by a main pole support shaft 42 so as to be swingable. Both the upper 46A and the lower 46B are formed in a substantially horizontal H shape in plan view, and main pole pins 47 and 47 are suspended so as to pass through the space portions 46a formed on both sides. Links of magnetic materials inserted into the space portions 46a of the upper main pole 46A and the lower main pole 46B on both sides of the upper main pole 46A and the lower main pole 46B and pivotally supported by the main pole pin 47 so as to be rotatable. Support plates 48 and 48 are disposed, and the upper main pole 46A, the lower main pole 46B, and the two link support plates 48 and 48 constitute a parallel four-bar link mechanism in a front view, and the main pole 46 is attached to the suspension frame 45. On the other hand, the link support plate 48 is swung around the main pole pin 47 and moved up and down alternately in parallel. The cross section of the link support plate 48 is formed in a convex shape so that the movable yoke 49 can swing on the outer surface of the wide portion 48b with respect to the protrusion 48a inserted into the space 46a of the upper main pole 46A and the lower main pole 46B. It is attached. In this embodiment, the exciting coil 11 is wound around the outer peripheral surface of each link support plate 48 constituting the main pole 46.
[0022]
The movable yoke 49 has two horizontal links 50 and 50 disposed in the horizontal direction and two vertical links 51 and 51 disposed in the vertical direction and adjacent to each other. Each of the vertical links 51 is pivotally attached to the link shaft 52. On the other hand, two horizontal links 50 and 50 are pivotally attached to each link support plate 48 by a link support shaft 53. Further, an arcuate adsorbing portion 51 a is formed on the lower surface of each vertical link 51. Therefore, the movable yoke 49 is configured as a parallel four-bar linkage mechanism, the horizontal links 50 and 50 are swung around the link support shafts 53 and 53, and the vertical links 51 and 51 are maintained in parallel while the work W surface is maintained. It is moved so as to face.
[0023]
Accordingly, the two vertical links 51 and 51 arranged on the left and right in FIG. 11 are moved up and down in parallel to the left and right direction with respect to the suspension frame 45 and are also moved up and down in parallel to the front and rear direction. Become. Therefore, the four attracting portions 51a can be moved downward and come into contact with the curved workpiece surface, and the lifting centers of the four attracting portions 51a are the hanging rods of the electromagnetic magnet 41 in the front, rear, left and right. It substantially coincides with the center line of 44.
[0024]
As shown in FIGS. 14 to 15, the electromagnetic magnet 41 is moved down toward the workpiece W while the arm of the transfer robot (not shown) is lowered, and the vertical links 51 of the two movable yokes 49 are moved. The vertical link 51 is swung back and forth and left and right with respect to the suspension frame 45 so that all the adsorbing portions 51a can come into contact with the workpiece W having a curved surface. Then, when the exciting coil 11 is energized after the respective attracting portions 51a are in contact with the workpiece W, magnetic flux flows through the main pole 46, the link support plate 48, the movable yoke 49, and the workpiece W, and the workpiece W is electromagnetically moved. The magnet 41 is attracted. And it is conveyed by the conveyance pallet similarly to the above-mentioned 1st form. Therefore, the electromagnetic magnet 41 can perform more stable suction on the workpiece W having a curved surface.
[0025]
Note that the electromagnetic magnet of the present invention is configured such that the attracting part that attracts the workpiece W is swung back and forth and left and right so as to come into contact with the workpiece W, as shown in the respective embodiments described above. Since it is a gist, the design can be freely changed unless the gist is changed. For example, the suction part 8a of the movable yoke 8 in the first form, the suction part 30a of the vertical link 30 in the second form, and the suction part 51a of the vertical link 51 in the third form are not formed in an arc but in a straight line. It may be.
[0026]
【The invention's effect】
According to the present invention, the electromagnetic magnet is disposed in a conveying device for conveying a workpiece drawn into a curved shape by a press, and includes a main pole and a coil wound around the main pole. The main pole includes a movable yoke connected to both side surfaces of the main pole, and a suspension connected to the transfer device. Each movable yoke has at least two suction portions on the lower surface portion of the movable yoke, and the main yoke so that the suction portions of the movable yoke can move corresponding to the curved work surface. The main pole is pivotally supported by the suspension body so that the movable yoke can be moved in correspondence with a curved work surface. Has been. That is, the four adsorbing portions are separately moved with respect to the curved workpiece surface so as to face the workpiece surface, and can reliably contact the workpiece. When the coil is excited and magnetic flux flows through the main pole, the movable yoke, and the work, and the work is attracted, the magnetic flux hardly passes through the air. The workpiece can be stably adsorbed without tilting or sliding, and further, the movement of the movable yoke does not deteriorate.
[0027]
Moreover, the electromagnetic yoke of the type in which the movable yoke is formed by a single plate and is pivotally supported by the main pole at a substantially central position thereof can be manufactured with an easy configuration.
[0028]
Further, the movable yoke includes four links forming a parallelogram, and each link is pivotally connected to each adjacent link, and among the four links, a workpiece is connected. On the other hand, an electromagnetic magnet of a type in which two links arranged substantially horizontally are pivotally supported by the main pole at the center thereof, and the two links arranged substantially vertically move in parallel. Since it is attracted to the workpiece, the center line of the link moved in parallel coincides with the center line of the suspended body, and the workpiece can be attracted and conveyed more stably.
[0029]
In addition, four links constituting the movable yoke parallelogram are provided, and the main pole is disposed substantially parallel to the workpiece in the vertical direction, and the horizontal link is substantially perpendicular to the workpiece. Two vertical links arranged to form a parallelogram, and each of the links is pivotally connected to an adjacent link, and the horizontal link at the center thereof The type of electromagnetic magnet that is pivotally supported by the suspension body is moved parallel to the workpiece in both the front, rear, left, and right directions, so the center position of the four adsorption portions is the center line of the suspension body. The workpiece can be sucked and transported more stably.
[0030]
Furthermore, if each adsorption | suction part is formed in circular arc shape with respect to the workpiece | work, the magnetic flux which passes in the air can be reduced and adsorption | suction with a workpiece | work can be stabilized further.
[Brief description of the drawings]
FIG. 1 is a front view showing an electromagnetic magnet according to a first embodiment of the present invention. FIG. 2 is a sectional view of the same plane. FIG. 3 is a right side view of the same. 5 is a side view showing an electromagnetic magnet according to a second embodiment of the present invention. FIG. 7 is a front sectional view of the same. FIG. 8 is a plan sectional view of the same. FIG. Front view showing action of magnet [FIG. 10] Side view [FIG. 11] Cross-sectional plan view showing electromagnetic magnet according to third embodiment of the present invention [FIG. 12] Cross-sectional view taken along XII-XII in FIG. FIG. 14 is a front view showing the operation of the electromagnetic magnet of FIG. 11. FIG. 15 is a side view of the electromagnetic magnet of FIG. 11. FIG. 16 is a cross-sectional view of a conventional electromagnetic chuck. Sectional view [Explanation of symbols]
1, 21, 41 ... Electromagnetic magnets 3, 43 ... Suspended bodies 6, 26, 46 ... Main pole 8 ... Rotating yoke (movable yoke)
8a, 28a, 51a ... Adsorption part 9 ... Main pole support shaft 11 ... Excitation coil 13 ... Yoke support shaft 27 ... Link support plates 28, 49 ... Movable yokes 29, 50 ... Horizontal links 30, 51 ... Vertical links 32, 52 ... Link shaft 33, 53 ... Link support shaft 46A ... Upper main pole (horizontal link)
46B ... Lower main pole (horizontal link)
48 ... Link support plate (vertical link)

