WO2016148321A1 - Magnetic body holding device - Google Patents

Abstract

A magnetic body holding device according to the present invention comprises: a first pole piece assembly comprising a first N-pole piece, a first S-pole piece, and a first permanent magnet; a second pole piece assembly comprising a second N-pole piece, a second S-pole piece, and a second permanent magnet; a third pole piece assembly comprising a third N-pole piece, a third S-pole piece, and a third permanent magnet; a fourth pole piece assembly comprising a fourth N-pole piece, a fourth S-pole piece, and a fourth permanent magnet; a coil wound around one or more of the first N-pole piece and the pole pieces; and a control device for controlling a current applied to the coil. Two or more of the first pole piece assembly, the second pole piece assembly, the third pole piece assembly, and the fourth pole piece assembly can move such that switching is possible between a first arrangement, in which the second pole piece assembly and the third pole piece assembly contact each other, the first pole piece assembly and the second pole piece assembly are spaced from each other, and the third pole piece assembly and the fourth pole piece assembly are spaced from each other, and a second arrangement, in which the first pole piece assembly and the second pole piece assembly contact each other, the third pole piece assembly and the fourth pole piece assembly contact each other, and the second pole piece assembly and the third pole piece assembly are spaced from each other. The control device controls a current, which is applied to the coil, thereby causing switching between the first arrangement and the second arrangement, and accordingly controlling the holding of the object to be attached and the release thereof.

Description

Magnetic material holding device

The present invention relates to a magnetic holding device, and more particularly, to a magnetic holding device which can control a magnetic flow from a permanent magnet to obtain a strong holding force, easily switch between holding and releasing, and minimizes residual magnetism.

A magnetic holding device, such as a permanent magnet workholding device, is a device used to magnetically attach an attachment object made of a magnetic material such as iron. It is widely used as an internal device attached to a mold clamping, a chuck of a machine tool, and the like.

Such a magnetic holding device, by using the strong magnetic force of the permanent magnet basically attaches the object to be attached to the holding surface, when the release is controlled by controlling the magnetic flow from the permanent magnet so as not to form a magnetic flow to the holding surface To be detached from the holding surface.

Here, as a method of controlling the magnetic flow from the permanent magnet, a method of controlling the magnetic flow by rotating another permanent magnet installed to be rotatable, a method of controlling the magnetic flow using a separate electromagnet, and the like may be used.

The applicant of the present invention has already proposed a magnetic body holding device using a separate electromagnet (see Patent Document 1). Moreover, the magnetic body holding apparatus of the further advanced form was shown (refer patent document 2).

(Patent Document 1)

International Patent Publication WO2012 / 039548A1

(Patent Document 2)

Korea Patent Registration KR10-1319052B

The problem to be solved by the present invention is to provide a magnetic holding device that can obtain a strong holding force by controlling the magnetic flow from the permanent magnet, can be easily switched between holding and releasing, maximizing the holding force under a unit volume .

The objects of the present invention are not limited to the above-mentioned objects, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

A magnetic holding device according to an embodiment of the present invention is a magnetic holding device configured to hold and release an attachment object that is a magnetic body, and includes a first N-pole piece and a first S-pole having a first surface and a second surface. A first pole piece assembly comprising a piece and a first permanent magnet disposed so that the N pole is in contact with the first N pole piece and the S pole is in contact with the first S pole piece; A second N-pole piece and a second S-pole piece which are formed with a first surface and a second surface and are magnetic materials, and the N pole is in contact with the second N pole piece and the S pole is in contact with the second S pole piece. A second pole piece assembly comprising a second permanent magnet; A third N-pole piece and a third S-pole piece which are formed with a first surface and a second surface and are magnetic materials, and the N pole is in contact with the third N pole piece and the S pole is in contact with the third S pole piece. A third pole piece assembly comprising a third permanent magnet; A fourth N-pole piece and a fourth S-pole piece, each of which has a first surface and a second surface, and which is a magnetic body, and the N-pole contacts the fourth N-pole piece, and the S-pole contacts the fourth S-pole piece. A fourth pole piece assembly comprising a fourth permanent magnet; The first N pole piece, the first S pole piece, the second N pole piece, the second S pole piece, the third N pole piece, the third S pole piece, the fourth N pole piece, and the At least one coil wound around at least one of the fourth S-pole pieces; And a control device for controlling the current applied to the coil; It includes. The second surface of the first N-pole piece and the first surface of the second S-pole piece face each other, and the second surface of the first S-pole piece and the first surface of the second N-pole piece face each other. The second surface of the second N-pole piece and the first surface of the third S-pole piece face each other, and the second surface of the second S-pole piece and the first surface of the third N-pole piece are Face each other, the second surface of the third N-pole piece and the first surface of the fourth S-pole piece face each other, and the second surface of the third S-pole piece and the first of the fourth N-pole piece. The first pole piece assembly, the second pole piece assembly, the third pole piece assembly and the fourth pole piece assembly are disposed so that the faces face each other. The second surface of the second N-pole piece and the first surface of the third S-pole piece contact each other, and the second surface of the second S-pole piece and the first surface of the third N-pole piece contact each other. The first pole piece assembly and the second pole piece assembly are spaced apart from each other, and the third pole piece assembly and the fourth pole piece assembly are spaced apart from each other, and a second surface of the first N pole piece. And the first surface of the second S-pole piece are in contact with each other, the second surface of the first S-pole piece and the first surface of the second N-pole piece are in contact with each other, Two surfaces and a first surface of the fourth S-pole piece contact each other, and a second surface of the third S-pole piece contacts a first surface of the fourth N-pole piece, wherein the second pole piece assembly and the Assembling the first pole piece assembly, the second pole piece assembly, the third pole piece such that the third pole piece assembly enables switching between spaced apart second arrangements. Li and it is possible the fourth pole piece and two or more of the mobile assembly. The control device causes a switch between the first and second arrangements by controlling the current applied to the coil, thereby causing the first surfaces of the first pole piece assembly or the first pole piece assembly of the fourth pole piece assembly. Controls the holding and releasing of the attachment object on two sides.

According to another feature of the invention, the first pole piece assembly has a first surface and the second surface and the magnetic pole of the fifth N pole piece, the N pole is in contact with the fifth N pole piece and the S pole is the And a fifth permanent magnet disposed to be in contact with the first S-pole piece, wherein the second pole-piece assembly includes a fifth S-pole piece having a first surface and a second surface and being a magnetic body, and the N pole being the first pole. And a sixth permanent magnet in contact with the 2N pole piece and disposed so that the S pole contacts the fifth S pole piece, wherein the third pole piece assembly is formed of a magnetic material having a first face and a second face. And a sixth N pole piece, and a seventh permanent magnet disposed so that the N pole contacts the sixth N pole piece and the S pole contacts the third S pole piece, and the fourth pole piece assembly includes: A sixth S-pole piece having a first side and a second side, which is a magnetic body, an N pole in contact with the fourth N pole piece, and an S pole in contact with the sixth S pole piece It further comprises an eighth permanent magnet disposed to be. The second surface of the fifth N-pole piece and the first surface of the fifth S-pole piece face each other, and the second surface of the fifth S-pole piece and the first surface of the sixth N-pole piece face each other. The first pole piece assembly, the second pole piece assembly, the third pole piece assembly, and the second face of the sixth N-pole piece and the first face of the sixth S-pole piece face each other. The fourth pole piece assembly is disposed. The at least one coil includes: the first N pole piece, the first S pole piece, the second N pole piece, the second S pole piece, the third N pole piece, the third S pole piece, the It is wound around at least one of a fourth N pole piece, the fourth S pole piece, the fifth N pole piece, the fifth S pole piece, the sixth N pole piece, and the sixth S pole piece.

