JP2014518018A - Magnet, mounting device, mounting configuration, and method of mounting on an object - Google Patents

Abstract

  The present invention comprises a magnet (1,1) comprising a first permanent magnet (24) for creating a magnetic field, a shell (19,47) and a central part (22) arranged to direct magnetic flux to an object to be grasped. Regarding 8). The magnet (1, 8) is arranged to be movable with respect to the shell (19, 47) and the central part (22) and moves the slide with the slide (30) including the first permanent magnet (24). And an electromagnet (29). The present invention also relates to a mounting device (10), a mounting configuration, and a method of mounting to an object.

Description

  The present invention relates to a magnet and a method of attaching to an object according to the preamble of the independent paragraph presented below. Furthermore, the present invention relates to a mounting device and a mounting structure that can grip an object such as a work target object or a work base.

  Devices that are intended to lift and move an object typically use a magnet and grip the object using the holding force of the magnet. The device uses one or several magnets that can be either permanent magnets or electromagnets. The problem with permanent magnets is that the holding power cannot be adjusted and it is difficult to separate the magnet from the object. By changing the current traveling through the coil of the electromagnet, the holding force of the circular magnet can be adjusted. However, the problem with electromagnets is that maintaining retention force consumes electrical energy.

  The object of the present invention is, among other things, to reduce or even eliminate the above-mentioned problems that appear in the prior art.

  It is an object of the present invention to provide a magnet, a mounting device, a mounting configuration, and a method that can be used easily and quickly to grip and sever an object. Furthermore, it is an object of the present invention to provide a magnet, a mounting device, a mounting configuration and a method that consume as little electrical energy as possible.

  The above disadvantages can be reduced or completely eliminated. The objects defined above are achieved using the present invention which is characterized by what is defined in the characterizing part of the independent claims presented further below. Some preferred embodiments according to the invention are described in the independent claims presented further below.

  The embodiments and advantages described in this text, when applicable, can be applied to magnets, mounting devices, mounting configurations, methods, and other objects of the invention according to the invention, unless otherwise stated. It is.

  A typical magnet according to the present invention includes a first permanent magnet that creates a magnetic field, and a shell and center that are arranged to direct magnetic flux to an object to be grasped (object to be grasped). An exemplary magnet according to the present invention includes a slide, the slide being arranged to be movable relative to the shell and the center and including a first permanent magnet. A typical magnet according to the present invention further includes an electromagnet that moves the slide.

  In the magnet according to the invention, the slide is arranged to be movable relative to the rest of the magnet between a holding position and an open position in order to open and close the circuit of magnetic flux. The slide is moved relative to the shell and center using a magnetic field provided by an electromagnet.

  In the holding position, the slide remains in contact with the shell and center with permanent magnet forces and maintains a portion of the magnetic flux occlusion circuit inside the magnet. Typically, an object to be attached to a magnet, for example an object to be worked or a work base, forms part of a magnetic flux occlusion circuit that is outside the magnet. The shell and the central part intended to come into contact with the object to be gripped form a pole, referred to by a different name for the magnet. The center is typically located inside the area bounded by the shell. The electromagnet coil is typically placed around the center and attached to the shell. Advantageously, the shell comprises a cylindrical through-hole and the central part and the electromagnet are arranged inside the through-hole.

  The magnetic field generated by the electromagnet when current is directed to the coil of the electromagnet in a particular direction weakens the magnetic field of the permanent magnet. With a certain strength magnetic field, the slide separates from the shell and center, thereby breaking the magnetic field occlusion circuit, weakening the magnetic force and switching off the magnet, ie turning off the magnet retention. At the same time, the magnet holding is separated from both poles of the magnet.

  The magnet holding is switched off so that current is directed into the coil of the electromagnet in the opposite direction as when the holding is disconnected. The current is thus guided in the direction of the coil, which intensifies the magnetic field of the permanent magnet. The coil magnetic field now begins to pull the slide toward the coil. Eventually, when the force is increased sufficiently, the magnetic flux occlusion circuit inside the magnet is occluded again. The object (the magnet is used to grab it) blocks the circuit outside the magnet. If the current is still increased when the flux circuit is occluded, the coercive force can be increased even multiple times. The permanent magnet portion associated with the movable slide can be, for example, a neodymium magnet material. In this text, neodymium magnet material is referred to by the short name neodymium according to one component in the neodymium magnet.

  The magnetic field that generates the holding force can be provided either by the permanent magnet alone or by both the permanent magnet and the electromagnet. When current is sent through an electromagnet coil, the coercive force cancels or enhances the magnetic field generated by the permanent magnet, depending on in which direction the current is sent into the coil. The magnetic fields of the permanent magnet and the electromagnet can be set to cancel each other's effect or to strengthen each other in such known manner. In other words, a permanent magnet field can be used, if necessary, with an electromagnet magnetic field and / or mechanically weakened or strengthened to provide a holding force. Therefore, the holding force of the magnet can be selected as desired by controlling the amount of current. By turning off the current, the holding force is not lost and the magnet continues to hold. It is possible to mechanically realize the weakening of the holding force of the magnetic fastener by changing the arm magnetic circuit in the mounting device or by weakening the magnetic field generated by the permanent magnet with the electromagnet.

  The advantage of the magnet according to the present invention is that electrical energy is required only to change the state of the magnet from the open position to the closed position or vice versa. In other words, the magnet does not require electrical energy when the magnet is in the holding or open position.

  In an embodiment of the present invention, the slide includes a first slide portion and a second slide portion, and a first permanent magnet is attached between the first slide portion and the second slide portion. The slide parts are mounted in relation to poles called by different names of permanent magnets. The first permanent magnet, the first slide part and the second slide part are advantageously round plates.

  In an embodiment of the invention, the slide is arranged to be movable so that the first part contacts the shell and the second part contacts the center in the magnet holding position.

  In an embodiment of the invention, the electromagnet coil is at least partially disposed about the center.

  In an embodiment of the invention, the central part includes a second permanent magnet, which is arranged such that the poles referred to by different names of the first and second permanent magnets are opposite to each other. Because of the second permanent magnet, the magnetic circuit can be switched off efficiently.

