Cooperative robot, and welding system and tensile test system for magnetic material by using same

Abstract

The present invention relates to a cooperative robot for transferring a magnetic material by using the cooperative robot, and a welding system and a tensile test system for a magnetic material by using same. A cooperative robot according to the present invention comprises: a robot arm; and an end effect assembly which is disposed at a free end of the robot arm, and provides a vacuum adsorption force and a magnetic force with respect to a plate surface of a magnetic material when the magnetic material is transferred according to an operation of the robot arm so as to limit separation of the magnetic material from the robot arm.

Description

Collaborative robots and their use in welding and tensile testing of magnetic materials

[0001] The present invention relates to a collaborative robot, and a welding system and a tensile testing system for magnetic materials using the collaborative robot, and more particularly, to a collaborative robot that transports magnetic materials using the collaborative robot, and a welding system and a tensile testing system for magnetic materials using the collaborative robot.

[0002] In recent years, robots have been widely used in various industries. For example, in the automotive industry, one-armed robots are used in processes such as assembly, welding, and painting of automobile parts, while robots such as AGVs are used to transport materials such as parts.

[0003] Here, one-armed robots broadly include collaborative robots, which perform relatively high-risk processes in the same space as humans. Recently, collaborative robots have been widely used in the food industry, performing tasks that pose a potential risk to humans, such as frying with high-temperature oil or preparing soups.

[0004] Meanwhile, collaborative robots basically include a robot arm equipped with multi-axis technology and an end effector positioned at the free end of the robot arm. End effectors include grippers and tool-type end effectors, such as welding torches, for grasping and transporting objects, depending on the collaborative robot's operating space. Grippers used as end effectors primarily perform the function of grasping objects, such as the frying basket used in the frying process. The collaborative robot performs the cooking process by inserting and removing the frying basket held by the gripper into and from the fryer.

[0005] The gripper described above may have a finger-shaped shape to grasp circular or polygonal shapes, such as the aforementioned frying basket. Since grippers with finger-shaped shapes are difficult to grasp when handling thin plates, an end effector that provides vacuum suction is used. The end effector that provides vacuum suction applies vacuum suction to the plate surface to transport the plate to a desired location, and then uses vacuum suction to separate the plate from the collaborative robot.

[0006] However, collaborative robots with conventional end effectors that provide vacuum suction power transport sheet metal, such as thin plates, solely through vacuum suction. This poses a risk of separation of the transported material, especially for relatively heavy sheet metals, when vacuum suction power is unstable. This separation during transport by collaborative robots can also lead to falling accidents.

[0007] The purpose of the present invention is to provide a collaborative robot that can prevent separation during transport by reinforcing the vacuum suction force provided to an object such as a plate, and a welding system and tensile test system for magnetic materials using the collaborative robot.

[0008] In addition, another object of the present invention is to provide a collaborative robot that can provide a relatively reinforced adhesive force compared to the vacuum suction force when transporting a metal material target used for welding and tensile testing by the collaborative robot, and a welding system and tensile testing system for magnetic materials using the collaborative robot.

[0009] The solution to the above problem is achieved by a collaborative robot according to the present invention, characterized in that it includes a robot arm and an end effector assembly disposed at a free end of the robot arm and providing a vacuum suction force and a magnetic force to a surface of a magnetic material when the magnetic material is transported according to the operation of the robot arm, thereby limiting the detachment of the magnetic material from the robot arm.

[0010] Here, the end effector assembly may include a pair of vacuum suction parts arranged adjacent to both sides of the magnetic material plate surface and providing a vacuum suction force to the magnetic material when the plate surface of the magnetic material comes into contact with the magnetic material plate surface, and a magnetic force providing part arranged between the pair of vacuum suction parts and selectively providing a magnetic force to the magnetic material.

[0011] The above magnetic force providing unit can provide a magnetic force to the plate surface of the magnetic material to perform a second traction after the first traction of the magnetic material by the vacuum suction force provided from the vacuum suction unit.

