Magnetic grippers, system consisting of a magnetic gripper receiving device and magnetic grippers, handling device and method for gripping

Abstract

The invention relates to magnetic grippers, a system consisting of a magnetic gripper receiving device and magnetic grippers, and a handling device.

Description

[0001] Title : Magnetic gripper , system from

[0002] Magnetic gripper receiving device and magnetic grippers, handling device and method for gripping

[0003] Description

[0004] The invention relates to a magnetic gripper, a system with magnetic grippers, a handling device and a method for the simultaneous gripping of workpieces with a height offset.

[0005] Electric vehicles with a battery storage system comprise a multitude of battery cells to provide the electrical energy needed to propel the electric vehicle. The multitude of battery cells are often housed in a battery cell housing. The battery cells can have different shapes. For example, cylindrical battery cells, prismatic battery cells, or pouch battery cells are used for a battery storage system in an electric vehicle. Even within the individual shapes, the battery cells can vary, for example, in size.

[0006] Manually arranging the individual battery cells from the multitude of battery cells into the battery cell housing is time-consuming and not cost-effective. Furthermore, handling devices with a mechanical gripper can often only grip a specific battery cell shape and / or size, so changing the battery cell shape or size may require complex retooling of the handling device.

[0007] The invention is based on the object of providing a magnetic gripper for a handling device or a system comprising a plurality of magnetic grippers and a magnetic gripper receiving device or a handling device, with which particularly simple and / or efficient and / or fast and / or safe handling of magnetic and / or magnetizable workpieces is possible, in particular repeatable and safe gripping of workpieces with different heights, preferably repeatable and safe and simultaneous gripping of a plurality of workpieces with different heights. This object is achieved by a magnetic gripper with the features of claim 1. The magnetic gripper is intended for arrangement on a handling device and / or on a manipulator, such as a robot or gantry system.The magnetic gripper is designed to grip at least partially magnetizable and / or magnetic, in particular ferromagnetic, workpieces. The magnetic gripper has a gripper base section with an interior space, wherein the interior is preferably cylindrical and / or formed with an upper cylinder end and a lower cylinder end. Furthermore, the magnetic gripper provides a piston section with a piston rod extending along a longitudinal axis and with a piston arranged on the piston rod and in the interior space of the gripper base section.

[0008] In addition, the magnetic gripper provides a magnetic section with holding magnets for magnetically gripping the workpiece. The holding magnets each have a magnetic north pole and a magnetic south pole. The magnetic section is arranged on the piston rod and / or on the gripper base section. The piston rod and / or the magnetic section can be displaced by means of the piston along the longitudinal axis between an upper release position and a lower contact position. The stroke of the piston section preferably corresponds substantially to the distance between the upper cylinder end and the lower cylinder end. The upper release position of the magnetic section preferably corresponds to the piston position at the upper cylinder end and the lower contact position of the magnetic section corresponds to the piston position at the lower cylinder end.

[0009] The magnet section further comprises at least one first holding magnet with a north pole facing the workpiece and at least one holding magnet with a south pole facing the workpiece. Accordingly, the south pole of the first holding magnet and the north pole of the second holding magnet face the piston and / or the upper cylinder end.

[0010] Such a magnetic gripper has the advantage that a workpiece, in particular a battery cell, can be gripped easily, efficiently, quickly and / or securely regardless of its actual height. The magnetic gripper can be moved to a predetermined starting position by means of the handling device, whereby the workpiece to be gripped does not yet come into contact with the magnetic gripper, in particular with the gripper base section and / or the stripping section. The opposing orientation of the holding magnets creates a self-contained, axially directed magnetic field, whereby workpieces spaced apart from the magnetic section can also be gripped. Consequently, secure gripping of workpieces of different heights is guaranteed without the handling device having to move the magnetic gripper to different starting positions.

[0011] Advantageously, the magnetic gripper further comprises a stripping section with at least one stripper for releasing a magnetic gripping connection between the magnetic section and the workpiece, wherein the stripping section is arranged on the piston rod and / or on the gripper base section and is designed to strip the workpiece gripped by the magnetic section when the piston rod is displaced along the longitudinal axis of the piston rod by means of the at least one stripper. It is conceivable that, in addition to the stripping section, a presser is also provided for pressing the workpieces against the magnetic gripper. Alternatively, it is conceivable for the stripping section to comprise the presser. This is accompanied by the advantage that the gripped workpiece can be easily and safely released from the magnetic section by the stripping section when the magnetic section is displaced in the direction of the release position.The distance between the magnetic section and the workpiece is increased by the stripping section until the magnetic attraction force is no longer sufficient to maintain a magnetic gripping connection between the holding magnet and the workpiece.

[0012] An advantageous development of the invention provides that the at least one first holding magnet is arranged along a first circular line arranged around the longitudinal axis and having a first diameter and / or wherein the at least one second holding magnet is arranged along a second circular line arranged around the longitudinal axis and having a second diameter. The annular arrangement of the individual first holding magnets and / or the individual second holding magnets results in a magnetic field with an improved axial orientation. It is advantageous that the first diameter is larger than the second diameter. Alternatively, it is conceivable that the second diameter is larger than the first diameter.Furthermore, it is advantageous if the ratio between the first diameter and the second diameter is greater than 0.2:1, in particular greater than 0.5:1, preferably greater than 1:1 and preferably greater than 1.2:1 and / or less than 5:1, in particular less than 3:1, preferably less than 2:1 and preferably less than 1.5:1.

[0013] Advantageously, the magnet section has at least two first holding magnets, wherein in particular two first holding magnets adjacent along the circumference of the first circular line enclose a first angle α with the longitudinal axis. The first angle α is determined according to the following equation: a = 360° / n An number of first holding magnets

[0014] In the case of six first holding magnets, two adjacent first holding magnets have a first angle α of 60°.

[0015] Advantageously, the magnet section has at least two second holding magnets, wherein in particular two second holding magnets adjacent along the circumference of the second circular line enclose a second angle ß with the longitudinal axis. The second angle ß is determined according to the following equation: ß = 360° / n An Number of second holding magnets In the case of six second holding magnets, two adjacent second holding magnets have a first angle α of 60 °.

[0016] In the case of six first holding magnets and six second holding magnets, two adjacent holding magnets, i.e. a first holding magnet and a second holding magnet, have an angle y von 30 ° . Accordingly, a uniformly distributed, axially directed magnetic field can be provided. To provide an axially directed magnetic field, it is advantageous if an even number (divisible by 2 without a remainder) of holding magnets is provided.

[0017] The object underlying the invention is further achieved by a magnetic gripper with the features of claim 6. The magnetic gripper is intended for arrangement on a handling device and / or manipulator, such as a robot, gantry system. The magnetic gripper is designed for gripping at least partially magnetizable and / or magnetic, in particular ferromagnetic, workpieces. The magnetic gripper has a gripper base section with an interior space, wherein the interior is preferably cylindrical and / or formed with an upper cylinder end and a lower cylinder end. Furthermore, the magnetic gripper provides a piston section with a piston rod extending along a longitudinal axis and with a piston arranged on the piston rod and in the interior space of the gripper base section. In addition, the magnetic gripper provides a magnetic section with at least one holding magnet for magnetically gripping the

[0018] workpiece, wherein the magnet section is arranged on the piston rod and / or on the gripper base section.

[0019] The holding magnets can be permanent magnets, in particular permanent neodymium magnets.

[0020] The piston rod and / or the magnetic section can be displaced by means of the piston along the longitudinal axis between an upper release position and a lower contact position. The maximum stroke of the piston section preferably corresponds substantially to the distance between the upper cylinder end and the lower cylinder end. The upper release position of the magnetic section preferably corresponds to the piston position at the upper cylinder end, and the lower contact position of the magnetic section corresponds to the piston position at the lower cylinder end.

[0021] The magnetic gripper further comprises a stripping section with at least one stripper for releasing a magnetic gripping connection between the magnetic section and the workpiece, wherein the stripping section is arranged on the piston rod and / or on the gripper base section and is designed to strip the workpiece gripped by the magnetic section when the piston rod is displaced along the longitudinal axis of the piston rod by means of the at least one stripper. It is conceivable that, in addition to the stripping section, a presser is also provided for pressing the workpieces against the magnetic gripper. Alternatively, it is conceivable that the stripping section comprises a presser.

[0022] Such a magnetic gripper has the advantage that a workpiece can be handled particularly easily and / or efficiently and / or quickly and / or safely.

[0023] By displacing the piston rod along the longitudinal axis of the piston rod in interaction with the stripping section of the magnetic gripper, a distance between the magnetic section or the at least one holding magnet of the magnetic section and the gripped workpiece can be increased in such a way that a magnetic force of attraction between the magnetic section or the at least one holding magnet of the magnetic section and the workpiece is reduced until the magnetic gripping connection between the magnetic section and the workpiece is released. By displacing the piston rod along the longitudinal axis of the piston rod, a magnetizable and / or magnetic workpiece, e.g. a battery cell of a battery system, can thus be released or stripped off particularly easily.

[0024] An advantageous further development provides that the stripping section has a plurality of strippers. The plurality of strippers can be arranged offset from one another radially around the longitudinal axis of the piston rod. As a result of the plurality of strippers, the workpiece gripped by the magnetic section can be stripped or released from the magnetic section particularly evenly and reliably when the piston rod is moved along the longitudinal axis of the piston rod. Furthermore, the plurality of strippers can extend in a direction parallel to the longitudinal axis of the piston rod in the direction of the gripped workpiece. In addition, the plurality of strippers can be pin-shaped, for example. The plurality of strippers can be two, three or four strippers, for example. For example, four strippers can be arranged offset from one another by 90° with respect to the longitudinal axis of the piston rod.Furthermore, multiple wipers allow for reliable stripping of different geometric shapes, since the gripped workpiece does not have to be complementary to the overall shape of the single wiper, but only in the area of ​​the multiple wipers. Furthermore, the provision of multiple wipers allows for easier customization of the stripping surface. Furthermore, the multiple wipers are easier to manufacture and easier to replace.

[0025] Furthermore, the gripper base section and / or the piston section and / or the magnet section and / or the stripping section are preferably designed such that, in the contact position, the magnet section protrudes along the longitudinal axis relative to the stripping section. In the release position, the gripper base section and / or the stripping section preferably accommodate the magnet section, in particular completely.

[0026] Such a magnetic gripper has the advantage that a workpiece, in particular a battery cell, can be gripped easily, efficiently, quickly and / or securely regardless of its actual height. The magnetic gripper can be moved to a predetermined starting position by means of the handling device, whereby the workpiece to be gripped does not yet come into contact with the magnetic gripper, in particular with the gripper base section and / or the stripping section. To compensate for the height offset of the workpiece or the distance between the magnetic section and the workpiece, the magnetic section is moved to the lower contact position. This ensures secure gripping of workpieces of different heights without the handling device having to move the magnetic gripper to different starting positions.Furthermore, the magnetic gripper is designed in such a way that - if the magnetic gripper already comes into contact with the workpiece in the starting position - the workpiece is not pushed away or displaced when the magnetic section is moved.

[0027] Furthermore, such a magnetic gripper has the advantage that the gripped workpiece can be easily and safely released from the magnetic section by the stripping section when the magnetic section is moved toward the release position. The distance between the magnetic section and the workpiece is increased by the stripping section until the magnetic attraction force is no longer sufficient to maintain a magnetic gripping connection between the holding magnet and the workpiece.

