Method for controlling the magnetic clamping of a part and magnetic clamping device using such a method

• US 8,890,641 B2
• Filed: 02/07/2014
• Issued: 11/18/2014
• Est. Priority Date: 02/22/2013
• Status: Active Grant

• Current Assignee: Staubli Faverges (Stã¤Ubli Holding AG)
• Original Assignee: Staubli Faverges (Stã¤Ubli Holding AG)
• Inventors: Tiberghien, Alain-Christophe, Puget, Sylvain, Chachereau, Sylvain
• Primary Examiner(s): BARRERA, RAMON M
• Application Number:
  US14/175,613
• Publication Number:
  US 20140240069A1
• Time in Patent Office: 284 Days
• Field of Search: 335/289, 335/290, 335/295, 269/8, 361/144, 361/145
• US Class Current: 335/290
• CPC Class Codes: B25B 11/002 Magnetic work holders
• CPC Class Codes: B29C 2045/645 using magnetic means
• CPC Class Codes: B29C 45/64 Mould opening, closing or clamping devices combined with means for plasticising or homogenising B29C45/70

Abstract

In this method, magnetic studs housed in a plate are connected to magnetic flux measuring circuits, which define measuring zones, and to power circuits that make it possible to magnetize or demagnetize the studs. The method comprises prior steps that consist in determining (100) at least two treatment zones each defined by at least one measuring zone and defining (102) a surface of the clamping plate in contact with the part to be clamped, as well as following steps consisting, for each treatment zone, in identifying (103) one or more magnetic studs included in a surface of the clamping plate in contact with the part to be clamped, measuring (105) the magnetic flux produced by the stud or studs identified previously, calculating (106) an actual magnetic clamping force based on the measurement of the preceding step and on the identification made previously, calculating (108) a theoretical magnetic force thanks to this identification.

The magnetic clamping device, comprises means intended to implement a method such as described hereinabove and a clamping plate that comprises at least two measuring circuits arranged one on top of the other, in relation to a plan perpendicular to the weight of the part to be clamped.

Claims

1. Method for controlling the magnetic clamping of a part (31) in a magnetic clamping device (2) of an industrial installation (1) comprising, a unit (23) for controlling the magnetic clamping, a clamping plate (21) whereon is positioned the part to be clamped (31), several magnetic studs (5) housed in this plate (21), with the studs being connected to magnetic flux measuring circuits (51a, 51b, 51c, 51d) defining measuring zones (A, B, C, D) and to power circuits making it possible to magnetise or demagnetise the studs (5),

characterised in that the method comprises prior steps consisting in:

a) determining (100) at least two treatment zones (Za, Zb, Zc, Zd) each defined by at least one measuring zone (A, B, C, D)

b) defining (102) a surface (S) of the clamping plate (21) in contact with the part to be clamped (31) and

in that the method comprises for each treatment zone (Za, Zb, Zc, Zd), steps consisting in;

c) identifying (103) one or more magnetic studs (5a, 5b, 5c, 5d) included in the surface (S) of the clamping plate (21) in contact with the part to be clamped (31),

d) measuring (105) the magnetic flux produced by the stud or studs (5a, 5b, 5c, 5d) identified in step c)

e) calculating (106) an actual magnetic clamping force (Ea, Eb, Ec, Ed) based on the measurement of the step d), on the definition of the surface (S) in contact carried out in the step b) and on the identification of the studs (5a, 5b, 5c, 5d) carried out in the step c),

f) calculating (108) a theoretical magnetic force (E′

a, E′

b, E′

c, E′

d) thanks to the definition of the surface (S) in contact carried out in the step b) and the identification of the studs (5a, 5b, 5c, 5d) carried out in the step c).

2. Method according to claim 1, characterised in that it comprises a step consisting for each treatment zone (Za, Zb, Zc, Zd), in:

g) comparing (112) the actual magnetic clamping force (Ea, Eb, Ec, Ed) and the theoretical magnetic force (E′

a, E′

b, E′

c, E′

d) calculated in steps e) and f).

3. Method according to claim 1, characterised in that it comprises steps consisting for each treatment zone (Za, Zb, Zc, Zd), in:

h) calculating (107) a point of application (Fa, Fb, Fc, Fd) of the actual magnetic force (Ea, Eb, Ec, Ed) by considering the barycentre of the covered surfaces of the studs (5a, 5b, 5c, 5d) identified in the step c),

i) calculating (109) a holding torque of the actual magnetic force (Ea, Eb, Ec, Ed) using the results of the calculations of the steps e) and h).