According to another feature of the invention, the first S pole piece includes two first sub S pole pieces, the first sub S pole pieces are in contact with the first permanent magnet and the fifth permanent magnet, respectively The first sub S pole pieces share a first surface and a second surface of the first S pole piece, respectively, and the second N pole piece includes two second sub N pole pieces, The second sub-N pole pieces contact the second permanent magnet and the sixth permanent magnet, respectively, and the second sub-N pole pieces share a first surface and a second surface of the second N pole piece, respectively, The third S pole piece includes two third sub S pole pieces, wherein the third sub S pole pieces are in contact with the third permanent magnet and the seventh permanent magnet, respectively, and the third sub S pole pieces are respectively Each of the first and second surfaces of the third S-pole piece is shared, and the fourth N-pole piece includes two fourth sub-N pole pieces. And the fourth sub-N pole pieces are in contact with the fourth permanent magnet and the eighth permanent magnet, respectively, and the fourth sub-N pole pieces are formed on the first and second surfaces of the fourth N-pole piece. Share each. The second surface of the first sub S pole piece in contact with the first permanent magnet and the first surface of the second sub N pole piece in contact with the second permanent magnet face each other and are in contact with the fifth permanent magnet. The second surface of the first sub S pole piece and the first surface of the second sub N pole piece in contact with the sixth permanent magnet face each other, and the second surface of the second sub N pole piece in contact with the second permanent magnet. The second surface and the seventh permanent magnet of the second sub-N pole piece which are in contact with each other and the first surface of the third sub S pole piece which is in contact with the third surface and the third permanent magnet are in contact with each other. A first sub surface of the third sub S pole piece in contact with each other, and the second sub N pole of the third sub S pole piece in contact with the third permanent magnet and the fourth sub N pole in contact with the fourth permanent magnet. The second surface of the third sub S-pole piece and the eighth permanent magnet which face each other and are in contact with the seventh permanent magnet. The first sub S pole pieces, the second sub N pole pieces, the third sub S pole pieces, and the fourth sub N pole so that a first surface of the fourth sub N pole piece which is in contact with each other faces each other. Pieces are placed.

According to another feature of the invention, the at least one coil is composed of two or more coils, the second S pole piece or the third N pole piece between the second permanent magnet and the third permanent magnet. At least one is wound around, and at least one is wound around the second N pole piece or the third S pole piece.

According to another feature of the invention, the at least one coil is composed of four or more coils, the first N pole piece or the second S pole piece between the first permanent magnet and the second permanent magnet. At least one wound on the first S pole piece or the second N pole piece and at least one wound around the third permanent magnet and the fourth permanent magnet between the third N pole piece or the fourth S At least one is wound around the pole piece, and at least one is wound around the third S pole piece or the fourth N pole piece.

According to another feature of the present invention, at least one coil is wound around the second N pole piece or the third S pole piece between the second permanent magnet and the third permanent magnet.

According to another feature of the invention, the at least one coil is composed of two or more coils, the first S pole piece or the second N pole piece between the first permanent magnet and the second permanent magnet. At least one is wound around, and at least one is wound around the third S-pole piece or the fourth N-pole piece between the third permanent magnet and the fourth permanent magnet.

According to another feature of the invention, the first pole piece assembly and the fourth pole piece assembly is fixed, the second pole piece assembly and the third pole piece assembly is configured to move, the first pole piece The first faces of the assembly and the second faces of the fourth pole piece assembly are formed to hold one attachment object.

According to another feature of the invention, the first faces of the first pole piece assembly and the second faces of the fourth pole piece assembly are arranged to be one surface.

According to another feature of the invention, the second pole piece assembly and the third pole piece assembly move in a direction along the first faces of the first pole piece assembly and the second faces of the fourth pole piece assembly. It is composed.

According to another feature of the invention, the first pole piece assembly and the fourth pole piece assembly is fixed, the second pole piece assembly and the third pole piece assembly is configured to move, the first pole piece The first faces of the assembly and the second faces of the fourth pole piece assembly are formed to hold one attachment object, and include the first S pole piece, the second N pole piece, the third S pole piece, and The first N-pole piece, the second S-pole piece, the third N-pole piece, and the fourth S-pole piece are located in a space formed by the fourth N-pole piece.

According to another feature of the invention, the first pole piece assembly and the fourth pole piece assembly is fixed, the second pole piece assembly and the third pole piece assembly is configured to move, the first pole piece The first faces of the assembly and the second faces of the fourth pole piece assembly are formed to hold one attachment object, and include the first S pole piece, the second N pole piece, the third S pole piece, and The first N-pole piece, the second S-pole piece, the third N-pole piece, and the fourth S-pole piece are positioned in a space formed by the fourth N-pole piece, and the fifth N-pole piece, the The first S pole piece, the second N pole piece, the third S pole piece, and the fourth N pole in a space formed by the fifth S pole piece, the sixth N pole piece, and the sixth S pole piece. The piece is located.

According to another feature of the invention, the first pole piece assembly and the fourth pole piece assembly is fixed, the second pole piece assembly and the third pole piece assembly is configured to move, the first pole piece The first faces of the assembly and the second faces of the fourth pole piece assembly are formed to hold one attachment object, and the second pole piece assembly and the third part are formed in a space defined by the first pole piece assembly. The pole piece assembly and the fourth pole piece assembly are located, or the first pole piece assembly, the second pole piece assembly, and the third pole piece assembly are located in a space formed by the fourth pole piece assembly.

According to another feature of the invention, the first pole piece assembly and the fourth pole piece assembly is fixed, the second pole piece assembly and the third pole piece assembly is configured to move, the first pole piece The first faces of the assembly and the second faces of the fourth pole piece assembly are formed to hold one attachment object, and include the first S pole piece, the second N pole piece, the third S pole piece, and The first N pole piece, the second S pole piece, the third N pole piece and the fourth S pole piece are located in the space formed by the fourth N pole piece, or the first N pole piece, The first S pole piece, the second N pole piece, the third S pole piece, and the fourth N in a space formed by the second S pole piece, the third N pole piece, and the fourth S pole piece. The pole piece is located.

According to another feature of the invention, the first pole piece assembly and the fourth pole piece assembly is fixed, the second pole piece assembly and the third pole piece assembly is configured to move, the first pole piece The first faces of the assembly and the second faces of the fourth pole piece assembly are formed to hold one attachment object, and the second pole piece assembly and the third part are formed in a space formed by the first S pole piece. The pole piece assembly and the fourth pole piece assembly are located, or the first pole piece assembly, the second pole piece assembly, and the third pole piece assembly are located in a space formed by the fourth N pole piece.