[0028] It is conceivable that the magnetic section with the at least one holding magnet is arranged on the piston rod, and wherein the stripping section with the at least one stripper is arranged on the gripper base section. In this case, the distance between the magnetic section or the holding magnet of the magnetic section and the gripped workpiece can be increased by moving the magnetic section with the holding magnet away from the workpiece by displacing the piston rod along the longitudinal axis of the piston rod, wherein the stripper prevents the workpiece from moving along with the moving magnetic section or holding magnet.Alternatively, it is also conceivable that the magnetic section with the at least one holding magnet is arranged on the gripper base section, and wherein the stripping section is arranged on the piston rod, wherein in particular the stripping section is formed by a piston rod end of the piston rod. In this case, the distance between the magnetic section or the holding magnet of the magnetic section and the gripped workpiece can be increased by displacing the piston rod along the longitudinal axis of the piston rod, the workpiece being actively moved or (actively) repelled away from the magnetic section arranged on the gripper base section or the holding magnet of the magnetic section by the stripping section or stripper of the stripping section arranged on the piston rod.

[0029] The stripping of the workpiece gripped by the magnetic section when displacing the piston rod along the longitudinal axis of the piston rod by means of the at least one stripper can also be referred to as releasing the magnetic

[0030] Gripping connection between the magnetic section and the workpiece. Because the gripper base section has an interior space and the piston section with the piston and the piston rod is arranged in the interior space, it is also possible in a simple manner to displace the piston rod along the longitudinal axis of the piston rod by displacing the piston. In particular, the piston fluidically separates the interior of the gripper base section into a first active space and a second active space. The first active space can be pressurized with a pressure medium, for example compressed air, and / or the second active space can be pressurized with a pressure medium, for example compressed air, in order to axially displace the piston and thus the piston rod along the longitudinal axis of the piston rod. In particular, the gripper base section with the piston section can be designed to be double-acting.It is also conceivable for the first active chamber to have a spring element, e.g., a helical spring, and for (only) the second active chamber to be pressurized with a pressure medium, e.g., compressed air, or vice versa. Thus, the magnetic gripper can be particularly simple in design and cost-effective. In other words, the gripper base section with the piston section can also be designed to be single-acting.

[0031] The gripper base section is in particular made of a non-magnetic and / or non-magnetizable material. The gripper base section can, for example, comprise or be made of aluminum. Preferably, the piston and / or the piston rod of the piston section are also made of a non-magnetic and / or non-magnetizable material. Furthermore, the gripper base section and / or the interior of the gripper base section can be cylindrical. The gripper base section can therefore be particularly compact. Furthermore, a plurality of magnetic grippers can thus be received next to one another in a particularly space-saving manner by a magnetic gripper receiving device, as will be described in particular later. This also allows a high packing density, as occurs, for example, in a battery storage system, to be served. Furthermore, the gripper base section can have aa bottom side facing away from the gripped workpiece and a gripping side opposite the bottom side and facing the gripped workpiece. Furthermore, the gripper base section can have a recess, in particular on a (gripping) side of the gripper base section facing the gripped workpiece, for supported guidance of the piston rod. Thus, at least part of the piston rod can be led out of the gripper base section. Advantageously, the magnet section can be arranged on the led-out part of the piston rod, in particular on a piston rod end of the piston rod. Alternatively, the stripping section can also be arranged on the led-out part of the piston rod, in particular on a piston rod end of the piston rod. Furthermore, the gripper base section can have a fastening interface for fastening the magnet section and / or the stripping section.

[0032] Furthermore, the gripper base section, in particular in a region facing away from the gripped workpiece, can have a mounting section for arrangement on a tool holder and / or on a tool holder and / or on a receiving section of a magnetic gripper receiving device of the handling device.

[0033] The magnetic section with the at least one holding magnet is arranged in particular on the piston rod or the gripper base section in such a way that it faces the gripped workpiece. Furthermore, the magnetic section or the at least one holding magnet can be arranged in a materially integral manner on the piston rod or the gripper base section, e.g. glued. It can further be provided that the magnetic section has a plurality of individual holding magnets for magnetically gripping the workpiece. The workpiece can thus be gripped particularly evenly. The plurality of holding magnets can in particular be arranged radially offset from one another around the longitudinal axis of the piston rod. This allows a particularly even magnetic gripping connection between the magnetic section and the workpiece.

[0034] The stripping section with the at least one stripper is also arranged on the piston rod or the gripper base section in such a way that it faces the gripped workpiece. Furthermore, the stripping section or the stripper can be arranged on the gripper base section by means of one or more screw connections. The at least one screw connection or the multiple screw connections extend / extend in particular parallel to the longitudinal axis of the piston rod in a wall of the gripper base section and in the stripping section or stripper. This can prevent interfering contours on an outer circumferential surface of the gripper base section. A thread can be formed in the stripping section or stripper to form a screw connection.

[0035] The magnetic gripper, in particular, has a gripping state in which the magnetic section is in magnetic gripping connection with the workpiece. In the magnetic gripping connection, in particular, the workpiece is magnetically held to the magnetic gripper by the at least one holding magnet. In a release state of the magnetic gripper, the magnetic gripping connection between the magnetic section and the workpiece is released. In other words, the workpiece is, in particular, so far away from the magnetic section or the holding magnet of the magnetic section that the attractive force of the holding magnet is too low to grip the workpiece.

[0036] A preferred embodiment results from the fact that the piston section and / or the magnet section and / or the stripping section has a damping element for a damping gripping of the workpiece.

[0037] Thus, when the magnetic gripper is placed on the workpiece for gripping the workpiece, a compensating movement can be achieved by the damping element, making gripping particularly safe and gentle. The magnetic section can have the damping element. Alternatively or additionally, the stripping section and / or the piston section can also have the damping element. The damping element can, for example, be a spring element arranged in a first active chamber or second active chamber, for example a helical spring. Alternatively or additionally, it is also conceivable for the damping element to be a damping polymer, for example an elastomer. The damping element, in particular the damping polymer, can also form a damping layer. The damping element can thus be designed particularly simply. It is also conceivable for the magnetic gripper to have multiple damping elements for damping gripping of the workpiece.In other words, the piston section can have a (first) damping element and / or the magnetic section can have a (second) damping element and / or the stripping section can have a (third) damping element for a damping gripping of the workpiece. This allows the gripping of the workpiece to be carried out particularly gently. For example, the piston section can have a spring element, e.g., a coil spring, arranged in a first active chamber or second active chamber as the first damping element, and the magnetic section can have a second damping element, e.g., a damping layer, and / or the stripping section can have a third damping element, e.g., another damping layer.

[0038] As a further embodiment, the magnet section and / or the stripping section has a centering element for centered gripping of the workpiece. This ensures that the workpiece is securely held or gripped. The magnet section can have the centering element. Alternatively or additionally, the stripping section can also have the centering element. The centering element is designed for centered gripping of the workpiece, in particular corresponding to a characteristic point on the workpiece to be gripped. For example, in the case of a battery cell with a cylindrical positive pole, the centering element can have a recess designed corresponding thereto. In particular, however, it is also conceivable for the centering element to have a centering edge for centered gripping of the workpiece. The centering element can therefore be designed particularly simply.Advantageously, the at least one wiper of the wiper element can additionally or simultaneously form the centering element, for example in that the wiper has a centering edge.

[0039] A further advantageous embodiment of the invention provides that the magnetic section and / or the stripping section has a friction element for frictionally contacting the workpiece. Thus, at least part of the force for holding the gripped workpiece can be provided by an adhesive force formed between the workpiece and the friction element, and the at least one holding magnet of the magnetic section can be small (smaller) or magnetically weak (weaker). The magnetic section can have the friction element for frictionally contacting the workpiece. Alternatively or additionally, the stripping section can also have the friction element. The friction element can be a friction ring or a layer that increases the coefficient of friction, in particular a coating that increases the coefficient of friction. For example, the friction element can have glass fiber reinforced plastic. In particular, the friction element is also non-magnetic and / or non-magnetizable.Advantageously, the at least one wiper of the wiper element can additionally or simultaneously form the friction element, for example in that the wiper has a friction-increasing layer and / or is formed from a friction-increasing material such as glass-fiber-reinforced plastic.

[0040] It is also particularly preferred that the magnet section with the at least one holding magnet is designed in such a way that the at least one holding magnet, in the magnetic gripping connection with the workpiece, has a predefined distance from the workpiece. In other words, the at least one holding magnet, in the magnetic gripping connection with the workpiece, contacts the workpiece (only) indirectly. This makes it particularly easy to release a magnetic gripping connection between the magnet section and the workpiece. Furthermore, damage to the workpiece by the holding magnet can thus be prevented. A particularly preferred embodiment results from the magnet section and / or the stripping section having at least one non-magnetic and / or non-magnetizable separating element for forming the predefined distance between the at least one holding magnet in the magnetic gripping connection with the workpiece.In particular, the separating element is arranged at least partially between the at least one holding magnet of the magnetic section and the gripped workpiece. The separating element can be a separating layer or separating plate. For example, the separating layer or separating plate can comprise or be made of aluminum. It is also conceivable for the separating element to additionally or simultaneously act as a friction element. Alternatively and / or additionally, at least the gripper base section with the interior, the piston section with the piston and the piston rod, the magnetic section and the stripping section of the magnetic gripper can be designed or coordinated with one another in such a way that the holding magnet of the magnetic section has or maintains the predefined distance from the gripped workpiece when the magnetic gripper is in a gripping state.

[0041] For a further embodiment, the wiper of the wiper section arranged on the piston rod is axially fixed in position with respect to the piston rod. In other words, when the piston rod is displaced along the longitudinal axis of the piston rod, the position of the wiper relative to the piston rod remains the same. Thus, by displacing the piston rod along the longitudinal axis of the piston rod, the workpiece can be actively moved or (actively) repelled away from the magnetic section arranged on the gripper base section or the holding magnet of the magnetic section by the wiper section arranged on the piston rod or the wiper of the wiper section. Alternatively, the wiper of the wiper section arranged on the gripper base section is axially fixed in position with respect to the gripper base section along the longitudinal axis of the piston rod. In other words, the at least one wiper is a rigid wiper.Thus, when the magnetic gripping connection between the magnetic section and the gripped workpiece is released, it can be prevented that the workpiece can move along with the magnetic section or holding magnet, which moves away due to the displacement of the piston rod.

[0042] It is particularly advantageous if the stripper of the stripping section arranged on the gripper base section has a stripper cavity for guiding the magnetic section arranged on the piston rod in the stripper cavity along the longitudinal axis of the piston rod, wherein the stripper has a stop at one stripper end for stopping the workpiece, in particular at least when releasing the magnetic gripping connection. Thus, the magnetic gripper can be particularly simply designed. The stripper can, for example, be bush-shaped or hollow-cylindrical. Advantageously, the bush-shaped stripper can be arranged on a cylindrical gripper base section, in particular on a gripping side of the gripper base section. Thus, the magnetic gripper can be particularly compact. For example, the bush-shaped stripper can be arranged on the cylindrical gripper base section by means of one or more screw connections.The at least one screw connection or the plurality of screw connections extend / extend in particular at least partially parallel to the longitudinal axis of the piston rod in a cylinder wall of the cylindrical gripper base section. This makes it possible to prevent interfering contours on an outer circumferential surface of the gripper base section. A thread can be formed in the stripping section or stripper to form a respective screw connection. Furthermore, the stripper with the stripper cavity for guiding the magnetic section arranged on the piston rod advantageously comprises aluminum or is made of aluminum. In particular, the stripper with the stripper cavity for guiding the magnetic section arranged on the piston rod is a turned part made of aluminum. This makes the stripping section or the stripper particularly easy to manufacture.An edge of the stripper facing the gripped workpiece can form the stop for stopping the workpiece during magnetic gripping and / or magnetic release of the workpiece. In particular, the stop serves to release the magnetic gripping connection between the magnetic section and the gripped workpiece when the piston rod is displaced along the longitudinal axis of the piston rod. Additionally, a non-magnetic and / or non-magnetizable separating element, e.g., a non-magnetic and / or non-magnetizable separating plate, can be arranged on the edge of the stripper to simplify the release of the gripping connection.

