Magnetic chuck, magnetic attraction device and control method

Abstract

The application discloses a magnetic suction disc, a magnetic suction device and a control method. The magnetic suction disc comprises two kinds of conductive components arranged in insulation with each other. One kind of conductive component is electrified or grounded. The other kind of conductive component is a change component. When performing a suction work, both kinds of conductive components are in contact with a suction object, and the suction object makes both kinds of conductive components conductive. Preferably, the whole or partial part of one kind of conductive component can move relative to the other kind of conductive component. When performing the suction work, both kinds of conductive components are in contact with the suction object in sequence. In this way, the state of the conductive component as the change component can be changed while the magnetic suction disc is in place. The change component can output an electric signal to a controller to make the controller implement the next work. The change component can also make the power supply circuit of the magnetic suction component conductive to make the magnetic suction component work. In the application, the structure of the magnetic suction disc is compact and the reliability is high, which is beneficial to the miniaturization of equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnetic suction disc, in particular to a magnetic suction disc, a magnetic suction device and a magnetic suction disc control method. BACKGROUND

[0002] The magnetic suction disc is a commonly used grabbing element, which can use magnetic force to hold the workpiece of steel material, and has the advantages of reliability and easy taking and placing. Due to the limitation of the magnetic suction principle, the magnetic suction disc needs to be in full contact with the workpiece to ensure stable holding, so in the process of automatically or semi-automatically holding the workpiece, on the one hand, in-place detection needs to be performed to ensure that the magnetic suction disc is in full contact with the workpiece, and on the other hand, in-place detection can also trigger a signal to the controller of the magnetic suction disc, and the controller controls the magnetic suction disc to start working (generating magnetic force) according to the trigger signal.

[0003] In the prior art, patent CN114890278A discloses a typical electromagnetic suction disc and a lifting method thereof, in which the suction disc 1 is connected to the elastic member 32 through the connecting rod 31 and the mounting plate 2, and in addition, the suction disc 1 is provided with an induction plate 52, and the mounting plate 2 is provided with an induction switch 51. When working, the mounting plate 2 with the suction disc 1 approaches the workpiece, and when the suction disc 1 contacts the workpiece, the mounting plate 2 continues to move towards the workpiece until the end of the induction plate 52 acts on the induction switch 51 to make the induction switch 51 generate a trigger signal, and the controller controls the suction disc 1 to work according to the trigger signal, and subsequently controls the device connected to the mounting plate 2 to operate to move the mounting plate 2. In this scheme, the following shortcomings exist:

[0004] (1) Reliability is low. In actual implementation, the sliding fit between the connecting rod 31 and the mounting plate 2 is easy to jam, so that the induction switch 51 always sends a trigger signal, and the controller will misjudge the holding state of the suction disc 1;

[0005] (2) The structure is complex and the volume is large. The connection structure between the suction disc 1 and the mounting plate 2 needs to occupy a large space, and in addition, the induction switch 51 and the induction plate 52 also need to be provided, so that the whole electromagnetic suction disc is relatively complex and large in size, and in each holding process, the suction disc 1 needs to move a long distance relative to the mounting plate 2, and also needs to leave a movement space, so that the space is wasted more as a whole, which is not conducive to the miniaturization of the equipment and the grabbing operation in a narrow space. SUMMARY

[0006] The present application provides a magnetic suction disc, a magnetic suction device and a control method with high reliability and compact structure to overcome the deficiencies in the prior art.

[0007] Technical scheme: In order to achieve the above-mentioned purpose, the magnetic suction disc of the present application comprises a magnetic suction component;

[0008] The magnetic suction disc comprises two kinds of conductive components arranged in insulation with each other, and the number of each kind of conductive component can be one or more; when there are multiple kinds of conductive components, different kinds of conductive components are insulated with each other, and the same kind of conductive components can be conductive with each other; one kind of conductive component is a connection component connected to a power supply (directly or indirectly) or grounded, and the other kind of conductive component is a change component whose electrical state can be changed, and the electrical state can be: not connected to a power supply, not grounded, grounded, connected to a power supply (directly or indirectly), and the electrical state is changed when it is switched from one state to another; when performing a holding operation, both kinds of conductive components are in contact with the holding object, and the holding object makes the two kinds of conductive components conductive. The above-mentioned "connection component" and "change component" are only used to distinguish the two kinds of conductive components, and are not used to limit the functions of the two kinds of conductive components. After the two kinds of conductive components are conductive, the change component is also connected to the power supply or grounded, and the state of the change component is changed.

