JP2018062024A - Electromagnetic holder - Google Patents

Electromagnetic holder Download PDF

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JP2018062024A
JP2018062024A JP2016200803A JP2016200803A JP2018062024A JP 2018062024 A JP2018062024 A JP 2018062024A JP 2016200803 A JP2016200803 A JP 2016200803A JP 2016200803 A JP2016200803 A JP 2016200803A JP 2018062024 A JP2018062024 A JP 2018062024A
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magnetic body
magnetic
cylindrical portion
workpiece
electromagnetic
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JP6822814B2 (en
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悠一 中村
Yuichi Nakamura
悠一 中村
誠 井戸
Makoto Ido
誠 井戸
健二郎 池田
Kenjiro Ikeda
健二郎 池田
伸二 林
Shinji Hayashi
伸二 林
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Sumitomo Electric Sintered Alloy Ltd
Sumitomo Electric Industries Ltd
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Sumitomo Electric Sintered Alloy Ltd
Sumitomo Electric Industries Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide an electromagnetic holder which can suppress generation of a leakage magnetic field.SOLUTION: An electromagnetic holder includes: a holder body which has an outside cylindrical part and an inside columnar part concentrically arranged on an inner peripheral side of the outside cylindrical part and is formed by a magnetic material; an electromagnetic coil which is provided for an annular space between the outside cylindrical part and the inside columnar part and generates mutually different magnetic poles in the outside cylindrical part and the inside columnar part; a first magnetic body provided for an end surface on one side in an axial direction of the inside columnar part; and an annular second magnetic body which is provided for the first magnetic body via a non-magnetic area on an end surface on one side in the axial direction of the outside cylindrical part and has an adsorption surface adsorbing and holding a work by an electromagnetic force.SELECTED DRAWING: Figure 1

Description

本発明は、電磁ホルダに関する。   The present invention relates to an electromagnetic holder.

磁性材料からなる複数のワークを１つずつ掴んで所定の場所へ搬送する手段として、電磁力によりワークを吸着保持する電磁ホルダを用いることが知られている（特許文献１等参照）。
図６は、従来の電磁ホルダを示す断面図である。図６に示すように、従来の電磁ホルダ１００は、電磁コイル１０１が内蔵されたホルダ本体１０２と、このホルダ本体１０２の下面に固定された磁性体１０３とを備えている。ホルダ本体１０２は、磁性材料により形成されており、外側円筒部１０２Ａと、この外側円筒部１０２Ａの内周側に同心状に配置された内側円柱部１０２Ｂとを有している。 As means for gripping a plurality of workpieces made of a magnetic material one by one and transporting them to a predetermined place, it is known to use an electromagnetic holder that attracts and holds the workpieces by electromagnetic force (see Patent Document 1, etc.).
FIG. 6 is a cross-sectional view showing a conventional electromagnetic holder. As shown in FIG. 6, the conventional electromagnetic holder 100 includes a holder main body 102 in which an electromagnetic coil 101 is built, and a magnetic body 103 fixed to the lower surface of the holder main body 102. The holder main body 102 is made of a magnetic material, and has an outer cylindrical portion 102A and an inner cylindrical portion 102B disposed concentrically on the inner peripheral side of the outer cylindrical portion 102A.

電磁コイル１０１は、外側円筒部１０２Ａと内側円柱部１０２Ｂとの間の環状空間に収容されており、磁性体１０３は、内側円柱部１０２Ｂの下面に固定されている。外側円筒部１０２Ａ及び内側円柱部１０２Ｂは、電磁コイル１０１に電流を流すことで、互いに異なる磁極が発生する。これにより、磁性体１０３は電磁力によりワークＷ’の上面を吸着保持するようになっている。   The electromagnetic coil 101 is accommodated in an annular space between the outer cylindrical portion 102A and the inner cylindrical portion 102B, and the magnetic body 103 is fixed to the lower surface of the inner cylindrical portion 102B. The outer cylindrical portion 102 </ b> A and the inner cylindrical portion 102 </ b> B generate different magnetic poles by passing a current through the electromagnetic coil 101. Thereby, the magnetic body 103 attracts and holds the upper surface of the work W ′ by electromagnetic force.

特開２０１５−１０１４４１号公報JP, 2015-101441, A 特開平７−２３７１６６号公報JP-A-7-237166 特開平１１−２５１１３５号公報JP-A-11-251135 特開２００１−１６２５７４号公報JP 2001-162574 A 特開平６−９２５８４号公報JP-A-6-92584

上記の電磁ホルダ１００では、磁性体１０３にワークＷ’を吸着保持する際に、図６の破線で示すように、ホルダ本体１０２の内側円柱部１０２Ｂから磁性体１０３を介してワークＷ’の内部を流れた磁束Φ’は、ワークＷ’と外側円筒部１０２Ａとの間の空間を通って、外側円筒部１０２Ａの下端部に流れるため、ワークＷ’よりも外周側の空間に漏れ磁場が発生する場合がある。この場合、漏れ磁場の磁束Φ’が、ワークＷ’に隣接して配置されたワークＷ’に流れることで、この隣接するワークＷ’が搬送対象のワークＷ’側に引き寄せられて吸着するという問題があった。   In the electromagnetic holder 100 described above, when the work W ′ is attracted and held on the magnetic body 103, as shown by a broken line in FIG. 6, the inside of the work W ′ is inserted from the inner cylindrical portion 102B of the holder main body 102 via the magnetic body 103. Flows through the space between the workpiece W ′ and the outer cylindrical portion 102A and flows to the lower end portion of the outer cylindrical portion 102A. Therefore, a leakage magnetic field is generated in the outer space of the workpiece W ′. There is a case. In this case, the magnetic flux Φ ′ of the leakage magnetic field flows to the workpiece W ′ disposed adjacent to the workpiece W ′, so that the adjacent workpiece W ′ is attracted and attracted to the workpiece W ′ to be transported. There was a problem.

本発明は、このような事情に鑑みてなされたものであり、漏れ磁場が発生するのを抑制することができる電磁ホルダを提供することを目的とする。   This invention is made | formed in view of such a situation, and it aims at providing the electromagnetic holder which can suppress that a leakage magnetic field generate | occur | produces.

本発明の一態様に係る電磁ホルダは、外側円筒部、および当該外側円筒部の内周側に同心状に配置された内側円柱部を有し、磁性材料により形成されたホルダ本体と、前記外側円筒部と前記内側円柱部との間の環状空間に設けられ、前記外側円筒部及び前記内側円柱部に互いに異なる磁極を発生させる電磁コイルと、前記内側円柱部の軸方向一方側の端面に設けられた第１磁性体と、前記外側円筒部の前記軸方向一方側の端面において前記第１磁性体に対して非磁性領域を介して設けられ、ワークを電磁力により吸着保持する吸着面を有する環状の第２磁性体と、を備える電磁ホルダである。   An electromagnetic holder according to an aspect of the present invention includes an outer cylindrical portion, a holder main body formed of a magnetic material, the holder main body having an inner cylindrical portion disposed concentrically on the inner peripheral side of the outer cylindrical portion, and the outer An electromagnetic coil provided in an annular space between a cylindrical part and the inner cylindrical part and generating different magnetic poles in the outer cylindrical part and the inner cylindrical part, and provided on an end surface on one axial side of the inner cylindrical part A first magnetic body that is provided, and a suction surface that is provided to the first magnetic body through a non-magnetic region at an end surface on one axial side of the outer cylindrical portion and that holds the work by electromagnetic force. And an annular second magnetic body.