[0043] A further advantageous embodiment of the invention provides that the wiper of the wiper section arranged on the piston rod is a piston rod end of the piston rod. This allows the magnetic gripper to be designed particularly simply and cost-effectively. The piston rod end of the piston rod forming the wiper is in particular the piston rod end facing the gripped workpiece. By displacing the piston rod along the longitudinal axis of the piston rod, the gripped workpiece can be actively moved or (actively) repelled away by the piston rod end of the piston rod from the magnetic section arranged on the gripper base section or the holding magnet of the magnetic section, and thus the magnetic gripping connection between the magnetic section and the workpiece can be released or stripped off.

[0044] It is also particularly preferred that the gripper base section has at least one pressure medium inlet on a bottom side of the gripper base section facing away from the gripped workpiece for supplying the piston arranged in the interior with a pressure medium for displacing the piston along the longitudinal axis of the piston rod, wherein in particular the gripper base section is designed to be flat or essentially flat on the bottom side. This prevents disruptive pressure medium hoses on an outer circumferential surface of the gripper base section and allows a plurality of magnetic grippers to be accommodated in a particularly space-saving manner by a magnetic gripper receiving device. The pressure medium inlet can further have at least one pressure medium channel formed in a wall of the gripper base section for fluidically connecting to a first active chamber or a second active chamber of the gripper base section.The wall of the gripper base section is in particular the part of the gripper base section which has a gripped surface.

[0045] connects a gripping side of the gripper base section facing the workpiece and a bottom side of the gripper base section facing away from the gripped workpiece, wherein in particular the gripping side and the bottom side are opposite one another. If the gripper base section is designed to be double-acting with the piston section, the gripper base section advantageously has a first pressure medium inlet and a second pressure medium inlet on the bottom side of the gripper base section facing away from the gripped workpiece, in order to supply the piston arranged in the interior space with a respective pressure medium for displacing the piston along the longitudinal axis of the piston rod. The second pressure medium inlet can also further have at least one pressure medium channel formed in the wall of the gripper base section for a fluidic connection to a first active chamber or a second active chamber of the gripper base section.

[0046] Furthermore, it is advantageous if the gripper base section and / or the magnet section and / or the stripping section has a magnet holder for receiving the holding magnets. It is also advantageous if an insulating element is arranged between the magnet holder and the piston section, wherein the insulating element promotes an orientation of the magnetic field in the direction of the workpiece. The insulating element can comprise at least one of the following elements: Al, Zn, Mg, Cu and / or can preferably be formed from an aluminum-zinc base.

[0047] In addition, the magnetic holder can have a holding leg that radially surrounds the at least one holding magnet, in particular completely, and / or is cylindrical. The holding leg also serves to orient the magnetic field in the direction of the workpiece and also ensures radial protection of the magnetic field. Accordingly, when using several magnetic grippers arranged radially next to one another, there is little or no mutual influence of the magnetic fields, in particular no magnetic field weakening. The magnetic holder, in particular the holding leg, preferably has a magnetic, in particular ferromagnetic, and / or metallic material.

[0048] The magnetic holder advantageously has magnetic receptacles which ensure exact positioning, in particular exact height positioning, of the holding magnets. The magnetic receptacles have at least partially the cross-section of the holding magnets and / or serve to guide and hold the holding magnets. The exact positioning of the holding magnets in the magnetic holder ensures optimal axial orientation of the magnetic field. It is advantageous if the empty space in the magnetic holder is filled with a material that does not influence the magnetic field, in particular epoxy resin, preferably by casting. The side of the magnetic holder facing the workpiece is then milled or turned flat so that each holding magnet and / or each magnetic gripper has a defined magnetic section end.Thus, by positioning the magnetic gripper and / or the magnetic section, a defined air gap can be created between the holding magnets and the workpiece. Consequently, a targeted adjustment of the gripping force and / or magnetic force is possible.

[0049] It is advantageous if the piston, with the interior space above the piston, delimits an upper first pressure chamber and below the piston a lower second pressure chamber. In order to move the piston and / or the magnetic section from the release position into the contact position or to the workpiece, the first pressure chamber can preferably be subjected to a first operating pressure. In order to move the piston and / or the magnetic section from the contact position into the release position or away from the workpiece, the second pressure chamber can be subjected to a second operating pressure. Consequently, a precise displacement of the magnetic section can be achieved by a pneumatic or hydraulic drive.

[0050] A particularly preferred embodiment results from the fact that the magnetic gripper has a state sensor at least for detecting a gripping state of the magnetic gripper, in which the magnetic section is in magnetic gripping connection with the workpiece, and for detecting a release state of the magnetic gripper, in which the magnetic gripping connection between the magnetic section and the workpiece is released. In this way, process reliability can be ensured. Preferably, a single state sensor detects both the gripping state and the release state. The state sensor can be a magnetic switch, for example. The state sensor can also be arranged on an outer surface of the gripper base section. In particular, the gripping state of the magnetic gripper and the release state of the magnetic gripper can be detected by detecting the axial position of the piston in the interior of the gripper base section.This makes detecting the gripping or release state particularly easy. Furthermore, in the gripping state of the magnetic gripper, the piston of the piston section is in a piston gripping position, and in the release state of the magnetic gripper, the piston of the piston section is in a piston release position.

[0051] The object of the invention is also achieved by a system having the features of claim 13. This system for a handling device comprises a magnetic gripper receiving device with a receiving section for receiving magnetic grippers. Furthermore, the system provides a plurality of magnetic grippers, wherein, in particular, each of the magnetic grippers of the plurality of magnetic grippers is designed according to the invention. Furthermore, the system provides that the magnetic grippers of the plurality of magnetic grippers are received in the receiving section of the magnetic gripper receiving device.

[0052] Because the magnetic gripper receiving device accommodates multiple magnetic grippers, a handling device operatively connected to the magnetic gripper receiving device can handle multiple workpieces simultaneously using the multiple magnetic grippers accommodated in the magnetic gripper receiving device. This allows the handling of multiple workpieces that are at least partially magnetic and / or at least partially magnetizable, particularly quickly, easily, and efficiently. For example, a large number of battery cells can be arranged particularly quickly, easily, and efficiently in a battery cell housing of a battery storage system of an electric vehicle.

[0053] The multiple magnetic grippers can also be understood as a multitude of magnetic grippers.

[0054] This system for a handling device is preferably used for gripping at least partially magnetizable and / or magnetic workpieces, in particular for simultaneously gripping multiple workpieces, wherein the workpieces have a height offset from one another, e.g., due to manufacturing tolerances. The system comprises at least two previously described magnetic grippers and a receiving device for receiving the magnetic grippers.

[0055] The system has the advantage that when the handling device approaches workpieces which are vertically offset from one another, a distance can remain between the magnetic grippers and the workpieces. By displacing the magnetic section, in particular beyond the stripping section, and / or by the axially oriented magnetic field of the holding magnets, the workpieces can be magnetically gripped, preferably pressed against the stripping section, and then handled with the handling device. Due to the magnetic grippers being arranged radially next to one another, magnetic field losses can occur which can be prevented either by lower magnetic fields by displacing the magnetic section or by directed magnetic fields. The system according to the invention is particularly advantageous for magnetic grippers arranged radially next to one another.

[0056] Furthermore, the magnetic gripper receiving device of the system can have a handling mounting section for arrangement on a tool holder and / or a tool holder and / or a machine spindle of the handling device.

[0057] The plurality of magnetic grippers are each accommodated in the receiving section of the magnetic gripper receiving device in a force-fitting and / or form-fitting manner, and in particular also releasably. This allows for particularly easy replacement of defective magnetic grippers.

[0058] It is particularly advantageous if the receiving section is designed such that the magnetic grippers of the plurality of magnetic grippers are received at least in one row next to one another in the receiving section. In other words, the magnetic grippers can be received in a row next to one another in the receiving section. This makes it possible to achieve a high packing density, as occurs, for example, in a battery storage system. It is also conceivable for the plurality of magnetic grippers to be received both in a row and in a column in the receiving section. This makes it possible to grip or handle at least partially magnetizable and / or magnetic workpieces in a two-dimensional manner. This means that multiple workpieces can be handled particularly quickly, easily and efficiently.

[0059] It is also particularly preferred that the magnetic gripper receiving device has at least one pressure medium distribution channel for fluidically supplying the plurality of magnetic grippers with a pressure medium for displacing a respective piston of the magnetic grippers. Thus, the plurality of magnetic grippers can be fluidically supplied with a pressure medium directly via the pressure medium distribution channel. Furthermore, disruptive pressure medium hoses on an outer circumferential surface of the gripper base section of a magnetic gripper can be prevented, and the plurality of magnetic grippers can be accommodated by a magnetic gripper receiving device in a particularly space-saving manner. For this purpose, a gripper base section of a respective magnetic gripper can have at least one pressure medium inlet on a bottom side of the gripper base section facing away from the gripped workpiece.The receiving section and / or the pressure medium distribution channel of the magnetic gripper receiving device can have a respective correspondingly designed pressure medium interface for fluidic connection to the at least one pressure medium inlet of a respective magnetic gripper of the plurality of magnetic grippers. The fluidic connection of a respective magnetic gripper to the pressure medium distribution channel is thus advantageously tubeless. It is also conceivable for the magnetic gripper receiving device to have at least two pressure medium distribution channels for distributing a first pressure medium and a second pressure medium to the plurality of magnetic grippers. Thus, double-acting magnetic grippers or double-acting piston sections of the plurality of magnetic grippers can also be operated by means of the magnetic gripper receiving device.

[0060] A particularly preferred embodiment results from the fact that the magnetic gripper receiving device has a state section with a plurality of state sensors for detecting a gripping state of a respective magnetic gripper of the plurality of magnetic grippers, in which the magnetic section is in the magnetic gripping connection with the workpiece, and for detecting a release state of the respective magnetic gripper, in which the magnetic gripping connection between the magnetic section and the workpiece is released. This also makes it possible to avoid interfering information lines for transmitting data and / or interfering magnetic switches as state sensors on an outer surface of the gripper base section of a magnetic gripper, and to accommodate a plurality of magnetic grippers in a particularly space-saving manner by a magnetic gripper receiving device.

[0061] The receiving device can in particular be designed like a frame. Furthermore, the receiving device can be designed as one support structure or several support structures, wherein a support structure comprises, for example, a number of 4, 8 or 15 magnetic grippers as a module. Accordingly, it is possible to assemble receiving devices of any size by assembling several support structures to form a large receiving device. The individual support structures are designed such that they can be detachably connected to one another. Furthermore, mounting sections for arranging handles or tool holders can be provided on the receiving device.

[0062] Furthermore, it is advantageous if the system is set up in such a way that, in order to grip workpieces with a height offset simultaneously, a first magnetic section is moved into the contact position and a second magnetic section is moved into the gripping position. This can be made possible, for example, by a pneumatic or hydraulic drive for moving the magnetic sections. The magnetic sections are moved from the release position until contact is made with the workpiece or the maximum stroke is reached. A third operating pressure is set so low when moving the magnetic sections that the magnetic sections are moved but no damage occurs to the magnetic gripper or the workpiece, should the workpiece be higher than the other workpieces. The "soft" air cushion enables gentle contact with the workpiece and at the same time prevents the workpiece from being pushed away.This eliminates height differences between the magnetic gripper and the workpiece to be gripped, which may not be accounted for or compensated for by the magnetic gripper during the gripping process. Furthermore, the holding force of the axially amplified magnetic field may not be sufficient to attract the workpiece across the unintentionally created air gap. The air gap counteracts this disadvantage.

