Linearly actuated magnetically coupled device

Abstract

To provide a magnetic coupling device configured to be linearly actuated and de-actuated for magnetic coupling to a ferromagnetic workpiece.SOLUTION: A magnetic coupling device 100 includes a housing 110 having an axis 120 extending between a first end 124 of the housing 110 and a second end 126 of the housing 110, one or more ferromagnetic workpieces 102 disposed at least a first distance from the second end 126 of the housing 110, and a magnetic platter 112 supported by the housing 110. The magnetic platter 112 includes a plurality of permanent magnet portions inserted between a plurality of pole portions.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] The present disclosure relates to magnetic coupling devices, and more particularly, to magnetic coupling devices configured to be linearly actuated and deactuated. [Background technology]

[0002] Magnetic coupling devices are used to couple ferromagnetic workpieces, transport ferromagnetic workpieces from a first location to a second location, hold ferromagnetic workpieces, and / or lift ferromagnetic workpieces. An exemplary magnetic coupling device is a switchable magnetic coupling device that may include a magnetic platter that is linearly translatable between an "off" position and an "on" position. When the magnetic platter is in the "on" state, the magnetic coupling device is configured to couple to the ferromagnetic workpiece to perform, for example, lifting operations, material handling, material holding, magnetic latching, or coupling objects to each other, among other uses. Summary of the Invention

[0003] SUMMARY OF THE INVENTION

[0004] Embodiments included herein relate to magnetic coupling devices configured to linearly activate and deactivate. Embodiments include, but are not limited to, the following examples:

[0004] In a first exemplary embodiment, a magnetic coupling device for magnetically coupling to a ferromagnetic workpiece comprises: a housing having an axis extending between a first end of the housing and a second end of the housing; an iron piece positioned at least a first distance from the second end of the housing; and a magnetic platter supported by the housing, the magnetic platter including a plurality of permanent magnet portions interposed between a plurality of ferromagnetic pole piece portions, the magnetic platter being linearly translatable within the housing along the axis to each of at least a first state and a second state, the magnetic platter being positioned adjacent to the iron piece such that when the magnetic platter is in the first state, the magnetic coupling device establishes a first magnetic circuit through the iron piece and provides a first magnetic field to a workpiece contact interface of the magnetic coupling device; and the magnetic platter being positioned spaced apart from the iron piece such that when the magnetic platter is in the second state, the magnetic coupling device provides a second magnetic field to the workpiece contact interface, the second magnetic field having a non-zero magnetic field strength.

[0005] In a second exemplary embodiment, a method of coupling and decoupling a magnetic coupler to a ferromagnetic workpiece includes contacting the ferromagnetic workpiece with a workpiece engagement interface of the magnetic coupler; moving a magnetic platter of the magnetic coupling device from a first separation from the workpiece engagement surface to a second separation from the workpiece engagement surface that is less than the first separation; using the magnetic coupler to move the workpiece from the first position to a second position; and moving the magnetic platter from the workpiece engagement surface to a third separation to decouple the magnetic coupler from the workpiece and form a magnetic circuit through an iron piece within the housing, the third separation being greater than the second separation.

[0006] In a third exemplary embodiment, a magnetic coupling device for magnetically coupling to a ferromagnetic workpiece includes a housing having a passageway defining a passageway axis; a magnetic platter supported by the housing, the magnetic platter being movable between a first position and a second position along the passageway axis, the magnetic platter including a plurality of permanent magnet portions interposed between a plurality of ferromagnetic pole piece portions; a workpiece contact interface supported by the housing and adapted to contact the ferromagnetic workpiece; and a magnetic shunt supported by the housing and magnetically accessible from the passageway, the magnetic platter being movable between a first position and a second position along the passageway axis, the workpiece contact interface being adapted to contact the ferromagnetic workpiece. With the platter in a first position, a first magnetic circuit is formed with the magnetic platter and the magnetic shunt, and with the magnetic platter in a second position, a second magnetic circuit is formed with the magnetic platter and the ferromagnetic workpiece through the workpiece interface.

[0007] While multiple embodiments are disclosed, still other embodiments of the present invention will become apparent to those skilled in the art from the following detailed description, which shows and describes illustrative embodiments of the invention. Accordingly, the drawings and detailed description are to be regarded as illustrative in nature and not as restrictive. [Brief explanation of the drawings]

[0008] [Figure 1A] FIG. 1 illustrates a side cross-sectional view of an exemplary magnetic coupling device in an exemplary first off state positioned on a ferromagnetic workpiece. [Figure 1B] 1B illustrates a front cross-sectional view of the magnetic coupling device of FIG. 1A. [Figure 1C] 1B illustrates a front view of the magnetic coupling device of FIG. 1A. [Figure 2] 1A-1C illustrate a front cross-sectional view of the magnetic coupling device of FIGS. 1A-1C in a second, on state. [Figure 3] FIG. 1C illustrates a cross-sectional front view of the magnetic coupling device of FIGS. 1A-1C in a third, on state. [Figure 4]FIG. 2 illustrates an exploded view of the magnetic coupling device of FIGS. 1A-1C. [Figure 5] 1A-1C illustrate a top cross-sectional view of the magnetic coupling device of FIGS. 1A-1C in a first position on a ferromagnetic workpiece. [Figure 6] 1A-1C in a second position on a ferromagnetic workpiece. [Figure 7] 1A-1C are exemplary portions of pole plates that can be incorporated into the magnetic coupling device of FIGS. 1A-1C. [Figure 8] 1A-1C are exemplary portions of pole plates that can be incorporated into the magnetic coupling device of FIGS. 1A-1C. [Figure 9] 1A-1C are exemplary portions of pole plates that can be incorporated into the magnetic coupling device of FIGS. 1A-1C. [Figure 10] 1A-1C are exemplary portions of pole plates that can be incorporated into the magnetic coupling device of FIGS. 1A-1C. [Figure 11] 1A-1C are exemplary portions of pole plates that can be incorporated into the magnetic coupling device of FIGS. 1A-1C. [Figure 12] 1A-1C are exemplary portions of pole plates that can be incorporated into the magnetic coupling device of FIGS. 1A-1C. [Figure 13] 1A-1C are exemplary portions of pole plates that can be incorporated into the magnetic coupling device of FIGS. 1A-1C. [Figure 14] 1A-1C illustrate a robotic system including the exemplary magnetic coupling device of FIGS. 1A-1C mounted as the end of an arm coupler. [Figure 15] 1A-1C illustrate a top cross-sectional view of an exemplary sensor layout of the magnetic coupling device of FIG. [Figure 16] 1A-1C illustrate simplified front views of the magnetic coupling device of FIGS. 1A-1C without a ferromagnetic workpiece in the vicinity of the magnetic coupling device of FIGS. 1A-1C. [Figure 17] FIG. 1C illustrates a simplified front view of the magnetic coupling device of FIGS. 1A-1C and a ferromagnetic workpiece separated from the magnetic coupling device by a first separation. [Figure 18]FIG. 2 illustrates a simplified front view of the magnetic coupling device of FIGS. 1A-1C and a ferromagnetic workpiece separated from the magnetic coupling device. [Figure 19] FIG. 1B illustrates a simplified front view of the magnetic coupling device of FIGS. 1A-1C tilted from left to right relative to a ferromagnetic workpiece. [Figure 20] 1A-1C illustrate simplified front views of the magnetic coupling device of FIGS. 1A-1C tilted back and forth relative to a ferromagnetic workpiece. [Figure 21] FIG. 1C illustrates a simplified front view of the magnetic coupling device of FIGS. 1A-1C contacting a right end portion of a ferromagnetic workpiece. [Figure 22] FIG. 1C illustrates a simplified front view of the magnetic coupling device of FIGS. 1A-1C contacting a central portion of a ferromagnetic workpiece. [Figure 23] FIG. 1C illustrates a simplified front view of the magnetic coupling device of FIGS. 1A-1C contacting a ferromagnetic workpiece in a first extreme position. [Figure 24] FIG. 1C illustrates a simplified front view of the end of the arm magnetic coupling device of FIGS. 1A-1C contacting a ferromagnetic workpiece in a second extreme position. DETAILED DESCRIPTION OF THE INVENTION

[0009] While the present disclosure is susceptible to various modifications and alternative forms, specific embodiments have been shown by way of example in the drawings and are described in detail below. The intention, however, is not to limit the invention to the specific embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the scope of the invention as defined by the appended claims.

[0010] In the figures and in previous sections of this specification, terms such as "upper," "lower," "axial," and other reference terms are used to facilitate understanding of the technology described herein and should not be considered as absolute and limiting reference indicators unless the context dictates otherwise. The terms "couple," "coupled," "coupler," and variations thereof are used to include both arrangements in which two or more components are in direct physical contact and arrangements in which two or more components are not in direct contact with each other (e.g., the components are "coupled" through at least a third component), but still cooperate or interact with each other.

[0011] FIG. 1A illustrates a side cross-sectional view of an exemplary switchable magnetic coupling device 100 in a first, OFF state, FIG. 1B illustrates a front cross-sectional view of the magnetic coupling device 100, and FIG. 1C illustrates a front view of the magnetic coupling device 100. FIG. 2 illustrates a front cross-sectional view of the magnetic coupling device of FIGS. 1A-1C in a second, ON state. FIG. 3 illustrates a front cross-sectional view of the magnetic coupling device of FIGS. 1A-1C in a third, ON state.

[0012] The magnetic coupling device 100 can be switched between a first OFF state (shown in FIGS. 1A-1C), a second ON state (shown in FIG. 2), and / or a third ON state. When the magnetic coupling device 100 is switched to the ON state, the magnetic field generated by the magnetic coupling device 100 passes through one or more ferromagnetic workpieces 102, coupling the magnetic coupling device 100 to one or more of the ferromagnetic workpieces 102. When the magnetic coupling device 100 is switched to the OFF state, the magnetic field generated by the magnetic coupling device 100 remains primarily within the magnetic coupling device 100, and thus the magnetic coupling device 100 no longer couples to one or more of the ferromagnetic workpieces 102. The OFF state and ON state are discussed in more detail below.

[0013] The magnetic coupling device 100 may be used as an end of arm ("EOAMT") unit for a robotic system, such as robotic system 600 (see FIG. 14), but may also be used in other lifting, transporting, and / or separation systems for the ferromagnetic workpiece 102. Exemplary lifting and transporting systems include robotic systems, mechanical gantries, crane hoists, and additional systems for lifting and / or transporting the ferromagnetic workpiece 102. Additionally, the magnetic coupling device 100 may be used as part of a fixture to hold at least a portion of the workpiece for operations such as welding, inspection, and other operations. It can also be used.

[0014] 1A , the magnetic coupling device 100 is positioned on top of the ferromagnetic workpiece 102 and includes a workpiece contact interface 104 configured to contact and engage with the ferromagnetic workpiece 102. The workpiece contact interface 104 may be a pole plate 106. In at least one embodiment, the pole plate 106 includes a plurality of spaced apart protrusions 108, as illustrated in FIG. 1B . In other embodiments, the pole plate 106 does not include the spaced apart protrusions 108. The spaced apart protrusions 108 may facilitate concentrating more magnetic flux near the workpiece contact interface 104 such that the magnetic flux of the magnetic coupling device 100 passes primarily through the first ferromagnetic workpiece 102′ when the magnetic coupling device 100 is in an on state. Exemplary aspects of the pole plate 106 and the protrusions 108 are discussed below.

[0015] The magnetic coupling device 100 also includes a housing 110 that supports a magnetic platter 112. The magnetic platter 112 generates a magnetic field that allows the magnetic coupling device 100 to couple to the ferromagnetic workpiece 102 when the magnetic coupling device 100 is in an on state. In at least one embodiment, the magnetic platter 112 is a laminated magnetic platter that includes a plurality of spaced-apart permanent magnet portions 114 and a plurality of pole portions 116, as shown in FIG. 1B . Each of the plurality of spaced-apart permanent magnet portions 114 includes one or more permanent magnets. In one embodiment, each permanent magnet portion 114 includes one permanent magnet. In another embodiment, each permanent magnet portion 114 includes multiple permanent magnets. Each permanent magnet portion 114 is oppositely magnetized, having a north-pole side and a south-pole side.

[0016] Each pole portion 116A is positioned between two permanent magnet portions 114, and a pole portion 116B is positioned adjacent to one permanent magnet portion 114. Furthermore, the permanent magnet portions 114 are arranged such that each of the two permanent magnet portions 114 that contact a pole portion 116A between them has either its north pole side or its south pole side in contact with the pole portion 116A. When the north pole side of an adjacent permanent magnet portion 114 contacts the pole portion 116A, the pole portion 116A is referred to as the north pole portion. When the south pole side of an adjacent permanent magnet portion 114 contacts the pole portion 116A, the pole portion 116A is referred to as the south pole portion. Similarly, when the south pole side of the permanent magnet portion 114 contacts the pole portion 116B, the pole portion 116B is referred to as the south pole portion. Conversely, when the north-pole side of the permanent magnet portion 114 contacts the pole portion 116B, the pole portion 116B is referred to as the north-pole portion.