  In an embodiment of the present invention, the magnet includes at least one spring, and when the magnetic flux generated by the first permanent magnet is sufficiently weakened due to the magnetic field generated by the electromagnet, the spring physically moves the slide from the shell and center. Arranged to be separated. Thus, in an embodiment of the invention, one or more springs are placed between the movable slide and the other part of the magnet. The springback factor of the spring is arranged to push the slide away from the rest of the magnet and keep the slide away from the magnetic circuit. Thus, a springback factor can be used to resist permanent magnet forces. When the magnetic field generated by the electromagnet is used to weaken the permanent magnet field, the spring has a force that pushes the slide away from the other parts of the magnet. Thus, the occlusion circuit is broken, the magnetic force is weakened and the magnet is switched off, i.e. the holding of the magnet is switched off. When such a magnet is switched on, the slide to which the permanent magnet part is attached begins to move when the magnetic field is stronger than the springback factor of the spring. If the spring is used, the power required for the electromagnet can be adjusted. The springback factor of the spring manages part of the magnet switch-off, thereby making the coil smaller than that required when there is no spring.

  In an embodiment of the invention, the magnet includes a rear plate and the slide is arranged to be mounted in the open position of the magnet. The attachment force can be adjusted appropriately by changing the shape of the rear plate and / or the amount of metal.

  In an embodiment of the invention, the magnet includes at least one sliding sleeve, and the at least one sliding sleeve is configured to control the movement of the slide. The sliding sleeves are attached to the magnet rear plate at their first end and are attached to the shell by their second end to allow sliding movement between the holding position and the open position. . The magnet has four sliding sleeves, which are advantageously arranged at the corners of the magnet. If the magnet includes a spring, the spring is advantageously arranged around the sliding sleeve.

  In an embodiment of the invention, the portion of the slide that is intended to be inside the electromagnet coil has a constricted shape. Its shape allows the use of larger permanent magnets and coils. At the same time, magnet retention is improved.

  In an embodiment of the invention, the edge of the shell intended to contact the object to be grasped is chamfered and thinner. The purpose of chamfering is to increase the magnetic flux density at the contact surface and thus improve magnet retention. The direction of chamfering can affect how well the magnet grips objects of different thicknesses.

  In an embodiment of the invention, the magnet includes control means for controlling the magnetic field generated by the electromagnet. By controlling the strength of the magnetic field generated by the electromagnet, the sliding of the magnet can be controlled. A slide that includes a permanent magnet allows the magnet to not continuously require an extra power source during normal operation. A relatively small power source such as a battery is sufficient as a power source for an electromagnet that functions for control purposes. It can be configured as a fixed part of the magnet. The magnet can function completely wirelessly. Thus, the magnet does not require a wire to the outside during normal operation. The magnet can be controlled completely wirelessly so that the control electronics and battery are inside the magnet cover. The control device and / or power supply may occur wired, so that the switch and / or control unit is outside the magnet. The power source can come from a battery or other power source. The control electronics and / or power source can be common to several magnets.

  In an embodiment of the present invention, the control means includes a power source, such as a battery, and means for directing current in a controlled manner from the power source to the electromagnet to control the function of the electromagnet.

  In an embodiment of the invention, the magnet includes a wireless receiver that receives the control signal of the control means.

  The mounting device according to the invention is at least one magnet according to the invention, at least one magnet arranged to generate a holding force, and a control for controlling the holding force generated by the magnet Means.

  For example, the attachment device may be used to firmly grasp other attachment devices, the object to be worked on, and the work base. On the other hand, when desired, it is easy to disconnect the attachment device from other attachment devices, the object to be worked on, and the work base. In the mounting device according to the invention, the gripping of the other mounting device, the object to be worked on and the work base is performed using a magnetic field generated by a magnet. The mounting device has control means, and the control means can be used to control the magnetic field generated by the magnet to allow gripping and detachment.

  The control of the magnet holding force can be performed manually, for example by means of a switch or lever in the mounting device. For example, it may be configured such that the connection of current to the magnet occurs automatically under the control of a computer program. It is possible to place one or more magnets to be used remotely. Remote use can be wireless. In certain embodiments, the remote use can be wired.

  By controlling the strength of the magnetic field generated by the electromagnet, the holding force can be controlled. A slide that includes a permanent magnet allows the mounting device to continually not require an extra power source as a source for holding force during normal operation. A relatively small power source such as a battery is sufficient as a power source for an electromagnet that functions for control purposes. It can be configured as a fixed part for each separate attachment device. Such an attachment device functions completely wirelessly and therefore does not require an electrical wire outside it during normal operation.

  In an embodiment of the invention, with respect to attaching the object, the holding force is controllable so that the holding force of the magnet of the attachment device is increased stepwise or to a degree. In an embodiment of the invention, the holding force is controllable so that the holding force of the attachment device is reduced stepwise or to a degree with respect to separating the object. In an embodiment of the present invention, the holding force can be increased if it is detected that the magnet is disconnected. For example, the magnet being separated can be detected by monitoring the position of the slide.

  In an embodiment of the invention, the control means is arranged to control the magnetic field generated by the magnet electromagnet.

  In an embodiment of the present invention, the control means includes a power source, such as a battery, and means for directing current in a controlled manner from the power source to the electromagnet to control the function of the electromagnet.

  In an embodiment of the invention, the control means is configured such that the magnets are separately controllable.

  In an embodiment of the invention, the mounting device includes a wireless receiver for receiving a control signal from the control means.

  In an embodiment of the invention, the attachment device includes a sensor, and the sensor is arranged to sense whether the attachment device is attached to an object.

  In an embodiment of the invention, a tight fold, for example a rubber fold, is attached to the edge of the shell intended to contact the object to be gripped, the fold being It is arranged so as to seal (seal) a gripping point between the magnet and the article to be gripped. Magnets can also be used to grip non-magnetic objects by placing an underpressure in the gripping point through the magnet shell.

  The mounting device according to the present invention is a first magnet according to the present invention at a first end of the mounting device, the mounting device being a work base, another mounting device, or an object to be worked on. A first magnet configured to generate a first holding force for mounting, and a second magnet according to the present invention at a second end of the mounting device, wherein the mounting device is said working base A second magnet configured to generate a second holding force for attachment to another attachment device or to the object to be worked, and a holding force generated by the first and second magnets. Control means.

