Magnetic gripper and industrial robot

Abstract

A magnetic gripper (14) is provided with: a pair of pole shoes (16, 18) which each have an attraction part (32a) for attracting a workpiece (W), and which are disposed apart from each other in a first direction; a magnet (35) disposed between the pair of pole shoes (16, 18); a rotation mechanism (22) that rotates the magnet (35) about a rotation axis (C) in a second direction perpendicular to the first direction; and a yoke (36) that is disposed between the pair of pole shoes (16, 18) and collects magnetic flux that does not face the pole shoes (16, 18). The yoke (36) is magnetically isolated from the pair of pole shoes (16, 18).

Description

Technical Field

[0001] This invention relates to a magnetic gripper and an industrial robot that uses magnetic force to hold a magnetic workpiece. Background Technology

[0002] Magnetic grippers are devices that use magnetic force to attract magnetic workpieces such as steel. For example, they are used on industrial robots that transport steel sheets on manufacturing lines in automobile factories. Sometimes, magnetic grippers locally magnetize the steel sheet using their magnetic force. When applying metal coating to the magnetized steel sheet, the magnetic flakes align in the magnetized areas, creating a pattern that reflects the magnetization distribution.

[0003] As a solution to this problem, a magnetic clamp with demagnetizing function, as described in Japanese Patent Application Publication No. 2021-515391, has been proposed. In addition to a magnet that generates attraction, this magnetic clamp also includes an electromagnetic coil for demagnetizing. For workpieces magnetized by the magnet, this magnetic clamp uses the electromagnetic coil to demagnetize them by reversing the magnetic poles, thereby reducing the magnetic force on the steel plate.

[0004] However, the magnetic clamp disclosed in Japanese Patent Publication No. 2021-515391 requires not only a drive mechanism for driving the magnet, but also an electromagnetic coil and its control circuit for demagnetization, which complicates the structure of the device and its control circuit. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems.

[0006] The following is a disclosed viewpoint regarding a magnetic gripper comprising: a pair of pole shoes, each having an adsorption portion for adsorbing a workpiece, the pair of pole shoes being separately arranged in a first direction; a magnetic flux source disposed between the pair of pole shoes, having a pair of magnetic poles oriented along the first direction; a rotation mechanism that rotates the magnetic flux source about a rotation axis in a second direction perpendicular to the first direction; and a magnetic yoke disposed between the pair of pole shoes, collecting magnetic flux not oriented toward the pole shoes, the magnetic yoke being magnetically separated from the pair of pole shoes.

[0007] Another viewpoint is a magnetic gripper comprising: a pair of pole shoes, each having an adsorption portion for adsorbing a workpiece, the pair of pole shoes being separately arranged in a first direction; a magnetic flux source disposed between the pair of pole shoes, having a pair of magnetic poles oriented along the first direction; a rotation mechanism that rotates the magnetic flux source about a rotation axis extending in a second direction perpendicular to the first direction; and a magnetic field sensor that detects the magnetic field of the pole shoes.

[0008] Another perspective is that of industrial robots, which possess the aforementioned magnetic grippers and robotic arms equipped with the magnetic grippers.

[0009] The magnetic grippers and industrial robots described above can demagnetize workpieces with a simple structure.

[0010] The above-described objects, features, and advantages are readily understood from the following description of embodiments with reference to the accompanying drawings. Attached Figure Description

[0011] Figure 1 This is a perspective view of the industrial robot according to the first embodiment.

[0012] Figure 2 It means installed in Figure 1 A perspective view of the appearance of a magnetic gripper used in an implementation of an industrial robot.

[0013] Figure 3 yes Figure 2 An exploded perspective view of the magnetic clamp. Furthermore, in Figure 3 The shell is omitted in the text.

[0014] Figure 4 It means Figure 2 A cross-sectional view of the magnetic clamp.

[0015] Figure 5 Is Figure 2 In the magnetic holder, a cross-sectional view along a plane orthogonal to the second direction at the position of the magnet shows the orientation of the magnetic poles when the magnet angle is 0°.

[0016] Figure 6 (A) represents in Figure 5 A cross-sectional view showing the configuration of the magnetic poles when the magnet is rotated to a magnet angle -θ. Figure 6 (B) indicates that in Figure 5 A cross-sectional view showing the configuration of the magnetic poles when the magnet is rotated to the magnet angle +θ.

[0017] Figure 7 It is a cross-sectional view showing the configuration of the magnetic poles when the magnet is rotated to a magnet angle of -90°.

[0018] Figure 8 It is a graph showing the relationship between the magnet angle θ and the adsorption force of a magnet, calculated through electromagnetic field analysis.

[0019] Figure 9 This is an explanatory diagram showing a modified example of a magnet.

[0020] Figure 10This is a perspective view showing the appearance of the magnetic clamp according to the second embodiment.

[0021] Figure 11 It is represented by decomposed state Figure 10 A three-dimensional view of the main parts of the magnetic clamp.

[0022] Figure 12 It is along Figure 10 A cross-sectional view along line XII-XII.

[0023] Figure 13 It is a partial omission along Figure 10 A cross-sectional view showing the cross section of line XIII-XIII.

[0024] Figure 14 This is an exploded perspective view of the magnetic circuit components of a modified embodiment of the second embodiment. Detailed Implementation

[0025] (First Implementation)

[0026] like Figure 1 As shown, the industrial robot 10 of the embodiment includes a robot arm 12 movable at multiple joints 12a and a magnetic gripper 14 mounted on the top of the robot arm 12. Such an industrial robot 10 is used, for example, in the production line of an automobile factory for transporting magnetic workpieces W such as steel plates and various parts. Figure 1 The magnetic clamp 14 is shown in a shape suitable for adsorbing a thin plate-shaped workpiece W as one of its forms.

[0027] Figure 2 The magnetic gripper 14 shown includes: a first pole shoe 16, a second pole shoe 18, a magnetic force adjustment unit 20, a rotation mechanism 22, and a frame member 24. The magnetic gripper 14 attracts and holds the workpiece W via the first pole shoe 16 and the second pole shoe 18. In the following description, to clarify the shape and arrangement of the components, the term "three mutually orthogonal directions" is used. Figure 2 The width direction, adsorption direction, and front-back direction are shown. The adsorption direction is the direction in which the adsorption force on the workpiece W is generated. The width direction is the separation direction of the first electrode 16 and the second electrode 18, also known as the first direction. The front-back direction is the direction perpendicular to both the adsorption direction and the width direction.