本発明によれば、漏れ磁場が発生するのを抑制することができる。   According to the present invention, generation of a leakage magnetic field can be suppressed.

本発明の第１実施形態に係る電磁ホルダを示す断面図である。It is sectional drawing which shows the electromagnetic holder which concerns on 1st Embodiment of this invention. ワークの変形例を示す断面図である。It is sectional drawing which shows the modification of a workpiece | work. 本発明の第２実施形態に係る電磁ホルダを示す断面図である。It is sectional drawing which shows the electromagnetic holder which concerns on 2nd Embodiment of this invention. 本発明の第３実施形態に係る電磁ホルダを示す断面図である。It is sectional drawing which shows the electromagnetic holder which concerns on 3rd Embodiment of this invention. 第３実施形態において第１磁性体の長さ及び外径を変化させた場合の評価試験を行った結果を示すグラフである。It is a graph which shows the result of having performed the evaluation test at the time of changing the length and outer diameter of a 1st magnetic body in 3rd Embodiment. 従来の電磁ホルダを示す断面図である。It is sectional drawing which shows the conventional electromagnetic holder.

［本発明の実施形態の説明］
最初に本発明の実施形態の内容を列記して説明する。
（１）本発明の実施形態に係る電磁ホルダは、外側円筒部、および当該外側円筒部の内周側に同心状に配置された内側円柱部を有し、磁性材料により形成されたホルダ本体と、前記外側円筒部と前記内側円柱部との間の環状空間に設けられ、前記外側円筒部及び前記内側円柱部に互いに異なる磁極を発生させる電磁コイルと、前記内側円柱部の軸方向一方側の端面に設けられた第１磁性体と、前記外側円筒部の前記軸方向一方側の端面において前記第１磁性体に対して非磁性領域を介して設けられ、ワークを電磁力により吸着保持する吸着面を有する環状の第２磁性体と、を備える。 [Description of Embodiment of the Present Invention]
First, the contents of the embodiment of the present invention will be listed and described.
(1) An electromagnetic holder according to an embodiment of the present invention includes an outer cylindrical portion and a holder main body formed of a magnetic material, the inner cylindrical portion being disposed concentrically on the inner peripheral side of the outer cylindrical portion, An electromagnetic coil provided in an annular space between the outer cylindrical portion and the inner cylindrical portion, and generating different magnetic poles in the outer cylindrical portion and the inner cylindrical portion, and one axial direction of the inner cylindrical portion. A first magnetic body provided on an end surface, and an adsorption that is provided to the first magnetic body via a non-magnetic region on an end surface on one axial side of the outer cylindrical portion and holds the workpiece by electromagnetic force. An annular second magnetic body having a surface.

上記電磁ホルダによれば、ホルダ本体の内側円柱部に第１磁性体が設けられ、ホルダ本体の外側円筒部には、ワークを吸着保持する第２磁性体が第１磁性体に対して非磁性領域を介して設けられている。このため、第２磁性体の吸着面にワークを吸着保持する際に、内側円柱部から第１磁性体に流れ出た磁束の大部分は、非磁性領域の前記軸方向一方側に位置するワークの内部に流れた後、第２磁性体の吸着面からその内部を通過し外側円筒部に流れる。これにより、第２磁性体よりも外周側の空間に漏れ磁場が発生するのを効果的に抑制することができ、その結果、第２磁性体に吸着保持されるワークに、隣接する他のワークが引き寄せられて吸着するのを抑制することができる。   According to the electromagnetic holder, the first magnetic body is provided on the inner cylindrical portion of the holder main body, and the second magnetic body for attracting and holding the work is nonmagnetic with respect to the first magnetic body on the outer cylindrical portion of the holder main body. It is provided through a region. For this reason, when the work is attracted and held on the attracting surface of the second magnetic body, most of the magnetic flux flowing out from the inner cylindrical portion to the first magnetic body is a part of the work located on the one side in the axial direction of the nonmagnetic region. After flowing into the inside, it passes through the inside from the adsorption surface of the second magnetic body and flows into the outer cylindrical portion. As a result, it is possible to effectively suppress the generation of a leakage magnetic field in a space on the outer peripheral side of the second magnetic body, and as a result, another work adjacent to the work that is attracted and held by the second magnetic body. Can be attracted and adsorbed.

（２）前記電磁ホルダにおいて、前記第１磁性体の前記軸方向一方側の端面が、前記第２磁性体の前記吸着面よりも前記軸方向一方側に突出しているのが好ましい。
例えば、ワークの被吸着面において電磁ホルダの内側円柱部に対応する箇所に、第１磁性体の前記突出している部分よりも大きな窪みが形成されている場合には、この窪みに、第１磁性体の前記突出している部分を挿入することができる。これにより、第１磁性体の前記軸方向一方側の端面がワーク下部まで伸びるため、ワーク下部に至る磁気回路の磁気抵抗が小さくなり、コイルに流した電流によって発生する磁束を、ワーク下部まで効率的に通すことができる。このため、ワークを保持するのに必要な電流が小さくなり、磁気回路全体の磁束密度が低くなるので、磁性体が飽和するのを抑制することができる。その結果、磁性体が飽和することで第２磁性体よりも外周側の空間に磁束が漏れるのを抑制することができるため、漏れ磁場が発生するのをさらに抑制することができる。 (2) In the electromagnetic holder, it is preferable that an end surface on the one axial side of the first magnetic body protrudes on the one axial side from the attracting surface of the second magnetic body.
For example, when a dent larger than the protruding portion of the first magnetic body is formed at a position corresponding to the inner cylindrical portion of the electromagnetic holder on the attracted surface of the workpiece, the first magnetic The protruding part of the body can be inserted. As a result, the end surface on the one side in the axial direction of the first magnetic body extends to the lower part of the work, so that the magnetic resistance of the magnetic circuit reaching the lower part of the work is reduced, and the magnetic flux generated by the current passed through the coil is efficiently transferred to the lower part of the work. Can be passed through. For this reason, the current required to hold the workpiece is reduced, and the magnetic flux density of the entire magnetic circuit is reduced, so that saturation of the magnetic body can be suppressed. As a result, it is possible to prevent magnetic flux from leaking into the outer circumferential side of the second magnetic body due to saturation of the magnetic body, and thus it is possible to further suppress the generation of a leakage magnetic field.

