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

Abstract

To surely grip a ferromagnetic work piece, and to execute specific gripping work such as release of lamination of a metal plate or gripping and separation of a sensitive and / or delicate work piece.SOLUTION: A magnetic gripper (10, 104, 106, 204, 206) for gripping a ferromagnetic workpiece (36, 202). The magnetic gripper (10, 104, 106, 204, 206) comprises a magnetic device (18), a displacement device (20) and a workpiece contact surface (22). The magnetic device (18) comprises a plurality of permanent magnets (26) having a north pole (N) and a south pole (S), and is transitionable between a gripping state for gripping the ferromagnetic workpiece (36, 202) and a release state for releasing the ferromagnetic workpiece (36, 202). The moving device (20) is configured to move the magnetic device (18) between the gripping state and the releasing state. The workpiece contact surface (22) is configured to contact a ferromagnetic workpiece (36, 202).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a magnetic gripper, a magnetic gripper device, a gripping device for gripping a ferromagnetic workpiece, and a gripping system. [Background technology]

[0002] Typically, such devices are used to handle ferromagnetic workpieces, with requirements highly dependent on the shape and material properties of the workpieces to be gripped (small parts, metal plates, etc.) and the handling or gripping operation to be performed (positioning, de-stacking, separation, etc.).

[0003] The problem on which the invention is based is to enable secure gripping of ferromagnetic workpieces and to carry out specific gripping operations such as delaminating metal sheets or gripping and separating sensitive and / or delicate workpieces. Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention solves this problem by a magnetic gripper having the features of claim 1, a magnetic gripper device having the features of claim 7, a gripping device having the features of claim 11, and a gripping system having the features of claim 12. Advantageous embodiments and refinements of the invention emerge from the dependent claims. [Means for solving the problem]

[0005] The magnetic gripper according to the present invention is configured to grip a ferromagnetic workpiece. The magnetic gripper includes a magnetic device, a moving device, and a workpiece contact surface. The magnetic device is formed from a plurality of permanent magnets, each having a north pole and a south pole. In principle, one permanent magnet may initially be sufficient. However, it may be advantageous to provide a plurality of permanent magnets (at least two). It may also be advantageous to provide a larger number of permanent magnets, particularly more than two. In this regard, the number may be, for example, 1, 2, 3, 6, 12, 24, or 48. The magnetic device is capable of transitioning between a gripping state for gripping a ferromagnetic workpiece and a release state for releasing the ferromagnetic workpiece. For this purpose, a moving device is provided that is configured to transition the magnetic device between the gripping state and the release state. That is, the magnetic device switches between the gripping state and the release state in a controlled manner depending on the desired state. The workpiece contact surface is configured to contact the ferromagnetic workpiece.

[0006] Advantageously, the number of permanent magnets allows ferromagnetic workpieces to be gripped particularly reliably by the magnetic gripper, and may also allow certain gripping tasks, such as stacking metal sheets, to be performed.

[0007] A further aspect of the magnetic gripper is that the number of permanent magnets, in particular the number of permanent magnets, makes the magnetic force acting on the ferromagnetic workpiece more continuous and constant, which allows the ferromagnetic workpiece to be gripped particularly securely by the magnetic gripper. The number of permanent magnets also allows for a flexible design of the magnetic gripper, which allows for the magnetic gripper to be modularized in the form of a modular system.

[0008] The magnetic gripper can have a handling interface for attaching the magnetic gripper to a handling device. The handling device can be configured as a manipulator, for example in the form of a robot arm. The handling interface advantageously allows for a particularly simple and fast connection of the magnetic gripper to the handling device. The handling interface can be configured for tool-free attachment and / or tool-free detachment of the magnetic gripper to the handling device. The handling interface can be configured as a quick coupling, for example in the form of a bayonet lock.

[0009] The handling interface and the workpiece contact surface may preferably be electrically insulated from each other.

[0010] The magnetic gripper may include an adapter plate having a handling interface. The adapter plate is preferably made of an electrically insulating material, in particular for electrically insulating the handling interface from the workpiece contact surface. The material of the adapter plate may be plastic, in particular polyamide. The adapter plate and the workpiece contact surface may be arranged at opposite ends of the magnetic gripper. The adapter plate may at least partially form an end surface of the magnetic gripper.

[0011] The ferromagnetic workpiece may be made of iron or steel. The workpiece may be a metal plate or a material panel. The workpiece may be delicate. In particular, the width and / or length of the workpiece may be more than five times, in particular more than ten times, the thickness of the workpiece. The thickness of the workpiece may be, for example, an amount in the range of 0.5 mm (millimeter) to 5 cm (centimeter), in particular in the range of 0.5 mm to 5 mm.

[0012] The workpiece contact surface can be understood as the surface of the magnetic gripper against which the gripped ferromagnetic workpiece abuts. The workpiece contact surface can be the surface of the magnetic gripper that contacts the gripped ferromagnetic workpiece. The workpiece contact surface can be described as the contact surface for the ferromagnetic workpiece.

[0013] The workpiece contact surface can be flat. This can be useful because, for workpieces with typical proportions, the contact surface of a magnetic gripper is often at least generally flat. A flat workpiece contact surface is also often useful for delaminating laminates such as magnetic metal plates, although an uneven, e.g., curved, workpiece contact surface can also be useful if the workpiece is to be contacted at a correspondingly uneven, e.g., curved, area.

[0014] The workpiece contact surface may at least partially form an end surface of the magnetic gripper. The workpiece contact surface may be disposed at one end of the magnetic gripper.

[0015] The magnetic gripper can have a housing. The magnetic device and / or the movement device can be disposed within the housing. The housing can be non-magnetizable. The housing can be constructed of a non-ferromagnetic material, such as aluminum.

[0016] The housing may be elongated. The housing may extend along a longitudinal axis of the housing and / or a longitudinal axis of the magnetic gripper. The longitudinal axes of the magnetic gripper and the housing may be the same.

[0017] The housing may completely or partially define the workpiece contact surface. In particular, at least a portion of the workpiece contact surface may be a surface of the housing. In other words, the housing may partially or completely define the workpiece contact surface.

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

[0019] Each permanent magnet may be referred to as a PM (Permanent Magnet). Each permanent magnet may be supported by a housing. The housing may have an interior space in which each permanent magnet is disposed.

[0020] Each permanent magnet may be configured to generate a magnetic field. The magnetic field of each permanent magnet may extend from the north pole to the south pole of the permanent magnet. The magnetic fields of all the permanent magnets of the magnetic device may form the magnetic field of the magnetic device. The permanent magnets may be arranged relative to one another such that their magnetic fields overlap each other to form the magnetic field of the magnetic device, particularly in the released and / or gripped states.

[0021] The permanent magnets can be arranged linearly, in particular to form a permanent magnet row, or in a plane, in particular to form a permanent magnet matrix, which may be understood as a permanent magnet grid or lattice.