[0009] Further, one kind of conductive component can be moved relative to the other kind of conductive component as a whole or in part; when performing a holding operation, the two kinds of conductive components are in contact with the holding object in sequence.

[0010] Further, it further comprises a controller; the change component is connected to the controller. The controller can be built-in (built-in in the seat body of the magnetic suction component) or external. In this scheme, the magnetic suction component can be a non-electrically controlled permanent magnet, that is, the controller has no electrical connection relationship with the magnetic suction component, and the controller is connected to an external system (such as a robot or a linear module that drives the magnetic suction disc to move), and after the connection component and the change component are in contact with the holding object and conductive, the change component outputs an electrical signal to the controller, and the controller knows that the magnetic suction component has been positioned, and can control the robot or the linear module that drives the magnetic suction disc to move to perform a moving operation.

[0011] Further, the magnetic suction component is an electrically controlled magnetic suction component, such as an electromagnet or a permanent magnetically controlled suction disc, which is connected to the controller, and the controller can control whether the magnetic suction component works or not, that is, the controller controls the magnetic suction component to start working based on the electrical signal generated by the conductive component. In this scheme, the connection component is connected to a low-voltage power supply (such as 12V) or grounded, and the magnetic suction component does not work at first, and when the connection component and the change component are in contact with the holding object, the electrical level output by the change component changes due to the conduction between the two kinds of conductive components, triggering the controller to perform an operation to make the magnetic suction component work, and the magnetic suction component generates magnetism and adsorbs the holding object, and then can perform a moving, carrying or other operation on the adsorbed object.

[0012] Further, the two conductive components can make the power supply circuit of the magnetic attraction component in communication. That is, when the magnetic attraction disc is not in contact with the object, the power supply circuit of the magnetic attraction component is in an open circuit state, and when the connecting component and the changing component are both in contact with the object, the power supply circuit of the magnetic attraction component is in a closed circuit state, the magnetic attraction component generates magnetism and attracts the object, and then the object can be moved, carried or the like. In this scheme, the connection and disconnection of the connecting component and the changing component act as a switch. This scheme has relatively low safety compared to the previous scheme because the connecting component needs to be connected to strong current, but it also has certain practicality in the working condition without manual intervention.

[0013] Further, the magnetic attraction component includes a first seat body with a first attraction surface, and the first seat body constitutes one of the two conductive components. Since the first seat body itself has a conductive property and serves as one of the two conductive components, when the two conductive components are both in contact with the object, it is proved that the magnetic attraction component has reached the position, and the magnetic attraction component can immediately start working.

[0014] Further, the magnetic attraction component is an electromagnet, and in addition to the first seat body, the magnetic attraction component further includes an excitation coil capable of generating magnetism in the first seat body in an electrical state.

[0015] Further, when the magnetic attraction component is a permanent magnet or the like, the magnetic attraction component includes a second seat body with a second attraction surface; at least one of the two conductive components is installed on the second seat body and has an end surface flush with the attraction surface. In this way, after the magnetic attraction component reaches the object, the attraction surface also reaches the object, and the attraction operation and the subsequent movement of the magnetic attraction disc can be immediately performed.

[0016] Further, the two conductive components are respectively a first conductive component and a second conductive component; both are rigid entities and can slide relative to each other.

[0017] Further, it further includes an elastic element acting on one of the two conductive components, which can be a spring or the like; when the magnetic attraction disc is not working, the elastic element makes the working end of the conductive component on which it acts not flush with the working end of the other conductive component, wherein the working end refers to the end of the conductive component in contact with the object when the magnetic attraction disc is working. In this way, when the surface of the object is a plane, it can be ensured that the two conductive components are in contact with the object in sequence. In other schemes, the elastic element can not be provided, and the gravity of the two conductive components themselves can make the working ends of the two conductive components not flush when the magnetic attraction disc is not working.

[0018] In other cases, the surface of the holding object is not a complete plane, such as a stepped surface, an arc surface, etc. In these cases, the working ends of the two conductive components can also be flush, but as long as the two conductive components are in contact with the holding object in sequence during the holding operation, it is considered to fall within the protection scope of the present application.