（３）前記電磁ホルダにおいて、前記ワークは、円環状の焼結品からなり、その軸線方向に複数個積み重ねられた状態で１組とされており、前記第１磁性体の前記軸方向一方側に突出している部分は、前記１組のワークの内周側に挿入可能な大きさに形成されているのが好ましい。
この場合、第１磁性体の前記突出している部分を１組のワークの内周側に挿入することで、第２磁性体の吸着面により１組のワークを吸着保持することができる。その際、第１磁性体の前記軸方向一方側の端面が１組のワーク下部まで伸びるため、１組のワーク下部に至る磁気回路の磁気抵抗が小さくなり、コイルに流した電流によって発生する磁束を、１組のワーク下部まで効率的に通すことができる。このため、１組のワークを保持するのに必要な電流が小さくなり、磁気回路全体の磁束密度が低くなるので、磁性体が飽和するのを抑制することができる。その結果、磁性体が飽和することで第２磁性体よりも外周側の空間に磁束が漏れるのを抑制することができるため、漏れ磁場が発生するのを効果的に抑制することができる。したがって、第２磁性体に吸着保持された１組のワークに、隣接する他の１組のワークが引き寄せられて吸着するのを抑制することができる。 (3) In the electromagnetic holder, the work is made of a ring-shaped sintered product, and a plurality of the work pieces are stacked in the axial direction, and one set in the axial direction of the first magnetic body. It is preferable that the protruding portion is formed in a size that can be inserted into the inner peripheral side of the set of workpieces.
In this case, by inserting the protruding portion of the first magnetic body into the inner peripheral side of the set of workpieces, the set of workpieces can be attracted and held by the attracting surface of the second magnetic body. At that time, since the end surface on the one side in the axial direction of the first magnetic body extends to the lower part of the pair of workpieces, the magnetic resistance of the magnetic circuit reaching the lower part of the pair of workpieces is reduced, and the magnetic flux generated by the current passed through the coil Can be efficiently passed to the lower part of a set of workpieces. For this reason, the current required to hold one set of workpieces is reduced, and the magnetic flux density of the entire magnetic circuit is reduced, so that saturation of the magnetic material can be suppressed. As a result, since the magnetic body is saturated, the magnetic flux can be prevented from leaking into the space on the outer peripheral side with respect to the second magnetic body, so that the generation of the leakage magnetic field can be effectively suppressed. Therefore, it is possible to suppress the adjacent one set of workpieces from being attracted to and attracted to the one set of workpieces held by the second magnetic body.

［本発明の実施形態の詳細］
以下、本発明の実施形態について添付図面に基づき詳細に説明する。なお、以下に記載する実施形態の少なくとも一部を任意に組み合わせてもよい。
［第１実施形態］
図１は、本発明の第１実施形態に係る電磁ホルダを示す断面図である。本実施形態の電磁ホルダ１は、例えば磁性材料により円柱状に形成された複数のワークＷがワーク載置面５０にランダムに載置されている状態から、これらのワークＷを１つずつ吸着保持して所定の場所へ搬送するものである。電磁ホルダ１は、磁性材料により形成されたホルダ本体２と、ホルダ本体２の内部に設けられた電磁コイル３と、ホルダ本体２の下側に設けられた第１磁性体４及び第２磁性体５とを備えている。 [Details of the embodiment of the present invention]
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, you may combine arbitrarily at least one part of embodiment described below.
[First Embodiment]
FIG. 1 is a cross-sectional view showing an electromagnetic holder according to the first embodiment of the present invention. The electromagnetic holder 1 of the present embodiment sucks and holds each of the workpieces W one by one from a state in which a plurality of workpieces W formed in a columnar shape with, for example, a magnetic material are randomly placed on the workpiece placement surface 50. Then, it is transported to a predetermined place. The electromagnetic holder 1 includes a holder main body 2 formed of a magnetic material, an electromagnetic coil 3 provided inside the holder main body 2, and a first magnetic body 4 and a second magnetic body provided below the holder main body 2. And 5.

ホルダ本体２は、有天円筒状に形成された外側円筒部２１と、この外側円筒部２１の内周側に同心状に配置された円柱状の内側円柱部２２とを有している。外側円筒部２１は、円板状の天板２１ａと、この天板２１ａの外周部から下方に延びる円筒体２１ｂとが一体に形成されたものである。天板２１ａの上面には、例えば図示しないロボットアームの先端部が接続されている。なお、天板２１ａおよび円筒体２１ｂは互いに別体であってもよい。   The holder main body 2 includes an outer cylindrical portion 21 formed in a celestial cylindrical shape, and a columnar inner cylindrical portion 22 arranged concentrically on the inner peripheral side of the outer cylindrical portion 21. The outer cylindrical portion 21 is formed by integrally forming a disk-shaped top plate 21a and a cylindrical body 21b extending downward from the outer peripheral portion of the top plate 21a. For example, the tip of a robot arm (not shown) is connected to the top surface of the top plate 21a. The top plate 21a and the cylindrical body 21b may be separate from each other.

内側円柱部２２は、外側円筒部２１の天板２１ａの下面において、当該天板２１ａと同心状に一体に形成されている。本実施形態では、内側円柱部２２の軸方向一方側（図中の下側）の端面２２ａは、外側円筒部２１（円筒体２１ｂ）の軸方向一方側（図中の下側）の端面２１ｃと面一に形成されている。なお、内側円柱部２２は、外側円筒部２１と別体に設けられていてもよい。   The inner cylindrical portion 22 is integrally formed concentrically with the top plate 21 a on the lower surface of the top plate 21 a of the outer cylindrical portion 21. In the present embodiment, the end surface 22a on the one axial side (the lower side in the figure) of the inner cylindrical portion 22 is the end face 21c on the one axial side (the lower side in the figure) of the outer cylindrical portion 21 (cylindrical body 21b). It is formed flush with. The inner cylindrical portion 22 may be provided separately from the outer cylindrical portion 21.

内側円柱部２２の外周面と、外側円筒部２１の円筒体２１ｂの内周面との間には環状空間２３が形成されており、この環状空間２３に電磁コイル３が外側円筒部２１（内側円柱部２２）と同心状に配置して収容されている。電磁コイル３は、図示しない外部電源に接続されており、この外部電源から電磁コイル３に電流を流すことで、ホルダ本体２の外側円筒部２１および内側円柱部２２の上下方向に互いに逆極性の磁極を発生させるようになっている。   An annular space 23 is formed between the outer peripheral surface of the inner cylindrical portion 22 and the inner peripheral surface of the cylindrical body 21b of the outer cylindrical portion 21, and the electromagnetic coil 3 is connected to the outer cylindrical portion 21 (inner side) in the annular space 23. It is arranged concentrically with the cylindrical part 22). The electromagnetic coil 3 is connected to an external power source (not shown). By passing a current from the external power source to the electromagnetic coil 3, the polarities opposite to each other in the vertical direction of the outer cylindrical portion 21 and the inner cylindrical portion 22 of the holder body 2. Magnetic poles are generated.

第１磁性体４は、磁性材料により例えば円柱状に形成されており、その軸方向上側の端面４ａは、内側円柱部２２の端面２２ａに同心状に固定されている。本実施形態では、第１磁性体４の軸方向下側の端面４ｂは、第２磁性体５の後述する吸着面５ｂと面一に形成されており、電磁力によりワークＷの軸方向上側の端面を吸着保持する吸着面とされている。なお、第１磁性体４は、円柱状に限定されず、他の形状に形成されていてもよい。   The first magnetic body 4 is formed of a magnetic material, for example, in a columnar shape, and the axially upper end surface 4 a is fixed concentrically to the end surface 22 a of the inner cylindrical portion 22. In the present embodiment, the lower end surface 4b in the axial direction of the first magnetic body 4 is formed flush with an attracting surface 5b, which will be described later, of the second magnetic body 5, and the upper side in the axial direction of the workpiece W by electromagnetic force. The suction surface is configured to suck and hold the end surface. Note that the first magnetic body 4 is not limited to a cylindrical shape, and may be formed in other shapes.