[0028] Furthermore, the terms "second direction" and "third direction" are used to indicate the arrangement direction of the magnet 35 and the yoke 36, which will be described later. The second direction is the extension direction of the rotation axis C of the magnet 35, which will be described later, and the third direction is the extension direction of the top wall 36a of the yoke 36. In the illustrated example, the front-back direction is consistent with the second direction, and the attraction direction is consistent with the third direction, but this is not a limitation. For example, the magnet 35 and the yoke 36 can be configured such that the attraction direction is consistent with the second direction, and the front-back direction is consistent with the third direction. In addition, the width direction, the attraction direction, and the front-back direction do not limit the arrangement direction of the magnetic clamp 14.

[0029] The first pole piece 16 and the second pole piece 18 are formed of a strongly magnetic material, more preferably a soft magnetic material. The first pole piece 16 is formed as a thin plate extending along the adsorption direction. The first pole piece 16 has a rectangular base 30 and a foot 32 extending from the base 30. The foot 32 extends from the base 30 in the front-rear direction. The first pole piece 16 having the base 30 and the foot 32 has a T-shape when viewed in the width direction.

[0030] The first extreme boot 16 is at the end of the foot 32 ( Figure 2 The lower end of the foot 32 has an adsorption portion 32a. The adsorption portion 32a is the part that releases magnetic flux toward the workpiece W, and is magnetically attracted to the workpiece W. To concentrate the magnetic flux in the adsorption portion 32a, the thickness (width dimension) of the foot 32 gradually decreases toward the adsorption portion 32a. Figure 3 , Figure 5 As shown, the first pole piece 16 has a recess 33 at its base 30, which is recessed in a manner that does not interfere with the cylindrical magnet 35. The recess 33 is formed by a curved surface along the radius of rotation of the magnet 35. The recess 33 may or may not contact the magnet 35.

[0031] like Figure 3 As shown, the second pole shoe 18 is formed with the same shape as the first pole shoe 16, therefore a detailed description of the second pole shoe 18 is omitted. Furthermore, in each part of the second pole shoe 18, the portions identical to those in the first pole shoe 16 are given the same reference numerals as their corresponding portions in the first pole shoe 16. The second pole shoe 18 is arranged parallel to the first pole shoe 16 in the width direction. A gap is formed between the first pole shoe 16 and the second pole shoe 18. In some embodiments, the width of the gap between the first pole shoe 16 and the second pole shoe 18 may be greater than the thickness of either the first pole shoe 16 or the second pole shoe 18.

[0032] Furthermore, the shapes of the first pole shoe 16 and the second pole shoe 18 are not limited to a T-shape. The first pole shoe 16 and the second pole shoe 18, viewed in the width direction, can also be, for example, an I-shape or an L-shape.

[0033] A magnetic field sensor 80 is provided in the adsorption section 32a of the first pole shoe 16. The magnetic field sensor 80 detects the strength of the magnetic field flowing between the workpiece W and the first pole shoe 16. If the workpiece W is a thin plate, and the magnetic field generated by the first pole shoe 16 (and the second pole shoe 18) is too strong, it may be possible to hold multiple workpieces W in a state of overlapping. The magnetic field sensor 80 can detect the adsorption of multiple workpieces W by detecting the strength of the magnetic field generated by the first pole shoe 16. Furthermore, the magnetic field sensor 80 can be provided on the second pole shoe 18, or on both the first pole shoe 16 and the second pole shoe 18. The installation position of the magnetic field sensor 80 is not limited to the adsorption section 32a, and can be provided at any position on the path of the magnetic circuit formed by the first pole shoe 16 and the second pole shoe 18.

[0034] like Figure 2 As shown, the magnetic force adjustment unit 20 is disposed between the first pole shoe 16 and the second pole shoe 18. The magnetic force adjustment unit 20 adjusts the magnetic field toward the first pole shoe 16 and the second pole shoe 18.

[0035] like Figure 3 and Figure 4 As shown, the magnetic force adjustment unit 20 includes a magnet assembly 34, a yoke 36, a first spacer 38, and a second spacer 40. The magnet assembly 34 is a cylindrical component including a magnet 35 as a magnetic flux source. The magnet assembly 34 has a magnet 35, a pin retainer 42, and a magnet retainer 44. Figure 3 As shown, magnet 35 is held by pin retainer 42 and magnet retainer 44. Pin retainer 42 and magnet retainer 44 are connected to magnet 35 by bolt 34a. Thus, magnet assembly 34 is formed.

[0036] The magnet 35 has a cylindrical shape. The magnet 35 is capable of rotating around its central rotation axis C. Here, the example is given where the extension direction of the rotation axis C, i.e., the second direction, is consistent with the front-back direction. However, this embodiment is not limited to this; the extension direction of the rotation axis C (the second direction) can also be the attraction direction.

[0037] Magnet 35 is a permanent magnet and has a pair of magnetic poles by radial magnetization. Magnet 35 has the center of the N pole (the part with the highest magnetic flux density) at a predetermined position in the circumferential direction on its outer peripheral surface 35a, and the center of the S pole at a position 180° away in the circumferential direction from the N pole.

[0038] like Figure 3As shown, the magnet 35 has a top surface 35b at one end in the second direction and a rear surface 35c at the other end. The top surface 35b and the rear surface 35c are both flat surfaces perpendicular to the second direction. A pin retainer 42 is mounted on the top surface 35b, and a magnet retainer 44 is mounted on the rear surface 35c. The pin retainer 42 and the magnet retainer 44 are connected to the magnet 35 by bolts 34a, which pass through a mounting hole 35d in the magnet 35 along the second direction.

[0039] Furthermore, the length of the magnet 35 in the second direction can be appropriately increased or decreased according to the desired attraction force. Increasing the length of the magnet 35 in the second direction increases the magnetic flux emitted by the magnet 35, thereby generating a greater attraction force.

[0040] Furthermore, the shape of the magnet 35 is not limited to a cylindrical shape; for example, it can also be a plate extending along the axis of rotation C. In this case, the plate-shaped magnet can also be magnetized to have magnetic poles on its sides.

