Magnetic gripper, magnetic gripper device, gripping device and gripping system for gripping ferromagnetic workpieces

Abstract

A magnetic gripper (10, 104, 106, 204, 206) for gripping a ferromagnetic workpiece (36, 202). The magnetic gripper (10, 104, 106, 204, 206) has a magnetic device (18), a conversion device (20) and a workpiece contact surface (22). The magnetic device (18) is formed by a plurality of permanent magnets (26) having a north pole and a south pole, and the magnetic device (18) is switchable between a clamped state for clamping the ferromagnetic workpiece (36, 202) and a released state for releasing the ferromagnetic workpiece (36, 202). The switching device (20) is designed to switch the magnetic device (18) between a clamped state and a released state. The workpiece contact surface (22) is designed to contact a ferromagnetic workpiece (36, 202).

Description

Technical Field

[0001] This invention relates to a magnetic gripper, a magnetic gripper device, a gripping device for gripping ferromagnetic workpieces, and a gripping system. Background Technology

[0002] Typically, this type of device is used to handle ferromagnetic workpieces. These requirements depend largely on the geometry and material properties of the workpiece to be clamped (small parts, metal plates, etc.), as well as on the handling or clamping task to be performed (positioning, destacking, separation, etc.). Summary of the Invention

[0003] The purpose of this invention is to securely clamp ferromagnetic workpieces and perform specific clamping tasks, such as destacking metal plates or clamping and separating sensitive and / or precision workpieces.

[0004] This invention achieves this objective through a magnetic gripper having the features of claim 1, a magnetic gripper device having the features of claim 7, a gripping device having the features of claim 11, and a gripping system having the features of claim 12. Advantageous embodiments and improvements of the invention are obtained according to the dependent claims.

[0005] The magnetic gripper according to the invention is designed to grip a ferromagnetic workpiece. The magnetic gripper has a magnetic device, a switching device, and a workpiece contact surface. The magnetic device is formed by a plurality of permanent magnets, each having a north pole and a south pole. In principle, initially one permanent magnet may be sufficient. However, it is advantageous to provide multiple (at least two) permanent magnets. Providing a larger number, particularly more than two, is also advantageous. In this regard, the number mentioned can be, for example, 1, 2, 3, 6, 12, 24, or 48. The magnetic device is capable of switching between a gripping state for holding the ferromagnetic workpiece and a releasing state for releasing the ferromagnetic workpiece. For this purpose, a switching device is provided, which is designed to switch the magnetic device between the gripping state and the releasing state, i.e., to switch in a controlled manner to the gripping state or the releasing state according to the desired state. The workpiece contact surface is designed to contact the ferromagnetic workpiece.

[0006] Advantageously, the arrangement of multiple permanent magnets allows ferromagnetic workpieces to be held particularly firmly by means of a magnetic gripper. Furthermore, multiple permanent magnets enable specific gripping tasks such as stacking metal plates.

[0007] Another aspect of magnetic grippers is the use of numerous permanent magnets, particularly multiple permanent magnets, which can result in a more continuous and constant magnetic force acting on ferromagnetic workpieces, thereby allowing the workpieces to be held particularly firmly by the magnetic gripper. Multiple permanent magnets also enable flexible design of the magnetic gripper, allowing it to be modularized as a modular system.

[0008] The magnetic gripper may have an actuating engagement for attaching the magnetic gripper to a manipulator. The manipulator may be designed as a manipulator, for example, in the form of a robotic arm. The actuating engagement advantageously enables a particularly simple and quick connection between the magnetic gripper and the manipulator. The actuating engagement may be designed for tool-less attachment and / or tool-less detachment of the magnetic gripper from the manipulator. The actuating engagement may be designed as a quick-connector, for example, in the form of a bayonet lock.

[0009] The operating joint and the contact surface of the workpiece can preferably be electrically insulated from each other.

[0010] The magnetic gripper may have an adapter plate with an actuating engagement. The adapter plate is preferably formed of an electrically insulating material, particularly for electrically insulating the actuating engagement from the workpiece contact surface. The adapter plate may be made of plastic, especially polyamide. The adapter plate and the workpiece contact surface may be arranged at opposite ends of the magnetic gripper. The adapter plate may at least partially form the end face of the magnetic gripper.

[0011] The ferromagnetic workpiece can be made of iron or steel. The workpiece can be a sheet of metal or a panel of material. The workpiece may be precision-engineered. Specifically, the width and / or length of the workpiece can be greater than five times the thickness of the workpiece, particularly more than ten times the thickness of the workpiece. The thickness of the workpiece can be, for example, in the range of 0.5 mm to 5 cm, particularly in the range of 0.5 mm to 5 mm.

[0012] The workpiece contact surface can be understood as the surface of the magnetic gripper against which the clamped ferromagnetic workpiece rests. The workpiece contact surface can be the surface of the magnetic gripper that forms the contact point with the clamped ferromagnetic workpiece. The workpiece contact surface can be described as the contact surface used for the ferromagnetic workpiece.

[0013] The workpiece contact surface can be flat. This can be useful because, for workpieces of typical proportions, the contact area of ​​a magnetic gripper is usually at least approximately flat. Flat workpiece contact surfaces are also commonly used for destacking stacked magnetic metal sheets, etc. However, if the workpiece is to be contacted in a correspondingly uneven, such as curved, area, then an uneven, such as curved, workpiece contact surface can be useful.

[0014] The workpiece contact surface can at least partially form the end face of the magnetic gripper. The workpiece contact surface can be arranged at one end of the magnetic gripper.

[0015] The magnetic clamp may have a housing. The magnetic device and / or conversion device may be arranged within the housing. The housing may be non-magnetic. The housing may be made of a non-ferromagnetic material such as aluminum.

[0016] The housing can be elongated. The housing can extend along the longitudinal axis of the housing and / or the longitudinal axis of the magnetic clamp. The longitudinal axis of the magnetic clamp and the longitudinal axis of the housing can be the same.

[0017] The housing may have a workpiece contact surface, either wholly or partially. Specifically, at least a portion of the workpiece contact surface may be a surface of the housing. In other words, the housing may partially or completely form the workpiece contact surface.

[0018] The magnetic device may have at least five permanent magnets, and in particular, nine permanent magnets.

[0019] Each permanent magnet can also be referred to as a PM. Each permanent magnet can be supported by a shell. The shell can have an internal space in which each permanent magnet is arranged.

[0020] Each permanent magnet can be designed to generate a magnetic field. The magnetic field of each permanent magnet can extend from its north pole to its south pole. The magnetic fields of all the permanent magnets in the magnetic device can form the magnetic field of the magnetic device. The permanent magnets can be arranged relative to each other such that their magnetic fields overlap, particularly in the released state and / or the clamped state, to form the magnetic field of the magnetic device.

[0021] Permanent magnets can be arranged in a line, specifically forming a row of permanent magnets, or they can be arranged in a region, specifically forming a matrix of permanent magnets. A matrix of permanent magnets can be understood as a grid of permanent magnets or a lattice structure of permanent magnets.

[0022] The magnetic device may have at least two permanent magnets, which are arranged in particular in close proximity to each other to form a permanent magnet array.

[0023] The magnetic device may have at least four permanent magnets, which are arranged in a manner that is close to each other to form a permanent magnet matrix. For example, if the magnetic device has exactly four permanent magnets, the permanent magnets may be arranged to form a 2x2 permanent magnet matrix.

[0024] Magnetic devices can be formed as a single unit. Specifically, a magnetic device can have multiple permanent magnets, particularly at least two, and can be formed as a single unit. Each permanent magnet can form a segment of the magnetic device. In other words, the magnetic device can be magnetized to have multiple magnetic poles.

[0025] Permanent magnets can be arranged in close proximity to each other to form a magnetic device, particularly in the released state and / or the clamped state. Specifically, multiple permanent magnets can be arranged one after another to form a permanent magnet row. A permanent magnet row can be formed by arranging multiple permanent magnets in close proximity to each other, particularly in a linear manner. Alternatively, multiple permanent magnets can be arranged in close proximity to each other to form a permanent magnet matrix. A permanent magnet matrix can be formed by arranging multiple permanent magnets in rows and columns.