  The mounting device can have one, two or more controllable magnets. The attachment device may also have one or more other holding means. The other holding means can be any mechanical holding means, for example a clamp, a suction cup or a pliers. The attachment device can have, for example, one magnet and one other holding means. Typically, the attachment device has at least two such holding means and can control their holding force. Other holding means are so known and therefore their operation is not further described in this text.

  In an embodiment of the invention, the control means is arranged such that the first and second magnets can be controlled separately. In embodiments of the invention, the second magnet is manually controlled from a lever or switch in the mounting device or remotely. In an embodiment of the invention, one of the magnets is manually controlled and one is automatically controlled. Thus, the same mounting device is suitable for different uses and situations.

  In an embodiment of the invention, an insulator that insulates from the magnetic flux, such as a plate made of fiberglass or other material that insulates the magnetic flux, is disposed between the first and second magnets. . Other suitable materials can be, for example, aluminum, plastic, acid resistant steel, and glass. Thus, the operation of one magnet does not interfere with the operation of the other magnet.

  In an embodiment of the invention, the magnet is insulated to be watertight. In certain embodiments, the magnet is cast into a suitable curable material, such as a polyester resin. Water tightness is sometimes important. This is because operations often use liquids, otherwise they can cause a short circuit in the electrical device.

  In an embodiment of the invention, the mounting device according to the invention is used underwater. In an embodiment of the invention, the entire mounting device is insulated to be watertight. A watertight mounting device according to the invention, in particular a watertight and remotely usable mounting device, is particularly suitable for underwater work.

  In an embodiment of the invention, the control means is for directing current in a controlled manner from the electric power source to the first magnet and / or the second magnet in the mounting device in order to control its function. Including means.

  In an embodiment of the present invention, the control means includes an electric power source such as a battery and means for guiding current from the power source to the first magnet and / or the second magnet. Thus, in other words, the mounting device has its own electric power source, such as a battery.

  In an embodiment of the invention, the attachment device includes a wireless receiver for receiving a control signal from the control means. Thus, a configuration according to the present invention includes a wireless transmitter. Electrical wires can be avoided when using wireless mounting devices. In an embodiment of the invention, the mounting device is a wireless transmitter for transmitting information such as operating data, temperature of the mounting device, separation of data such as magnets from the mounting device to a control unit outside the mounting device, for example. including.

    In an embodiment according to the invention, the control means of the mounting device includes a radio receiver and / or transmitter for transmitting control data.

  In an embodiment according to the invention, the mounting device functions completely wirelessly in normal use. In other words, the electricity required for the mounting device is charged wirelessly, and data transfer to and from the mounting device is performed wirelessly.

  In an embodiment according to the invention, the control means of the mounting device includes a control device for the electromagnet of the mounting device.

  In an embodiment of the invention, the attachment device includes at least one mechanical attachment means, such as a hook, spike or peg, at one end thereof. Thus, the first magnet or the second magnet can be configured to move the mechanical attachment means. The mechanical attachment means can also be moved by hand. Such a mounting device may be configured to adhere to a work object or work base made of any material and made of non-magnetic material.

  The mechanical attachment means can also function as a movement limiter or limit switch. An automatic device that controls the configuration may also be arranged to precisely place the limiter or limit switch at the desired location of the object being worked on. A mechanical limiter or limit switch may be placed, for example, at the intended location on the edge of the object being worked on. When such limiters or limit switches are in place, it is easy to correctly position the work object according to them.

  In an embodiment of the invention, the attachment device comprises a frame at which first and second holding means such as magnets are attached at different ends thereof. The frame can be, for example, tubular or cubic.

  In an embodiment of the invention, the frame of the mounting device is made of stainless steel, and in other embodiments is made of fiberglass.

  In an embodiment of the invention, the frame of the attachment device includes means for selecting the length as desired. The frame may be nested, for example. In order to lock the length of the attachment device as desired, the frame may have a locking device such as a clamp. The length can be locked using a permanent magnet. Thus, the same mounting device is suitable for different purposes and situations.

  In an embodiment of the invention, the frame of the attachment device includes means for bending the frame to a desired position. For example, the frame may be composed of two parts that are joined together with a hinge or joint, for example, a ball joint. In order to lock the position as desired, the frame may have a locking device such as a clamp. The position can be locked with a permanent magnet. Thus, the same mounting device is suitable for different uses and situations.

  In an embodiment of the invention, the frame of the mounting device comprises several hydraulic cylinders, for example one hydraulic cylinder at each corner of the frame. A magnet valve or the like may be used to control the passage of hydraulic fluid into the cylinder. When the fluid can flow, the length of the hydraulic cylinder can be changed. If all the lengths of the hydraulic cylinders are changed by the same amount, the ends of the mounting devices, their holding devices, do not rotate with respect to each other. On the other hand, if the length of the hydraulic cylinder is changed in different ways, the mounting device will bend. In other words, the ends of the attachment device and their holding means rotate relative to each other. By closing the magnet valve or the like, the valve can be locked in place.

  The mounting arrangement according to the invention transmits at least one mounting device according to the invention, a control unit for generating a control signal for the magnet of the mounting device, and a control signal to the control means of the mounting device. And a data transmission device.

  One or more attachment devices according to the present invention may be used to attach the work object to the work base. The arrangement includes a control unit such as a programmable computer and a user interface for generating control signals to the magnets of the mounting device. The control unit can be separate from the mounting device. The arrangement also includes a data transfer device for transmitting control signals to the control means of the mounting device. The data transfer device may be wireless, and any known data transfer device such as wireless, optical, sound, etc. may be used.

  Some implementations of that configuration include a robot or corresponding NC programmable device, which includes means for placing the mounting device at a desired location, eg, a work base, or other mounting device It is attached.

  A machined metal plate or other metal substrate can function, for example, as a work base. The system can also function as its own work base, i.e., the system can assemble the work base from itself. The jig can be assembled completely without a special work base.

  The arrangement according to the invention can have a filling device. When the attachment device is not performing attachment work, the attachment device is connected to the charging device. Thus, the attachment device has the necessary means such as connectors and cables or means enabling wireless charging, with which an electric power source can be connected to the attachment device. When using a wireless mounting device, electrical wires can be avoided.

  The charging device according to the invention can also be arranged to function as a parking device for the mounting device.