第２磁性体５は、磁性材料により環状に形成されており、その軸方向上側の端面５ａは外側円筒部２１の端面２１ｃに同心状に固定されている。第２磁性体５の軸方向下側の端面５ｂは、電磁力によりワークＷの軸方向上側の端面を吸着保持する吸着面とされている。   The second magnetic body 5 is formed in a ring shape from a magnetic material, and the end surface 5 a on the upper side in the axial direction is fixed concentrically to the end surface 21 c of the outer cylindrical portion 21. The end surface 5b on the lower side in the axial direction of the second magnetic body 5 is a suction surface that sucks and holds the end surface on the upper side in the axial direction of the workpiece W by electromagnetic force.

第１磁性体４と第２磁性体５との間には環状の非磁性領域６が形成されている。本実施形態の非磁性領域６は、例えば環状の樹脂部材により形成されており、前記樹脂部材の内周面は第１磁性体４の外周面に固定され、前記樹脂部材の外周面は第２磁性体５の内周面に固定されている。これにより、第１磁性体４および第２磁性体５は非磁性領域６により一体化されている。なお、非磁性領域６は、樹脂部材以外の非磁性体や空気等により形成されていてもよい。   An annular nonmagnetic region 6 is formed between the first magnetic body 4 and the second magnetic body 5. The nonmagnetic region 6 of the present embodiment is formed of, for example, an annular resin member, the inner peripheral surface of the resin member is fixed to the outer peripheral surface of the first magnetic body 4, and the outer peripheral surface of the resin member is the second. It is fixed to the inner peripheral surface of the magnetic body 5. Thereby, the first magnetic body 4 and the second magnetic body 5 are integrated by the nonmagnetic region 6. The nonmagnetic region 6 may be formed of a nonmagnetic material other than a resin member, air, or the like.

以上の構成により、電磁コイル３に電流を流すと、ホルダ本体２の外側円筒部２１および内側円柱部２２の上下方向に互いに逆極性の磁極を発生し、図中の破線矢印で示すように、Ｎ極である内側円柱部２２の端面２２ａから第１磁性体４の内部に向かって磁束Φが流れ出る。この流れ出た磁束Φの大部分は、第１磁性体４の吸着面４ｂから、非磁性領域６の軸方向下側に位置するワークＷの内部を通って、第２磁性体５の吸着面５ｂからその内部を通過し、Ｓ極である外側円筒部２１の円筒体２１ｂの下面に流れる。これにより、第１及び第２磁性体４，５の吸着面４ｂ，５ｂにワークＷを電磁力により吸着保持することができ、この状態で上記ロボットアームを移動させることで、当該ワークＷを所定の場所へ搬送することができる。なお、内側円柱部２２の端面２２ａがＳ極、外側円筒部２１の円筒体２１ｂがＮ極であってもよい。   With the above configuration, when a current is passed through the electromagnetic coil 3, magnetic poles having opposite polarities are generated in the vertical direction of the outer cylindrical portion 21 and the inner cylindrical portion 22 of the holder main body 2, and as indicated by broken line arrows in the figure, The magnetic flux Φ flows out from the end face 22a of the inner cylindrical portion 22 which is the N pole toward the inside of the first magnetic body 4. Most of the flowed magnetic flux Φ passes through the inside of the work W located on the lower side in the axial direction of the nonmagnetic region 6 from the adsorption surface 4b of the first magnetic body 4, and the adsorption surface 5b of the second magnetic body 5. Passes through the inside thereof and flows to the lower surface of the cylindrical body 21b of the outer cylindrical portion 21 which is the S pole. As a result, the workpiece W can be attracted and held by the electromagnetic force on the attracting surfaces 4b and 5b of the first and second magnetic bodies 4 and 5, and the robot arm is moved in this state so that the workpiece W is predetermined. Can be transported to other locations. The end surface 22a of the inner cylindrical portion 22 may be the S pole, and the cylindrical body 21b of the outer cylindrical portion 21 may be the N pole.

以上、本実施形態の電磁ホルダ１によれば、ホルダ本体２の内側円柱部２２に第１磁性体４が設けられ、ホルダ本体２の外側円筒部２１には、ワークＷを吸着保持する第２磁性体５が第１磁性体４に対して非磁性領域６を介して設けられている。このため、電磁ホルダ１にワークＷを吸着保持する際に、内側円柱部２２から第１磁性体４に流れ出た磁束Φの大部分は、第１磁性体４の吸着面４ｂから、非磁性領域６の軸方向下側に位置するワークＷの内部に流れた後、第２磁性体５の吸着面５ｂからその内部を通過し、外側円筒部２１の円筒体２１ｂの下面に流れる。これにより、第２磁性体５よりも外周側の空間に漏れ磁場が発生するのを効果的に抑制することができ、その結果、第２磁性体５に吸着保持されたワークＷに、隣接する他のワークＷが引き寄せられて吸着するのを抑制することができる。   As described above, according to the electromagnetic holder 1 of the present embodiment, the first magnetic body 4 is provided in the inner cylindrical portion 22 of the holder body 2, and the second cylindrical body 21 attracts and holds the workpiece W on the outer cylindrical portion 21. A magnetic body 5 is provided with respect to the first magnetic body 4 via a nonmagnetic region 6. For this reason, when the work W is attracted and held on the electromagnetic holder 1, most of the magnetic flux Φ flowing out from the inner cylindrical portion 22 to the first magnetic body 4 is transferred from the attracting surface 4 b of the first magnetic body 4 to the nonmagnetic region. 6 flows through the inside of the workpiece W located on the lower side in the axial direction of the second magnetic body 5 from the adsorption surface 5b of the second magnetic body 5 and flows to the lower surface of the cylindrical body 21b of the outer cylindrical portion 21. Thereby, it is possible to effectively suppress the generation of a leakage magnetic field in a space on the outer peripheral side of the second magnetic body 5, and as a result, adjacent to the workpiece W attracted and held by the second magnetic body 5. It is possible to suppress other workpieces W from being attracted and attracted.

［変形例］
図２は、ワークＷの変形例を示す断面図である。本変形例のワークＷには、その軸方向上側の端面の中央部に円形の浅い窪みｗ１が形成されている。この窪みｗ１の直径は、電磁ホルダ１の第１磁性体４の外径よりも大きい。このため、本変形例のワークＷを電磁ホルダ１により吸着保持する場合、第１磁性体４の軸方向下側の端面４ｂは、窪みｗ１の上方に配置されるため、ワークＷを吸着保持する吸着面として機能しない。この点が上記実施形態のワークＷを電磁ホルダ１で吸着保持する場合と相違する。 [Modification]
FIG. 2 is a cross-sectional view showing a modification of the workpiece W. In the workpiece W of this modification, a circular shallow recess w1 is formed at the center of the end surface on the upper side in the axial direction. The diameter of the recess w <b> 1 is larger than the outer diameter of the first magnetic body 4 of the electromagnetic holder 1. For this reason, when the work W of this modification is attracted and held by the electromagnetic holder 1, the end surface 4b on the lower side in the axial direction of the first magnetic body 4 is disposed above the recess w1, and thus the work W is attracted and held. Does not function as a suction surface. This point is different from the case where the work W of the above embodiment is attracted and held by the electromagnetic holder 1.