[0026] Multiple permanent magnets can be arranged such that at least two adjacent permanent magnets form contact points between them. Specifically, each permanent magnet can have at least one contact point with an adjacent permanent magnet.

[0027] In the clamping state, the magnetic device can generate a magnetic field designed to apply a magnetic force to the ferromagnetic workpiece. This magnetic force is guided to the workpiece contact surface and is preferably greater than the weight of the ferromagnetic workpiece. Specifically, the magnetic device can be designed to push or press the ferromagnetic workpiece against the workpiece contact surface by means of magnetic force in the clamping state, thereby achieving the purpose of clamping the ferromagnetic workpiece.

[0028] In the released state, the magnetic device cannot generate a magnetic field designed to apply a magnetic force to the ferromagnetic workpiece. This force is directed to the workpiece contact surface and is greater than the weight of the ferromagnetic workpiece. Specifically, the magnetic device can be designed so that, in the released state, the ferromagnetic workpiece is not pushed or pressed against the workpiece contact surface by the magnetic force, thus achieving the purpose of releasing the ferromagnetic workpiece.

[0029] Magnetic grippers can have multiple, particularly one or two, pole shoes. Each pole shoe can be designed to direct the magnetic field component of the magnetic device to the workpiece contact surface, particularly to a ferromagnetic workpiece, for gripping the ferromagnetic workpiece. Each pole shoe can be made of a material with the property of amplifying and / or conducting magnetic fields. Each pole shoe can be made of a ferromagnetic material, particularly iron, steel, nickel, or cobalt.

[0030] For example, each pole piece can be detachably connected to the housing using screw connections. Advantageously, this allows the pole pieces to be replaced, for example, when they wear out or when other pole pieces with special characteristics are needed to perform a specific clamping task.

[0031] Multiple pole shoes can have workpiece contact surfaces, either completely or partially. In particular, at least a portion of the workpiece contact surface can be the surface of the pole shoe. That is, multiple pole shoes can partially or completely form the workpiece contact surface.

[0032] Magnetic grippers can have attachments with workpiece contact surfaces. The attachments can be placed on the housing of the magnetic gripper, particularly by plug-in or threaded connection. The attachments can be provided, for example, by injection-molded plastic or rubber. Advantageously, this can reduce or completely prevent damage to ferromagnetic workpieces during clamping.

[0033] Multiple permanent magnets can be mounted in the housing to be linearly displaced, particularly along the longitudinal axis of the magnetic holder or in a direction orthogonal to the workpiece contact surface, and / or to be rotated, particularly about the transverse axis of the magnetic holder.

[0034] The magnetic device can be switched between a clamping and a released state by the translational movement of multiple permanent magnets. The translational movement can be linear, particularly vertical. For example, the magnetic device can be switched between a clamping and a released state by the linear displacement of multiple permanent magnets, especially in a direction parallel to the longitudinal axis of the magnetic gripper or orthogonal to the workpiece contact surface.

[0035] For example, the transition from the released state to the clamping state can be achieved by linearly displacing multiple permanent magnets within the housing toward the workpiece contact surface. Conversely, the transition from the clamping state to the released state can be achieved by linearly displacing multiple permanent magnets within the housing away from the holding surface.

[0036] Additionally or alternatively, the magnetic device can be switched between a clamping state and a released state by the rotational movement of multiple permanent magnets. For example, every other permanent magnet or all permanent magnets can be rotated 180° to switch the magnetic device between a clamping state and a released state.

[0037] If multiple permanent magnets can be switched between a released state and a clamped state through rotational motion, then each permanent magnet can be formed by two independent permanent magnet segments that rotate relative to each other to switch between the released and clamped states. Therefore, the magnetic fields of the two permanent magnet segments can cancel each other out in the released state or not cancel each other out in the clamped state, and in particular, can be amplified in the clamped state.

[0038] The switching device can be designed to drive translational and / or rotational motion. Specifically, the switching device can be designed to pneumatically, electrically, or mechanically move multiple permanent magnets to achieve the purpose of switching the magnetic device between a clamped state and a released state.

[0039] The switching device may include an actuator for switching the magnetic device between a clamped state and a released state. The actuator may be designed to drive translational and / or rotational motion of multiple permanent magnets. The actuator may be an electric motor, an electric linear actuator, a lever, and / or a pneumatic actuator. In particular, the actuator may be designed as a pneumatic piston, which is directly or indirectly connected to the multiple permanent magnets. The housing may have a cylinder in which the pneumatic piston is arranged.

[0040] Additionally or alternatively, the magnetic device can be switched between a clamped state and a released state by the translational movement of at least one ferromagnetic metal piece of the magnetic gripper. For example, the ferromagnetic metal piece can be inserted into or removed from the magnetic device to achieve the purpose of switching the magnetic device between the clamped and released states. The switching device, in particular an actuator, can be designed to insert or remove the metal piece from the magnetic device.

[0041] Additionally or alternatively, the magnetic device may include a plurality of additional permanent magnets for switching the magnetic device between a clamped state and a released state. For example, the plurality of additional permanent magnets may be inserted into or removed from the magnetic device to achieve the purpose of switching the magnetic device between a clamped state and a released state. The switching device, particularly an actuator, may be designed to insert or remove the plurality of additional permanent magnets from the magnetic device. Thus, in the inserted state, the magnetic field of the additional permanent magnets may weaken, in particular, cancel the magnetic field of the original permanent magnet, while in the removed state, the magnetic field of the additional permanent magnets will not weaken the magnetic field of the original permanent magnet. In the inserted state, the magnetic device may be in a released state, and in the removed state, the magnetic device may be in a clamped state.

[0042] Additionally or alternatively, the magnetic gripper may have multiple coils for switching the magnetic device between a clamped and released state. Each coil may have at least one winding of a current conductor made of wire. Each coil may have a spool on which the winding is wound. The spool may have a soft magnetic core. The multiple coils may be equivalent to multiple permanent magnets. Each permanent magnet may be assigned to one coil. For example, current can be passed through the multiple coils to achieve the purpose of switching the magnetic device between a clamped and released state. By passing current through the coils, a magnetic field opposite to the magnetic field of the multiple permanent magnets can be generated by the coils. Therefore, when the coils are energized, the magnetic field of the multiple permanent magnets can be weakened, in particular neutralized, thereby putting the magnetic gripper in the released state. If the coils are not energized, the magnetic gripper can be in the clamped state. The switching device may be designed as a voltage source for energizing the coils. The coils may be electrically connected to the switching device in the form of a voltage source.

[0043] The magnetic gripper may have a detector for detecting the gripping and / or releasing states. Specifically, the detector may be designed to detect the position of the magnetic device, particularly its position within the housing.

[0044] The magnetic gripper may have a control device for controlling the switching mechanism, particularly the actuator. The control device may include a microcontroller. The control device can be designed to initiate and / or control the switching of the magnetic device between a clamping state and a released state by controlling the switching mechanism, particularly the actuator. This can be accomplished based on the clamping state or the detected release state.

[0045] In the clamped state, the magnetic device can be spaced a certain distance from the workpiece contact surface. By adjusting this distance, the magnetic force acting on the ferromagnetic workpiece in the clamped state can be adjusted. In particular, by adjusting this distance, the magnetic field penetrating the workpiece contact surface of the magnetic device can be adjusted, thereby adjusting the magnetic force acting on the ferromagnetic workpiece.

[0046] The control device can be designed to determine the distance based on the position of the magnetic device detected by the detector. The control device can be designed to control the transition to a clamping state such that the magnetic device is spaced a target distance from the workpiece contact surface. The control device can be designed to determine the target distance based on a predetermined magnetic force. The predetermined magnetic force can be the maximum magnetic force capable of acting on a ferromagnetic workpiece without damaging it.

[0047] In other words, the control device can be designed to control the switching device to reduce or increase the magnetic field of the magnetic device that penetrates the contact surface of the workpiece in the clamping state.

