Search

KR-20260066751-A - Magnet grippers and industrial robots

KR20260066751AKR 20260066751 AKR20260066751 AKR 20260066751AKR-20260066751-A

Abstract

The magnet gripper (14) has a suction part (32a) to which a workpiece (W) is adsorbed, a pair of pole shoes (16, 18) spaced apart in a first direction, a magnet (35) placed between the pair of pole shoes (16, 18), a rotating mechanism (22) that rotates the magnet (35) around a rotation axis (C) in a second direction perpendicular to the first direction, and a yoke (36) placed between the pair of pole shoes (16, 18) to collect magnetic flux that is not directed toward the pole shoes (16, 18), and the yoke (36) is magnetically separated from the pair of pole shoes (16, 18).

Inventors

  • 이시자와 나오히로

Assignees

  • 에스엠시 가부시키가이샤

Dates

Publication Date
20260512
Application Date
20240828
Priority Date
20230904

Claims (12)

  1. A pair of pole shoes (16, 18) each having an adsorption portion (32a) into which a workpiece (W) is adsorbed, and spaced apart in a first direction, and A magnetic flux source having a pair of magnetic poles disposed between a pair of the above-mentioned pole shoes and oriented in the first direction, and A rotating mechanism (22) that rotates the above magnetic flux source around a second rotation axis (C) perpendicular to the first direction, and A yoke (36, 90) placed between a pair of the above-mentioned pole shoes and collecting magnetic flux that is not directed toward the pole shoes Includes, The above yoke is a magnetic gripper (14) that is magnetically separated from a pair of the above pole shoes.
  2. In claim 1, The above yoke is, A tip wall (36a) covering the outer side of the tip of the second direction of the above magnetic flux source, and A first wall portion (36b) extending in the second direction from the first end portion (36d) of the aforementioned leading wall and covering the outer surface (35a) of the magnetic flux source, and A second wall portion (36c) extending in the second direction from the second end portion (36e) of the aforementioned leading wall and covering the outer surface of the magnetic flux source A magnet gripper having
  3. In claim 1, The device further has a pair of spacers (38, 40) made of a non-magnetic material that insert the above yoke from the first direction, The above yoke is a magnet gripper connected to a pair of pole shoes through a pair of the above spacers.
  4. In claim 2, The above yoke is a magnet gripper having a concave portion (36f) curved along the radius of rotation of the magnetic flux source in the first wall portion and the second wall portion.
  5. In claim 1, A magnet gripper having a pair of pole shoes, a yoke, and a frame member (24) connecting the rotating mechanism.
  6. In claim 5, A first pin (46) that rotates integrally with the above magnetic flux source, and A second pin (57) that is fixed to the above pole shoe, the above yoke, or the above frame member and regulates the rotational range of the magnetic flux source by contacting the first pin. A magnet gripper including additional
  7. In claim 1, The above magnetic flux source is formed in a circular shape when viewed from the second direction and is magnetized in a diameter direction perpendicular to the second direction, a magnet gripper.
  8. In claim 1, A magnet gripper comprising a plurality of magnets connected in the second direction and rotating as a single unit, the above magnetic flux source.
  9. In claim 1, A pair of the above-mentioned pole shoes has a first pole shoe (16A) and a second pole shoe (18A) facing the first pole shoe, A first connecting part (86) disposed between the above magnetic flux source and the first pole shoe to transmit the magnetic flux of the above magnetic flux source to the first pole shoe, and A second connecting part (88) disposed between the above magnetic flux source and the second pole shoe to transmit the magnetic flux of the above magnetic flux source to the second pole shoe Includes, The yoke is disposed between the first connection part and the second connection part, and is also magnetically separated from the first connection part and the second connection part through the first gap part (96) and the second gap part (98), a magnet gripper.
  10. In claim 9, A magnet gripper having a magnetic circuit member (84) in which the first connection part, the second connection part, and the yoke are integrally connected through the connection part (92, 94).
  11. A pair of pole shoes spaced apart in a first direction, each having an adsorption portion on which a workpiece is adsorbed, and A single magnetic flux source disposed between a pair of the above-mentioned pole shoes and having a pair of magnetic poles oriented in the first direction, and A rotating mechanism that rotates the above magnetic flux source around a rotation axis extending in a second direction perpendicular to the first direction, and A magnetic field sensor (80) that detects the magnetic field of the above-mentioned pole shoe A magnet gripper including
  12. A magnet gripper described in any one of claims 1 to 11, and The robot arm (12) with the above-mentioned magnet gripper attached An industrial robot (10) including