[0017] In the embodiment shown, the permanent magnet portions 114 are arranged along a horizontal axis 118. However, in other embodiments, the permanent magnet portions 114 may be arranged in a circular configuration. Furthermore, while the embodiment illustrates the magnetic platter 112 including six permanent magnet portions 114 and seven pole portions 116, other embodiments may include more or fewer permanent magnet portions 114 and pole portions 116. For example, in one embodiment, the magnetic platter 112 may include one permanent magnet portion 114 and two pole portions 116, one pole portion 116 disposed on each side of the permanent magnet portion 114.

[0018] Due to the configuration of the magnetic platter 112 and the magnetic coupling device 100, the magnetic coupling device 100 may have a greater magnetic flux transfer to one or more of the ferromagnetic pieces 102 than prior embodiments. This results in the magnetic coupling device 100 being able to lift more and / or heavier ferromagnetic workpieces 102 per magnetic volume contained within the magnetic coupling device 100. For example, the magnetic coupling device 100 may have a holding force of 0.35 grams or more of ferromagnetic workpieces 102 per cubic mm of volume of the magnetic coupling device 100. As another example, the magnetic coupling device 100 may have a holding force of 0.8 grams or more per cubic mm of volume of the housing 110 of the magnetic coupling device 100. It may have a ferromagnetic workpiece 102 holding force.

[0019] To switch the magnetic coupling device 100 between a first OFF state and a second ON state, the magnetic platter 112 is linearly translatable along an axis 120 within an internal cavity 122 of the housing 104. In an embodiment, the axis 120 is a vertical axis 120. Alternatively, the axis 120 is an axis other than a vertical axis. The axis 120 extends between a first end 124 of the housing 104 and a second end 126 of the housing 110. In at least some embodiments, the first end 124 is an upper portion of the housing 110, and the second end 126 is a lower portion of the housing 110, and may be referred to as such herein. However, in at least some other embodiments, the first end 124 is a portion of the housing 110 other than the upper portion of the housing 110, and the second end 126 is a portion of the housing 110 other than the lower portion of the housing 110. When the magnetic platter 112 is positioned near the upper portion 124 of the housing 110, the magnetic coupling device 100 is in a first OFF state. When the magnetic platter 112 is positioned near the lower portion 126 of the housing 110, the magnetic coupling device 100 is in a second ON state. In addition to the first OFF state and the second ON state, the magnetic platter 112 may be positioned in one or more intermediate positions between the upper portion 124 and the lower portion 126, as shown in FIG. 3 . The intermediate positions may be referred to herein as a third ON state. As discussed below, the third ON state may generate less magnetic flux at the workpiece contact interface 104 than the second ON state. For example, the third on state may result in a majority of the magnetic flux extending only through the first workpiece 102', such that only a small amount of magnetic flux extends through the second and third workpieces 102", 102'". Thus, the third on state may facilitate destacking the workpiece 102' from the workpieces 102", 102"', as shown.

[0020] To translate the magnetic platter 112 along the vertical axis 120 and transition the magnetic coupling device 100 between an ON state and an OFF state, and vice versa, the magnetic coupling device 100 includes an actuator 128. In at least one embodiment, the actuator 128 is coupled to the magnetic platter 112 via an engagement portion 130 and a non-ferromagnetic mounting plate 132. That is, the actuator 128 is coupled to the engagement portion 130, which is coupled to the non-ferromagnetic mounting plate 132, which is coupled to and in contact with the magnetic platter 112. The actuator 128 is configured to exert a force on the engagement portion 130, which in response translates along the vertical axis 120 and transitions the magnetic coupling device 100 from an OFF state to an ON state, and vice versa. That is, to transition magnetic coupling device 100 from the OFF state to the ON state, actuator 128 exerts a downward force on engagement portion 130, which translates non-ferromagnetic mounting plate 132 and magnetic platter 112. In response, magnetic platter 112 translates from upper portion 124 to lower portion 126. Conversely, to transition magnetic coupling device 100 from the ON state to the OFF state, actuator 128 exerts an upward force on engagement portion 130, which translates non-ferromagnetic mounting plate 132 and magnetic platter 112. In response, magnetic platter 112 and non-ferromagnetic mounting plate 132 translate from lower portion 126 to upper portion 124.

[0021] To place the magnetic platter 112 in the third ON state, the actuator 128 may generate a force on the engagement portion 130 to translate the magnetic platter 112 from the upper portion 124 to the lower portion 126, or vice versa. Then, as the magnetic platter 112 is translating from the upper portion 124 to the lower portion 126, or vice versa, a brake 134 disposed within the housing 110 and / or within the actuator 128 engages the magnetic platter 112, the non-ferromagnetic mounting plate 132, and / or the engagement portion 130, as shown in FIG. 3 , to stop the magnetic platter 112 in the third ON state.

[0022] Exemplary actuators 128 include electric actuators, pneumatic actuators, hydraulic actuators, and other suitable devices that impart force on engagement portion 130. An exemplary pneumatic linear actuator is shown in and will be discussed in more detail in connection with FIG. 4. An exemplary electric actuator is an electric motor that includes an "unroll" stator and rotor coupled to engagement portion 130. Other exemplary engagement portions and actuators are described in U.S. Patent No. 7,012,495, entitled "SWITCHABLE PERMANENT MAGNETIC DEVICE," U.S. Patent No. 7,161,451, entitled "MODULAR PERMANENT MAGNET CHUCK," U.S. Patent No. 8,878,639, entitled "MAGNET ARRAYS," U.S. Provisional Patent Application No. 62 / 248,804, filed October 30, 2015, Docket No. MTI-0007-01-US-E, entitled "MAGNETIC COUPLING DEVICE WITH A ROTARY ACTUATION SYSTEM," and ... LINEAR ACTUATION No. 62 / 252,435, filed November 7, 2015, entitled "A METHOD AND APPARATUS FOR TRANSMITTING AN INTERFACE TO A SUBJECT MATTER" and Docket No. MTI-0006-01-US-E, the entire disclosure of which is expressly incorporated herein by reference.

[0023] Additionally or alternatively, actuator 128 may include controller 136 and / or sensor 138A. Controller 136 includes processor 140 along with associated computer-readable media, illustratively memory 142. Memory 142 includes control logic 144 that, when executed by processor 140, causes electronic controller 136 to instruct actuator 128 to move magnetic platter 112 so that magnetic device 100 is in an off state, a second on state, and / or a third on state. For example, sensor 138A may sense the position of actuator 128, and in response to a predetermined position sensed by sensor 138A translating to the position of magnetic platter 112, control logic 144 instructs actuator 128 to stop exerting force on magnetic platter 112 when magnetic platter 112 reaches a desired position.

[0024] In at least one embodiment, the actuator 128 is a stepper motor, and the rotational motion of the actuator 128 is converted to linear motion of the engagement portion 130 via a coupling (e.g., gears) between the shaft of the actuator 128 and the engagement portion 130. In these embodiments, the sensor 138A counts pulses used to drive the stepper motor and, based on the number of pulses, determines the position of the shaft of the stepper motor, which is converted to the position of the magnetic platter 112. That is, the magnetic platter 112 is moved relatively along the vertical axis 120 to a defined position by the steps the motor moves by counting the number of pulses. In another example, a stepper motor is provided that integrates an encoder with the stepper to ensure the proper actuation angle is maintained.

[0025] As another example, the magnetic coupling device 100 may include a sensor 138B. The sensor 138B may measure the position of the magnetic platter 112 within the housing 110. An exemplary sensor 138B includes an optical sensor that monitors a reflective strip affixed to the magnetic platter 112. Other sensor systems may be used to determine the position of the magnetic platter 112.

[0026] As yet another example, magnetic coupling device 100 may include one or more sensors 138C (illustrated in FIG. 1B). Sensor 138C may be a magnetic flux sensor and may generally be positioned at one or more locations on pole plate 106. Exemplary magnetic flux sensors include Hall effect sensors. Sensor 138C may detect one or more north and south poles of pole plate 106. The leakage flux at each sensor 138C is measured near the south pole. The amount of leakage flux at each sensor 138C varies based on the position of the magnetic platter 112 relative to the pole plate 106 and the amount of flux passing through the north and south poles of the pole plate 106 from the workpiece contact interface 104 to the ferromagnetic workpiece 102. By monitoring the magnetic flux at opposite locations on the workpiece interface 104 of the north and south poles of the pole plate 106, the relative position of the magnetic platter 112 can be determined. In an embodiment, the magnetic coupling device 100 is positioned on top of the ferromagnetic workpiece 102, and the magnetic flux measured by the sensor 138C as the magnetic platter 112 moves from an off state to a second on state is recorded as a function of the position of the magnetic platter 112. Each of the magnetic fluxes is assigned to a desired location on the magnetic platter 112. An exemplary sensing system having sensor 138C is disclosed in U.S. patent application Ser. No. 15 / 964,884, filed April 27, 2018, entitled "Magnetic Coupling Device with at Least One of a Sensor Arrangement and a Degauss Capability," the entire disclosure of which is expressly incorporated herein by reference.

[0027] As yet another example, the magnetic coupling device 100 may include one or more sensors 138D (shown in FIGS. 1A, 1B, 1C, 2, and 3). The sensors 138D may be magnetic flux sensors and may generally be positioned adjacent to the pole plates 106. Exemplary magnetic flux sensors include Hall-effect sensors. In at least one embodiment, the sensors 138D are positioned adjacent to the ends of one or more protrusions 108 of the pole plates 106 and measure leakage flux from the sides of one or more north and south poles of the pole plates 106. The amount of leakage flux at each sensor 138D varies based on the position of the magnetic platter 112 relative to the pole plates 106 and the amount of flux that passes through the north and south poles of the pole plates 106 and the workpiece contact interface 104 to reach the ferromagnetic workpiece 102. By monitoring the magnetic flux at locations adjacent to the pole plates 106, the relative position of the magnetic platter 112 may be determined. In an embodiment, magnetic coupling device 100 is positioned on top of ferromagnetic workpiece 102, and the magnetic flux measured by sensor 138D as magnetic platter 112 moves from an off state to a second on state is recorded as a function of the position of magnetic platter 112. Each of the magnetic fluxes is assigned to a desired position on magnetic platter 112. An exemplary sensing system having sensor 138D is disclosed in U.S. patent application Ser. No. 15 / 964,884, filed April 27, 2018, entitled "Magnetic Coupling Device with at Least One of a Sensor Arrangement and a Degauss Capability," the entire disclosure of which is expressly incorporated herein by reference.

[0028] In at least some embodiments, the magnetic coupling device 100 includes a shield plate 139 (illustrated in FIGS. 1A, 1B, 1C, 2, and 3). The shield plate 139 can absorb magnetic flux from the magnetic platter 112 and reduce the external magnetic field of the magnetic coupling device 100 when the magnetic coupling device 100 is in the off position. The shield plate 139 can be formed from a high magnetic saturation material capable of absorbing a large amount of magnetic flux. In one example, the shield plate 139 is located outside the housing 110. The upper edge of the shield plate 139 can be planar with the top surface of the magnetic platter 112. Additionally or alternatively, the shield plate 139 can extend downward along the housing 110 such that the lower edge of the shield plate 139 extends beyond the bottom plane of the magnetic platter 112. The shield plate 139 can be located on any side of the magnetic coupling device 100. In at least one embodiment, the shield plate 139 is located on all sides of the magnetic coupling device 100. In another embodiment, shield plate 139A is located only on the face of magnetic coupling device 100 adjacent to the end of permanent magnet portion 114, as shown in FIGS. 1A and 1C. In other words, shield plate 139A may be located on the same side(s) as sensor 138D. In another embodiment, shield plate 139B is located on the side of magnetic coupling device 100 that extends parallel to protrusion 108, as shown in FIGS. 2 and 3. Located only on the side of 110.

[0029] In an embodiment, the controller 136 changes the state of the magnetic coupling device 100 in response to input signals received from the I / O device 146. Exemplary input devices include buttons, switches, levers, dials, touch displays, pneumatic valves, softkeys, and communication modules. Exemplary output devices include visual indicators, audio indicators, and communication modules. Exemplary visual indicators include displays, lights, and other visual systems. Exemplary audio indicators include speakers and other suitable audio systems. In an embodiment, the device 100 includes a simple visual status indicator in the form of one or more LEDs driven by the processor 140 of the control logic 144 to indicate when a predetermined magnetic coupling device 100 status is present or absent (e.g., a red LED on when the magnetic coupling device 100 is in a first off state, a green LED flashing rapidly when the magnetic coupling device 100 is in a second on state and a ferromagnetic workpiece 102 is detected in proximity, a green LED flashing more slowly along with a yellow LED when contact is made with the ferromagnetic workpiece 102 outside of a specific intended area on the ferromagnetic workpiece 102 (see the discussion related to Figures 22-24) (e.g., a partially complete magnetic actuation circuit), and a steady green LED on with the yellow LED off indicates that the magnetic coupling device 100 is engaged within threshold limits, indicating a safe magnetic coupling state).