[0048] The magnetic force acting on the ferromagnetic workpiece is adjusted segment by segment by a control device. This allows the magnetic field of the magnetic device to adapt to the geometry of the ferromagnetic workpiece.

[0049] The magnetic gripper may have a sensor device having one or more presence sensors, such as two, four, or six. The sensor device, particularly each presence sensor, may be designed to detect whether a ferromagnetic workpiece is located on a workpiece contact surface, and particularly whether the ferromagnetic workpiece is abutting against the workpiece contact surface. Each presence sensor may be designed as a mechanical sensor, an optical sensor, or an inductive sensor, particularly as a magnetic field sensor, and preferably as a Hall effect sensor.

[0050] The sensor device, particularly each presence sensor, can be designed to detect the thickness of the ferromagnetic workpiece and / or the material beneath it. The control device can be designed to activate and / or control the switching between a clamping and releasing state of the magnetic device based on the thickness of the ferromagnetic workpiece detected by the sensor device and / or the material beneath it detected by the sensor device. Advantageously, this allows for the sorting and inspection of ferromagnetic workpieces and / or the adjustment of the magnetic force required to clamp them. In particular, by detecting the thickness of the ferromagnetic workpiece, the magnetic force used to clamp it can be adjusted in a manner that prevents bending and / or damage to the workpiece.

[0051] Another aspect of sensor devices, particularly those with sensors, is that they can perform component classification, reduce residual magnetism, and / or allow for component quality control.

[0052] Another aspect of the magnetic device is that multiple permanent magnets are arranged such that a uniformly distributed magnetic force acts on a ferromagnetic workpiece.

[0053] Another aspect of magnetic grippers is that they can consist of multiple permanent magnets, particularly multiple permanent magnets, with each magnet capable of being switched on and off sequentially. This allows magnetic grippers to adapt to ferromagnetic workpieces of different shapes, which is why magnetic grippers can be used with particular flexibility.

[0054] In another improvement to the magnetic gripper, the magnetic device has a first side and a second side. The first side faces the workpiece contact surface, particularly in the clamping state; the second side faces away from the workpiece contact surface, particularly in the clamping state. Multiple permanent magnets are arranged such that the magnetic flux density of the magnetic field at or through the first side is higher than the magnetic flux density of the magnetic field at or through the second side. Advantageously, this allows the magnetic device to be designed to be particularly compact, resulting in space savings. Alternatively, this can allow for higher magnetic forces to be achieved using the same materials.

[0055] The magnetic flux density of a magnetic device at or through the first side being higher than that at or through the second side can be understood as indicating that the magnetic field lines of the permanent magnet on the first side are closer together than the magnetic field lines of the permanent magnet on the second side.

[0056] The first side and the second side can be arranged opposite to each other. Multiple permanent magnets can be arranged such that the magnetic field of the magnetic device is concentrated on the first side, and the magnetic field of the magnetic device is weakened and / or almost canceled out on the second side.

[0057] In another improvement to the magnetic gripper, multiple permanent magnets are arranged in the form of a Halbach row or a Halbach matrix. This makes it particularly easy to ensure that the magnetic flux density of the magnetic device at or through the first side is higher than that at or through the second side. The permanent magnet row can be designed as a Halbach row. The permanent magnet matrix can be designed as a Halbach matrix.

[0058] A Hellbeck row can be understood as a Hellbeck array. A Hellbeck matrix can be formed by arranging multiple Hellbeck rows in a manner that is close to each other. Each Hellbeck row in a Hellbeck matrix can extend along a longitudinal axis. The longitudinal axes of the Hellbeck rows in a Hellbeck matrix can be aligned parallel to each other.

[0059] In another improvement to the magnetic device, the magnetic device has a first magnetic unit formed by at least one permanent magnet and a second magnetic unit formed by at least one permanent magnet. A switching mechanism is designed to allow the first magnetic unit to switch between an active and a passive state independently of the second magnetic unit. The switching mechanism is also designed to allow the second magnetic unit to switch between an active and a passive state independently of the first magnetic unit. When both the first and second magnetic units are in a passive state, the magnetic gripper is in a released state. When the first magnetic unit and / or the second magnetic unit are in an active state, the magnetic gripper is in a clamping state.

[0060] Advantageously, this allows control over the magnetic force applied to press the ferromagnetic workpiece against the workpiece contact surface. For example, when both the first and second magnet units are active, a greater magnetic force can be applied to the ferromagnetic workpiece compared to when the first magnet unit is active and the second magnet unit is passive, or vice versa. This allows the magnetic gripper to hold both sensitive and insensitive ferromagnetic workpieces.

[0061] The control device can be designed to initiate and / or control the switching of the first magnet unit and / or the second magnet unit between an active state and a passive state via a control switching device.

[0062] In the active state of the magnet unit, the distance between the magnet unit and the contact surface of the workpiece can be smaller than the distance in the passive state of the magnet unit.

[0063] The first magnet unit and the second magnet unit may have the same number of permanent magnets. The first magnet unit may be formed by 2, 3, 4, 5 or 6 permanent magnets, and / or the second magnet unit may be formed by 2, 3, 4, 5 or 6 permanent magnets.

[0064] Magnetic grippers can have more than two magnet units.

[0065] In another improvement to the magnetic gripper, the magnetic gripper has a magnetic gripper engagement for releasably attaching another magnetic gripper to it. The magnetic gripper engagement advantageously allows for particularly simple and quick attachment of the magnetic gripper and another magnetic gripper to each other. Advantageously, this allows for adaptation to the size of ferromagnetic workpieces, thereby enabling the clamping of larger ferromagnetic workpieces.

[0066] Magnetic grippers and other magnetic grippers can be structurally identical.

[0067] The magnetic gripper engagement may have threaded holes and / or through holes for establishing a threaded connection between the magnetic gripper and another magnetic gripper, so as to attach the two magnetic grippers to each other in a releasable manner. The housing of the magnetic gripper may have a magnetic gripper engagement.

[0068] The magnetic clamp engagement can be designed to supply power, particularly electrical power and / or compressed air, to another magnetic clamp via the magnetic clamp.

[0069] The magnetic gripper engagement can be designed to align the magnetic gripper with another, particularly structurally identical, magnetic gripper relative to each other. For example, the magnetic gripper engagement can be designed to attach the magnetic gripper to another magnetic gripper such that the workpiece contact surface of the magnetic gripper and the workpiece contact surface of the other magnetic gripper are arranged in a plane, particularly a common plane. Alternatively, the magnetic gripper engagement can be designed to attach the magnetic gripper to another magnetic gripper such that the contours of the workpiece contact surfaces of the magnetic gripper and the other magnetic gripper at least partially follow the contours of the ferromagnetic workpiece.

[0070] In another improvement to the magnetic gripper, the magnetic gripper has multiple grippers, such as one, two, or four, for gripping ferromagnetic workpieces. Each gripper is designed to grip the ferromagnetic workpiece in the absence of a magnetic field. Advantageously, this allows the magnetic gripper to implement other gripping principles besides using magnetic force to grip ferromagnetic workpieces.

[0071] In particular, not every gripper must be designed as a magnetic gripper. For each gripper in the gripper, it is conceivable that the gripper is designed as a suction cup gripper for holding ferromagnetic workpieces by means of negative pressure. Each gripper can be integrated into a permanent magnet matrix. For example, grippers can be arranged on the permanent magnet matrix at locations where at least one permanent magnet is provided. Alternatively, a magnetic gripper can have a sealing cord for contacting the ferromagnetic workpiece and for forming a negative pressure area of ​​the magnetic gripper. The negative pressure area can withstand negative pressure, causing the ferromagnetic workpiece to be attracted to the sealing cord and to the workpiece contact surface of the magnetic gripper under the action of negative pressure.