Description

Magnet grippers and industrial robots The present invention relates to a magnet gripper that holds a magnetic workpiece using magnetic force and to an industrial robot. A magnetic gripper is a gripper that attracts magnetic workpieces, such as steel, by generating magnetic force. For example, in manufacturing lines at automobile factories, magnetic grippers are attached to industrial robots that transport steel sheets. Magnetic grippers can locally magnetize steel sheets due to their magnetic force. When metallic paint is applied to a magnetized steel sheet, there is a problem in that magnetic flakes become oriented in the magnetized areas of the sheet, resulting in a pattern that reflects the magnetization distribution. As a method to resolve this problem, a magnet gripper equipped with a device function as disclosed in Japanese Patent Publication No. 2021-515391 has been proposed. The magnet gripper has, in addition to a magnet that generates an adsorption force, an electromagnetic coil for the device. This magnet gripper reduces the magnetic force of a steel plate by using the electromagnetic coil for the device to magnetize a workpiece magnetized by a magnet to reverse the magnetic poles. However, the magnet gripper disclosed in Japanese Patent Publication No. 2021-515391 has a problem in that, in addition to the driving mechanism for driving the magnet, it requires an electronic coil for the element and a control circuit thereof, which complicates the structure of the device and the control circuit thereof. The present invention aims to solve the above-mentioned problem. One aspect of the following disclosure relates to a magnet gripper comprising: a pair of pole shoes spaced apart in a first direction, each having an adsorption portion into which a workpiece is adsorbed; a magnetic flux source disposed between the pair of pole shoes and having a pair of magnetic poles oriented in the first direction; a rotating mechanism for rotating the magnetic flux source around a rotation axis in a second direction perpendicular to the first direction; and a yoke disposed between the pair of pole shoes and collecting magnetic flux not directed toward the pole shoes, wherein the yoke is magnetically separated from the pair of pole shoes. Another aspect of the work is a magnet gripper comprising a pair of pole shoes spaced apart in a first direction, each having an adsorption portion into which a workpiece is adsorbed; a magnetic flux source disposed between the pair of pole shoes and having a pair of magnetic poles oriented in the first direction; a rotating mechanism that rotates the magnetic flux source around a rotation axis extending in a second direction perpendicular to the first direction; and a magnetic field sensor that detects the magnetic field of the pole shoes. Another aspect of the work is an industrial robot equipped with a magnet gripper of the above aspect and a robot arm to which the magnet gripper is attached. The magnet gripper and industrial robot of the above perspective can demagnetize a workpiece with a simple configuration. The above-mentioned objectives, features, and advantages will be easily understood from the description of the following embodiments with reference to the attached drawings. FIG. 1 is a perspective view of an industrial robot according to a first embodiment. FIG. 2 is a perspective view showing the appearance of a magnet gripper according to an embodiment attached to an industrial robot of FIG. 1. FIG. 3 is an exploded perspective view of the magnet gripper of FIG. 2. Also, in FIG. 3, the housing is omitted. Figure 4 is a drawing showing a cross-section of the magnet gripper of Figure 2. FIG. 5 is a cross-sectional view taken along a plane perpendicular to the second direction at the position of the magnet in the magnet gripper of FIG. 2, showing the direction of the magnetic pole when the magnetic angle of the magnet is 0°. FIG. 6a is a cross-sectional view illustrating the arrangement of magnetic poles when the magnet is rotated at a magnetic angle -θ in the cross-section of FIG. 5, and FIG. 6b is a cross-sectional view illustrating the arrangement of magnetic poles when the magnet is rotated at a magnetic angle +θ in the cross-section of FIG. 5. Figure 7 is a cross-sectional view showing the arrangement of magnetic poles when the magnet is rotated to a magnetic angle of -90°. Figure 8 is a graph showing the relationship between the magnetic angle θ of a magnet and the attraction force obtained by calculation through electromagnetic field analysis. Figure 9 is an explanatory diagram showing an example of a deformation of a magnet. FIG. 10 is a perspective view illustrating the appearance of a magnet gripper according to a second embodiment. FIG. 11 is a perspective view showing the main part of the magnet gripper of FIG. 10 in an exploded state. FIG. 12 is a cross-sectional view along the line XII-XII of FIG. 10. FIG. 13 is a cross-sectional view in which the section a