WO2014033757A1 - Appareil de support magnétique électropermanent doté d'un capteur de flux magnétique - Google Patents

Appareil de support magnétique électropermanent doté d'un capteur de flux magnétique Download PDF

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Publication number
WO2014033757A1
WO2014033757A1 PCT/IN2013/000524 IN2013000524W WO2014033757A1 WO 2014033757 A1 WO2014033757 A1 WO 2014033757A1 IN 2013000524 W IN2013000524 W IN 2013000524W WO 2014033757 A1 WO2014033757 A1 WO 2014033757A1
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WO
WIPO (PCT)
Prior art keywords
magnetic
holding apparatus
workpiece
sensor
base
Prior art date
Application number
PCT/IN2013/000524
Other languages
English (en)
Inventor
Uttam Sarda
Original Assignee
Uttam Sarda
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 Uttam Sarda filed Critical Uttam Sarda
Priority to DE112013004264.9T priority Critical patent/DE112013004264B4/de
Publication of WO2014033757A1 publication Critical patent/WO2014033757A1/fr

Links

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
    • B66C1/06—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 electromagnetic
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/20—Electromagnets; Actuators including electromagnets without armatures
    • H01F7/206—Electromagnets for lifting, handling or transporting of magnetic pieces or material
    • H01F2007/208—Electromagnets for lifting, handling or transporting of magnetic pieces or material combined with permanent magnets