[0072] The magnetic gripper according to the invention is suitable for gripping ferromagnetic workpieces. The magnetic gripper device includes a magnetic gripping portion, a first magnetic gripper as described above, and a second magnetic gripper as described above. The magnetic gripping portion is designed to grip ferromagnetic workpieces. The first and second magnetic grippers are arranged in close proximity to each other to form the magnetic gripping portion. Advantageously, this allows the two magnetic grippers to function as a single magnetic gripper. In particular, it is thus possible to grip ferromagnetic workpieces with a magnetic force equal to the sum of the magnetic forces of the two magnetic grippers. This allows ferromagnetic workpieces to be gripped with a greater magnetic force.

[0073] The first magnetic gripper and the second magnetic gripper can be structurally identical. The first magnetic gripper and the second magnetic gripper can be arranged close together to form contact points. Specifically, the first magnetic gripper and the second magnetic gripper can be arranged close together such that the two grippers are in contact with each other.

[0074] The first and second magnetic grippers can be arranged close to each other, such that the workpiece contact surfaces of the first and second magnetic grippers are arranged in a single, particularly common, plane. Alternatively, the first and second magnetic grippers can be arranged close to each other, such that the contours of the workpiece contact surfaces of the first and second magnetic grippers at least partially follow the contours of the ferromagnetic workpiece.

[0075] The workpiece contact surfaces of the first magnetic gripper and the second magnetic gripper can be spaced apart by the contact surface distance of the magnetic gripper device. The contact surface distance can be less than the diameter of the first magnetic gripper and / or the diameter of the second magnetic gripper. In particular, the contact surface distance can be less than 5 cm, specifically 3 cm, 2 cm, or 1 cm.

[0076] The magnetic clamping area can be formed by the workpiece contact surface of the first magnetic clamp and the workpiece contact surface of the second magnetic clamp. The workpiece contact surfaces of the first and second magnetic clamps can be arranged in a plane to form the magnetic clamping area.

[0077] The first magnetic holder can be releasably attached to the second magnetic holder, particularly by means of a threaded connection. Preferably, the second magnetic holder can be releasably attached to the first magnetic holder by means of a magnetic holder engagement portion of the first magnetic holder. The magnetic clamping portion can be formed by releasably attaching the first magnetic holder to the second magnetic holder.

[0078] The first magnetic holder and the second magnetic holder can be arranged in a manner that is close to each other, such that when the multiple permanent magnets of the first magnetic holder are arranged in a Halebeck array or Halebeck matrix, the multiple permanent magnets of the second magnetic holder form a continuation of the Halebeck array or Halebeck matrix of the multiple permanent magnets of the first magnetic holder.

[0079] Another aspect of magnetic clamping devices is that the magnetic device can achieve full-surface clamping of ferromagnetic workpieces.

[0080] In a further improvement to the magnetic clamping device, the magnetic field of the magnetic device of the first magnetic clamp in the clamping state overlaps with the magnetic field of the magnetic device of the second magnetic clamp in the clamping state. Advantageously, in the clamping state of the two magnetic clamps, this allows an interruption between the magnetic fields of the first and second magnetic clamps to be avoided. This allows the magnetic fields of the two magnetic clamps to function as a single magnetic field in the clamping state. Advantageously, this avoids a reduction in the magnetic force acting on the ferromagnetic workpiece in the transition between the first and second magnetic clamps. Therefore, the magnetic clamping device can hold magnetic workpieces particularly securely.

[0081] The magnetic field of the magnetic device of the first magnetic clamp in the clamping state can overlap with the magnetic field of the magnetic device of the second magnetic clamp in the clamping state, so that the magnetic field of the second magnetic clamp in the clamping state becomes a continuation of the magnetic field of the first magnetic clamp in the clamping state.

[0082] In another improvement to the magnetic gripper device, the magnetic gripper device has multiple magnetic grippers, such as 3, 4, 5, 9, or 16 as described above. Multiple magnetic grippers are arranged to form a magnetic gripper row. Advantageously, this allows the magnetic gripper device to function as a single linear magnetic gripper.

[0083] Multiple magnetic grippers can be structurally identical. Multiple magnetic grippers can be arranged close together to form magnetic gripping portions. The magnetic gripping portions can be linear. Rows of magnetic grippers can have a linear progression. Magnetic grippers can be arranged close together such that all workpiece contact surfaces of the magnetic grippers lie within a single plane. Alternatively, magnetic grippers can be arranged close together such that the contours of the workpiece contact surfaces of the magnetic grippers at least partially follow the contours of the ferromagnetic workpiece.

[0084] The workpiece contact surfaces of two adjacent magnetic grippers can be spaced apart by a contact surface distance.

[0085] The length of the magnetic gripper array can be equal to or greater than the length of the ferromagnetic workpiece. This allows the magnetic force acting on the ferromagnetic workpiece held by the magnetic gripper device to be constant and / or uniformly distributed along the entire length of the ferromagnetic workpiece. This enables the safe and reliable clamping of particularly delicate workpieces, such as very thin metal sheets.

[0086] In another improvement to the magnetic gripper device, the magnetic gripper device has a plurality of magnetic grippers, such as 3, 4, 5, 9, or 16 as described above. The plurality of magnetic grippers are arranged to form a magnetic gripper matrix. Advantageously, this allows the magnetic gripper device to function as a single, flat magnetic gripper.

[0087] A magnetic gripper matrix can be understood as a magnetic gripper grid or magnetic gripper lattice.

[0088] The magnetic clamping area can be flat. A magnetic clamp matrix can be formed by arranging multiple magnetic clamps in rows and columns. The magnetic clamp matrix can be arranged in a plane. The magnetic clamps can be arranged close together such that all workpiece contact surfaces of the magnetic clamps lie in a single plane. Alternatively, the magnetic clamps can be arranged close together such that the contours of the workpiece contact surfaces of the magnetic clamps at least partially follow the contours of the ferromagnetic workpiece.

[0089] The workpiece contact surfaces of two adjacent magnetic grippers can be spaced apart by a contact surface distance.

[0090] The length and width of the magnetic gripper matrix can be equal to or greater than the length and width of the ferromagnetic workpiece. This allows the magnetic force acting on the magnetic workpiece held by the magnetic gripper device to be constant and / or uniformly distributed across the entire length and width of the ferromagnetic workpiece. This enables the safe and reliable clamping of particularly delicate workpieces, such as very thin metal sheets.

[0091] The clamping device according to the present invention is designed to clamp ferromagnetic workpieces. The clamping device has a plurality of, for example, two, four, or six magnetic grippers as described above, and / or a plurality of, for example, two, four, or six magnetic gripper devices as described above. The plurality of magnetic grippers and / or the plurality of magnetic gripper devices are arranged in a clamping row or clamping matrix to form a clamping area.

[0092] If the magnetic gripper and / or magnetic gripper device does not function as a single magnetic gripper, multiple magnetic grippers and / or multiple magnetic gripper devices can be arranged in a gripping row or gripping matrix. Specifically, the magnetic fields of the magnetic grippers and / or the magnetic fields of the magnetic gripper devices in the gripping row or gripping matrix cannot overlap, such that the magnetic field of one magnetic gripper or one magnetic gripper device forms a continuation of the magnetic field of another magnetic gripper or another magnetic gripper device in the gripping row or gripping matrix. Preferably, the multiple permanent magnets of one magnetic gripper or one magnetic gripper device in the gripping row or gripping matrix cannot form a continuation of the Helbeck row or Helbeck matrix of the permanent magnets of another magnetic gripper or another magnetic gripper device in the gripping row or gripping matrix.

[0093] A clamping row can be formed by arranging multiple magnetic clamps and / or multiple magnetic clamping device devices in a row.

[0094] A clamping matrix can be formed by arranging multiple magnetic clamps and / or multiple magnetic clamp devices in rows and columns.

[0095] Multiple magnetic grippers and / or multiple magnetic gripper devices can be spaced apart by a clamping distance to form a clamping row or clamping matrix. The clamping distance can be greater than 15cm, particularly 20cm, 30cm or 50cm.