[0030] For example, in one embodiment, magnetic coupling device 100 is coupled to the end of a robotic arm, and I / O device 146 is a network interface through which controller 136 receives instructions from the robot controller regarding when to place magnetic coupling device 100 in one of a first off state, a second on state, or a third on state. Exemplary network interfaces include a wired network connection and an antenna for a wireless network connection. While the embodiments discussed above relate to electronic, pneumatic, or hydraulic actuation, in alternative embodiments, magnetic coupling device 100 may be manually actuated by a human operator.

[0031] The magnetic coupling device 100 may also include one or more ferromagnetic pieces 148 disposed at or near the upper portion 124 of the housing 100, as illustrated in FIG. 1A . In at least one embodiment, the non-ferromagnetic mounting plate 132 and the ferromagnetic piece 148 are disposed within the housing 110 such that the non-ferromagnetic mounting plate 132 is positioned in contact with the ferromagnetic piece 148 when the magnetic coupling device 100 is in the first, off position. Additionally, the top portion of the magnetic platter 112 may contact the bottom portion of the ferromagnetic piece 148. In another exemplary embodiment, the ferromagnetic piece 148 may extend below the sides of the magnetic platter 112. In these embodiments, the ferromagnetic piece 148 may reduce leakage of the magnetic platter 112 by providing additional absorption of the magnetic field generated by the magnetic platter 112.

[0032] In at least one embodiment, the non-ferromagnetic mounting plate 132 can be made of a non-ferromagnetic material (e.g., aluminum, austenitic stainless steel, etc.). In these embodiments, when the magnetic coupling device 100 is in the first off state and the magnetic platter 112 and the non-ferromagnetic mounting plate 132 are located at or near the upper portion 118 of the housing 104, one or more circuits between the mounting platter 112, the ferromagnetic piece 148, and the non-ferromagnetic mounting plate 132 are created as illustrated in FIG. 1B . Additionally, when the magnetic coupling device 100 is in the first off state, a gap 150 (in FIG. 1A ), comprising air and / or another material with low magnetic susceptibility in the internal cavity 116, is between and separates the pole plate 106 and the magnetic platter 112. As a result, when the magnetic coupling device 100 is in the first off state, magnetic flux from the magnetic platter 112 is transmitted through the workpiece contact 118. Little or nothing extends to interface 104 and through ferromagnetic workpiece 102. Thus, magnetic coupling device 100 can be isolated from ferromagnetic workpiece 102. Furthermore, because of the circuitry between mounting platter 112, ferromagnetic piece 148, and non-ferromagnetic mounting plate 132, most, if not all, of the magnetic flux from magnetic platter 112 is contained within housing 110.

[0033] An additional benefit of including the ferromagnetic piece 148 is that the distance of the gap 150 between the bottom of the magnetic platter 112 and the pole plate 106 can be shorter than if the magnetic coupling device 100 did not include the non-ferromagnetic mounting plate 132 and the ferromagnetic piece 148. That is, the one or more circuits created between the magnetic platter 112, the ferromagnetic piece 148, and the non-ferromagnetic mounting plate 132 facilitate confining most, if not all, of the magnetic flux from the magnetic platter 112 within the housing 110, near the magnetic platter 112 and away from the pole plate 106. Thus, the magnetic flux transferred to the ferromagnetic workpiece 102 by the magnetic coupling device 100 is insufficient to lift one or more of the ferromagnetic workpieces 102. In other words, the magnetic flux can be effectively zero at the bottom of the pole plate 106, and therefore, effectively no magnetic flux is transferred by the magnetic coupling device 102 to the ferromagnetic workpiece 102, which reduces the overall required height (see height 182 below) that the magnetic platter 112 must move when the magnetic coupling device 102 transitions between an off state and one or more on states.

[0034] Conversely, if the non-ferromagnetic mounting plate 132 and ferromagnetic piece 148 were not included in the magnetic coupling device 102, less magnetic flux from the magnetic platters 112 would remain within the housing 110 and / or near the magnetic platters 112. And because less magnetic flux remains near the magnetic platters 112, the gap 150 between the bottom of the magnetic platters 112 and the pole plates 106 must be larger to prevent magnetic flux from extending down through the pole plates 106 and coupling the magnetic coupling device 100 to one or more of the ferromagnetic work pieces 102. Because the gap 150 is smaller in the illustrated embodiment, the magnetic coupling device 100 can be smaller than other magnetic coupling devices that do not have these features.

[0035] As an example, the gap 150 through which the magnetic platter 112 may move to transition from the first OFF state to the second ON state may be 8 mm or less. Conversely, to transition from the second ON state to the first OFF state, the magnetic platter 112 may move 8 mm or less.

[0036] Another advantage of the illustrated embodiment is that, due to the smaller gap 150, less energy can be used by the actuator 128 to translate the magnetic platter 112 along the vertical axis 120 within the housing 110. Yet another advantage of the illustrated embodiment is that the magnetic platter 112 is less likely to break when the actuator 128 translates the magnetic platter 112 from the first off position to the second on position and the magnetic platter 112 comes into contact with the pole piece 106. This is a result of the magnetic platter 112 building up less momentum during the transition due to the reduced gap 150. Another advantage of the illustrated embodiment is that if the magnetic coupling device 100 fails while in the off state, the non-ferromagnetic mounting plate 132 and ferromagnetic piece 148 prevent the magnetic coupling device 100 from transitioning to the on state. Therefore, the magnetic coupling device 100 is safer than magnetic coupling devices that transition from an off state to an on state when the magnetic coupling device fails. Conversely, if the magnetic coupling device 100 does not include the non-ferromagnetic mounting plate 132 and / or the ferromagnetic piece 148, the magnetic platter 112 may be more likely to transition to the ON state due to the absence of a magnetic circuit created in the OFF position.

[0037] As mentioned above, the magnetic platter 106 is mounted on or in the lower portion 126 of the housing 104. When the magnetic coupling device 100 is positioned near the side portion 126, the magnetic coupling device 100 is in a second on state. As illustrated in FIG. 2 , when the magnetic coupling device 100 is in the second on state, magnetic flux from the magnetic platter 106 extends through one or more of the ferromagnetic workpieces 102. Thus, when the magnetic coupling device 100 is in the first on state, the magnetic coupling device 100 is configured to couple to one or more ferromagnetic workpieces 102. Although the magnetic flux lines are illustrated as passing through both ferromagnetic workpieces 102′, 102″, in some embodiments, the magnetic flux lines pass primarily only through the ferromagnetic workpiece 102′. When the magnetic flux lines pass primarily through the first ferromagnetic workpiece 102′, the magnetic coupling device 100 can be used to destack and separate the ferromagnetic workpieces 102 from one another.

[0038] To facilitate magnetic flux lines passing primarily only through the first ferromagnetic workpiece 102′ when magnetic coupling device 100 is in the second ON state, magnetic platters 112 may be removable and replaceable, thereby allowing magnetic platters 112 of different strengths, heights, and / or widths to be used with magnetic coupling device 100. The strength, height, and / or width of magnetic platters 112 may be selected based on the thickness of the ferromagnetic workpieces 102 so that the ferromagnetic workpieces 102 can be sufficiently destacked and separated from one another when magnetic coupling device 100 is in the second ON position.

[0039] Additionally or alternatively, the pole plates 106 may be removable and replaceable, allowing different types of pole plates 106 to be used with the magnetic coupling device 100. For example, the pole plates 106 may be selected based on the type of ferromagnetic workpiece 102 to which the magnetic coupling device 100 is coupled. For example, the magnetic coupling device 100 may handle a Class A surface that cannot be scratched or marred. As a result, pole plates 106 having rubber (or another material that reduces the likelihood of the ferromagnetic workpiece 102 being scratched or marred) disposed on the workpiece contact interface may be selected and incorporated into the magnetic coupling device 100. As another example, pole plates 106 with different protrusions and / or gaps may be selected based on the thickness of the ferromagnetic workpiece 102 to which the magnetic coupling device 100 is coupled. Further examples of the association of protrusions and / or gaps are described in more detail below in connection with FIGS. 7-13.

[0040] As discussed in more detail below in connection with FIG. 4, the housing 104 is constructed in a manner that allows the magnetic platters 112 and / or pole plates 106 to be easily removable and replaceable.

[0041] Additionally or alternatively, magnetic coupling device 100 may transition to one or more intermediate states as described above. For example, magnetic coupling device 100 may transition to a third ON state, as illustrated in FIG. 3 . The third ON state occurs when magnetic platter 112 is positioned along vertical axis 120 between the location of magnetic platter 112 when magnetic coupling device 100 is in the first OFF state and the location of magnetic platter 112 when magnetic coupling device 100 is in the second ON state. In embodiments where the same magnetic platter 112 is used, less magnetic flux passes through workpiece contact interface 104 and into ferromagnetic workpiece 102 when magnetic coupling device 100 is in the third ON state, as illustrated in FIG. 3 , than when magnetic coupling device 100 is in the second ON state. That is, assuming magnetic platters 112 of the same strength are used in the embodiments shown in Figures 2 and 3, magnetic flux lines pass through both ferromagnetic workpieces 102', 102" in Figure 2, while magnetic flux lines pass only through ferromagnetic workpiece 102' in Figure 3. By being able to enter the third on state, magnetic coupling device 100 may be able to destack ferromagnetic workpieces 102 of different thicknesses without having to replace magnetic platters 112 with magnetic platters 112 of different strength.

[0042] As described above, the pole plate 106 includes a plurality of protrusions 108. Each of the protrusions 108 functions as a pole extension for a respective one of the pole portions 116. That is, when the magnetic coupling device 100 is in the second or third ON state, the north or south pole of each of the pole portions 116 extends down through the respective protrusion 108. A magnetic circuit is then created from the north pole portion 116, through the respective north-pole protrusion 108, through one or more ferromagnetic workpieces 102, through the south-pole protrusion 108, and through the south pole portion 116. When the magnetic coupling device 100 is in the ON state, each permanent magnet portion creates one of these magnetic circuits. As described in more detail below in connection with FIGS. 7-13 , the size of the protrusions 108 and the distance between them affect the flux transfer to the ferromagnetic workpiece 102, allowing for more effective destacking and increased retention of the ferromagnetic material 102. For example, in at least some embodiments, to achieve the highest concentration of magnetic flux transferred through the ferromagnetic piece 102' of the ferromagnetic workpiece 102, and therefore have the best chance of destacking the ferromagnetic workpiece 102' from the ferromagnetic workpieces 102", 102''', the size of the protrusions (e.g., width and height) and gaps therebetween should approximately match the thickness of the ferromagnetic workpiece 102.

[0043] To separate the N and S protrusions 108, the pole plate 106 may include slots configured to receive one or more non-ferromagnetic pieces 152 (shown in FIG. 1B). The non-ferromagnetic pieces 152 may be disposed within respective envelopes 154 (shown in FIG. 1B) between each of the protrusions 108. The non-ferromagnetic pieces 152 ensure that the magnetic circuit created by the permanent magnet portion 114 does not substantially extend through the non-ferromagnetic pieces 152, thus separating the N and S protrusions from one another. Additionally, as discussed above, the protrusions 108 cause the magnetic flux from the magnetic platter 112 to be closer to the workpiece contact interface 104 than if the pole plate 106 did not include multiple protrusions 108. Different aspects of the protrusions 108 that facilitate concentrating the magnetic flux from the magnetic platter 112 closer to the workpiece contact interface 104 are discussed below in connection with FIGS. 7-13.

[0044] 4, an exploded view of magnetic coupling device 100 is illustrated. As shown, housing 110 includes a lower portion 110A that is releasably securable to an upper portion 110B. Lower portion 110A may be secured to upper portion 110B using one or more screws 156. As described below, screws 156 may provide easy access to components of magnetic coupling device 110 disposed within housing 110.

[0045] Prior to joining the lower portion 110A and the upper portion 110B, the lower portion 110A receives the plate 106. In at least one embodiment, the lower portion 110A includes a recess / notch 158 configured to receive the tab 160 of the plate 106. The tab 160 facilitates proper positioning of the plate 106 within the lower portion 110A. If a plate 106 with a different protrusion 108 than the currently installed plate 106 is desired, proper positioning of the plate 106 can facilitate easy replacement of the plate 106. For example, the lower portion 110A of the housing 110 can be separated from the upper portion 110B by removing the screw 156. The plate 106 can then be removed from the lower portion 110A. Thereafter, another plate 106 with a different protrusion 108 can be inserted into the lower portion 110A such that the tab 160 is received by the recess / notch 158. Finally, screws 156 may be used to secure the lower portion 110A to the upper portion 110A.