[0041] The pin retainer 42 is a circular plate-shaped component with an outer diameter smaller than that of the magnet 35, and has a first pin 46 on its outer periphery. The first pin 46 is, for example, a parallel pin, and rotates integrally with the magnet 35. The first pin 46 limits the rotation range of the magnet 35 by abutting against the second pin 57 described later, so that the magnet 35 does not rotate more than one revolution. In addition, the pin retainer 42 has a short shaft protrusion 48 at its center, which protrudes in a second direction coaxial with the axis of rotation C. The shaft protrusion 48 is rotatably supported relative to the yoke 36 by a bushing 37 fixed to the yoke 36 (see reference). Figure 4 ).

[0042] The magnet retainer 44 is fixed to the rear end face 35c of the magnet 35. The magnet retainer 44 is a cylindrical component with approximately the same outer diameter as the magnet 35, and is coaxially configured with the magnet 35. Figure 4 As shown, the magnet holder 44 has a shaft hole 44a extending along the rotation axis C at its end away from the magnet 35. The shaft hole 44a accommodates the top end of the rotating shaft 52 of the motor 50 of the rotating mechanism 22. The magnet holder 44 and the rotating shaft 52 are secured by a locking screw 44c mounted on the magnet holder 44. The locking screw 44c is screwed into a threaded hole 44b that extends from the side of the magnet holder 44 toward the shaft hole 44a.

[0043] like Figure 3 As shown, the magnet holder 44 has a wear ring 54 on its outer periphery. The wear ring 54 is formed of a material with low frictional resistance and is difficult to wear, such as fluoropolymer or polyethylene resin. The wear ring 54 is disposed inside the inner diameter portion 56a of the cylindrical sleeve 56 and slides and rotates inside the sleeve 56.

[0044] The magnetic yoke 36 is formed of a strongly magnetic material, more preferably of a soft magnetic material. For example... Figure 3 As shown, the magnetic yoke 36 is C-shaped when viewed in the width direction (first direction), and has a top wall 36a, a first wall portion 36b, and a second wall portion 36c. The top wall 36a extends along a third direction perpendicular to the first and second directions (the attraction direction in the illustrated example). The top wall 36a is located outside the top surface 35b of the magnet 35. The first wall portion 36b extends from the first end 36d of the top wall 36a toward the magnet 35 along the front-back direction (second direction), and the second wall portion 36c extends from the second end 36e of the top wall 36a toward the magnet 35 along the front-back direction (second direction).

[0045] like Figure 4 As shown, the first wall portion 36b and the second wall portion 36c are inserted into the outer peripheral surface 35a of the magnet 35 from both sides in a third direction. The first wall portion 36b and the second wall portion 36c have recesses 36f in the portions opposite to the magnet 35, and these recesses 36f have a curvature slightly larger than the radius of rotation of the outer peripheral surface 35a of the magnet 35. The recesses 36f are formed in a recessed manner that does not interfere with the outer peripheral surface 35a of the magnet 35, allowing rotation of the magnet 35. The magnet 35 may slidably contact the recesses 36f, or it may not contact the recesses 36f.

[0046] like Figure 3 As shown, the yoke 36 has a second pin 57. The second pin 57 is, for example, a parallel pin, mounted on the top wall 36a of the yoke 36. The second pin 57 protrudes into the magnet assembly 34 and limits the rotational range of the magnet 35 by abutting against the first pin 46. In the case where the motor 50 is composed of a stepper motor, the magnet angle θ (rotational position) at which the first pin 46 and the second pin 57 abut is used for the initialization of the motor 50.

[0047] The first spacer 38 and the second spacer 40 are formed of a non-magnetic material. In some embodiments, the non-magnetic material includes paramagnetic and diamagnetic materials. Viewed in the width direction, the first spacer 38 and the second spacer 40 have a C-shape substantially the same as that of the yoke 36. The thickness (dimension in the first direction) of the first spacer 38 and the thickness (dimension in the first direction) of the second spacer 40 are the same, and may be thinner than the thickness of the yoke 36. The first spacer 38 is disposed between the yoke 36 and the first pole piece 16, and the second spacer 40 is disposed between the yoke 36 and the second pole piece 18. Figure 3 As shown, the first spacer 38 and the second spacer 40 are fixed to the magnetic yoke 36 by bolts 58.

[0048] The first spacer 38 and the second spacer 40 weaken the magnetic coupling between the yoke 36 and the first pole shoe 16 and the second pole shoe 18, thereby achieving magnetic separation. When a workpiece W made of a strongly magnetic material is attracted by the first pole shoe 16 and the second pole shoe 18, the first pole shoe 16 and the second pole shoe 18 are magnetically coupled through the workpiece W. In this case, the yoke 36 is magnetically separated from either the first pole shoe 16 or the second pole shoe 18 (weak magnetic coupling). Therefore, magnetic flux is difficult to pass through the yoke 36 (short circuit), and the yoke 36 does not hinder the attraction of the workpiece W.

[0049] Furthermore, when the magnetic poles of the magnet 35 are oriented towards the first wall portion 36b and the second wall portion 36c of the yoke 36, most of the magnetic flux of the magnet 35 flows through the magnetic path of the yoke 36. On the other hand, since the yoke 36 is magnetically separated, leakage of the magnetic field to the first pole shoe 16 and the second pole shoe 18 is prevented.

[0050] Furthermore, the first spacer 38 and the second spacer 40 seal the gap between the yoke 36 and the first pole shoe 16 and the second pole shoe 18 to prevent dust from entering the interior of the magnetic force adjustment section 20. Moreover, the first spacer 38 and the second spacer 40 are not essential as a means of reducing the magnetic coupling between the yoke 36 and the first pole shoe 16 and the second pole shoe 18. In some embodiments, gaps may be provided instead of the first spacer 38 and the second spacer 40.

[0051] like Figure 3 As shown, the first wall portion 36b and the second wall portion 36c of the magnetic yoke 36 are fastened to the frame member 24 by bolts 60. The first pole shoe 16 and the second pole shoe 18 are fixed to the frame member 24 together with the magnetic yoke 36.

[0052] The frame component 24 has a partition wall 62, a first arm 64, and a second arm 66. The partition wall 62 is disposed between the first pole shoe 16 and the second pole shoe 18 and the rotating mechanism 22. The partition wall 62 is formed as a plate perpendicular to the second direction, and its front surface 62a abuts against the rear portion 30a of the base 30 of the first pole shoe 16 and the second pole shoe 18. The rotating mechanism 22 is fastened to the rear surface 62b of the partition wall 62. The partition wall 62 has a through hole 62c extending along the second direction at its central portion. The through hole 62c is formed as a circle concentric with the rotation axis C of the magnet 35. A sleeve 56 is installed in the through hole 62c.

