An electric permanent magnetic chuck capable of automatic displacement

Abstract

The application provides an electric permanent magnetic chuck capable of automatic displacement, comprising: a fixed base arranged in a ring shape; a movable base arranged in the fixed base and in sliding connection with the fixed base; a plurality of magnetic attraction units fixed to the same side of the fixed base and the movable base, partially arranged in a ring shape at intervals around the fixed base and partially arranged in an array on the movable base; a driving unit arranged on one side of the fixed base and used for driving the movable base to reciprocatingly displace in the fixed base along one direction; and a control unit fixed in the fixed base and the movable base and used for sending a pulse signal to the magnetic attraction units. According to the technical scheme, the control unit independently controls two groups of magnetic attraction units to independently work, cooperates with the driving unit, drives the movable base and the fixed base to slide relative to each other, makes the electric permanent magnetic chuck keep in an adsorbing state at any time, realizes the displacement of the electric permanent magnetic chuck and realizes the automatic linear marching and transfer work.

Description

Technical Field

[0001] This invention generally relates to the field of work transportation, and specifically to an electro-permanent magnet chuck that can be automatically displaced. Background Technology

[0002] In the industrial production field, electro-permanent magnet chucks, with their characteristics of "electric pulse-controlled magnetic switch, no continuous power supply, and stable adsorption," have been widely used in machining, lifting and handling, and intelligent warehousing, becoming the core equipment for adsorbing and fixing ferromagnetic workpieces (such as steel and cast iron parts). The basic working principle of existing electro-permanent magnet chucks is to achieve rapid adsorption (positive electric pulse enhances the magnetic field) and release (reverse electric pulse cancels the magnetic field) of workpieces through the synergistic effect of built-in permanent magnets and electromagnetic coils. Compared with traditional electromagnets, its characteristic of not requiring continuous power supply significantly reduces energy consumption and heat generation risk, while maintaining the adsorption state even in the event of a sudden power outage, thus offering superior safety.

[0003] However, application number CN201410263876.5 discloses an electro-permanent magnet chuck, which includes a housing, magnetic poles, a coil assembly, a magnet, and a filler. The key feature is that a cover plate is provided on the housing, forming a sealed space with the housing. The magnetic poles, the coil assembly, the magnet, and the filler are disposed within this sealed space. The magnetic poles are fixed to the housing, the coil assembly is disposed between the magnetic poles and the cover plate, the magnet is disposed around the magnetic poles, and the filler fills the gaps between the magnetic poles, the coil assembly, the magnet, and the housing. Protrusions corresponding to the magnetic poles are provided on the housing's working surface. The aforementioned electro-permanent magnet chuck's function is limited to "adsorption and release," lacking its own active displacement capability. Workpiece transfer requires external equipment (such as robotic arms, cranes, or conveyor tracks) to complete.

[0004] Therefore, in response to the problems of existing electro-permanent magnet chucks relying on external equipment for displacement, complex system integration, and insufficient transfer accuracy and adaptability, there is an urgent need to develop an electro-permanent magnet chuck with autonomous displacement capability. By integrating an active displacement structure on the chuck body, it can independently complete the entire process of "adsorption-transfer-release" to improve the automation level and operational efficiency of industrial production. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention provides an electro-permanent magnet chuck capable of automatic displacement, comprising:

[0006] The fixed base is arranged in a ring shape;

[0007] A movable base is disposed within the fixed base and is slidably connected to the fixed base;

[0008] Multiple magnetic suction units are provided and fixed on the same side of the fixed base and the movable base. Some units are arranged in a ring around the fixed base at intervals, while others are arranged in an array on the movable base. The system also includes...

[0009] A drive unit, which is located on one side of the fixed base, is used to drive the movable base to move back and forth within the fixed base along one side.

[0010] The control unit is fixed inside the fixed base and the movable base, and is used to send pulse signals to the magnetic suction unit.

[0011] With the above-mentioned technical features, the control unit can independently control the operation of the magnetic suction unit on the fixed base and the magnetic suction unit on the movable base. In conjunction with the drive unit, it drives the relative sliding of the movable base and the fixed base, so that the electro-permanent magnetic chuck can maintain the adsorption state at all times, while also realizing the displacement of the electro-permanent magnetic chuck, thereby realizing automated linear travel and transfer work.