  In an exemplary method according to the invention for adhering to an object, an attachment device according to the invention is attached to the object using a holding force generated by a magnet.

  In an embodiment of the present invention, the slide is moved relative to the shell and center to open and close the magnetic flux circuit, i.e. to change the state of the magnet between the holding position and the open position. Is held in relation to the shell and center in the magnetic field of the first permanent magnet when the magnetic flux circuit is closed, i.e. when the magnet is in the holding position. The magnetic flux provided by the first permanent magnet is at least partially switched off when necessary by generating a magnetic field using an electromagnet to change the state of the magnet to the open position.

  In an embodiment of the invention, a force is generated using at least one spring, which force is generated by the electromagnet when the magnetic flux generated by the first permanent magnet is sufficiently weakened due to the magnetic field generated by the electromagnet. Efforts are made to mechanically separate the resulting slide from the shell and center.

  In an embodiment of the present invention, the movement of the slide relative to the rest of the company is monitored by a sensor, and if movement is detected when the magnet is in the holding position, the holding force of the magnet will cause more current to be applied to the electromagnetic coil. It is increased by giving to.

  A sensor may be placed in the movable slide, for example in the rear plate, that provides information to the processor whether or not the slide will strive to move when the magnet must be in the holding position. In the holding position, a slide that moves relative to the remainder of the magnet means that the magnet is disconnected. Thus, the processor can increase the holding force of the magnet by applying more current to the coil in the proper direction, which strengthens the magnetic flux. Such active monitoring of strength retention and increase as needed is important for the system to be reliable. Information about magnet retention or disengagement can be communicated to the user or the system to which the magnet belongs. Real-time information about retention is required at the time of welding, cutting, and corresponding situations. Thus, real-time monitoring of the status of different fasteners, eg, different fasteners used in laser welding, is possible.

  Using the present invention, a work machine such as a robot, from the mounting device according to the present invention and possible additional pieces, provides a lifting device of the required shape for itself for object handling. Get assembled.

  In one embodiment of the invention, the magnet, i.e. the movable slide, is guided between a holding position and an open position with a current pulse directed to the coil. The duration of the pulse can be, for example, about 0.5 seconds or 0.1 to 1 second.

  In the holding position, the current pulse turns off the magnetic flux to the extent that the spring opens the magnetic flux occlusion circuit by moving the slide away from the rest of the magnet. Thus, the magnet moves to the open position. The open position is changed to the holding position with an opposite pulse, which increases the magnetic flux, so that the slide enters the connection with the rest of the magnet, thereby re-blocking the magnetic flux circuit.

  For example, by applying a PWM signal (pulse width modulation) to the coil, the movement of the magnet components can be controlled in a controlled manner, for example with the aid of a processor. Control can also occur by changing the current level. For example, a pulse with a full duration of 10 seconds may consist of a 0.5 second portion when the signal is on and a 0.1 second portion when the signal is off.

  Different embodiments of the invention are suitable for use in connection with various types of materials and working methods. For example, for chamfering, flame cutting, laser cutting, water cutting, plasma cutting, pipe cutting, welding, grinding, machining, pressing, painting, sandblasting, deburring, drilling, and for temporarily attaching parts to each other In addition, the present invention can be used.

  If this invention is used, attachment of the object of the work object to a work base can be easily automated. The robot can be programmed to place the mounting device at a desired location on the work base. Since robot programming and design and automation are not specifically the purpose of this application, they will not be described further in this context.

  Appropriate magnet dimensions, required currents, and materials can be selected separately for each situation. For example, in some cases, care must be taken not to demagnetize the permanent magnet if it is not the purpose.

  The permanent magnet portion of the magnet can be implemented from different magnetic materials, such as so-called rare earth magnets such as AlNiCo, neodymium magnets (ie, NdFeB, NiB, or Neo magnets), or ceramic magnetic materials. For example, AlNiCo magnetic material can be demagnetized and is suitable as a remagnetization magnetic material. AlNiCo is a metal alloy manufactured from aluminum (Al), nickel (Ni), and cobalt (Co). There may additionally be iron, copper, and titanium in the alloy. Typical alloy proportions are 8-12% Al, 15-26% Ni, 5-24% Co, up to 6% Cu, and 1% Ti with the balance being Fe. For example, NdFeb and / or ceramic magnetic material can be used as the permanent magnet material. A neodymium magnet is a rare earth (rare earth) magnet and is an alloy of neodymium, iron, and boron. A ceramic magnet is a magnet made by powder metallurgy, which has a large amount of metal oxide. For example, ceramic ferrite is a ferromagnetic ceramic material, which has iron oxide, boron, and barium, strontium, or molybdenum. Some examples of suitable magnetic materials are AlNiCo5, NdFeB40MGOe, and ceramic 8. Advantageously, the first permanent magnet is made of neodymium and the second permanent magnet is made of an AlNiCo material.

  Depending on the magnetic material used and the requirements at that time, the outer dimensions of the magnetic clamp will vary. For example, the slide can be formed to be cylindrical. The diameter of the cylindrical slide can be, for example, less than 200 mm, less than 100 mm, less than 50 mm, 25-200 mm, 25, or 50-100 mm. The height of the slide can be, for example, less than 100 mm, less than 50 mm, less than 10 mm, 25-100 mm, 1-25 mm, or 0.5-3 mm. To nominally hold, the slide diameter can be, for example, 10-30% greater than the center.

  The mounting device according to the invention can be viewed as one embodiment of a magnet with a controllable output according to the invention. In an advantageous embodiment, the magnets are partially mechanically switched on and off by moving the magnet parts relative to each other. The magnet according to the invention may have a slide that includes a permanent magnet component, which slide may be at least partially placed inside the coil. One or more springs may be placed between the slide and the rest of the magnet in the manner described above.

  In an embodiment of the present invention, the magnet is used as a so-called bistable magnet. Only a small amount of energy is required to open and close the bistable magnet. The bistable magnet can be kept switched on and switched off without using electrical energy. Thus, a configuration according to the present invention can be used to reduce the amount of electrical energy consumed during the process.

  In an embodiment of the present invention, the magnet functions as an electrically controllable shock absorber, and at the same time the magnet can be used to generate energy. The coil's magnetic field can be used to slow down the movement of the slide moving inside the coil. If, for example, a slide containing neodymium is moved inside the coil, a current is generated in the coil. Thus, this is a generator, which generates electrical energy.