A magnetic holding device according to another embodiment of the present invention is a magnetic holding device configured to hold and release a magnetic object to be attached, wherein a first N-pole piece and a first S-pole are formed with a first surface and a second surface. A first pole piece assembly comprising a piece and a first permanent magnet disposed so that the N pole is in contact with the first N pole piece and the S pole is in contact with the first S pole piece; A second N-pole piece and a second S-pole piece which are formed with a first surface and a second surface and are magnetic materials, and the N pole is in contact with the second N pole piece and the S pole is in contact with the second S pole piece. A second pole piece assembly comprising a second permanent magnet; A third N-pole piece and a third S-pole piece which are formed with a first surface and a second surface and are magnetic materials, and the N pole is in contact with the third N pole piece and the S pole is in contact with the third S pole piece. A third pole piece assembly comprising a third permanent magnet; A fourth N-pole piece and a fourth S-pole piece, each of which has a first surface and a second surface, and which is a magnetic body, and the N-pole contacts the fourth N-pole piece, and the S-pole contacts the fourth S-pole piece. A fourth pole piece assembly comprising a fourth permanent magnet; A first connecting pole piece having a first surface and a second surface and being magnetic; A second connecting pole piece having a first face and a second face and being magnetic; The first N pole piece, the first S pole piece, the second N pole piece, the second S pole piece, the third N pole piece, the third S pole piece, the fourth N pole piece, the At least one coil wound around at least one of a fourth S pole piece, the first connection pole piece, and the second connection pole piece; And a control device for controlling the current applied to the coil; It includes. The second surface of the first N-pole piece and the first surface of the second S-pole piece face each other, and the second surface of the first S-pole piece and the first surface of the second N-pole piece face each other. The second surface of the second N-pole piece and the first surface of the first connection pole piece face each other, and the second surface of the second S pole piece and the first surface of the second connection pole piece Face each other, a second face of the first connecting pole piece and a first face of the third S pole piece face each other, a second face of the second connecting pole piece and a first of the third N pole piece; Surfaces face each other, the second surface of the third N-pole piece and the first surface of the fourth S-pole piece face each other, and the second surface of the third S-pole piece and the fourth N-pole piece. The first pole piece assembly, the second pole piece assembly, the third pole piece assembly, the fourth pole piece assembly, the first connecting pole piece and the second connection such that a first face faces each other. The pieces are arranged. The second surface of the second N-pole piece and the first surface of the first connection pole piece contact each other, and the second surface of the second S pole piece and the first surface of the second connection pole piece contact each other. The first surface of the third S-pole piece and the second surface of the first connection pole piece are in contact with each other, and the first surface of the third N-pole piece and the second surface of the second connection pole piece are A first arrangement in contact with each other, wherein the first pole piece assembly and the second pole piece assembly are spaced apart from each other, and the third pole piece assembly and the fourth pole piece assembly are spaced apart from each other; Two surfaces and a first surface of the second S-pole piece contact each other, a second surface of the first S-pole piece and a first surface of the second N-pole piece contact each other, and the third N-pole piece The second surface of the fourth S-pole piece and the first surface of the fourth S-pole piece in contact with the first surface of the fourth N-pole piece, the second pole The second pole piece assembly and the third pole piece assembly are moveable such that the assembly and the third pole piece assembly enable switching between a second arrangement spaced apart from the first connection pole piece and the second connection pole piece. Do. The control device causes a switch between the first and second arrangements by controlling the current applied to the coil, thereby causing the first surfaces of the first pole piece assembly or the first pole piece assembly of the fourth pole piece assembly. Controls the holding and releasing of the attachment object on two sides.

According to another feature of the invention, it further comprises a third connecting pole piece having a first surface and a second surface, which is a magnetic material. The first pole piece assembly includes a fifth N pole piece which is a magnetic body having a first surface and a second face, and an N pole contacts the fifth N pole piece and an S pole contacts the first S pole piece. The second pole piece assembly further comprises: a fifth S pole piece having a first face and a second face, the magnetic body being a magnetic body, and the N pole being in contact with the second N pole piece; And a sixth permanent magnet disposed to contact the fifth S pole piece, wherein the third pole piece assembly includes a sixth N pole piece having a first face and a second face and is a magnetic material, and an N pole. And a seventh permanent magnet disposed in contact with the sixth N pole piece and having the S pole contacted with the third S pole piece, wherein the fourth pole piece assembly has a first face and a second face. A sixth S-pole piece, which is a magnetic body, and an eighth permanent magnet arranged such that the N-pole contacts the fourth N-pole piece and the S-pole contacts the sixth S-pole piece. Further included. The second surface of the fifth N-pole piece and the first surface of the fifth S-pole piece face each other, and the second surface of the fifth S-pole piece and the first surface of the third connecting pole piece face each other. And the second surface of the third connecting pole piece and the first surface of the sixth N pole piece face each other, and the second surface of the sixth N pole piece and the first surface of the sixth S pole piece Facing each other, the first pole piece assembly, the second pole piece assembly, the third pole piece assembly and the fourth pole piece assembly, the first connection pole piece, the second connection pole piece and the third connection. The pole piece is placed. The at least one coil includes: the first N pole piece, the first S pole piece, the second N pole piece, the second S pole piece, the third N pole piece, the third S pole piece, the Fourth N-pole piece, the fourth S-pole piece, the fifth N-pole piece, the fifth S-pole piece, the sixth N-pole piece, the sixth S-pole piece, the first connection pole piece, the first Wound around one or more of the second connecting pole piece and the third connecting pole piece.

According to another feature of the present invention, the first surfaces of the first pole piece assembly and the second surfaces of the fourth pole piece assembly are formed to hold one attachment object, the first S pole piece, The first N pole piece, the second S pole piece, and the second connection in a space formed by the second N pole piece, the first connection pole piece, the third S pole piece, and the fourth N pole piece. The pole piece, the third N pole piece and the fourth S pole piece are positioned.

According to another feature of the invention, the first surfaces of the first pole piece assembly and the second surfaces of the fourth pole piece assembly are formed to hold one attachment object, the fifth N pole piece, The first S pole piece, the second N pole piece, and the first connection in a space formed by the fifth S pole piece, the third connection pole piece, the sixth N pole piece, and the sixth S pole piece. The pole piece, the third S pole piece and the fourth N pole piece are located.

According to another feature of the invention, the coil is at least three, the coil is at least one of the second connecting pole piece, the first N pole piece and the second S pole piece, and the third N pole It is wound around at least one of the piece and the fourth S-pole piece.

According to another feature of the invention, the coil is at least four, the coil is a first connecting pole piece, the second connecting pole piece. At least one of the first S-pole piece and the second N-pole piece is wound around at least one of the third S-pole piece and the fourth N-pole piece.

According to another feature of the invention, the first pole piece assembly and the second pole piece assembly further comprises an elastic means for providing an elastic force in a direction away from each other.