[0019] Further, the second conductive component is in the shape of a shaft, a needle, or a ball.

[0020] Further, an insulating sleeve is arranged around the second conductive component.

[0021] Further, when the second conductive component is in the shape of a needle or a shaft, the second conductive component has a thrust shoulder, and the insulating sleeve can act on the thrust shoulder to limit the relative position of the two conductive components.

[0022] Further, the two conductive components are respectively a first conductive component and a second conductive component; at least part of the second conductive component has elasticity.

[0023] Further, the conductive component is a bent sheet or a wire, which has a fixed end and a free end, and the free end can elastically move relative to the fixed end.

[0024] Further, the second conductive component is in the shape of a sheet or a wire, and the middle part has a protruding part that protrudes outwardly from the first conductive component.

[0025] The present application also discloses a control method of a magnetic suction disc, which is based on the above magnetic suction disc, and the method comprises the following steps:

[0026] It is judged whether the change component generates a trigger signal, and if yes, the following steps are performed:

[0027] The magnetic suction component is controlled to work, and / or a moving device (such as a multi-axis industrial machine or a linear motion module) outside the magnetic suction disc is controlled to operate to move the magnetic suction disc. That is,

[0028] The present application also discloses a magnetic suction device, which comprises the above magnetic suction disc, and further comprises a moving device capable of moving the magnetic suction disc; the change component and the moving device are connected to a control system.

[0029] Further, a mounting seat is arranged between the magnetic suction disc and the moving device, and a plurality of magnetic suction discs are mounted on the mounting seat.

[0030] A control method of a magnetic suction device, which is based on the above magnetic suction device and is implemented by a control system, and the method comprises the following steps:

[0031] Control the operation of the moving device to bring the magnetic chuck closer to the object being held;

[0032] If the changing component generates a trigger signal, then perform the following steps:

[0033] Control the operation of the magnetic suction component, and / or control the operation of the moving device to move the magnetic suction cup carrying the object being held.

[0034] Beneficial Effects: The magnetic chuck, magnetic suction device, and control method of the present invention, by setting two conductive components, and during the suction operation, after both conductive components are in contact with the object being suctioned, the object being suctioned causes the two conductive components to conduct. This allows the state of the conductive component, which acts as a changing component, to be changed simultaneously with the magnetic chuck's positioning. The changing component can output an electrical signal to the controller, causing the controller to perform the next operation; the changing component can also activate the power supply circuit of the magnetic suction component, enabling the magnetic suction component to operate. In this invention, the magnetic chuck has a compact structure and high reliability, which is beneficial for the miniaturization of equipment. Attached Figure Description

[0035] Figure 1(a) is a first state diagram of the magnetic chuck in the first implementation scheme of Embodiment 1;

[0036] Figure 1(b) is a second state diagram of the magnetic chuck in the first implementation scheme of Embodiment 1;

[0037] Figure 2 This is a structural diagram of the combination of the second conductive component and its surrounding components in the first implementation scheme of Embodiment 1;

[0038] Figure 3 This is a structural diagram of a combination of a conductive component and its surrounding components in another form of the first implementation scheme in Embodiment 1;

[0039] Figure 4(a) is a first state diagram of the magnetic chuck in the second implementation scheme of Embodiment 1;

[0040] Figure 4(b) is a second state diagram of the magnetic chuck in the second implementation scheme of Embodiment 1;

[0041] Figure 5 This is a structural diagram of the magnetic chuck in the third implementation scheme of Example 1;

[0042] Figure 6 This is a structural diagram of the magnetic chuck in the first implementation scheme of Embodiment 2;

[0043] Figure 7 This is a structural diagram of the magnetic chuck in the second implementation scheme of Embodiment 2;

[0044] Figure 8 This is a structural diagram of the magnetic chuck in Example 3;

[0045] Fig. 9(a) is a first state diagram of the magnetic chuck in Example 4;

[0046] Fig. 9(b) is a second state diagram of the magnetic chuck in Example 4;

[0047] Fig. 10(a) is a first state diagram of the magnetic chuck in Example 6;

[0048] Fig. 10(b) is a second state diagram of the magnetic chuck in Example 6;

[0049] Figure 11 Fig. 11 is a structural diagram of the magnetic chuck in Example 7.