[0096] The workpiece contact surface of the magnetic gripper can be arranged within the gripping area. The gripping area can be defined by the internal workpiece contact surface of the magnetic gripper. The workpiece contact surface of the magnetic gripper can be arranged in a plane. Alternatively, the profile of the workpiece contact surface of the magnetic gripper can at least partially follow the profile of the ferromagnetic workpiece.

[0097] The clamping system according to the invention comprises a magnetic gripper as described above, a magnetic gripper device as described above, and / or a clamping device as described above, and a ferromagnetic workpiece. The width and / or length of the ferromagnetic workpiece is equal to or less than the width and / or length of the workpiece contact surface of the magnetic gripper, equal to or less than the width and / or length of the magnetic clamping portion of the magnetic gripper device, or equal to or less than the width and / or length of the clamping area of ​​the clamping device. This advantageously prevents unnecessary bending of the ferromagnetic workpiece. Attached Figure Description

[0098] Further advantages and advantageous embodiments of the invention can be found in the drawings, description, and claims. All features disclosed in the drawings, description, and claims are essential to the invention, either individually or in any combination thereof. In the drawings:

[0099] Figure 1 This is a schematic diagram of a magnetic clamp, in which the magnetic device is in the released state;

[0100] Figure 2 yes Figure 1 A schematic diagram of a magnetic clamp, in which the magnetic device is in a clamping state;

[0101] Figure 3 yes Figure 1 A schematic diagram of the permanent magnet structure of the magnetic device of the magnetic clamp;

[0102] Figure 4 This is a schematic diagram of another exemplary embodiment of the magnetic clamp, wherein the magnetic device is in a released state;

[0103] Figure 5 yes Figure 4 A schematic diagram of a magnetic clamp, in which the magnetic device is in a clamping state;

[0104] Figure 6 yes Figure 4 A schematic diagram of the permanent magnet structure of the magnetic device of the magnetic clamp;

[0105] Figure 7 This is a schematic diagram of another exemplary embodiment of the magnetic clamp;

[0106] Figure 8 yes Figure 7 A schematic diagram of a magnetic clamp, in which each magnet unit of the magnetic device is in an active state;

[0107] Figure 9 yes Figure 7 A schematic diagram of a magnetic clamp, wherein two magnetic units of the magnetic device are in an active state and one magnetic unit of the magnetic device is in a passive state;

[0108] Figure 10 This is a schematic diagram of another exemplary embodiment of the magnetic clamp;

[0109] Figure 11 yes Figure 10 A schematic diagram of the permanent magnet structure of the magnetic device of the magnetic clamp;

[0110] Figure 12 This is a schematic diagram of another exemplary embodiment of the magnetic clamp;

[0111] Figure 13 It has Figure 1 Magnetic clamp and Figure 7 A schematic diagram of a magnetic clamp device;

[0112] Figure 14 This is a schematic diagram of the clamping device; and

[0113] Figure 15 It has Figure 7 A schematic diagram of the clamping system of the magnetic clamp. Specific Implementation

[0114] Figure 1 The magnetic clamp 10 is shown in a schematic cross-sectional view.

[0115] The magnetic gripper 10 has an adapter plate 12, which has an operating engagement 14 for attaching the magnetic gripper 10 to the operating device. The operating device may be, for example, a manipulator, particularly a manipulator in the form of a robotic arm.

[0116] The operating joint 14 is a quick-connect coupling in the form of a bayonet lock. With the help of the operating joint 14, the magnetic clamp 10 can be attached to the operating device without tools.

[0117] The magnetic gripper 10 is suitable for gripping ferromagnetic workpieces. The ferromagnetic workpieces can be made of iron or steel. The workpiece can be a metal sheet or a panel of material.

[0118] The magnetic clamp 10 has a housing 16, a magnetic device 18, a conversion device 20, and a workpiece contact surface 22.

[0119] The magnetic device 18 and the conversion device 20 are disposed within the housing 16. The housing 16 is made of aluminum. The housing 16 is elongated. The housing 16 extends along its longitudinal axis 24. The longitudinal axis 24 of the housing 16 may also be referred to as the longitudinal axis of the magnetic gripper 10. The longitudinal axis 24 is arranged orthogonally to the workpiece contact surface 22.

[0120] The housing 16 forms the workpiece contact surface 22. Specifically, the flat surface of the housing 16 forms the workpiece contact surface 22. The workpiece contact surface 22 is the end face of the magnetic gripper 10. The workpiece contact surface 22 is configured to contact a ferromagnetic workpiece.

[0121] The magnetic device 18 has five permanent magnets 26. Each permanent magnet 26 has a north pole and a south pole. Each permanent magnet 26 generates a magnetic field extending from its north pole to its south pole. The magnetic fields of all the permanent magnets 26 in the magnetic device 18 form the magnetic field of the magnetic device 18.

[0122] Permanent magnets 26 are attached to a magnet holder 28 of the magnetic device 18, the magnet holder being, in particular, in the form of a plate. Each permanent magnet 26 has at least one contact point that contacts an adjacent permanent magnet 26. In other words, two adjacent permanent magnets 26 have a contact point between them. The permanent magnets 26 are arranged sequentially to form a permanent magnet row 30. The direction of the permanent magnet row 30 is parallel to the workpiece contact surface 22.

[0123] The permanent magnet array 30 has a first side 32 facing the workpiece contact surface 22 in the clamping state and a second side 34 facing away from the workpiece contact surface 22 in the clamping state. The first side 32 and the second side 34 are oriented in opposite directions to each other. The permanent magnets are arranged sequentially such that the magnetic flux density of the magnetic field of the magnetic device 18 at or through the first side 32 is higher than the magnetic flux density of the magnetic device 18 at or through the second side 34.

[0124] Figure 3 A side view of the permanent magnet row 30 is shown, showing the south and north poles of the permanent magnets 26. The south and north poles of the permanent magnets 26 are arranged such that the permanent magnet row 30 forms a Halbach row. This ensures that the magnetic field of the magnetic device 18 is concentrated on the first side 32, and that the magnetic field of the magnetic device 18 is weakened and / or almost canceled out on the second side 34.

[0125] The magnetic device 18 can switch between a clamping state for holding a ferromagnetic workpiece and a releasing state for releasing the ferromagnetic workpiece.

[0126] In the clamping state, the magnetic gripper 10 is designed to generate a magnetic field by means of a magnetic device 18. This magnetic field causes a magnetic force to be applied to the ferromagnetic workpiece, which is guided onto the workpiece contact surface 22 and is greater than the weight of the ferromagnetic workpiece. This magnetic force presses the ferromagnetic workpiece against the workpiece contact surface 22.

[0127] In the released state, the magnetic device 18 does not generate a magnetic field designed to apply a magnetic force to the ferromagnetic workpiece, which is directed to the workpiece contact surface 22 and is greater than the weight of the ferromagnetic workpiece. This allows the ferromagnetic workpiece to be released from the workpiece contact surface 22.

[0128] Figure 1 A magnetic clamp 10 is shown, wherein the magnetic device 18 is in a released state. Figure 2 A magnetic clamp 10 is shown, wherein the magnetic device 18 is in a clamping state. Furthermore, Figure 2 A ferromagnetic workpiece 36 is shown arranged on the workpiece contact surface 22. A magnetic force greater than the weight of the ferromagnetic workpiece 36 acts on it by means of the magnetic field of the magnetic device 18. Therefore, the ferromagnetic workpiece 36 is held by the magnetic clamp 10.

[0129] The ferromagnetic workpiece 36 is smaller than the workpiece contact surface 22. This ensures a uniform distribution of magnetic force across the entire ferromagnetic workpiece 36.

[0130] The magnetic device 18 is installed in the housing 16 so that it can be linearly displaced parallel to the longitudinal axis 24 of the housing 16.

[0131] The magnetic device 18 is brought into a clamping state by a linear translational motion guided toward the workpiece contact surface 22. Therefore, the permanent magnet 26 is placed very close to the workpiece contact surface 22, such that the magnetic field of the permanent magnet 26 penetrates the workpiece contact surface 22 and applies a magnetic force greater than the weight of the ferromagnetic workpiece 36 to the ferromagnetic workpiece 36 arranged on the workpiece contact surface 22.