  Magnets according to the present invention may be used in applications that move along a metal surface. Examples of such applications are various other robots such as means for cleaning the bottom of a ship, welding and painting robots, for example. In these applications, the devices are moved along the metal surface, so they require a strong and rigid holding magnet. Advantageously, such magnets can also be controlled with a small amount of energy.

  The magnet according to the present invention may be used to control the magnetic valve and magnetic lock at least between the open and closed positions. Magnetic valves and magnetic locks according to existing technology require energy to maintain them in a switched on or switched off state, whereas embodiments according to the present invention are for changing states. Only need energy.

  Since the slide is arranged to move, the magnet according to the invention can be used to control the movement. The movable slide can be moved with small pulses so that the spring is released, movement is generated, and it always remains in its extreme position to wait for a new pulse.

  A magnet according to the present invention may be used to demagnetize an object. This is done so that the magnet is placed in contact with the object to be demagnetized and current is fed into the electromagnet. The slide is typically locked during the degaussing process.

  The magnet / attachment device according to the invention can be attached to any object in a fixed way, in other words without using a magnet. The attachment method can be, for example, a fixed screw connection or a plug connection that occurs with a catch. The attachment target can be, for example, a lifting device, a jig, or a fire door. Attachments that occur using electricity can also be used. Attachments that occur using hydraulic or pressurized air are also possible. Attachment is also possible with a second magnet. Installation can also be done using a crimp connection. A fixed mounting of the magnet / mounting device is used, particularly when power supply occurs using a conductor. In situations where the magnet battery needs to be changed, different quick mounting methods have proven practical.

  In an embodiment of the invention, the attachment device is used to lift a metal part, such as a metal plate, from the stack.

  The invention will now be described in more detail with reference to the accompanying drawings.

It is a perspective view which shows the attachment apparatus according to this invention. It is an exploded view which shows the attachment apparatus of FIG. It is a perspective view which shows the 2nd attachment apparatus according to this invention. It is an exploded view which shows the attachment apparatus of FIG. It is an exploded view which expands and shows the magnet according to the present invention. It is a fragmentary sectional view which shows the detail of the 3rd attachment apparatus according to this invention. It is a fragmentary sectional view which shows the detail of the 4th attachment apparatus according to this invention. It is a simulation figure which shows the magnetic flux in the attachment apparatus according to this invention. It is a simulation figure which shows the magnetic flux in the attachment apparatus according to this invention. It is a simulation figure which shows the magnetic flux in the attachment apparatus according to this invention. 1 is a schematic diagram showing a configuration according to the present invention. 1 is a perspective view showing an attachment device according to the present invention with two lever pliers attached thereto; FIG. FIG. 3 is a perspective view showing a charging stand for the mounting device according to the present invention. It is a perspective view which shows a workstation. It is a perspective view which shows the 2nd magnet according to this invention. FIG. 3 is an exploded view showing the magnet of FIG. 2. It is sectional drawing which shows the magnet of FIG. 12 in a holding position. FIG. 13 is a cross-sectional view of the magnet of FIG. 12 in an open position.

  For clarity, the same reference numerals are used for at least some corresponding parts in different embodiments.

  At the center of the mounting device 10 shown in FIGS. 1 and 2, which is mainly cylindrical, there is a frame 3 made of a suitable material such as fiberglass or other material that transmits RF signals. If the control signal of the mounting device is something other than an RF signal, for example light, the material of the frame can be any other material suitable for that purpose. The other parts of the mounting device 10 are supported on the frame, they are placed inside the frame, or are joined together using screws. At the lower edge of the device 10 there is a first magnet 8 that is intended to attach the mounting device 10 to the work base, and at the upper edge of the mounting device 10 the structure corresponds to the first magnet 8. There is a second magnet 1 that is directed to attaching the attachment device 10 to an object to be worked.

  The magnet 1 includes a shell 19 and a central portion 22 between which an electromagnet portion 11, that is, an electromagnet is disposed. The electromagnet coil is depicted very schematically in the drawing with a dotted line 12. The battery 6 and the two circuit boards 2 and 7 are arranged inside the frame 3 between the first magnet 8 and the second magnet 1. The frame 3 has an openable maintenance hatch 5, which passes through the frame 3 in order to allow, for example, replacement of the battery 6. An LED light source is also disposed through the light source. For example, an LED light source may be used to display the state of charge of the battery or to indicate whether the battery is being charged. For example, the LED light source can also be used to indicate whether the first or second magnet is switched on or off.

  In the lower, ie first circuit board 7, there are control electronics for the electromagnet 11, the thermometer and the charging device for the battery 6, for example. On the upper, ie, second circuit board 2, there is a radio transceiver for transmitting control information and operating information of the mounting device between the mounting device 10 and the control unit outside it.

  3 and 4 show the attachment device 10 whose shape is mainly a cube or a rectangular pillar. The upper magnet 1 is attached to the rest of the apparatus using attachment screws 13. The lower magnet 8 is attached to the rest of the apparatus using attachment screws 14. There is a frame 3 between the upper magnet 1 and the lower magnet 8. A connection pipe 15 that supports the structure is disposed inside the frame 3, and the upper magnet 1 is attached to the lower magnet 8 using the connection pipe. In particular, the circuit board 2 is arranged between the connection pipes in a so-called frame part. Electrical components such as a selection switch 16 required by the device are mounted on the circuit board 2 and the operation of the mounting device 10 can be manually controlled by the switch. From the selection switch 16, for example, the magnets 1 and 8 can be switched on and off. Additionally, a selection switch may be used to provide an instruction for the mounting device 10 to be switched off or to activate the switched mounting device 10. The selection switch 16 may have one or more LED indicators, for example providing different information about the magnet status such as “open” or “closed” or “system failure”. It can be seen from the LED display. A battery 7 is also attached to the circuit board 2 and an electrical charging connector 17 provides charging current for the battery from the charging device. The charging connector 17 may be in a strip shape (strip shape), for example. An opening 18 is formed in the frame 3 in order to use the selection switch 16. The frame also has an opening for the charging connector 17 (not shown).