本変形例のワークＷを電磁ホルダ１により吸着保持する際には、電磁コイル３に電流を流すと、図中の破線矢印で示すように、Ｎ極である内側円柱部２２の端面２２ａから第１磁性体４の内部に流れ出た磁束Φの大部分は、第１磁性体４の端面４ｂから、非磁性領域６の軸方向下側に位置するワークＷの窪みｗ１内の空間を通って、ワークＷの外周部内に流れる。そして、この外周部内に流れた磁束Φは、第２磁性体５の吸着面５ｂからその内部を通過し、Ｓ極である外側円筒部２１の円筒体２１ｂの下面に流れる。これにより、第２磁性体５の吸着面５ｂにワークＷを電磁力により吸着保持することができ、この状態で上記ロボットアームを移動させることで、当該ワークＷを所定の場所へ搬送することができる。なお、内側円柱部２２の端面２２ａがＳ極、外側円筒部２１の円筒体２１ｂがＮ極であってもよい。   When the work W of this modification is attracted and held by the electromagnetic holder 1, when a current is passed through the electromagnetic coil 3, as shown by the broken-line arrow in the figure, the second end is formed from the end face 22 a of the inner cylindrical portion 22 that is the N pole. Most of the magnetic flux Φ flowing out of the inside of the first magnetic body 4 passes from the end face 4b of the first magnetic body 4 through the space in the recess w1 of the workpiece W located on the lower side in the axial direction of the nonmagnetic region 6. It flows in the outer periphery of the workpiece W. And magnetic flux (PHI) which flowed in this outer peripheral part passes the inside from the adsorption | suction surface 5b of the 2nd magnetic body 5, and flows into the lower surface of the cylindrical body 21b of the outer side cylindrical part 21 which is a S pole. Thereby, the workpiece W can be attracted and held by the electromagnetic force on the attracting surface 5b of the second magnetic body 5, and the workpiece W can be transported to a predetermined place by moving the robot arm in this state. it can. The end surface 22a of the inner cylindrical portion 22 may be the S pole, and the cylindrical body 21b of the outer cylindrical portion 21 may be the N pole.

以上、本変形例のワークＷの場合でも、電磁ホルダ１によりワークＷを吸着保持する際に、第２磁性体５よりも外周側の空間に漏れ磁場が発生するのを効果的に抑制することができるので、第２磁性体５に吸着保持されたワークＷに、隣接する他のワークＷが引き寄せられて吸着するのを抑制することができる。   As described above, even in the case of the workpiece W of this modification, when the workpiece W is attracted and held by the electromagnetic holder 1, it is possible to effectively suppress the generation of a leakage magnetic field in the outer space of the second magnetic body 5. Therefore, it is possible to suppress the adjacent workpiece W from being attracted to and attracted to the workpiece W attracted and held by the second magnetic body 5.

［第２実施形態］
図３は、本発明の第２実施形態に係る電磁ホルダ１を示す断面図である。本実施形態では、第１磁性体４及びワークＷの各形状が異なる点で第１実施形態と相違する。以下、本実施形態では、第１実施形態と相違する点についてのみ説明する。
本実施形態の電磁ホルダ１が吸着保持するワークＷには、その軸方向上側の端面の中央部に円形の深い窪みｗ２が形成されている。 [Second Embodiment]
FIG. 3 is a sectional view showing the electromagnetic holder 1 according to the second embodiment of the present invention. This embodiment is different from the first embodiment in that each shape of the first magnetic body 4 and the workpiece W is different. Hereinafter, in the present embodiment, only differences from the first embodiment will be described.
The workpiece W that is attracted and held by the electromagnetic holder 1 of the present embodiment is formed with a circular deep recess w2 in the center of the axially upper end surface.

本実施形態の電磁ホルダ１における、第１磁性体４の軸方向下側の端面４ｂは、第２磁性体５の吸着面５ｂよりも軸方向下側に突出している。第１磁性体４における第２磁性体５の吸着面５ｂよりも軸方向下側に突出している部分の軸方向の長さＬ１は、ワークＷの窪みｗ２の軸方向の長さ（深さ）Ｌ２よりも短く設定されている。また、第１磁性体４の外径Ｄ１は、窪みｗ２の直径Ｄ２よりも小さく設定されている。   In the electromagnetic holder 1 of the present embodiment, the end surface 4 b on the lower side in the axial direction of the first magnetic body 4 protrudes further on the lower side in the axial direction than the attracting surface 5 b of the second magnetic body 5. The length L1 in the axial direction of the portion of the first magnetic body 4 that protrudes downward in the axial direction from the attracting surface 5b of the second magnetic body 5 is the length (depth) in the axial direction of the recess w2 of the workpiece W. It is set shorter than L2. Further, the outer diameter D1 of the first magnetic body 4 is set smaller than the diameter D2 of the recess w2.

これにより、電磁ホルダ１がワークＷを吸着保持するときに、第１磁性体４はワークＷの窪みｗ２内に挿入され、第１磁性体４の軸方向下側の端面４ｂは、窪みｗ２の底面よりも上方に配置される。このため、第１磁性体４の端面４ｂは、ワークＷを吸着保持する吸着面として機能しない。この点が第１実施形態のワークＷを電磁ホルダ１で吸着保持する場合と相違する。   Thereby, when the electromagnetic holder 1 attracts and holds the workpiece W, the first magnetic body 4 is inserted into the recess w2 of the workpiece W, and the end surface 4b on the lower side in the axial direction of the first magnetic body 4 is the recess w2. Arranged above the bottom surface. For this reason, the end surface 4 b of the first magnetic body 4 does not function as an attracting surface for attracting and holding the workpiece W. This is different from the case where the work W of the first embodiment is attracted and held by the electromagnetic holder 1.

以上のように構成された電磁ホルダ１によりワークＷを吸着保持する際には、電磁コイル３に電流を流すと、図中の破線矢印で示すように、Ｎ極である内側円柱部２２の端面２２ａから第１磁性体４の内部に流れ出た磁束Φの大部分は、第１磁性体４の軸方向下側まで流れた後、ワークＷの窪みｗ２内の空間を通って、ワークＷの軸方向下側の外周部内に流れる。そして、この外周部内に流れた磁束Φは、ワークＷの軸方向上側まで流れた後、第２磁性体５の吸着面５ｂからその内部を通過し、Ｓ極である外側円筒部２１の円筒体２１ｂの下面に流れる。これにより、第２磁性体５の吸着面５ｂにワークＷを電磁力により吸着保持することができ、この状態で上記ロボットアームを移動させることで、当該ワークＷを所定の場所へ搬送することができる。なお、内側円柱部２２の端面２２ａがＳ極、外側円筒部２１の円筒体２１ｂがＮ極であってもよい。   When the work W is attracted and held by the electromagnetic holder 1 configured as described above, when an electric current is passed through the electromagnetic coil 3, as shown by a broken line arrow in the figure, the end surface of the inner cylindrical portion 22 which is the N pole Most of the magnetic flux Φ flowing out from the inside of the first magnetic body 4 from 22a flows to the lower side in the axial direction of the first magnetic body 4, and then passes through the space in the recess w2 of the work W to pass through the axis of the work W. It flows in the outer periphery of the lower side. Then, the magnetic flux Φ flowing in the outer peripheral portion flows to the upper side in the axial direction of the workpiece W, and then passes through the inside from the adsorption surface 5b of the second magnetic body 5, and the cylindrical body of the outer cylindrical portion 21 that is the S pole. It flows on the lower surface of 21b. Thereby, the workpiece W can be attracted and held by the electromagnetic force on the attracting surface 5b of the second magnetic body 5, and the workpiece W can be transported to a predetermined place by moving the robot arm in this state. it can. The end surface 22a of the inner cylindrical portion 22 may be the S pole, and the cylindrical body 21b of the outer cylindrical portion 21 may be the N pole.