[0063] The object of the invention is also achieved by a handling device having the features of claim 16. This handling device is operatively connected to at least one magnetic gripper designed according to the invention. Alternatively, the handling device is operatively connected to at least one system designed according to the invention, in particular a magnetic gripper receiving device of a system designed according to the invention.

[0064] The handling device can be a robot, for example an industrial robot. Furthermore, the handling device, in particular a tool holder and / or a tool holder of the handling device, can have a counter-mounting section for arranging on a mounting section of a gripper base section of the magnetic gripper for operatively connecting the handling device to the magnetic gripper. Alternatively or additionally, the handling device, in particular a tool holder and / or a tool holder of the handling device, can have a counter-handling mounting section for arranging on a handling mounting section of a magnetic gripper holder device of the system for operatively connecting the handling device to the system according to the invention. Also according to the invention is a handling device with at least one magnetic gripper designed according to the invention.Alternatively, according to the invention, the handling device is provided with at least one system designed according to the invention. The handling device can be a robot, for example an industrial robot, or a linear axis system. Furthermore, the handling device, in particular a tool holder and / or a tool holder of the handling device, can have a counter-mounting section for arranging on a mounting section of a gripper base section of the magnetic gripper for operatively connecting the handling device to the magnetic gripper. Alternatively or additionally, the handling device, in particular a tool holder and / or a tool holder of the handling device, can have a counter-handling mounting section for arranging on a handling mounting section of a mounting device of the system for operatively connecting the handling device to the system according to the invention.

[0065] The magnetic gripper according to one of claims 1 to 12, the system according to claims 13 to 15, the handling device according to the invention and / or the method according to claim 17 or 18 can further comprise a controller. The controller can be arranged in or on the magnetic gripper, in or on the system and / or in or on the handling device. By means of the controller, operating states, in particular secure grip of a workpiece and / or reaching the release position, contact position, gripping position, of the magnetic gripper or of each individual magnetic gripper in a system or in a handling device can be detected. It is furthermore conceivable for a plurality of magnetic grippers to be grouped in a system or in a handling device, wherein the operating states of the group of magnetic grippers can be detected as one state by means of the controller. The operating states can furthermore be changed by means of the controller, e.g.by controlling a drive unit or valves. It can further be provided that the operating states that can be detected and / or changed by means of the controller can be represented on a display unit, e.g., a display or illuminated indicators. The representation can be made on each magnetic gripper and / or on each group of magnetic grippers and / or on the system and / or on the handling device and / or the manipulator.

[0066] The object underlying the invention is further achieved by a method having the features of claim 17. The method serves to grip at least partially magnetizable and / or magnetic workpieces with a height offset from one another, wherein first workpieces have a first height and second workpieces have a second height, and wherein the first height is greater than the second height. The gripping can be carried out by means of a magnetic gripper with magnetic sections that can be moved along a longitudinal axis between an upper release position and a lower contact position and stripping sections for releasing the magnetic connection between the magnetic sections and the workpieces. Alternatively, the gripping can be carried out by means of a previously described magnetic gripper or by means of a previously described system.

[0067] During gripping according to the invention, the magnetic gripper is moved, e.g., by means of a handling device, into a starting position above the workpieces, wherein first magnetic grippers, in particular first stripping sections and / or first pressing elements, contact first workpieces (step a). Accordingly, some magnetic grippers already rest against the workpieces with the greatest height in the initial position.

[0068] The magnetic sections are then applied to the workpieces by moving the magnetic sections (step b). On the workpieces that are already in contact with the magnetic gripper in the initial position, the magnetic sections are moved into a gripping position located between the release position and the contact position. On the remaining workpieces, the magnetic sections are moved into the contact position, with the magnetic sections coming into contact with the workpieces. The first magnetic grippers therefore contact the first workpieces with the first stripping sections and / or with the first pressing devices and with the first magnetic sections, with the first workpieces having a greater height. Furthermore, the second magnetic grippers contact the second workpieces with the second magnetic sections, with the second workpieces having a lower height.The maximum height offset between the first workpieces and the second workpieces essentially corresponds to the maximum stroke of the piston or of the magnetic section. The second workpieces are then lifted into the gripping position by moving the second magnetic sections, whereby the second workpieces contact the second stripping sections and / or the second pressing devices (step c). By lifting the second magnetic sections, all magnetic sections are in the gripping position. Consequently, all workpieces are also in contact with the stripping sections and / or the pressing devices.By attracting the workpieces, it is ensured that in a subsequent assembly, transport or handling process there is an even and flat contact of the magnetic gripper with as many workpieces as possible and that no workpiece can fall out of the workpiece assembly, in particular no battery can fall out of the cell assembly of the battery cluster or protrude.

[0069] Consequently, the workpieces can be handled safely together (step d).

[0070] Finally, the workpieces are stripped from the magnetic grippers by moving the magnetic sections into the release position, whereby the stripping sections release the magnetic connection between the magnetic sections and the workpieces (step e).

[0071] The procedure has the advantage that the

[0072] Magnetic gripper can always be moved to the same starting position and all workpieces can be safely gripped and subsequently handled despite height offset.

[0073] The object underlying the invention is further achieved by a method having the features of claim 18. The method serves to grip at least partially magnetizable and / or magnetic workpieces with a height offset from one another, wherein first workpieces have a first height and second workpieces have a second height, and wherein the first height is greater than the second height. The gripping is carried out by means of a magnetic gripper with magnetic sections that can be moved along a longitudinal axis between an upper release position and a lower contact position and stripping sections for releasing the magnetic connection between the magnetic sections and the workpieces. Alternatively, the gripping is carried out by means of a previously described magnetic gripper or by means of a previously described system.

[0074] During gripping according to the invention, all magnetic sections of the magnetic grippers are displaced into the contact position protruding from the stripping section and / or the pressing section (step a).

[0075] The magnetic gripper is then moved toward the workpieces from above, e.g., by means of a handling device, until the first magnetic section contacts the first workpieces. The magnetic gripper is then moved toward the workpieces until the first magnetic sections and the first stripping sections and / or the first pressing elements contact the first workpieces. At the same time, the second magnetic sections also contact the second workpieces (step b).

[0076] In order to now also place the second workpieces on the second magnetic gripper for the purpose of flat contact, the second magnetic sections are moved from the contact position to the gripping position (step c). Accordingly, all workpieces have come into contact with the stripping sections and / or the presser. By attracting the workpieces, it is ensured that in a subsequent assembly, transport or handling process there is uniform and flat contact between the magnetic gripper and all workpieces and that no workpiece can fall out of the workpiece assembly, in particular no battery can fall out of the cell assembly of the battery cluster or protrude.

[0077] Consequently, the workpieces can be handled safely together (step d).

[0078] Finally, the workpieces are stripped from the magnetic grippers by moving the magnetic sections into the release position, whereby the stripping sections release the magnetic connection between the magnetic sections and the workpieces (step e).

[0079] The method has the advantage that the workpieces can initially be approached gently, i.e. with little force or pressure, by means of the protruding magnetic sections. It is advantageous if the magnetic sections are driven pneumatically or hydraulically so that the magnetic sections are flexible. This results in a slight spring effect which is particularly gentle on the workpieces to be gripped as well as on the gripper base section and / or the receiving device of the magnetic grippers. Alternatively, it is conceivable to arrange a compression spring in the first pressure chamber and / or a tension spring in the second pressure chamber on the piston. As the magnetic grippers approach the workpieces further, the first magnetic grippers are pushed back by the workpieces from the contact position into the gripping position. In addition, the method ensures secure gripping of workpieces with a height offset.

[0080] It is advantageous if, according to step a), in the starting position between the second magnet sections and the second workpieces, there is a first distance of between 0 mm and 30 mm, in particular between 0 mm and 20 mm, preferably between 0 mm and 10 mm, further preferably between 0 mm and 5 mm and preferably between 0 mm and 2 mm.

[0081] Further details and advantageous embodiments of the invention can be found in the following description, on the basis of which embodiments of the invention are further described and explained.

[0082] It shows :

[0083] Fig. 1 is a schematic side view of a magnetic gripper according to the invention in an initial situation above the workpiece, with the magnetic section in the release position,

[0084] Fig. 2 is a schematic side view of the magnetic gripper according to Fig. 1, wherein the magnet section is displaced into the contact position,

[0085] Fig. 3 is a schematic side view of the magnetic gripper according to Fig. 1, wherein the magnet section is displaced into the gripping position and the workpiece is slightly lifted,

[0086] Fig. 4 is a schematic side view of the magnetic gripper according to Fig. 1, wherein the magnetic gripper is displaced together with the workpiece,

[0087] Fig. 5 is a schematic side view of a magnetic gripper according to the invention in a starting position above the workpiece, wherein the magnet section is displaced in the contact position,

[0088] Fig. 6 is a schematic side view of the magnetic gripper according to Fig. 5, wherein the magnetic gripper is moved towards the workpiece until the magnetic section comes into contact with the workpiece,

[0089] Fig. 7 is a schematic side view of the magnetic gripper according to Fig. 5, wherein the magnetic gripper is moved further towards the workpiece until the magnetic section is moved by the workpiece from the contact position to the gripping position,

[0090] Fig. 8 is a schematic side view of the magnetic gripper according to Fig. 5, wherein the magnetic gripper is displaced together with the workpiece,

[0091] Fig. 9 is a schematic side view of a system according to the invention with three magnetic grippers according to the invention, wherein two workpieces with a first height and one workpiece with a second height are to be gripped,

[0092] Fig. 10 is a schematic side view of a system according to Fig. 9, wherein two magnetic grippers each bear against two workpieces with a stripping section and wherein a magnetic gripper bears against the third workpiece with a protruding magnetic section,

[0093] Fig. 11 is a schematic partial section of a magnetic gripper according to the invention,

[0094] Fig. 12 is a perspective view of a system according to the invention as a magnetic gripper cluster with 15 magnetic grippers according to the invention, Fig. 13 is a perspective view of a magnet section and a stripping section of a magnetic gripper according to the invention,

[0095] Fig. 14 is a sectional view of the magnetic gripper according to Fig. 13,

[0096] Fig. 15 is a schematic front view of a magnetic gripper according to the invention with eight holding magnets,

[0097] Fig. 16 is a schematic front view of a magnetic gripper according to the invention with 12 holding magnets,

[0098] Fig. 17 is a schematic front view of a magnetic holder,

[0099] Fig. 18 is a schematic sectional view of the magnet holder according to Fig. 17,

[0100] Fig. 19 is a perspective view of the magnet holder according to Fig. 17 with 7 of 14 mounted holding magnets,

[0101] Fig. 20 is a perspective view of the magnet holder according to Fig. 17 with 14 mounted holding magnets,

[0102] Fig. 21 is a schematic side view of the magnet holder according to Fig. 17 with a void filled with epoxy resin, Fig. 22 to Fig. 25 an inventive

[0103] Magnet he grasps;

[0104] Fig. 26 and Fig. 27 show another magnet gripper according to the invention;

[0105] Fig. 28 and Fig. 29 show another magnet gripper according to the invention;

[0106] Fig. 30 and Fig. 31 show another magnet according to the invention;

[0107] Fig. 32 a system according to the invention; and

[0108] Fig. 33 an inventive

[0109] Handling device .