[0012] The above vacuum suction unit and the above magnetic force providing unit can provide vacuum suction force and magnetic force to pull the magnetic material.

[0013] The above magnetic force providing unit can provide magnetic force to the magnetic material after one of the upper portions of the magnetic materials stacked in multiple layers is separated and pulled by the vacuum suction force provided from the vacuum suction unit.

[0014] The above vacuum suction unit and the above magnetic force providing unit can provide vacuum suction and magnetic force to separate and pull any one of the upper layers of the above magnetic materials.

[0015] The vacuum adsorption unit may include a vacuum path unit that forms a vacuum path to provide an adsorption force to a plate surface of the magnetic material, and an adsorption unit that is disposed at a free end of the vacuum path unit and elastically deforms according to the vacuum adsorption force provided through the vacuum path unit to come into close contact with the magnetic material and provide a vacuum adsorption force to the plate surface of the magnetic material.

[0016] The magnetic force providing unit may include a magnet unit that reciprocates between a pulling position for providing magnetic force to a surface of the magnetic material to pull the magnetic material and a releasing position for releasing the magnetic force and separating from the magnetic material, and an actuator that is connected to the magnet unit and provides linear driving force to the magnet unit between the pulling position and the releasing position.

[0017] The actuator can move the magnet portion from the release position to the pulling position so as to pull the magnetic material a second time by the magnetic force provided from the magnet portion after the magnetic material is first pulled by the vacuum suction force provided from the vacuum suction portion.

[0018] The above actuator can move the magnetic part from the release position to the pulling position when the vacuum suction part comes into contact with the plate surface of the magnetic material.

[0019] The above actuator can move the magnet part from the release position to the pulling position so as to provide a magnetic force to the plate surface of the magnetic material after one of the upper portions of the magnetic material stacked in multiple layers is separated and pulled by the vacuum suction force provided from the vacuum suction part.

[0020] The actuator can move the magnet part from the release position to the pulling position so as to separate and pull the upper part of the magnetic material stacked in multiple layers by providing the vacuum suction force of the vacuum suction part and the magnetic force of the magnet part to the plate surface of the magnetic material when the vacuum suction part comes into contact with any one of the upper parts of the magnetic material stacked in multiple layers.

[0021] Meanwhile, the solution to the above problem is also achieved by a welding system for magnetic materials using a collaborative robot, characterized in that the above-described configuration includes a welding device for welding magnetic materials according to the present invention, a loading device for loading the magnetic material to be welded in the welding device and loading the magnetic material welded in the welding device, and a collaborative robot for transporting the magnetic material from the loading device to the welding device and transporting the welded magnetic material from the welding device to the loading device between the welding device and the loading device.

[0022] In addition, the solution to the above problem is also achieved by a tensile test system for a magnetic material using a collaborative robot, characterized in that it includes a tensile test device for performing a tensile test on a magnetic material according to the present invention, a loading device for loading a magnetic material to be tensile tested on the tensile test device and loading the magnetic material that has been tensile tested on the tensile test device, and a collaborative robot having the above-described configuration for transporting the magnetic material from the loading device to the tensile test device and transporting the magnetic material that has been tensile tested from the tensile test device to the loading device between the tensile test device and the loading device.

[0023] Specific details of other embodiments are included in the detailed description and drawings.

[0024] The effects of the collaborative robot according to the present invention and the welding system and tensile testing system of magnetic materials using the same are as follows.

[0025] First, when transporting a magnetic material such as a relatively heavy plate material such as metal, separation and detachment of the magnetic material can be prevented by selectively providing magnetic force together with vacuum suction force, thereby not only preventing safety accidents but also reducing the transport time.

[0026] Second, by using a collaborative robot having an end effector assembly that provides vacuum suction and magnetic force, the transfer reliability of magnetic materials such as relatively heavy sheet metals in a welding system and / or tensile test system can be secured, thereby reducing the time required for automatic welding and / or tensile testing.