Definitions

  • the present invention relates to an electro permanent magnetic holding apparatus comprising at least one magnetic sensor embedded therein for controlling safe and efficient magnetic holding of workpieces.
  • Conventional electro permanent magnetic work holding apparatus are used for clamping of ferromagnetic work pieces. They work on the principle that electric current is passed through the solenoid to switch ON/switch OFF the apparatus by reversing the magnetic orientation of the reversible permanent magnet inside the ferromagnetic frame. Some of them use additional solenoid(s) positioned in the working face of the apparatus or around the main solenoid to monitor the flux change.
  • US patent 6,104,270 discloses an electro permanent magnetic apparatus comprising two magnetic flux sensors arranged between a solenoid for switching reversible magnets and on the working surface facing the workpiece. The sensors are used for detecting magnetic flux generated only by the reversible magnets and also the magnetic flux through the magnetic pole facing the workpiece.
  • US 2007/0290780 A1 discloses a magnetic clamping device for an injection molding machine comprising a plurality of magnetic pads for electro permanent magnetic clamping. At least one of the pads includes a solenoid coil, designed to measure the flux generated by the pad that is wound in an external peripheral groove of a casing around a steel pole of the pad.
  • the solenoid coil acting as a magnetic sensor is placed in the direct vicinity of the magnetic pad, either surrounding the magnet or is placed more closely towards the clamping surface.
  • Hall sensors or equivalent are used to monitor the current flowing in the main solenoids of the apparatus to ensure that sufficient current flows for work holding.
  • US patent 7,782 164 discloses a similar magnetic clamping device that is equipped with a magnetic sensor configured as a solenoid coil.
  • a magnetic sensor configured as a solenoid coil.
  • US patent 6,636,153 discloses a similar electro magnetic clamping device for an injection molding machine comprising a plurality of magnetic pads for electro permanent magnetic clamping.
  • the clamping device includes a sensor system for determining acceptable magnetization between a magnetic clamp and a mold comprising secondary sensing coils magnetically coupled with a switchable magnet in the clamp effecting a voltage output in accordance with magnetic flux conditions between the magnets and the mold and provid- ing a control signal based on changes in the magnetic flux conditions.
  • the system includes a movement detector sensor and a permeability sensor associated with the electromagnet.
  • WO 2008/142716 A2 discloses an electro magnetic clamping device comprising a sensor system including five sensors for detecting various parameters. One sensor is placed around polar areas or active pole areas to detect the generation of magnetic flux. One sensor detects the weight of the workpiece that has been lifted. A Hall sensor is used to monitor whether sufficient current flows in the solenoids when the magnetisation or demagnetisation process takes place. One sensor is a proximity sensor to check any displacement of the workpiece. One further sensor is used for probing the temperature inside the apparatus.
  • the signals generated also include the current flowing in the solenoids and can be misleading as during the actual operation no current flows through the solenoid;
  • Magnetic sensors are placed around the anchoring surface of the apparatus in path of the flux through the work piece.
  • the fields which are generated are difficult to analyze, especially when the job being clamped is inappropriate for clamping.
  • the field being measured is affected by the generation of stray fields on the working-surface due to possible air-gaps or irregularity.
  • the invention seeks to overcome one or more of the above drawbacks.
  • an object of the invention to disclose an improved electro permanent magnetic holding apparatus that allows a reliable and simple monitoring of the magnetic flux through the workpiece when in operation.
  • an electro permanent magnetic holding appa- ratus electro permanent magnetic holding apparatus comprising;
  • a magnetic base made of a ferromagnetic material having a working side including a working face for holding work pieces magnetically and/or mechanically and a back region remote from the working side;
  • each magnetic pole comprising at least one non-reversible permanent magnet, at least one reversible permanent magnet, and at least one electrical winding for reversing said reversible permanent magnet between an ON state for clamping a workpiece against the working face, and between an OFF state for releasing a workpiece from the working face;
  • the back region of said magnetic base comprises at least one pocket housing a magnetic sensor
  • said magnetic pole when being in said ON state, is configured for forming a closed magnetic loop extending through the back region and the working side of the magnetic base and through a workpiece in contact with the working face;
  • the pocket with the magnetic sensor is arranged within the back region of the magnetic base at a place remote from the working face, thereby allowing sensing of magnetic flux extending through the back region of said magnetic base and through the workpiece.
  • the quantum of the magnetic flux which flows through the workpiece also flows through the return path remote from the workpiece to complete the magnetic circuit.
  • the magnetic sensor when placed appropriately can accurately measure the magnetic clamping force of the apparatus.
  • back region of the magnetic base is understood as a region of the magnetic base which faces away from the front face.
  • the front face is understood as the surface which directly faces the workpiece to be clamped.
  • the back region may include the surface opposite the front face (the back surface).
  • the pocket with the magnetic sensor may thus extend from the back surface toward the front surface.
  • the pocket may as well be located much closer to the front surface, as long as it is within the return path of the magnetic loop.
  • the pocket with the magnetic sensor may extend within the back region from a position adjacent to the magnets or windings towards the back surface.
  • the flux flowing through the workpiece is related to the one flowing in the return path of the apparatus and can be accurately measured.
  • the senor may be placed between the two poles at a location through which the magnetic loop extends.
  • the magnetic monitoring system according to the invention can easily be retrofitted to an existing electro permanent magnetic holding apparatus, since the respective pocket necessary for the monitoring can easily be creating in an existing magnetic base, and the respective magnetic sensor can be fixed therein and electrical wiring leading to a control circuit can be attached. Any type of magnetic sensor can be used to measure the magnetic flux. However, Hall sensors are easily available and very reliable.
  • the flux through the magnetic sensor may be measured in real time and is related to the flux flowing through the workpiece being clamped.
  • the magnetic sensor is placed at a predetermined distance from the working face which is selected so as to ensure sufficient magnetic holding force, when said magnetic flux sensor indicates a certain threshold of magnetic flux.
  • the magnetic sensor is located on the back region of the magnetic base at a predetermined depth or at any suitable location in the apparatus where the flux flow is balanced and can be measured optimally.
  • the magnetic base comprises a front plate and a back plate attached to one another.
  • the front plate forms a monolithic working surface.
  • the magnetic base may comprises a plurality of slots, preferably configured for mechanically clamping workpieces thereon.
  • the slots may be used define said at least one magnetic pole on the magnetic base.