[0012] In some embodiments, the drive unit further includes:

[0013] A drive motor is fixed to the outside of the fixed base;

[0014] The screw is coaxially fixed to the output shaft of the drive motor, and passes through both the fixed base and the movable base, with a threaded connection to the movable base. Thus, the movable base and the fixed base slide relative to each other. When the drive motor is started, the screw rotates. The threaded connection between the screw and the movable base enables the relative sliding of the movable and fixed bases, further achieving the displacement of the electro-permanent magnet chuck through the reciprocating alternating displacement of the movable and fixed bases.

[0015] In some embodiments, the magnetic attraction unit includes

[0016] Magnetic pole block,

[0017] A coil assembly is fixed to one side of the magnetic pole block;

[0018] Multiple magnets are arranged around the magnetic pole block and fixed to it. Thus, under the action of a pulse signal, the direction of the magnetic field on the surface of the magnetic pole block can be changed, thereby achieving the dual effect of enhancing and canceling the magnetic field. Furthermore, it can achieve the dual effect of magnetic attraction and release with the adsorption plane.

[0019] In some embodiments, a set of slides accommodating the sliding of the movable base are arranged opposite each other within the annular region of the fixed base;

[0020] The slide rail is connected to a sliding component that is interconnected with the movable base. Thus, through the cooperation between the slide rail and the sliding component, stable sliding between the movable base and the fixed base is achieved, reducing frictional resistance between the movable base and the fixed base.

[0021] In some embodiments, the sliding component includes

[0022] The support wheel is provided in at least one set, which is located on both sides of the movable base, in the slide rail, and slidably connected to the slide rail. A receiving groove is opened in the central area of ​​one end of the support wheel, and multiple positioning grooves are spaced apart in the annular area of ​​the receiving groove toward the edge of the support wheel.

[0023] Fixed shafts, the number of which corresponds to the number of support wheels, are inserted into the receiving grooves of the support wheels. Their diameter is smaller than the diameter of the receiving grooves, and one end of them is fixed to one side of the movable base.

[0024] The number of supporting springs matches the number of positioning slots, and they are fixed in each positioning slot. One end of each spring abuts against the bottom wall of the positioning slot, and the other end abuts against the circumference of the fixed shaft. Thus, the supporting wheel and the slide rail are connected through rolling friction, reducing the coefficient of sliding friction between the movable base and the fixed base, and improving the stability of the sliding between the movable and fixed bases. Since the movable and fixed bases move on the adsorption surface through alternating adsorption displacement, when the movable base is in the adsorption state, the sliding assembly can support it, and after the fixed base is magnetically released, a gap is created between the movable base and the adsorption surface, avoiding friction between the fixed base and the adsorption surface or between the movable base and the adsorption surface.

[0025] In some embodiments, a drive housing is fixed to one side of the fixed base, and the drive motor is disposed inside the drive housing. Thus, the drive housing provides shielding and protection for the drive motor, preventing direct contact between the drive motor and the external environment.

[0026] In some embodiments, a movable base plate is slidably connected inside the drive housing, and the main body of the drive motor is fixedly connected to the movable base plate;

[0027] The drive housing and the fixed base are provided with an oblong hole to accommodate the output shaft of the drive motor. Therefore, when the fixed base and the adsorption surface, or the interactive base and the adsorption surface, are independently supported, the sliding assembly will cause a height difference between the adsorption surfaces of the fixed base and the movable base through the elastic expansion and contraction of its own support spring. Thus, setting the drive motor as a movable fixed component ensures stable sliding between the fixed base and the movable base without causing structural damage to the drive unit.

[0028] In some embodiments, the inner wall of the drive housing is covered with a magnetic shielding sheet for shielding magnetism. Therefore, when integrating a motor into an electro-permanent magnet chuck, it is necessary to isolate the mutual interference between the low-frequency constant magnetic field generated inside the electro-permanent magnet and the alternating electromagnetic field generated by the drive motor itself. Thus, the magnetic shielding sheet can "guide" the magnetic field to detour or attenuate the alternating electromagnetic field to ensure the normal and stable operation of the electro-permanent magnet chuck.