[0046] In addition to, or instead of, replacing the pole plate 106, the design of the magnetic coupling device 100 also facilitates easy removal and replacement of the magnetic platter 112. For example, as shown, the non-ferromagnetic mounting plate 132 is attached to the magnetic platter 112 via one or more screws 161. 1. After removing lower portion 110A from upper portion 110B, magnetic platter 116 can be lowered along vertical axis 120 so that screws 161 can be accessed. Once screws 161 are removed, magnetic platter 116 can be separated from non-ferromagnetic mounting plate 132 and replaced with another magnetic platter 116. The new magnetic platter 116 can be secured to non-ferromagnetic mounting plate 132 using screws 161. Lower portion 110A and upper portion 110B can then be coupled together using screws 156.

[0047] In some cases, if the magnetic platter 116 is broken or damaged, it may need to be replaced. In other cases, the magnetic platter 116 may need to be replaced with a magnetic platter 116 that generates a stronger or weaker magnetic field. As discussed above, replacing a magnetic platter 116 with a magnetic platter 116 having a stronger or weaker magnetic field may facilitate destacking of the ferromagnetic workpieces 102. For example, the first magnetic platter 116 may generate sufficient magnetic flux through the first and second ferromagnetic workpieces 102′, 102″ to lift both ferromagnetic workpieces 102′, 102″. However, it may be desirable to separate the first ferromagnetic workpiece 102′ from the second ferromagnetic workpiece 102″. In these cases, the first magnetic platter 116 may be replaced with a second magnetic platter 116 that is weaker than the first magnetic platter 116 and generates only enough magnetic flux through the ferromagnetic workpiece 102 to lift the first ferromagnetic workpiece 102′.

[0048] In the illustrated embodiment, the lower portion 128A of the actuator 128 is coupled to the housing 110 using one or more screws 162. Thus, the lower portion 128A functions as a cover for the housing 110. Additionally, the ferromagnetic piece 148 is coupled to the bottom portion 128A of the actuator 128 using one or more screws 162. Thus, when the magnetic platter 112 and the non-ferromagnetic mounting plate 132 are moved to the upper portion of the housing 110 and the magnetic coupling device 100 is in the first off position, the magnetic platter 112 and the non-ferromagnetic mounting plate 132 are positioned near and / or in contact with the ferromagnetic piece 148. A magnetic circuit is then formed from the north pole portion 116 of the magnetic platter 112, through one of the ferromagnetic workpieces 148, through the non-ferromagnetic mounting plate 132, through the other ferromagnetic workpiece 148, to the south pole portion 116 of the magnetic platter 112. The circuit provides many advantages over the magnetic coupling device 100 discussed above.

[0049] As shown, the non-ferromagnetic mounting plate 132 is coupled to the engagement portion 130 with screws 166. The engagement portion 130 includes a first portion 130A and a second portion 130B, and in at least some embodiments, the first portion 130A has a smaller cross-sectional area than the second portion 130B. In at least one embodiment, the first portion 130A extends through a conduit 168 at the bottom portion 128A and is coupled to the non-ferromagnetic mounting plate 132 via screws 166. By coupling the engagement portion 130 to the non-ferromagnetic mounting plate 132, translation of the engagement portion 130 along the vertical axis 120 causes the non-ferromagnetic mounting plate 132 and the magnetic platter 112 to translate along the vertical axis 120.

[0050] The actuator 128 may be pneumatically actuated to translate the engagement portion 130 along the vertical axis 120. For example, the actuator housing 128B may include a port 174 including a first port 174A and a second port 174B. When air is provided into the port 174A, via an air compressor or otherwise, pressure increases within the actuator housing 128B and above the second portion 130B, causing the engagement portion 130 to move downward along the vertical axis 120. The translation of the engagement portion 130 causes the magnetic platter 112 to move when the magnetic coupling device 100 transitions from a first OFF state to a second ON state or a third ON state, or from the third ON state to the second ON state. The second portion 130B will move downward along the vertical axis 120 to engage the second portion 130. To confine the air provided within the actuator housing 128B and into port 174A above the engagement portion 130, the actuator 128 may include a cover (not shown) secured to the actuator housing 128B via one or more screws 176. Additionally or alternatively, air may be removed from port 174B to reduce the pressure below the second portion 130B relative to the pressure above the second portion 130B, thereby causing the engagement portion 130 to move downward along the vertical axis 120.

[0051] Conversely, when air is provided into port 174B, the pressure within actuator housing 128B and below second portion 130B increases, causing the platter to move upward along vertical axis 120. Translation of engagement portion 130 causes magnetic platter 112 to move upward along vertical axis 120 such that magnetic coupling device 100 transitions from the second ON state to the third ON state or the first OFF state, or from the third ON state to the first OFF state. Additionally or alternatively, air can be removed from port 174A to reduce the pressure above second portion 130B relative to the pressure below second portion 130B, causing engagement portion 130 to move upward along vertical axis 120.

[0052] In at least some other embodiments, ports 174A, 174B may be formed through housing 110B, and pressure or a reduction in pressure may be applied to the top of magnetic platter 112 or the bottom of magnetic platter 112 to translate magnetic platter 112 along vertical axis 120.

[0053] 5 and 6 illustrate top cross-sectional views of the magnetic coupling device of FIGS. 1A-1B at different positions on the ferromagnetic workpiece 102. Referring to FIG. 5, the magnetic platter 112 is shown on the ferromagnetic workpiece 102′. As shown, the entire footprint of the magnetic platter 112 is placed on the ferromagnetic workpiece 102′. As used herein, the term footprint may be defined as the surface area of ​​the magnetic platter 112, i.e., width 180×height 182. It is preferable for the entire footprint of the magnetic platter 112 to be placed on the ferromagnetic workpiece 102′ so that the greatest amount of magnetic flux is transferred from the magnetic platter 112 to the ferromagnetic workpiece 102′. When the entire footprint of the magnetic platter 112 is placed on the ferromagnetic workpiece 102′, the magnetic coupling device 100 may be configured to lift the ferromagnetic workpiece 102 by 22.0 grams or more per square millimeter of the area of ​​the footprint of the magnetic platter 112.

[0054] Although it is preferable to place the entire footprint of the magnetic platter 112 on the ferromagnetic workpiece 102′, in many cases the magnetic platter 112 is placed on the ferromagnetic workpiece 102′ as shown in FIG. 6. This can occur when the magnetic coupling device 100 is mounted on the end of an arm unit for a robotic system, such as robotic system 600 (of FIG. 14), and the placement of the magnetic platter 112 on the ferromagnetic workpiece 102′ is performed using the determined position of the magnetic coupling device 100, computer vision, and / or some other automated process.

[0055] 6, when the magnetic platter 112 is placed on the ferromagnetic workpiece 102', the configuration of the magnetic platter 112 may provide several advantages. Specifically, compared to other magnetic coupling devices, the magnetic platter 112 may be less likely to detach from the ferromagnetic workpiece 102' when the magnetic platter 112 lifts the ferromagnetic workpiece 102'. That is, because the magnetic platter 112 includes multiple permanent magnet portions 114, when the magnetic platter 112 is placed on the ferromagnetic workpiece 102' as shown in FIG. 6, only the left-most permanent magnet portion 114 is attached to the ferromagnetic workpiece 102'. 102'. Thus, five other magnetic circuits are still formed between the magnetic platter 112 and the ferromagnetic workpiece 102'. Thus, the magnetic platter 112 can still operate at approximately 83% capacity (5 / 6 = 0.83). In comparison, if the magnetic platter 112 included only one permanent magnet portion 114, one-third of the magnetic circuits would not be formed with the ferromagnetic workpiece 102' because one-third of the pole portions would be displaced from the ferromagnetic workpiece 102'. Thus, the magnetic platter 112 could operate at approximately 66% capacity. As another example, if the magnetic platter had a circular footprint including one or more north poles and one or more south poles and the magnetic platter was only partially placed on the ferromagnetic workpiece 102, a large portion of one or more of the poles would be displaced from the ferromagnetic workpiece 102, thereby significantly reducing the magnetic platter's coercive force.

[0056] As noted above, the pole plates 106 may have spaced apart projections 108. Referring to Figures 7-13, exemplary portions of pole plates 106 and projections 108 that may be incorporated into the magnetic coupling devices of Figures 1A-1C are shown.

[0057] 7 is a side view of a portion of an exemplary portion of a plate 200 that can be used as plate 106. Plate 200 includes a plurality of protrusions 206 disposed on a bottom portion 208 of plate 200. Each of protrusions 206 is separated by a recess 210. Additionally, the plurality of protrusions 206 collectively form a workpiece contact interface 212 of plate 200.

[0058] Due to the multiple protrusions 206 included on the pole plate 200, a magnetic coupling device including the pole plate 200 generates a stronger magnetic field near the workpiece contact interface 212 than a magnetic coupling device including a pole plate that does not include the protrusions 206. The magnetic field generated near the workpiece contact interface 212 may be referred to herein as a shallow magnetic field. Furthermore, by including the multiple protrusions 206 on the pole plate 200, a magnetic coupling device including the pole plate 200 generates a weaker magnetic field at a greater depth from the pole plate 200 than a magnetic coupling device that does not include the protrusions 206. The magnetic field generated farther from the pole plate 200 may be referred to herein as a far-field magnetic field or a deep magnetic field generated by the pole plate 200. Stated another way, a magnetic device including the pole plate 200 with the protrusions 206 has a stronger coercive force near the workpiece contact interface 212 than a magnetic device including a pole plate with a continuous interface of the same height that does not include the protrusions 206.

[0059] As a result of the protrusions 206 of the pole plate 200 facilitating the generation of a stronger shallow magnetic field and a weaker far-field magnetic field, a magnetic coupling device including the pole plate 200 may be used to destack the thin ferromagnetic workpieces 102 better than a magnetic coupling device having a pole plate without the protrusions 206. That is, a magnetic device including a pole plate without the protrusions 206 may generate a stronger far-field magnetic field that results in multiple thin ferromagnetic workpieces 102 being coupled to the magnetic coupling device. This is an undesirable result when attempting to obtain a single thin ferromagnetic workpiece 102 from a stacked array of thin ferromagnetic workpieces 102. Therefore, instead of using a magnetic device including a pole plate without the protrusions 206 to destack the ferromagnetic workpieces 102, the pole plate 200 including the protrusions 206 may be used.

[0060] In embodiments, varying the width 214 of the protrusions 206 results in different shallow magnetic fields being generated by the same magnetic coupling device. For example, as the width 214 of the magnetic protrusions 206 increases, the shallow magnetic field decreases and the far-field magnetic field increases. Thus, to generate a preferred shallow magnetic field for a particular ferromagnetic workpiece 102, the width 214 of the protrusions 206 may be within about + / - 25% of the thickness of the ferromagnetic workpiece 102 being destacked. For example, when the magnetic coupling device destacks a ferromagnetic workpiece 102 that is 2 mm thick, the width 214 of the protrusions 206 may be within about 2 mm (e.g., 2 mm + / - 25%). In embodiments, this generates a strong shallow magnetic field at a depth of 0 mm to 2 mm from the workpiece contact interface 212. However, in at least one embodiment, there may be a limit on generating a preferred shallow magnetic field for some ferromagnetic workpieces 102 having thicknesses below a certain limit. That is, for ferromagnetic workpieces 102 having a thickness less than X mm, a preferred shallow magnetic field may be generated by a protrusion 206 having a width 214 that is at the lower limit of X mm but is greater than or equal to the lower limit. That is, to generate a preferred magnetic field for a workpiece 102 having a thickness of ½*X mm, the width 214 of the protrusion 206 may be at the lower limit of X mm instead of + / −25% of ½*X mm. However, if the thickness of the ferromagnetic workpiece 102 is X mm or greater, the width 214 may be approximately equal to the thickness of the ferromagnetic workpiece 102 (e.g., + / −25%). An example of a lower limit may be in the range of 0 mm to 2 mm. However, this is merely an example and is not meant to be limiting.

[0061] In at least one embodiment, when a magnetic coupling device including the pole plate 200 is coupled to ferromagnetic workpieces 102 having different thicknesses, a pole plate 200 having a width 214 that is the average of the thicknesses of the ferromagnetic workpieces may be used to reduce the need to change pole plates. However, as above, a lower limit (e.g., 2.0 mm) may apply, such that if the average thickness of the ferromagnetic workpieces 102 is less than the lower limit (i.e., <2.0 mm), the width 214 may be configured to be the lower limit (i.e., 2.0 mm).

[0062] In embodiments, by varying the depth 216 and / or width 218 of the recess 210, different shallow magnetic fields can be generated by the same magnetic coupling device 100. In embodiments, to generate an appropriate shallow magnetic field for a particular ferromagnetic workpiece 102, the depth 216 and / or width 218 of the recess 210 can be approximately the same as (e.g., + / - 25%) the width 214 of the protrusion 206. For example, if the width 214 of the protrusion 206 is 2 mm, the depth 216 and / or width 218 of the recess 210 can be approximately 2 mm (e.g., 2 mm + / - 25%). In embodiments, this generates a strong shallow magnetic field at a depth of 0 mm to 2 mm from the contact interface 212. However, as above, there may be a limit to generating a preferred shallow magnetic field for some ferromagnetic workpieces 102 having thicknesses below a certain limit. That is, for a ferromagnetic workpiece 102 having a thickness less than X mm, a preferred shallow magnetic field may be generated by a depth 216 and width 218 that is at but above the lower limit of X mm. That is, to generate a favorable magnetic field for a ferromagnetic workpiece 102 having a thickness of ½*X mm, the depth 216 and width 218 may be a lower limit of X mm instead of + / −25% of ½*X mm. However, if the thickness of the ferromagnetic workpiece 102 is X mm or greater, the depth 216 and width 218 may be approximately equal to the thickness of the ferromagnetic workpiece 102 (e.g., + / −25%).