  Components required for communication, such as RF transceivers, sensors that monitor the status of magnets, and processors, among others, and software that manages data communication, interruption of operation, and alarms, among others, are also mounted on the circuit board 2. . The communication can be, for example, a direct two-way communication using a device that controls the mounting device 10, i.e. a so-called interface, or a transfer of messages (reports) to other mounting devices and / or interfaces. The interruption of operation can be caused by, for example, the state of the magnet 1 or 8, the temperature of the battery, or the weakening of the charge level or other abnormalities. The interruption of the operation can be set as a limit value of a program for controlling the mounting device, for example, and the interruption is caused when the limit value is exceeded.

  FIG. 5 shows a developed magnet 8 according to the invention. For example, the lower magnet 8 shown in FIGS. 3 and 4 may have the structure shown in FIG. The upper magnet 1 in FIGS. 3 and 4 can have a corresponding structure. The magnet slide 30 includes a rear plate 23, a neodymium magnet 24, and a front plate that are integrally attached. The pressing plate mounting screw 26 attaches the pressing plate 27 to the rear plate 23. A set screw 31 holds the parts of the magnet 8 together. The slide 30 is arranged so as to be movable with respect to the rest of the magnet 8. When the slide 30 is in the down position, the slide 30 partially settles inside the electromagnet coil 29. The push spring 32 is arranged around the set screw 31 so that the push spring 32 tries to push the slide 30 upward, that is, in a direction away from the coil 29 and the central portion 22. Thereby, the pusher spring 32 helps the coil 29 switch off the magnet 8 and keep the magnet 8 switched off. For example, if the coil 29 does not completely switch off the magnet 8 and the pusher spring 32 has already pushed the slide 30 apart, the magnet is switched off by cooperation between them. The pushing plate 27 centers the slide 30 at a predetermined location, and relays the pushing force of the spring 32 to the slide 30.

  In FIG. 5, the object gripped by the magnet 8 is arranged with respect to the lower surface of the magnet 8. Brass plates 20, 21 are arranged at the bottom inside the magnet shell 19 and at the center 22 between them. The center 22 is attached to the shell 19 using the outermost brass plate 20, so that the magnet has no moving parts visible from the outside. A smaller brass plate 21 is attached to the center 22 so that the lower surface of the magnet is uniform. The slide 30 is in contact with the central portion 22 at a lower position so that the magnetic flux can pass through the object to be gripped (the object to be gripped). When the slide 30 is lifted, the passage of magnetic flux to the object to be grasped is prevented. The lower magnet shell 19 functions as a component for transmitting magnetic flux. Correspondingly, the upper magnet shell 47 seen in FIGS. 3 and 4 functions as a component for conducting magnetic flux in the upper magnet 1. The brass plates 20 and 21 insulate the magnetic flux so that the magnetic flux cannot leak from the shell 19 to the slide 30. At the lower edge of the shell 19 is a chamfer 28 (beveling) intended to contact the object to be grasped. The chamfer 28 guides the magnetic flux in order to achieve a greater holding force and increase the surface adhesion of the magnet. Therefore, because of the chamfer 28, the magnet is sufficiently retained even when a thin plate is used.

  The front plate 25 narrows toward the bottom. Thus, the slide 30 is squeezed, i.e. tapered. A larger coil 29 may be placed around the squeezed slide 30. The larger coil 29 allows for the use of a greater effect, so that a larger permanent magnet such as the neodymium magnet 24 may be used. If a constricted slide is used, a greater holding force is achieved than without a constriction.

  FIG. 6a shows a partial sectional view of the details of a third mounting device according to the invention. Fig. 6b shows a partial cross-sectional view of the details of the fourth mounting device according to the present invention. In FIGS. 6a and 6b, an object 33 intended to be gripped by a magnet is depicted. The rear plate 23, the shell 19, the neodymium magnet 24, the front plate 25, the electromagnet coil 29, and the central portion 22 can be seen in the drawing. The rear plate 23, the neodymium magnet 24, and the front plate 25 that are attached integrally form a movable slide 30. The difference between Fig. 6a and Fig. 6b is that the surface of the slide 30 and the rest of the magnet, i.e. the shell 19 in the drawing, are vertical in the contact spot 34 in Fig. 6b, i.e. in the direction of movement of the slide. That is. In FIG. 6 a, the corresponding surface at the contact spot 34 is tilted with respect to the movement of the slide 30. Using the solution in FIG. 6b, in some situations, opening and closing the flux circuit is more efficient.

  Figures 7a, 7b and 7c show a simulation of the magnetic flux in the magnet 8 of the mounting device according to the invention. FIG. 7a only shows a simulation model when the slide 30 is in the lower position, ie when the magnet is in the holding position. In FIG. 7b, the situation is the same as in FIG. 7a, but the simulated flux path is depicted as a line in the drawing. In FIG. 7 c, the slide 30 is lifted away from the rest of the magnet, ie from the shell 19. Thus, the magnet is in the open position. It can be seen from the drawing how the flux path is broken in the open position.

  FIG. 8 shows a configuration according to the invention for attaching an object to be worked to a work base. The arrangement includes a control unit, i.e. an interface 35, and three identical mounting devices 10, 10 ', 10 "according to the present invention. The control unit 35 is from a control system (not shown). Sending a message to the mounting device The control unit has a so-called I / O inlet and can control the control unit, for example with a voltage of 5 V, 12 V or 24 V. The control system can be a robot (see FIG. 12), welding It can be a device, a cutting device, or other corresponding programmable device, within a program that can run on the processor of the control unit 35, as it should be done in advance as a particular I / O instruction arrives. The I / O can be, for example, 8, 16, 32, or 64 bits.

  The robot gives, for example, a command [32] to the control unit. That can mean, for example, “open the upper magnet of the mounting device”. The control unit reads instructions in its entry port. Information that the MAC address of the upper magnet of the mounting device 10 is 54321 is programmed into the software in advance. Thus, the control unit sends the instruction [32] to address 54321. Software in the processor in the mounting device 10 knows that the upper magnet should be opened when the instruction [32] arrives. The mounting devices in the system can be the same. Only those MAC addresses are individual. Since the MAC address of the mounting device is programmable by the control unit, any available mounting device can receive instructions as long as the mounting device is programmed into the system. Thus, the program in the robot need not be changed even if one of the attachment devices is not in use. Within a system, several cubes can exist simultaneously and even hundreds of cubes can exist.