[0029] In some embodiments, the screw is a rod made of a non-magnetic material. This ensures stable rotation of the screw and avoids interference from surrounding magnetic fields.

[0030] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0031] Figure 1 A schematic diagram of the overall structure of an electro-permanent magnet chuck capable of automatic displacement according to an embodiment of the present invention is shown.

[0032] Figure 2 An exploded view of the fixed base and movable base in an electro-permanent magnet chuck with automatic displacement according to an embodiment of the present invention is shown.

[0033] Figure 3 A schematic diagram of the sliding component in an electro-permanent magnet chuck capable of automatic displacement according to an embodiment of the present invention is shown.

[0034] Figure 4 A partial structural diagram of a sliding component in an electro-permanent magnet chuck capable of automatic displacement, according to an embodiment of the present invention, is shown.

[0035] Figure 5 An exploded view of the magnetic chuck unit in an electro-permanent magnet chuck with automatic displacement according to an embodiment of the present invention is shown.

[0036] Symbol Explanation

[0037] 1. Fixed base; 2. Movable base; 3. Drive unit; 31. Drive housing; 32. Movable base plate; 321. Waist-shaped hole; 33. Drive motor; 34. Screw; 4. Magnetic suction unit; 41. Magnetic pole block; 42. Base; 43. Magnet; 44. Coil assembly; 5. Slide rail; 6. Sliding assembly; 61. Support wheel; 611. Receiving groove; 612. Positioning groove; 62. Fixed shaft; 63. Support spring; 64. First ball bearing; 65. Support; 66. Second ball bearing; 7. Magnetic shield. Detailed Implementation

[0038] The preferred embodiments (or implementation methods) of the present invention will now be described in detail with reference to the accompanying drawings.

[0039] The following is for reference. Figures 1-5 This invention describes an electro-permanent magnet chuck capable of automatic displacement, according to an embodiment of the present invention.

[0040] Figure 1 A schematic diagram of the overall structure of an electro-permanent magnet chuck capable of automatic displacement according to an embodiment of the present invention is shown. (Reference) Figure 1 As shown, the electro-permanent magnet chuck provided by this embodiment includes a fixed base 1 and a movable base 2 located inside the fixed base 1. The movable base 2 is slidably connected to the fixed base 1. A driving unit 3 is provided on one side of the fixed base 1 to drive the movable base 2 to slide actively with the fixed base 1. The surfaces of the fixed base 1 and the movable base 2 are provided with multiple magnetic attraction units 4 for interacting or releasing with the working plane. The attraction surfaces of the fixed base 1 and the movable base 2 are located on the same plane.

[0041] The electro-permanent magnet chuck needs to provide a flat adsorption surface in the working area to allow the chuck to adsorb. Through the alternating adsorption of the fixed base and the movable base, the linear movement of the electro-permanent magnet chuck is achieved, and further, the loading and transfer of items are realized.

[0042] Specifically, the fixing base 1 is a ring-shaped frame structure with an internal cavity to provide space for the magnetic suction unit 4. The fixing base 1 is preferably a rectangular ring-shaped frame structure.

[0043] Specifically, the movable base 2 is a rectangular frame structure located within the internal area of ​​the fixed base 1. It is slidably connected to the fixed base 1 along the length of the fixed base 1, thereby making full use of the internal space of the fixed base 1, reducing the waste of space in the fixed base 1, and improving the integrity of the electro-permanent magnet chuck.

[0044] Figure 2 An exploded view of the fixed base 1 and the movable base 2 in an electro-permanent magnet chuck with automatic displacement according to an embodiment of the present invention is shown. Figure 3 A schematic diagram of the sliding component 6 in an automatically displaceable electro-permanent magnet chuck according to an embodiment of the present invention is shown. (See reference) Figure 2 As shown, a slide rail 5 is provided on the inner wall of the fixed base 1. The slide rail 5 extends along the length of the fixed base 1. At least one sliding component 6 is provided on the side wall of the movable base 2 corresponding to the position of the slide rail 5, which cooperates with the slide rail 5.

