1320011 九、發明說明： 【發明所屬之技術領域】 ，尤其涉及一種適合安裝 本發明涉及一種磁性失持座 於機械手之磁性夾持座。 【先前技術】 —隨著科技之發展，機械手在汽車、家電、半導體、精 岔零件加工等領域之應用愈來愈廣泛’其通常用於進行焊 接、打標、切割、上下料、搬運及組裝等加1或裝配作業。 作為機械手主要構件之夾持座，其所採用之夾持方式 直接影響:r機械手之定位精度。請參閱圖ι，_種安穿於 機械手（圖未示）之氣動式夾持座U)，其主要由二旋轉氣 缸11、-支撐板13、二滚珠導向塊15、八滾珠（圖未示） 及二滾珠定位塊17組成。其中，二旋轉氣缸u分別設置 於支撐板13 -側之兩端，而二滾珠導向塊則分別設置 於支撐板13 側與二旋轉氣缸11相對應之位置。每一 滚珠導向塊15上安裝有滚珠定位塊17。每—滾珠導向塊 15及滾珠定位塊17中心開設有夾持孔且兩者之間裝設 有Γ滾珠（圖未示）。機械手夾持工件（圖未示）前，由操 作貝將工件固定於-辅助定位治具（圖未示）上，辅助定 位…厂上°又有一定位銷（圖未示），二定位銷於機械手失持 工件過私中與失持孔19及上述四滾珠配合以^位工件。機 械手炎持工件時’I先機械手帶動詩座1G移動至待夾持 工件上方’旋轉氣紅u旋轉使滾珠導向塊15及滾珠定位 塊,17之失持孔19與待失持工件輔助治具之定位銷相對， 然後爽持座1G下移’位於滾珠導向塊15及滾珠定位塊17 7 1320011 之四/衰珠在％轉氣虹u内氣體之作用下聚搬並炎緊定 ^肖以將工件失緊。置放工件時，機械手將爽持座ι〇移動 ^件置放位置上方，旋轉氣缸u旋轉使玉件與其置放位 ^目對’四滾珠在旋轉氣缸u作用下散開以將定位銷釋 ’輔助定位；％具及卫件即可被放置於置放位置。 ”、、'，上述氣動式夾持座係在旋轉氣缸内氣體之作用7 珠緊並定位工件’在使用過程中其定位瑕1320011 IX. Description of the invention: [Technical field to which the invention pertains], in particular, to a suitable mounting. The invention relates to a magnetic clamping seat for a magnetically held seat on a robot. [Prior Art] - With the development of technology, robots are increasingly used in the fields of automobiles, home appliances, semiconductors, and precision parts processing. They are commonly used for welding, marking, cutting, loading and unloading, and handling. Add 1 or assembly work for assembly. As the holder of the main component of the manipulator, the clamping method used directly affects the positioning accuracy of the r manipulator. Please refer to Fig. 1 , a pneumatic gripper U) worn by a robot (not shown), which is mainly composed of two rotary cylinders 11, a support plate 13, two ball guide blocks 15, and eight balls (not shown). The display and the two ball positioning block 17 are composed. The two rotary cylinders u are respectively disposed at two ends of the support plate 13 - side, and the two ball guide blocks are respectively disposed at positions corresponding to the two rotary cylinders 11 on the side of the support plate 13 . A ball positioning block 17 is mounted on each of the ball guide blocks 15. Each of the ball guiding block 15 and the ball positioning block 17 is provided with a clamping hole at the center and a ball (not shown) is disposed between the two. Before the robot clamps the workpiece (not shown), the workpiece is fixed on the auxiliary positioning fixture (not shown) by the operating shell, and the auxiliary positioning is provided with a positioning pin (not shown) and two positioning pins. In the case of the robot losing the workpiece, the workpiece is matched with the missing hole 19 and the above four balls. When the robot is holding the workpiece, 'I first move the poem 1G to the top of the workpiece to be clamped'. Rotating the gas red u rotates to make the ball guide block 15 and the ball positioning block, the missing hole 19 of the hole and the workpiece to be lost The positioning pin of the jig is opposite, and then the 1G downshift of the seat is placed in the ball guide block 15 and the ball positioning block 17 7 1320011. The four/decay beads are moved under the action of the gas in the % gas rainbow u and the inflammation is tight ^ Xiao to tighten the workpiece. When placing the workpiece, the robot will hold the seat ι〇 and move the part above the position. Rotate the cylinder u to rotate the jade piece and place it. The four balls are scattered under the action of the rotating cylinder u to release the positioning pin. 'Auxiliary positioning; % and guards can be placed in the placement position. ",,", the above-mentioned pneumatic clamping seat acts as a gas in the rotating cylinder. 7 Beads and position the workpiece'. Positioning during use瑕