[0132] By being guided into a linear translational motion away from the workpiece contact surface 22, the magnetic device 18 is switched to a released state. Therefore, the permanent magnet 26 is placed at a certain distance from the workpiece contact surface 22, such that the magnetic field of the permanent magnet 26 cannot exert a magnetic force greater than the weight of the ferromagnetic workpiece 36 arranged on the workpiece contact surface 22.

[0133] The switching device 20 is designed to switch the magnetic device 18 between a clamping state and a releasing state. In the exemplary embodiment shown, the switching device 20 is designed to move the magnetic device 18 pneumatically between the clamping state and the releasing state.

[0134] The switching of the magnetic device 18 between a clamping state and a releasing state is performed by means of an actuator 38 of the switching device 20. The actuator 38 is a pneumatic actuator. The actuator 38 has a piston connected to the magnetic device 18. The housing 16 has a first connecting portion 40 and a second connecting portion 42. The two connecting portions 40 and 42 are each designed to connect the magnetic clamp 10 to a compressed air supply device. The two connecting portions 40 and 42 each have an opening for introducing gas, especially compressed air, into the housing 16 so as to switch the piston, and thus switch the magnetic device 18 between a releasing state and a clamping state.

[0135] Gas is supplied via the first connection 40, and is introduced into the housing portion above the piston, applying pressure to the piston. Therefore, a force directed onto the workpiece contact surface 22 acts on the piston. In response, the piston and the magnetic device 18 move parallel to the longitudinal axis 24 toward the workpiece contact surface 22 until the magnetic device 18 enters a clamping state.

[0136] Gas is supplied via the second connection 42, and is introduced into the housing portion below the piston, applying pressure to the piston. Therefore, a force directed away from the workpiece contact surface 22 acts on the piston. In response, the piston and magnetic device 18 move parallel to the longitudinal axis 24 away from the workpiece contact surface 22 until the magnetic device 18 enters a released state.

[0137] The magnetic clamp 10 has a control device 44 for controlling the conversion device 20. The control device 44 is a microcontroller. The control device 44 is designed to initiate and / or control the supply of gas via the first connection 40 or via the second connection 42.

[0138] The magnetic clamp 10 has a detector 46 for detecting the position of the magnetic device 18. The control device 44 is designed to control the gas supply via the first connection 40 or via the second connection 42 based on the position of the magnetic device 18 detected by means of the detector 46.

[0139] For example, if the control device 44 receives a signal to switch the magnetic device 18 to a clamping state, and the position of the magnetic device 18 detected by the detector 46 is not in a clamping state, the control device 44 can activate the gas supply to switch the magnetic device 18 to the clamping state. If the position of the magnetic device 18 detected by the detector 46 is in a clamping state, the control device 44 cannot activate the gas supply.

[0140] For example, if the control device 44 receives a signal to switch the magnetic device 18 to the released state, and the detector 46 detects that the magnetic device 18 is not in the released state, the control device 44 can activate the gas supply to switch the magnetic device 18 to the released state. If the detector 46 detects that the magnetic device 18 is in the released state, the control device 44 cannot activate the gas supply.

[0141] The magnetic gripper 10 has a sensor device 48, which includes a presence sensor. The sensor device 48 is designed to detect whether the ferromagnetic workpiece 36 is in contact with the workpiece contact surface 22. The presence sensor is a mechanical sensor that is actuated by the ferromagnetic workpiece 36 when it contacts the workpiece contact surface 22.

[0142] The control device 44 is designed to activate and / or control the magnetic device 18 to switch between a clamping state and a releasing state based on the presence of the ferromagnetic workpiece 36 detected by the sensor device 48.

[0143] For example, if the control device 44 receives a signal to switch the magnetic device 18 to a clamping state, and the sensor device 48 detects that the ferromagnetic workpiece 36 is not in contact with the workpiece contact surface 22, then the control device 44 cannot start and / or control the gas supply.

[0144] For example, if the control device 44 receives a signal to switch the magnetic device 18 to a clamping state, and the sensor device 48 detects that the ferromagnetic workpiece 36 is in contact with the workpiece contact surface 22, the control device 44 can activate and / or control the gas supply to switch the magnetic device 18 to a clamping state.

[0145] A magnetic clamp engagement portion 50 is arranged on the housing 16 of the magnetic clamp 10. The magnetic clamp engagement portion 50 is used to releasably attach another structurally identical magnetic clamp. The magnetic clamp engagement portion 50 has a threaded hole and a through hole, which are used to establish a threaded connection between the magnetic clamp 10 and the other magnetic clamp, thereby releasably attaching the two clamps to each other.

[0146] The magnetic gripper engagement 50 can be designed to supply compressed air to another magnetic gripper, so that the other magnetic gripper can switch between a released state and a gripping state.

[0147] Figures 4 to 6 It shows Figures 1 to 3 Another exemplary embodiment of the magnetic clamp 10, wherein the same reference numerals are used for the same and functionally equivalent elements, and in this respect, reference may be made to the above description of... Figures 1 to 3 The description of exemplary embodiments will therefore primarily focus on the differences that exist.

[0148] Figure 4 The magnetic clamp 10 in the released state is shown, and Figure 5 The magnetic clamp 10 in the clamped state is shown.

[0149] The magnetic device 18 is rotatably mounted about the transverse axis 52 of the magnetic gripper 10. The transverse axis 52 extends parallel to the workpiece contact surface 22. The transverse axis 52 may have a orientation such that it does not intersect with the permanent magnet 26. In other words, the permanent magnet 26 may be arranged eccentrically relative to the transverse axis 52. This allows the permanent magnet 26 to rotate toward or away from the workpiece contact surface 22.

[0150] In the clamped state, the permanent magnet 26 can rotate toward the workpiece contact surface 22. In the released state, the permanent magnet 26 can rotate away from the workpiece contact surface 22. In other words, in the clamped state, the first side 32 of the permanent magnet array 30 can be arranged between the workpiece contact surface 22 and the second side 34. In the released state, the second side 34 of the permanent magnet array 30 can be arranged between the workpiece contact surface 22 and the first side 32.

[0151] The actuator 38 of the switching device 20 is an electric actuator in the form of an electric motor. The actuator 38 drives the rotational movement of the magnetic device 18. By means of the actuator 38, the magnetic device 18 is switched between a clamping state and a released state through rotational movement. Each rotational movement used to switch the magnetic device 18 between the clamping and released states can cause all permanent magnets 26 to rotate 180°.

[0152] The magnetic device 18 has 15 permanent magnets 26. Figure 6 A side view of a portion of the permanent magnet array 30 is shown. The permanent magnet array 30 is a Heilbeck array.

[0153] Figures 7 to 9 It shows Figures 1 to 6 Another exemplary embodiment of the magnetic clamp 10, wherein the same reference numerals are used for the same and functionally equivalent elements, and in this respect, reference may be made to the above regarding... Figures 1 to 6 The description of exemplary embodiments will therefore primarily focus on the differences that exist.

[0154] Figure 7 A magnetic gripper 10 is shown. The switching device 20 has three actuators 38 for switching the magnetic device 18 between a gripping state and a released state. The actuators 38 are arranged linearly in a row. This row is referred to as the actuator row. Two adjacent actuators 38 may be spaced apart from each other by a certain distance.

[0155] Figure 8 and Figure 9 Each is shown in a schematic cross-sectional view. Figure 7 Magnetic clamp 10.

[0156] The magnetic device 18 has a first magnet unit 54, a second magnet unit 56, and a third magnet unit 58. Each magnet unit 54, 56, and 58 is formed by five permanent magnets 26 of the magnetic device 18.

[0157] The switching device 20 is designed to enable each magnet unit 54, 56, 58 to switch between an active state and a passive state independently of the other magnet units 54, 56, 58.