[0053] like Figure 3 As shown, the first arm 64 and the second arm 66 protrude from the front surface 62a of the partition wall 62 in a second direction. The first arm 64 abuts against the adsorption-direction end of the first pole shoe 16. A bolt 68 is installed on the first arm 64. The first arm 64 and the first pole shoe 16 are fastened together by the bolt 68. The second arm 66 abuts against the adsorption-direction end of the second pole shoe 18. The second arm 66 and the second pole shoe 18 are fastened together by the bolt 70.

[0054] like Figure 5 As shown, a magnetic yoke 36, a first spacer 38, and a second spacer 40 are disposed between the first arm 64 and the second arm 66. The magnetic yoke 36, the first spacer 38, the second spacer 40, the first pole shoe 16, the second pole shoe 18, and the frame member 24 form a receiving chamber 72 that houses the magnet assembly 34. The rear of the receiving chamber 72 is closed by a rotating mechanism 22.

[0055] like Figure 3 As shown, the plate-shaped fixing plate 74 can also be installed on the frame component 24 as needed. The fixing plate 74 is used for mounting angle irons, etc., connecting the industrial robot 10 and the magnetic gripper 14.

[0056] like Figure 4 As shown, the rotating mechanism 22 includes a motor 50 and a housing 76. Various types of motors can be used for the motor 50, but a stepper motor capable of adjusting the magnet angle with high precision is preferred. The motor 50 has a rotating shaft 52, through which the magnet 35 is rotated. Figure 3 As shown, the motor 50 is fixed to the rear surface 62b of the frame member 24 via an annular spacer 78.

[0057] like Figure 4 As shown, housing 76 is a box-shaped component that protects motor 50 by covering its surroundings. The above description illustrates an example of using motor 50 in rotary mechanism 22, but this embodiment is not limited thereto. In some embodiments, rotary mechanism 22 may be configured by combining a cylinder and various mechanisms (e.g., cam mechanisms or rack and pinion mechanisms) that convert the linear motion of the cylinder into rotary motion.

[0058] The function of the magnetic clamp 14 in this embodiment will be explained below.

[0059] Without adsorbing the workpiece W, the magnet 35 is positioned at... Figure 5 The orientation shown is such that the magnetic pole direction P, connecting the center of the N pole and the center of the S pole of magnet 35, is aligned with the third direction of yoke 36. Figure 5 The magnet 35 shown has a magnet angle θ of 0°. When the magnet angle is 0°, the magnetic flux of the magnet 35 is almost entirely concentrated in the yoke 36. Furthermore, the N and S poles can also be configured in the opposite way to the example shown.

[0060] The magnetic flux emitted from the N pole of magnet 35 is directed towards the first wall 36b of yoke 36. Figure 5 The paper flows in front of it, passing over the top wall 36a (see reference). Figure 3 ) Reaching the second wall section 36c, towards Figure 5 The current flows inside the paper and returns to the S pole of magnet 35. Additionally, in Figure 5 In the diagram, a circle marked with a dot in the center indicates magnetic flux flowing towards the front of the paper, while a circle marked with an "X" indicates magnetic flux flowing towards the inside of the paper. The yoke 36 is magnetically separated from the first pole shoe 16 by the first spacer 38 and from the second pole shoe 18 by the second spacer 40. Therefore, when the magnet angle is 0°, the magnetic flux of the magnet 35 will not leak to the first pole shoe 16 and the second pole shoe 18. Consequently, the first pole shoe 16 and the second pole shoe 18 do not generate an attractive force.

[0061] like Figure 6 As shown in (A), when magnet 35 rotates to magnet angle -θ, the N pole approaches the second pole shoe 18 and the S pole approaches the first pole shoe 16. As a result, a portion of the magnetic flux flows to the second pole shoe 18 and the first pole shoe 16, and the first pole shoe 16 and the second pole shoe 18 are magnetized, generating a magnetic field in the adsorption section 32a. Thus, an adsorption force based on the magnetic field is generated in the first pole shoe 16 and the second pole shoe 18.

[0062] As the absolute value of the magnet angle θ of magnet 35 increases, the proportion of magnetic flux flowing from the magnetic poles of magnet 35 toward the first pole piece 16 and the second pole piece 18 increases. When the absolute value of the magnet angle θ is 90°, almost all the magnetic flux of magnet 35 flows to the first pole piece 16 and the second pole piece 18, generating the maximum attraction force in the first pole piece 16 and the second pole piece 18.

[0063] like Figure 8 As shown, when the absolute value of the magnet angle θ of magnet 35 is increased in the range of 0° to 90°, an adsorption force corresponding to the absolute value of the magnet angle θ can be generated.

[0064] like Figure 7 As shown, the magnetic clamp 14 is configured such that when the magnet angle θ of the magnet 35 is -90° (or +90°), the magnetic flux generated by the magnet 35 is almost entirely directed towards the first pole shoe 16 and the second pole shoe 18. In this case, the magnetic clamp 14 exerts its maximum attraction force.

[0065] In addition, such as Figure 6 As shown in (B), when the magnet 35 is rotated to a magnet angle +θ, the N pole approaches the first pole shoe 16 and the S pole approaches the second pole shoe 18. As a result, the adsorption portion 32a of the first pole shoe 16 is magnetized as the N pole, and the second pole shoe 18 is magnetized as the S pole. That is, the orientation of the magnetic poles between the first pole shoe 16 and the second pole shoe 18 is relative to... Figure 6 The case of magnet angle -θ of (A) is reversed.

[0066] Therefore, demagnetization using the magnetic gripper 14 is performed by reciprocating the magnet 35 between magnet angle +θ and magnet angle -θ, while gradually bringing the absolute value of magnet angle θ closer to 0°. As a result, since the orientation of the magnetic poles of the magnetic field between the first pole piece 16 and the second pole piece 18 adsorbing the workpiece W reverses and gradually decreases, demagnetization of the workpiece W is possible. Thus, the magnetic gripper 14 of this embodiment can perform demagnetization solely through the rotational movement of the magnet 35 without using an electromagnetic coil for demagnetization.