  • the apparatus further comprises a control circuit electrically communicating with the magnetic sensor for determining operating characteristics of the magnetic holding apparatus when being in the ON state or the OFF state, in particular magnetic flux through said workpiece and/or magnetic holding force of said workpiece.
  • control circuit may be configured for outputting a signal to an indicator for indicating, whether magnetic clamping force is above or below a certain threshold and/or is sufficient for clamping a particular workpiece.
  • electrical winding(s) are linked to a control circuit allowing automatic control of current through the electrical winding(s).
  • the control circuit preferably is configured for pulsing the electrical winding(s) with DC current.
  • each pocket housing a magnetic sensor.
  • the flux values through the magnetic sensor are monitored after every pulse of current is passed through the solenoids. This ensures that the flux reading obtained by the magnetic sensor measures the effective flux that is supposed to flow through the workpiece in actual operation.
  • the apparatus saves electrical energy as current pulses can be stopped as soon as the flux reaches the upper set values defined for the apparatus to be in optimum clamping state.
  • the apparatus saves electrical energy as electrical pulses can be stopped and an error signal is generated, as soon as it is ascertained that the flux is unable to reach the lower set value when the first batch of pulses is injected in the solenoids.
  • the apparatus monitors the state of flux in real time as the reading from the magnetic flux sensor is directly fed to the control or monitoring circuit and so provides reliable indication of the magnetic state of the equipment during switched ON/switched OFF condition.
  • the magnetic flux sensor During work holding process, if the job condition changes (e.g. workpiece being dropped after lifting, or movement of workpiece during machining) the magnetic flux sensor would give an effective reading and can denote the state of instability immediately.
  • the job condition changes e.g. workpiece being dropped after lifting, or movement of workpiece during machining
  • Multiple pockets with flux sensors can be positioned in the work holding apparatus if there are more active poles.
  • the pockets for monitoring the flux can also be used in conventional work holding apparatuses of permanent magnet and electro magnet type for better performance.
  • the signals analysed do not include the current flowing in the solenoids which can be misleading. - The field being measured is not affected by stray fields on the working face.
  • Fig. 1 shows a first embodiment of the electro permanent magnetic work holding apparatus
  • Fig. 2 shows the cross-section of the work holding apparatus
  • Fig. 3 shows the cross-section of the work holding apparatus when the work- piece is inadequate to absorb the magnetic flux expected to be generated by the apparatus;
  • Fig. 4 shows the cross-section of the work holding apparatus when the work- piece is adequate to absorb the magnetic flux expected to be generated by the apparatus
  • Fig. 5 shows a cross-section through a further embodiment of the work holding apparatus comprising a monolithic working surface.
  • a work holding apparatus is denoted in total with 1.
  • the work holding apparatus 1 comprises a magnetic base 2 of a ferromagnetic material, within which two magnetic poles 3 are formed.
  • Each magnetic pole 3 comprises a plurality of reversible permanent magnets 4, which are surrounded by electrical windings or solenoids 5. Further, the magnetic poles 3 comprise non-reversible permanent magnets 6 placed underneath the solenoids 5.
  • the magnetic poles 3 define a working face 14 facing a workpiece 8 to be clamped (Fig. 3).
  • a pocket 7 shaped as a slot is provided, wherein a magnetic sensor 10, e.g. a Hall sensor, is placed.
  • the magnetic sensor 10 is linked to a control or monitoring circuit 16 by electrical wires.
  • the control circuit 16 may be configured as a central control circuit also configured for automatically controlling electrical power supplied to the sole- noids 5 (connections not shown).
  • pulses of electrical current are made to flow through the solenoids 5 which will orient the reversible magnets 4 in the desired directions.
  • the reversible magnets 4 are oriented using a current flowing through the solenoids 5 in such a way that when the reversible 4 and the non-reversible magnets 6 are in the same direction, the magnetic lines of force is thrown out of the apparatus and any ferromagnetic material in the vicinity of the apparatus is clamped to the work holding apparatus 1 (this is called the magnetized or the ON stage).
  • the magnetized or the ON stage When the reversible 4 and non-reversible 5 magnets are in opposite direction, the magnetic lines of force short-circuit each other and any ferromagnetic material clamped by the work holding apparatus is released by the apparatus (this is called the demagnetized or the OFF stage).
  • the quantum of the magnetic flux which flows through the workpiece 8 also flows through the return path of the magnetic base 2 to complete the magnetic circuit.
  • the magnetic sensor 10 when placed appropriately can accurately measure the magnetic clamping force of the apparatus. If the workpiece 8 is adequate to absorb the magnetic flux generated by the apparatus (see 9 in Figure 4), it gives a desirable reading in the sensor 10 located on the return path. As the magnetic induction of the reversible magnet increases, the work holding apparatus 1 reaches its saturation limit and when the reversible magnets 4 are saturated, it means that even if further electrical current is passed through the solenoids 5, the magnetic clamping capabilities of the apparatus would not improve. At this junction, the electrical current can be stopped thereby saving power.
  • the flux flowing through the sensor 10 is low. Even if the electrical current passing through the solenoids 5 is increased, there is no improvement in the magnetic characteristics. In this case, there would be no improvement in the reading of the magnetic sensor even when pulse after pulse of electrical current is passed. Hence, an error can be indicated soon.
  • indicators 17, 18 may be attached to the control circuit 16, such as shown in Fig. 2. If the clamping force is sufficient the green indicator lamp 18 is flashed, while the red indicator lamp 17 is flashed when the clamping force is insufficient.
  • This feature can be further modified to measure the flux and indicate the magnetic power of the system.
  • the reading of the sensor will depend on the type of workpiece 8/ load which is positioned on the working surface 1 .
  • Fig. 5 shows a further embodiment of the invention, which is indicated in total by 1 a.
  • the same reference numerals as before are used for similar parts.
  • the magnetic base 2 of the apparatus consists of a back plate 12 and a front plate 13 that are attached to each other.
  • the back plate 12 comprises a large recess 19, wherein the electrical windings or solenoids 5 are placed together with the reversible permanent magnets 4 surrounded by the solenoids 5.
  • the front plate 13 comprises recesses 20 for receiving the non-reversible permanent magnets 6. Further the front plate comprises a plurality of slots 15 shaped in T-form that are arranged in a grid pattern and that demark the individual poles 3. The front plate 13 comprises a monolithic working face 14 for clamping the workpieces 8. The slots 15 may also be used for mechanical clamping.
  • the pocket 7 with the magnetic sensor 10 may extend throughout the total thickness of the back plate 12 ending at the electrical windings 5 or the reversible permanent magnets 4. It may as well be placed again remote from the working face 14 extending from the back surface towards the front surface such as shown in Figs. 2 to 4. It may as well extend only from the reversible magnets 4 to a small extend towards the back surfac. In any event, the magnetic sensor 10 is always placed within the return path of the magnetic field through the back plate 12.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Jigs For Machine Tools (AREA)