[0045] refer to Figure 3As shown, specifically, two sliding components 6 are provided on one side of the movable base 2, located near the end of the movable base 2, to increase the stability of the fixed base 1 supporting the movable base 2. The sliding component 6 includes a cylindrical support wheel 61 that engages with the space within the slide rail 5; a cylindrical receiving groove 611 is formed in the center region of the side of the support wheel 61 facing the movable base 2. A fixed shaft 62 is coaxially arranged within the receiving groove 611, one end of which abuts against the bottom wall of the receiving groove 611, and the other end of which is fixedly connected to the side wall of the movable base 2. Furthermore, the diameter of the fixed shaft 62 is 2-4 mm smaller than the diameter of the receiving groove 611. The annular inner wall of the receiving groove 611 is provided with a plurality of positioning grooves 612 evenly spaced toward the edge of the support wheel 61. Each positioning groove 612 is provided with a support spring 63. One end of the support spring 63 abuts against the bottom wall of the positioning groove 612, and the other end of the support spring 63 abuts against the periphery of the fixed shaft 62.

[0046] Figure 4 A partial structural diagram of a sliding component in an electro-permanent magnet chuck capable of automatic displacement according to an embodiment of the present invention is shown. In some embodiments, in order to reduce the frictional force of the support spring 63 directly abutting the fixed shaft 62, a first ball bearing 64 is provided at the end of the support spring 63 facing the fixed shaft 62. A support 65 is provided on the side of the first ball bearing 64 facing the support spring 63 to prevent direct contact between the first ball bearing 64 and the support spring 64. An arc-shaped groove is provided on the support 65 to limit the first ball bearing 64. A plurality of second balls bearing 66 are provided around the inner wall of the groove for abutting against the first ball bearing 64, so as to reduce the frictional force between the support 65 and the first ball bearing 64, thereby reducing the frictional resistance between the support spring 63 and the fixed shaft 62 during the rotation of the fixed shaft 62 in the receiving groove 611.

[0047] Because the diameter of the fixed shaft 62 is smaller than the diameter of the receiving groove 611 of the support wheel 61, when the movable base 2 detaches from the working plane, its own weight is greater than the supporting force of the supporting spring 63 located at the bottom. This causes the fixed shaft 62 to rest against the bottom wall of the receiving groove 611, leaving a 2-4mm gap between the adsorption surface of the movable base 2 and the surface of the working plane. This allows the movable base 2 and the fixed base 1 to slide relative to each other under the action of the drive unit 3, thus avoiding friction during the movement of the movable base 2 and affecting its normal displacement. Similarly, after the movable base 2 is magnetically fixed to the working plane, when the fixed base 1 detaches from the working plane, a 2-4mm gap will also be left between the fixed base 1 and the working plane, allowing the movable base 2 and the fixed base 1 to move relative to each other when the drive unit 3 is activated.

[0048] refer to Figure 2 As shown, the drive unit 3 is located on one side of the fixed base 1, and includes a drive housing 31 fixedly connected to the fixed base 1. A movable base plate 32 is provided on the side of the drive housing 31 facing the fixed base 1. The movable base plate 32 and the inner wall of the drive housing 31 slide relative to each other along the height direction of the drive housing 31. Specifically, the sliding direction of the movable base plate 32 can be restricted by the mutual cooperation of the inner wall of the drive housing 31 and the movable base plate 32. A drive motor 33 is provided on one side of the movable base plate 32. The main body of the drive motor 33 is fixed to the movable base plate 32, and the output shaft of the drive motor 33 passes through the side wall of the drive housing 31. Both the drive housing 31 and the side wall of the fixed base 1 are provided with a waist-shaped hole 321 to accommodate the sliding of the output shaft of the drive motor 33. A screw 34 is coaxially fixed to the output shaft of the drive motor 33. The screw 34 passes through the fixed base 1 and the movable base 2 and is threadedly connected to the movable base 2. Since the movable base 2 can be displaced along the height direction of the fixed base 1, the sliding arrangement of the movable base plate 32 and the drive housing 31 is used to allow the drive motor 33 to move to accommodate it, thus ensuring the normal driving effect of the drive motor 33 on the movable base 2.