[0067] (Modifications of the implementation method)

[0068] In this embodiment, the number of magnets 35 serving as magnetic flux sources is not limited to one. For example... Figure 9 As shown in the modified example, the magnetic flux source can also be constructed by connecting the first magnet 35A, the second magnet 35B, and the third magnet 35C in the second direction. Furthermore, in Figure 9 The diagram omits any structures other than the first magnet 35A, the second magnet 35B, the third magnet 35C, and the second pole shoe 18. In this case, the circumferential positions of the magnetic poles of the first magnet 35A, the second magnet 35B, and the third magnet 35C are aligned, and they rotate as a unit. According to this modified example, the magnetic flux generated by the magnetic flux source can be increased by three times, thereby increasing the attraction force of the magnetic clamp 14.

[0069] Furthermore, other variations that increase the magnetic flux of magnet 35 include increasing the length of magnet 35 instead of increasing the number of magnets 35. For example, when it is desired to make the magnetic flux of magnet 35... Figure 3 When the magnetic flux of magnet 35 is three times greater, the length of magnet 35 in the second direction is extended by three times. In this case, magnetic clamp 14 also provides a greater attraction force.

[0070] The above description uses the example of a permanent magnet as a flux source, but the flux source is not limited to this. For example, it can also be an electromagnetic coil, a superconductor, or other devices that generate magnetic flux.

[0071] (Second Implementation)

[0072] like Figure 10 As shown, this embodiment relates to a magnetic clamp 14A with another configuration example. Furthermore, in the structure of the magnetic clamp 14A, for... Figure 2 The same structure as the magnetic clamp 14 is given the same symbol, and its detailed description is omitted.

[0073] The magnetic clamp 14A includes a first pole shoe 16A, a second pole shoe 18A, a magnetic force adjustment section 20A, a rotation mechanism 22, and a frame member 24A. The first pole shoe 16A and the second pole shoe 18A are respectively mounted on one side and the other side of the magnetic force adjustment section 20A in a first direction. In this embodiment, the first pole shoe 16A and the second pole shoe 18A have the same shape. Therefore, the description of the second pole shoe 18A is omitted.

[0074] The first pole shoe 16A includes a base 30A and a foot 32. The base 30A is rectangular in shape and extends vertically. The foot 32 extends from the lower end of the base 30A. An adsorption portion 32a is formed at the lower end of the foot 32. The shapes of the foot 32 and the adsorption portion 32a are similar to those of a reference. Figure 2 The foot part 32 and the adsorption part 32a are the same as described.

[0075] The base 30A is fixed to the side of the magnetic adjustment part 20A via four mounting holes 30c using fastening components such as screws or bolts. The base 30A of this embodiment is different from the reference... Figure 2 Unlike the base 30 described above, the connecting surface 30b of the base 30A does not have a recess 33. That is, the connecting surface 30b of the base 30A is composed of a flat surface. This eliminates the need for processing to form a recess 33 in the base 30A, thus reducing the cost of the first pole shoe 16A as a consumable item.

[0076] The magnetic adjustment section 20A is mounted in front of the frame component 24A. The top, front, and bottom of the magnetic adjustment section 20A are covered by a housing 82, and the sides are covered by first pole shoes 16A and second pole shoes 18A. The housing 82 prevents dust and foreign objects from entering the interior of the magnetic adjustment section 20A, thus preventing malfunctions. The housing 82 is made of a non-magnetic material. The housing 82 is detachably fixed to the magnetic circuit component 84 (described later) by bolts 82a.

[0077] like Figure 11 As shown, the magnetic adjustment unit 20A has a magnet assembly 34 and a magnetic circuit component 84 inside the housing 82. The magnet assembly 34 has a magnet 35, a pin retainer 42, and a magnet retainer 44, the structure of which is as shown in the reference. Figure 3 As explained.

[0078] The magnetic circuit component 84 is integrally formed of a strongly magnetic material, more preferably a soft magnetic material. The magnetic circuit component 84 includes a first connecting portion 86, a second connecting portion 88, a magnetic yoke 90, a first connecting portion 92, and a second connecting portion 94. The first connecting portion 86 is... Figure 11The magnetic circuit component 84 has a flat plate-shaped portion on the left side and a second connecting portion 88 on the right side. The magnetic yoke 90 is located between the first connecting portion 86 and the second connecting portion 88. The magnetic yoke 90 is held in the width direction by the first connecting portion 86 and the second connecting portion 88.

[0079] like Figure 12 As shown, the first connecting portion 86 has a first outer side portion 86a exposed on the side and a first inner side portion 86b facing the magnetic yoke 90. The first outer side portion 86a and the first inner side portion 86b are formed by planes perpendicular to the first direction. A plurality of bolt holes 86c for fixing the first pole shoe 16A are formed at a predetermined location on the first outer side portion 86a. The first pole shoe 16A is fixed to the first outer side portion 86a by abutment.

[0080] like Figure 11 As shown, a first protrusion 106 is formed at the rear of the first outer portion 86a. The first protrusion 106 protrudes outward in the width direction from the first outer portion 86a of the first connecting portion 86. The first protrusion 106 extends in the vertical direction. The protrusion height of the first protrusion 106 relative to the first outer portion 86a in the width direction is equal to the thickness of the first pole shoe 16A (the width dimension of the base 30A). Figure 10 As shown, the first pole shoe 16A is mounted on the front side of the first protrusion 106.

[0081] like Figure 12 As shown, a first recess 102 is formed on the first inner side 86b of the first connecting portion 86 facing the magnetic yoke 90, in a manner that does not interfere with the cylindrical magnet 35. The first recess 102 is formed by a curved surface along the radius of rotation of the magnet 35 centered on the axis of rotation C.

[0082] like Figure 12 As shown, the second connecting portion 88 has a second outer side portion 88a exposed on the side and a second inner side portion 88b facing the magnetic yoke 90. The second outer side portion 88a and the second inner side portion 88b are formed by planes parallel to the front-back direction and the up-down direction. Although not specifically shown, a plurality of bolt holes (not shown) for fixing the second pole shoe 18A are formed at a predetermined location on the second outer side portion 88a. The second pole shoe 18A is abutted and fixed on the second outer side portion 88a.

[0083] like Figure 11 As shown, a second protrusion 108 is formed at the rear of the second outer portion 88a. The second protrusion 108 protrudes outward in the width direction from the second outer portion 88a of the second connecting portion 88. The second protrusion 108 extends in the vertical direction. The protrusion height of the second protrusion 108 relative to the second outer portion 88a in the width direction is equal to the thickness of the second pole shoe 18A. Figure 10As shown, the second pole shoe 18A is mounted on the front side of the second protrusion 108.