[0063] Similar to the above, when a magnetic coupling device 100 including a pole plate 200 is coupled to ferromagnetic workpieces 102 having different thicknesses, a pole plate 200 having a depth 216 and / or width 218 of the recess 210 that is an average of the thickness of the ferromagnetic workpiece 102 may be used to reduce the need to change the pole plate. Additionally, a lower limit (e.g., 2.0 mm) may apply such that if the average thickness of the ferromagnetic workpiece 102 is less than the lower limit (i.e., <2.0 mm), the depth 216 and width 218 may be configured to be at the lower limit (i.e., 2.0 mm).

[0064] The pole plate 200 may be releasably coupled to the magnetic coupling device 100. Thus, when the protrusion 206 of the pole plate 200 does not have a width 214, depth 216, and / or width 218 appropriate for the ferromagnetic workpiece 102 to which the magnetic device 100 is coupled, the pole plate 200 may be replaced with a more appropriate pole plate 200.

[0065] 8 is a side view of a portion of another exemplary portion of a plate 300 that can be used as plate 106. Similar to plate 200 shown in FIG. 7, plate 300 includes a plurality of protrusions 306 disposed on a bottom portion 308 of plate 300. Each of protrusions 306 is separated by a recessed portion 310. The plurality of protrusions 306 collectively form a workpiece contact interface 312 of plate 300.

[0066] Similar to the above, by varying the width 314 of the protrusions 306 and / or the depth 316 and / or width 318 of the recesses 310, different shallow magnetic fields will be generated by the same magnetic coupling device 100. In embodiments, to generate an appropriate shallow magnetic field for a particular ferromagnetic workpiece 102, the width 314 of the protrusions 306 and / or the depth 316 and / or width 318 of the recesses 310 may be approximately the same (e.g., + / - 25%) as the thickness of the ferromagnetic workpiece 102 being coupled to the magnetic coupling device 100. However, in at least one embodiment, there may be a limit on generating a preferred shallow magnetic field for some ferromagnetic workpieces 102 having thicknesses below a limit. That is, for a ferromagnetic workpiece 102 having a thickness less than X mm, a preferred shallow magnetic field may be generated by a width 314, depth 316, and / or width 318 that is at the lower limit of X mm but is greater than or equal to the lower limit. That is, to generate a favorable magnetic field for a ferromagnetic workpiece 102 having a thickness of ½*X mm, width 314, depth 316, and / or width 318 may be at a lower limit of X mm instead of + / −25% of ½*X mm. However, if the thickness of the ferromagnetic workpiece 102 is X mm or greater, width 314, depth 316, and / or width 318 may be approximately equal to (e.g., + / −25%) the thickness of the ferromagnetic workpiece 102. An example of a lower limit may be in the range of 0 mm to 2 mm. However, this is merely an example and is not meant to be limiting.

[0067] Alternatively, when a magnetic coupling device including pole plate 300 is coupled to ferromagnetic workpieces 102 having different thicknesses, pole plate 300 having width 314, depth 316, and / or width 318 that is approximately the average of the thickness of ferromagnetic workpiece 102 may be used to reduce the need to change pole plates. However, similar to above, if the average thickness of ferromagnetic workpiece 102 is less than the lower limit (i.e., <2.0 mm), a lower limit (e.g., 2.0 mm) may apply, such that width 314, depth 316, and / or width 318 may be configured to be at the lower limit (i.e., 2.0 mm).

[0068] 9 , the recesses 310 between the protrusions 306 may have a continuous sloped profile (the slope is defined at all points and there are no sharp corners) at their upper ends. The curved recesses 310 may have a higher magnetic flux transfer to the ferromagnetic workpiece 102 than a magnetic coupling device including pole plates with recesses having sharp corners. In an embodiment, to provide high magnetic flux transfer, the radius of curvature 324 of the curved recesses 310 may be about ½ the width 318 of the recesses 310. Test data indicates that an improvement of over 3% can be obtained by including a sloped profile in the recesses 310 that is ½ the width 318 of the recesses 324.

[0069] 10 is a side view of a portion of another exemplary electrode plate 400 that can be used as electrode plate 106. Similar to electrodes 200, 300 shown in FIGS. 6 and 7, respectively, electrode plate 400 includes a plurality of projections 406 disposed on a bottom portion 408 of electrode plate 400. Each of projections 406 is separated by a recess 410. The plurality of projections 406 collectively form a workpiece contact interface 412 of electrode plate 400.

[0070] Similar to the above, by varying the width 414 of the protrusions 406 and / or the depth 416 and / or width 418 of the recesses 410, different shallow magnetic fields will be generated by the same magnetic coupling device 100. In embodiments, the width 414 of the protrusions 406 and / or the depth 416 and / or width 418 of the recesses 410 may be varied to generate an appropriate shallow magnetic field for a particular ferromagnetic workpiece 102. The depth 416 and / or width 418 of the ferromagnetic workpiece 102 may be approximately the same (e.g., + / - 25%) as the thickness of the ferromagnetic workpiece 102. However, in at least one embodiment, there may be a limit on generating a favorable shallow magnetic field for some ferromagnetic workpieces 102 having thicknesses below a certain limit. That is, for ferromagnetic workpieces 102 having a thickness less than X mm, a favorable shallow magnetic field may be generated by a width 414, depth 416, and / or width 418 that is at the lower limit of, but greater than or equal to, X mm. That is, to generate a favorable magnetic field for a ferromagnetic workpiece 102 having a thickness of ½*X mm, the width 414, depth 416, and / or width 418 may be at the lower limit of X mm instead of + / - 25% of ½*X mm. However, if the thickness of the ferromagnetic workpiece 102 is X mm or greater, the width 414, depth 416, and / or width 418 may be approximately equal (e.g., + / - 25%) to the thickness of the ferromagnetic workpiece 102. An example lower limit may be in the range of 0 mm to 2 mm, however this is merely an example and is not meant to be limiting.

[0071] Alternatively, when a magnetic coupling device including pole plate 400 is coupled to ferromagnetic workpieces 102 having different thicknesses, pole plate 400 having width 414, depth 416, and / or width 418 that is an average of the thickness of the ferromagnetic workpieces 102 may be used to reduce the need to change pole plates. However, similar to above, if the average thickness of the ferromagnetic workpieces 102 is less than the lower limit (i.e., <2.0 mm), a lower limit (e.g., 2.0 mm) may apply, such that width 414, depth 416, and / or width 418 may be configured to be at the lower limit (i.e., 2.0 mm).

[0072] In embodiments, the pole plate 400 may also include a compressible member 420 disposed between the protrusions 406 at the recesses 410. In embodiments, when a magnetic device 100 including the pole plate 400 is coupled to a ferromagnetic workpiece 102, the compressible member 420 compresses. The compression of the compressible member 420 creates a static friction between the compressible member 420 and the ferromagnetic workpiece 102 that is potentially greater than the static friction between the protrusions 406 and the ferromagnetic workpiece 102. Thus, a ferromagnetic workpiece 102 coupled to a magnetic device 100 including the pole plate 400 may be less likely to rotate and translate than if the ferromagnetic workpiece 102 were coupled to a pole plate that does not include the compressible member 420. In embodiments, the compressible member 420 may be composed of a resilient material, such as a polymer of isoprene, polyurethane, nitrile rubber, and / or the like.

[0073] 11A-11B illustrate another exemplary electrode plate 500 that can be used as electrode plate 106. Similar to electrodes 200, 300, and 400 shown in FIGS. 7, 8, and 10, electrode plate 500 includes a plurality of protrusions 502 disposed on a bottom portion 504 of electrode plate 500. Each of the protrusions 502 is separated by a recess 506. The plurality of protrusions 502 collectively form a workpiece contact interface 508 of electrode plate 500.

[0074] As shown, workpiece contact interface 508 is non-planar. In embodiments, a non-planar workpiece contact interface 508 may facilitate coupling magnetic coupling device 100 to a ferromagnetic workpiece having a non-planar surface. For example, magnetic coupling device 100 including pole plate 500 may be used to couple magnetic coupling device 100 to one or more types of rods, shafts, etc. (e.g., camshafts). Although workpiece contact interface 508 includes curved surface 510, workpiece contact interface 508 may have any other type of non-planar surface. For example, workpiece contact interface 508 may include a contour similar to the ferromagnetic piece with which a magnetic coupling device including workpiece contact interface 508 is intended to couple.

[0075] Despite having a non-planar workpiece contact interface 508, different shallow magnetic fields can be generated by the same magnetic coupling device by varying the width 512 of the protrusions 502 and / or the depth 514 and / or width 516 of the recesses 506. In embodiments, to generate an appropriate shallow magnetic field for a particular ferromagnetic workpiece 102, the width 512 of the protrusions 502 and / or the depth 514 and / or width 516 of the recesses 506 may be approximately the same as the thickness of the ferromagnetic workpiece 102 (e.g., + / - 25%). However, in at least one embodiment, there may be a limit on generating a preferred shallow magnetic field for some ferromagnetic workpieces 102 having thicknesses below a certain limit. That is, for a ferromagnetic workpiece 102 having a thickness less than X mm, a preferred shallow magnetic field may be generated by a width 512, depth 514, and / or width 516 that is at the lower limit of X mm but is greater than or equal to the lower limit. That is, to generate a favorable magnetic field for a ferromagnetic workpiece 102 having a thickness of ½*X mm, width 512, depth 514, and / or width 516 may be at a lower limit of X mm instead of + / −25% of ½*X mm. However, if the thickness of the ferromagnetic workpiece 102 is X mm or greater, width 512, depth 514, and / or width 516 may be approximately equal to (e.g., + / −25%) the thickness of the ferromagnetic workpiece 102. An example of a lower limit may be in the range of 0 mm to 2 mm. However, this is merely an example and is not meant to be limiting.

[0076] Alternatively, when a magnetic coupling device including pole plate 500 is coupled to ferromagnetic workpieces 102 having different thicknesses, pole plate 500 having width 512, depth 514, and / or width 516 that is an average of the thickness of ferromagnetic workpiece 102 may be used to reduce the need to change pole plates. However, similar to above, if the average thickness of ferromagnetic workpiece 102 is less than the lower limit (i.e., <2.0 mm), a lower limit (e.g., 2.0 mm) may apply, such that width 512, depth 514, and / or width 516 may be configured to be at the lower limit (i.e., 2.0 mm).

[0077] 12A-12B illustrate another exemplary electrode plate 550 that can be used as electrode plate 106. Similar to electrodes 200, 300, 400, and 500 shown in FIGS. 7, 8, 10, and 11A-11B, electrode plate 550 includes a plurality of projections 552 disposed on a bottom portion 554 of electrode plate 550. Each of projections 552 is separated by a recessed portion 556. The plurality of projections 552 collectively form a workpiece contact interface 558 of electrode plate 550.

[0078] As shown, workpiece contact interface 558 is non-planar. In embodiments, a non-planar workpiece contact interface 558 may facilitate coupling magnetic coupling device 100 to a ferromagnetic workpiece having a non-planar surface. For example, a magnetic coupling device including pole plate 550 may be used to couple magnetic coupling device 100 to one or more edges, corners, etc. of a ferromagnetic workpiece. Workpiece contact interface 558 includes two downwardly sloping surfaces 560 extending from a center point 562, although workpiece contact interface 558 may have any other type of non-planar surface. For example, workpiece contact interface 558 may include a contour similar to the ferromagnetic piece with which a magnetic coupling device including workpiece contact interface 558 is intended to couple.

[0079] Despite having a non-planar workpiece contact interface 558, different shallow magnetic fields can be generated by the same magnetic coupling device by varying the width 564 of the protrusions 552 and / or the depth 566 and / or width 568 of the recesses 556. In embodiments, the width 564 of the protrusions 552 and / or the depth 566 and / or width 568 of the recesses 556 can be varied to generate an appropriate shallow magnetic field for a particular ferromagnetic workpiece 102. The width 564, depth 566, and / or width 568 may be approximately the same as (e.g., + / - 25%) the thickness of the ferromagnetic workpiece 102. However, in at least one embodiment, there may be a limit on generating a favorable shallow magnetic field for some ferromagnetic workpieces 102 having thicknesses below a certain limit. That is, for ferromagnetic workpieces 102 having a thickness less than X mm, a favorable shallow magnetic field may be generated by width 564, depth 566, and / or width 568 that is at the lower limit of, but greater than or equal to, X mm. That is, to generate a favorable magnetic field for a ferromagnetic workpiece 102 having a thickness of ½*X mm, width 564, depth 566, and / or width 568 may be at the lower limit of X mm instead of + / - 25% of ½*X mm. However, if the thickness of the ferromagnetic workpiece 102 is X mm or greater, width 564, depth 566, and / or width 568 may be approximately equal to (e.g., + / - 25%) the thickness of the ferromagnetic workpiece 102. An example lower limit may be in the range of 0 mm to 2 mm, however this is merely an example and is not meant to be limiting.