[0022] The magnetic device may have at least two permanent magnets, in particular arranged adjacent to each other, to form a permanent magnet row.

[0023] The magnetic device may have at least four permanent magnets, particularly arranged adjacent to one another, to form a permanent magnet matrix. For example, if the magnetic device has exactly four permanent magnets, the permanent magnets may be arranged to form a 2x2 permanent magnet matrix.

[0024] The magnetic device may be formed integrally. In particular, the magnetic device may have a plurality of, in particular at least two, permanent magnets formed integrally. Each permanent magnet may form a segment of the magnetic device. In other words, the magnetic device may be multi-pole magnetized.

[0025] The permanent magnets may be arranged adjacent to one another to form a magnetic device, in particular in the released and / or gripped state. In particular, a plurality of permanent magnets may be arranged in a sequence to form a permanent magnet array. The permanent magnet array may be formed by arranging a plurality of permanent magnets adjacent to one another, in particular linearly. Alternatively, a plurality of permanent magnets may be arranged adjacent to one another to form a permanent magnet matrix. The permanent magnet matrix may be formed by arranging a plurality of permanent magnets in rows and columns.

[0026] The permanent magnets may be arranged such that at least two adjacent permanent magnets are in contact with each other, and in particular, each permanent magnet may have at least one contact portion with an adjacent permanent magnet.

[0027] In the gripping state, the magnetic device may generate a magnetic field designed to impart a magnetic force to the ferromagnetic workpiece directed toward the workpiece contact surface, the magnetic force preferably being greater than the force relative to the weight of the ferromagnetic workpiece. In particular, the magnetic device may be configured to use the magnetic force to press or urge the ferromagnetic workpiece against the workpiece contact surface in the gripping state in order to grip the ferromagnetic workpiece.

[0028] In the released state, the magnetic device cannot generate a magnetic field designed to impart a magnetic force to the ferromagnetic workpiece directed toward the workpiece contact surface that is greater than the weight of the ferromagnetic workpiece. In particular, the magnetic device can be configured to release the ferromagnetic workpiece without the magnetic force forcing or pressing the ferromagnetic workpiece against the workpiece contact surface in the released state.

[0029] The magnetic gripper may have one or two pole pieces (English: pole piece, German: Polschuh). Each pole piece may be designed to direct a magnetic field component of the magnetic field of the magnetic device to a workpiece contact surface, in particular a ferromagnetic workpiece, thereby gripping the ferromagnetic workpiece. Each pole piece may be made of a material that has the property of amplifying and / or conducting a magnetic field. Each pole piece may be made of a ferromagnetic material, in particular iron, steel, nickel or cobalt.

[0030] Each pole piece may be removably attached to the housing, for example by a threaded connection, which advantageously allows the pole pieces to be replaced when they wear out or when other pole pieces with special properties are used for a particular gripping task.

[0031] The plurality of pole pieces may completely or partially define the workpiece contact surface. In particular, at least a part of the workpiece contact surface may be a surface of the pole piece. In other words, the plurality of pole pieces may partially or completely define the workpiece contact surface.

[0032] The magnetic gripper can include an attachment having a workpiece contact surface. The attachment can be arranged on the housing of the magnetic gripper, in particular, plugged or screwed. The attachment can be provided, for example, by a plastic injection-molded part or a rubber part. Advantageously, damage to the ferromagnetic workpiece during gripping can be reduced or completely avoided.

[0033] The permanent magnets may be mounted within the housing so as to be linearly displaceable, in particular along the longitudinal axis of the magnetic gripper or along a direction perpendicular to the workpiece contact surface, and / or rotatable, in particular about the transverse axis of the magnetic gripper.

[0034] The magnetic device can be transitioned between the gripped and released states by translational movement of the plurality of permanent magnets. The translational movement can be linear, particularly vertical. For example, the magnetic device can be transitioned between the gripped and released states by linear displacement of the plurality of permanent magnets, particularly in a direction parallel to a longitudinal axis of the magnetic gripper or perpendicular to a workpiece contact surface.

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

[0036] Additionally or alternatively, the magnetic device can be transitioned between the gripped and released states by rotational movement of multiple permanent magnets, for example, by rotating every third permanent magnet or all of the permanent magnets by 180°, the magnetic device can be transitioned between the gripped and released states.

[0037] When the permanent magnets are capable of transitioning between the released state and the gripped state by a rotational movement, each permanent magnet may be composed of two separate permanent magnet segments that are rotated relative to one another, so that the magnetic fields of the two permanent magnet segments cancel each other in the released state and do not cancel each other in the gripped state, and the magnetic field may be amplified, particularly in the gripped state.

[0038] The moving device may be configured to drive translational and / or rotational motion, and in particular, the moving device may be configured to pneumatically, electrically, or mechanically move the plurality of permanent magnets to transition the magnetic device between a gripped state and a released state.

[0039] The moving device may include an actuator for transitioning the magnetic device between the gripped state and the released state. The actuator may be configured to drive the translational and / or rotational movement of the plurality of permanent magnets. The actuator may be an electric motor, an electric linear actuator, a lever, and / or a pneumatic drive. In particular, the actuator may be configured as a pneumatic piston directly or indirectly connected to the plurality of permanent magnets. The housing may have a pneumatic cylinder in which the pneumatic piston is disposed.

[0040] Additionally or alternatively, the magnetic device can be transitioned between the gripped and released states by translational movement of at least one ferromagnetic metal plate of the magnetic gripper. For example, a ferromagnetic metal plate can be inserted into or removed from the magnetic device to transition the magnetic device between the gripped and released states. The movement device, in particular the actuator, can be configured to insert or remove the metal plate from the magnetic device.

[0041] Additionally or alternatively, the magnetic gripper can include multiple additional permanent magnets for transitioning the magnetic device between the gripping state and the released state. For example, the multiple additional permanent magnets can be inserted into or removed from the magnetic device to transition the magnetic device between the gripping state and the released state. The movement device, particularly the actuator, can be configured to insert or remove the multiple additional permanent magnets from the magnetic device. As a result, in the inserted state, the magnetic field of the additional permanent magnets can weaken, and in particular cancel, the magnetic field of the permanent magnet, while in the removed state, they do not weaken the magnetic field. In the inserted state, the magnetic device can be in the released state, and in the removed state, it can be in the gripping state.

[0042] Additionally or alternatively, the magnetic gripper may have multiple coils for transitioning the magnetic device between the gripping state and the released state. Each coil may have at least one winding of a current conductor made of a conductive wire. Each coil may have a bobbin around which the winding is wound. The bobbin may have a soft magnetic core. The number of coils may be equal to the number of permanent magnets. Each permanent magnet may be assigned a coil. For example, the multiple coils may be energized with current for the purpose of transitioning the magnetic device between the gripping state and the released state. By energizing the coils, the coils may generate a magnetic field that opposes the magnetic fields of the multiple permanent magnets. As a result, when the coils are energized, the magnetic fields of the multiple permanent magnets are weakened, particularly neutralized, and the magnetic gripper is in the released state. On the other hand, when the coils are not energized, the magnetic gripper may be in the gripping state. The movement device may be configured as a voltage source for supplying current to the coils. The coils may be electrically connected to the movement device in the form of a voltage source.