なお、第１磁性体４の外周面と第２磁性体５の内周面との間隔（非磁性領域６の径方向の厚み）Ｓ１は、第１磁性体４の外周面とワークＷの窪みｗ２の周面との間隔Ｓ２よりも大きく設定されている。これにより、内側円柱部２２から第１磁性体４の内部に入った磁束Φは、非磁性領域６（間隔Ｓ１）を通過して第２磁性体５に流れるよりも、ワークＷの窪みｗ２内の空間（間隔Ｓ２）を通過してワークＷに流れ易くなるので、磁気回路の長さを長くすることができる。   In addition, the space | interval (thickness of the radial direction of the nonmagnetic area | region 6) S1 of the outer peripheral surface of the 1st magnetic body 4 and the 2nd magnetic body 5 is the hollow of the outer peripheral surface of the 1st magnetic body 4, and the workpiece | work W. It is set larger than the interval S2 with the circumferential surface of w2. As a result, the magnetic flux Φ entering the first magnetic body 4 from the inner cylindrical portion 22 passes through the nonmagnetic region 6 (interval S1) and flows into the second magnetic body 5 rather than in the recess w2 of the workpiece W. It is easy to flow through the space (interval S2) to the work W, so that the length of the magnetic circuit can be increased.

以上、第２実施形態の電磁ホルダ１においても、電磁ホルダ１によりワークＷを吸着保持する際に、第２磁性体５よりも外周側の空間に漏れ磁場が発生するのを効果的に抑制することができるので、第２磁性体５に吸着保持されたワークＷに、隣接する他のワークＷが引き寄せられて吸着するのを抑制することができる。   As described above, also in the electromagnetic holder 1 of the second embodiment, when the work W is attracted and held by the electromagnetic holder 1, it is possible to effectively suppress the generation of a leakage magnetic field in a space on the outer peripheral side of the second magnetic body 5. Therefore, it is possible to suppress the adjacent workpiece W from being attracted to and attracted to the workpiece W attracted and held by the second magnetic body 5.

さらに、本実施形態では、第１磁性体４の軸方向下側の端面４ｂが、第２磁性体５の吸着面５ｂよりも軸方向下側に突出しており、その突出している部分をワークＷの窪みｗ２に挿入することができる。これにより、第１磁性体４の軸方向下側の端面がワークＷ下部まで伸びるため、ワークＷ下部に至る磁気回路の磁気抵抗が小さくなり、コイルに流した電流によって発生する磁束を、ワークＷ下部まで効率的に通すことができる。このため、ワークを保持するのに必要な電流が小さくなり、磁気回路全体の磁束密度が低くなるので、磁性体が飽和するのを抑制することができる。その結果、磁性体が飽和することで第２磁性体５よりも外周側の空間に磁束Φが漏れるのを抑制することができるため、漏れ磁場が発生するのをさらに抑制することができる。   Furthermore, in the present embodiment, the end surface 4b on the lower side in the axial direction of the first magnetic body 4 protrudes downward in the axial direction from the attracting surface 5b of the second magnetic body 5, and the protruding portion is the workpiece W. Can be inserted into the recess w2. As a result, the end surface on the lower side in the axial direction of the first magnetic body 4 extends to the lower part of the work W, so that the magnetic resistance of the magnetic circuit reaching the lower part of the work W is reduced. It can pass efficiently to the bottom. For this reason, the current required to hold the workpiece is reduced, and the magnetic flux density of the entire magnetic circuit is reduced, so that saturation of the magnetic body can be suppressed. As a result, it is possible to prevent the magnetic flux Φ from leaking into the space on the outer peripheral side of the second magnetic body 5 due to the saturation of the magnetic body, and thus it is possible to further suppress the generation of a leakage magnetic field.

［第３実施形態］
図４は、本発明の第３実施形態に係る電磁ホルダ１を示す断面図である。本実施形態は、第２実施形態の変形例であり、第１磁性体４及びワークＷの各形状が異なる点で第１実施形態と相違する。以下、本実施形態では、第２実施形態と相違する点についてのみ説明する。
本実施形態の電磁ホルダ１が吸着保持するワークＷは、円環状に形成された焼結品からなり、その軸線方向（図４の上下方向）に例えば３個積み重ねられた状態で１組とされており、複数組のワークＷがワーク載置面５０に載置されている。 [Third Embodiment]
FIG. 4 is a sectional view showing the electromagnetic holder 1 according to the third embodiment of the present invention. This embodiment is a modification of the second embodiment, and is different from the first embodiment in that the shapes of the first magnetic body 4 and the workpiece W are different. Hereinafter, in the present embodiment, only differences from the second embodiment will be described.
The workpieces W attracted and held by the electromagnetic holder 1 of the present embodiment are made of a sintered product formed in an annular shape, and one set is formed, for example, in a state where three are stacked in the axial direction (vertical direction in FIG. 4). A plurality of sets of workpieces W are placed on the workpiece placement surface 50.

前記焼結品は、例えば、組成がＦｅ−２Ｃｕ−０．８Ｃ−０．６パウダー潤滑剤（重量％）のブレンド粉末を用いて、成形圧６ｔｏｎ／ｃｍ２で成形した粉末成形体を、窒素雰囲気中において１１３０℃で焼結して得られたものである。
なお、ワークＷの１組の個数は特に限定されるものではなく、少なくとも２個１組として載置されていればよい。 The sintered product is, for example, a powder molded body molded with a molding pressure of 6 ton / cm 2 using a blend powder having a composition of Fe-2Cu-0.8C-0.6 powder lubricant (% by weight), nitrogen It was obtained by sintering at 1130 ° C. in an atmosphere.
The number of one set of workpieces W is not particularly limited, and it is sufficient that at least two sets of workpieces W are placed as one set.

本実施形態の電磁ホルダ１は、ワークＷを前記１組ずつ同時に吸着保持するように構成されている。具体的には、第１磁性体４の外径Ｄ１は、ワークＷの内径Ｄ２’よりも小さく設定されている。また、第１磁性体４における第２磁性体５の吸着面５ｂよりも軸方向下側に突出している部分の軸方向の長さＬ１は、１組のワークＷの積み重ね方向の全長（全高）Ｌ２’よりも短く設定されており、かつ、当該１組における上側２個のワークＷの積み重ね方向の長さ（高さ）Ｌ３よりも長く設定されている。   The electromagnetic holder 1 of the present embodiment is configured so as to attract and hold the workpieces W one by one at the same time. Specifically, the outer diameter D1 of the first magnetic body 4 is set smaller than the inner diameter D2 'of the workpiece W. The length L1 in the axial direction of the portion of the first magnetic body 4 that protrudes below the attracting surface 5b of the second magnetic body 5 in the axial direction is the total length (total height) in the stacking direction of one set of workpieces W. It is set to be shorter than L2 ′ and set to be longer than the length (height) L3 in the stacking direction of the upper two works W in the set.

これにより、電磁ホルダ１が１組のワークＷを吸着保持するときに、第１磁性体４は当該１組の各ワークＷの内周側に挿入され、第１磁性体４の軸方向下側の端面４ｂは、ワーク載置面５０よりも上方であって、かつ、最も下側に配置されたワークＷの上面よりも軸方向下側に突出した状態となる。   Thereby, when the electromagnetic holder 1 holds the set of workpieces W by suction, the first magnetic body 4 is inserted into the inner peripheral side of each set of the workpieces W, and the lower side in the axial direction of the first magnetic body 4 The end surface 4b is above the workpiece placement surface 50 and protrudes downward in the axial direction from the upper surface of the workpiece W arranged on the lowermost side.