[0080] Alternatively, when a magnetic coupling device including pole plate 550 is coupled to ferromagnetic workpieces 102 having different thicknesses, pole plate 550 having width 564, depth 566, and / or width 568 that is average of the thickness of ferromagnetic workpiece 102 may be used to reduce the need to change pole plates. However, similar to above, if the average thickness of ferromagnetic workpiece 102 is less than the lower limit (i.e., <2.0 mm), a lower limit (e.g., 2.0 mm) may apply, such that width 564, depth 566, and / or width 568 may be configured to be at the lower limit (i.e., 2.0 mm).

[0081] 13 is a side view of a portion of an exemplary protrusion 206. As shown, each protrusion 206 may itself include a protrusion 206'. The protrusion 206' may further increase the shallow magnetic field and decrease the far-field magnetic field compared to if the protrusion 206 did not include the protrusion 206'. In an alternative embodiment, the protrusion 206 may not include the protrusion 206'.

[0082] Other properties of the plates are described in U.S. Provisional Patent Application No. 62 / 623,407, filed January 29, 2018, entitled "MAGNETIC LIFTING DEVICE HAVING POLE SHOES WITH SPACED APART PROJECTIONS," Attorney Docket No. MTI-0015-01-US-E, the entire disclosure of which is expressly incorporated herein by reference.

[0083] In view of reviewing the foregoing disclosure of FIGS. 7-13, the following average separation forces for various types of plates 106 are provided in the table below.

[0084] [Table 1]

[0085] 14, an exemplary robotic system 600 is illustrated. Although the robotic system 600 is illustrated in FIG. 14, the embodiments described therein may be implemented in other types of machines (e.g., crane hoists, pick-and-place machines, robotic fixtures, etc.). , etc.).

[0086] The robotic system 600 includes an electronic controller 136. The electronic controller 136 includes additional logic stored in associated memory 142 for execution by the processor 140. A robot movement module 602 is included that controls movement of a robotic arm 604. In the illustrated embodiment, the robotic arm 604 includes a first arm segment 606 that is rotatable relative to a base about a vertical axis. The first arm segment 606 is movably coupled to a second arm segment 608 through a first joint 610, such that the second arm segment 608 can be rotated relative to the first arm segment 606 in a first direction. The second arm segment 608 is movably coupled to a third arm segment 611 through a second joint 612, such that the third arm segment 611 can be rotated relative to the second arm segment 608 in a second direction. The third arm segment 611 is movably coupled to the fourth arm segment 614 through a third joint 616, such that the fourth arm segment 614 can be rotated relative to the third arm segment 611 in a third direction, and the orientation of the fourth arm segment 614 relative to the third arm segment 611 can be changed by a revolute joint 618. The magnetic coupling device 100 is illustratively shown fixed to the end of the robot arm 604. The magnetic coupling device 100 is used to couple a ferromagnetic workpiece 102 (not shown) to the robot arm 604.

[0087] In one embodiment, the electronic controller 136, running the processor 140 executing the robot transfer module 602, moves the robot arm 604 to a first pose, where the magnetic coupling device 100 contacts the ferromagnetic workpiece 102 at a first location. The electronic controller 136, running the processor 140 executing the control logic 144, commands the magnetic device 100 to transition from a first OFF state to a second ON state or a third ON state to couple the ferromagnetic workpiece 102 to the robot system 600. The electronic controller 136, running the processor 140 executing the robot transfer module 602, moves the ferromagnetic workpiece 102 from the first location to a second, desired, spaced-apart location. Once the ferromagnetic workpiece 102 is in the desired second position, the electronic controller 136, running the processor 140 executing the control logic 144, commands the magnetic coupling device 100 to transition from the second ON state to the first OFF state to decouple the ferromagnetic workpiece 102 from the robot system 600. The electronic controller 136 then repeats the process of coupling, moving, and decoupling another ferromagnetic workpiece 102 .

[0088] In an embodiment, the control logic 144 may also determine the presence, absence, or other characteristics of the ferromagnetic workpiece 102 associated with the magnetic coupling device 100. To do so, the magnetic coupling device 100 may include one or more magnetic field sensors. Referring to FIG. 15 , a representative top cross-sectional view of the magnetic coupling device 100 is illustrated, including magnetic field sensors 702. The magnetic field sensors 702 are positioned as described herein, with a first magnetic field sensor 702A positioned on a left half 704 of the magnetic coupling device 100 and a second magnetic field sensor 702B positioned on a right half 706 of the magnetic coupling device 100. In addition, a third magnetic field sensor 702C is positioned on a front half 708 of the magnetic coupling device 100, and a fourth magnetic field sensor 702D is positioned on a rear half 710 of the magnetic coupling device 100. The front half 708 includes a first portion 712 of the left half 704 and a first portion 714 of the right half 706. The rear half 710 includes a second portion 716 of the left half 704 and a second portion 718 of the right half 706. The addition of the third and fourth magnetic field sensors 702C, 702D provides additional sensor values ​​that can be used to determine various operating conditions of the magnetic coupling device 100. For example, the control logic 144, based on the output of the four magnetic field sensors, can determine the orientation of the workpiece contact interface 104 relative to the ferromagnetic workpiece 102 in two axes of rotation, such as left-to-right tilt and front-to-right tilt. It can be determined.

[0089] Turning now to the functional blocks of the control logic 144, the simplest information required about the magnetic coupling device 100 is its switching state, i.e., whether the unit is in a partial on-state, such as a first off-state, a second on-state, or a third on-state. In the first off-state, the magnetic coupling device 100 has very little or no leakage flux. In the second on-state, even on a nearly complete magnetic actuation circuit with the ferromagnetic workpiece 102, the magnetic coupling device 100 has significantly more leakage flux than in the first off-state. Thus, during the calibration process, one or more readings of the first magnetic field sensor 702 in the off state of the magnetic coupling device 100 may be stored as calibrated or hard-coded values ​​in the memory 142 (see FIG. 15 ) associated with the processor 140 of the control logic 144, and when the magnetometer reading exceeds this first off state value or experiences some offset above this off state value, the magnetic coupling device 100 may be considered to be in a partial on state, such as a second on state or a third on state. When the magnetometer reading is at or near the calibration stored value, the magnetic coupling device 100 may be considered to be in the first off state. In embodiments, through a calibration process, one or more readings of the first magnetic field sensor 702 that are in a desired partial on state may be stored in memory 142 as calibration or hard-coded values, and when the magnetometer reading rises to or within a certain percentage of a particular stored reading, the magnetic coupling device 100 may be considered to be in a corresponding partial on state, such as a third on state. In some embodiments, the magnetic field sensor 702 may be supplemented with one or more position sensors that are used to determine the position of the magnetic platter 112 to calibrate the magnetic coupling device 100.

[0090] When the magnetic coupling device 100 is in the ON state, another function block in the control logic 144 can be used to determine whether there is a ferromagnetic workpiece 102 beneath only the left half 704, only the right half 706, or both the left half 704 and the right half 706. If there is no target portion for the magnetic coupling device 100 to magnetically attach to (see FIG. 16), there is no "true" (i.e., externally actuated) magnetic circuit through the pole plates 106 (see FIG. 1B). Assuming any workpiece 102 is far enough away from the pole plates 106 so as not to distort the magnetic field, the magnetic flux will spread through the air between the pole portions 116 (in FIG. 1B), effectively representing leakage flux. This also causes high leakage flux to be present at the magnetic field sensor 702. By storing this "maximum leakage flux" for a given second on state, or partial on state such as a third on state, in the memory 142 associated with the processor 140 of the control logic 144, either hard-coded (assuming this value remains unchanged) during normal operation of the magnetic coupling device 100, or from a calibration run, it is possible to determine whether a ferromagnetic workpiece 102 is present by placing the magnetic coupling device 100 in a partial state such as the second state or third state at a state corresponding to the stored "maximum leakage flux" reference value and comparing the output of the current sensor with the stored "maximum leakage flux" reference value for the on state or partial on state.

[0091] In addition to detecting the presence or absence of the workpiece 102, the logical control logic 144 may also provide an indication of the spacing of the workpiece contact interface 104 from the workpiece 102 when the presence of the ferromagnetic workpiece 102 is detected (the current sensor value is below the "maximum leakage flux" stored for presence detection). In an embodiment, the control logic 144 is configured to determine whether the workpiece contact interface 104 is in proximity to the ferromagnetic workpiece 102. In one example, the control logic 144 may detect the workpiece contact interface 104 when the current value of the corresponding sensor 702 falls below a threshold value. The magnetic coupling unit 100 determines whether the magnetic coupling unit 100 is in proximity to the workpiece 102. The threshold value may be determined during a calibration run and stored in memory 142 and may correspond to a known spacing between the workpiece contact interface 104 and the workpiece 102 (see FIG. 17). In one embodiment, multiple threshold values ​​are stored in memory 142, each corresponding to a respective known spacing. The multiple stored threshold values ​​enable the control logic 144 to provide a better approximation of the spacing between the workpiece contact interface 104 and the workpiece 102 and to distinguish between a first spacing (see FIG. 17) and a second, smaller spacing (see FIG. 18). Among other advantages, the ability to accurately determine workpiece proximity allows the robot system 600 (see FIG. 14) to move at a higher speed until the magnetic coupling unit 100 is within a first spacing from the workpiece 102, and then move at a lower speed until contact is made with the workpiece 102. In embodiments, for the various calibration runs and values ​​discussed herein, separate calibration runs or values ​​are taken for different types of ferromagnetic materials due to the fact that target sensor readings may differ based on the respective size, shape, material, etc. of the target ferromagnetic workpiece.

[0092] In an embodiment, the control logic 144 is configured to determine the orientation of the first workpiece contact interface 104 and the second workpiece contact interface 104 relative to the ferromagnetic workpiece 102. In one example, the orientation of the left half 704 of the workpiece contact interface 104 and the right half 706 of the workpiece contact interface 104 relative to the ferromagnetic workpiece 102 is determined by comparing the output of the first magnetic field sensor 702A and the output of the second magnetic field sensor 702B. A first spacing between the left half 704 of the workpiece contact interface 104 and the ferromagnetic workpiece 102 and a second spacing between the right half 706 of the workpiece contact interface 104 and the ferromagnetic workpiece 102 are determined by the control logic 144 to be generally equal when the output of the first magnetic field sensor 702A and the output of the second magnetic field sensor 702B meet a first criterion. In one example, the first criterion is that the output of the first magnetic field sensor 702A is within a threshold amount of the output of the second magnetic field sensor 702B. An example of the threshold amount is an absolute difference. In another example, the threshold amount is a percentage difference. When the first criterion is met, the left and right halves 704, 706 of the workpiece contact interface 104 are generally equally spaced relative to the workpiece 102 (see FIG. 18). When the first criterion is not met, the left and right halves 704, 706 of the workpiece contact interface 104 are angled relative to the workpiece 102 (see FIG. 19). As shown in FIG. 15, when third and fourth magnetic field sensors are incorporated, in addition to the angle about the roll axis shown in FIG. 19, the angle about the pitch axis (see FIG. 20) can also be determined. Additionally or alternatively, the incorporation of a three-dimensional magnetic flux sensor can determine the angle about the pitch axis (see FIG. 20) and / or the angle about the roll axis shown in FIG. 19.

[0093] In addition to these device status and workpiece detection functions, the presence and specific location of at least two magnetic field sensors 702 at designated locations on the pole plate 106 provides more advanced feedback, as the situation-dependent, potentially non-uniform, distribution of leakage flux around the individual pole segments 116 of the pole plate 106 can be sampled, compared, and evaluated.

[0094] Second, in an embodiment, in an ON state of the magnetic coupling device 100 (equally applicable to the known partial ON state), if the left half 704 of the workpiece contact interface 104 of the pole plate 106 is in good contact with the ferromagnetic workpiece 102, but the right half 706 of the workpiece contact interface 104 is in poor contact with the workpiece 102 (see FIG. 21 ), there will be more leakage flux in the right half 706 than in the left half 704. The first magnetic field sensor 702A on the left half 704 and the second magnetic field sensor 702B on the right half 706 Sensor 702B on the right half 706 can detect this condition, with sensor 702B on the right half 706 returning a higher reading than sensor 702A on the left half 704. In one example, bidirectional Hall effect sensors are used for the sensors 702. Thus, by reading each sensor 702 separately and comparing the readings between them, the control logic 144 can determine that the right half 706 is insufficiently in contact with the workpiece 102. In an embodiment, the control logic 144 has functional blocks for making such an evaluation and can be implemented in hardware and microprocessor software. In one example, the control logic 144 determines that the right half 706 is insufficiently in contact when the difference between the readings of sensor 702A and sensor 702B exceeds a stored threshold amount. In another example, the control logic 144 determines that the right half 706 is insufficiently in contact when the difference between the reading of sensor 702B and a known, stored value is less than a threshold, where the known, stored value may be determined during calibration of the magnetic coupling device 100.