:取向只能達到±〇.lmm’所以定位精度較低，且長期使斥 ^滾珠、滾珠定錢及滾珠導向塊間之磨損會使定位相 度進二步降低，精度穩定性較差。故，在某些高精度之办 工項域中，上述氣動式夾持座難以滿足精度要求。 【發明内容】 種定位精度高且精度穩 鑒於上述内容’有必要提供一 定性好之磁性夾持座。 -種磁性夾持座’包括殼體、設置於該殼體之定位社 構，該殼體包括吸持部及與吸持部—側連接之安裝部，言: 吸持部與該安裝部之間形成_收容部，磁性夾持座還包括 ，容於該收容部内之磁力裝置，該磁力裝置包括可產生磁 场=水磁組件、可通電產生電磁場以抵消永磁組件所產生 磁场之電磁組件及設置於該永磁組件與該電磁組件間之隔 上述磁性㈣座在使科，魏夾持座之定位結構與 工件之輔助定位治具配合以定位1件，與氣動式夹持座借 助滾珠以夾持及定位工件之方式相比較，定位精度較高， 且其借助磁力裝置之吸附力進行作業，可避免各組件間相 8 ^20011 互磨損，故精度穩定性較好。進—步地，由於該磁力裝置 '在通電時電磁組件所產生之磁場絲额相t •抵消而呈現無磁狀態，在斷電時永磁組件獨立作用而呈現 有磁狀態，故磁性夾持座在斷電時可吸持工件，在通電 則可置放並更換工件，無需長時間通電，能耗較低，:在 遇到跳閘或電器故障等突發性斷電時不會對磁 工件造成損害。 【實施方式】 、下面將結合附圖及實施方式對本發明之磁性炎持座做 進一步詳細說明。 請—併參閱圖2與圖3,本發明較佳實施方式一之磁 ^持座20用於與工件（圖未示）之辅助定位治具（圖未 J配合以夾持工件，其包括殼體21、收容於殽體。内 之磁力裝置22、設置於殼體21上之感測器23及二定位銷 持部5外形大致呈T形’其包括吸持部211及與受 株。甘—側連接之安裝部213。吸持部211用於吸持〕 技/端面形成有複數相互平行之直線槽214以利於磁七 面八^ 2◦吸持工件之輔助定位治具。安裝部213二相射 其^ =成有—凸耳216 ’凸耳216上開設有通孔2161， 方式巾八磁眭夾持座20安裝於機械手（圖未示）。本實方 斑ip/ 216呈梯形，其亦可呈其他形狀。吸持部21: The orientation can only reach ±〇.lmm', so the positioning accuracy is low, and the wear of the ball, the ball, and the ball guide block will cause the positioning phase to decrease in two steps, and the accuracy and stability are poor. Therefore, in some high-precision office projects, the above-mentioned pneumatic clamps are difficult to meet the accuracy requirements. SUMMARY OF THE INVENTION The positioning accuracy is high and the accuracy is stable. In view of the above, it is necessary to provide a magnetic holder having a good property. - a magnetic holder 'includes a housing, a positioning mechanism disposed on the housing, the housing includes a holding portion and a mounting portion connected to the side of the holding portion, said: the holding portion and the mounting portion Forming a _ accommodating portion, the magnetic clamping seat further comprising: a magnetic device received in the accommodating portion, the magnetic device comprising an electromagnetic component capable of generating a magnetic field=hydromagnetic component, capable of generating an electromagnetic field to cancel the magnetic field generated by the permanent magnet component, and The magnetic (four) seat disposed between the permanent magnet component and the electromagnetic component is matched with the auxiliary positioning fixture of the workpiece and the auxiliary positioning fixture of the workpiece to position one piece, and the pneumatic clamping seat is supported by the ball Compared with the way of clamping and positioning the workpiece, the positioning accuracy is high, and the operation is performed by the adsorption force of the magnetic device, so that the mutual wear of the phase 8 ^ 20011 between the components can be avoided, so the precision stability is good. Further, since the magnetic device 'the magnetic field generated by the