[0043] The magnetic gripper may have a detector for detecting the gripped and / or released state. In particular, the detector may be configured to detect the position of the magnetic device, in particular its position within the housing.

[0044] The magnetic gripper may have a control device for controlling the movement device, in particular the actuator. The control device may have a microcontroller. The control device may be configured to control the movement device, in particular the actuator, to initiate and / or control the transition of the magnetic device between the gripping state and the release state. This may be done in response to the gripping state or the release state detected by the detector.

[0045] In the gripping state, the magnetic device can be positioned at a distance from the workpiece contact surface. Adjusting this distance allows for adjustment of the magnetic force acting on the ferromagnetic workpiece in the gripping state. In particular, adjusting this distance allows for adjustment of the extent to which the magnetic field of the magnetic device penetrates through the workpiece contact surface, thereby adjusting the magnetic force acting on the ferromagnetic workpiece.

[0046] The control device may be configured to determine the distance based on the position of the magnetic device detected by the detector. The control device may be configured to control the transition to the gripping state so that the magnetic device is positioned a predetermined target distance from the workpiece contact surface. The control device may be configured to determine the target distance based on a predetermined magnetic force. The predetermined magnetic force may be the maximum magnetic force that can be applied to the ferromagnetic workpiece without damaging it.

[0047] In other words, the control device may be configured to control the moving device to decrease or increase the magnetic field of the magnetic device passing through the workpiece contact surface in the gripping state.

[0048] The magnetic force acting on the ferromagnetic workpiece is adjusted segment by segment by a control device, thereby allowing the magnetic field of the magnetic device to be adapted to the shape of the ferromagnetic workpiece.

[0049] The magnetic gripper may have a sensor device with one or more, for example, two, four, or six, presence sensors. The sensor device, in particular each presence sensor, may be configured to detect whether a ferromagnetic workpiece is located on, in particular against, the workpiece contact surface. Each presence sensor may be configured as a mechanical, optical, or inductive sensor, in particular as a magnetic field sensor, preferably a Hall sensor.

[0050] The sensor devices, and in particular each presence sensor, may be configured to detect the thickness of the ferromagnetic workpiece and / or the material located thereunder. The control device may be configured to initiate and / or control the transition of the magnetic device between the gripping state and the release state depending on the thickness of the ferromagnetic workpiece and / or the material located thereunder detected by the sensor devices. Advantageously, this allows for sorting and identification of the ferromagnetic workpiece or adjustment of the magnetic force required to grip the ferromagnetic workpiece. In particular, by detecting the thickness of the ferromagnetic workpiece, the magnetic force for gripping the ferromagnetic workpiece may be adjusted to prevent bending and / or damage.

[0051] A further aspect of the sensor device, in particular the presence sensor, may be that it allows for sorting of parts, reduces residual magnetism and / or allows for quality control of parts.

[0052] A further aspect of the magnetic device can be that a plurality of permanent magnets are arranged to exert a uniformly distributed magnetic force on the ferromagnetic workpiece.

[0053] A further aspect of the magnetic gripper may be that a plurality of permanent magnets, in particular a large number of permanent magnets, allows individual permanent magnets to be switched on and off segment by segment, which allows the magnetic gripper to be adapted to ferromagnetic workpieces of different shapes, making the magnetic gripper particularly flexible in use.

[0054] In a further refinement of the magnetic gripper, the magnetic device has a first surface that, in the gripping state, faces particularly toward the workpiece contact surface and a second surface that, in the gripping state, faces particularly away from the workpiece contact surface. The permanent magnets are arranged such that the magnetic field of the magnetic device has a higher flux density on or through the first surface than on or through the second surface. Advantageously, this allows the magnetic device to be designed particularly compact, which saves space. Another aspect is that a higher magnetic force can be achieved with the same amount of permanent magnet material used.

[0055] The magnetic flux density on or through the first surface in the magnetic field of a magnetic device being higher than on or through the second surface can be understood to mean that the magnetic field lines of the permanent magnet are arranged more densely on the first surface side than on the second surface side.

[0056] The first and second surfaces may be positioned opposite each other, and the plurality of permanent magnets may be positioned such that the magnetic field of the magnetic device is concentrated on the first surface side and is weakened and / or substantially canceled on the second surface side.

[0057] In a further refinement of the magnetic gripper, the permanent magnets can be arranged in a Halbach array or a Halbach matrix. This makes it particularly easy to ensure that the magnetic flux density of the magnetic field of the magnetic device is higher on or through the first surface than on or through the second surface. The permanent magnet array can be configured as a Halbach array. The permanent magnet matrix can be configured as a Halbach matrix.

[0058] A Halbach column may be understood as a Halbach array. A Halbach matrix may be formed by arranging multiple Halbach columns adjacent to one another. Each Halbach column of the Halbach matrix may extend along a longitudinal axis. The longitudinal axes of the Halbach columns of the Halbach matrix may be aligned parallel to one another.

[0059] In a further refinement of the magnetic gripper, the magnetic device includes a first magnet unit formed of at least one permanent magnet and a second magnet unit formed of at least one permanent magnet. The moving device may be configured to transition the first magnet unit between an active state and a passive state independently of the second magnet unit. The moving device may be configured to transition the second magnet unit between an active state and a passive state independently of the first magnet unit. When the first magnet unit and the second magnet unit are each in the passive state, the magnetic gripper is in a released state. When the first magnet unit and / or the second magnet unit are in the active state, the magnetic gripper is in a gripping state.

[0060] Advantageously, this allows for control of the magnetic force pressing the ferromagnetic workpiece against the workpiece contact surface. For example, when both the first and second magnet units are in an active state, a greater magnetic force may act on the ferromagnetic workpiece than when the first magnet unit is in an active state and the second magnet unit is in a passive state, or when the first magnet unit is in a passive state and the second magnet unit is in an active state. This allows the magnetic gripper to grip both sensitive and insensitive ferromagnetic workpieces.

[0061] The control device may be configured to initiate and / or control the transition of the first magnet unit and / or the second magnet unit between the active state and the passive state by controlling the movement device.

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

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

[0064] The magnetic gripper may have more than two magnet units.

[0065] In a further refinement of the magnetic gripper, the magnetic gripper has a magnetic gripper interface for detachably attaching a further magnetic gripper to the magnetic gripper. The magnetic gripper interface advantageously allows for a particularly simple and fast attachment of the magnetic gripper and the further magnetic gripper to one another. Advantageously, this allows for adaptation to the size of the ferromagnetic workpiece, making it possible to grip large ferromagnetic workpieces.

[0066] The magnetic gripper and the further magnetic gripper may be structurally identical.