[0050] In the figure: A - magnetic chuck; B - held object; 1 - magnetic component; 11 - first seat; 11a - first holding surface; 11b - ring groove; 12 - excitation coil; 13 - second seat; 13a - second holding surface; 14 - housing; 14a - third holding surface; 15 - magnetic pole; 16 - permanent magnet; 17 - coil; 18 - reversible magnet; 2 - controller; 3 - first conductive component; 4 - second conductive component; 41 - thrust shoulder; 42 - fixed end; 43 - free end; 44 - protrusion; 5 - elastic element; 6 - insulating spacer; 7 - moving device; 8 - mounting seat; 9 - base; 10 - limit pin; 20 - insulating layer. DETAILED DESCRIPTION

[0051] The application will be further described below in conjunction with the accompanying drawings.

[0052] The application provides a magnetic chuck, which comprises a magnetic component 1 for performing holding operation, and two kinds of conductive components which are arranged in insulation with each other, and the number of each kind of conductive component can be one or more; when there are multiple conductive components of at least one kind, the different kinds of conductive components are insulated with each other, and the same kind of conductive components can be in conduction with each other. The magnetic component 1 and the conductive components are not independent, and they can share parts.

[0053] Among the two kinds of conductive components, one kind of conductive component is a connection component for being electrified or grounded, and the other kind of conductive component is a change component whose electrical state can be changed; when performing holding operation, the two kinds of conductive components are in contact with the held object, and the held object makes the two kinds of conductive components in conduction, that is, the held object is a material which is conductive and can be magnetically attracted, and is generally a metal such as iron, cobalt, nickel or an alloy thereof. The two names "connection component" and "change component" are only used to distinguish the two kinds of conductive components, and are not used to limit the functions of the two kinds of conductive components; after the two kinds of conductive components are in conduction, the change component is also electrified or grounded, and the state of the change component is changed.

[0054] Preferably, one of the conductive parts is capable of moving relative to the other, and when performing the holding operation, the two conductive parts contact the holding object in sequence.

[0055] The following embodiments will be described in detail to illustrate the specific structure of the magnetic holding disc.

[0056] Embodiment One

[0057] In this embodiment, the two conductive parts are a first conductive part 3 and a second conductive part 4, both of which are rigid bodies and are capable of sliding relative to each other.

[0058] As shown in Fig. 1(a), the magnetic holding part 1 comprises a first seat 11 having a first holding surface 11a, which is the first conductive part 3. Since the first seat 11 itself has conductive properties and it is the first conductive part 3, when the two conductive parts contact the holding object, it is proved that the magnetic holding part 1 has reached the position and the magnetic holding part 1 can immediately start working to magnetically attract the holding object.

[0059] As an implementation, as shown in Fig. 1(a), in this scheme, the working end of the second conductive part 4 is in an outwardly convex state relative to the working end of the first seat 11 (i.e. the first holding surface 11a), and an elastic element 5 is arranged between the second conductive part 4 and the first seat 11, which makes the second conductive part 4 have a tendency to move outwardly, i.e. when performing the holding operation, the working end of the second conductive part 4 contacts the holding object first, and then the first holding surface 11a of the first seat 11 contacts the holding object, and after the two conductive parts contact the holding object, the state of the magnetic holding disc is shown in Fig. 1(b). Since the contact of the two conductive parts with the holding object has a sequential relationship, it can be ensured that the two conductive parts can fully contact the holding object, and the conductive part that contacts the holding object first can contact the holding object more fully in the process of the magnetic holding part 1 continuing to approach the holding object.

[0060] As shown in Fig. 1(a), the second conductive part 4 is needle-shaped, which is installed at the center of the first seat 11 and is capable of sliding relative to the first seat 11, and an insulating spacer 6 is arranged between the second conductive part 4 and the first seat 11. Figure 2 As shown, the second conductive part 4 has a thrust shoulder 41, and the insulating spacer 6 can act on the thrust shoulder 41 to limit the relative position of the two conductive parts.