According to another feature of the invention, the second pole piece assembly and the third pole piece assembly further comprises an elastic means for providing an elastic force in a direction away from each other.

According to another feature of the invention, the third pole piece assembly and the fourth pole piece assembly further comprises an elastic means for providing an elastic force in a direction away from each other.

According to another feature of the present invention, the first elastic means and the third pole piece assembly and the connecting pole pieces are spaced apart from each other to provide an elastic force in a direction in which the second pole piece assembly and the connecting pole pieces are spaced apart from each other. It further comprises a second elastic means for providing an elastic force in the direction.

According to the magnetic holding device of the present invention, by holding a coil on the pole piece without installing a separate electromagnet, a strong holding force can be obtained by a simple structure, and the magnetic force of the permanent magnet using only a small current when switching between holding or releasing. Can be controlled, and a strong holding force can be obtained even with a small space.

1A to 1D are schematic cross-sectional views of a magnetic holding device according to an embodiment of the present invention. 1E is a schematic cross-sectional view showing a modification of the magnetic body holding device of FIGS. 1A to 1D.

2A to 2D are schematic cross-sectional views of a magnetic holding device according to another embodiment of the present invention. 2E is a schematic cross-sectional view showing a modification of the magnetic body holding device of FIGS. 2A to 2D.

3 is a schematic cross-sectional view of a magnetic holding device according to another embodiment of the present invention.

Figure 4a is a schematic perspective view of a magnetic holding device according to another embodiment of the present invention. 4B is sectional drawing of the A-A line of FIG. 4A, and FIG. 4C is sectional drawing of the A-A line of a modification.

5A is a schematic perspective view of a magnetic holding device according to another embodiment of the present invention. 5B is a schematic plan sectional view of FIG. 5A.

6 is a schematic cross-sectional view of a magnetic holding device according to another embodiment of the present invention.

7 is a schematic cross-sectional view of a magnetic holding device according to another embodiment of the present invention.

8A and 8B are schematic cross-sectional views of a magnetic holding device according to another embodiment of the present invention.

9 is a schematic cross-sectional view of a magnetic holding device according to another embodiment of the present invention.

10A to 10D are schematic cross-sectional views of a magnetic holding device according to another embodiment of the present invention.

11A and 11B are schematic cross-sectional views of a magnetic holding device according to still another embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms. It is provided to fully convey the scope of the invention to those skilled in the art, the invention being defined only by the scope of the claims.

References to elements or layers "on" other elements or layers include all instances where another layer or other element is directly over or in the middle of another element.

Although the first, second, etc. are used to describe various components, these components are of course not limited by these terms. These terms are only used to distinguish one component from another. Therefore, of course, the first component mentioned below may be a second component within the technical spirit of the present invention.

Like reference numerals refer to like elements throughout.

The size and thickness of each component shown in the drawings are shown for convenience of description, and the present invention is not necessarily limited to the size and thickness of the illustrated configuration.

Each of the features of the various embodiments of the present invention may be combined or combined with each other in part or in whole, various technically interlocking and driving as can be understood by those skilled in the art, each of the embodiments may be implemented independently of each other It may be possible to carry out together in an association.

First, referring to Figures 1a to 1e, the basic configuration and principle of the magnetic holding device of the present invention will be described.

1A to 1D are schematic cross-sectional views of a magnetic holding device according to an embodiment of the present invention. 1E is a schematic cross-sectional view showing a modification of the magnetic body holding device of FIGS. 1A to 1D.

1A to 1D, the magnetic holding device 1000 of the present embodiment includes a first pole piece assembly 1100, a second pole piece assembly 1200, a third pole piece assembly 1300, and a fourth The pole piece assembly 1400, the coil 1900, and a control device (not shown) are configured.

The first pole piece assembly 1100 includes a first N pole piece 1110, a first S pole piece 1120, and a first permanent magnet 1130. The first N-pole piece 1110 is a magnetic body and has a first face 1111 and a second face 1112. In addition, the first S-pole piece 1120 is a magnetic material and has a first surface 1121 and a second surface 1122. The first permanent magnet 1130 is disposed such that the N pole is in contact with the first N pole piece 1110 and the S pole is in contact with the first S pole piece 1120.

The second pole piece assembly 1200 includes a second N pole piece 1210, a second S pole piece 1220, and a second permanent magnet 1230. The second N-pole piece 1210 is a magnetic body and has a first face 1211 and a second face 1212. In addition, the second S-pole piece 1220 is a magnetic material and has a first surface 1221 and a second surface 1222. The second permanent magnet 1230 is disposed so that the N pole contacts the second N pole piece 1210 and the S pole contacts the second S pole piece 1220.

The third pole piece assembly 1300 includes a third N pole piece 1310, a third S pole piece 1320, and a third permanent magnet 1330. The third N-pole piece 1310 is a magnetic body and has a first face 1311 and a second face 1312. In addition, the third S-pole piece 1320 is a magnetic material and includes a first surface 1321 and a second surface 1322. The third permanent magnet 1330 is disposed such that the N pole contacts the third N pole piece 1310 and the S pole contacts the third S pole piece 1320.

The fourth pole piece assembly 1400 includes a fourth N pole piece 1410, a fourth S pole piece 1420, and a fourth permanent magnet 1430. The fourth N-pole piece 1410 is a magnetic body and has a first face 1411 and a second face 1412. In addition, the fourth S-pole piece 1420 is a magnetic material and has a first face 1421 and a second face 1422. The fourth permanent magnet 1430 is disposed such that the N pole contacts the second N pole piece 1410 and the S pole contacts the fourth S pole piece 1420.

1A to 1D, the first pole piece assembly 1100, the second pole piece assembly 1200, the third pole piece assembly 1300, and the fourth pole piece assembly 1400 are disposed in a line. Specifically, the second surface 1112 of the first N-pole piece 1110 and the first surface 1221 of the second S-pole piece 1220 face each other, and the second surface of the first S-pole piece 1120 is disposed. The face 1122 and the first face 1211 of the second N pole piece 1210 face each other, and the second face 1212 and the third S pole piece 1320 of the second N pole piece 1210 face each other. The first surface 1321 faces each other, the second surface 1222 of the second S-pole piece 1220 and the first surface 1311 of the third N-pole piece 1310 face each other, and the third N The second face 1312 of the pole piece 1310 and the first face 1421 of the fourth S pole piece 1420 face each other, and the second face 1322 and the first face of the third S pole piece 1320 are formed. The first pole piece assembly 1100, the second pole piece assembly 1200, the third pole piece assembly 1300 and the fourth pole piece so that the first face 1411 of the 4 N pole piece 1410 faces each other. Assembly 1400 is disposed.