[0067] The magnetic gripper interface may have a threaded hole and / or a through-hole for detachably coupling the magnetic gripper to a further magnetic gripper by a threaded connection. A housing of the magnetic gripper may have the magnetic gripper interface.

[0068] The magnetic gripper interface may be configured to supply energy, in particular electrical power and / or compressed air, to the further magnetic gripper via the magnetic gripper.

[0069] The magnetic gripper interface can be configured to position the magnetic gripper and a further, particularly structurally identical, magnetic gripper relative to one another. For example, the magnetic gripper interface can be configured to attach the magnetic gripper and the further magnetic gripper such that their workpiece contact surfaces are arranged in one, particularly a common, plane. Alternatively, the magnetic gripper interface can be configured to attach the magnetic gripper and the further magnetic gripper such that the contours of their workpiece contact surfaces at least partially follow the contour of the ferromagnetic workpiece.

[0070] In a further refinement of the magnetic gripper, the magnetic gripper comprises one, two or four gripping tools for gripping ferromagnetic workpieces, each of which is configured to grip a ferromagnetic workpiece without the use of a magnetic field, which advantageously allows the magnetic gripper to realize other gripping principles in addition to gripping a ferromagnetic workpiece by magnetic force.

[0071] In particular, it is not necessary for all grippers to be configured as magnetic grippers. It is conceivable that each gripper be configured as an adhesive gripper that grips a ferromagnetic workpiece by negative pressure. Each gripper may be integrated into a permanent magnet matrix. For example, the gripper may be arranged on the permanent magnet matrix at a position where at least one permanent magnet is provided. Alternatively, the magnetic gripper may have a sealing cord that contacts the ferromagnetic workpiece and forms a negative pressure region of the magnetic gripper. The negative pressure region is subjected to negative pressure, and the ferromagnetic workpiece is attracted to the sealing cord and the workpiece contact surface of the magnetic gripper.

[0072] The magnetic gripper device according to the present invention is suitable for gripping a ferromagnetic workpiece. The magnetic gripper device includes a magnetic gripping point, the aforementioned first magnetic gripper, and the aforementioned second magnetic gripper. The magnetic gripping point is configured to grip the ferromagnetic workpiece. The first magnetic gripper and the second magnetic gripper are arranged adjacent to each other to form the magnetic gripping point. Advantageously, this allows the two magnetic grippers to function as one magnetic gripper. In particular, it is realized that the ferromagnetic workpiece can be gripped with a magnetic force equal to the sum of the magnetic forces of the two magnetic grippers. This allows the ferromagnetic workpiece to be gripped with a greater magnetic force.

[0073] The first and second magnetic grippers may be structurally identical. The first and second magnetic grippers may be arranged adjacent to each other so as to be in contact with each other. In particular, the two magnetic grippers may be arranged so as to be in contact with each other.

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

[0075] The workpiece contact surface of the first magnetic gripper can be spaced apart from the workpiece contact surface of the second magnetic gripper by a contact spacing of the magnetic gripper device, which can be smaller than the diameter of the first magnetic gripper and / or the diameter of the second magnetic gripper, and in particular, the contact spacing can be less than 5 cm, in particular 3 cm, 2 cm, or 1 cm.

[0076] A magnetic gripping point can be formed by a workpiece contact surface of the first magnetic gripper and a workpiece contact surface of the second magnetic gripper, and the workpiece contact surface of the first magnetic gripper and the workpiece contact surface of the second magnetic gripper can be arranged in a plane to form the magnetic gripping point.

[0077] The first magnetic gripper can be detachably attached to the second magnetic gripper, in particular by a screw connection. Preferably, the second magnetic gripper can be detachably attached to the first magnetic gripper via a magnetic gripper interface of the first magnetic gripper. By detachably attaching the first magnetic gripper to the second magnetic gripper, a magnetic gripping point can be formed.

[0078] The first magnetic gripper and the second magnetic gripper may be arranged adjacent to each other, and when the plurality of permanent magnets of the first magnetic gripper are arranged in a Halbach array or a Halbach matrix, the plurality of permanent magnets of the second magnetic gripper may be configured to form an extension of the Halbach array or Halbach matrix of the plurality of permanent magnets of the first magnetic gripper.

[0079] Another aspect of the magnetic gripper device may be to enable the magnetic device to grip the entire surface of a ferromagnetic workpiece.

[0080] In a further refinement of the magnetic gripper device, the magnetic field of the magnetic device of the first magnetic gripper and the magnetic field of the magnetic device of the second magnetic gripper overlap each other in the gripping state. Advantageously, in the gripping state of the two magnetic grippers, a discontinuity between the magnetic fields of the first and second magnetic grippers can be avoided. This allows the magnetic fields of the two magnetic grippers to act like a single magnetic field in the gripping state. Advantageously, a weakening of the magnetic force acting on the ferromagnetic workpiece at the transition between the first and second magnetic grippers can be avoided. Thus, a ferromagnetic workpiece gripped by the magnetic gripper device can be gripped particularly reliably by the magnetic gripper device.

[0081] The magnetic field of the magnetic device of the first magnetic gripper in the gripping state and the magnetic field of the magnetic device of the second magnetic gripper in the gripping state may overlap each other, and the magnetic field of the second magnetic gripper may be configured to form an extension of the magnetic field of the first magnetic gripper.

[0082] In a further refinement of the magnetic gripper device, the magnetic gripper device comprises a plurality of the above-mentioned magnetic grippers, for example 3, 4, 5, 9 or 16. The plurality of magnetic grippers may be arranged to form a magnetic gripper row, which advantageously allows the magnetic gripper device to function like a single linear magnetic gripper.

[0083] The magnetic grippers may be structurally identical. The magnetic grippers may be arranged adjacent to one another to form a magnetic gripping point. The magnetic gripping point may be linear. The magnetic gripper array may extend linearly. The magnetic grippers may be arranged adjacent to one another so that the workpiece contact surfaces of all the magnetic grippers lie in one plane. Alternatively, the magnetic grippers may be arranged adjacent to one another so that the contour of the workpiece contact surface at least partially follows the contour of the ferromagnetic workpiece.

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

[0085] The length of the magnetic gripper array can be equal to or greater than the length of the ferromagnetic workpiece, so that the magnetic force acting on a ferromagnetic workpiece gripped by the magnetic gripper device can be constant or evenly distributed over the entire length of the ferromagnetic workpiece, allowing for safe and secure gripping of particularly delicate workpieces, such as very thin metal plates.

[0086] In a further refinement of the magnetic gripper device, the magnetic gripper device comprises a plurality of the above-mentioned magnetic grippers, for example 3, 4, 5, 9 or 16. The plurality of magnetic grippers may be arranged to form a magnetic gripper matrix, which advantageously allows the magnetic gripper device to function like a single planar magnetic gripper.

[0087] The magnetic gripper matrix may be understood as a magnetic gripper grid or a magnetic gripper lattice.

