OPENTECHNICAL PUBLICATION
OT-2026-000011613

Electromagnet gripper, on a tool changer

Published: 2026-09-17T08:13:00.631271Z
Permanent URL: https://opentechnical.org/p/OT-2026-000011613
Categories: Robotics & Automation > End Effectors > Magnetic Grippers

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ABSTRACT

A magnetic gripping tool comprising one tool-change interface, one magnet
assembly and one contact detector. When the magnet assembly reaches the
gripping position, the coil is energised by the cell controller. After the
workpiece has reached the set-down position, the coil is shut down by the cell
controller. The arrangement is a proposed configuration composed from a typed
library of mechanism blocks derived from published patents; it has not been
constructed.

1. Purpose and arrangement

[0001] This disclosure describes a magnetic gripping tool: one magnet assembly
carried on a tool-change interface. It is arranged for starting the cycle at
the moment of contact and exchanging the tool without rewiring the cell. One
concrete embodiment is described; every connection is stated with the medium
it carries, and the operating sequence is given as conditions on named
operations.

2. Components, construction and connections

[0002] One tool-change interface. The tool-change interface splits the tool
into a robot side and a tool side, so the tool can be exchanged without
dismantling it. The tool-change interface has a pneumatic lock.

[0003] One magnet assembly. The magnet assembly presents a pole face to the
workpiece and holds a ferrous workpiece without any air circuit. The magnet
assembly uses an electromagnet.

[0004] One contact detector. The contact detector reports the moment a
workpiece is present at the gripping face; its sensing technology is not fixed
by this arrangement. The contact detector is mounted on the gripping face.

[0005] The magnet assembly is carried on the tool side of the tool-change
interface.

[0006] The contact detector is mounted on the gripping face and reports the
moment a workpiece is present against the magnet face.

[0007] The robot side of the tool-change interface is bolted to the robot
flange.

[0008] The coil of the magnet assembly is supplied from the electrical supply
of the cell.

[0009] The locking piston of the tool-change interface is fed from the
compressed air supply of the cell.

[0010] The lock of the tool-change interface is switched by the cell
controller; the contact detector reports to the cell controller.

3. Operating sequence and conditions

[0011]
  - After the contact detector has detected the workpiece, the gripping cycle is actuated by the cell controller.

[0012]
  - When the magnet assembly reaches the gripping position, the coil is energised by the cell controller.

[0013]
  - While the coil is in the energised state, the workpiece is held by the magnet assembly.

[0014]
  - After the workpiece has reached the set-down position, the coil is shut down by the cell controller.

[0015] The cell controller reads the contact detector (on the gripping face)
and commands the magnet assembly, the tool-change interface; no sensor drives
an actuator directly.

4. Parameters and operating assumptions

[0016] Parameter values of this embodiment: locking of the tool-change
interface: pneumatic (sets what has to be present at the interface for the
tool to stay attached); magnet type of the magnet assembly: electromagnet
(sets whether the holding force can be switched off electrically or must be
overcome mechanically); placement of the contact detector: on the gripping
face (sets where the presence of the workpiece is detected).

[0017] The lock is engaged by compressed air acting on the locking piston and
is held only while that air pressure is applied; what the lock does on loss of
air pressure is not fixed by this arrangement.

5. Provenance and status

[0018] This document is an original combination composed from a typed library
of mechanism blocks. Each block was derived from a published patent and
carries typed connection points, the parameters its source states, and its own
construction and operating description. The combination described here is
proposed and has not been constructed. The published documents behind the
blocks used in this arrangement are US-10259123-B2, US-11858125-B2,
US-2022339798-A1; their text is not reproduced, and the description above is
generated from the structure of the combination.

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OpenTechnical publication OT-2026-000011613
Published 2026-09-17T08:13:00.631271Z
https://opentechnical.org/p/OT-2026-000011613