[0158] Three actuators 38 are configured to switch magnet units 54, 56, and 58 between an active and a passive state. Each actuator 38 is assigned to one of the magnet units 54, 56, and 58. Each actuator 38 is designed as previously described for... Figures 1 to 3 The pneumatic actuator discussed in the exemplary embodiments is described below. Each actuator 38 can switch between an active and a passive state by movement along an axis 60 arranged orthogonally to the workpiece contact surface 22, thereby switching the magnet units 54, 56, 58 assigned to the actuator 38 between active and passive states.

[0159] In the active state of magnet units 54, 56, and 58, the distance between magnet units 54, 56, and 58 and the workpiece contact surface 22 is less than the distance between magnet units 54, 56, and 58 and the workpiece contact surface in the passive state.

[0160] Figure 9 The first magnet unit 54 and the third magnet unit 58, each in an active state, and the second magnet unit 56, in a passive state, are shown.

[0161] By adjusting the active and passive states of magnet units 54, 56, and 58, the magnetic force acting on the ferromagnetic workpiece 36 in the clamping state can be adjusted.

[0162] For example, the magnetic gripper 10 may be in a clamping state when the first magnet unit 54 and the third magnet unit 58 are each in an active state and the second magnet unit 56 is in a passive state. Alternatively, the magnetic gripper 10 may be in a clamping state when all magnet units 54, 56, and 58 are in an active state. This allows the magnetic gripper 10 to be adjusted particularly well to meet the needs of the ferromagnetic workpiece 36.

[0163] When all magnet units 54, 56, and 58 are in the passive state, the magnetic clamp 10 is in the released state.

[0164] The control device 44 is designed to initiate and / or control the switching between active and passive states of each magnet unit 54, 56, 58 via the control switching device 20.

[0165] When all magnet units 54, 56, and 58 are in active or passive states, permanent magnets 26 are arranged into permanent magnet rows 30. Permanent magnet rows 30 are Heilbeck rows.

[0166] Figure 10 and Figure 11 It shows Figures 1 to 9Another exemplary embodiment of the magnetic clamp 10, wherein the same reference numerals are used for the same and functionally equivalent elements, in which regard reference may be made to the above-mentioned... Figures 1 to 9 The description of exemplary embodiments will therefore primarily focus on the differences that exist.

[0167] Figure 10 A magnetic gripper 10 is shown. The switching device 20 has four actuators 38 for switching the magnetic device 18 between a gripping state and a released state. The actuators 38 are arranged in a rectangular structure, specifically a square structure. This regular structure can be referred to as an actuator matrix.

[0168] The magnetic gripper 10 has four magnetic units 54, which can switch between active and passive states independently of each other by means of four actuators 38.

[0169] Figure 11 A plan view of the permanent magnet 26 of the magnetic gripper 10 in the clamping state is shown, with the line of sight extending from the workpiece contact surface 22 to the permanent magnet 26.

[0170] The permanent magnets 26 are arranged in a permanent magnet matrix 62. The permanent magnet matrix 62 is a Helbeck matrix. The Helbeck matrix is ​​composed of multiple permanent magnet rows 30 arranged sequentially, each of the multiple permanent magnet rows 30 being a Helbeck row. Each permanent magnet row 30 of the Helbeck matrix extends along a longitudinal axis 64. The longitudinal axes 64 of the permanent magnet rows 30 are arranged parallel to each other. The longitudinal axes 64 of the permanent magnet rows 30 define a plane parallel to the workpiece contact surface 22.

[0171] Figure 12 It shows Figures 1 to 11 Another exemplary embodiment of the magnetic clamp 10 in the figure, wherein the same reference numerals are used for the same and functionally equivalent elements, and in this respect, reference may be made to the above regarding Figures 1 to 11 The description of the exemplary embodiments in the example is provided, so the discussion will essentially focus only on the differences that exist.

[0172] Figure 12 A schematic plan view of the magnetic clamp 10 is shown, with the line of sight directed toward the manipulating engagement 14.

[0173] The switching device 20 has six actuators 38 for switching the magnetic device 18 between a clamping state and a released state. The actuators 38 are arranged in a regular structure, particularly in an actuator matrix.

[0174] The magnetic gripper 10 has six magnetic units 54, which can switch between active and passive states independently of each other by means of six actuators 38.

[0175] The magnetic gripper 10 has two grippers 66 for holding a ferromagnetic workpiece 36. Not each gripper 66 is designed as a magnetic gripper. Each gripper 66 is designed as a suction cup gripper for holding the ferromagnetic workpiece 36 by means of negative pressure. Each gripper 66 can withstand negative pressure to hold the ferromagnetic workpiece 36. By means of negative pressure, the ferromagnetic workpiece 36 is attracted to the workpiece contact surface 22.

[0176] Two grippers 66 are integrated into the permanent magnet matrix 62. Specifically, each gripper 66 is integrated into the permanent magnet matrix 62 such that at least one permanent magnet in the permanent magnet matrix 62 is replaced by a gripper 66.

[0177] Figure 13 A magnetic clamp device 100 is shown.

[0178] The magnetic clamping device 100 has a magnetic clamping portion 102 for clamping a ferromagnetic workpiece 36, a first magnetic clamp 104, and a second magnetic clamp 106. The first magnetic clamp 104 and the second magnetic clamp 106 are arranged close to each other to form the magnetic clamping portion 102. Therefore, the two magnetic clamps 104 and 106 function as a single magnetic clamp.

[0179] The length and / or width of the magnetic clamping part 102 may be equal to or greater than the length and / or width of the ferromagnetic workpiece to be clamped.

[0180] First magnetic clamp 104 and Figures 7 to 9 The magnetic clamp 10 is structurally identical to the second magnetic clamp 106. Figures 1 to 3 The magnetic clamp 10 is structurally the same.

[0181] The first magnetic clamp 104 and the second magnetic clamp 106 are detachably connected to each other by means of the magnetic clamp joint 50 of the two magnetic clamps 104, 106. In particular, the first magnetic clamp 104 is attached to the second magnetic clamp 106 by means of a threaded connection.

[0182] With the aid of the magnetic gripper engagement 50, the two magnetic grippers 104 and 106 are aligned relative to each other, such that the workpiece contact surface 22 of the first magnetic gripper 104 and the workpiece contact surface 22 of the second magnetic gripper 106 are arranged in the same plane. The magnetic gripping portion 102 is formed by the workpiece contact surface 22 of the first magnetic gripper 104 and the workpiece contact surface 22 of the second magnetic gripper 106. The two magnetic grippers 104 and 106 are aligned relative to each other, such that the workpiece contact surface 22 of the second magnetic gripper 106 is adjacent to the workpiece contact surface 22 of the first magnetic gripper 104.

[0183] The first magnetic clamp 104 and the second magnetic clamp 106 are arranged in close proximity to each other, such that in the released and / or clamped states of the two magnetic clamps 104, 106, the permanent magnet 26 of the second magnetic clamp 106 forms a continuation of the Heilbeck array of the permanent magnet 26 of the first magnetic clamp 104.

[0184] The first magnetic gripper 104 and the second magnetic gripper 106 are arranged close to each other, such that the magnetic field of the magnetic device 18 of the first magnetic gripper 104 in the clamping state overlaps with the magnetic field of the magnetic device 18 of the second magnetic gripper 106 in the clamping state. The magnetic field of the second magnetic gripper 106 in the clamping state forms a continuation of the magnetic field of the first magnetic gripper 104 in the clamping state. Therefore, the magnetic fields of the two magnetic grippers 104 and 106 function like the magnetic field of a single magnetic gripper in the clamping state.

[0185] The first magnetic gripper 104 and the second magnetic gripper 106 are arranged close to each other, such that the two magnetic grippers 104 and 106 form a magnetic gripper row. Therefore, the magnetic gripping portion 102 is formed linearly.

[0186] In another exemplary embodiment (not shown), the first magnetic gripper and the second magnetic gripper may be structurally identical.

[0187] In another exemplary embodiment (not shown), the magnetic gripper device may have more than two magnetic grippers. Specifically, the magnetic gripper device may have multiple magnetic grippers. Multiple magnetic grippers may form a single magnetic gripping portion.