4. Method according to claim 3, characterised in that it comprises steps consisting in:

j) calculating (111) the theoretical tipping torque (K) of the part based on characteristic parameters of the part to be clamped (31) and characteristic parameters of the clamping plate (21),

k) comparing (113) a sum (R) of the holding torques of the actual magnetic forces (Ea, Eb, Ec, Ed) calculated (109) for each treatment zone (Za, Zb, Zc, Zd) during the step i) with the theoretical tipping torque (K) calculated in the step j).

5. Method according to claim 4, characterised in that it comprises a step consisting in:

l) communicating the results of the comparison carried out in the step k) to a piece of equipment of the installation (1).

6. Method according to claim 4 characterised in that it comprises a step consisting in:

m) establishing (114) that the result of the comparison carried out in the step k) satisfies a criterion for stoppage corresponding to the detection of a magnetisation defect of a treatment zone (Za, Zb, Zc, Zd) or of a risk of tipping of the part to be clamped (31).

7. Method according to claim 6, characterised in that it comprises a step consisting in:

n) activating a means of alert or display on the installation (1) if the criterion for stoppage is satisfied during the step m).

8. Method according to claim 6, characterised in that it comprises a step consisting in:

o) reporting the treatment zone (Za, Zb, Zc, Zd) to a piece of equipment of the installation (1) if the criterion for stoppage corresponding to the detection of a magnetisation defect of this treatment zone (Za, Zb, Zc, Zd) is satisfied during the step m).

9. Method according to claim 1, characterised in that:

during the step d), the temperature is measured (105) by a sensor on the clamping surface (21a) for each measuring zone (A, B, C, D)

during the step e), the actual magnetic clamping force corrected for the influence of the temperature measured is also calculated for each measuring zone (A, B, C, D).

10. Method according to claim 1, characterised

in that before the step b) a system exterior to the clamping device, comprising a representation of the part (31) and of the clamping plate (21) memorises (101) characteristic parameters of the part to be clamped and of the clamping plate

and in that during the step b) the exterior system communicates the definition of the surface (S) of the clamping plate in contact with the part to be clamped to the unit (23) for controlling the magnetic clamping.

11. Method according to claim 3, characterised in that, during the step h), a system exterior to the clamping device calculates (107) the point of application (Fa, Fb, Fc, Fd) of the theoretical magnetic force (E′

a, E′

b, E′

c, E′

d) for each of the treatment zones (Za, Zb, Zc, Zd) and communicates this point of application (Fa, Fb, Fc, Fd) to the unit (23) for controlling the magnetic clamping.

12. Method according to claim 1, characterised in that it consists in saving on a recording medium the results of the calculations and of the comparisons of theoretical forces (E′

a, E′

b, E′

c, E′

d) and actual magnetic clamping forces (Ea, Eb, Ec, Ed) by treatment zone (Za, Zb, Zc, Zd).

13. Magnetic clamping device (2), characterised in that it comprises means (23) intended to implement a method according to claim 1 and in that the clamping plate (21) comprises at least two measuring circuits (51a, 51d) arranged above one another in relation to a plane (Q) perpendicular to the weight (P) of the part to be clamped.

14. Device according to claim 13, characterised in that the device comprises four measuring circuits (51a, 51b, 51c, 51d), which divide the clamping plate (21) into four treatment zones (Za, Zb, Zc, Zd).

15. Device according to claim 13, characterised in that the device comprises one measuring circuit (51a, 51b, 51c, 51d) per stud (5).

16. Method according to claim 2, characterised in that it comprises a step consisting in:

l) communicating the results of the comparison carried out in the step g) to a piece of equipment of the installation (1).

17. Method according to claim 2 characterised in that it comprises a step consisting in:

m) establishing (114) that the result of the comparison carried out in the step g) satisfies a criterion for stoppage corresponding to the detection of a magnetisation defect of a treatment zone (Za, Zb, Zc, Zd) or of a risk of tipping of the part to be clamped (31).

18. Method according to claim 17, characterised in that it comprises a step consisting in:

n) activating a means of alert or display on the installation (1) if the criterion for stoppage is satisfied during the step m).

19. Method according to claim 17, characterised in that it comprises a step consisting in:

o) reporting the treatment zone (Za, Zb, Zc, Zd) to a piece of equipment of the installation (1) if the criterion for stoppage corresponding to the detection of a magnetisation defect of this treatment zone (Za, Zb, Zc, Zd) is satisfied during the step m).