[0061] In addition, as shown, the second conductive part 4 can also be spherical as shown in Fig. 1(c), the sphere has a part that is outwardly convex relative to the first holding surface 11a, and the elastic element 5 acts on the sphere. Figure 3 Figure 2 ​​

[0062] As another embodiment, as shown in Figure 4(a), in this scheme, the magnetic chuck also includes a base 9, and the second conductive component 4 is fixed on the base 9. The first seat 11 can translate relative to the base 9. A limiting pin 10 is installed on the first seat 11, and the limiting pin 10 can slide relative to the base 9. An elastic element 5 is disposed between the base 9 and the first seat 11, and makes the first seat 11 tend to move away from the base 9. The working end of the second conductive component 4 is in a concave state relative to the first holding surface 11a. When performing the holding operation, the first holding surface 11a contacts the holding object first, and the second conductive component 4 contacts the holding object later. After both conductive components have contacted the holding object, its state is as shown in Figure 4(b).

[0063] In the embodiments shown in Figures 1(a) and 4(a), the magnetic suction component 1 is an electromagnet. Besides the first base 11, the magnetic suction component 1 also includes an excitation coil 12, which, in an electrically active state, can magnetize the first base 11. Specifically, the first base 11 has an annular groove 11b, and the excitation coil 12 is placed within the annular groove 11b. Furthermore, in the embodiments shown in Figures 1(a) and 4(a), if the magnetic chuck A operates in the posture shown in the figures, the elastic element 5 may not be provided. When the magnetic chuck A is not working and is not in contact with the object being held, the gravity of the two conductive components causes their working ends to be uneven.

[0064] In other embodiments, the magnetic attraction component 1 can also be a permanent magnet, such as... Figure 5 As shown, the magnetic attraction component 1 includes a second base 13 having a second holding surface 13a; a first conductive component 3 is mounted on the second base 13 and has an end face flush with the second holding surface 13a. The structure of the second conductive component 4 is the same as that in Figure 1(a), and can also be... Figure 3 As shown, once the magnetic suction component 1 reaches the object being held, the second suction surface 13a also reaches the object, allowing for immediate suction and subsequent movement of the magnetic chuck. The first conductive component 3 in the figure is annular; in other embodiments, the first conductive component 3 may also have other shapes.

[0065] In other embodiments, when the surface of the object being held is not a completely flat surface, such as a stepped surface or an arc surface, the working ends of the two conductive components may be flush. However, as long as the condition that the two conductive components contact the object being held first and then last during the holding operation is met, it is considered to fall within the protection scope of this application.

[0066] Furthermore, the magnetic component 1 can also be in the form of an electrically controlled permanent magnet chuck or other forms, or any new components that use magnetism to hold objects should also be considered to fall within the scope of protection of this invention.

[0067] Example 2

[0068] In this embodiment, the two conductive components are a first conductive component 3 and a second conductive component 4; the shape of the first conductive component 3 is as described in Embodiment 1, which can be the first base 11 of the magnetic attraction component 1 as shown in FIG. 1(a), or it can be as shown in FIG. 1(a). Figure 5 It is installed on the second base 13 of the permanent magnet in the manner shown.

[0069] As one solution, such as Figure 6 As shown, the first conductive component 3 is the base 11 of the magnetic attraction component 1. The base 11 is made of metal and has a holding surface 11a. An insulating layer 20 is provided between the first conductive component 3 and the second conductive component 4. At least a portion of the second conductive component 4 is elastic, and the elastic portion has a portion that protrudes outward relative to the holding surface 11a. The conductive component is a bent metal sheet or wire, which has a fixed end 42 and a free end 43. The free end 43 is elastically movable relative to the fixed end 42.

[0070] As an alternative, such as Figure 7 As shown, the second conductive component 4 is a metal sheet or metal wire or other conductive elastic material, and its middle part has a protrusion 44 that protrudes outward from the first conductive component 3. The protrusion 44 is in an outward state relative to the holding surface 11a. When performing the holding operation, the protrusion 44 first contacts the holding object, and as the seat 11 continues to move closer to the holding object, the protrusion 44 is squeezed inward, and the second conductive component 4 undergoes elastic deformation until the seat 11 (first conductive component 3) contacts the holding object.