[0027] Figure 1 is a perspective view of a welding system for magnetic materials using a collaborative robot according to an embodiment of the present invention.

[0028] Figure 2 is an enlarged view of area A shown in Figure 1;

[0029] Figure 3 is a plan view of a welding system for magnetic materials using a collaborative robot illustrated in Figure 1.

[0030] Figure 4 is an enlarged view of area B shown in Figure 3;

[0031] Fig. 5 is a side view of a welding system for magnetic materials using a collaborative robot illustrated in Fig. 1.

[0032] Figure 6 is a perspective view of a tensile testing system for magnetic materials using a collaborative robot according to an embodiment of the present invention.

[0033] Figure 7 is an enlarged view of the C area shown in Figure 6;

[0034] FIG. 8 is a plan view of a tensile testing system for magnetic materials using a collaborative robot according to an embodiment of the present invention illustrated in FIG. 6.

[0035] Figure 9 is an enlarged view of area D shown in Figure 8;

[0036] FIG. 10 is a side view of a tensile testing system for magnetic materials using a collaborative robot according to an embodiment of the present invention illustrated in FIG. 6.

[0037] Figure 11 is an enlarged view of the E area shown in Figure 10;

[0038] Figure 12 is a first operational perspective view of a collaborative robot according to the first embodiment of the present invention.

[0039] Figure 13 is a second operational perspective view of a collaborative robot according to the first embodiment of the present invention.

[0040] Figure 14 is a third operational perspective view of a collaborative robot according to the first embodiment of the present invention.

[0041] Figure 15 is a fourth operational perspective view of a collaborative robot according to the first embodiment of the present invention.

[0042] Figure 16 is a first operational perspective view of a collaborative robot according to a second embodiment of the present invention.

[0043] Figure 17 is a second operational perspective view of a collaborative robot according to a second embodiment of the present invention.

[0044] Fig. 18 is a third operational perspective view of a collaborative robot according to a third embodiment of the present invention.

[0045] Hereinafter, a collaborative robot according to an embodiment of the present invention, and a welding system and a tensile testing system for magnetic materials using the same will be described in detail with reference to the attached drawings.

[0046] Before explaining, it is to be noted in advance that components having the same name, excluding the collaborative robot, in the welding system for magnetic materials and the tensile testing system using the collaborative robot according to the embodiment of the present invention are described with different drawing reference numerals, i.e., the collaborative robot is described with the same drawing reference numeral.

[0047] FIG. 1 is a perspective view of a welding system for magnetic materials using a collaborative robot according to an embodiment of the present invention, FIG. 2 is an enlarged view of area A shown in FIG. 1, FIG. 3 is a plan view of a welding system for magnetic materials using a collaborative robot shown in FIG. 1, FIG. 4 is an enlarged view of area B shown in FIG. 3, and FIG. 5 is a side view of a welding system for magnetic materials using a collaborative robot shown in FIG. 1.

[0048] As illustrated in FIGS. 1 to 5, a welding system (1: hereinafter referred to as a welding system) for a magnetic material using a collaborative robot according to an embodiment of the present invention includes a welding device (10), a loading device (30), and a collaborative robot (1000). The welding system (1) according to an embodiment of the present invention welds at least two magnetic materials (M) transported by the collaborative robot (1000).

[0049] The welding device (10) automatically welds at least two magnetic materials (M) transferred from the collaborative robot (1000). The welding device (10) is an embodiment of the present invention, and a DC welding device is used, but is not limited thereto, and various known automatic welding devices may be used.

[0050] The loading device (30) loads the magnetic material (M) to be welded in the welding device (10) and loads the magnetic material (M) welded in the welding device (10). In detail, the loading device (30) includes a first loading device (31) and a second loading device (33).