The second surface 1212 of the second N-pole piece 1210 and the first surface 1321 of the third S-pole piece 1320 are in contact with each other, and the second surface 1222 of the second S-pole piece 1220 is in contact with each other. ) And the first surface 1311 of the third N-pole piece 1310 are in contact with each other, but the first pole piece assembly 1100 and the second pole piece assembly 1200 are spaced apart from each other, and the third pole piece assembly 1300 is spaced apart from each other. ) And the fourth pole piece assembly 1400 are spaced apart from each other in a first arrangement (as shown in FIGS. 1A and 1B), and a second surface 1112 and a second S pole piece of the first N pole piece 1110. The first surface 1221 of 1220 is in contact with each other, the second surface 1122 of the first S-pole piece 1120 and the first surface 1211 of the second N-pole piece 1210 are in contact with each other, The second surface 1312 of the third N-pole piece 1310 and the first surface 1421 of the fourth S-pole piece 1420 are in contact with each other, and the second surface 1322 of the third S-pole piece 1320 is in contact with each other. And the first surface 1411 of the fourth N-pole piece 1410 are in contact, but the second pole piece assembly 1200 and the third pole piece assembly 1300 are spaced apart from each other. Is a first pole piece assembly 1100, a second pole piece assembly 1200, a third pole piece assembly 1300 and a fourth pole to enable switching between a second arrangement (such as in FIGS. 1C and 1D). Two or more of the piece assemblies 1400 are movable. In the present exemplary embodiment, the first pole piece assembly 1100 and the fourth pole piece assembly 1400 are fixed, and the second pole piece assembly 1200 and the third pole piece assembly 1300 are movably configured. do. However, the present invention is not limited thereto, and any pole piece assembly may be moved as long as the first arrangement and the second arrangement can be achieved.

Movement of the pole piece assembly can be implemented in a variety of ways. For example, as in this embodiment, both ends are fixed to the first pole piece assembly 1100 and the fourth pole piece assembly 1400, respectively, and the second pole piece assembly 1200 and the third pole piece assembly 1300 are respectively fixed. A guide rod 1001 can be employed to guide these pole piece assemblies 1200, 1300 through the. The guide rod 1001 is preferably made of nonmagnetic material so as not to affect magnetic flow. The movement of the pole piece assembly may also be made by a known conveying method such as a rail, a linear guide, or the like.

Meanwhile, elastic means for applying an elastic force between the second pole piece assembly 1200 and the third pole piece assembly 1300 such that the second pole piece assembly 1200 and the third pole piece assembly 1300 move away from each other (not shown) City, for example a spring) may be interposed. In addition, elastic means for applying an elastic force between the first pole piece assembly 1100 and the second pole piece assembly 1200 such that the first pole piece assembly 1100 and the second pole piece assembly 1200 are separated from each other (not shown) City, for example a spring) may be interposed. In addition, an elastic means (not shown) is applied between the third pole piece assembly 1300 and the fourth pole piece assembly 1400 such that the third pole piece assembly 1300 and the fourth pole piece assembly 1400 are separated from each other. City, for example a spring) may be interposed.

The coil 1900 may include a first N pole piece 1110, a first S pole piece 1120, a second N pole piece 1210, a second S pole piece 1220, a third N pole piece 1310, The third S-pole piece 1320, the fourth N-pole piece 1410, and the fourth S-pole piece 1420 are wound around one or more of them. The current is supplied to the coil 1900 by the controller. When the current is supplied to the coil 1900, a portion of the pole piece wound like an electromagnet is magnetized. When the magnetic flow is formed by the inner pole pieces in which the coil 1900 is wound, the magnetic flow may be strengthened or weakened by supplying current to the coil 1900. As will be described later, by controlling the current applied to the coil 1900, switching between the first and second arrangements is possible by attenuating the already formed magnetic flow.

Coil 1900 may be wound around any pole piece if switching between the first and second arrangements is possible. Preferably, the coil 1900 includes a second N pole piece 1210, a second S pole piece 1220, between the second permanent magnet 1230 and the third permanent magnet 1330 as shown in FIGS. 1A through 1D. Each of the third N-pole pieces 1310 and the third S-pole piece 1320 is wound. In addition, the coil 1900 is wound between the first permanent magnet 1130 and the second permanent magnet 1230, one each of the second S pole piece 1220 and the second N pole piece 1210, as shown in FIG. The third permanent magnet 1330 and the fourth permanent magnet 1430 may be wound around the third N pole piece 1310 and the third S pole piece 1320, respectively.

In addition, the coil 1900 may have various arrangements and numbers. When the number of coils 1900 increases, the required value of the current applied to one coil 1900 may be reduced, but since the volume becomes larger, the size of the magnetic holding device 1000, the amount of current required, etc. are taken into consideration. What is necessary is just to select the arrangement | positioning and the number of coils 1900 collectively.

Hereinafter, the operating principle of the magnetic holding device 1000 having the above-described configuration will be described with reference to FIGS. 1A to 1D.

Referring to FIG. 1A, the magnetic holding device 1000 has a first arrangement, and no current is supplied to the coil 1900. In this case, the magnetic flow resulting from the second permanent magnet 1230 and the third permanent magnet 1330 circulates between the second pole piece assembly 1200 and the third pole piece assembly 1300, and the first pole piece assembly The first surfaces 1111 and 1121 of the 1100 and the second surfaces 1412 and 1422 of the fourth pole piece assembly 1400 hold magnetic attachment objects 1A and 1B, respectively.

When a current is applied to the coil 1900 as shown in FIG. 1B, the magnetic flow shown by dotted lines in FIG. 1A is reduced. That is, the current is applied to the coil 1900 to reduce the magnetic flow generated by magnetizing the pole pieces 1210, 1220, 1310, and 1320 by the second permanent magnet 1230 and the third permanent magnet 1330. do. As the current applied to the coil 1900 increases, the attraction force between the second pole piece assembly 1200 and the third pole piece assembly 1300 decreases. When the current reaches a predetermined current value, the second pole piece assembly 1200 ) And the second pole piece assembly 1200 and the third pole piece assembly 1300 may be separated by elastic means such as a spring interposed between the first pole piece assembly and the third pole piece assembly 1300. At this time, a certain amount of attraction force acts between the second pole piece assembly 1200 and the first pole piece assembly 1100 and between the third pole piece assembly 1300 and the fourth pole piece assembly 1400. Accordingly, the second pole piece assembly 1200 and the third pole piece assembly 1300 come into contact with the first pole piece assembly 1100 and the fourth pole piece assembly 1400, respectively, as shown in FIG. 1C.

Referring to FIG. 1C, the magnetic holding device 1000 is in a second arrangement, such that the internal circulating magnetic flow and the third pole piece assembly between the first pole piece assembly 1100 and the second pole piece assembly 1200 are provided. Internal circulating magnetic flows between the 1300 and the fourth pole piece assembly 1400 are respectively formed. That is, when the magnetic holding device 1000 is in the second arrangement, the magnetic flow caused by the first permanent magnet 1130 and the fourth permanent magnet 1430 may affect external attachment objects 1A and 1B. It is not reached, and is attracted to the second permanent magnet 1230 and the third permanent magnet 1330. Thus, the attachment objects 1A and 1B can be released.

In order to hold the attachment objects 1A and 1B again, a current may be applied to the coil 1900 as shown in FIG. 1D. When the current is applied to the coil 1900 as shown in FIG. 1D, the circulating magnetic flow and the third pole piece assembly 1300 and the fourth pole formed in the first pole piece assembly 1100 and the second pole piece assembly 1200 are applied. Each of the cyclic magnetic flows formed in the piece assembly 1400 is weakened. Accordingly, the magnetic flow caused by the first permanent magnet 1100 and the fourth permanent magnet 1400 affects the attachment objects 1A and 1B and may be held.