[0110] Fig. 11 shows a partial section of a magnetic gripper 10 according to the invention. Figs. 1 to 8 also show the magnetic gripper 10 according to the invention according to Fig. 11 in an abstract representation. The magnetic gripper 10 is used for arrangement on a handling device 12 shown in Fig. 9 and for gripping an at least partially magnetizable and / or ferromagnetic workpiece 14. The magnetic gripper 10 has a pot-shaped gripper base section 16 with a cylindrical interior 18. The interior 18 is delimited by a cylinder base 20 and a sleeve-shaped cylinder jacket 22. The interior 18 of the gripper base section 16 is accessible from the cylinder base 20 through a cylinder opening 24.The magnetic gripper 10 further comprises a piston section 26 with a piston rod 28 arranged along a longitudinal axis 27, wherein the piston rod 28 has a first rod end 30 facing the cylinder base 20 and a second rod end 32 opposite the first rod end 30. The piston rod 28 has a guide receptacle 34 at its first rod end 30 for receiving a guide element 36. Furthermore, a base recess 38 for receiving the guide element 36 is provided in the cylinder base 20. In addition, the piston section 26 has a piston 40, wherein the piston 40 is arranged at the first rod end 30. The piston 40 is arranged displaceably in the interior 18 of the gripper base section 16 along the longitudinal axis 27. A position tappet 37 is also provided on the guide element 36, which is designed as an extension of the piston rod 28 and serves to query the position of the piston 40.

[0111] The magnetic gripper 10 has a substantially cylindrical stripping section 42 with a stripping head 44 facing the gripper base section 16 and a stripper 46 opposite the stripping head 44. The stripping head 44 comprises on its outer side an outer first threaded section 48 which is screwed into an inner second threaded section 49 arranged on the gripper base section 16. In the screwed-in state, the stripping head 44 opposite the cylinder base 20 closes the interior 18 of the gripper base section 16. Accordingly, the gripper base section 16 and the stripping head 44 with the piston 40 form a cylinder-piston unit.

[0112] The piston 40, together with the cylinder base 20 and the cylinder jacket 22, defines a first pressure chamber 50. The piston 40, together with the stripping head 44 and the interior space 18, further defines a second pressure chamber 52. Accordingly, the piston section 26 is displaceably guided in the cylinder base 20 and, via the piston 40, on the cylinder jacket 22. The first pressure chamber 50 is fluidically connected to a first pressure medium distribution channel 54. The second pressure chamber 52 is fluidically connected to a second pressure medium distribution channel 56. The piston 40 is displaceable along the longitudinal axis 27 between an upper first cylinder end 58 assigned to the cylinder base 20 and a lower second cylinder end 60 assigned to the stripping head 44, wherein the first pressure chamber 50 can be pressurized with a first operating pressure p1 by means of the first pressure medium distribution channel 54 and / or the second pressure chamber 52 can be pressurized with a second operating pressure p2 by means of the second pressure medium distribution channel 56.The distance between the first cylinder end 58 and the second cylinder end 60 corresponds to the maximum stroke of the piston 40.

[0113] The magnetic gripper 10 further comprises a magnet section 62, wherein the magnet section 62 is arranged on the second rod end 32 of the piston rod 28, in particular by means of at least one first fastening means 64 extending along the longitudinal axis 27, such as a screw. The magnet section 62 is guided displaceably on the inside of the stripping section 42 along the longitudinal axis 27. The magnet section 62 has an insulation element 66 and a magnet holder 68, wherein the first

[0114] Fastening means 64 fastens the insulation element 66 to the piston rod 28 and a second fastening means 70 extending parallel to the longitudinal axis 27 fastens the magnet holder 68 to the insulation element 66.

[0115] The magnetic holder 68 has a holder base 72 facing the insulation element 66, wherein magnetic receptacles 74 for receiving holding magnets 76 (not shown) are provided in the holder base 72. The holding magnets 76 form a magnetic field 73 which is used for magnetically gripping the workpieces 14. The magnetic receptacle 74 can be introduced in the holder base 72 in the form of a groove. Alternatively, the magnetic receptacle 74 can be designed as a plurality of circular recesses 75, as shown in Figs. 17 and 19, which are arranged next to one another along a circular circumference with a radial offset from one another. Due to the overlap of the circular recesses 75, the magnetic receptacle 74 is formed which is continuous along the circular circumference and in which the holding magnets 76 can be securely positioned. This ensures that the holding magnets 76 generate a defined magnetic field 73 .

[0116] The magnet holder 68, in particular the holder base 72, has an opening 77, as a result of which the magnet section 62 can be detached from the piston rod 28 via the fastening screw 64 even when the magnet holder 68 is mounted on the insulation element 66. Furthermore, a holder leg 78 protruding from the holder base 72 is arranged on the holder base 72 as shown in FIGS. 17 to 21. The holder leg 78 is circular and radially surrounds the holding magnets 76. Due to the insulation element 66, the holder base 72 and the holder leg 78, it can be ensured that the magnetic field 73 generated by the holding magnets 76 is axially oriented and preferably acts in the direction of the workpiece 14 to be gripped. Furthermore, the magnetic field 73 can be radially secured by the holding leg 78, so that there is no mutual influence of the magnetic fields 73 in adjacent magnetic grippers 10.

[0117] The cavity 80 formed by the holder base 72, the holding magnets 76, and the holder leg 78 can preferably be filled with a filler 82 that does not influence the magnetic field, in particular epoxy resin. The active surface 84 of the magnet section 62 facing the workpiece is subsequently face-turned or face-milled, so that a defined underside of the magnet section 62 is provided. Due to the magnet receptacle 74, a defined distance or air gap can therefore be provided between the magnetic gripper 62 and the workpiece 14.

[0118] For targeted axial orientation of the magnetic field, it is advantageous if the magnet section 62 according to Fig. 13 to 21 has at least one first holding magnet 76a with a magnetic north pole 86 facing the workpiece 14 and at least one second holding magnet 76b with a magnetic south pole 88 facing the workpiece. Accordingly, the first holding magnet 76a has a

[0119] The first holding magnet 76a has a magnetic south pole 88 facing the holder base 72, and the second holding magnet 76b has a magnetic north pole 86 facing the holder base 72. Seven first holding magnets 76a and seven second holding magnets 76b are provided in the magnet sections 62 of FIGS. 13, 17 to 21. Four first holding magnets 76a and four second holding magnets 76b are provided in the magnet sections 62 of FIG. 15. Six first holding magnets 76a and six second holding magnets 76b are provided in the magnet sections 62 of FIG. 16.

[0120] The first holding magnets 76a, in particular their center points, are arranged along a first circular line 90 arranged around the longitudinal axis 27 and having a first diameter 92. The first holding magnets 76a are evenly spaced along the circular line 90. Two adjacent first holding magnets 76a, in particular their center points, enclose a first angle α with the longitudinal axis 27, wherein the first angle α corresponds to the formula 360° / nnumber of first holding magnets. Accordingly, for example, two adjacent first holding magnets 76a have a first angle α of 60° when six first holding magnets 76a are provided.

[0121] The second holding magnets 76b, in particular their centers, are arranged along a second circular line 94 with a second diameter 96 arranged around the longitudinal axis 27. The second holding magnets 76b are evenly spaced along the circular line 94. Two adjacent second holding magnets 76b, in particular their centers, form a second angle ß with the longitudinal axis 27, wherein the angle ß corresponds to the formula 360° / n number of first holding magnets.

[0122] Accordingly, two adjacent second holding magnets 76b, when six second holding magnets 76b are provided, have a second angle ß of 60°.

[0123] The holding magnets 76 are arranged alternately, so that a first holding magnet 76a and a second holding magnet 76b alternate along the circular lines 90, 94. With a total of twelve holding magnets 76, two adjacent holding magnets 76, i.e., a first holding magnet 76a and a second holding magnet 76b, have a third angle γ of 30°.

[0124] Furthermore, the holding magnets 76 are arranged such that the first diameter 92 is larger than the second diameter 96. The first diameter 92 and the second diameter 96 have a ratio between 0.2:1 and 5:1, in particular between 0.5:1 and 3:1, preferably between 1:1 and 2:1, and more preferably between 1.2:1 and 1.5:1. Consequently, the first holding magnets 76a are offset radially outwards and the second holding magnets 76b are offset radially inwards. Due to the offset arrangement of the holding magnets 76, an axially oriented magnetic field 73 is produced, so that a secure gripping of workpieces 14 is possible, even with an air gap between the magnet section 62 and the workpiece 14.

[0125] 1 to 4 and Figs. 5 to 8 show two different methods for gripping workpieces 14 by means of a magnetic gripper 10 according to the invention. The magnetic gripper 10 is arranged on a handling device 12, not shown, and can be moved by this along the axes X, Y and Z.

[0126] In Fig. 1, the magnetic gripper 10 is in a starting position above the workpiece 14 to be gripped, wherein the arrow shows that the entire magnetic gripper 10 has been moved. The distance 98 between the magnetic gripper 10, in particular the stripping section 46, and the workpiece 14 is approximately 2 mm, wherein the distance 98 in the illustration shows a greater distance 98 than 2 mm in relation to the magnetic gripper 10 and the workpiece 14 for better illustration. The distance 98 enables the magnetic gripper 10 to approach the workpiece quickly without an unwanted collision occurring. The magnetic section 62 is in an upper release position in which no relevant magnetic effect emanates from the magnetic section 62 on the workpiece 14. The release position of the magnet section 62 corresponds to the position of the piston 40 in the region of the upper first cylinder end 58.

[0127] In Fig. 2, the magnetic section 62 is in a lower contact position, wherein the magnetic section 62 contacts the workpiece 14 and thus a magnetic connection exists between the magnetic section 62 and the workpiece 14. The contact position of the magnetic section 62 corresponds to the position of the piston 40 in the region of the lower second cylinder end 60. In order to displace the magnetic section 62 from the release position into the contact position, i.e. in the Z direction, the first pressure chamber 50 is pressurized with a third operating pressure p3 by means of the first pressure medium distribution channel 54. The stripping section 42, in particular the stripping head 44, forms the end stop of the piston 40 opposite to the Z direction.

[0128] In Fig. 3, the magnetic section 62 is displaced counter to the Z direction along the longitudinal axis 27 such that the magnetic section 62 is flush with the stripper 46. In this position, the magnetic section 62 is in a gripping position arranged between the release position and the contact position. To displace the magnetic section 62 from the contact position to the gripping position, the second pressure chamber 52 is pressurized with a fourth operating pressure p4. The workpiece 14 is thereby attracted against the stripper section 42 and / or a presser (not shown) in order to ensure uniform contact of the workpiece 14. The magnetic holder 68 or the stripper section 42 can further provide a sleeve-shaped guide section (not shown) for more securely receiving the workpieces 14 during gripping.In this case, the guide section has an inner cross-section which corresponds to the outer cross-section of the workpiece 14 to be gripped.

[0129] Subsequently, the workpiece 14 can be handled according to Fig. 4, wherein the magnet section 62 remains in the gripping position and the entire magnetic gripper 10 is displaced by the handling device 12.

[0130] The first operating pressure p1 preferably serves to displace the magnetic section 62 from the release position to the contact position. The second operating pressure p2 preferably serves to displace the magnetic section 62 from the contact position and / or gripping position to the release position. The third operating pressure p3 serves as a cushion and / or suspension when approaching the workpiece when the magnetic section 62 is in the contact position. The fourth operating pressure p4 serves to displace the magnetic section 62 from the contact position to the gripping position when the magnetic section 62 contacts a workpiece 14 in the contact position and attracts it to the stripping section 42.

[0131] Preferably, the first operating pressure p1 corresponds to the second operating pressure p2. Furthermore, it is conceivable that the third operating pressure p3 is smaller than the first operating pressure p1 and / or the second operating pressure p2. Furthermore, it is conceivable that the fourth operating pressure p4 is smaller than the first operating pressure p1 and / or the second operating pressure p2. The first operating pressure p1 and / or the second operating pressure p2 is preferably 6 bar. The third operating pressure p3 is preferably determined from the ratio between the maximum permissible force F zul , which acts from the outside on the gripping surface A Kolben of the workpiece 14 to be gripped:

[0132] Furthermore, the fourth operating pressure p4 is greater than the ratio between A Kolben the weight force F Gew Wst of the workpiece 14 and the gripping surface and / or smaller than the ratio between the magnetic force and the gripping surface:

[0133] In Fig. 5, the magnetic gripper 10 is in a starting position above the workpiece 14 to be gripped. Before the magnetic gripper 10 approaches the workpiece 14, the magnetic section 62 is moved into the contact position. In this case, the first pressure chamber 50 is subjected to a third operating pressure p3 such that the magnetic section 62 can be moved against the workpiece 14 under spring pressure, in particular with damping. This allows the workpieces 14 to be gripped particularly gently.