electromagnetic component is energized, the phase of the magnetic field is offset, and exhibits a non-magnetic state. When the power is off, the permanent magnet component acts independently and exhibits a magnetic state, so the magnetic clamping The seat can hold the workpiece when the power is off, and can be placed and replaced when the power is turned on. It does not need to be energized for a long time, and the energy consumption is low. The magnetic workpiece is not in the event of sudden power failure such as tripping or electrical failure. Cause damage. [Embodiment] The magnetic inflammatory holder of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Please refer to FIG. 2 and FIG. 3, the magnetic holder 20 of the preferred embodiment of the present invention is used for assisting a positioning fixture with a workpiece (not shown) (the figure J is used to clamp the workpiece, including the shell). The body 21 is housed in the confounding body. The magnetic device 22, the sensor 23 and the two positioning pin portions 5 provided on the casing 21 have a substantially T-shaped outer shape, which includes the holding portion 211 and the receiving portion. - a side-mounted mounting portion 213. The holding portion 211 is configured to hold a plurality of linear grooves 214 that are parallel to each other to facilitate the magnetic positioning of the workpiece. The two-phase shot ^^ becomes the lug 216', the lug 216 is provided with a through hole 2161, and the manner of the eight magnetic pick holder 20 is mounted on the robot (not shown). The real square spot ip/216 is Trapezoidal, which can also have other shapes. The holding portion 21
有磁力裝置22。 & 218 ’收容部218内設J 力裝置22包括永磁組件223、電磁組件及隔石 9 1320011 體227。永磁組件223設置於殼體21之吸持部211，其包 •括複數極性不可逆之固定磁鋼2231、導磁板2233及隔磁 .銅板2235。固定磁鋼2231為極性不可逆之鈦鐵硼類磁鋼。 隔磁銅板2235上開設有一呈矩形的凹槽229，該凹槽229 内鑲嵌有複數固定磁鋼2231及複數設置於固定磁鋼2231 兩側之導磁板2233以形成一恒定的永磁場。本實施方式中 磁性夾持座20之吸力可達到176N以上。可以理解，該磁 性夾持座20之吸力可根據所需夾持工件之重量設置，一般 _其最大吸力略大於工件重量即可。電磁組件225設置於殼 體21之安裝部213，其包括鐵芯2251及套在鐵芯2251上 之激磁線圈2253。鐵芯2251水平放置，即與殼體21之吸 持部211端面相平行。隔磁體227設置於永磁組件223及 電磁組件225之間，其允許電磁組件225產生之電磁場通 過而禁止永磁組件223產生之永磁場通過，其起到連接和 控制永磁組件223及電磁組件225所產生磁場之作用。可 以理解，在上述實施方式中，亦可將永磁組件223及電磁 w組件225均設置於殼體21之吸持部211，或將永磁組件223 及電磁組件225均設置於殼體21之安裝部213。 /感測器23設置於殼體21之吸持部211並朝向殼體21 之安裝部213，其用以感測工件是否被夾持到位，從而防 止磁性夾持座20沒有夾持到工件就進行加工之誤操作。二 定位銷25設置於殼體21之吸持部211底面，其用於與工 件之輔助定位治具的銷孔配合以定位工件，故與氣動式夾 持座借助滾珠與工件之輔助定位治具的定位銷配合以夾持 並定位工件之方式相比，定位精度較高。使用過程中，磁 10 1320011 性夾持座20之定位精度最高可達±0.03mm。可以理解，亦 -可將定位銷設置於輔助定位治具上，而將銷孔設置於磁力 _裝置上。 磁性夾持座20利用方向相反之磁場可相互抵消之特 性，以使磁性夾持座20呈現有磁與無磁之狀態。請參閱圖 4 ’當激磁線圈2 2 5 3通以激磁電流時’電磁組件2 2 5產生 之電磁場方向與永磁組件223之極性不可逆磁鋼2231產生 之磁场方向相反。若永磁組件2 2 3所產生磁場之磁力線為 鲁φ 1，與電磁組件225所產生電磁場之磁力線為Φ2 5則—磁 场'相抵消’即Σ Φ = Φ1 - Φ 2 = 0，而使磁性夹持座2 0呈現無磁 叙悲，當激磁線圈2 2 5 3未通以激磁電流時’電磁組件2 2 5 未產生電磁場，永磁組件223之極性不可逆磁鋼2231獨立 工作而使磁性夹持座20呈現有磁狀態。 磁性夾持座20在斷電時借助永磁組件223之磁力吸持 工件而作業，在通電時永磁組件2 2 3產生之磁場與電磁組 件225產生之磁場相抵消而置放並更換工件，由於通電時 *間很短，故能耗較低。在遇到跳閘或電器故障等突發性斷 電時，因永磁組件223吸持作用之存在而使得突發斷電不 會對磁性夾持座20本身或夾持工件造成損害。因磁性夾持 座20係借助磁性吸附力進行作業，其可避免夾持座中各組 件間之相互磨損，故精度穩定性較好。 般情況下5激磁線圈2253因具電阻5通電時間稍長 時便會產生較大之熱量，而熱量又會使磁場受到限制。但 在上述實施方式中磁性夾持座20之電磁組件225與傳統電 磁組件工作原理相反，每一工作週期内通電時間較短，且 11 1320011 °·3 # 5 225 • = w j小。可以理解’磁力裝置22之响應時間越短越 請參閱圖5 ’本發明較佳實施方式二之磁性 與較佳實施-之磁性夾持座2〇基本相同，其不同之 於’其電磁組件325之鐵芯3251為垂直放置，即與殼體 31之吸持部311端面相垂直。