[0088] The magnetic gripping point may be flat. A magnetic gripper matrix may be formed by arranging a plurality of magnetic grippers in rows and columns. The magnetic gripper matrix may be arranged on a single plane. The magnetic grippers may be arranged adjacent to one another such that the workpiece contact surfaces of all the magnetic grippers lie on a single plane. Alternatively, the magnetic grippers may be arranged adjacent to one another such that the contour of the workpiece contact surfaces at least partially follows the contour of the ferromagnetic workpiece.

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

[0090] The length and width of the magnetic gripper matrix can be equal to or greater than the length and width of a ferromagnetic workpiece, so that the magnetic force acting on a ferromagnetic workpiece gripped by the magnetic gripper device can be constant or evenly distributed across the entire length and width of the ferromagnetic workpiece, allowing for safe and secure gripping of particularly delicate workpieces, such as very thin metal plates.

[0091] A gripping device according to the present invention is configured to grip a ferromagnetic workpiece, the gripping device comprising a plurality of the above-described magnetic grippers, e.g., two, four or six, and / or a plurality of the above-described magnetic gripper devices, e.g., two, four or six, arranged in a gripping row or matrix to form a gripping area.

[0092] If the magnetic gripper and / or magnetic gripper device does not function as a single magnetic gripper, multiple magnetic grippers and / or multiple magnetic gripper devices can be arranged in a gripping array or a gripping matrix. In particular, the magnetic fields of the magnetic grippers and / or magnetic gripper devices of a gripping array or a gripping matrix cannot overlap such that the magnetic field of one magnetic gripper or magnetic gripper device forms an extension of the magnetic field of another magnetic gripper or magnetic gripper device. Preferably, the number of permanent magnets of the magnetic grippers or magnetic gripper devices of a gripping array or a gripping matrix cannot form an extension of the Halbach array or Halbach matrix of the permanent magnets of another magnetic gripper or another magnetic gripper device.

[0093] A gripping array may be formed by arranging multiple magnetic grippers and / or multiple magnetic gripper devices in a row.

[0094] The gripping matrix may be formed by arranging multiple magnetic grippers and / or multiple magnetic gripper devices in rows and columns.

[0095] The magnetic grippers and / or magnetic gripper devices may be spaced apart from one another by a gripping distance to form a gripping row or matrix, which may be greater than 15 cm, and in particular may be 20 cm, 30 cm, or 50 cm.

[0096] The workpiece contact surface of the magnetic gripper can be disposed within a gripping region. The gripping region can be defined by the inner workpiece contact surface of the magnetic gripper. The workpiece contact surface of the magnetic gripper can be disposed on a single plane. Alternatively, the contour of the workpiece contact surface of the magnetic gripper can at least partially follow the contour of the ferromagnetic workpiece.

[0097] A gripping system according to the present invention comprises the magnetic gripper, the magnetic gripper device, and / or the gripping device described above, and a ferromagnetic workpiece, the width and / or length of which is equal to or smaller than the width and / or length of the workpiece contact surface of the magnetic gripper, the width and / or length of the magnetic gripping point of the magnetic gripper device, or the width and / or length of the gripping area of ​​the gripping device. Advantageously, this can prevent unwanted bending of the ferromagnetic workpiece.

[0098] Further advantages and advantageous embodiments of the invention can be found in the drawing, the description and the claims. All features disclosed in the drawing, the description and the claims may be essential to the invention both individually and in any combination with one another. [Brief explanation of the drawings]

[0099] [Figure 1] FIG. 1 is a schematic diagram of a magnetic gripper with the magnetic device in a released state.

[0100] [Figure 2] FIG. 2 is a schematic diagram of the magnetic gripper of FIG. 1 with the magnetic device in a gripping state.

[0101] [Figure 3]FIG. 3 is a schematic diagram of the arrangement of permanent magnets in the magnetic device of the magnetic gripper of FIG.

[0102] [Figure 4] FIG. 4 is a schematic diagram of another embodiment of a magnetic gripper with the magnetic device in a released state.

[0103] [Figure 5] FIG. 5 is a schematic diagram of the magnetic gripper of FIG. 4 with the magnetic device in a gripping state.

[0104] [Figure 6] FIG. 6 is a schematic diagram of the arrangement of permanent magnets in the magnetic device of the magnetic gripper of FIG.

[0105] [Figure 7] FIG. 7 is a schematic diagram of a magnetic gripper according to another embodiment.

[0106] [Figure 8] FIG. 8 is a schematic diagram of the magnetic gripper of FIG. 7 with each magnet unit of the magnetic device in an active state.

[0107] [Figure 9] FIG. 9 is a schematic diagram of the magnetic gripper of FIG. 7 with two magnet units of the magnetic device in an active state and one magnet unit in a passive state.

[0108] [Figure 10] FIG. 10 is a schematic diagram of a magnetic gripper according to another embodiment.

[0109] [Figure 11] FIG. 11 is a schematic diagram of the arrangement of permanent magnets in the magnetic device of the magnetic gripper of FIG.

[0110] [Figure 12] FIG. 12 is a schematic diagram of a magnetic gripper according to another embodiment.

[0111] [Figure 13] FIG. 13 is a schematic diagram of a magnetic gripper device having the magnetic gripper of FIG. 1 and the magnetic gripper of FIG.

[0112] [Figure 14] FIG. 14 is a schematic diagram of a gripping device.

[0113] [Figure 15] FIG. 15 is a schematic diagram of a gripping system having the magnetic gripper of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0114] FIG. 1 shows a magnetic gripper 10 in a schematic cross-sectional view.

[0115] The magnetic gripper 10 has an adapter plate 12 with a handling interface 14 for attaching the magnetic gripper 10 to a handling device. The handling device may for example be in the form of a manipulator, in particular a robotic arm.

[0116] The handling interface 14 is a quick coupling in the form of a bayonet lock, which allows the magnetic gripper 10 to be attached to a handling device without the use of tools.

[0117] The magnetic gripper 10 is suitable for gripping a ferromagnetic workpiece, which may be made of iron or steel, and may be a metal plate or a material panel.

[0118] The magnetic gripper 10 includes a housing 16 , a magnetic device 18 , a translation device 20 , and a workpiece contact surface 22 .

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

[0120] The housing 16 defines a workpiece contact surface 22. In particular, a flat surface of the housing 16 defines the workpiece contact surface 22. The workpiece contact surface 22 is an end surface of the magnetic gripper 10. The workpiece contact surface 22 is provided for contacting a ferromagnetic workpiece.

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

[0122] The permanent magnets 26 are attached to magnet holders 28 of the magnetic device 18, which are particularly in the form of a plate. Each permanent magnet 26 has at least one contact surface with an adjacent permanent magnet 26. In other words, two adjacent permanent magnets 26 are in contact with each other. The permanent magnets 26 are arranged in a row to form a permanent magnet array 30. The arrangement direction of the permanent magnet array 30 is parallel to the workpiece contact surface 22.