Abstract

L'invention concerne un appareil de support magnétique électropermanent comprenant : une base magnétique (2) constituée d'un matériau ferromagnétique ayant un côté de travail comprenant une face de travail afin de maintenir des pièces à travailler (8, 9) magnétiquement et/ou mécaniquement et une région arrière éloignée de la face de travail; au moins un pôle magnétique (3) formé sur la base magnétique (2), chaque pôle magnétique (3) comprenant au moins un aimant permanent non réversible (6), au moins un aimant permanent réversible (4), et au moins un enroulement électrique (5) destiné à faire passer l'aimant permanent réversible (4) entre un état MARCHE pour serrer la pièce à travailler (8, 9) contre la face de travail (14), et entre un état ARRÊT pour libérer une pièce à travailler (8, 9) de la face de travail (14); la région arrière de la base magnétique (2) comprenant au moins une poche (7) logeant un capteur magnétique (10); le pôle magnétique (3), lorsqu'il est dans l'état MARCHE, étant configuré pour former une boucle magnétique fermée (11) s'étendant à travers la région arrière et la face de travail de la base magnétique et à travers une pièce à travailler (8, 9) en contact avec la face de travail (14); et la poche (7) comprenant le capteur magnétique (10) étant agencée à l'intérieur de la région arrière de la base magnétique (2) en un emplacement éloigné de la face de travail (14), permettant ainsi la détection d'un flux magnétique s'étendant à travers la région arrière de la base magnétique (2) et à travers la pièce à travailler (8, 9).
PCT/IN2013/000524 2012-08-31 2013-08-28 Appareil de support magnétique électropermanent doté d'un capteur de flux magnétique WO2014033757A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112013004264.9T DE112013004264B4 (de) 2012-08-31 2013-08-28 Elektropermanentmagnetische Haltevorrichtung mit Magnetflusssensor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IN1003KO2012 2012-08-31
IN1003/KOL/2012 2012-08-31

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Publication Number Publication Date
WO2014033757A1 true WO2014033757A1 (fr) 2014-03-06

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10454341B1 (en) 2016-11-30 2019-10-22 X Development Llc Progressive force electro-permanent magnets actuator
WO2019209553A1 (fr) * 2017-04-27 2019-10-31 Magswitch Technology Worldwide Pty Ltd. Dispositif de couplage magnétique avec au moins un agencement de capteurs et/ou une capacité de démagnétisation
US10784762B1 (en) 2016-11-30 2020-09-22 X Development Llc Torque transfer using electro-permanent magnets
CN112154044A (zh) * 2018-02-23 2020-12-29 磁转换技术全球私人有限公司 可变场磁耦合器和用于接合铁磁工件的方法
US10903030B2 (en) 2017-04-27 2021-01-26 Magswitch Technology Worldwide Pty Ltd. Variable field magnetic couplers and methods for engaging a ferromagnetic workpiece
US11031166B2 (en) 2017-06-08 2021-06-08 Magswitch Technology Worldwide Pty Ltd Electromagnet-switchable permanent magnet device
US12023770B2 (en) 2017-04-27 2024-07-02 Magswitch Technology, Inc. Magnetic coupling device with at least one of a sensor arrangement and a degauss capability