[0134] As soon as the third operating pressure p3 is established in the first pressure chamber 50, the magnetic gripper 10 can be displaced toward the workpiece 14 with the magnetic section 62 projecting opposite the stripping section 42 in the opposite direction to the Z-axis. In the contact position, the magnetic section 62 contacts the workpiece 14 according to Fig. 6, with the axially directed magnetic field 73 having an attractive effect on the workpiece 14. The stripping section 42 is preferably at a distance 98 from the workpiece 14.

[0135] According to Fig. 7, the magnetic section 62 is displaced counter to the Z direction along the longitudinal axis 27 such that the magnetic section 62 is flush with the stripper 46. In this position, the magnetic section 62 is in the gripping position. The workpiece 14 is thereby attracted against the stripper section 42 and / or a presser (not shown). Subsequently, according to Fig. 8, the workpiece 14 can be handled, with the magnetic section 62 still in the gripping position and the entire magnetic gripper 10 being displaced by the handling device 12.

[0136] A further conceivable method is a combination of the method shown in Figs. 1 to 4 and the method shown in Figs. 5 to 8. First, the magnetic gripper 10 with the protruding magnetic section 62 is displaced towards the workpiece 14 until the magnetic section 62 contacts the workpiece 14 as shown in Fig. 6 and the stripping section 42 is at a distance 98 from the workpiece 14. Subsequently, the workpiece is pulled towards the stripping section 42 as shown in Fig. 3, with the magnetic gripper 10 remaining in its position. The workpiece 14 is then displaced as shown in Fig. 4 by displacing the entire magnetic gripper 10.

[0137] According to Figs. 9 and 10, several magnetic grippers 10 can be combined in a system 100 according to the invention as a magnetic gripper cluster. The system 100 serves to simultaneously grip several workpieces 14, wherein one magnetic gripper can be provided for each workpiece 14 to be gripped. In this case, the system 100 has a receiving device 102 for receiving three magnetic grippers 10, each of which is intended to grip a workpiece 14. The workpieces 14 comprise two first workpieces 14a and a second workpiece 14b, wherein the first workpieces 14a have a first height 104 and the second workpiece 14b have a second height 106. By way of example, the first height 104 is 2 mm greater than the second height 106. Fig. 9 shows the first step in using the system 100 according to the invention. However, this also represents the current state of the art.When a system 100 with multiple magnetic grippers 10 approaches the workpieces 14, the left and right magnetic grippers 10 come into contact with the associated first workpieces 14a, since these have a first height 104. Neither the system 100 nor the middle magnetic gripper 10 can be moved further downward to grip the second workpiece 14b with the lower second height 106. In the prior art, the middle second workpiece 14b would therefore not be gripped.

[0138] According to Fig. 10, the system 100 according to the invention with the magnetic gripper 10 according to the invention can grip the middle second workpiece 14b despite the height offset. For this purpose, the magnetic section 62 is displaced counter to the Z direction beyond the stripping section 42 into the contact position. In the contact position, the magnetic section 62 contacts the second workpiece 14b and can attract it to the stripping section 42. Accordingly, all workpieces 14 are gripped, with all magnetic sections 62 being arranged in the gripping position.

[0139] Fig. 12 shows a system 100 configured as a magnetic gripper cluster with 15 magnetic grippers 10, wherein the magnetic grippers 10 are arranged in a 5x3 matrix. To achieve a particularly high packing density, the columns and rows of the matrix are offset from one another. Accordingly, adjacent lines of three magnetic grippers 10 are each offset from one another by the radius of a magnetic gripper 10. It is conceivable for the systems 100 to be modular, so that a plurality of systems 100 can be combined to handle more than 15 workpieces 14 simultaneously.

[0140] Furthermore, a control and / or regulating device 108 with a processor and a memory can be provided on the system 100 and / or for each magnetic gripper 10, wherein the control and / or regulating device 108 serves to control and / or regulate the pressure medium supply, in particular the pressurization of the pressure chambers 50, 52. Furthermore, at least one sensor 110 can be provided on the magnetic gripper 10 for detecting the position, the pressure, and / or the volume flow. The control and / or regulating device 108 can initiate the pressure medium supply depending on the sensor signals of the at least one sensor 110. Furthermore, the control and / or regulating device 108 can detect the functionality of a magnetic gripper 10.

[0141] In a system 100 with magnetic grippers 10 arranged in a matrix, it is advantageous if one sensor 110 is provided per cluster of, for example, 15 magnetic grippers 10 and / or per row and / or per column. In the event of a failure of a cluster, a column, and / or a row of magnetic grippers 10, maintenance can be directed accordingly.

[0142] It is further conceivable that, in a system 100 with a plurality of magnetic grippers 10, a pressure medium inlet is provided for each magnetic gripper 10, each cluster, each column, and / or each row. If a first pressure medium inlet 112 is provided for the first pressure chamber 50 and a second pressure medium inlet 114 is provided for the second pressure chamber 52 for a cluster, then a first pressure medium distribution channel 54 leads from the first pressure medium inlet 112 to the first pressure chamber 50 of a magnetic gripper 10, and a second pressure medium distribution channel 56 leads from the second pressure medium inlet 114 to the second pressure chamber 52 of a magnetic gripper 10.

[0143] 22 to 24 show a first embodiment of a magnetic gripper 9100 according to the invention in a schematic sectional view. In Fig. 23, the magnetic gripper 9100 is in a gripping state GZ, i.e. the magnetic gripper 9100 has gripped a workpiece 9400. In Fig. 24, the magnetic gripper 9100 is in a release state LZ, i.e. the magnetic gripper 9100 has stripped or released a workpiece 9400. Fig. 4 shows the embodiment illustrated in Figs. 22 to 24 in a bottom view. The magnetic gripper 9100 of this embodiment has a gripper base section 910 with an interior space 913. A piston rod 922 and a piston 921 arranged on the piston rod 922 are arranged in the interior space 913. The piston rod 922 is displaceable along a longitudinal axis L of the piston rod 922 by means of the piston 921. At least a portion of the piston rod 922 is supported and can be guided out of the gripper base section 910 via a recess in the gripper base section 910.The piston 921 separates the interior space 913 into a first active chamber 915 and a second active chamber 916. The first active chamber 915 can be pressurized with a pressure medium for displacing the piston 921 and thus the piston rod 922. A spring element 91 for displacing the piston 921 and thus the piston rod 922 is arranged in the second active chamber 916. The spring element 91 can hold the piston 921 in a forward position, in particular in a piston gripping position, when the first active chamber 915 is depressurized. This has the advantage that when the magnetic gripper 9100 is placed on the workpiece 9400, e.g. a battery cell, the spring element 91 creates a compensating effect in the longitudinal direction L of the piston rod 922 (see Fig. 23). The spring element 91 thus also serves as a damping element 960 for a dampening grip of the workpiece 9400. In addition, the workpiece 9400 can, for example,A battery cell, even in the depressurized state of the first active chamber 915, can be handled as desired using the magnetic gripper 9100 without releasing the workpiece 9400. The spring element 91 thus also serves as a safety element. Alternatively, the gripper base section 910 with the piston section 920 can also be designed to be double-acting.

[0144] Furthermore, the magnetic gripper 9100 shown in Fig. 22 to Fig. 25 comprises a magnet section 930 with, for example, four holding magnets 931a, 931b, 931c and 931d for magnetically gripping the workpiece 9400. The magnet section 930 has a receiving body 935, in particular a plate-shaped receiving body 935, for receiving the four holding magnets 931a, 931b, 931c and 931d on a side of the receiving body 935 facing the workpiece 9400. The receiving body 935 is arranged outside the gripper base section 910 at a piston rod end of the piston rod 922 that extends out of the gripper base section 910. In addition, a centering edge 971 is arranged on the receiving body 935 as a centering element 970 for a centered gripping of the workpiece 9400.Furthermore, the magnetic gripper 9100 comprises a stripping section 940 arranged on the gripper base section 910 with a plurality of pin-shaped strippers 941a, 941b, 941c and 941d rigidly arranged on the gripper base section 910 for releasing a magnetic gripping connection between the magnetic section 930 and the workpiece 9400. Advantageously, the plurality of strippers 941a, 941b, 941c and 941d are arranged radially offset from one another around the longitudinal axis L of the piston rod 922. By pressurizing the first active chamber 915 with a pressure medium, the piston rod 922 can be moved along the longitudinal axis L of the piston rod 922 and thus the magnet section 930 arranged on the piston rod 922 with the holding magnets 931a, 931b, 931c, 931d can be moved away from the workpiece 9400, wherein the plurality of wipers 941a, 941b, 941c and 941d prevent the workpiece 9400 from moving away from the workpiece 9400 with the magnet section 930 or 931d.the holding magnets 931a, 931b, 931c, and 931d. Thus, the workpiece 9400 is stripped or released from the magnetic gripper 9100.

[0145] Furthermore, the magnet section 930 of the magnetic gripper 9100 shown in Fig. 22 to Fig. 25 comprises, on a side of the receiving body 935 facing the workpiece 9400, a friction element 950 for frictionally contacting the workpiece 9400 in the gripping state GZ of the magnetic gripper 9100, wherein the holding magnets 931a, 931b, 931c and 931d are embedded in the friction element 950. The friction element 950 further has, in particular, a recess 951, so that a predefined distance is formed between the at least one holding magnet 931a, 931b, 931c and 931d in the magnetic gripping connection with the workpiece 9400. The friction element 950 can thus function simultaneously as a separating element 980, in particular a non-magnetic and / or non-magnetizable separating element, and as a friction element 950. In the embodiment shown in Fig.25, it can be seen that both the plurality of holding magnets 931a, 931b, 931c, 931d of the magnet section 930 and the plurality of wipers 941a, 941b, 941c, 941d are each arranged radially distributed around the longitudinal axis L of the piston rod 922.

[0146] 26 and 27 show a further embodiment of a magnetic gripper 9100 according to the invention in a schematic sectional view. In Fig. 926, the magnetic gripper 9100 is in a gripping state GZ, i.e., the magnetic gripper 9100 has gripped a workpiece 9400. In Fig. 27, the magnetic gripper 9100 is in a release state LZ, i.e., the magnetic gripper 9100 has stripped or released a workpiece 9400. The magnetic gripper 9100 of this embodiment has a gripper base section 910 with an interior space 913. A piston rod 922 and a piston 921 arranged on the piston rod 922 are arranged in the interior space 913. The piston rod 922 can be displaced along a longitudinal axis L of the piston rod 922 by means of the piston 921. In this embodiment, the piston rod 922 itself represents a stripping section 940 with a stripper 941a of the magnetic gripper 9100 for releasing a magnetic gripping connection between a magnetic section 930 and the workpiece 9400.The piston.

[0147] 921 separates the interior 913 into a first active chamber 915 facing away from the workpiece 9400 and a second active chamber 916. The first active chamber 915 is provided with a pressure medium for displacing the piston 921 and thus the piston rod

[0148] 922 can be pressurized. In the second active chamber 916, a spring element 91 is arranged for displacing the piston 921 and thus the piston rod 922. The spring element 91 can hold the piston 921 in a rear position, in particular in a piston gripping position, when the first active chamber 915 is depressurized. Thus, in the event of a pressure drop in the first active chamber 915, the piston 921 and thus the piston rod 922 can be held in the rear position and an unintentional release of the workpiece 9400 by means of the piston rod 922 can be prevented. The spring element 1 thus also serves as a safety element. Alternatively, the gripper base section 910 with the piston section 920 can also be designed to be double-acting.