[0123] The permanent magnet array 30 has a first surface 32 that faces the workpiece contact surface 22 in the gripped state and a second surface 34 that faces away from the workpiece contact surface 22. The first surface 32 and the second surface 34 are oriented in opposite directions. The permanent magnets are arranged in a row such that the magnetic field of the magnetic device 18 has a higher flux density on or through the first surface 32 than on or through the second surface 34.

[0124] 3 shows a side view of permanent magnet array 30 showing the south and north poles of permanent magnets 26. The south and north poles of permanent magnets 26 are aligned such that permanent magnet array 30 forms a Halbach array, which ensures that the magnetic field of magnetic device 18 is concentrated at first surface 32 and that the magnetic field of the magnetic device is weakened or substantially canceled at second surface 34.

[0125] The magnetic device 18 is switchable between a gripping state for gripping a ferromagnetic workpiece and a release state for releasing the ferromagnetic workpiece.

[0126] In the gripping state, the magnetic gripper 10 is configured to generate a magnetic field by the magnetic device 18, the magnetic field being designed to exert a magnetic force on the ferromagnetic workpiece acting toward the workpiece contact surface 22, the magnetic force being greater than the gravitational force of the ferromagnetic workpiece. The magnetic force presses the ferromagnetic workpiece against the workpiece contact surface 22.

[0127] In the released state, the magnetic device 18 does not generate a magnetic field that exerts a magnetic force on the ferromagnetic workpiece that is greater than the gravitational force of the ferromagnetic workpiece toward the workpiece contact surface 22, thereby releasing the ferromagnetic workpiece from the workpiece contact surface 22.

[0128] FIG. 1 shows magnetic gripper 10 with magnetic device 18 in a released state, and FIG. 2 shows magnetic gripper 10 with magnetic device 18 in a gripping state. Additionally, FIG. 2 shows that a ferromagnetic workpiece 36 is positioned on workpiece contact surface 22. The magnetic field of magnetic device 18 exerts a magnetic force on ferromagnetic workpiece 36 that is greater than the force of gravity. As a result, ferromagnetic workpiece 36 is gripped by magnetic gripper 10.

[0129] The ferromagnetic workpiece 36 is smaller than the workpiece contact surface 22. This ensures that the magnetic force is evenly distributed across the ferromagnetic workpiece 36.

[0130] The magnetic device 18 is mounted within the housing 16 for linear movement parallel to a longitudinal axis 24 of the housing 16 .

[0131] The magnetic device 18 is brought into gripping condition by linear translational motion directed toward the workpiece contact surface 22. As a result, the permanent magnet 26 is positioned in close proximity to the workpiece contact surface 22, and the magnetic field of the permanent magnet 26 penetrates the workpiece contact surface 22 and exerts a magnetic force on a ferromagnetic workpiece 36 disposed on the workpiece contact surface 22 that is greater than the gravitational force of the ferromagnetic workpiece 36.

[0132] The magnetic device 18 is released by linear translation directed away from the workpiece contact surface 22. As a result, the permanent magnet 26 is positioned away from the workpiece contact surface 22, and the magnetic field of the permanent magnet 26 cannot exert a magnetic force on a ferromagnetic workpiece 36 placed on the workpiece contact surface 22 that is greater than the gravitational force of the ferromagnetic workpiece 36.

[0133] The moving device 20 is designed to transition the magnetic device 18 between the gripped and released states. In the illustrated embodiment, the moving device 20 is designed to pneumatically move the magnetic device 18 between the gripped and released states.

[0134] The transition of the magnetic device 18 between the gripping state and the released state is effected by an actuator 38 of the movement device 20. The actuator 38 is a pneumatic drive. The actuator 38 has a piston connected to the magnetic device 18. The housing 16 has a first connection 40 and a second connection 42. These two connections 40, 42 are each designed to connect the magnetic gripper 10 to a compressed air source. Both connections 40, 42 are each provided with an opening for introducing gas, in particular compressed air, into the housing 16, thereby transitioning the piston and the magnetic device 18 between the released state and the gripping state.

[0135] By supplying gas through first connection 40, the gas is introduced into the upper housing portion of the piston and applies pressure to the piston, which in turn exerts a force on the piston in a direction toward workpiece contact surface 22. In response, the piston and magnetic device 18 move parallel to longitudinal axis 24 toward workpiece contact surface 22, and magnetic device 18 reaches a gripping state.

[0136] By supplying gas through second connection 42, the gas is introduced into the housing portion below the piston and exerts pressure on the piston, which in turn exerts a force on the piston away from workpiece contact surface 22. In response, the piston and magnetic device 18 move parallel to longitudinal axis 24 away from workpiece contact surface 22, causing magnetic device 18 to reach a released state.

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

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

[0139] For example, when the control device 44 receives a signal to transition the magnetic device 18 to the gripping state, if the position of the magnetic device 18 detected by the detector 46 is not in the gripping state, the control device 44 can start supplying gas to transition the magnetic device 18 to the gripping state. If the position of the magnetic device 18 detected by the detector 46 is in the gripping state, the control device 44 cannot start supplying gas.

[0140] For example, when the control device 44 receives a signal to transition the magnetic device 18 to the released state, if the position of the magnetic device 18 detected by the detector 46 is not in the released state, the control device 44 can start supplying gas to transition the magnetic device 18 to the released state. If the position of the magnetic device 18 is detected by the detector 46 to be in the released state, the control device 44 cannot start supplying gas.

[0141] The magnetic gripper 10 includes a sensor device 48 that includes a presence sensor. The sensor device 48 is designed to detect whether the ferromagnetic workpiece 36 is in contact with the workpiece contact surface 22. The presence sensor is a mechanical sensor that is activated when the ferromagnetic workpiece 36 is in contact with the workpiece contact surface 22.

[0142] The controller 44 is designed to initiate and / or control the transition of the magnetic device 18 between the gripping and release states in response to the presence of the ferromagnetic workpiece 36 detected by the sensor device 48.

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

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

[0145] The magnetic gripper interface 50 of the magnetic gripper 10 is disposed on the housing 16 of the magnetic gripper 10 for detachably attaching another structurally identical magnetic gripper. The magnetic gripper interface 50 has threaded holes and through-holes for establishing a threaded connection between the magnetic gripper 10 and another magnetic gripper, thereby allowing the two magnetic grippers to be detachably attached to one another.

[0146] The magnetic gripper interface 50 may be designed to supply compressed air to other magnetic grippers to transition them between a released state and a gripping state.

[0147] Figures 4 to 6 show alternative embodiments of the magnetic gripper 10 of Figures 1 to 3, in which the same reference numerals are used for identical or functionally equivalent elements. In this regard, reference may be made to the above description of the embodiment of Figures 1 to 3, and therefore, substantially only the existing differences will be described.

[0148] FIG. 4 shows the magnetic gripper 10 in a released state, and FIG. 5 shows the magnetic gripper 10 in a gripped state.