  Various tools can be connected to the mounting device 10 according to the present invention to help grasp the object 33 to be worked on. FIG. 9 shows an attachment device 10 to which two lever pliers are attached.

  FIG. 10 shows a charging base 40 for mounting the mounting device 10 according to the invention having six locations 41 for the mounting device. When the attachment device 11 is not required, the attachment device 11 is stored in the charging stand. The charging stand has a charging device (not shown), and the charging device has charging means suitable for the mounting device 10, such as a connector suitable for the charging connector 17 seen in FIGS. Therefore, the battery of the attachment device 10 in the charging stand can be charged. The edge 42 of the place for the mounting device also advantageously positions the cube when it is installed in the charging stand.

  FIG. 11 shows the work place of the robot 43 in which the configuration according to the invention is used. The work place has 18 attachment devices 10 and a charging stand 40 for them, and the charging stand 40 is arranged in the tool 44. The metal work surface 45 is empty. The robot has a magnetic tool 46, and the robot takes the mounting device 10 from the charging base 40 using the magnetic tool 46 and places the mounting device 10 on the work surface 45. When it assembles a desired jig from the mounting device 10, it places the work object in the jig, replaces the tool, and begins work.

  The operation of the embodiment of the present invention will be described as follows, for example. A current of a desired magnitude is guided to the coil 29 based on execution using the processor on the circuit board 2 of the mounting device 10. When current is directed to the coil in a particular direction, the magnetic field generated by the coil weakens the magnetic field of the permanent magnet 24. The movable slide 30 moves in a direction away from the rest of the magnet in a magnetic field having a specific strength. Separation occurs, for example, when the string 32 has the strength to push the slide 30 away from the frame to the open position. Thus, the magnetic flux cannot pass, the magnetic force is weakened and the magnet is switched off, i.e. the magnet is turned off. When holding the lower magnet 8 is cut, the lower magnet may be placed on the work surface 45 or other attachment device metal. Thereafter, current is directed into the coil 29 in the opposite direction as when the hold was disconnected. Thus, the current is guided in the direction of the coil, which strengthens the magnetic field of the permanent magnet 24. The coil magnetic field then begins to pull the permanent magnet 24 toward the coil. Finally, for example, when the magnetic field is stronger than the springback factor (rebound factor) of the spring 32, the slide 30 starts to move toward the holding position. Finally, when the force is increased sufficiently, the flux circuit is closed again. Thus, the magnet receives a greater holding force. The permanent magnet portion 24 can be, for example, a neodymium magnet.

  The operation of an embodiment of the present invention in which the robot controls the configuration may be described as follows. The control unit 35 receives a command from the robot 43 “Open the upper magnet 1 of the mounting device 10”. The control unit 35 transmits a message to the attachment device 10. The mounting device 10 receives the message and opens its upper magnet 1 according to the command. When the upper magnet is opened, the mounting device 10 sends a message “the upper magnet 1 of the mounting device 10 is opened” to the control unit 35, observes the message and reads it by the robot 43. Forward the message to the I / O port. Thus, the robot can verify the message that the message has been received and the command has been realized.

  The operation of another embodiment of the present invention in which the robot controls the configuration may be described as follows. The control unit 35 receives a command from the robot 43 “Open the upper magnet 1 of the attachment device 10”. The control unit 35 transmits the message to the attachment device 10. If the mounting device 10 does not respond to the message within a certain time frame, the control unit 35 tries again. If the mounting device 10 still does not respond, the control unit 35 gives a transfer command. The control unit 35 has information in its memory about which mounting device the system has in use, which requires the message to be transferred to the nearest other mounting device. Next, the attachment device 10 ′ receives the request to transfer the message and transfers the message to the attachment device 10. The mounting device 10 opens its upper magnet and responds to the mounting device 10 '. “The upper magnet 1 of the attachment device 10 is opened”. The mounting apparatus 10 ′ transfers the message to the control unit 35, and the control unit 35 transfers the message to the robot 43. Thus, the message is received and the command is confirmed. The system itself functions in this way, so that the user does not need to observe separately that the message is received. Any mounting device in the system can function like a transmitter to any other mounting device in the system. It is also possible to program the corresponding program in the processor of the mounting device as in the control unit 35 so that the mounting device itself can function as another controller without a separate control unit 35.

  FIG. 12 shows a magnet according to an embodiment of the present invention, and FIG. 13 shows the same magnet exploded. The magnet 8 includes a shell 19, a central portion 22, and a slide 30 that is arranged to be movable relative thereto. The slide 30 includes a rear plate 23, a neodymium magnet 24, and a front plate 25 that are integrally attached. The central portion 22 includes an AlNiCo magnet (not visible in FIGS. 12 and 13), and the AlNiCo magnet is arranged so that its and differently called poles of the neodymium magnet 24 are opposite to each other.

  The push plate mounting screw 26 attaches the push plate 27 to the rear plate 23. The pusher plate 27 is arranged in relation to the sliding sleeve 51 so that the slide 30 can operate as controlled by the sliding sleeve 51. Therefore, the slide 30 is arranged so as to be movable with respect to the rest of the magnet 8. When the slide 30 is in the down position, the slide 30 partially settles inside the electromagnet coil 29. The pusher spring 32 is arranged around the sliding sleeve 51 so that the pusher spring 32 tries to push the slide 30 upward, i.e. away from the coil 29, the central part 22 and the shell 19. Thereby, the pusher spring 32 helps the coil 29 to switch off the magnet 8 and keeps the magnet 8 switched off. For example, if the coil 29 does not completely switch off the magnet 8 and the pusher spring 32 can already push away from the slide 30, the magnet 8 is switched off by the action between them. The pushing plate 27 centers the slide 30 at a predetermined location, and relays the pushing force of the pushing spring 32 to the slide 30.

  The magnet 8 includes a rear plate 53 that functions simultaneously with the mounting plate for the magnet 8. A screw 52 holds the parts of the magnet 8 together via the sliding sleeve 51. A screw 52 is attached to the end of the sliding sleeve 51. A platform plate 54 is mounted between the rear plate 53 and the shell 19. Control electronics required by the electromagnet are incorporated into the circuit board 55.

