Magnetic coupling device with movable workpiece interfaces

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

• a housing;
• a switchable magnetic flux source supported by the housing, the switchable magnetic flux source being switchable between a plurality of states;
• a plurality of movable pole portions, each including at least one workpiece interface having a workpiece engagement surface, the plurality of movable pole portions including a first subset of north pole portions and a second subset of south pole portions, each of the plurality of movable pole portions are moveable relative to the housing;
• at least one sensor to provide a characteristic of one or more of the plurality of movable pole portions;
• and
• a controller operably coupled to the switchable magnetic flux source and the at least one sensor, wherein based on the characteristic of one or more of the plurality of movable pole portions the controller is configured to determine a position of each of the first subset of north pole portions of the plurality of movable pole portions and each of the second subset of south pole portions of the plurality of movable pole portions and based on the position of each of the first subset of north pole portions of the plurality of movable pole portions and each of the second subset of south pole portions of the plurality of movable pole portions and a known shape of the ferromagnetic workpiece determine a location of the magnetic coupling device on ferromagnetic workpiece.

A robotic system for magnetically coupling to a ferromagnetic workpiece, comprising:

• a base;
• a robotic arm having a plurality of movable arm segments;
• a magnetic coupling device coupled to an end of the robotic arm, the magnetic coupling device including a housing, a plurality of pole portions including a plurality of workpiece interfaces and a switchable magnetic flux source having a first state wherein a first magnetic flux at the plurality of workpiece interfaces is insufficient to lift the ferromagnetic workpiece and a second state wherein a second magnetic flux at the plurality of workpiece interfaces is sufficient to lift the ferromagnetic workpiece, and a first pole portion of the plurality of portions includes a first workpiece interface of the plurality of workpiece interfaces and a second pole portion of the plurality of pole portions includes a second workpiece interface of the plurality of workpiece interfaces and the first pole portion and the second pole portion are each independently movable relative to the housing;
• a plurality of sensors moveable by the robotic arm;
• and
• a controller operably coupled to the switchable magnetic flux source and the plurality of sensors, wherein based on the plurality of sensors and a known shape of the ferromagnetic workpiece the controller is configured to determine a position of the magnetic coupling device on the ferromagnetic workpiece and actuate the robotic arm to position the ferromagnetic workpiece with the robotic arm in a desired orientation based on the determined position of the magnetic coupling device on the ferromagnetic workpiece.

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

• a housing;
• a plurality of pole portions supported by the housing, the plurality of pole portions including a plurality of workpiece interfaces, and the plurality of pole portions comprising a first pole portion including a first workpiece interface of the plurality of workpiece interfaces and a second pole portion including a second workpiece interface of the plurality of workpiece interfaces, and each of the first pole portion and the second pole portion are independently movable relative to the housing;
• a switchable magnetic flux source carried by the housing, the switchable magnetic flux source having a first state wherein a first magnetic flux at the plurality of workpiece interfaces is insufficient to lift the ferromagnetic workpiece and a second state wherein a second magnetic flux at the plurality of workpiece interfaces is sufficient to lift the ferromagnetic workpiece;
• a plurality of sensors carried by the housing;
• and
• a controller operably coupled to the switchable magnetic flux source and the plurality of sensors, wherein based on the plurality of sensors and a known shape of the ferromagnetic workpiece the controller is configured to determine a position of the magnetic coupling device on the ferromagnetic workpiece.