この状態で電磁コイル３に電流を流すと、図中の破線矢印で示すように、Ｎ極である内側円柱部２２の端面２２ａから第１磁性体４の内部に流れ出た磁束Φの大部分は、第１磁性体４の軸方向下側まで流れた後、最も下側に配置されたワークＷの内周側の空間を通って、当該ワークＷの軸方向下側の外周部内に流れる。そして、この外周部内に流れた磁束Φは、真ん中に配置されたワークＷの内部を通過し、最も上側に配置されたワークＷの軸方向上側まで流れた後、第２磁性体５の吸着面５ｂからその内部を通過し、Ｓ極である外側円筒部２１の円筒体２１ｂの下面に流れる。   When a current is passed through the electromagnetic coil 3 in this state, most of the magnetic flux Φ that has flowed into the first magnetic body 4 from the end face 22a of the inner cylindrical portion 22 that is the N pole, as indicated by the broken arrow in the figure, After flowing to the lower side in the axial direction of the first magnetic body 4, it flows into the outer peripheral portion on the lower side in the axial direction of the work W through the space on the inner peripheral side of the work W arranged on the lowermost side. Then, the magnetic flux Φ flowing in the outer peripheral portion passes through the inside of the workpiece W arranged in the middle and flows to the upper side in the axial direction of the workpiece W arranged on the uppermost side, and then the adsorption surface of the second magnetic body 5 5b passes through the inside and flows to the lower surface of the cylindrical body 21b of the outer cylindrical portion 21 which is the S pole.

これにより、第２磁性体５の吸着面５ｂに、最も上側に配置されたワークＷが電磁力により吸着保持されるとともに、真ん中に配置されたワークＷおよび最も下側に配置されたワークＷが、電磁力により隣接する上側のワークＷの下面に吸着保持される。この状態で上記ロボットアームを移動させることで、１組のワークＷを同時に所定の場所へ搬送することができる。なお、内側円柱部２２の端面２２ａがＳ極、外側円筒部２１の円筒体２１ｂがＮ極であってもよい。   Thereby, the uppermost workpiece W is attracted and held by the electromagnetic force on the attracting surface 5b of the second magnetic body 5, and the middle workpiece W and the lowermost workpiece W are arranged. Then, it is attracted and held on the lower surface of the adjacent upper workpiece W by electromagnetic force. By moving the robot arm in this state, a set of workpieces W can be simultaneously transferred to a predetermined location. The end surface 22a of the inner cylindrical portion 22 may be the S pole, and the cylindrical body 21b of the outer cylindrical portion 21 may be the N pole.

以上、第３実施形態の電磁ホルダ１においても、電磁ホルダ１により１組のワークＷを吸着保持する際に、第２磁性体５よりも外周側の空間に漏れ磁場が発生するのを効果的に抑制することができるので、第２磁性体５に吸着保持された１組のワークＷに、隣接する他の１組のワークＷが引き寄せられて吸着するのを抑制することができる。   As described above, also in the electromagnetic holder 1 of the third embodiment, it is effective that a leakage magnetic field is generated in a space on the outer peripheral side with respect to the second magnetic body 5 when the electromagnetic holder 1 attracts and holds a set of workpieces W. Therefore, it is possible to suppress the adjacent one set of workpieces W from being attracted to and attracted to the one set of workpieces W attracted and held by the second magnetic body 5.

さらに、本実施形態では、第１磁性体４の軸方向下側に突出している部分は、１組のワークＷの内周側に挿入される。これにより、第１磁性体４の軸方向下側の端面が１組のワークＷ下部まで伸びるため、１組のワークＷ下部に至る磁気回路の磁気抵抗が小さくなり、コイルに流した電流によって発生する磁束を、１組のワークＷ下部まで効率的に通すことができる。このため、１組のワークを保持するのに必要な電流が小さくなり、磁気回路全体の磁束密度が低くなるので、磁性体が飽和するのを抑制することができる。その結果、磁性体が飽和することで第２磁性体５よりも外周側の空間に磁束Φが漏れるのを抑制することができるため、漏れ磁場が発生するのをさらに抑制することができる。したがって、第２磁性体５に吸着保持された１組のワークＷに、隣接する他の１組のワークＷが引き寄せられて吸着するのをさらに抑制することができる。   Further, in the present embodiment, the portion of the first magnetic body 4 that protrudes downward in the axial direction is inserted into the inner peripheral side of the set of workpieces W. As a result, the axially lower end surface of the first magnetic body 4 extends to the lower part of the set of workpieces W, so that the magnetic resistance of the magnetic circuit reaching the lower part of the set of workpieces W is reduced and generated by the current flowing through the coil. The magnetic flux to be transmitted can be efficiently passed to the lower part of the set of workpieces W. For this reason, the current required to hold one set of workpieces is reduced, and the magnetic flux density of the entire magnetic circuit is reduced, so that saturation of the magnetic material can be suppressed. As a result, it is possible to prevent the magnetic flux Φ from leaking into the space on the outer peripheral side of the second magnetic body 5 due to the saturation of the magnetic body, and thus it is possible to further suppress the generation of a leakage magnetic field. Therefore, it is possible to further suppress the adjacent one set of workpieces W from being attracted to and attracted to the set of workpieces W held by the second magnetic body 5.

図５は、第３実施形態において、１組のワークＷの内周側に形成される空間に対する第１磁性体４の最適な形状を確認するために、第１磁性体４の上記長さＬ１及び外径Ｄ１をそれぞれ変化させた場合の評価試験を行った結果を示すグラフである。図５の縦軸は、第１磁性体４の外径Ｄ１とワークＷの内径Ｄ２’との比率（Ｄ１／Ｄ２’）である径比（％）を示しており、図５の横軸は、第１磁性体４の長さＬ１と、１組のワークＷの積み重ね方向（上下方向）の長さＬ２’との比率（Ｌ１／Ｌ２’）である長さ比（％）を示している。   FIG. 5 shows the length L1 of the first magnetic body 4 in order to confirm the optimum shape of the first magnetic body 4 with respect to the space formed on the inner peripheral side of the set of workpieces W in the third embodiment. It is a graph which shows the result of having performed the evaluation test when changing outer diameter D1 and each. 5 indicates the diameter ratio (%) which is the ratio (D1 / D2 ′) between the outer diameter D1 of the first magnetic body 4 and the inner diameter D2 ′ of the workpiece W, and the horizontal axis of FIG. The length ratio (%), which is the ratio (L1 / L2 ′) between the length L1 of the first magnetic body 4 and the length L2 ′ in the stacking direction (vertical direction) of the pair of workpieces W, is shown. .

評価試験では、前記径比および長さ比をそれぞれ段階的に変化させて、電磁ホルダ１に１組のワークＷを吸着保持するときに、最も下側に配置されたワークＷの吸着保持ができなかったり、漏れ地場により隣接する１組のワークＷの引き寄せが生じたりするか否かを確認した。そして、前記吸着保持ができ、かつ前記引き寄せが生じなかった場合には「〇」と評価し、前記吸着保持ができなかった場合、又は前記引き寄せが生じた場合には「×」と評価した。   In the evaluation test, when the diameter ratio and the length ratio are changed stepwise to hold the pair of workpieces W on the electromagnetic holder 1, the lowermost workpiece W can be sucked and held. It was confirmed whether or not there was a pulling of a pair of adjacent workpieces W due to a leaked place. And when the said adsorption | suction holding was possible and the said attraction | suction did not arise, it evaluated as "(circle)", and when the said attraction | suction retention was not able to be performed or the said attraction | suction occurred, it evaluated as "*".