[0188] In another exemplary embodiment (not shown), the magnetic gripper device may have more than two magnetic grippers, wherein the magnetic grippers are arranged close together to form a magnetic gripper matrix. This allows the magnetic gripping portion to be flat. The length and width of the magnetic gripping portion may be equal to or greater than the length and width of the ferromagnetic workpiece to be gripped.

[0189] Figure 14 A clamping device 200 for clamping a ferromagnetic workpiece 202 is shown. The clamping device 200 has a first magnetic gripper 204 and a second magnetic gripper 206. Both the first magnetic gripper 204 and the second magnetic gripper 206 are connected to... Figures 1 to 3 The magnetic clamp 10 is structurally the same.

[0190] Two magnetic grippers 204 and 206 are connected to each other by means of the frame 208 of the gripping device 200.

[0191] Two magnetic grippers 204 and 206 are arranged in a gripping row to form a gripping area 210. The workpiece contact surface 22 of the first magnetic gripper 204 and the workpiece contact surface of the second magnetic gripper 206 are located within the gripping area 210. The gripping area 210 is limited by the internal workpiece contact surfaces 22 of the two magnetic grippers 204 and 206. The workpiece contact surfaces 22 of the two magnetic grippers 204 and 206 are arranged in the same plane. The length and / or width of the gripping area 210 are equal to or greater than the length and / or width of the ferromagnetic workpiece 202 to be gripped.

[0192] Two magnetic grippers 204 and 206 are spaced apart by a clamping distance 212, which is greater than 15 cm. Therefore, the workpiece contact surface 22 of the first magnetic gripper 204 is not adjacent to the workpiece contact surface 22 of the second magnetic gripper 206, and the magnetic fields of the magnetic devices 18 of the two magnetic grippers 204 and 206 do not overlap during clamping. Therefore, the magnetic fields of the two magnetic grippers 204 and 206 cannot function during clamping as they would with a single magnetic gripper.

[0193] Figure 15 A manipulator 68 in the form of a robotic arm is shown. Figure 7 The magnetic gripper 10 is attached to the operating device 68 by means of the operating joint 14. A ferromagnetic workpiece 36 is held by the magnetic gripper 10. The magnetic gripper 10 and the held ferromagnetic workpiece 36 form a gripper system 300. The width of the ferromagnetic workpiece 36 is equal to the width of the workpiece contact surface 22 of the magnetic gripper 10. The length of the ferromagnetic workpiece 36 is equal to the length of the workpiece contact surface 22 of the magnetic gripper 10.

Claims

1. A magnetic gripper (10, 104, 106, 204, 206) for gripping a ferromagnetic workpiece (36, 202), the magnetic gripper (10, 104, 106, 204, 206) having: a magnetic device (18) formed of a plurality of permanent magnets (26), each having a north pole and a south pole, wherein a magnetic device (18) which is capable of being switched between a gripping state for gripping the ferromagnetic workpiece (36, 202) and a release state for releasing the ferromagnetic workpiece (36, 202); a switching device (20) for switching the magnetic device (18) between the gripping state and the release state; and a workpiece contact surface (22) for contacting the ferromagnetic workpiece (36, 202).

2. The magnetic gripper (10, 104, 106, 204, 206) according to claim 1, the magnetic device (18) having, in particular in the gripping state, a first side (32) facing the workpiece contact surface (22) and a second side (34) facing away from the workpiece contact surface (22), wherein, wherein the plurality of permanent magnets (26) is arranged such that a magnetic flux density of the magnetic device (18) at or through the first side (32) is higher than a magnetic flux density of the magnetic device (18) at or through the second side (34). the plurality of permanent magnets (26) is arranged in the manner of a Halbach row or a Halbach matrix.

3. The magnetic holder (10, 104, 106, 204, 206) according to claim 2, wherein, 4. The magnetic gripper (10, 104, 106, 204, 206) according to any one of the preceding claims, the magnetic device (18) having a first magnet unit (54) formed by at least one permanent magnet (26) and a second magnet unit (56) formed by at least one permanent magnet (26), wherein, wherein the switching device (20) is designed to switch the first magnet unit (54) between an active state and a passive state independently of the second magnet unit (56), wherein the switching device (20) is designed to switch the second magnet unit (56) between an active state and a passive state independently of the first magnet unit (54), wherein the magnetic device (18) is in the release state when the first magnet unit (54) and the second magnet unit (56) are each in the passive state, wherein the magnetic device (18) is in the gripping state when the first magnet unit (54) and / or the second magnet unit (56) is in the active state.

5. The magnetic gripper (10, 104, 106, 204, 206) according to any one of the preceding claims, the magnetic gripper (10, 104, 106, 204, 206) having a magnetic gripper engagement (50) for releasably attaching a further magnetic gripper to the magnetic gripper (10, 104, 106, 204, 206). wherein ​ 6. The magnetic clamp (10, 104, 106, 204, 206) according to any one of the preceding claims, wherein the magnetic clamp (10, 104, 106, 204, 206) having a plurality of clamps (66) for clamping the ferromagnetic workpiece (36, 202), wherein each clamp (66) is designed to clamp the ferromagnetic workpiece (36, 202) in the absence of a magnetic field.

7. A magnetic clamp device (100) for clamping a ferromagnetic workpiece (36, 202), the magnetic clamp device (100) having: a magnetic clamping site (102) for clamping the ferromagnetic workpiece (36, 202); a first magnetic clamp (104) according to any one of the preceding claims; and a second magnetic clamp (106) according to any one of the preceding claims, wherein, the first magnetic clamp (104) and the second magnetic clamp (106) being arranged in immediate succession to one another to form the magnetic clamping site (102).

8. The magnetic clamp device (100) according to claim 7, wherein, the magnetic field of the magnetic means (18) of the first magnetic clamp (104) in the clamped state and the magnetic field of the magnetic means (18) of the second magnetic clamp (106) in the clamped state overlap one another.

9. The magnetic clamp device (100) according to claim 7 or 8, wherein the magnetic clamp device (100) having a plurality of magnetic clamps according to any one of the preceding claims 1 to 6, wherein the plurality of magnetic clamps are arranged to form a magnetic clamp row.

10. The magnetic clamp device (100) according to any one of the preceding claims 7 to 9, wherein, the magnetic clamp device (100) having a plurality of magnetic clamps according to any one of the preceding claims 1 to 6, wherein the plurality of magnetic clamps are arranged to form a magnetic clamp matrix.

11. A clamping device (200) for clamping a ferromagnetic workpiece (36, 202), the clamping device (200) having: a plurality of magnetic clamps (204, 206) according to any one of the preceding claims 1 to 6 and / or a plurality of magnetic clamp devices according to any one of the preceding claims 7 to 10, wherein the plurality of magnetic clamps (204, 206) and / or the plurality of magnetic clamp devices being arranged in a clamping row or a clamping matrix to form a clamping area (210) for clamping the ferromagnetic workpiece (202).

12. A clamping system (300) comprising: a magnetic clamp (10, 104, 106, 204, 206) according to any one of claims 1 to 6, a magnetic clamp device (100) according to any one of claims 7 to 10 and / or a clamping device (200) according to claim 11; and the ferromagnetic workpiece (36, 202), the magnetic clamp (10, 104, 106, 204, 206), the magnetic clamp device (100) and / or the clamping device (200) being arranged to clamp the ferromagnetic workpiece (36, 202). wherein the width and / or length of the ferromagnetic workpiece (36, 202) is equal to or less than the width and / or length of the workpiece contact surface (22), equal to or less than the width and / or length of the magnetic clamping site (102), or equal to or less than the width and / or length of the clamping region (210). wherein the width and / or length of the ferromagnetic workpiece (36, 202) is equal to or less than the width and / or length of the workpiece contact surface (22), equal to or less than the width and / or length of the magnetic clamping site (102), or equal to or less than the width and / or length of the clamping region (210). wherein the width and / or length of the ferromagnetic workpiece (36, 202) is equal to or less than the width

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