[0049] Furthermore, the inner wall of the drive housing 31 is covered with a magnetic shielding sheet 7. When the electro-permanent magnet chuck is working, a strong low-frequency constant magnetic field is generated near the magnetic suction unit 4, while the drive motor 33 also generates an alternating electromagnetic field when it is working. The two are prone to mutual interference, so the magnetic shielding sheet 7 can guide the magnetic field to bypass and shield the motor from interference from the external magnetic field, while also attenuating the interference of the alternating magnetic field on the outside.

[0050] Specifically, the magnetic shielding sheet 7 can be made of permalloy, which has extremely high permeability (initial permeability can reach 10). 4 ~10 5 With a saturation magnetic flux of approximately 0.6~1.0T, it exhibits significant shielding effects against low-frequency magnetic fields and can effectively absorb and guide the constant magnetic field of electro-permanent magnets. Silicon steel sheets can also be used, as they have higher permeability (initial permeability approximately 10³~10⁻⁶). 4 (Saturation magnetic flux 1.5~1.8T), using stacked layers can reduce eddy current losses and is suitable for shielding medium and low frequency magnetic fields.

[0051] Figure 5An exploded view of the magnetic suction unit 4 in an automatically displaceable electro-permanent magnet chuck according to an embodiment of the present invention is shown. Multiple magnetic suction units 4 are provided, some located on the annular surface of the fixed base 1 and evenly distributed along the annular region of the fixed base 1. Others are located on the same side surface of the movable base 2 and are arrayed on the surface of the movable base 2. Furthermore, the magnetic suction units 4 distributed in the two regions ensure stable magnetic attraction to the working plane and support and transport of goods within the magnetic field range when the fixed base 1 is magnetically attracted to the working plane and the movable base 2 is in a released state; or when the movable base 2 is magnetically attracted to the working plane and the fixed base 1 is in a released state.

[0052] Specifically, the magnetic attraction unit 4 includes a magnetic pole block 41, which is installed in a base 42. Multiple magnets 43 are embedded on the periphery of the base 42, and a coil assembly 44 is provided at one end of the base 42 away from the magnetic pole block 41, so that the magnetic attraction unit 4 is an integral structure. When the magnetic attraction unit 4 is fixed to the fixed base 1 or the movable base 2, the magnetic pole block 41 of the magnetic attraction unit 4 protrudes from the surface of the fixed base 1 or the movable base 2 so as to fully contact the working plane.

[0053] Furthermore, a hole is provided in the middle of the magnetic pole block 41. On the one hand, the hole can be a mounting hole for bolts to pass through. On the other hand, the opening of the hole can effectively guide the air between the magnetic pole block and the working surface, thereby ensuring full contact between the magnetic pole block 41 and the working surface, so as to ensure the stable adsorption of the magnetic pole block 41 and the working surface.

[0054] Furthermore, both the fixed base 1 and the movable base 2 are equipped with control units, which control the magnetic attraction and release of the magnetic attraction unit 4 by releasing positive or negative pulse signals. In conjunction with programming, the attraction and release states of the magnetic attraction unit 4 on the fixed base 1 and the magnetic attraction unit 4 on the movable base 2 are switched. Furthermore, through the operation of the drive unit 3, the alternating displacement of the fixed base 1 and the movable base 2 is realized.

[0055] Furthermore, the fixed base 1, movable base 2, drive housing 31, support wheel 61, support spring 63, fixed shaft 62, and screw 34 are all components made of non-magnetic materials. Specifically, they can be made of beryllium bronze, a copper-based alloy that is itself non-magnetic and non-conductive, exhibiting extremely high stability in strong magnetic fields; moreover, through heat treatment, it can achieve high hardness (HRC 38-42) and high elastic limit, with fatigue strength superior to ordinary copper alloys. Alternatively, they can be made of phosphor bronze, similar to beryllium bronze, which is completely non-magnetic, has reliable anti-magnetization capabilities, high hardness, and good elasticity and wear resistance.