[0071] Example 3

[0072] In this embodiment, the two conductive components are a first conductive component 3 and a second conductive component 4; wherein the shape of the first conductive component 3 is as described in Embodiment 1, and it can be the base 11 of the magnetic attraction component 1 as shown in FIG. 1(a), or it can be as shown in FIG. 1(a). Figure 5 It is installed on the second base 13 of the permanent magnet in the manner shown. Figure 8 The image shows the first scenario. Figure 8 In this configuration, the second conductive component 4 is fixed relative to the first conductive component 3, and an insulating layer separates them. The working end of the second conductive component 4 is flush with the lower side of the first conductive component 3. Thus, when both conductive components are in contact with the object being held, the electrical state of the component can be changed.

[0073] Example 4

[0074] In this embodiment, as shown in FIG9(a), the magnetic suction component 1 is an electro-permanent magnet chuck, which includes a magnetic pole 15, a permanent magnet 16, a coil 17 and a reversible magnet 18. The coil 17 is arranged around the reversible magnet 18, and the permanent magnet 16 is arranged around the magnetic pole 15. The magnetic pole 15 and the reversible magnet 18 are stacked and installed. When performing the suction operation, the magnetic pole 15 is closer to the object being suctioned. In actual operation, by passing a pulse current through coil 17 to generate an electromagnetic field, the direction of the magnetic field of reversible magnet 18 can be changed. This allows the internal magnetic circuit of the electro-permanent magnet chuck to be converted. Specifically, as shown in Figure 9(a), when the magnetic poles of permanent magnet 16 and reversible magnet 18 are in the same direction, the magnetic lines of force are concentrated on the surface of magnetic pole 15, forming a strong magnetic attraction to the object being held. As shown in Figure 9(b), when the magnetic poles of permanent magnet 16 and reversible magnet 18 are in opposite directions, the internal magnetic circuit of electro-permanent magnet chuck 7 reaches a rough self-balance, and the magnetic force disappears externally, thus allowing the held object to be put down.

[0075] In Figure 9, the electro-permanent magnet chuck includes a housing 14 that encompasses the aforementioned magnetic pole 15, permanent magnet 16, coil 17, and reversible magnet 18. The housing 14 is supported by a magnetically conductive metal material and has a third holding surface 14a. The housing 14 can serve as the first conductive component 3. Alternatively, in other embodiments, if the electro-permanent magnet chuck does not include the housing, a separate conductive component can be provided on the holding surface of the entire electro-permanent magnet chuck as the first conductive component 3. Furthermore, the installation method of the second conductive component 4 in Figure 9 is similar to that in Figure 1(a). The second conductive component 4 can also be set using other methods from the previous three embodiments, such as referring to... Figure 3 Figure 4(a) Figure 6 , Figure 7 , Figure 8 The main difference between this embodiment and the previous three embodiments lies in the different magnetic suction component 1. The installation methods of the two conductive components can be referred to in the previous three embodiments, so they will not be described again.

[0076] Example 5

[0077] This embodiment is based on the implementation structure of any of the schemes in the aforementioned embodiments one, two, three, and four. For ease of explanation, the scheme shown in Figure 1(a) will be used in this embodiment.

[0078] As shown in Figure 1(a), the magnetic chuck also includes a controller 2, wherein the first conductive component 3 is a grounding (or can be connected to a low-voltage power supply) connection component, and the second conductive component 4 is a variable component, which is connected to the controller 2. The controller 2 can be built-in (built into the base 11 of the magnetic chuck component 1) or external.

[0079] The magnetic suction component 1 shown in Figure 1(a) is an electrically controlled magnetic suction component, which is connected to the controller 2. The controller 2 is controlled by the magnetic suction component 1, that is, the controller 2 controls the magnetic suction component 1 to start working based on the electrical signal generated by the conductive component. In this scheme, the connecting component is connected to a low-voltage power supply (such as 12V) or grounded, and the magnetic suction component 1 does not work at first. When both the connecting component and the changing component are in contact with the object being held, the level output by the changing component changes due to the conduction between the two conductive components, triggering the controller 2 to execute the operation of the magnetic suction component 1. The magnetic suction component 1 generates magnetism and attracts the object being held, and then operations such as moving and transporting the attracted object can be performed.

[0080] As a variation, the first conductive component 3 can be used as a variation component, while the second conductive component 4 can be used as a connecting component.