[0084] like Figure 12 As shown, a second recess 104 is formed on the second inner side 88b of the second connecting portion 88 in a manner that does not interfere with the cylindrical magnet 35. The second recess 104 is formed by a curved surface along the radius of rotation of the magnet 35 centered on the axis of rotation C.

[0085] A first gap 96 is formed between the magnetic yoke 90 and the first connecting portion 86. The first gap 96 is a gap formed by cutting the magnetic body that forms the magnetic circuit component 84, and generates a large magnetic resistance between the magnetic yoke 90 and the first connecting portion 86.

[0086] A second gap 98 is formed between the yoke 90 and the second connecting portion 88. The second gap 98 is a gap formed by cutting the magnetic body that forms the magnetic circuit component 84, generating a large magnetic reluctance between the yoke 90 and the second connecting portion 88. That is, the yoke 90 is substantially magnetically separated from the first connecting portion 86 and the second connecting portion 88 through the first gap 96 and the second gap 98.

[0087] like Figure 11 As shown, a first connecting portion 92 is formed between the first connecting portion 86 and the magnetic yoke 90. The first connecting portion 92 is respectively provided at the front end and the rear end of the magnetic circuit component 84. The first connecting portion 92 is integrally formed with the first connecting portion 86 and the magnetic yoke 90, connecting the first connecting portion 86 and the magnetic yoke 90. The first connecting portion 92 maintains the spacing of the first gap portion 96 at a constant value. In order to prevent a decrease in magnetic reluctance, the first connecting portion 92 has a surface that is cut into a curved shape with a narrower cross-sectional area at the center in the width direction.

[0088] A second connecting portion 94 is formed between the second connecting portion 88 and the magnetic yoke 90. The second connecting portion 94 is respectively provided at the front end and the rear end of the magnetic circuit component 84. The second connecting portion 94 is integrally formed with the second connecting portion 88 and the magnetic yoke 90, connecting the second connecting portion 88 and the magnetic yoke 90 to each other. The second connecting portion 94 maintains the spacing of the second gap portion 98 at a constant value. In order to prevent the decrease of magnetic reluctance, the second connecting portion 94 has a surface that is cut into a curved shape with a narrower cross-sectional area at the center in the width direction.

[0089] like Figure 13As shown, the cross-section of the magnetic yoke 90, viewed from the width direction (first direction), is C-shaped, and has a top wall 90a, a first wall portion 90b, and a second wall portion 90c. The top wall 90a extends along a third direction (the attraction direction in the illustrated example). The top wall 90a is located outside the top surface 35b of the magnet 35. The first wall portion 90b extends from the upper end of the top wall 90a in the front-back direction toward the frame member 24A, covering the upper part of the magnet 35. The second wall portion 90c extends from the lower end of the top wall 90a in the front-back direction toward the frame member 24A, covering the lower part of the magnet 35.

[0090] The first wall portion 90b and the second wall portion 90c are inserted into the outer peripheral surface 35a of the magnet 35 from both sides in a third direction. The first wall portion 90b and the second wall portion 90c have a curved third recess 90d at their respective portions opposite the magnet 35, formed along the radius of rotation of the outer peripheral surface 35a of the magnet 35. The third recess 90d is formed in a recessed manner that does not interfere with the outer peripheral surface 35a of the magnet 35, allowing rotation of the magnet 35. The third recess 90d may slidably contact the magnet 35, or it may not contact the magnet 35.

[0091] The yoke 90 has a second pin 57. The second pin 57 is, for example, a parallel pin, protruding rearward from the top wall 90a of the yoke 90. The second pin 57 limits the rotational range of the magnet 35 by abutting against the first pin 46. In the case where the motor 50 is composed of a stepper motor, the magnet angle θ (rotational position) at which the first pin 46 and the second pin 57 abut is used for the initialization of the motor 50.

[0092] like Figure 12 and Figure 13 As shown, a cylindrical receiving space 100 formed by a first recess 102, a second recess 104, and a third recess 90d is formed inside the magnetic circuit component 84. The magnet assembly 34 is rotatably received in the receiving space 100.

[0093] As described above, in the magnetic circuit component 84 of this embodiment, the first connecting portion 86, the second connecting portion 88, and the magnetic yoke 90 are integrally connected via the first connecting portion 92 and the second connecting portion 94. Therefore, the magnetic circuit component 84 can be treated as a single part, reducing the number of parts and eliminating the need for assembly processes, thus reducing manufacturing costs.

[0094] like Figure 11 and Figure 13As shown, frame component 24A is disposed between rotating mechanism 22 and magnetic adjustment part 20A. Frame component 24A has a partition wall 62. The partition wall 62 is formed as a plate perpendicular to the second direction, and its front surface 62a abuts against magnetic circuit component 84. Rotating mechanism 22 is fastened to rear surface 62b of partition wall 62. Partition wall 62 has a through hole 62c extending along the second direction at its center. Through hole 62c is formed as a circle concentric with the rotation axis C of magnet 35. Sleeve 56 is installed in through hole 62c. Through hole 62c accommodates and guides the rotational movement of magnet assembly 34 magnet holder 44 and rotating block 110 of rotating mechanism 22.

[0095] A robot arm 12 for use with an industrial robot 10 is formed on the upper part of the frame component 24A. Figure 1 Multiple threaded holes are connected. The magnetic gripper 14A is mounted on the robot arm 12 via the frame component 24A.

[0096] The rotating block 110 is a cylindrical component mounted on the rotating shaft 52 of the motor 50 and connected to the magnet holder 44 of the magnet assembly 34. The rotating block 110 transmits the rotational force of the motor 50 to the magnet assembly 34.

[0097] The magnetic clamp 14A of this embodiment is configured as described above and operates as described below.

[0098] like Figure 12 As shown, in the non-adsorption state, the magnet 35 of the magnetic gripper 14A is positioned with the center of its pair of magnetic poles facing the yoke 90. Magnetic lines of force emitted from one pole of the magnet 35 are concentrated in the yoke 90 and flow to the other pole through the interior of the yoke 90, which has low magnetic resistance. Additionally, magnetic lines of force emitted to the outside of the yoke 90 are short-circuited and flow within the first connecting portion 86 or the second connecting portion 88. Therefore, the magnetic lines of force of the magnet 35 flow only within the magnetic circuit component 84, and are not emitted from the first pole shoe 16A and the second pole shoe 18A, thus preventing the adsorption of the workpiece W.

