JPS6133838A - Magnet chuck - Google Patents

Abstract

PURPOSE:To attempt automation and speed-up of work, according to a method wherein a magnetic body is separated from a magnetic chuck securely at a preset position, even through it is light by electrifying a magnetic chuck with AC exciting current of gradually increasing frequency, and it is set in the assigned position. CONSTITUTION:Respective arms 3-5 of a robot 1 are controlled to apply AC exciting current of fixed frequency to a magnetic chuck 6 so as to adsorb pin P to the chuck 6 and the pin is set in an insertion hole 8b on an assembly stand 8 from above a work table 7. At this point of time, an OFF-signal for AC exciting current is given to a delay circuit from a controller and AC exciting current for demagnetization with gradually increasing frequency is arranged to flow for a specified period according to the above OFF signal, and perfect demagnetization takes place at the assigned time of demagnetization. Accordingly, assembly work for P pin can be carried out precisely, securely and smoothly, thus automation and speed-up of work can be attempted.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention is attached to, for example, an assembly robot as a transport means and is used to move and set an 1111 mm object in a predetermined position. 】Regarding a suitable magnetic chuck 1゜ Conventional t1 frame assembly [I will explain this using an example of ``lbot 1~'', but the lifting robot has a 1411'l object that is attracted to the tip of the arm and moved. There are all types of so-called on-A) type electromagnets for setting J to a predetermined position.

This type of robot generates an electromagnetic force by passing a crystal current (Ml?Fi) to attract a magnetic object, such as a bottle, and moves the bottle to the top of a predetermined bottle insertion hole. ],: Later, there is a system in which the excitation current is set to A, and the bottle is removed from the electromagnet and inserted into the -C insertion hole.

The invention is a great solution, 11 problems to solve.
In this type of magnet 1 to chuck, residual magnetism remains even when the excitation current is changed to A, and if the magnetic object is particularly lightweight, the magnetic object will not separate from the magnet 1 chuck.

For this reason, if you forcibly insert the magnetic object, the magnetic object will be misaligned, making it extremely difficult to insert the magnetic object into the specified position, attach it, and perform other settings.
Even if J3 is used, automation of assembly work and its speed cannot be expected.

It is possible to demagnetize residual magnetism by applying reverse excitation when the excitation current is turned off, but this is difficult to put into practical use due to various problems, ie, difficulty in setting the time and amount of reverse excitation.

Purpose of the Invention This invention solves a number of problems. ! It was developed to automate and speed up work by attracting magnetic objects, moving them to a predetermined position, setting them, and releasing them reliably and smoothly.
・The aim is to provide support4.

SUMMARY OF THE INVENTION Therefore, in order to achieve this object, the gist of the present invention is to suck a magnetic object attached to an industrial machine, move the object to a predetermined value, and set When the magnetic object is attracted and moved by the magnet I-3, and the magnetic object is moved and set to a predetermined size, the FJ1 magnetic current for adsorption is applied from the roller part to +f'J, the magnetic f (
When one object is set at a predetermined position, this excitation current is apparently cut off, and the frequency is gradually increased from the controller 1 to [-1-A section, and the excitation current is gradually decreased. It is characterized in that it is configured to take a separate predetermined period of time (sl'j-d).

Solve the problem (beggar) 141 +'l-4 course 1
When sucking and moving the bottle P, which is a book, and setting it in a predetermined position, the controller unit 13 sends an encouragement! When a current is applied and the bottle P is set at a predetermined position, the excitation current for adsorption is apparently cut off, and the controller unit 13 applies AC excitation to the magnetic chuck 6 in which the frequency gradually increases and the excitation current gradually decreases. This is a configuration in which a current is separately passed for a predetermined period of time.

After setting the bottle P at a predetermined position, the residual magnetism of the magnets 1 to chuck 6 can be demagnetized, and the bottle P can be quickly removed from the magnetic chuck 6.

round lily The present invention will be explained below with reference to the illustrated embodiments.

FIG. 1 shows an articulated robot for assembly (hereinafter referred to as robot 1) equipped with an embodiment of the magnetic chuck of the present invention.
-5=

The robots I-1 are of a 5-degree-of-freedom lrI dense multi-joint type that can operate with a minimum setting value of /1III and a positioning resolution number of /1III.

That is, the robots 1 to 1 have a base 2, a first arm 3 that can be bent (arrow AI>) and rotated (arrow A2) at a predetermined angle with respect to the base 2 (=jcJ), and 11-), attached to 3 so that it can be bent at a predetermined angle (arrow A3) i
A third arm 5 is attached to the second arm 4 so that it can be bent at a predetermined angle (arrow Δ4), and a third arm 5 is attached to the tip of the third arm 5 so that it can be rotated at a predetermined angle (arrow Δ4). It has a magnet chip 6 attached to the A5).

Around the above-mentioned robot]-1, there is placed a work table 7 on which a magnetic object to be transported (e.g., an iron bottle F) is placed, and an insertion plate 8a on which a bottle P is inserted and assembled. 8 is installed.

This robot 1 is used to insert a bottle P into each insertion hole 8b of an insertion plate as shown in FIGS. 2 to 4.

The magnetic chuck 6 illustrated in FIG. 5 is an AC electromagnet, and the disc-shaped chuck 9 has a part 10.
The core part 10 is provided with a winding 11.

An alternating current excitation current as shown in FIG. 7 is applied to the magnetic chuck 6 by a control circuit 12 shown in FIG.

The control circuit 12 will be explained. The controller unit 13 has a function of turning on and off the AC excitation current for the magnets 1 to chucks 6, and a function of gradually increasing the frequency of this AC excitation current from a constant frequency and decreasing the AC excitation current. are doing.