[0149] Furthermore, the magnetic gripper 9100 shown in Fig. 26 and Fig. 27 comprises a magnet section 930 with at least one holding magnet 931a and a damping element 960 for a damping gripping of the workpiece 9400. The holding magnet 931a is arranged on the gripper base section 910 via the damping element 960 for the damping gripping of the workpiece 9400, which is arranged at least partially on a gripping side 912 of the gripper base section 910 facing the gripped workpiece 9400. The damping element 960 is, for example, plate-shaped and can additionally have an opening for guiding the piston rod 922 of the piston section 920. In Fig. 26 and Fig. 927, for example, the damping gripping of the workpiece 9400 is carried out (only) by the damping element 960 arranged on the gripping side 912 of the gripper base section 910 facing the gripped workpiece 9400.In other words, when the magnetic gripper 9100 is placed on the workpiece 9400 for gripping the workpiece 9400, for example a battery cell, no compensating effect in the longitudinal direction L of the piston rod 922 occurs (for example) by the spring element 91, as has been described for example with reference to Figs. 22 to 25. However, it is also conceivable that the piston section 920 is designed or configured in such a way that a compensating effect in the longitudinal direction L of the piston rod 922 is also achieved by the spring element 91 arranged in the second active chamber 916, for example by a corresponding length of the piston rod 922. Thus, for example, the piston section 920 has a (first) damping element for the damping gripping of the workpiece 9400 and the magnet section 930 has a (second) damping element for the damping gripping of the workpiece 9400.Additionally, a friction element 950 of the magnetic section 930, e.g., in the form of a glass-fiber-reinforced plastic, is arranged between the damping element 960 and the holding magnet 931a of the magnetic section 930 for frictional contact with the workpiece 9400. Thus, the holding magnet 931a can be made weaker, while simultaneously ensuring the holding of the workpiece 9400. The friction element 950 can also have an opening for guiding the piston rod 922. Additionally, the friction element 950 can act as a centering element 970 by having a centering edge 971 for centered holding of the workpiece 9400. In this embodiment, the friction element 950 can also additionally have a recess 951, so that a predefined distance is formed between the at least one holding magnet 931a in the magnetic gripping connection with the workpiece 9400.In other words, the holding magnet 931a does not directly contact the workpiece 9400 in the gripping state GZ of the magnetic gripper 9100. By applying pressure to the first active chamber 915, a piston rod end 923 of the piston rod 922 can be moved as a wiper 941a along the longitudinal axis L of the piston rod 922 toward the gripped workpiece 9400 (see Fig. 26 and Fig. 27), so that the workpiece 9400 is actively moved or (actively) repelled by the piston rod end 923 of the piston rod 922 away from the magnetic section 930 arranged on the gripper base section 910 or the holding magnet 931a of the magnetic section 9300, and thus the magnetic gripping connection between the magnetic section 930 and the workpiece 9400 is released.

[0150] Fig. 28 and Fig. 29 show a further embodiment of a magnetic gripper 9100 according to the invention in a schematic sectional view. In Fig. 28, the magnetic gripper 9100 is in a release state LZ, ie, the magnetic gripper 9100 has stripped or released a workpiece 9400. In Fig. 29, the magnetic gripper 9100 is in a gripping state GZ, ie, the magnetic gripper 9100 has gripped a workpiece 9400. The magnetic gripper 9100 of this embodiment has a gripper base section 910 with an interior space 913. A piston rod 922 and a piston 921 arranged on the piston rod 922 are arranged in the interior space 913. The piston rod 922 is movable by means of the piston 921 along a longitudinal axis L of the

[0151] Piston rod 922 is displaceable. The piston 921 separates the interior space 913 into a first active chamber 915 and a second active chamber 916. The first active chamber 915 and the second active chamber 916 can each be pressurized with a pressure medium for displacing the piston 921 and thus the piston rod 922. In other words, the gripper base section 910 with the piston section 920 is designed to be double-acting. The piston rod 922 is guided out of the gripper base section 910 via a recess in the gripper base section 910.

[0152] Furthermore, the magnetic gripper 9100 shown in Fig. 28 and Fig. 29 comprises a magnet section 930 with at least one holding magnet 931a for magnetically gripping the workpiece 9400. The magnet section 930 further has a receiving body 935, in particular a plate-shaped receiving body 935, for receiving the holding magnet 931a on a side of the receiving body 935 facing the workpiece 9400. The receiving body 935 is arranged outside the gripper base section 910 at a piston rod end 923 of the piston rod 922 that extends out of the gripper base section 910.

[0153] Furthermore, the device shown in Fig. 28 and Fig. 29, the magnetic gripper 9100 has a stripping section 940 arranged on the gripper base section 910 with a stripper 941a rigidly arranged on the gripper base section 910 for releasing a magnetic gripping connection between the magnetic section 930 and the workpiece 9400. The stripper 941a of the stripping section 940 arranged on the gripper base section 910 is hollow and forms a stripper cavity 942 for guiding the magnetic section 930 arranged on the piston rod 922 in the stripper cavity 942 along the longitudinal axis L of the piston rod 922, wherein the stripper 941a has a stop on a stripper end 943 of the stripper 941a facing the gripped workpiece 9400 for a stop of the workpiece 9400.The magnetic gripper 9100 is preferably configured such that the holding magnet 931a does not or cannot contact the workpiece 9400 when the magnetic gripper 9100 is in the gripping state. Additionally, the stripper 941a has a centering edge 971 at the stripper end 943 for centered gripping of the workpiece 9400, so that the stripper 941a simultaneously functions as a centering element 970. Furthermore, a state sensor 990, for example a magnetic switch, is arranged on an outer casing side of the gripper base section 910 for detecting the gripping state GZ of the magnetic gripper 9100, in which the magnetic section 930 is in the magnetic gripping connection with the workpiece 9400 (see Fig. 29), and for detecting the release state LZ of the magnetic gripper 9100, in which the magnetic gripping connection between the magnetic section 930 and the workpiece 9400 is released (see Fig. 28).The magnetic switch detects the axial position of the piston 921 for detecting the gripping state GZ or the release state LZ of the magnetic gripper 9100. The other embodiments of the invention can also have such a state sensor 990. Fig. 30 and Fig. 31 show a further embodiment of a magnetic gripper 9100 according to the invention in a perspective view and a schematic sectional view, respectively. In Fig. 30, the magnetic gripper 9100 is in a release state LZ, i.e., the magnetic gripper 9100 has stripped or released a workpiece 9400. In Fig. 31, the magnetic gripper 9100 is in a gripping state GZ, i.e., the magnetic gripper 9100 has gripped a workpiece 9400. As already described for the embodiment shown in Fig. 28 and Fig. 29, the gripper base section 910 with the piston section 920 is also designed to be double-acting, for example.Alternatively, the gripper base section 910 with the piston section 920 can also be designed as a single-acting unit. The piston rod 922 is mounted and extends out of the gripper base section 910 via a recess on a gripping side 912 of the gripper base section 910 facing the gripped workpiece 9400. Furthermore, the magnetic gripper 9100 comprises a stripping section 940 arranged on the gripper base section 910 with a stripper 941a arranged on the gripper base section 910 for releasing a magnetic gripping connection between the magnetic section 930 and the workpiece 9400. The stripping section 940 or the stripper 941a is arranged on the gripper base section 910 by means of several screw connections 917a, 917b on the base side. The screw connections 917a, 917b extend parallel to the longitudinal axis L of the piston rod 922 in a wall of the gripper base section 910 and in the wiper 941a, wherein threads are formed in the wiper 941a.The wall of the gripper base section 910 connects the bottom side 911 of the gripper base section 910 to the gripping side 912 of the gripper base section 910. Furthermore, the wiper 941a of the wiper section 940 arranged on the gripper base section 910 is hollow-shaped, for example, hollow-cylindrical, and forms a wiper cavity 942. Thus, the magnetic section 930 arranged on the piston rod 922 can be guided in the wiper cavity 942 along the longitudinal axis L of the piston rod 922. The hollow-cylindrical wiper 941a can, in particular, have the same or substantially the same diameter as the workpiece 9400, for example, a battery cell. Advantageously, the gripper base section 10 is also cylindrical, so that the magnetic gripper 9100 can be particularly compact.

[0154] Furthermore, the magnetic gripper 9100 shown in Figs. 30 and 31 comprises, on a stripper end 943 of the stripper 941a facing the gripped workpiece 9400, a non-magnetic and / or non-magnetizable separating plate 980 for easy removal of the holding magnet 931a from the workpiece 9400. The separating plate 980 is, for example, an aluminum sheet, wherein the aluminum sheet has a thickness of, for example, 0.5 mm. It is also conceivable that a friction element 950, in particular a friction ring, is arranged on the separating plate 980 for frictionally contacting the workpiece 9400. In particular, in the gripping state GZ of the magnetic gripper 9100, the holding magnet 931a moves to within a few millimeters, in particular less than 0.5 mm, of the separating plate 980. The air gap is advantageously kept as small as possible.The gripper base section 910 with the interior space 913, the piston section 920 with the piston 921 and the piston rod 922, the magnet section 930, and the stripping section 940 of the magnetic gripper 910 are, in particular, designed or coordinated with one another such that the holding magnet 931a of the magnet section 930 has or maintains a predefined distance from the gripped workpiece or the separating plate 980 in the gripping state GZ of the magnetic gripper 9100. Thus, damage to the separating element 980 can be particularly easily prevented. In other words, the magnetic gripper 9100 is designed such that the holding magnet 931a does not or cannot contact the separating plate 980 in a gripping state of the magnetic gripper 9100.Furthermore, the gripper base section 910 has a first pressure medium inlet 918a and a second pressure medium inlet 918b on the bottom side 911 of the gripper base section 910 for supplying the piston 921 arranged in the interior space 913 with a respective pressure medium for displacing the piston 921 along the longitudinal axis L of the piston rod 922. Such pressure medium inlets 918a, 918b can also be provided by the other embodiments of the invention. The pressure medium inlets 918a and 918b are configured such that the bottom side 911 of the gripper base section 910 is flat or substantially flat. The pressure medium inlets 918a and 918b can form direct connections for arrangement at correspondingly formed pressure medium interfaces of a pressure medium distribution channel 9220 of a magnetic gripper receiving device 9210 (see, for example, Fig. 32).By applying pressure to the second active chamber 916 with a pressure medium, the piston rod 922 can be moved away from the workpiece 9400 along the longitudinal axis L of the piston rod 922 and thus the magnetic section 930 arranged on the piston rod 922 with the holding magnets 931a, wherein the stripper 941a together with the separating means 980 prevents the workpiece 9400 from moving along with the magnetic section 930 or holding magnet 931a moving away from the workpiece 9400. Thus, the workpiece 9400 is stripped or released from the magnetic gripper 9100.

[0155] Fig. 32 discloses a perspective view of a system 9200 according to the invention. The system comprises an elongated magnetic gripper receiving device 9210 with a receiving section 9211. A plurality of magnetic grippers 9100a, 9100b, 9100c are received in the receiving section 9211. The plurality of magnetic grippers 9100a, 9100b, 9100c are preferably magnetic grippers 9100 according to the invention, as have already been described, for example, in the preceding figures. The plurality of magnetic grippers 9100a, 9100b, 9100c are received in a row next to one another in the receiving section 9211.Furthermore, the magnetic gripper receiving device 9210 can have at least one pressure medium distribution channel 9220 (not visible) extending at least along the longitudinal direction of the magnetic gripper receiving device 9210, or a plurality of pressure medium distribution channels for fluidically supplying the plurality of magnetic grippers 9100a, 9100b, 9100c with a pressure medium for displacing a respective piston 921 of the magnetic grippers 9100a, 9100b, 9100c. Thus, magnetic grippers 9100a, 9100b, 9100c with bottom-side pressure medium inlets 918a, 918b (see, for example, Fig. 31) can be supplied with the respective pressure medium in a hose-free manner via the pressure medium distribution channel 9220 or the pressure medium distribution channels are supplied. The magnetic gripper receiving device 9210 itself can have at least one pressure medium supply or several pressure medium supplies for supplying the pressure medium distribution channel 9220 with one or more pressure mediums.