[0099] Magnetic clamp 14A relative to Figure 12The position of magnet 35 is adjusted by rotating magnet 35 by 90° to achieve an adsorption state. In the adsorption state, the center line of the magnetic poles of magnet 35 faces the first direction, and magnetic lines of force emitted from one magnetic pole of magnet 35 flow through the first connecting part 86 to the first pole shoe 16A. Magnetic lines of force are emitted from the adsorption part 32a of the first pole shoe 16A, flow over the workpiece W and into the second pole shoe 18A. Magnetic lines of force flowing into the second pole shoe 18A return to the other magnetic pole of magnet 35 through the second connecting part 88. At this time, since the yoke 90 is magnetically separated from the first connecting part 86 and the second connecting part 88 via the first gap part 96 and the second gap part 98, almost all magnetic lines of force will not be short-circuited at the yoke 90 and will flow towards the workpiece W. Therefore, the magnetic gripper 14A can adsorb the workpiece W with a strong adsorption force.

[0100] Additionally, the magnetic gripper 14A returns the position of the magnet 35 by causing it to return to its original position. Figure 12 The position allows it to become non-adsorbed. Similar to the magnetic gripper 14, the magnet 35 is positioned such that... Figure 12 The position is oscillating from the center to the magnet angle + θ ( Figure 6 (B) and magnet angle -θ ( Figure 6 Rotating in the manner of (A) while gradually reducing the swing angle range can also demagnetize the workpiece W that has been magnetized by adsorption.

[0101] Thus, even without a demagnetizing electromagnetic coil, the magnetic gripper 14A of this embodiment can demagnetize the workpiece W simply by rotating the magnet 35, thereby simplifying the device structure. Furthermore, by integrating the magnetic circuit component 84, the magnetic gripper 14A reduces the number of parts, enabling low-cost manufacturing by reducing assembly time. Additionally, the first pole shoe 16A and the second pole shoe 18A, which are consumables, do not require recesses 33 and can be reused for pole shoes designed and manufactured for other magnetic grippers, effectively reducing operating costs.

[0102] Furthermore, an example is shown where the magnetic circuit component 84 is integrally formed of a magnetic material, but this embodiment is not limited to this, such as... Figure 14 As shown, it can also be made of magnetic materials that separate the first connecting part 86, the second connecting part 88, and the yoke 90. In this case, the first connecting part 86, the second connecting part 88, and the yoke 90 are connected by a first gap member 114 and a second gap member 116 formed by a C-shaped non-magnetic component when viewed from the first direction, thereby forming a magnetic circuit component 84.

[0103] The following notes were also disclosed in connection with the above disclosure.

[0104] (Note 1)

[0105] One publicly disclosed viewpoint describes a magnetic gripper comprising: a pair of pole shoes 16, 18, each having an adsorption portion 32a for adsorbing a workpiece W, the pair of pole shoes being separately arranged in a first direction; a magnetic flux source disposed between the pair of pole shoes, having a pair of magnetic poles oriented along the first direction; a rotation mechanism 22 that rotates the magnetic flux source about a rotation axis C in a second direction perpendicular to the first direction; and magnetic yokes 36, 90, disposed between the pair of pole shoes, collecting magnetic flux not oriented toward the pole shoes, the magnetic yokes being magnetically separated from the pair of pole shoes.

[0106] The aforementioned magnetic gripper generates a magnetic field between a pair of pole shoes corresponding to the angle of the magnetic flux source by rotating the magnetic flux source (for example, a magnet). Furthermore, depending on the angle of the magnetic flux source, the magnetic poles can be reversed between the pair of pole shoes. Therefore, even without a demagnetizing electromagnetic coil, the aforementioned magnetic gripper can demagnetize the workpiece simply by rotating the magnetic flux source, thus simplifying the device structure.

[0107] (Note 2)

[0108] The magnetic gripper described in Appendix 1 may also have the following configuration: the magnetic yoke has: a top wall 36a covering the outer side of the top end of the magnetic flux source in the second direction; a first wall portion 36b extending from a first end portion 36d of the top wall along the second direction and covering the outer peripheral surface 35a of the magnetic flux source; and a second wall portion 36c extending from a second end portion 36e of the top wall along the second direction and covering the outer peripheral surface of the magnetic flux source. This magnetic gripper, without adsorption, prevents magnetic field leakage and foreign object adsorption by absorbing the magnetic flux of the magnetic flux source (magnet) through the first and second wall portions.

[0109] (Note 3)

[0110] The magnetic holder described in Appendix 1 or 2 may also include a pair of spacers 38 and 40 made of non-magnetic materials, which clamp the yoke from the first direction. The yoke is connected to the pair of pole shoes via the pair of spacers. This magnetic holder can achieve magnetic separation by reducing the magnetic coupling between the yoke and the pair of pole shoes through the spacers. In addition, the spacers filling the gap between the yoke and the pole shoes can prevent dust from entering the rotating part of the magnetic flux source.

[0111] (Note 4)

[0112] The magnetic holder described in Appendix 2 may also have a yoke with recesses 36f in the first and second wall portions that curve along the radius of rotation of the magnetic flux source. This magnetic holder allows the magnetic poles of the magnetic flux source to be positioned close to the yoke, thus more effectively preventing magnetic field leakage.

[0113] (Note 5)

[0114] The magnetic gripper described in any one of Appendices 1 to 4 may also further include a frame member 24 connecting the pair of pole shoes, the magnetic yoke, and the rotation mechanism. This magnetic gripper, by connecting the components with the frame member, exhibits excellent strength.

[0115] (Note 6)

[0116] The magnetic gripper described in Appendix 5 may also further include: a first pin 46, which rotates integrally with the magnetic flux source; and a second pin 57, which is fixed to the pole shoe, the yoke, or the frame member and limits the rotational range of the magnetic flux source by abutting against the first pin. This magnetic gripper improves operational reliability by limiting the rotational range of the magnetic flux source. Furthermore, by using the abutment position of the first and second pins as a reference position for motor initialization, the magnetic gripper prevents angular deviation.

[0117] (Note 7)

[0118] The magnetic clamp described in any one of Notes 1 to 6 may also have a magnetic flux source that is circular when viewed from the second direction and is magnetized radially perpendicular to the second direction. This magnetic clamp, through its circumferential magnetic flux distribution, facilitates magnetic force adjustment corresponding to the angle of the magnetic flux source, enabling more reliable demagnetization.

