METHOD FOR SENSORLESS DETERMINATION OF PRESENCE/ABSENCE OF LOAD IN MAGNETIC GRIPPER OF LOAD GRIPPING DEVICE Russian patent published in 2025 - IPC G06Q30/00 

FIELD: transportation.

SUBSTANCE: invention relates to magnetic load handling and lifting devices with permanent magnet (magnets) and control coil winding for robotic devices and provides determination of presence/absence of ferromagnetic load in magnetic gripper without using independent sensors. Method consists in the fact that winding-coil resistance to direct current and its inductances are obtained in the absence and in the presence of a load in the magnetic gripper, and according to their values the time constants of the winding-coil are respectively calculated, then, by measuring during the transient process, the value of such moment in time and the instantaneous values of current forces at it in the winding-coil in the absence of a load and in its presence in the magnetic gripper from the moment of DC voltage application to the winding-coil, at which the difference of these current forces reaches the maximum values, their half-sum is calculated, then in process of load magnetic gripping and retention, at and after its release, direct current voltage is applied to winding-coil and current instantaneous value of current flowing in winding-coil is measured at the obtained moment of time, it is compared with the calculated half-sum and the presence of a load in the magnetic gripper is determined if the current measured current value is less than the calculated half-sum, or its absence if it is more.

EFFECT: wider range of devices, including alternative ones, of such purpose, provides broader functional capabilities of magnetic grippers, simplified design, higher reliability, accuracy and safety of operation.

1 cl, 17 dwg