Claims (3)

An electromagnetic magnet disposed in a conveying device for conveying a workpiece drawn into a curved shape by a press machine,
A main pole, a coil wound around the main pole, a movable yoke connected to both side surfaces of the main pole, and a suspension coupled to the transfer device. ,
Each movable yoke has at least two attracting portions on the lower surface portion of the movable yoke , and the movable yoke has a parallel four-bar link mechanism, and each link is pivoted to each adjacent link. Worn and connected,
Among the four links, two links arranged in a horizontal direction with respect to the workpiece are arranged at the center portion of the main pole so that each of the suction portions can move corresponding to the curved workpiece surface. Is pivotally supported by
The main pole is pivotally supported by the suspension so that each movable yoke can move corresponding to a curved work surface,
An electromagnetic magnet characterized in that when the coil is excited, a magnetic flux flows through the main pole, the movable yoke, and the work so that the work can be attracted. The main pole has a parallelogram having two horizontal links arranged vertically parallel to the workpiece and two vertical links arranged vertically to the workpiece. The said each link is pivotally connected and connected to each adjacent link, The said horizontal link is pivotally supported by the said suspension body in the center part so that rocking | fluctuation is possible. Electromagnetic magnet. The suction portion of the movable yoke, according to claim 1 or 2 electromagnet according characterized in that it is formed to face the surface of the workpiece in an arc shape.

Images