[0119] (Note 8)

[0120] The magnetic gripper described in any one of Notes 1 to 7 may also include a magnetic flux source comprising a plurality of magnets connected and rotating integrally along the second direction. This magnetic gripper can increase the adsorption force.

[0121] (Note 9)

[0122] The magnetic gripper described in any one of Appendices 1 to 8 may also be a pair of pole shoes having a first pole shoe 16A and a second pole shoe 18A opposite to the first pole shoe. The magnetic gripper includes: a first connecting portion 86 disposed between the magnetic flux source and the first pole shoe, transmitting the magnetic flux of the magnetic flux source to the first pole shoe; and a second connecting portion 88 disposed between the magnetic flux source and the second pole shoe, transmitting the magnetic flux of the magnetic flux source to the second pole shoe. A magnetic yoke is disposed between the first connecting portion and the second connecting portion and is magnetically separated from the first connecting portion and the second connecting portion via a first gap portion 96 and a second gap portion 98. This magnetic gripper eliminates the need for recesses in the first and second pole shoes to avoid interference with the rotational movement of the magnetic flux source, enabling low-cost production of the first and second pole shoes as consumables.

[0123] (Postscript 10)

[0124] The magnetic clamp described in Appendix 9 can also be a magnetic circuit component 84 having the first connecting portion, the second connecting portion, and the magnetic yoke integrally connected via connecting portions 92 and 94. This magnetic clamp can reduce the number of parts and assembly time.

[0125] (Postscript 11)

[0126] Another viewpoint describes a magnetic gripper comprising: a pair of pole shoes, each having an adsorption portion for adsorbing a workpiece, the pair of pole shoes being separately arranged in a first direction; a magnetic flux source disposed between the pair of pole shoes, having a pair of magnetic poles oriented along the first direction; a rotation mechanism that rotates the magnetic flux source about a rotation axis extending in a second direction perpendicular to the first direction; and a magnetic field sensor 80 that detects the magnetic field of the pole shoes. This magnetic gripper can detect the adsorption of multiple overlapping workpieces based on the detected magnetic field of the magnetic field sensor.

[0127] (Postscript 12)

[0128] Another disclosed aspect is an industrial robot 10 equipped with a magnetic gripper according to any one of Appendices 1 to 11 and a robotic arm 12 on which the magnetic gripper is mounted. This industrial robot can perform workpiece adsorption and demagnetization solely through the rotational motion of the magnetic flux source of the magnetic gripper, thus simplifying the structure and suppressing power consumption.

[0129] Furthermore, the present invention is not limited to the above disclosure, and various structures may be adopted without departing from the spirit of the present invention.

Claims

1. A magnetic clamp, characterized in that, have: A pair of pole shoes (16, 18), each having an adsorption portion (32a) for adsorbing a workpiece (W), the pair of pole shoes being separately arranged in a first direction; A magnetic flux source, which is disposed between a pair of said pole shoes, has a pair of magnetic poles that can be oriented along the first direction; A rotating mechanism (22) that causes the magnetic flux source to rotate around a rotation axis (C) in a second direction perpendicular to the first direction; as well as A magnetic yoke (36, 90), disposed between the pair of pole shoes, collects magnetic flux that is not directed toward the pole shoes. The magnetic yoke is magnetically separated from the pair of pole shoes.

2. The magnetic clamp according to claim 1, characterized in that, The magnetic yoke has: Top wall (36a) that covers the outer side of the top of the magnetic flux source in the second direction; A first wall portion (36b) extends from the first end portion (36d) of the top wall along the second direction and covers the outer peripheral surface (35a) of the magnetic flux source; and The second wall portion (36c) extends from the second end portion (36e) of the top wall along the second direction and covers the outer peripheral surface of the magnetic flux source.

3. The magnetic clamp according to claim 1, characterized in that, It also has a pair of spacers (38, 40) made of non-magnetic materials, which sandwich the magnetic yoke from the first direction. The magnetic yoke is connected to the pair of pole shoes via a pair of spacers.

4. The magnetic clamp according to claim 2, characterized in that, The magnetic yoke has recesses (36f) in the first and second wall portions that are curved along the radius of rotation of the magnetic flux source.

5. The magnetic clamp according to claim 1, characterized in that, It also has a frame component (24) that connects a pair of the pole shoes, the magnetic yoke and the rotation mechanism.

6. The magnetic clamp according to claim 5, characterized in that, It also has: The first pin (46) rotates integrally with the magnetic flux source; and The second pin (57), which is fixed to the pole shoe, the yoke, or the frame component, limits the rotation range of the flux source by abutting against the first pin.

7. The magnetic clamp according to claim 1, characterized in that, The magnetic flux source is circular when viewed from the second direction and is magnetized in the radial direction perpendicular to the second direction.

8. The magnetic clamp according to claim 1, characterized in that, The magnetic flux source comprises a plurality of magnets connected and rotating integrally along the second direction.

9. The magnetic clamp according to claim 1, characterized in that, The pair of pole shoes has a first pole shoe (16A) and a second pole shoe (18A) opposite to the first pole shoe. The magnetic clamp includes: A first connecting part (86) is disposed between the magnetic flux source and the first pole shoe to transmit the magnetic flux of the magnetic flux source to the first pole shoe; as well as A second connecting portion (88) is disposed between the magnetic flux source and the second pole shoe, which transmits the magnetic flux of the magnetic flux source to the second pole shoe. The magnetic yoke is disposed between the first connecting portion and the second connecting portion, and is magnetically separated from the first connecting portion and the second connecting portion via the first gap portion (96) and the second gap portion (98).

10. The magnetic clamp according to claim 9, characterized in that, A magnetic circuit component (84) having the first connecting part, the second connecting part and the magnetic yoke integrally connected via connecting parts (92, 94).

11. A magnetic clamp, characterized in that, have: A pair of pole shoes, each having an adsorption portion for adsorbing a workpiece, the pair of pole shoes being separately arranged in a first direction; A magnetic flux source disposed between a pair of said pole shoes, having a pair of magnetic poles oriented along the first direction; A rotating mechanism that causes the magnetic flux source to rotate about a rotation axis extending in a second direction perpendicular to the first direction; as well as A magnetic field sensor (80) detects the magnetic field of the pole shoe.

12. An industrial robot (10), characterized in that, have: The magnetic clamp according to any one of claims 1 to 11; and Robot arm (12) equipped with the magnetic gripper.

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