[0081] In other embodiments, the magnetic attraction component 1 can be a non-electrically controlled permanent magnet, such as... Figure 5 As shown, the controller 2 and the magnetic suction component 1 are not electrically connected. The controller 2 can be connected to an external system (such as a robot or linear module that moves the magnetic suction cup). After the connecting component and the changing component are in contact with the object being held and connected, the changing component outputs an electrical signal to the controller 2. The controller 2 knows that the magnetic suction component 1 has been in place and can then control the robot or linear module that moves the magnetic suction cup to perform the moving operation.

[0082] This embodiment also provides a control method for a magnetic chuck, which is based on the magnetic chuck described above and implemented by a controller 2. The method includes:

[0083] If the changing component generates a trigger signal, then perform the following steps:

[0084] Control the operation of the magnetic suction component 1, and / or control the operation of a moving device (such as a multi-axis industrial machine, linear motion module, etc.) outside the magnetic suction cup to move the magnetic suction cup.

[0085] In the above method, when the magnetic chuck component 1 is a permanent magnet, the controller 2 only controls the movement of the external moving device of the magnetic chuck after the changing component generates a trigger signal. When the magnetic chuck component 1 is an electromagnet, an electrically controlled permanent magnet chuck, etc., the controller 2 can first control the magnetic chuck component 1 to work after the changing component generates a trigger signal, and then control the movement of the external moving device of the magnetic chuck to move the magnetic chuck.

[0086] Example 6

[0087] This embodiment is based on the implementation structure of any of the schemes in the aforementioned embodiments one, two, three, and four. For ease of explanation, the scheme shown in Figure 1(a) will be used in this embodiment.

[0088] As shown in Figure 10(a), in this embodiment, the magnetic suction component 1 is an electrically controlled magnetic suction component such as an electromagnet. The first conductive component 3 and the second conductive component 4 are both installed on the power supply circuit of the magnetic suction component 1. The first conductive component 3 is connected to high voltage (such as 220V, 380V, etc.). The conduction of the two conductive components enables the power supply line of the magnetic suction component 1 to be connected, as shown in Figure 10(b). That is, when the magnetic suction cup is not in contact with the object being held, the power supply line of the magnetic suction component 1 is in an open circuit state. When both the connecting component and the changing component are in contact with the object being held, the power supply line of the magnetic suction component 1 is connected, the magnetic suction component 1 generates magnetism and attracts the object, and then operations such as moving and transporting the attracted object can be performed. In this embodiment, the connection and disconnection of the connecting component and the changing component act as a switch. Because the connecting component needs to be connected to high voltage, this scheme is relatively less safe than the previous embodiment, but it still has certain practicality in situations where no manual intervention is required.

[0089] Example 7

[0090] This embodiment provides a magnetic attraction device, such as Figure 11 As shown, it includes a magnetic chuck A as in any of the above embodiments, and a moving device 7 capable of moving the magnetic chuck. The changing component and the moving device 7 are connected to the control system. When the magnetic chuck component 1 is an electrically controlled magnetic chuck component, the control system is also connected to the magnetic chuck component 1.

[0091] In this embodiment, a mounting base 8 is provided between the magnetic chuck and the moving device 7. Multiple magnetic chucks are distributed and installed on the mounting base 8. The magnetic chucks can be mounted on the mounting base 8 by a floating device.

[0092] This embodiment also provides a control method for a magnetic attraction device, which is based on the above-described magnetic attraction device, and the method includes the following steps S1-S2:

[0093] Step S1: Control the operation of the moving device 7 to bring the magnetic chuck closer to the object being held;

[0094] Step S2: Determine whether the changing component generates a trigger signal. If yes, execute the following steps:

[0095] Control the operation of the magnetic suction component 1, and / or control the operation of the moving device 7, so that the magnetic suction cup moves the object being held.

[0096] When the magnetic chuck 1 is a permanent magnet, the controller 2 only controls the movement device 7 outside the magnetic chuck to operate after the changing component generates a trigger signal. When the magnetic chuck 1 is an electromagnet, an electrically controlled permanent magnet chuck, or the like, the controller 2 can first control the magnetic chuck 1 to work after the changing component generates a trigger signal, and then control the movement device 7 outside the magnetic chuck to move the magnetic chuck.

[0097] When multiple magnetic chucks are installed on the mounting base 8, in step S2 the control system also needs to determine whether all the changing parts of the magnetic chucks generate trigger signals, or whether the changing parts that exceed the set threshold generate trigger signals. If so, the subsequent steps will be implemented.

