# US 12,759,170 B2 · Systems and methods for magnetic gripping > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,170 B2 - Document ID: US12759170B2 - Status: Granted - Kind: B2 - Application number: 18/073,475 - Filed: 2022-12-01 - Published: 2023-05-25 - Granted: 2026-10-13 - Earliest claimed: 2020-06-02 - Assignees: Onrobot A/S - Applicants: OnRobot A/S - Inventors: Jason Mcauley; John Andrew Fortus; Nicholas Wettels - Web page: https://patentgrep.com/patent/US12759170B2 ## CPC - B25J 15/0608: {with magnetic holding means} - B25J 13/086: {Proximity sensors} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract Provided herein are systems and methods for magnetically gripping an object. A magnetic gripping system may include a gripper having different, tunable gripping states that are associated with different magnetic field strengths. ## Claims ### Claim 1 A system for handling an object, comprising: a first arrangement of magnets; a second arrangement of magnets, wherein said second arrangement of magnets and said first arrangement magnets are movable relative to one another; and a plurality of pole members, wherein said plurality of pole members is (i) in a first magnetic interaction with said first arrangement of magnets and (ii) in a second magnetic interaction with said second arrangement of magnets, wherein each pole member of said plurality of pole members is configured to transfer magnetic flux caused by said first magnetic interaction and said second magnetic interaction to said object, wherein one or more of said first arrangement of magnets and said second arrangement of magnets are configured to vary in position relative to one another to vary said first magnetic interaction, said second magnetic interaction, or both, and to vary said magnetic flux transferred to said object; wherein a housing structure for said first arrangement of magnets and said second arrangement of magnets comprises a plurality of magnetic flux guiding members, wherein said plurality of magnetic flux guiding members comprises a ferromagnetic doped polymer. ### Claim 2 (depends on 1) The system of claim 1, wherein in a first set of configurations of said first arrangement of magnets and said second arrangement of magnets, said magnetic flux is adapted to lift multiple objects, including said object, wherein in a second set of configurations of said first arrangement of magnets and said second arrangement of magnets, said magnetic flux is adapted to lift only a single object, wherein said single object is said object, and wherein in a third set of configurations of said first arrangement of magnets and said second arrangement of magnets, said magnetic flux is adapted to release said object. ### Claim 3 (depends on 1) The system of claim 1, wherein said housing structure further comprises a gripping surface, and wherein said plurality of pole members is at least partially disposed through said gripping surface. ### Claim 4 (depends on 3) The system of claim 3, wherein said gripping surface of said housing structure is substantially flush with gripping surfaces of plurality of pole members. ### Claim 5 (depends on 3) The system of claim 3, wherein said at least partially disposed plurality of pole members extend past said gripping surface. ### Claim 6 (depends on 3) The system of claim 3, wherein said housing structure further comprises compartments that are substantially complementary in shape to house each magnet in said first arrangement of magnets and said second arrangement of magnets. ### Claim 7 (depends on 1) The system of claim 1, further comprising sensors for detecting a distance between said plurality of pole members and said object. ### Claim 8 (depends on 7) The system of claim 7, further comprising a tunable actuation system that moves said first arrangement of magnets, said second arrangement of magnets, or both. ### Claim 9 (depends on 8) The system of claim 8, further comprising a controller operably coupled to said proximity sensors and said tunable actuation system. ### Claim 10 (depends on 1) The system of claim 1, wherein said system is integrated in a robotic system. ### Claim 11 (depends on 1) The system of claim 1, wherein said first arrangement of magnets and said second arrangement of magnets are each arranged in a Halbach array. ### Claim 12 A method for handling an object, comprising: (a) providing a housing structure comprising (1) a first arrangement of magnets, (2) a second arrangement of magnets, wherein said second arrangement of magnets and said first arrangement magnets are movable relative to one another, (3) a plurality of pole members, wherein said plurality of pole members is (i) in a first magnetic interaction with said first arrangement of magnets and (ii) in a second magnetic interaction with said second arrangement of magnets, wherein each pole member of said plurality of pole members is configured to transfer magnetic flux caused by said first magnetic interaction and said second magnetic interaction to said object, and (4) a plurality of magnetic flux guiding members, wherein said plurality of magnetic flux guiding members comprises a ferromagnetic doped polymer; and (b) moving one or more of said first arrangement of magnets and said second arrangement of magnets to vary their position relative to one another to vary said first magnetic interaction, said second magnetic interaction, or both, and to vary said magnetic flux transferred to said object. ### Claim 13 (depends on 12) The method of claim 12, comprising: (A) adapting said magnetic flux to lift multiple objects, including said object, by moving said first arrangement of magnets and said second arrangement of magnets into one configuration in a first set of configurations; or (B) adapting said magnetic flux to lift only a single object, wherein said single object is said object, by moving said first arrangement of magnets and said second arrangement of magnets into one configuration in a second set of configurations; or (C) adapting said magnetic flux to release said object, by moving said first arrangement of magnets and said second arrangement of magnets into one configuration in a third set of configurations. ### Claim 14 (depends on 12) The method of claim 12, wherein said housing structure further comprises a gripping surface, and wherein said plurality of pole members is at least partially disposed through said gripping surface. ### Claim 15 (depends on 14) The method of claim 14, wherein said gripping surface of said housing structure is substantially flush with gripping surfaces of said plurality of pole members. ### Claim 16 (depends on 14) The method of claim 14, wherein said at least partially disposed plurality of pole members extend past said gripping surface. ### Claim 17 (depends on 14) The method of claim 14, wherein said housing structure further comprises compartments that are substantially complementary in shape to house each magnet in said first arrangement of magnets and said second arrangement of magnets. ### Claim 18 (depends on 12) The method of claim 12, further comprising providing sensors for detecting a distance between said plurality of pole members and said object. ### Claim 19 (depends on 18) The method of claim 18, further comprising providing a tunable actuation system that moves said first arrangement of magnets, said second arrangement of magnets, or both. ### Claim 20 (depends on 19) The method of claim 19, further comprising providing a controller operably coupled to said proximity sensors and said tunable actuation system. ### Claim 21 (depends on 12) The method of claim 12, wherein said method is performed by a robotic system. ### Claim 22 (depends on 12) The method of claim 12, wherein said first arrangement of magnets and said second arrangement of magnets are each arranged in a Halbach array.