鐵芯、3251使電磁组件奶 之總磁路減短，並且主磁極兩端磁場強度㈣，磁性較強。 且阶1=理解’上述實施方式#用於與工件之辅助定位治 定位銷亦可為其他定位結構。如圖6所示之本發 車乂佺具把方式二之磁性夾持座4〇，其與較佳實施方式— 座20相似，不同在於其吸持部4ιι之底面為平 之插：Ϊ 一凹槽4112’凹槽4112呈矩形，其用於與工件 疋位治具的矩形平面配合以定位工件。可以理解， 亦可將矩形凹槽設置於辅助定位治具上， 字力裝置之吸持部底面設置成平面。 利申：上：述’本發明符合發明專利要件，爰依法提出專 =範:並之較佳實施方式，本 夕Λ丄心上述只轭方式為限，舉凡熟悉本案技藝 岸勺人於於羑依本案發明精神所作之等效修_或變化，皆 應包含於以下之申請專利範圍内。 【圖式簡單說明】 圖1係種氣動式磁性夾持座之立體示意圖。 圖2係本發明較佳實施方式一磁性夹持座之立體示意 12 1320011 圖 圖3係圖2所示磁性忐杜命 剖面示意圖。 則生編翻轉後…線之立 圖4係圖2所示磁性夾持座之磁路原理圖。 圖5係與圖3對應之本發明較佳實施方式二磁性夹持 座之立體剖面示意圖。 、There is a magnetic device 22. The &218' receiving portion 218 includes a J-force device 22 including a permanent magnet assembly 223, an electromagnetic assembly, and a rocker 9 1320011 body 227. The permanent magnet assembly 223 is disposed on the holding portion 211 of the casing 21, and includes a fixed magnetic steel 2231 having a plurality of polarity irreversibles, a magnetic conductive plate 2233, and a magnetic shield. The copper plate 2235. The fixed magnetic steel 2231 is a non-reversible titanium-iron-boron-based magnetic steel. A magnetic recess 229 is defined in the magnetic isolation copper plate 2235. The recess 229 is embedded with a plurality of fixed magnetic steels 2231 and a plurality of magnetic conductive plates 2233 disposed on both sides of the fixed magnetic steel 2231 to form a constant permanent magnetic field. In the present embodiment, the magnetic chuck 20 can have a suction force of 176 N or more. It can be understood that the suction force of the magnetic clamping seat 20 can be set according to the weight of the workpiece to be clamped, and generally its maximum suction force is slightly larger than the weight of the workpiece. The electromagnetic assembly 225 is disposed on the mounting portion 213 of the housing 21, and includes a core 2251 and an exciting coil 2253 sheathed on the core 2251. The iron core 2251 is placed horizontally, i.e., parallel to the end surface of the holding portion 211 of the casing 21. The magnetic separator 227 is disposed between the permanent magnet assembly 223 and the electromagnetic assembly 225, which allows the electromagnetic field generated by the electromagnetic assembly 225 to pass through and prohibits the passage of the permanent magnetic field generated by the permanent magnet assembly 223, which serves to connect and control the permanent magnet assembly 223 and the electromagnetic assembly. The role of the magnetic field generated by 225. It can be understood that, in the above embodiment, the permanent magnet component 223 and the electromagnetic w component 225 may be disposed on the holding portion 211 of the housing 21, or the permanent magnet assembly 223 and the electromagnetic assembly 225 may be disposed in the housing 21. Mounting portion 213. The sensor 23 is disposed on the holding portion 211 of the housing 21 and faces the mounting portion 213 of the housing 21 for sensing whether the workpiece is clamped in position, thereby preventing the magnetic holder 20 from being clamped to the workpiece. Mishandling of processing. The positioning pin 25 is disposed on the bottom surface of the holding portion 211 of the housing 21 for engaging with the pin