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

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

[0151] The actuator 38 of the transfer device 20 is an electric drive in the form of an electric motor. The actuator 38 drives the rotational movement of the magnetic device 18. The actuator 38 causes the magnetic device 18 to transition between the gripped and released states by the rotational movement. Each rotational movement that transitions the magnetic device 18 between the gripped and released states may cause all of the permanent magnets 26 to rotate 180°.

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

[0153] Figures 7 to 9 show further embodiments of the magnetic gripper 10 of Figures 1 to 6, in which the same reference numerals are used for identical or functionally equivalent elements. In this respect, reference may be made to the above description of the embodiment of Figures 1 to 6, and therefore substantially only the existing differences will be described.

[0154] 7 shows the magnetic gripper 10. The movement device 20 has three actuators 38 for moving the magnetic device 18 between a gripping state and a release state. The actuators 38 are arranged in a linear row. This row may be called an actuator row. Two adjacent actuators 38 may be arranged at a distance from each other.

[0155] 8 and 9 each show a schematic cross-sectional view of the magnetic gripper 10 of FIG.

[0156] The magnetic device 18 includes a first magnet unit 54, a second magnet unit 56, and a third magnet unit 58. Each of the magnet units 54, 56, 58 is made up of five permanent magnets 26 of the magnetic device 18.

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

[0158] Three actuators 38 are provided for transitioning the magnet units 54, 56, 58 between active and passive states. Each actuator 38 is associated with one of the magnet units 54, 56, 58. Each actuator 38 is configured as a pneumatic drive, as described above for the embodiment of Figures 1-3. Each actuator 38 transitions its corresponding magnet unit 54, 56, 58 between active and passive states by movement along an axis 60 aligned perpendicular to the workpiece contact surface 22.

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

[0160] FIG. 9 shows that the first magnet unit 54 and the third magnet unit 58 are each in an active state, and the second magnet unit 56 is in a passive state.

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

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

[0163] When all the magnet units 54, 56, 58 are in their respective passive states, the magnetic gripper 10 is in a released state.

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

[0165] When all the magnet units 54, 56, 58 are in the active state or the passive state, the permanent magnets 26 are arranged in a permanent magnet array 30. The permanent magnet array 30 is a Halbach array.

[0166] Figures 10 and 11 show a further embodiment of the magnetic gripper 10 of Figures 1 to 9, in which the same reference numerals are used for identical or functionally equivalent elements. In this respect, reference may be made to the above description of the embodiment of Figures 1 to 9, and therefore substantially only the existing differences will be described.

[0167] 10 shows the magnetic gripper 10. The movement device 20 includes four actuators 38 for moving the magnetic device 18 between a gripping state and a release state. The actuators 38 are arranged in a rectangular, particularly a square, arrangement. Such a regular arrangement can be called an actuator matrix.

[0168] The magnetic gripper 10 has four magnet units 54 that can be moved between active and passive states independently of one another by four actuators 38 .

[0169] FIG. 11 shows a plan view of the permanent magnet 26 of the magnetic gripper 10 in the gripping state, seen from the workpiece contact surface 22 toward the permanent magnet 26.

[0170] The permanent magnets 26 are arranged in a permanent magnet matrix 62. The permanent magnet matrix 62 is a Halbach matrix. The Halbach matrix is ​​formed by sequentially arranging a plurality of permanent magnet arrays 30, each of which is a Halbach array. Each permanent magnet array 30 in the Halbach matrix extends along a longitudinal axis 64. The longitudinal axes 64 of the permanent magnet arrays 30 are aligned parallel to one another. The longitudinal axes 64 of the permanent magnet arrays 30 define a plane parallel to the workpiece contact surface 22.

[0171] Figure 12 shows a further embodiment of the magnetic gripper 10 of Figures 1 to 11, in which the same reference numerals are used for identical or functionally equivalent elements. In this respect, reference may be made to the above description of the embodiment of Figures 1 to 11, and therefore substantially only the existing differences will be described.

[0172] The magnetic gripper 10 in FIG. 12 is depicted diagrammatically as a plan view seen from a line of sight toward the handling interface 14.

[0173] The movement device 20 comprises six actuators 38 for moving the magnetic device 18 between the gripped state and the released state. The actuators 38 are arranged in a regular arrangement, in particular in an actuator matrix.

[0174] The magnetic gripper 10 has six magnet units 54 that can be moved between active and passive states independently of one another by six actuators 38 .

[0175] The magnetic gripper 10 has two grippers 66 for gripping the ferromagnetic workpiece 36. Each gripper 66 is not configured as a magnetic gripper. Each gripper 66 is configured as a suction gripper for gripping the ferromagnetic workpiece 36 by negative pressure. Each gripper 66 can be exposed to negative pressure to grip the ferromagnetic workpiece 36. The negative pressure causes the ferromagnetic workpiece 36 to be attracted to the workpiece contact surface 22.

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

[0177] FIG. 13 shows a magnetic gripper device 100 .

[0178] The magnetic gripper device 100 has a magnetic gripping point 102, a first magnetic gripper 104, and a second magnetic gripper 106 for gripping a ferromagnetic workpiece 36. The first magnetic gripper 104 and the second magnetic gripper 106 are positioned adjacent to each other to form the magnetic gripping point 102. As a result, the two magnetic grippers 104, 106 function as a single magnetic gripper.

[0179] The length and / or width of the magnetic gripping point 102 may be equal to or greater than the length and / or width of the ferromagnetic workpiece to be gripped.

[0180] The first magnetic gripper 104 is structurally identical to the magnetic gripper 10 of FIGS. 7-9, and the second magnetic gripper 106 is structurally identical to the magnetic gripper 10 of FIGS.

[0181] The first magnetic gripper 104 and the second magnetic gripper 106 are detachably connected via a magnetic gripper interface 50 of both magnetic grippers 104, 106. In particular, the first magnetic gripper 104 is attached to the second magnetic gripper 106 by means of a threaded connection.

[0182] The magnetic gripper interface 50 aligns the two magnetic grippers 104, 106 with one another so that the workpiece contacting surface 22 of the first magnetic gripper 104 and the workpiece contacting surface 22 of the second magnetic gripper 106 are coplanar. The magnetic gripping point 102 is formed by the workpiece contacting surface 22 of the first magnetic gripper 104 and the workpiece contacting surface 22 of the second magnetic gripper 106. The two magnetic grippers 104, 106 are aligned with one another so that the workpiece contacting surface 22 of the second magnetic gripper 106 is adjacent to the workpiece contacting surface 22 of the first magnetic gripper 104.

[0183] The first magnetic gripper 104 and the second magnetic gripper 106 are positioned adjacent to each other, and when both magnetic grippers 104, 106 are in the released state and / or the gripping state, the permanent magnets 26 of the second magnetic gripper 106 form a continuum of the Halbach array of the permanent magnets 26 of the first magnetic gripper 104.