[0051] The first loading device (31) loads a plurality of stacked magnetic materials (M). The first loading device (31) moves the loaded magnetic materials (M) upwards in an elevating manner so that the plurality of stacked magnetic materials (M) are sequentially transferred from the first loading device (31) to the welding device (10) by the collaborative robot (1000). On the other hand, the second loading device (33) loads the magnetic materials (M) transferred by the collaborative robot (1000) after being welded from the welding device (10).

[0052] Next, FIG. 6 is a perspective view of a tensile test system for magnetic materials using a collaborative robot according to an embodiment of the present invention, FIG. 7 is an enlarged view of area C shown in FIG. 6, FIG. 8 is a plan view of a tensile test system for magnetic materials using a collaborative robot according to an embodiment of the present invention shown in FIG. 6, FIG. 9 is an enlarged view of area D shown in FIG. 8, FIG. 10 is a side view of a tensile test system for magnetic materials using a collaborative robot according to an embodiment of the present invention shown in FIG. 6, and FIG. 11 is an enlarged view of area E shown in FIG. 10.

[0053] A tensile test system (100: hereinafter referred to as a tensile test system) for a magnetic material using a collaborative robot according to an embodiment of the present invention includes a tensile test device (110), a loading device (130), and a collaborative robot (1000). Here, the tensile test system (100) according to an embodiment of the present invention performs a tensile test on a magnetic material (M) welded in the welding system (10) in conjunction with the welding system (10) according to the embodiment of the present invention described above, but is not limited thereto and can perform tensile tests on various magnetic materials (M).

[0054] The tensile test device (110) provides a tensile force to the magnetic material (M) to perform a tensile test. As described above, the tensile test device (110) can perform a tensile test on the magnetic material (M) welded in the welding system (1) according to the embodiment of the present invention, as well as perform a tensile test on various magnetic materials (M). The tensile test device (110) performs a tensile test on the magnetic material (M) transported by the collaborative robot (1000).

[0055] The loading device (130) loads the magnetic material (M) subjected to the tensile test in the tensile test device (110) and loads the magnetic material (M) subjected to the tensile test in the tensile test device (110). In one embodiment of the present invention, the loading device (130) includes a first loading device (131) and a second loading device (133).

[0056] The first loading device (131) loads the magnetic material (M) to be subjected to the tensile test in the tensile test device (110). The first loading device (131) loads a plurality of magnetic materials (M) in an elevating manner, like the first loading device (31) of the welding system (10). The magnetic materials (M) loaded in the first loading device (131) are transferred to the tensile test device (110) by the collaborative robot (1000). Here, the first loading devices (131) are arranged in a plurality as shown in FIGS. 6, 8, and 10. In one embodiment of the present invention, two first loading devices (131) are arranged to supply the cross-shaped magnetic material (M) and the plate-shaped magnetic material (M) welded in the welding system (10) in an elevating manner, respectively. However, the number of first loading devices (131) is not limited to this and may be less than 2 or more than 2 depending on design changes.

[0057] The second loading device (133) loads the magnetic material (M) that has been subjected to a tensile test from the tensile testing device (110). The second loading device (133) loads the magnetic material (M) that has been subjected to a tensile test in the tensile testing device (110) and transported by the collaborative robot (1000). Here, the second loading device (133) loads the magnetic material (M) to be discarded that has been tested in the tensile testing device (110).

[0058] FIG. 12 is a first operating perspective view of a collaborative robot according to a first embodiment of the present invention, FIG. 13 is a second operating perspective view of a collaborative robot according to a first embodiment of the present invention, FIG. 14 is a third operating perspective view of a collaborative robot according to a first embodiment of the present invention, FIG. 15 is a fourth operating perspective view of a collaborative robot according to a first embodiment of the present invention, FIG. 16 is a first operating perspective view of a collaborative robot according to a second embodiment of the present invention, FIG. 17 is a second operating perspective view of a collaborative robot according to a second embodiment of the present invention, and FIG. 18 is a third operating perspective view of a collaborative robot according to a third embodiment of the present invention.