[0056] Work process:

[0057] The electro-permanent magnet chuck is placed in a flat working area specifically designed for its adsorption. The control unit magnetically attaches the fixed base 1 to the magnetic unit 4 on the surface of the movable base 2. The bottom of the electro-permanent magnet chuck has a hook connector, allowing goods to be hooked onto it. The control unit then releases the magnetism of the movable base 2, causing it to detach from the working surface and leave a 2-4mm gap. The drive motor 33 starts, rotating the screw 34. The screw 34 is threaded into the movable base 2, causing it to slide relative to the fixed base 1. Since the surface of the movable base 2 does not contact the working surface, the movement of the movable base 2 is less obstructed. When the movable base 2 moves to one end of the inner annular region of the fixed base 1, the control unit sends a pulse to magnetically attach the magnetic unit 4 of the movable base 2 to the working surface. The magnetic force of the magnetic unit 4 then moves the movable base 2 upwards. Then, the control unit controls the magnetic suction unit 4 on the fixed base 1 to release from the working plane. Under the action of gravity, the fixed base 1 detaches from the working plane, leaving a gap of 2-4mm. The drive motor 33 starts and drives the fixed base 1 and the movable base 2 to move alternately. This reciprocating operation realizes the displacement of the electro-permanent magnet chuck.

[0058] In the description of this specification, the terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0059] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An electro-permanent magnet chuck capable of automatic displacement, characterized in that, include: The fixed base (1) is arranged in a ring shape; The movable base (2) is disposed within the fixed base (1) and is slidably connected to the fixed base (1); Multiple magnetic suction units (4) are provided and fixed on the same side of the fixed base (1) and the movable base (2). Some of them are arranged in a ring around the fixed base (1) and some are arranged in an array on the movable base (2). The magnetic suction unit (4) includes a magnetic pole block (41), a coil assembly (44) and a magnet (43). The coil assembly (44) is fixed on one side of the magnetic pole block (41). Multiple magnets (43) are provided and arranged around the magnetic pole block (41) and are fixed to the magnetic pole block (41). A drive unit (3) is disposed on one side of the fixed base (1) and is used to drive the movable base (2) to move back and forth in one side of the fixed base (1); a drive housing (31) is fixed on one side of the fixed base (1), and the drive unit (3) is disposed in the drive housing (31). The drive unit (3) includes a drive motor (33) and a screw (34). The drive motor (33) is fixed to the outside of the fixed base (1) and disposed in the drive housing (31). The screw (34) is coaxially fixed to the output shaft of the drive motor (33), passes through the fixed base (1) and the movable base (2), and is threadedly connected to the movable base (2). The control unit is fixed inside the fixed base (1) and the movable base (2) and is used to send pulse signals to the magnetic suction unit (4); The fixed base (1) has a set of slide rails (5) arranged opposite to each other in the annular area to accommodate the sliding of the movable base (2). The slide rails (5) are slidably connected to the sliding components (6) that are interconnected with the movable base (2). The sliding assembly (6) includes a support wheel (61), a fixed shaft (62), and a support spring (63). At least one set of support wheels (61) is provided, located on both sides of the movable base (2), within the slide rail (5), and slidably connected to the slide rail (5). A receiving groove (611) is formed in the central region of one end of each support wheel (61). Multiple positioning grooves (612) are spaced apart in the annular region of the receiving groove (611) towards the edge of the support wheel (61). The number of fixed shafts (62) corresponds to the number of support wheels (61), and they are inserted into the receiving grooves (611). Their diameter is smaller than that of the receiving grooves (611), and one end of each shaft is fixed to one side of the movable base (2). The number of support springs (63) is the same as the number of positioning grooves (612), and they are fixed in each positioning groove (612). One end of each spring abuts against the bottom wall of the positioning groove (612), and the other end abuts against the periphery of the fixed shaft (62). A movable base plate (32) is slidably connected inside the drive housing (31). The main body of the drive motor (33) is fixedly connected to the movable base plate (32). The drive housing (31) and the fixed base (1) are provided with an oblong hole (321) for accommodating the output shaft of the drive motor (33) to pass through. The inner wall of the drive housing (31) is covered with a magnetic shielding sheet (7) for shielding magnetism; The screw (34) is a rod made of non-magnetic material.

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