[0095] In an embodiment, the control logic 144 is configured to determine whether the positioning of the left half 704 of the workpiece contact interface 104 and the right half 706 of the workpiece contact interface 104 relative to the ferromagnetic workpiece 102 is within a target zone 802 on the ferromagnetic workpiece 102 (see FIGS. 22-24). In one example, the positioning of the left half 704 of the workpiece contact interface 104 and the right half 706 of the workpiece contact interface 104 relative to the ferromagnetic workpiece 102 is determined by the control logic 144 to be within the target zone 802 ( FIGS. 22-24 ) of the ferromagnetic workpiece 102 when the output of the first magnetic field sensor 702A meets a first criterion and the output of the second magnetic field sensor 702B meets a second criterion. An exemplary first criterion is that the output of the first magnetic field sensor 702A is within a first range of magnetic flux values, and an exemplary second criterion is that the output of the second magnetic field sensor 702B is within a second range of magnetic flux values.

[0096] 22-24 , a target zone 802 is illustrated. The workpiece 102 is illustrated as a sheet of material having a right edge 804 and a left edge 806. The target zone 802 is a portion of the workpiece 102 between a first offset 808 from the right edge 804 of the workpiece 102 and a second offset 810 from the left edge 806 of the workpiece 102. In one example, as the magnetic coupling device 100 approaches and / or exceeds the second offset 810, the leakage flux associated with the left half 704 of the workpiece contact interface 104 is higher than the leakage flux associated with the right half 706 of the workpiece contact interface 104 due to the left half 704 of the workpiece contact interface 104 being closer to the left edge 806 of the workpiece 102. Similarly, as the device 100 approaches and / or exceeds the first offset 808, the leakage flux associated with the right half 706 of the workpiece contact interface 104 is higher than the leakage flux associated with the left half 704 of the workpiece contact interface 104 because the right half 706 of the workpiece contact interface 104 is closer to the right edge 804 of the workpiece 102. Although shown as a linear target zone 802, a two-dimensional target zone 802 may be defined relative to the length and width of the ferromagnetic workpiece 102. In one example, a calibration run is performed in which the device 100 is positioned at each of the first limit 808 (see FIG. 24) and the second limit 810 (see FIG. 23), and the corresponding leakage flux values ​​of the magnetic flux sensors 702A, 702B at both limits are stored in memory 142. The two leakage flux values ​​stored for the first limit position (see FIG. 24) are stored in memory 142 as "limit position 1" (two values, one for each sensor 702A, 702B). The two leakage flux values ​​stored for the second limit position (see FIG. 23) are stored in memory 142 as "limit position 2" (two values, one for each sensor 702A, 702B). In an embodiment, the first range of the first criterion is a range of values ​​between and including limit position 1 and limit position 2 for one of the magnetic field sensors 702A, 702B. and a second range of the second criterion is values ​​between and including limit position 1 and limit position 2 for the other of the magnetic field sensors 702A, 702B. Assuming the first range of values ​​corresponds to the left half 704 of the workpiece contact interface 104 and the second range of values ​​corresponds to the right half 706 of the workpiece contact interface 104, control logic 144 determines that the left end of the magnetic coupling device 100 is located outside of the target zone 802 when the second criterion is met and the first criterion is not met, and similarly, determines that the right end of the magnetic coupling device 100 is located outside of the target zone 802 when the first criterion is met and the second criterion is not met.

[0097] In an embodiment, the use (storage) of "Limit Position 1 and Limit Position 2" calibration values ​​in memory 142 allows the device user to calibrate the ferromagnetic workpiece 102 current signal to only turn on when a specific magnetic actuation circuit is formed (if calibrated as the same position) or within the range of the magnetic actuation circuit (if calibrated as two different positions). The left and right halves 704, 706 of the workpiece contact interface 104 can be equal to the "maximum leakage" position of Limit Position 1 / 2 or outside it at a greater leakage position. These calibrations enable so-called double blank detection (DBD) and part-specific or range-specific confirmation. The freedom of the left and right halves 704, 706 of the workpiece contact interface 104 to be outside the limit positions is intended to give the user more freedom, especially when they land near the edge of thinner steel sheets.

[0098] In embodiments, this multi-sensory approach can also be used to provide additional device status data. In the above situation, not only can the two sensor readings be compared to determine the general state of the magnetic coupling device 100 and the presence or absence of a ferromagnetic workpiece 104 near the workpiece contact interface 104, but more differentiated and accurate magnetic field measurements can be obtained from each sensor 702 when in proximity to the ferromagnetic workpiece 102 (i.e., presence has already been detected, but proximity has not yet been quantified), and calculations can be performed on the signal values ​​of each sensor 702 and the difference values ​​between the magnetometer readings to determine the orientation of the magnetic coupling device 100 relative to the ferromagnetic workpiece 102, such as at what angle the magnetic gripper containing the device 100 is sitting relative to the flat ferromagnetic workpiece 102.

[0099] Taking this a step further, by using calibration runs of the magnetic coupling device 100 with predefined ferromagnetic workpieces 102 having known parameters (size, shape, material, etc.) and storing in memory 142 evaluation circuit data obtained from processing sensor 702 output signals during various calibration runs, it is possible to fully determine the orientation and distance to the target surface of the ferromagnetic workpiece 102 relative to the position of the magnetic coupling device 100 even before the workpiece contact interface 104 contacts the ferromagnetic workpiece 102, particularly if additional magnetic field sensors are placed in locations other than previously specified locations, as shown in FIG. 15 . Because the magnetic coupling device 100 emits leakage flux in any state, even in the off state, a highly sensitive sensor can respond to small variations in leakage flux emanating from the pole plate 106 at the sensor detection surface in the off state. As the magnetic coupling device 100 in the off state or in a known partially on state approaches the ferromagnetic workpiece 102, an appropriately sensitive magnetometer can then deliver a signal that can indicate proximity to the component and be converted into a control signal for the robot arm 600, which acts as a kind of “vision” for an otherwise blind robot. As another example, a suitably sensitive magnetometer can assist a robot arm 600 that can determine its two-dimensional position only by determining the distance between the magnetic coupling device 100 and the ferromagnetic workpiece 102 (e.g., the depth between the two). Thus, the robot arm 600 can move the magnetic coupling device 100 close to the ferromagnetic workpiece 102 while avoiding collisions (e.g., For example, it can be programmed to slow down (directly or indirectly).

[0100] For example, assuming there are four magnetometers in total, one on the flux sensing surface of the left half side 704 of the workpiece contact interface 104, one on the flux sensing surface of the right half side 706 of the workpiece contact interface 104, as described above, and two additional sensors at other locations as shown in FIG. 15 , when the magnetic coupling device 100 is moved toward the ferromagnetic workpiece 102, bringing one of the sensors 702 closer (in absolute terms) than the other sensors 702, the leakage magnetic flux lines near that sensor 702 increase in density and become more focused toward the ferromagnetic workpiece 102. In moving the magnetic coupling device 100 closer to the ferromagnetic workpiece 102 (without changing the spatial orientation and translational direction of the magnetic coupling device 100 coupled to the end of the arm of the robot 600), the magnetic flux lines are redistributed more strongly across the magnetic coupling device 100, and the density of the magnetic flux lines on the nearest sensor 702 is inversely proportional to the distance between the sensor 702 and the ferromagnetic workpiece 102. This produces a higher reading in the magnetometer above the proximity sensor 702. By comparing the output of the proximity magnetometer with the signal outputs from the other three magnetometers, and by evaluating the data, it is possible to know where and how close the ferromagnetic workpiece 102 is to the working surface of the magnetic coupling device 100, given the known spatial relationship between the sensor 702 and the working surface of the workpiece contact interface 104. As another example, one or more three-dimensional magnetometers can be used to determine how close the ferromagnetic workpiece 102 is to the working surface of the magnetic coupling device 100.

[0101] In performing accurate calculations on the outputs of the magnetometers on the magnetic coupling device 100, other functions can be enabled when the magnetic flux source is turned on and contact is established with the ferromagnetic workpiece 102. There is a direct relationship between the amount of magnetic flux in the active magnetic circuit and the amount of physical force the active magnetic circuit can withstand, which in the case of the magnetic coupling device 100 corresponds to the device's 100 payload. Because leakage flux from the permanent magnets depends on the amount of magnetic flux "consumed" (i.e., bound) in the primary actuation circuit, there is a correlation between leakage flux and the maximum payload that can be sustained by the magnetic coupling device 100. The processor 140 of the control logic 144, in one embodiment, can be programmed with appropriate equations to perform a calibration run so that the combined readings of the magnetometers on the magnetic coupling device 100 can be used to derive a more accurate holding force for the magnetic coupling device 100 than for known devices. This can be used as a "safety check" to ensure (i) the magnetic coupling device 100 is capable of lifting the ferromagnetic workpiece 102 before it is moved by the robot 600, (ii) that the magnetic coupling device 100 is operating at full capacity, and / or (iii) that the magnetic coupling device 100 is operating without damage or degradation. Additionally or alternatively, these methods can be used for part-specific detection and / or detection of a range of thicknesses of the ferromagnetic workpiece 102.

[0102] In all of these situations, the processor 140 of the control logic 144 is responsible for accepting input from each of the magnetometers 702 of the magnetic coupling device 100 and performing calculations and comparisons. The processor 140 then determines various device states based on the calculations. In an embodiment, the device 100 communicates the determined device states and feedback points to a robotic controller (e.g., 136 in FIG. 14 ), which is processed by either a 24V I / O or communications module (not shown). Once the feedback is communicated to the robotic controller 136, the robotic controller 136 can then adjust the orientation and operation of the device 100 to address challenges or issues during operation.

[0103] The control logic 144 is controlled by the on-board processor 140 of the magnetic coupling device 100. It will be appreciated that the system includes the components necessary to separate, filter, and amplify the signals provided by the sensors for processing by the system.

[0104] Additional details and embodiments regarding sensing capabilities and sensor arrangements that may be incorporated into magnetic coupling device 100 are disclosed in PCT Patent Application No. PCT / US18 / 29786, filed April 27, 2018, entitled "MAGNETIC COUPLING DEVICE WITH AT LEAST ONE OF A SENSOR ARRANGEMENT AND A DEGAUSS CAPABILITY," the entire disclosure of which is expressly incorporated herein by reference.

[0105] Various modifications and additions can be made to the exemplary embodiments discussed without departing from the scope of the present disclosure. For example, while the above embodiments refer to particular features, the scope of the present invention also includes embodiments having different combinations of features and embodiments that do not include all of the described features. Accordingly, the scope of the present invention is intended to embrace all such alternatives, modifications, and variations as fall within the scope of the claims, together with all equivalents thereof.

Claims

1. 1. A magnetic coupling device for magnetically coupling to a ferromagnetic workpiece, comprising: a housing having an axis extending between a first end of the housing and a second end of the housing; an iron piece spaced apart from the second end of the housing and positioned a first distance from the second end of the housing; a magnetic platter supported by the housing, the magnetic platter including a plurality of permanent magnet portions interposed between a plurality of ferromagnetic pole piece portions; a magnetic coupling device, the magnetic platter being linearly translatable within the housing along the axis to each of at least a first state and a second state, the magnetic platter being positioned adjacent to the ferrous piece such that when the magnetic platter is in the first state, the magnetic coupling device establishes a first magnetic circuit through the ferrous piece and provides a first magnetic field at a workpiece contact interface of the magnetic coupling device, and the magnetic platter being positioned spaced apart from the ferrous piece such that when the magnetic platter is in the second state, the magnetic coupling device provides a second magnetic field at the workpiece contact interface, the second magnetic field being stronger than the first magnetic field in the first state.

2. The magnetic coupling device of claim 1 , further comprising at least one non-ferromagnetic piece spaced apart from the second end of the housing a second distance from the second end of the housing.

3. The magnetic coupling device of claim 1 , wherein the magnetic platter translates a distance of 8 mm or less.

4. 2. The magnetic coupling device of claim 1, wherein the magnetic coupling device is linearly translatable to a third state, and the magnetic platter is positioned between the first state and the second state when the magnetic platter is in the third state.

5. The magnetic coupling device of claim 4 , wherein the housing includes a brake configured to hold the magnetic platter in the third state.

6. The magnetic coupling device of claim 1 , wherein the workpiece contact interface comprises a plurality of spaced apart protrusions.