[0059] The collaborative robot (1000) illustrated in FIGS. 12 to 18 is applied and used in both the welding system (1) according to the embodiment of the present invention illustrated in FIGS. 1 to 5 described above and the tensile test system (100) illustrated in FIGS. 6 to 11.

[0060] The collaborative robot (1000) according to the first and second embodiments of the present invention includes a robot arm (1100) and an end effector assembly (1300). The collaborative robot (1000) provides vacuum suction and magnetic force to a plate surface of a magnetic material (M) and reciprocates the magnetic material (M) between a welding device (10) and a loading device (30) and between a tensile testing device (110) and a loading device (130).

[0061] The robot arm (1100) is provided with an end effector assembly (1300) disposed on a free end so that it can perform multiple axis movements, such as six axes and four axes.

[0062] The end effector assembly (1300) is arranged at the free end of the robot arm (1100) and provides vacuum suction and magnetic force to the surface of the magnetic material (M) when the magnetic material (M) is transported according to the operation of the robot arm (1100), thereby limiting the separation of the magnetic material (M) from the robot arm (1100). That is, the end effector assembly (1300) limits the separation of the magnetic material (M) when the collaborative robot (1000) transports the magnetic material (M), unless the separation is intentional. As the first and second embodiments of the present invention, the end effector assembly (1300) includes a vacuum suction unit (1310) and a magnetic force providing unit (1330).

[0063] The vacuum suction unit (1310) provides a vacuum suction force to pull the magnetic material (M) when the end effector assembly (1300) comes into contact with the plate surface of the magnetic material (M). The vacuum suction unit (1310) includes a vacuum path section (1311) that forms a vacuum path to provide suction force to the plate surface of the magnetic material (M), and an suction unit (1313) that is disposed at a free end of the vacuum path section (1311) and elastically deforms according to the vacuum suction force provided through the vacuum path section (1311) to come into close contact with the magnetic material (M) and provide vacuum suction force to the plate surface of the magnetic material (M). Here, the free end of the suction unit (1313) is made of an elastic material so as to guide the contact between the magnetic force providing unit (1330) and the magnetic material (M) as well as increase the suction force for the magnetic material (M).

[0064] The magnetic force providing unit (1330) selectively provides magnetic force to the surface of the magnetic material (M). The magnetic force providing unit (1330) includes a magnet unit (1333) and an actuator (1335). In addition, the magnetic force providing unit (1330) further includes a casing (1331) that accommodates the magnet unit (1333) and forms a movement space of the magnet unit (1333).

[0065] The magnet section (1333) reciprocates between a pulling position where it provides a magnetic force to the surface of the magnetic material (M) to attract the magnetic material (M) and a releasing position where the magnetic force is released and it is separated from the magnetic material (M). The magnet section (1333) uses a permanent magnet to provide a magnetic force to the magnetic material (M). Of course, the magnet section (1333) may also use an electromagnet that selectively generates a magnetic force based on whether or not current is supplied by changing the design.

[0066] The actuator (1335) is connected to the magnet portion (1333) and provides a linear driving force to the magnet portion (1333) between the pulling position and the releasing position. The actuator (1335) can be operated as a first embodiment illustrated in FIGS. 12 to 15 and a second embodiment illustrated in FIGS. 16 to 18 depending on the timing at which the driving force is provided to the magnet portion (1333).

[0067] First, as illustrated in FIGS. 12 to 15, the end effector assembly (1300) provides a primary traction force to the surface of the magnetic material (M) by the vacuum suction force provided from the vacuum suction unit (1310), and then the magnetic force providing unit (1330) provides a magnetic force corresponding to the secondary traction force to the magnetic material (M) by moving the magnet unit (1333) from the release position to the traction position using the actuator (1335).

