Magnetic coupling device
A magnetic device for magnetically coupling to a ferromagnetic body, comprises a housing having a central bore. A plurality of pole sectors arranged within an envelope of the central bore and forming a workpiece contact interface of the magnetic device, each of the plurality of pole sectors comprising a plurality of spaced-apart pole portions arranged at respective distances, wherein a recess of a plurality of recesses separates each pole portion of the plurality of pole portions, wherein a first sector forms a first pole of the magnetic device and a second sector forms a second pole of the magnetic device. A first permanent magnet. A second permanent being moveable relative to the first permanent magnet. And, an actuator operatively coupled to the at least one second permanent magnet to move the at least one second permanent magnet relative to the at least one first permanent magnet.
1 . A magnetic device for magnetically coupling to a ferromagnetic body, comprising:
a housing having an interior defining an axis;
a plurality of pole portions supported by the housing, the plurality of pole portions defining a plurality of spaced apart projections which collectively form a workpiece contact interface of the plurality of pole portions, a first portion of the plurality of spaced apart projections defining a plurality of north pole portions of the workpiece contact interface and a second portion of the plurality of spaced apart projections defining a plurality of south pole portions of the workpiece contact interface;
at least one permanent magnets positionable within the interior of the housing to provide at a first position of the at least one permanent magnet a first level of magnetic flux at the workpiece contact interface and to provide at a second position of the at least one permanent magnet a second level of magnetic flux at the workpiece contact interface; and
at least one sensor supported by the housing, the at least one sensor providing a magnetic characteristic of the magnetic device to determine an operating state of the magnetic device.
2 . The magnetic device of claim 1 , wherein in the first position a first magnetic circuit substantially passes through the plurality of north pole portions and the plurality of south pole portions to couple the ferromagnetic body to the magnetic device and in the second position a second magnetic circuit is substantially confined within at least a portion of the housing and the plurality of pole portions.
3 . The magnetic device of claim 1 , wherein the first portion of the plurality of spaced apart projections is at least three.
4 . The magnetic device of claim 1 , wherein the first portion of the plurality of spaced apart projections is at least five.
5 . The magnetic device of claim 1 , wherein the plurality of pole portions are removably coupled to the housing.
6 . The magnetic device of claim 1 , wherein the housing has an outer envelope having an overall envelope length of the housing, an overall envelope width of the housing, and an overall envelope height of the housing and wherein the first portion of the plurality of spaced apart projections are positioned on a first side of the housing and the second portion of the plurality of spaced apart projections are positioned on a second side of the housing.
7 . The magnetic device of claim 6 , wherein each of the south pole portions of the plurality of south pole portions and each of the north pole portions of the plurality of north pole portions have at least a portion that extends outside each of the overall envelope length of the housing, the overall envelope width of the housing, and the overall envelope height of the housing.
8 . The magnetic device of claim 6 , wherein at least two of the plurality of south pole portions are part of a first unitary pole shoe and at least two of the plurality of north pole portions a are part of a second unitary pole shoe.
9 . The magnetic device of claim 6 , wherein each of the first pole portion and the second pole portion extend below the housing such that the housing is spaced apart from the ferromagnetic body when the workpiece contact interface contacts the ferromagnetic body.
10 . The magnetic device of claim 1 , wherein the at least one sensor is a magnetic flux sensor.
11 . The magnetic device of claim 1 , wherein the at least one sensor is operable to measure a position of the at least one permanent magnet.
12 . The magnetic device of claim 11 , wherein the at least one sensor comprises an optical sensor.
13 . The magnetic device of claim 1 , further comprising a controller, and the controller is operable to determine, based upon the at least one sensor, a relative position of the workpiece contact interface to the ferromagnetic body.
14 . The magnetic device of claim 1 , further comprising an actuator for positioning the at least one permanent magnet within the interior of the housing.
15 . The magnetic device of claim 14 , wherein the at least one sensor includes a position sensor operable to monitor a position of the actuator.
16 . The magnetic device of claim 1 , wherein the at least one sensor is supported by the housing.
17 . The magnetic device of claim 1 , wherein the at least one sensor is positioned adjacent a first projection of the plurality of spaced apart projections.
18 . A robotic assembly, comprising:
a base;
an arm operably coupled to the base; and
the magnetic coupling device of claim 1 operably coupled to the arm.