If the intensity of the current having a direction as shown in FIG. 1D is gradually increased, between the first pole piece assembly 1100 and the second pole piece assembly 1200 and the third pole piece assembly 1300 and the fourth pole piece assembly 1400. The attraction force between) becomes weaker, the holding force for the attachment objects 1A, 1B becomes larger, and the attraction force between the second pole piece assembly 1200 and the third pole piece assembly 1300 becomes larger. When the strength of the current reaches a certain degree, due to the attraction between the second pole piece assembly 1200 and the third pole piece assembly 1300, the second pole piece assembly 1200 and the third pole piece assembly 1300 are connected to each other. Contact. At this time, the resilient means is interposed between the first pole piece assembly 1100 and the second pole piece assembly 1200 and between the third pole piece assembly 1300 and the fourth pole piece assembly 1400, thereby providing each pole piece assembly. It is desirable to further promote separation of the liver.

As described above, the magnetic material holding device 1000 of the present invention causes the switching between the first arrangement and the second arrangement by controlling the current applied to the coil 1900 using the controller. Accordingly, holding and releasing the attachment objects 1A, 1B to the first faces 1111 and 1121 of the first pole piece assembly 1100 or the second faces 1412 and 1422 of the fourth pole piece assembly 1400. Can be controlled. That is, a DC current necessary for the switching only needs to be applied at the time of switching between holding and releasing, and no current is required to hold the holding and releasing. In the case of the existing electromagnet device, the supply of the current must be maintained in order to maintain the holding or releasing state, and thus the maintenance cost is high. There is this. According to the magnetic holding device 1000 of the present invention, the maintenance cost can be significantly reduced compared to the existing electromagnet device, and there is no room for safety problems even if the power supply is cut off.

In addition, when holding the arrangement of FIG. 1A, a strong magnetic force by the permanent magnets 1130 and 1430 may be applied to the attachment objects 1A and 1B, and thus the attachment objects 1A and 1B and the first pole. Even if the first faces 1111 and 1121 of the piece assembly 1100 and the second faces 1412 and 1422 of the fourth pole piece assembly 1400 are separated from each other, the attachment objects 1A and 1B may be moved and held. Can be.

On the other hand, the first permanent magnet 1130, the second permanent magnet 1230, the third permanent magnet 1330 and the fourth permanent magnet 1430 is preferably the same intensity. This is because when the internal circulating magnetic flow is formed, the magnetic flow flowing out can be minimized. That is, by similarizing the characteristics of the permanent magnets 1130, 1230, 1330, and 1430, it is possible to minimize the magnetic flow (residual magnetism) flowing out toward the attachment targets 1A and 1B upon release as shown in FIG. 1C.

In addition, the thicknesses of the pole pieces 1210, 1220, 1310, and 1320 constituting the second pole piece assembly 1200 and the third pole piece assembly 1300 may be the first pole piece assembly 1100 and the fourth pole piece assembly. A thickness thicker than the thicknesses of the pole pieces 1110, 1120, 1410, and 1420 constituting the 1400 is preferable in that residual magnetism can be reduced. Specifically, the magnetic flow caused by the first permanent magnet 1130 and the fourth permanent magnet 1430 upon release as shown in FIG. 1C further leads to the second pole piece assembly 1200 and the third pole piece assembly 1300. It becomes easy to peel off, and the residual magnetism in the direction of external attachment objects 1A, 1B can be minimized.

2A to 2D are schematic cross-sectional views of a magnetic holding device according to another embodiment of the present invention. 2E is a schematic cross-sectional view showing a modification of the magnetic body holding device of FIGS. 2A to 2D.

2A to 2D, the magnetic holding device 2000 of the present embodiment includes a first pole piece assembly 2100, a second pole piece assembly 2200, a third pole piece assembly 2300, And a fourth pole piece assembly 2400, a coil 2900, and a controller (not shown).

Since the magnetic holding device 2000 of the present embodiment has a configuration similar to that of the magnetic holding device 1000 described above, only the added configuration will be described in detail and redundant description will be avoided.

The first pole piece assembly 2100 includes a first N pole piece 2110, a first S pole piece 2120, a first permanent magnet 2130, a fifth N pole piece 2140, and a first pole piece 2110. 5 permanent magnets 2150. Here, the first N pole piece 2110, the first S pole piece 2120, and the first permanent magnet 2130 may be the first N pole pieces 1110 of the magnetic body holding device 1000 of FIGS. 1A to 1D. ), The first S pole piece 1120 and the first permanent magnet 1130 are the same. The 5th N pole piece 2140 has the 1st surface 2141 and the 2nd surface 2142, and is a magnetic body. The fifth permanent magnet 2150 is disposed such that the N pole contacts the fifth N pole piece 2140 and the S pole contacts the first S pole piece 2120.

The second pole piece assembly 2200 may include a second N pole piece 2210, a second S pole piece 2220, a second permanent magnet 2230, a fifth S pole piece 2240, and a second pole piece 2220. 6 permanent magnets 2250. Here, the second N pole piece 2210, the second S pole piece 2220, and the second permanent magnet 2230 may include the second N pole piece 1210 of the magnetic body holding device 1000 of FIGS. 1A to 1D. ), The second S pole piece 1220 and the second permanent magnet 1230 are the same. The 5th S pole piece 2240 has the 1st surface 2241 and the 2nd surface 2242, and is a magnetic body. The sixth permanent magnet 2250 is disposed such that the N pole contacts the second N pole piece 2210 and the S pole contacts the fifth S pole piece 2240.

The third pole piece assembly 2300 includes a third N pole piece 2310, a third S pole piece 2320, a third permanent magnet 2330, a sixth N pole piece 2340, and a third N pole piece 2320. 7 permanent magnets 2350. Here, the third N pole piece 2310, the third S pole piece 2320, and the third permanent magnet 2330 are the third N pole pieces 1310 of the magnetic body holding device 1000 of FIGS. 1A to 1D. ), The third S pole piece 1320 and the third permanent magnet 1330 are the same. The sixth N-pole piece 2340 has a first face 2341 and a second face 2342 and is a magnetic material. The seventh permanent magnet 2350 is disposed such that the N pole contacts the sixth N pole piece 2340, and the S pole contacts the third S pole piece 2320.

The fourth pole piece assembly 2400 includes a fourth N pole piece 2410, a fourth S pole piece 2420, a fourth permanent magnet 2430, a sixth S pole piece 2440, and a fourth pole piece 2420. 8 permanent magnets 2450. Here, the fourth N pole piece 2410, the fourth S pole piece 2420, and the fourth permanent magnet 2430 are the fourth N pole pieces 1410 of the magnetic body holding device 1000 of FIGS. 1A to 1D. ), The fourth S-pole piece 1420, and the fourth permanent magnet 1430, respectively. The sixth S-pole piece 2440 has a first face 2441 and a second face 2442 and is magnetic. The eighth permanent magnet 2450 is disposed such that the N pole contacts the fourth N pole piece 2410 and the S pole contacts the sixth S pole piece 2440.