図５に示すように、前記径比を５０％以上に変化させた場合、及び前記長さ比を７０％以上に変化させた場合に、前記吸着保持ができ、かつ前記引き寄せが生じていないのが分かる。したがって、最も下側のワークＷを吸着保持することができ、かつ前記引き寄せの要因となる漏れ磁場の発生を効果的に抑制するためには、図中の破線で囲む範囲内となるように、前記径比を５０〜１００％にし、かつ前記長さ比を７０〜１００％にするのが好ましい。   As shown in FIG. 5, when the diameter ratio is changed to 50% or more, and when the length ratio is changed to 70% or more, the adsorption can be held, and the attraction does not occur. I understand. Therefore, in order to be able to attract and hold the lowermost workpiece W and to effectively suppress the generation of the leakage magnetic field that causes the attraction, so as to be within the range surrounded by the broken line in the figure, The diameter ratio is preferably 50 to 100% and the length ratio is preferably 70 to 100%.

［その他］
なお、今回開示された実施形態はすべての点で例示であって制限的なものではないと考えられるべきである。本発明の範囲は、上記した意味ではなく、特許請求の範囲によって示され、特許請求の範囲と均等の意味、及び範囲内でのすべての変更が含まれることが意図される。 [Others]
The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the meanings described above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

１ 電磁ホルダ
２ ホルダ本体
３ 電磁コイル
４ 第１磁性体
４ａ 端面
４ｂ 端面
５ 第２磁性体
５ａ 端面
５ｂ 端面（吸着面）
６ 非磁性領域
２１ 外側円筒部
２１ａ 天板
２１ｂ 円筒体
２１ｃ 端面
２２ 内側円柱部
２２ａ 端面
２３ 環状空間
５０ ワーク載置面
Ｄ１ 第１磁性体の外径
Ｄ２ 窪みの直径
Ｄ２’ ワークの内径
Ｌ１ 第１磁性体の突出部分の長さ
Ｌ２ 窪みの軸方向の長さ（深さ）
Ｌ２’ １組のワークの積み重ね方向の全長（全高）
Ｓ１ 第１磁性体の外周面と第２磁性体の内周面との間隔
Ｓ２ 第１磁性体の外周面と窪みの周面との間隔
Ｗ ワーク
ｗ１ 窪み
ｗ２ 窪み
Φ 磁束 DESCRIPTION OF SYMBOLS 1 Electromagnetic holder 2 Holder main body 3 Electromagnetic coil 4 1st magnetic body 4a End surface 4b End surface 5 2nd magnetic body 5a End surface 5b End surface (Suction surface)
6 Non-magnetic region 21 Outer cylindrical portion 21a Top plate 21b Cylindrical body 21c End surface 22 Inner cylindrical portion 22a End surface 23 Annular space 50 Workpiece mounting surface D1 Outer diameter of first magnetic body D2 Diameter of recess D2 'Inner diameter of workpiece L1 First Length of projecting part of magnetic body L2 Length (depth) of hollow in axial direction
L2 'Total length in the stacking direction of one set of workpieces (total height)
S1 Interval between the outer peripheral surface of the first magnetic body and the inner peripheral surface of the second magnetic body S2 Interval between the outer peripheral surface of the first magnetic body and the peripheral surface of the depression W Work w1 Depression w2 Depression Φ Magnetic flux

Claims (3)

外側円筒部、および当該外側円筒部の内周側に同心状に配置された内側円柱部を有し、磁性材料により形成されたホルダ本体と、
前記外側円筒部と前記内側円柱部との間の環状空間に設けられ、前記外側円筒部及び前記内側円柱部に互いに異なる磁極を発生させる電磁コイルと、
前記内側円柱部の軸方向一方側の端面に設けられた第１磁性体と、
前記外側円筒部の前記軸方向一方側の端面において前記第１磁性体に対して非磁性領域を介して設けられ、ワークを電磁力により吸着保持する吸着面を有する環状の第２磁性体と、を備える電磁ホルダ。 An outer cylindrical part, and an inner cylindrical part arranged concentrically on the inner peripheral side of the outer cylindrical part, and a holder body formed of a magnetic material;
An electromagnetic coil provided in an annular space between the outer cylindrical portion and the inner cylindrical portion, and generating different magnetic poles in the outer cylindrical portion and the inner cylindrical portion;
A first magnetic body provided on an end surface on one axial side of the inner cylindrical portion;
An annular second magnetic body having an adsorption surface that is provided to the first magnetic body via a nonmagnetic region at the end surface on the one axial side of the outer cylindrical portion, and that attracts and holds the workpiece by electromagnetic force; An electromagnetic holder comprising: 前記第１磁性体の前記軸方向一方側の端面が、前記第２磁性体の前記吸着面よりも前記軸方向一方側に突出している、請求項１に記載の電磁ホルダ。   2. The electromagnetic holder according to claim 1, wherein an end surface of the first magnetic body on one side in the axial direction protrudes to the one side in the axial direction from the adsorption surface of the second magnetic body. 前記ワークは、円環状の焼結品からなり、その軸線方向に複数個積み重ねられた状態で１組とされており、
前記第１磁性体の前記軸方向一方側に突出している部分は、前記１組のワークの内周側に挿入可能な大きさに形成されている、請求項２に記載の電磁ホルダ。 The workpiece is made of a ring-shaped sintered product, and a plurality of the workpieces are stacked in the axial direction,
3. The electromagnetic holder according to claim 2, wherein a portion of the first magnetic body that protrudes on one side in the axial direction is formed in a size that can be inserted into an inner peripheral side of the pair of workpieces.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021120174A (en) * 2020-01-31 2021-08-19 株式会社オータマ Electromagnetic holder
FR3129618A1 (en) * 2021-11-29 2023-06-02 Psa Automobiles Sa magnetic gripping tool

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JPS4880052U (en) * 1971-12-29 1973-10-01
JPS52129151A (en) * 1976-04-22 1977-10-29 Toyota Motor Corp Magnet absorption support device
JPH04338097A (en) * 1991-05-15 1992-11-25 Toyota Motor Corp Electromagnetic for conveyance
JPH07171784A (en) * 1993-12-17 1995-07-11 Murata Mach Ltd Chuck device

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Publication number Priority date Publication date Assignee Title
JPS4880052U (en) * 1971-12-29 1973-10-01
JPS52129151A (en) * 1976-04-22 1977-10-29 Toyota Motor Corp Magnet absorption support device
JPH04338097A (en) * 1991-05-15 1992-11-25 Toyota Motor Corp Electromagnetic for conveyance
JPH07171784A (en) * 1993-12-17 1995-07-11 Murata Mach Ltd Chuck device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021120174A (en) * 2020-01-31 2021-08-19 株式会社オータマ Electromagnetic holder
JP7122766B2 (en) 2020-01-31 2022-08-22 株式会社オータマ electromagnetic holder
FR3129618A1 (en) * 2021-11-29 2023-06-02 Psa Automobiles Sa magnetic gripping tool

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