[0184] The first magnetic gripper 104 and the second magnetic gripper 106 are positioned adjacent to each other, and in the gripping state, the magnetic field of the magnetic device 18 of the first magnetic gripper 104 and the magnetic field of the magnetic device 18 of the second magnetic gripper 106 overlap each other. In the gripping state, the magnetic field of the second magnetic gripper 106 forms a continuation of the magnetic field of the first magnetic gripper 104. As a result, the magnetic fields of the two magnetic grippers 104, 106 act like the magnetic field of a single magnetic gripper in the gripping state.

[0185] The first magnetic gripper 104 and the second magnetic gripper 106 are disposed adjacent to each other, and the two magnetic grippers 104, 106 form a magnetic gripper row, so that the magnetic gripping points 102 are formed in a line.

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

[0187] In another embodiment (not shown), the magnetic gripper device may have more than two magnetic grippers, and in particular, the magnetic gripper device may have multiple magnetic grippers, which may form a single magnetic gripping point.

[0188] In another embodiment (not shown), the magnetic gripper device may have more than two magnetic grippers, and the magnetic grippers may be positioned adjacent to one another to form a magnetic gripper matrix, thereby allowing the magnetic gripping point to be planar. The length and width of the magnetic gripping point may be equal to or greater than the length and width of the ferromagnetic workpiece to be gripped.

[0189] 14 shows a gripping apparatus 200 for gripping a ferromagnetic workpiece 202. The gripping apparatus 200 has a first magnetic gripper 204 and a second magnetic gripper 206. The first magnetic gripper 204 and the second magnetic gripper 206 are structurally identical to the magnetic gripper 10 of FIGS. 1 to 3, respectively.

[0190] The two magnetic grippers 204 , 206 are connected to each other via a frame 208 of the gripping device 200 .

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

[0192] The two magnetic grippers 204, 206 are spaced apart by a gripping distance 212. The gripping distance 212 is greater than 15 cm. As a result, the workpiece contact surface 22 of the first magnetic gripper 204 is not adjacent to the workpiece contact surface 22 of the second magnetic gripper 206, and the magnetic fields of the magnetic devices 18 of the two magnetic grippers 204, 206 cannot overlap with each other in the gripping state. Therefore, the magnetic fields of the two magnetic grippers 204, 206 cannot function like the magnetic field of a single magnetic gripper in the gripping state.

[0193] 15 shows a handling device 68 in the form of a robot arm. The magnetic gripper 10 of FIG. 7 is attached to the handling device 68 via the handling interface 14. A ferromagnetic workpiece 36 is gripped by the magnetic gripper 10. The magnetic gripper 10 and the gripped ferromagnetic workpiece 36 form a gripping system 300. The width of the ferromagnetic workpiece 36 is equal to the width of the workpiece contact surface 22 of the magnetic gripper 10, and the length of the ferromagnetic workpiece 36 is equal to the length of the workpiece contact surface 22 of the magnetic gripper 10.

Claims

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

2. The magnetic device (18) has a first surface (32) directed toward the workpiece contact surface (22) and a second surface (34) directed away from the workpiece contact surface (22), particularly in a gripping state; The plurality of permanent magnets (26) are arranged so that the magnetic flux density at or passing through the first surface (32) is higher than the magnetic flux density at or passing through the second surface (34).

2. A magnetic gripper (10, 104, 106, 204, 206) according to claim 1.

3. The plurality of permanent magnets (26) are arranged in a Halbach array or a Halbach matrix.

3. A magnetic gripper (10, 104, 106, 204, 206) according to claim 2.

4. The magnetic device (18) has a first magnet unit (54) composed of at least one permanent magnet (26) and a second magnet unit (56) composed of at least one permanent magnet (26), the transition device (20) is configured to transition the first magnet unit (54) between an active state and a passive state independently of the second magnet unit (56); the transition device (20) is configured to transition the second magnet unit (56) between an active state and a passive state independently of the first magnet unit (54); When the first magnet unit (54) and the second magnet unit (56) are in a passive state, the magnetic device (18) is in a released state; the magnetic device (18) is in a gripping state when the first magnet unit (54) and / or the second magnet unit (56) are in an active state; A magnetic gripper (10, 104, 106, 204, 206) according to any one of claims 1 to 3, characterized in that

5. a magnetic gripper interface (50) for removably attaching another magnetic gripper to the magnetic gripper (10, 104, 106, 204, 206); A magnetic gripper (10, 104, 106, 204, 206) according to any one of claims 1 to 4, characterized in that

6. a plurality of grippers (66) for gripping ferromagnetic workpieces (36, 202); Each gripper (66) is configured to grip the ferromagnetic workpiece (36, 202) without the use of a magnetic field. A magnetic gripper (10, 104, 106, 204, 206) according to any one of claims 1 to 5, characterized in that

7. A magnetic gripper device (100) for gripping a ferromagnetic workpiece (36, 202), comprising: a magnetic gripping point (102) for gripping a ferromagnetic workpiece (36, 202); A first magnetic gripper (104) according to any one of claims 1 to 6, A second magnetic gripper (106) according to any one of claims 1 to 6, the first magnetic gripper (104) and the second magnetic gripper (106) are arranged adjacent to each other to form the magnetic gripping point (102); A magnetic gripper device characterized by:

8. a magnetic field of the magnetic device (18) of the first magnetic gripper (104) in the gripping state and a magnetic field of the magnetic device (18) of the second magnetic gripper (106) in the gripping state overlap each other; 8. The magnetic gripper device (100) according to claim 7, characterized in that:

9. The magnetic gripper device (100) comprises a plurality of magnetic grippers according to any one of claims 1 to 6, the plurality of magnetic grippers are arranged to form a magnetic gripper array; A magnetic gripper device (100) according to claim 7 or claim 8, characterized in that

10. The magnetic gripper device (100) comprises a plurality of magnetic grippers according to any one of claims 1 to 6, the plurality of magnetic grippers are arranged to form a magnetic gripper matrix; A magnetic gripper device (100) according to any one of claims 7 to 9, characterized in that

11. A gripping device (200) for gripping a ferromagnetic workpiece (36, 202), comprising: a plurality of magnetic grippers (204, 206) according to any one of claims 1 to 6 and / or a plurality of magnetic gripper devices according to any one of claims 7 to 10, the plurality of magnetic grippers (204, 206) and / or the plurality of magnetic gripper devices are arranged in a gripping row or matrix to form a gripping area (210) for gripping a ferromagnetic workpiece (202); A gripping device characterized by:

12. A gripping system (300), comprising: a magnetic gripper (10, 104, 106, 204, 206) according to any one of claims 1 to 6, a magnetic gripper device (100) according to any one of claims 7 to 10, and / or a gripping device (200) according to claim 11; a ferromagnetic workpiece (36, 202); the width and / or length of the ferromagnetic workpiece (36, 202) is equal to or smaller than the width and / or length of the workpiece contact surface (22), the magnetic gripping point (102) or the gripping area (210); A gripping system comprising:

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