The second surface 2142 of the fifth N-pole piece 2140 and the first surface 2241 of the fifth S-pole piece 2240 face each other, and the second surface 2242 of the fifth S-pole piece 2240 faces each other. ) And the first surface 2341 of the sixth N-pole piece 2340 face each other, and the second surface 2234 and the first surface of the sixth S-pole piece 2440 of the sixth N-pole piece 2340. The first pole piece assembly 2100, the second pole piece assembly 2200, the third pole piece assembly 2300 and the fourth pole piece assembly 2400 are disposed so that the 2244 faces each other.

The coil 2900 has a first N pole piece 2110, a first S pole piece 2120, a second N pole piece 2210, a second S pole piece 2220, and a third N pole piece 2310. , 3rd S pole piece 2320, 4th N pole piece 2410, 4th S pole piece 2420, 5th N pole piece 2140, 5th S pole piece 2240, 6th N pole It is wound around one or more of the piece 2340 and the sixth S-pole piece 2440.

For example, at least one coil 2900 may be wound around the second N pole piece 2210 or the third S pole piece 2320 between the second permanent magnet 2230 and the third permanent magnet 2330. . Preferably, the coil 2900 is wound around the second N-pole piece 2210 and the third S-pole piece 2320 as shown in FIGS. 2A to 2D, respectively. In addition, at least one coil 2900 may be disposed between the first permanent magnet 2130 and the second permanent magnet 2230 in the first S pole piece 2120 or the second N pole piece 2210, as shown in FIG. 2E. At least one may be wound around the third S-pole piece 2320 or the fourth N-pole piece 2410 between the third permanent magnet 2330 and the fourth permanent magnet 2430.

In addition, the coil 2900 may have various arrangements and numbers. When the number of the coils 2900 increases, the required value of the current applied to one coil 2900 may be reduced. However, since the volume increases, the size of the magnetic holding device 2000, the required current application amount, etc. are taken into consideration. What is necessary is just to select the arrangement | positioning and the number of coils 2900 collectively.

Since the operation principle of the present embodiment is the same as that of the magnetic holding device 1000 of FIGS.

3 is a schematic cross-sectional view of a magnetic holding device according to another embodiment of the present invention.

Referring to FIG. 3, the magnetic holding device 3000 of the present embodiment includes a first pole piece assembly 3100, a second pole piece assembly 3200, a third pole piece assembly 3300, and a fourth pole. A piece assembly 3400, a coil 3900, and a controller (not shown).

The magnetic holding device 3000 of the present embodiment includes the magnetic holding device 2000 and the first S-pole piece 2120, the second N-pole piece 2210, the third S-pole piece 2320 of FIGS. 2A to 2D, and Only the fourth N-pole piece 3410 has a difference, and the rest of the configuration is the same, and only the difference will be described in detail.

The first S pole piece 3120 (corresponding to 2120 of the magnetic body holding device 2000) includes two first sub S pole pieces 3120s, and any one of the first sub S pole pieces 3120s. Is the S pole of the first permanent magnet 3130 and the other is in contact with the S pole of the fifth permanent magnet 3150, respectively. In addition, the first sub S pole pieces 3120s share the first surface 3121 and the second surface 3122 of the first S pole piece 3120, respectively.

The second N pole piece 3210 (corresponding to 2210 of the magnetic holding device 2000) includes two second sub N pole pieces 3210 s, and any one of the second sub N pole pieces 3210 s. Is the N pole of the second permanent magnet 3230 and the other is in contact with the N pole of the sixth permanent magnet 3250, respectively. In addition, the second sub N-pole pieces 3210 s share the first surface 3211 and the second surface 3212 of the second N-pole piece 3210, respectively.

The third S pole piece 3320 (corresponding to 2320 of the magnetic body holding device 2000) includes two third sub S pole pieces 3320 s, and any one of the third sub S pole pieces 3320 s. Is the S pole of the third permanent magnet 3330, the other is in contact with the S pole of the seventh permanent magnet 3350, respectively. In addition, the third sub S pole pieces 3320 s share the first surface 3321 and the second surface 3322 of the third S pole piece 3320, respectively.

The fourth N pole piece 3410 (corresponding to 2410 of the magnetic holding device 2000) includes two fourth sub N pole pieces 3410 s, and any one of the fourth sub N pole pieces 3410 s. Is the N pole of the fourth permanent magnet 3430 and the other is in contact with the N pole of the eighth permanent magnet 3450, respectively. In addition, the fourth sub-N pole pieces 3410 s share the first and second surfaces 3411 and 4412 of the fourth N-pole pieces 3410, respectively.

The second surface of the first sub S-pole piece 3120s in contact with the first permanent magnet 3130 and the first surface of the second sub N-pole piece 3210s in contact with the second permanent magnet 3230 face each other. The second surface of the first sub S-pole piece 3120s in contact with the fifth permanent magnet 3150 and the first surface of the second sub N-pole piece 3210s in contact with the sixth permanent magnet 3250 are formed. The first surface of the third sub S pole piece 3320 s facing each other and in contact with the second permanent magnet 3330 and the second surface of the second sub N pole piece 3210 s in contact with the second permanent magnet 3230. The third sub-S pole piece 3320s of the second sub N-pole piece 3210 s in contact with each other and in contact with the sixth permanent magnet 3250 and the seventh permanent magnet 3350 are in contact with each other. The fourth sub-N pole piece 3410s in contact with the second surface of the third sub S-pole piece 3320s and the fourth permanent magnet 3430 that the first surface faces each other and are in contact with the third permanent magnet 3330. The first side of) faces each other, the seventh The second surface of the third sub S-pole piece 3320s in contact with the permanent magnet 3350 and the first surface of the fourth sub-N pole piece 3410s in contact with the eighth permanent magnet 3450 face each other, The first sub S pole pieces 3120s, the second sub N pole pieces 3210s, the third sub S pole pieces 3320s and the fourth sub N pole pieces 3410s are disposed.

The first sub S pole pieces 3120s may be spaced apart from each other or may be in contact with each other. The same applies to the second sub N pole pieces 3210 s, the third sub S pole pieces 3320 s and the fourth sub N pole pieces 3410 s. When the sub pole pieces 3120s, 3210s, 3320s, and 3410s are separated from each other, the magnetic flow may be separated without mixing.

The coil 3900 may be any of the first sub S pole pieces 3120s, the second sub N pole pieces 3210s, the third sub S pole pieces 3320s, and the fourth sub N pole pieces 3410s. In the case of winding on, it is preferable that the two sub pole pieces are configured to be wound together as shown in FIG. 3.

Figure 4a is a schematic perspective view of a magnetic holding device according to another embodiment of the present invention. 4B is sectional drawing of the A-A line of FIG. 4A, and FIG. 4C is sectional drawing of the A-A line of a modification.