hole of the auxiliary positioning fixture of the workpiece to position the workpiece, so that the pneumatic clamping seat is assisted by the auxiliary positioning fixture of the ball and the workpiece. The positioning pin cooperates with the method of clamping and positioning the workpiece, and the positioning accuracy is higher. During use, the magnetic 10 1320011 retaining seat 20 has a positioning accuracy of up to ±0.03 mm. It can be understood that the positioning pin can also be placed on the auxiliary positioning fixture, and the pin hole can be placed on the magnetic force device. The magnetic holder 20 utilizes the characteristics of mutually opposite magnetic fields to cancel each other, so that the magnetic holder 20 assumes a magnetic and non-magnetic state. Referring to Fig. 4', when the exciting coil 2 2 5 3 is energized by the exciting current, the direction of the electromagnetic field generated by the electromagnetic component 2 2 5 is opposite to the direction of the magnetic field generated by the irreversible magnetic steel 2231 of the permanent magnet assembly 223. If the magnetic field of the magnetic field generated by the permanent magnet component 2 2 3 is Lu φ 1, the magnetic field line of the electromagnetic field generated by the electromagnetic component 225 is Φ2 5 - the magnetic field 'compensates' Σ Φ = Φ1 - Φ 2 = 0, and the magnetic The clamping seat 20 exhibits a non-magnetic sorrow. When the exciting coil 2 2 5 3 is not energized by the exciting current, the electromagnetic component 2 2 5 does not generate an electromagnetic field, and the polarity of the permanent magnet assembly 223 is irreversible. The magnetic steel 2231 operates independently to make the magnetic clip. The holder 20 assumes a magnetic state. The magnetic clamping seat 20 operates by magnetically holding the workpiece by the magnetic force of the permanent magnet assembly 223 when the power is off, and the magnetic field generated by the permanent magnet assembly 2 2 3 cancels the magnetic field generated by the electromagnetic component 225 when the power is turned on, and the workpiece is placed and replaced. Since the time between power supplies is short, the energy consumption is low. In the event of a sudden power failure such as a trip or an electrical failure, the sudden power failure does not cause damage to the magnetic holder 20 itself or the clamping workpiece due to the presence of the permanent magnet assembly 223. Since the magnetic holder 20 is operated by magnetic attraction force, it can avoid mutual wear between the components in the holder, so that the precision stability is good. In general, the 5 exciting coil 2253 generates a large amount of heat when it is energized for a long time with the resistor 5, and the heat causes the magnetic field to be limited. However, in the above embodiment, the electromagnetic assembly 225 of the magnetic holder 20 is opposite in operation to the conventional electromagnetic assembly, and the energization time is short in each duty cycle, and 11 1320011 °·3 # 5 225 • = w j is small. It can be understood that the shorter the response time of the magnetic device 22, the more the magnetic carrier of