[0068] The end effector assembly (1300) of the collaborative robot (1000) according to the first embodiment of the present invention is preferably applied to a magnetic material (M) that is relatively thin and light in weight. In practice, when a plurality of magnetic materials (M) are stacked and arranged on the first loading device (31, 131), the vacuum suction unit (1310) first provides a vacuum suction force while the magnet unit (1333) is positioned at the release position to separate and pull the magnetic material arranged at the top among the plurality of magnetic materials (M), and then the actuator (1335) of the magnetic force providing unit (1330) moves the magnet unit (1333) to the pulling position to provide a magnetic force that generates a secondary pulling force on the magnetic material (M).

[0069] In this way, the end effector assembly (1300) can first pull the magnetic material (M) with vacuum suction force and then secondarily pull the magnetic material (M) with magnetic force, so that it has the advantage of being able to individually separate and transport the magnetic material (M) even when multiple magnetic materials (M) are stacked, and can also limit the detachment of the magnetic material (M) from the collaborative robot (1000).

[0070] Meanwhile, as illustrated in FIGS. 16 to 18, the end effector assembly (1300) of the collaborative robot (1000) according to the second embodiment of the present invention is preferably applied to a magnetic material (M) that is relatively thicker and heavier than that of the first embodiment. In particular, the thickness of the magnetic material (M) is preferably at a level where the magnetic force of the magnetic force providing unit (1330) is not provided. Unlike the end effector assembly (1300) of the collaborative robot (1000) according to the second embodiment of the present invention, the end effector assembly (1300) of the collaborative robot (1000) according to the second embodiment of the present invention provides both vacuum suction force and magnetic force while the magnet unit (1333) is positioned at the pulling position when pulling the magnetic material (M). At this time, as described above, the thickness of the magnetic material (M) is such that the influence of the magnetic force is limited, and when a plurality of magnetic materials (M) are stacked, two or more magnetic materials (M) can be prevented from being pulled.

[0071] In detail, the magnetic force providing unit (1330) of the end effector assembly (1300) of the collaborative robot (1000) according to the second embodiment of the present invention has the magnet unit (1333) positioned at the pulling position when pulling and transporting the magnetic material (M), and the magnet unit (1333) moves to the releasing position only when separating the magnetic material (M) from the collaborative robot (1000).

[0072] Accordingly, when transporting a magnetic material such as a relatively heavy sheet metal, separation and detachment of the magnetic material can be prevented by selectively providing magnetic force together with vacuum suction force, thereby not only preventing safety accidents but also reducing the transport time.

[0073] In addition, by using a collaborative robot having an end effector assembly that provides vacuum suction and magnetic force, the reliability of transferring magnetic materials such as relatively heavy sheet metals in a welding system and / or tensile test system can be secured, thereby reducing the time required for automatic welding and / or tensile testing.

[0074] Although the embodiments of the present invention have been described with reference to the attached drawings, those skilled in the art will understand that the present invention can be implemented in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention.

[0075] [National Research and Development Project Supporting This Invention]

[0076] [Project ID] 1415184238, [Project Number] 20019022, [Ministry] Ministry of Trade, Industry and Energy, [Research Management Agency] Korea Institute of Industrial Technology Evaluation and Planning, [Research Project Name] Industrial Technology Innovation Project (Materials and Components Technology Development Project), [Research Project Name] Development of Customized Manufacturing Technology for Core Force and Torque Sensors for Service Robots, [Contribution Ratio] 1 / 1, [Organization] Adin Robotics, [Research Period] August 1, 2022 - December 31, 2024 (29 months)

Claims

1. Robot arm and; A collaborative robot characterized by including an end effector assembly disposed at a free end of the robot arm and providing a vacuum suction force and a magnetic force to a surface of the magnetic material when the magnetic material is transported according to the operation of the robot arm to limit the detachment of the magnetic material from the robot arm.

2. In paragraph 1, The above end effector assembly comprises: A pair of vacuum suction parts arranged adjacent to both sides of the magnetic material plate surface, which provide vacuum suction force to the magnetic material when the magnetic material plate surface comes into contact with each other; A collaborative robot characterized by including a magnetic force providing unit disposed between a pair of the above vacuum suction units and selectively providing a magnetic force to the magnetic material.