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DE102017110475B4 (de) * 2017-05-15 2023-05-17 Prüftechnik Dieter Busch GmbH Vorrichtung und verfahren zur schwingungsmessung an einer maschine

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JPH05105385A (ja) * 1991-10-17 1993-04-27 Shinko Electric Co Ltd 吊り上げ搬送用磁気装置
JPH10273278A (ja) * 1997-03-28 1998-10-13 Shinko Electric Co Ltd 高温鋼材用の吊り上げ電磁石
WO1999008293A1 (fr) * 1997-08-04 1999-02-18 Railfix N.V. Electro-aimant permanent de levage a dispositif de securite
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Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10784762B1 (en) 2016-11-30 2020-09-22 X Development Llc Torque transfer using electro-permanent magnets
US10454341B1 (en) 2016-11-30 2019-10-22 X Development Llc Progressive force electro-permanent magnets actuator
US11056948B1 (en) 2016-11-30 2021-07-06 X Development Llc Progressive force electro-permanent magnets actuator
EP3810380A4 (fr) * 2017-04-27 2022-01-26 Magswitch Technology Worldwide Pty Ltd. Dispositif de couplage magnétique avec au moins un agencement de capteurs et/ou une capacité de démagnétisation
US11511396B2 (en) 2017-04-27 2022-11-29 Magswitch Technology Worldwide Pty Ltd. Magnetic coupling devices
EP3615267A4 (fr) * 2017-04-27 2021-01-06 Magswitch Technology Worldwide Pty Ltd. Dispositif de couplage magnétique avec au moins l'un d'un agencement de capteurs et d'une capacité de démagnétisation
US10903030B2 (en) 2017-04-27 2021-01-26 Magswitch Technology Worldwide Pty Ltd. Variable field magnetic couplers and methods for engaging a ferromagnetic workpiece
US12023770B2 (en) 2017-04-27 2024-07-02 Magswitch Technology, Inc. Magnetic coupling device with at least one of a sensor arrangement and a degauss capability
CN111093891A (zh) * 2017-04-27 2020-05-01 磁转换技术全球私人有限公司 具有至少一个传感器布置和消磁能力的磁耦合装置
US11097401B2 (en) 2017-04-27 2021-08-24 Magswitch Technology Worldwide Pty Ltd. Magnetic coupling device with at least one of a sensor arrangement and a degauss capability
WO2019209553A1 (fr) * 2017-04-27 2019-10-31 Magswitch Technology Worldwide Pty Ltd. Dispositif de couplage magnétique avec au moins un agencement de capteurs et/ou une capacité de démagnétisation
CN115256001A (zh) * 2017-04-27 2022-11-01 磁转换技术全球私人有限公司 具有至少一个传感器布置和消磁能力的磁耦合装置
US11901141B2 (en) 2017-04-27 2024-02-13 Magswitch Technology, Inc. Variable field magnetic couplers and methods for engaging a ferromagnetic workpiece
US11901142B2 (en) 2017-04-27 2024-02-13 Magswitch Technology, Inc. Variable field magnetic couplers and methods for engaging a ferromagnetic workpiece
US11850708B2 (en) 2017-04-27 2023-12-26 Magswitch Technology, Inc. Magnetic coupling device with at least one of a sensor arrangement and a degauss capability
US11839954B2 (en) 2017-04-27 2023-12-12 Magswitch Technology, Inc. Magnetic coupling device with at least one of a sensor arrangement and a degauss capability
US11837402B2 (en) 2017-06-08 2023-12-05 Magswitch Technology, Inc. Electromagnet-switchable permanent magnet device
US11651883B2 (en) 2017-06-08 2023-05-16 Magswitch Technology Worldwide Pty Ltd. Electromagnet-switchable permanent magnet device
US11031166B2 (en) 2017-06-08 2021-06-08 Magswitch Technology Worldwide Pty Ltd Electromagnet-switchable permanent magnet device
CN112154044A (zh) * 2018-02-23 2020-12-29 磁转换技术全球私人有限公司 可变场磁耦合器和用于接合铁磁工件的方法

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DE112013004264T5 (de) 2015-06-25
DE112013004264B4 (de) 2023-03-09

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