7. The magnetic coupling device of claim 6 , wherein the workpiece contact interface releasably couples to the housing.

8. The magnetic coupling device of claim 1 , wherein the magnetic platter is releasably coupled to the housing.

9. The magnetic coupling device of claim 1 , wherein the workpiece contact interface has a quadrilateral footprint.

10. The magnetic coupling device of claim 9 , wherein the quadrilateral footprint is a rectangular footprint or a square footprint.

11. 10. The magnetic coupling device of claim 1, further comprising a sensing system supported by the housing, the sensing system including at least one sensor that monitors the level of magnetic flux available to the ferromagnetic workpiece at the workpiece contact interface.

12. The magnetic coupling device of claim 1 , further comprising an actuator configured to linearly translate the magnetic platter between the first state and the second state.

13. The magnetic coupling device of claim 12 , wherein the actuator is at least one of a pneumatic actuator, a hydraulic actuator, and an electric actuator.

14. The magnetic coupling device of claim 1 , wherein the iron piece spans multiple pole piece portions and / or multiple permanent magnet portions.

15. The magnetic coupling device of claim 12 or 13, further comprising a sensor that monitors the position of the actuator.

16. The magnetic coupling device of claim 1 , wherein the ferrous piece is spaced apart from the workpiece contact interface in both the first state of the magnetic coupling device and the second state of the magnetic coupling device.

17. The magnetic coupling device of claim 1 , wherein the iron piece is located within the housing.

18. A magnetic coupling device as described in claim 1, further comprising a shield, the shield extending vertically, the lower end of the magnetic platter being above the lower end of the shield in the first state and below the lower end of the iron piece in the second state.

19. 19. A method of coupling and decoupling a magnetic coupling device according to any one of claims 1 to 18 to a ferromagnetic workpiece, said method comprising: contacting the ferromagnetic workpiece with a workpiece engagement interface of the magnetic coupling device; moving a magnetic platter within a housing of the magnetic coupling device from a first separation from the workpiece engaging interface to a second separation from the workpiece engaging interface that is less than the first separation; moving the ferromagnetic workpiece from a first position to a second position using the magnetic coupling device; moving the magnetic platter from the workpiece engagement interface to a third separation to decouple the magnetic coupling device from the ferromagnetic workpiece and form a magnetic circuit through an iron piece within the housing, the third separation being greater than the second separation.

20. 1. A magnetic coupling device for magnetically coupling to a ferromagnetic workpiece, comprising: a housing having a cavity defining an axis; a magnetic platter supported by the housing, the magnetic platter being movable along the axis between a first position and a second position, the magnetic platter including a plurality of permanent magnet portions interposed between a plurality of ferromagnetic pole piece portions; a workpiece contact interface supported by the housing and adapted to contact the ferromagnetic workpiece; and an iron piece supported by the housing and magnetically accessible from the cavity, wherein with the magnetic platter in the first position, a first magnetic circuit is formed with the magnetic platter and the iron piece, and with the magnetic platter in the second position, a second magnetic circuit is formed independently of the iron piece with the magnetic platter and the ferromagnetic workpiece through the workpiece contact interface.

21. 1. A magnetic coupling device for magnetically coupling to a ferromagnetic workpiece, comprising: a housing that defines the axis; at least one permanent magnet supported by the housing, the at least one permanent magnet movable along the axis between a first position and a second position; a workpiece contact interface supported by the housing and adapted to contact the ferromagnetic workpiece; and an iron piece supported by and magnetically accessible from the housing, wherein with the at least one permanent magnet in the first position a first magnetic circuit is formed with the at least one permanent magnet and the iron piece, and with the at least one permanent magnet in the second position a second magnetic circuit is formed independently of the iron piece with the at least one permanent magnet and the ferromagnetic workpiece through the workpiece contact interface; The magnetic coupling device, wherein the iron piece is above a lower end of the at least one permanent magnet in the first position and the second position.

22. 22. The magnetic coupling device of claim 21, further comprising an actuator coupled to the at least one permanent magnet, the actuator operable to move the at least one permanent magnet between the first position and the second position.

23. The magnetic coupling device of claim 21 , wherein the at least one permanent magnet comprises a plurality of spaced apart permanent magnets.

24. The magnetic coupling device of claim 21 , wherein the housing supports at least one sensor.

25. The magnetic coupling device of claim 24 , wherein the at least one sensor is operable to determine magnetic flux through the workpiece contact interface.

26. The magnetic coupling device of claim 21 , wherein the workpiece contact interface comprises a plurality of spaced apart workpiece contact interfaces.

27. 22. The magnetic coupling device of claim 21, further comprising a brake supported by the housing, the brake operable to hold the at least one permanent magnet in a third position different from the first position and the second position.

28. 1. A magnetic coupling device for magnetically coupling to a ferromagnetic workpiece, comprising: a housing having a passageway defining a passageway axis; a plurality of protrusions, each of the plurality of protrusions received within the housing and having an exposed surface along a lower end of the housing to form a workpiece contact interface adapted to contact the ferromagnetic workpiece; a magnetic platter supported by the housing, the magnetic platter including a plurality of permanent magnet portions interposed between a plurality of ferromagnetic pole piece portions; the magnetic platter is linearly translatable within the housing along the passage axis to at least a first position corresponding to a first state and a second position corresponding to a second state; In the first state, the plurality of ferromagnetic pole piece portions are vertically offset from the plurality of protrusions, a first ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned vertically above a first protrusion of the plurality of protrusions, a second ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned vertically above a second protrusion of the plurality of protrusions and is fully horizontally offset from the first protrusion of the plurality of protrusions, and a third ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned vertically above a third protrusion of the plurality of protrusions and is fully horizontally offset from the second protrusion of the plurality of protrusions, and in the first state, a magnetic field generated by the magnetic coupling device is primarily confined within the magnetic coupling device; in the second state, the plurality of ferromagnetic pole piece portions are in contact with the plurality of protrusions, the first ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned vertically above and in contact with the first protrusion of the plurality of protrusions, the second ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned vertically above and in contact with the second protrusion of the plurality of protrusions, and the third ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned vertically above and in contact with the third protrusion of the plurality of protrusions and is fully horizontally offset relative to the first protrusion of the plurality of protrusions, and in the second state, a magnetic field created by the magnetic coupling device extends from the magnetic coupling device through the ferromagnetic workpiece; A magnetic coupling device, wherein when the magnetic platter is in the first state, the magnetic coupling device provides a first magnetic field to the workpiece contact interface of the magnetic coupling device, and when the magnetic platter is in the second state, the magnetic coupling device provides a second magnetic field to the workpiece contact interface, the second magnetic field being stronger than the first magnetic field in the first state.

29. 30. The magnetic coupling device of claim 28, wherein the plurality of permanent magnet portions and the plurality of ferromagnetic pole piece portions of the magnetic platter form a linear array.

30. 30. The magnetic coupling device of claim 28 or 29, further comprising an actuator configured to linearly translate the magnetic platter between the first state and the second state.

31. 31. The magnetic device of claim 30, wherein the actuator is at least one of a pneumatic actuator, a hydraulic actuator, and an electric actuator.

32. 32. The magnetic coupling device of claim 30 or 31, further comprising a sensor that monitors the position of the actuator.

33. 33. The magnetic coupling device of claim 28, wherein a lower surface of the first ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter coincides with an upper surface of the first protrusion of the plurality of protrusions, a lower surface of the second ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter coincides with an upper surface of the second protrusion of the plurality of protrusions, and a lower surface of the third ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter coincides with an upper surface of the third protrusion of the plurality of protrusions.

34. 30. The magnetic coupling device of claim 28, wherein the magnetic platter is only linearly translatable along the passage axis.

35. 2. The magnetic coupling device of claim 1, wherein the plurality of permanent magnet portions (114) of the magnetic platter are interposed between a plurality of ferromagnetic pole piece portions (116) of the magnetic platter, such that a first permanent magnet of the plurality of permanent magnet portions is positioned between a first pole piece portion of the plurality of ferromagnetic pole piece portions and a second pole piece portion of the plurality of ferromagnetic pole piece portions, a second permanent magnet of the plurality of permanent magnet portions is positioned between the second pole piece portion and a third pole piece portion of the plurality of ferromagnetic pole piece portions, and a third permanent magnet of the plurality of permanent magnet portions is positioned between the third pole piece portion and a fourth pole piece portion of the plurality of ferromagnetic pole piece portions.

36. 21. The magnetic coupling device of claim 20, wherein the plurality of permanent magnet portions (114) of the magnetic platter are interposed between a plurality of ferromagnetic pole piece portions (116) of the magnetic platter, such that the first permanent magnet of the plurality of permanent magnet portions is positioned between a first pole piece portion of the plurality of ferromagnetic pole piece portions and a second pole piece portion of the plurality of ferromagnetic pole piece portions, the second permanent magnet of the plurality of permanent magnet portions is positioned between the second pole piece portion and a third pole piece portion of the plurality of ferromagnetic pole piece portions, and the third permanent magnet of the plurality of permanent magnet portions is positioned between the third pole piece portion and a fourth pole piece portion of the plurality of ferromagnetic pole piece portions.

37. 29. The magnetic coupling device of claim 28, wherein the plurality of permanent magnet portions (114) of the magnetic platter are interposed between a plurality of ferromagnetic pole piece portions (116) of the magnetic platter, such that the first permanent magnet of the plurality of permanent magnet portions is positioned between a first pole piece portion of the plurality of ferromagnetic pole piece portions and a second pole piece portion of the plurality of ferromagnetic pole piece portions, the second permanent magnet of the plurality of permanent magnet portions is positioned between the second pole piece portion and a third pole piece portion of the plurality of ferromagnetic pole piece portions, and the third permanent magnet of the plurality of permanent magnet portions is positioned between the third pole piece portion and a fourth pole piece portion of the plurality of ferromagnetic pole piece portions.

38. 1. A magnetic coupling device for magnetically coupling to a ferromagnetic workpiece, comprising: a housing having an axis extending between a first end of the housing and a second end of the housing; an iron piece positioned a first distance from the second end of the housing; a pole plate removably coupled to the housing, the pole plate having a plurality of protrusions that define a workpiece contact interface of the magnetic coupling device; a magnetic platter supported by the housing, the magnetic platter including a plurality of permanent magnet portions interposed between a plurality of ferromagnetic pole piece portions; a magnetic coupling device, the magnetic platter being linearly translatable within the housing along the axis to each of at least a first state and a second state, the magnetic platter being positioned adjacent to the iron piece such that when the magnetic platter is in the first state, the magnetic coupling device establishes a first magnetic circuit through the iron piece and provides a first magnetic field at the workpiece contact interface of the magnetic coupling device, and the magnetic platter being positioned spaced apart from the iron piece such that when the magnetic platter is in the second state, the magnetic coupling device provides a second magnetic field at the workpiece contact interface of the magnetic coupling device, the second magnetic field being stronger than the first magnetic field in the first state.

39. 40. The magnetic coupling device of claim 38, wherein the pole plate has a plurality of openings for receiving a plurality of non-ferromagnetic members.

40. 39. The magnetic coupling device of claim 38, wherein a first ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned above a first protrusion of the plurality of protrusions of the pole plate in both the first state and the second state, and a second ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned above a second protrusion of the plurality of protrusions of the pole plate in both the first state and the second state.

41. 39. The magnetic coupling device of claim 38, wherein a first ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned completely above a first protrusion of the plurality of protrusions of the pole plate in both the first state and the second state, a second ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter is positioned completely above a second protrusion of the plurality of protrusions of the pole plate in both the first state and the second state, and a first non-ferromagnetic member is positioned between the first protrusion of the plurality of protrusions of the pole plate and the second protrusion of the plurality of protrusions of the pole plate.

42. 1. A magnetic coupling device for magnetically coupling to a ferromagnetic workpiece, comprising: a housing having an axis extending between a first end of the housing and a second end of the housing; an iron piece positioned at least a first distance from the second end of the housing; a pole plate defining a workpiece contact interface accessible from the second end of the housing, the pole plate having a plurality of ferromagnetic protrusions; a magnetic platter supported by the housing, the magnetic platter including a plurality of permanent magnet portions interposed between a plurality of ferromagnetic pole piece portions, the magnetic platter being linearly translatable within the housing along the axis to each of at least a first state and a second state, the magnetic platter being positioned adjacent to the ferrous piece such that when the magnetic platter is in the first state, the magnetic coupling device establishes a first magnetic circuit through the ferrous piece and provides a first magnetic field to the workpiece contact interface of the magnetic coupling device, and when the magnetic platter is in the second state, the magnetic coupling device provides a second magnetic field to the workpiece contact interface of the magnetic coupling device. a first ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter positioned completely above a first protrusion of the plurality of protrusions of the pole plate in both the first state and the second state; a second ferromagnetic pole piece portion of the plurality of ferromagnetic pole piece portions of the magnetic platter positioned completely above a second protrusion of the plurality of protrusions of the pole plate in both the first state and the second state; and a first non-ferromagnetic member positioned between the first protrusion of the plurality of protrusions of the pole plate and the second protrusion of the plurality of protrusions of the pole plate.

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