3. In paragraph 2, A collaborative robot characterized in that the magnetic force providing unit performs a first traction of the magnetic material by the vacuum suction force provided from the vacuum suction unit, and then provides a magnetic force to the surface of the magnetic material to perform a second traction.

4. In paragraph 2, A collaborative robot characterized in that the vacuum suction unit and the magnetic force providing unit provide vacuum suction force and magnetic force to pull the magnetic material.

5. In paragraph 3, A collaborative robot characterized in that the magnetic force providing unit provides magnetic force to the magnetic material after one of the upper portions of the magnetic materials stacked in multiple layers is separated and attracted by the vacuum suction force provided from the vacuum suction unit.

6. In paragraph 4, A collaborative robot characterized in that the vacuum suction unit and the magnetic force providing unit provide vacuum suction force and magnetic force to separate and attract one of the upper portions of the magnetic materials stacked in multiple layers.

7. In paragraph 2, The above vacuum suction part, A vacuum path section forming a vacuum path to provide an attraction force to the surface of the magnetic material; A collaborative robot characterized by including an adsorption part which is arranged at a free end of the vacuum path part and elastically deforms according to a vacuum adsorption force provided through the vacuum path part to come into close contact with the magnetic material and provide a vacuum adsorption force to a plate surface of the magnetic material.

8. In paragraph 2, The above magnetic force providing unit is, A magnetic part that reciprocates between a pulling position where a magnetic force is provided to the surface of the magnetic material to pull the magnetic material and a releasing position where the magnetic force is released and the magnetic part is separated from the magnetic material; A collaborative robot characterized by including an actuator connected to the magnet portion and providing a linear driving force to the magnet portion between the pulling position and the releasing position.

9. In paragraph 8, A collaborative robot characterized in that the actuator moves the magnet part from the release position to the pulling position so as to pull the magnetic material a second time by the magnetic force provided from the magnet part after the first pulling of the magnetic material by the vacuum suction force provided from the vacuum suction part.

10. In paragraph 8, A collaborative robot, characterized in that the actuator moves the magnetic part from the release position to the pulling position when the vacuum suction part comes into contact with the plate surface of the magnetic material.

11. In paragraph 9, A collaborative robot characterized in that the actuator moves the magnetic portion from the release position to the attracting position so as to provide a magnetic force to the plate surface of the magnetic material after one of the upper portions of the magnetic materials stacked in multiple layers is separated and attracted by the vacuum attracting force provided from the vacuum attracting portion.

12. In paragraph 10, The above actuator is a collaborative robot characterized in that when the vacuum suction part comes into contact with any one of the upper portions of the magnetic materials laminated in multiple pieces, the vacuum suction force of the vacuum suction part and the magnetic force of the magnet part are provided to the plate surface of the magnetic material to separate and attract any one of the upper portions of the magnetic materials laminated in multiple pieces, thereby moving the magnet part from the release position to the attracting position.

13. A welding device for welding magnetic materials; A loading device for loading the magnetic material to be welded in the welding device and loading the magnetic material welded in the welding device; A welding system for magnetic materials using a collaborative robot, characterized in that it includes the collaborative robot of claim 1 for transporting the magnetic material from the loading device to the welding device and transporting the welded magnetic material from the welding device to the loading device between the welding device and the loading device.

14. A tensile testing device for performing a tensile test on a magnetic material; A loading device for loading a magnetic material to be subjected to a tensile test in the above tensile test device and loading the magnetic material subjected to a tensile test in the above tensile test device; A tensile test system for a magnetic material using a collaborative robot, characterized in that it includes a collaborative robot of claim 1 for transporting the magnetic material from the loading device to the tensile test device and for transporting the magnetic material subjected to a tensile test from the tensile test device to the loading device between the tensile test device and the loading device.

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