[0156] Fig. 33 shows a schematic representation of a handling device 9300 with at least one magnetic gripper 9100 designed according to the invention or with a system 9200 designed according to the invention.

Claims

Patent claims 1. Magnetic gripper (10, 9100) for a Handling device (12, 9300) for gripping an at least partially magnetizable and / or magnetic workpiece (14, 14a, 14b, 9400), wherein the magnetic gripper (10, 9100) comprises: - a gripper base section (16, 910) with a Interior (18, 913), a piston section (26, 920) with a piston rod extending along a longitudinal axis (27, L) (28, 922) and with a piston rod (28, 922) and pistons arranged in the interior (18, 913) (40, 921) , - a magnet section (62, 930) each with a North Pole (86) and South Pole (88) Holding magnets (76, 76a, 76b, 931a, 931b, 931c, 931d) for magnetically gripping the workpiece (14, 14a, 14b, 9400) , - wherein the magnet section (62, 930) is attached to the piston section (26, 920), wherein the Magnet section (62, 930) by means of the Piston section (26, 920) along the longitudinal axis (27, L) is displaceable between an upper release position and a lower contact position, and - wherein the magnet section (62, 930) has at least one first holding magnet (76, 76a) with North pole facing workpiece (14, 14a, 14b, 9400) (86) and at least one second holding magnet (76, 76b) with the south pole (88) facing the workpiece (14, 14a, 14b, 9400).

2. Magnetic gripper (10, 9100) according to claim 1, wherein the Magnetic gripper (10, 9100) comprises: a stripping section (42, 940) with at least one on the piston rod (28, 922) and / or on the Gripper base section (16, 910) arranged Wiper (46, 941a, 941b, 941c, 941d) for releasing a gripping connection between the magnet section (62, 930) and the workpiece (14, 14a, 14b, 9400) when moving the magnet section (62, 930) in Direction of the release position.

3. Magnetic gripper (10, 9100) according to one of the previous Claims, wherein the at least one first Holding magnet (76, 76a) along a longitudinal axis (27) arranged first circular line (90) with a first diameter (92) and / or wherein the at least one second holding magnet (76, 76b) is arranged along a second circular line (94) arranged around the longitudinal axis (27) with a second diameter (96) is arranged.

4. Magnetic gripper (10, 9100) according to one of the previous Claims, wherein the first diameter (92) is larger or smaller than the second diameter (96).

5. Magnetic gripper (10, 9100) according to one of the previous Claims, wherein two adjacent first holding magnets (76, 76a) with the longitudinal axis (27) a first angle (α), where the first angle (a) 360° / n number of first holding magnets, and / or wherein two adjacent second holding magnets (76, 76b) enclose a second angle (ß) with the longitudinal axis (27), wherein the second angle (ß) is 360° / n Anzahl the second holding magnet corresponds to .

6. Magnetic gripper (10, 9100) for a Handling device (12, 9300) for gripping an at least partially magnetizable and / or magnetic workpiece (14, 14a, 14b, 9400), wherein the magnetic gripper (10, 9100) comprises: a gripper base section (16, 910) with a Interior (18, 913), a piston section (26, 920) with a along a longitudinal axis (27, L) extending Piston rod (28, 922) and with a Piston rod (28, 922) and piston (40, 921) arranged in the interior (18, 913), a magnet section (62, 930) with at least one holding magnet (76, 76a, 76b, 931a, 931b, 931c, 931d) for gripping the workpiece (14, 14a, 14b, 9400), wherein the magnet section (62, 930) is attached to the piston section (26, 920), wherein the magnet section (62, 930) is arranged by means of the Piston section (26, 920) along the longitudinal axis (27, L) is displaceable between an upper release position and a lower contact position, a stripping section (42, 940) with at least one on the piston rod (28, 922) and / or on the gripper base section (16, 910) arranged Scraper (46, 940) for releasing a Gripping connection between the magnet section (62, 930) and the workpiece (14, 14a, 14b, 940) during Displacing the magnet section (62, 930) in Direction of the release position.

7. Magnetic gripper (10, 9100) according to one of claims 2 to 6, wherein the stripping section (42, 940) has a plurality of Wipers (46, 941a, 941b, 941c, 941d), wherein in particular the plurality of wipers (46, 941a, 941b, 941c, 941d) are arranged radially offset from one another around the longitudinal axis (27, L) of the piston rod (28, 922).

8. Magnetic gripper (10, 9100) according to one of the previous Claims, wherein the gripper base section (16, 910) and / or the piston section (26, 920) are designed such that the magnet section (62, 930) protrudes in the contact position along the longitudinal axis (27, L) relative to the stripping section (42, 940).

9. Magnetic gripper (10, 9100) according to one of the previous Claims, wherein the magnet portion (62, 930) has a Magnetic holder (68) for holding the holding magnets (76, 76a, 76b) and preferably a magnet holder (68) and the piston section (26) arranged insulation element (66).

10. Magnetic gripper (10, 9100) according to claim 10, wherein the Magnetic holder (68) has at least one Holding magnets (76, 76a, 76b) radially surrounding Holding leg (78) for orienting a magnetic field generated by the holding magnets (76, 76a, 76b) Magnetic field (73) and / or for radial shielding of the at least one holding magnet (76, 76a, 76b), wherein preferably the magnet holder (68), in particular the holding leg (78), is magnetic and / or metallic.

11. Magnetic gripper (10, 9100) according to one of the previous Claims, wherein the magnetic gripper (10, 9100) has at least one condition sensor (110, 990) for Detecting a gripping state in which the Magnet section (62, 930) in the magnetic Gripping connection with the workpiece (14, 14a, 14b, 9400) and / or release state in which the magnetic gripping connection between the Magnet section (62, 930) and the workpiece (14, 14a, 14b, 9400) is dissolved, and / or stripping state of the Magnetic gripper (10, 9100) and / or a Position sensor (110) for detecting the position of the Magnet section (62, 930) and / or the piston section (26, 920).

12. Magnetic gripper (100) according to one of claims 2 to 11, characterized in that the scraper (46, 941a, 941b, 941c, 941d) of the piston rod (28, 922) arranged stripping section (42, 940) Piston rod end (923) of the piston rod (28, 922) is .

13. System (100, 9200) for a handling device (12, 9300), wherein the system (100, 9200) comprises: a magnetic gripper receiving device (102, 9210) with a receiving section (9211) for receiving magnetic grippers (10, 9100a, 9100b, 9100c), a plurality of magnetic grippers (10, 9100a, 9100b, 9100c), wherein in particular each of the magnetic grippers (10, 9100a, 9100b, 9100c) of the plurality of magnetic grippers (10, 9100a, 9100b, 9100c) is designed according to one of the preceding claims, and wherein the magnetic grippers (10, 9100a, 9100b, 9100c) of the plurality of magnetic grippers (10, 9100a, 9100b, 9100c) are received in the receiving section (9211) of the magnetic gripper receiving device (102, 9210).

14. System (100, 9200) according to claim 13, characterized in that the Magnetic gripper receiving device (102, 9210) at least one pressure medium distribution channel (220) for fluidically supplying the plurality of Magnetic grippers (10, 9100a, 9100b, 9100c) each with a pressure medium for displacing a respective Piston (40, 921) of the magnetic gripper (10, 9100a, 9100b, 9100c).

15. System (100, 9200) according to claim 13 or 14, wherein the system (100, 9200) is arranged such that for gripping the workpieces (14, 14a, 14b, 9400) a first magnet section (62, 930) is inserted into the Investment position and at the same time a second Magnet section (62, 930) is moved into the gripping position.

16. Handling device (12, 9300), wherein the Handling device (12, 9300) is operatively connected to at least one magnetic gripper (10, 9100) designed according to one of claims 1 to 12, or wherein the handling device (12, 9300) is operatively connected to at least one magnetic gripper designed according to one of claims 13 to 15 trained system (100, 9200) is effectively connected.

17. Method for gripping at least partially magnetizable and / or magnetic workpieces (14, 14a, 14b, 9400) with mutually Height offset z , by means of magnetic grippers (10, 9100) along a longitudinal axis (27, L) between an upper release position and a lower contact position movable magnet sections (62, 930) and Stripping sections (42, 940) for releasing the magnetic connection between the Magnetic sections (62, 930) and the workpieces (14, 14a, 14b, 9400) , or by means of a magnetic gripper (10, 9100) according to one of the Claims 1 or 3 to 7, or by means of a system (100, 9200) according to claim 8, comprising the following steps: a) moving the magnetic grippers (10, 9100) into a Starting position above the workpieces (14, 14a, 14b, 940), wherein first stripping sections (42, 940) contact the first workpieces (14, 14a, 9400), b) applying the magnet sections (62, 930) to the Workpieces (14, 14a, 14b, 940) by moving the Magnet sections (62, 930), wherein first magnet sections (62, 930) are displaced above first workpieces (14, 14a, 940) into a gripping position arranged between the contact position and the release position, and wherein second magnet sections (62, 930) are displaced above second workpieces (14, 14b, 9400) into the installation position, c) lifting the second workpieces (14, 14b, 9400) by displacing the second magnet sections (62, 930) into the gripping position, whereby the second Workpieces (14, 14b, 9400) the second Contact stripping sections (42, 940), d) handling the workpieces (14, 14a, 14b, 9400), and e) releasing the workpieces (14, 14a, 14b, 9400) from the Magnetic grippers (10, 9100) by shifting the Magnet sections (62, 930) into the release position, wherein the stripping sections (42, 940) form the magnetic connection between the Magnetic sections (62, 930) and the workpieces (14, 14a, 14b, 9400) solves.

18. Method for gripping at least partially magnetizable and / or magnetic workpieces (14, 14a, 14b, 9400) with mutually Height offset z , by means of magnetic grippers (10, 9100) along a longitudinal axis (27, L) between an upper release position and a lower contact position movable magnet sections (62, 930) and Stripping sections (42, 940) for releasing the magnetic connection between the Magnetic sections (62, 930) and the workpieces (14, 14a, 14b, 9400) , or by means of a magnetic gripper (10, 9100) according to one of the Claims 1 or 3 to 7, or by means of a system (100, 9200) according to claim 8, comprising the following steps: a) displacing the magnet sections (62, 930) into the Position, b) moving the magnetic grippers (10, 9100) into a Starting position above the workpieces (14, 14a, 14b, 9400), wherein first stripping sections (42, 940) and first Magnetic sections (62, 930) first workpieces (14, 14a, 9400), and wherein second magnet sections (62, 930) form second workpieces (14, 14b, 9400), c) lifting the second workpieces (14, 14b, 9400) by displacing the second magnet sections (62, 930) into a position between the investment position and the Gripping position arranged in the release position, whereby the second workpieces (14, 14b, 9400) contact the second stripping sections (42, 940), d) handling the workpieces (14, 14a, 14b, 9400), and e) releasing the workpieces (14, 14a, 14b, 9400) from the Magnetic grippers (10, 9100) by shifting the Magnet sections (62, 930) into the release position, wherein the stripping sections (42, 940) form the magnetic connection between the Magnetic sections (62, 930) and the workpieces (14, 14a, 14b, 9400) solves.

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