  The object grasped by the magnet 8 in FIG. 12 is arranged with respect to the lower surface of the magnet 8. In its lower position, the slide 30 touches the shell 19 and the central part 22 so that the magnetic flux can pass through the object to be grasped. When the slide 30 is lifted, the passage of magnetic flux to the object to be grasped is prevented. The magnet shell 19 and the central portion function as parts for guiding the magnetic flux.

  A mounting screw 56 may be used to attach the magnet 8 shown in FIG. 12 to, for example, a work base or other corresponding object.

  With the help of the magnet cross-section in FIGS. 14 and 15, the operating principle of the magnet shown in FIG. 12 is presented in more detail. FIG. 14 shows the magnet in the holding position, and FIG. 15 shows the magnet in the open position.

  In the holding position of the magnet 8, the slide 30 is in its lower position. Therefore, the rear plate 23 of the slide 30 is in contact with the shell 19, and the front plate 25 is in contact with the center portion 22. The neodymium magnet is attached between the rear plate 23 and the front plate 25. The slide 30 remains in contact with the shell 19 and the central portion 22 with the force of a permanent magnet and maintains a portion of the magnetic flux occlusion circuit inside the magnet 8. The object 33 to which the magnet is attached forms part of a magnetic flux occlusion circuit outside the magnet 8. The portions of the shell 19 and the central portion 22 that are in contact with the object 33 form differently called poles of the magnet 8. The center portion 22 includes an AlNiCo magnet 57.

  When the magnet 8 is placed in the open position, the slide 30 is in the upper position. Thus, the slide 30 is disconnected from the shell 19 and the central part 22 so that the magnetic flux circuit is no longer closed.

  The drawings only show some preferred embodiments according to the invention. Secondary important facts relating to the main idea of the present invention, i.e. such known facts such as electrical cables, data communication devices or support structures as required by the present invention or to those skilled in the art The obvious facts are not shown separately in the drawings. It will be apparent to those skilled in the art that the present invention is not limited to the above-described embodiments, and that the invention may vary within the scope of the claims presented below. The dependent claims present some possible embodiments of the invention and therefore they should not be construed to limit the protection scope of the invention.

Claims (21)

A first permanent magnet that creates a magnetic field;
A shell and a central portion arranged to direct magnetic flux to an object to be grasped;
A slide arranged to be movable relative to the shell and the central portion and including the first permanent magnet;
An electromagnet for moving the slide,
magnet.   The slide includes a first slide portion and a second slide portion, and the first permanent magnet is attached between the first slide portion and the second slide portion. The magnet according to claim 1.   In the holding position of the magnet, the slide is arranged to be movable so that the first portion is in contact with the shell and the second portion is in contact with the central portion. The magnet according to claim 2.   4. A magnet according to any one of the preceding claims, characterized in that the coil of the electromagnet is arranged at least partly around the central part.   The central portion includes a second permanent magnet, and the second permanent magnet is disposed such that poles referred to by different names of the first and second permanent magnets are opposite to each other. The magnet according to any one of claims 1 to 4.   The magnet includes at least one spring, and when the magnetic flux generated by the first permanent magnet is sufficiently weakened due to the magnetic field generated by the electromagnet, the spring causes the slide to move to the shell and the center. The magnet according to claim 1, wherein the magnet is arranged so as to be physically separated from the portion.   7. The magnet according to any one of the preceding claims, wherein the magnet includes at least one sliding sleeve, the at least one sliding sleeve being configured to control the movement of the slide. The magnet described.   The magnet according to claim 1, wherein a portion of the slide that is intended to be inside the coil of the electromagnet has a constricted shape.   9. A magnet according to any one of the preceding claims, characterized in that the edge of the shell intended to contact the object to be gripped is chamfered and thinner.   The magnet according to any one of claims 1 to 9, wherein the magnet includes a control means for controlling a magnetic field generated by the electromagnet.   The control means includes a power source such as a battery and means for directing current from the power source to the electromagnet in a controlled manner to control the function of the electromagnet. The magnet according to claim 10.   The magnet according to claim 10 or 11, wherein the magnet includes a wireless receiver that receives a control signal of the control means. At least one magnet according to any one of the preceding claims, wherein the at least one magnet is arranged to generate a holding force;
Control means for controlling the holding force generated by the magnet,
Mounting device.   14. The mounting device according to claim 13, wherein the control means is arranged to control a magnetic field generated by the electromagnet of the magnet.   The mounting device according to claim 13 or 14, wherein the control means is configured such that the magnets can be controlled separately. An attachment device,
A first magnet at a first end of the attachment device for generating a first holding force for attaching the attachment device to a work base, another attachment device, or an object to be worked on; A first magnet configured;
A second magnet at a second end of the attachment device for generating a second holding force for attaching the attachment device to the work base, another attachment device, or the object to be worked on A second magnet configured to:
Control means for controlling the holding force generated by the first and second magnets,
The first magnet and / or the second magnet is the magnet according to any one of claims 1 to 12,
Mounting device. At least one attachment device according to any one of claims 13 to 15,
A control unit for generating a control signal for the magnet of the mounting device;
A data transfer device for transmitting the control signal to the control means of the attachment device,
Mounting configuration. A method of attaching an object,
Attaching the attachment device according to any one of claims 13 to 15 to an object using a holding force generated by a magnet,
Method. Moving the slide relative to the shell and center to open and close the circuit of magnetic flux, i.e. to change the state of the magnet between the holding position and the opening position;
Holding the slide with respect to the shell and the center using the magnetic field of the first permanent magnet when the circuit of the magnetic flux is closed, i.e. when the magnet is in the holding position; and Characterized by at least partially cutting off the magnetic flux provided by the first permanent magnet when necessary by generating a magnetic field with the electromagnet to change the state of the magnet to the open position. Be
The method of claim 18.   When a force is generated by at least one spring and the magnetic flux generated by the first permanent magnet is sufficiently weakened due to the magnetic field generated by the electromagnet, the force causes the slide to move away from the shell and the central portion. 20. A method according to claim 18 or 19, characterized by striving to mechanically detach.   The movement of the slide relative to the rest of the magnet is monitored with a sensor, and if movement is detected when the magnet is in the holding position, the holding force of the magnet is brought about by bringing more current into the electromagnet coil 21. A method according to any one of claims 18 to 20, characterized by increasing.

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