Magnetic coupling device with at least one of a sensor arrangement and a degauss capability

A robotic system comprising:

• an arm;
• a magnetic coupling device coupled to the arm, the magnetic coupling device comprising:
• a plurality of spaced apart pole portions, each of the plurality of spaced apart pole portions having a workpiece contact interface to contact the ferromagnetic workpiece;
• a magnetic flux source including a plurality of permanent magnets, the plurality of permanent magnets including a first permanent magnet and a second permanent magnet, the magnetic flux source having a first state wherein a first level of magnetic flux is available at the plurality of workpiece contact interfaces of the plurality of spaced apart pole portions and a second state wherein a second level of magnetic flux is available at the plurality of workpiece contact interfaces of the plurality of spaced apart pole portions, the second level being less than the first level;
• and
• a plurality of sensors, the plurality of sensors including at least one magnetic field sensor;
• and
• a controller operably coupled to the plurality of sensors, and the controller, based on the plurality of sensors, operable to determine a proximity of the workpiece contact interfaces of the plurality of spaced apart pole portions of the magnetic coupling device to the ferromagnetic workpiece and a relative orientation of the workpiece contact interfaces of the plurality of spaced apart pole portions of the magnetic coupling device to the ferromagnetic workpiece.

A magnetic coupling device for magnetically coupling to a ferromagnetic workpiece, comprising:

• a plurality of spaced apart pole portions, each of the plurality of spaced apart pole portions having a workpiece contact interface to contact the ferromagnetic workpiece;
• a magnetic flux source including a plurality of permanent magnets, the plurality of permanent magnets including a first permanent magnet and a second permanent magnet, the magnetic flux source having a first state wherein a first level of magnetic flux is available at the plurality of workpiece contact interfaces of the plurality of spaced apart pole portions and a second state wherein a second level of magnetic flux is available at the plurality of workpiece contact interfaces of the plurality of spaced apart pole portions, the second level being less than the first level;
• a plurality of sensors, the plurality of sensors including at least one magnetic field sensor;
• and
• a controller, based on the plurality of sensors, operable to determine a first angular orientation of the magnetic coupling device to the ferromagnetic workpiece and a second angular orientation of the magnetic coupling device to the ferromagnetic workpiece.

A method of operating a robotic system including an end-of-arm-tool (EOAT) relative to a ferromagnetic workpiece having a known shape, the method comprising:

• approaching the ferromagnetic workpiece with the EOAT in a first pose;
• based on a plurality of sensors of the BOAT, determining a relative position of a north pole portion and a south pole portion of the BOAT to the known shape of the ferromagnetic workpiece;
• if the relative position of the north pole portion and the south pole portion indicate that the BOAT is positioned in a target zone of the known shape of the ferromagnetic workpiece, coupling the EOAT to the ferromagnetic workpiece;
• otherwise altering the EOAT to a second pose, the second pose being different than the first pose.