In addition, the delay circuit 1/l is connected to the roller section 1-7.
= 3, the apparent initial excitation current for the pump is given by the initial excitation current l') from the rupture point [2 to iY total time 7
A) By delaying the signal S1 by d, the alternating current excitation current of gradually increasing frequency is output from the controller 1 to the roller section 13 for a delay period]-
(Add 1 magnet 1 to chuck 6 (t !-T
It's for playing j-d.

In addition, the third arm 5 is equipped with a magnetic sensor for measuring residual magnetic leakage in the vicinity of the magnetic head 1 to the hair I-tuck 6.
There is +J15 and -C. This magnetic sensor 15 is
Hall elements such as semiconductor magnetic sensors, reed switches, etc. are preferable.

Operation 1 - Next, the operation of the configuration described above will be explained with reference to FIGS. 2 to 4.

The arms 3 to 5 of the robot 1 are operated to position the magnetic chuck 6 on the work table 7''. (not shown in FIG. 7), turn on the controller section 13,
An alternating current excitation current (1) of a constant frequency is applied to the magnetic chuck 6, and the bottle [ ] is attracted to the magnetic chuck 6 and raised as shown in FIG.

Next, the robot 1 is rotated in the direction of arrow △6 not shown in FIG.
The bottle P is moved to above and lowered to set the bottle P in the empty insertion hole 8b (see FIGS. 2 and 3).

The period in which the AC excitation current 11 is not applied to the magnetic screws 1 to 6 is the period from when the bottle P is attracted to when it is inserted into the insertion hole 8b in the empty space at a predetermined position, as shown in FIG. This corresponds to the period during which the magnetic prickly object is attracted (from the start time t1 of applying an AC excitation current and attracting the object to the apparent end time t2).

At the apparent end time t2 when the magnetic object attraction period T has ended, an A signal 81 of the AC excitation current is outputted from the controller section 13h to the delay circuit 14. The delay circuit 14 operates based on this A-off signal S1, and the AC excitation current 2 for demagnetization with a gradual increase in frequency is applied for a predetermined period Td.
Further grants will be made. (Attenuation curve in Figure 7) In this way, by increasing the frequency of AC excitation current ■2,
Conventionally, residual magnetism that exists at the apparent end point [2] is completely eliminated at the demagnetization point [3]. 1-J- can be done,
.

This means that the coil's induction>8+! I reactance X is expressed as −,,,,(2>(However, V
is the AC applied voltage) (2), and in (2), as the frequency 5 is gradually increased, (P is the attenuation curve-shaped AC excitation current -10 = current 12 approaches zero, and the residual magnetism can be demagnetized. () However, the attenuation of this demagnetizing current is 11
5, the operation may be controlled by a control circuit (not shown) using the magnetic sensor 15 without relying on inductive reactance.

In addition, the magnetic chuck 6 Irf may be used to check whether the residual magnetism has been demagnetized, and the magnetic chuck 6 Irf, as shown in Figs. , without lifting the bottle P, carefully release it and tighten the magnetic chuck 6 only.
'Ff can be made.

Therefore, the assembly of the bottle P can be carried out reliably and smoothly with good viscosity.

By the way, the magnets 1 to chucks are not limited to the shapes shown in FIG. 5, but may be appropriately selected according to the shape of the magnetic object.

For example, as shown in Figure 7'? lJ, eel crocodile [1-shaped magnet 1 to chuck 26 J, no.

; 1. In an example that reached 10, 1 u was applied instead of the AC excitation current between till (!l object adsorption + 1/).
The current excitation current is set to IJj, and the end point of Mika() is t2.
At the same time, momentarily switch to AC excitation current and gradually increase the frequency to demagnetize the residual magnetism of magnets 1 to 6.

In the above-mentioned embodiments, the case where the robot is used to insert and cover the biscuit P into the insertion hole 8() has been explained as an example, but the present invention is not limited to this type of work, and can be applied to, for example, a crane [etc. It can be applied to the transportation work of magnetic objects by construction machines 4j and other industrial machines.

101: 9 is a bag-shaped container containing magnetic fluid. By doing so, it is possible to reliably attract the complex-shaped magnetic f)1 object in conformity with the object. In this case e1:) When separating the magnetic object, it is of course possible to demagnetize the residual magnetism by applying an alternating current excitation current whose frequency is gradually increased.

As is clear from the explanation, the structure is such that when moving a magnetic object from the magnetic chuck at a predetermined position, an alternating current excitation current of increasing frequency is applied to the magnetic chuck. Even if the object is lightweight, it can be reliably mtted and set at a predetermined position, which has an excellent effect of automating and speeding up the work.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an embodiment of the magnetic chuck of the present invention mounted on the assembly robot, Figs. The figure is a partially cutaway front view of magnet 1 to jack, Figure 1 13-6 is the control circuit for AC excitation current of 7 magnets 1 to brake, Figure 7 is a waveform diagram of AC excitation current, and Figure 8 is a diagram of magnet 1.
11. Assembling robot 6. Chuck 8b to magnet 1.9. ,Insertion hole P, ,Bin (magnetic object) 12, ,Control circuit 13, ,Delay circuit

Claims (1)

[Claims] In a magnetic chuck that is attached to an industrial machine and that attracts a magnetic object, moves the magnetic object to a predetermined position, sets it, and then releases it, when the magnetic object is attracted, moved, and set at a predetermined position, When an excitation current for adsorption is applied from the controller section and the magnetic object is set in a predetermined position, this excitation current is apparently cut off, and the frequency is gradually increased from the controller section, and the excitation current is gradually decreased. A magnetic chuck characterized by being configured to separately apply an alternating current excitation current for a predetermined period of time.