the preferred embodiment 2 of the present invention is substantially the same as the magnetic holder 2 of the preferred embodiment, which is different from the electromagnetic component thereof. The iron core 3251 of the 325 is placed vertically, that is, perpendicular to the end surface of the holding portion 311 of the casing 31. The iron core and 3251 shorten the total magnetic circuit of the electromagnetic component milk, and the magnetic field strength at both ends of the main magnetic pole (4) is strong. And the order 1 = understanding 'the above embodiment # for assisting the positioning of the workpiece. The positioning pin can also be other positioning structures. The hair cooker of the second embodiment shown in FIG. 6 has a magnetic clamp 4 of the second embodiment, which is similar to the preferred embodiment of the seat 20, except that the bottom surface of the holding portion 4 ι is a flat plug: Ϊ a concave The groove 4112' recess 4112 is rectangular in shape for mating with a rectangular plane of the workpiece holder to position the workpiece. It can be understood that the rectangular groove can also be disposed on the auxiliary positioning fixture, and the bottom surface of the holding portion of the word force device is arranged in a plane. Lishen: Top: 'The invention complies with the requirements of the invention patent, and 提出 提出 提出 : : : : : : : : : : : : : : : 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳 较佳Equivalent repairs or changes made in accordance with the spirit of the invention shall be included in the scope of the following patent application. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view of a pneumatic magnetic holder. 2 is a perspective view of a magnetic holder according to a preferred embodiment of the present invention. 12 1320011 FIG. 3 is a schematic cross-sectional view of the magnetic cymbal shown in FIG. Then, after the production is reversed, the line is shown in Fig. 2. Fig. 4 is a schematic diagram of the magnetic circuit of the magnetic holder shown in Fig. 2. Fig. 5 is a perspective, cross-sectional view showing a magnetic holder of a preferred embodiment of the present invention corresponding to Fig. 3. ,
意圖圖6係與本發明較佳實施方式三磁性夾持座之立體示 【主要組件符號說明】 ,(本發明） 磁性夾持座 20、30、 40 永磁組件 223 殼體 21、31 電磁組件 225 ' 325 磁力裝置 22 隔磁體 227 感測器 23 通孔 2161 定位銷 25 固定磁鋼 2231 吸持部 211、311、 ‘ 411導磁板 2233 安裝部 213 、 313 隔磁銅板 2235 直線槽 214 凹槽 229 凸耳 216 鐵芯 2251 > 3251 收容部 218 激磁線圈 2253 ' 3253 知） 氣動式夾持座 10 滾珠導向塊 15 旋轉汽缸 11 滾珠定位塊 17 13 1320011 支樓板 136 is a perspective view of a magnetic holder of a preferred embodiment of the present invention. [Main component symbol description], (The present invention) Magnetic holder 20, 30, 40 Permanent magnet assembly 223 Housing 21, 31 Electromagnetic assembly 225 ' 325 Magnetic device 22 Separator magnet 227 Sensor 23 Through hole 2161 Positioning pin 25 Fixed magnet 2231 Holding part 211, 311, '411 Magnetic plate 2233 Mounting part 213, 313 Magnetic copper plate 2235 Straight groove 214 Groove 229 lug 216 iron core 2251 > 3251 housing part 218 excitation coil 2253 ' 3253 know) pneumatic clamp 10 ball guide block 15 rotary cylinder 11 ball positioning block 17 13 1320011 support floor 13