[0098] In all the above embodiments, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0099] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0100] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0101] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A magnetic chuck, comprising a magnetic suction component (1); characterized in that: The magnetic chuck includes two conductive components that are insulated from each other. One type of conductive component is energized or grounded; the other type of conductive component is a component whose electrical state can be changed. During the holding operation, after both conductive components come into contact with the holding object, the holding object makes the two conductive components conductive; One of the conductive components, either wholly or partially, is movable relative to the other conductive component; during the holding operation, the two conductive components contact the object to be held first and then last. It also includes a controller (2); the variable component is connected to the controller (2); The controller (2) is configured to control the magnetic suction component (1) to start or stop working based on the change in the electrical state of the variable component, and / or control the operation of the moving device (7) that drives the magnetic suction disk to move.

2. The magnetic chuck according to claim 1, characterized in that, The magnetic attraction component (1) is an electrically controlled magnetic attraction component, which is connected to the controller (2), and the controller (2) is controlled to connect with the magnetic attraction component (1).

3. The magnetic chuck according to claim 1, characterized in that, The conduction of the two conductive components enables the power supply line of the magnetic attraction component (1) to be connected.

4. The magnetic chuck according to claim 1, characterized in that, The magnetic component (1) includes a first seat (11) having a first holding surface (11a), the first seat (11) constituting one of the conductive components.

5. The magnetic chuck according to claim 4, characterized in that, The magnetic attraction component (1) also includes an excitation coil (12), which can generate magnetism in the first base (11) when in an electrical state.

6. The magnetic chuck according to claim 1, characterized in that, The magnetic suction component (1) includes a second base (13) having a second holding surface (13a); at least one of the conductive components is mounted on the second base (13) and has an end face flush with the second holding surface (13a).

7. The magnetic chuck according to claim 1, characterized in that, The two conductive components are a first conductive component (3) and a second conductive component (4); both are rigid entities and can slide relative to each other.

8. The magnetic chuck according to claim 7, characterized in that, It also includes an elastic element (5) acting on one of the conductive components; when the magnetic chuck is not working, the elastic element (5) causes the working end of the conductive component it acts on to be non-aligned with the working end of the other conductive component.

9. The magnetic chuck according to claim 7, characterized in that, The second conductive component (4) is axial or spherical.

10. The magnetic chuck according to claim 7, characterized in that, It also includes an insulating spacer (6) disposed around the second conductive component (4).

11. The magnetic chuck according to claim 10, characterized in that, The second conductive component (4) has a thrust shoulder (41), and the insulating spacer (6) can act on the thrust shoulder (41) to limit the relative positions of the two conductive components.

12. The magnetic chuck according to claim 1, characterized in that, The two conductive components are a first conductive component (3) and a second conductive component (4); at least a portion of the second conductive component (4) is elastic.

13. The magnetic chuck according to claim 12, characterized in that, The conductive component is a bent sheet or wire with a fixed end (42) and a free end (43), the free end (43) being elastically movable relative to the fixed end (42).

14. The magnetic chuck according to claim 12, characterized in that, The second conductive component (4) has a protrusion (44) in the middle that protrudes outward from the first conductive component (3).

15. A control method for a magnetic chuck, based on the magnetic chuck of claim 1 and implemented by the controller (2), characterized in that, The method includes: If the changing component generates a trigger signal, then perform the following steps: Control the operation of the magnetic suction component (1), and / or control the operation of the external moving device (7) of the magnetic suction cup to move the magnetic suction cup.

16. A magnetic attraction device, characterized in that, It includes the magnetic chuck as described in claim 1, and also includes a moving device (7) capable of moving the magnetic chuck; the changing component and the moving device (7) are connected to the control system.

17. The magnetic attraction device according to claim 16, characterized in that, A mounting base (8) is provided between the magnetic chuck and the mobile device (7), and multiple magnetic chucks are distributed and installed on the mounting base (8).

18. A control method for a magnetic attraction device, based on the magnetic attraction device of claim 16, and implemented by a control system, characterized in that, The method includes: Control the operation of the moving device (7) to bring the magnetic chuck closer to the object being held; If the changing component generates a trigger signal, then perform the following steps: Control the operation of the magnetic suction component (1) and / or control the operation of the moving device (7) to move the magnetic suction cup with the object being held.

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