4A and 4B, the magnetic holding device 2000a may include a first pole piece assembly 2100, a second pole piece assembly 2200, a third pole piece assembly 2300, and a fourth pole. A piece assembly 2400, a coil 2900, and a controller (not shown).

The magnetic holding device 2000a of the present embodiment has a configuration similar to that of the magnetic holding device 2000 of FIGS. 2A to 2D, but includes the first surfaces 2111, 2121, and 2141 of the first pole piece assembly 2100 and the first surface. The only difference is in the placement of the second faces 2422, 2412, 2442 of the four pole piece assembly 2400.

In the present embodiment, the first faces 2111, 2121, and 2141 of the first pole piece assembly 2100 and the second faces 2422, 2412, and 2442 of the fourth pole piece assembly 2400 correspond to one attachment object. It is formed to be able to hold (formed below in FIG. 4A). Preferably, the first faces 2111, 2121, 2141 and the second faces of the fourth polepiece assembly 2400 to hold the attachment object having one flat surface. 2422, 2412, and 2442 are disposed to face one side.

Referring to FIG. 4B, the magnetic holding device 2000a may be surrounded by a cover 2002 which is a nonmagnetic material, and the first faces 2111 and 2121 of the first pole piece assembly 2100 are outside of the cover 2002. , 2141 and the second faces 2422, 2412, 2442 of the fourth polepiece assembly 2400 are exposed. For reference, it should be noted that the illustration of the cover 2002 is omitted for convenience of description in FIG. 4A.

It is advantageous to attain miniaturization to form a groove in the second N pole piece 2210 and the third S pole piece 2320 as shown in FIG. 4B so that the coil 2900 does not protrude in the vertical direction. On the other hand, even if the coil 2900 protrudes in the left and right direction, it does not affect miniaturization, and thus a groove may not be formed in the lateral directions of the second N-pole piece 2210 and the third pole piece 2320.

In addition, arrangement | positioning of the coil 2900 may be as shown in FIG. 4C. In other words, the coil 2900 may be wound around the first S-pole piece 2120 and the fourth N-pole piece 2410. In addition, the arrangement of the coil 2900 can be changed in various ways in consideration of miniaturization.

5A is a schematic perspective view of a magnetic holding device according to another embodiment of the present invention. 5B is a schematic plan sectional view of FIG. 5A.

5A and 5B, the magnetic holding device 1000a may include a first pole piece assembly 1100, a second pole piece assembly 1200, a third pole piece assembly 1300, and a fourth pole. A piece assembly 1400, a coil 1900, and a controller (not shown).

The magnetic holding device 1000a of the present embodiment has a configuration similar to that of the magnetic holding device 1000 of FIGS. 1A to 1D, but includes the first faces 1111 and 1121 and the fourth pole of the first pole piece assembly 1100. The only difference is in the placement of the second faces 2422, 2412 of the piece assembly 1400.

In this embodiment, the first faces 1111 and 1121 of the first pole piece assembly 1100 and the second faces 1422 and 1412 of the fourth pole piece assembly 1400 can hold one attachment object. Is formed. Preferably, the first faces 1111 and 1121 of the first pole piece assembly 1100 and the second faces 1422 of the fourth pole piece assembly 1400 to hold the attachment object having one flat surface. 1412 is arranged to face one side.

The magnetic holding device 1000a may be surrounded by a cover (not shown), which is a nonmagnetic material, similar to the magnetic holding device 2000a described above, and the first surfaces 1111 of the first pole piece assembly 1100 may be outside of the cover. , 1121 and the second faces 1422, 1412 of the fourth pole piece assembly 1400 are configured to be exposed. For reference, in FIGS. 5A and 5B, the cover is omitted for convenience of description.

It is advantageous to attain miniaturization to form grooves in the second N pole piece 1210 and the third N pole piece 1310 so that the coil 1900 does not protrude in the vertical direction or the outward direction. On the other hand, the coil 1900 does not affect the miniaturization even if it protrudes in the inward direction, the groove may not be formed in the inner direction of the second N pole piece 1210 and the third N pole piece 1310.

Meanwhile, in the present embodiment, the coil 1900 is illustrated as being wound around the second N pole piece 1210 and the third N pole piece 1310, but may be wound around other pole pieces.

6 is a schematic cross-sectional view of a magnetic holding device according to another embodiment of the present invention.

Referring to FIG. 6, the magnetic holding device 1000b may include a first pole piece assembly 1100, a second pole piece assembly 1200, a third pole piece assembly 1300, and a fourth pole piece assembly ( 1400, a coil 1900, and a controller (not shown).

The magnetic holding device 1000b of the present embodiment has a configuration similar to that of the magnetic holding device 1000 of FIGS. 1A to 1D, but includes the first surfaces 1111 and 1121 and the fourth pole of the first pole piece assembly 1100. The only difference is in the placement of the second faces 2422, 2412 of the piece assembly 1400.

In this embodiment, the first faces 1111 and 1121 of the first pole piece assembly 1100 and the second faces 1422 and 1412 of the fourth pole piece assembly 1400 can hold one attachment object. Is formed. Preferably, the first faces 1111 and 1121 of the first pole piece assembly 1100 and the second faces 1422 of the fourth pole piece assembly 1400 to hold the attachment object having one flat surface. 1412 is arranged to face one side.

In addition, the first N-pole piece 1110 in the space formed by the first S-pole piece 1120, the second N-pole piece 1210, the third S-pole piece 1320 and the fourth N-pole piece 1410. The magnetic holding device 1000b is configured such that the second S-pole piece 1220, the third N-pole piece 1310, and the fourth S-pole piece 1420 are positioned. By such a configuration, the magnetic holding device 1000b of the present embodiment can obtain the maximum holding force with respect to the unit volume.

In addition, the first pole piece assembly 1100 and the fourth pole piece assembly 1400 are fixed and the second pole piece assembly 1200 and the third pole piece assembly 1300 are moved, thereby moving between the first and second arrangements. The transition is made. The second pole piece assembly 1200 and the third pole piece assembly 1300 may be formed of the first surfaces 1111 and 1121 of the first pole piece assembly 1100 and the fourth pole piece assembly 1400 as shown in FIG. 6. It is configured to move in the direction along the two faces 1412, 1422.

Meanwhile, the second pole piece assembly 1200 and the third pole piece assembly 1300 may be guided by a groove formed in the cover 1002. Of course, this configuration can be applied to other embodiments.

7 is a schematic cross-sectional view of a magnetic holding device according to another embodiment of the present invention.

Referring to FIG. 7, the magnetic holding device 2000b may include a first pole piece assembly 2100, a second pole piece assembly 2200, a third pole piece assembly 2300, and a fourth pole piece assembly ( 2400, a coil 2900, and a controller (not shown).

The magnetic holding device 2000b of the present embodiment has a configuration similar to that of the magnetic holding device 2000 of FIGS. 2A to 2D, but includes the first surfaces 2111, 2121, and 2141 of the first pole piece assembly 2100 and the first surface. The only difference is in the placement of the second faces 2422, 2412, 2442 of the four pole piece assembly 2400.

In other words, the magnetic holding device 2000b of the present embodiment may be implemented by stacking the pole pieces and the permanent magnets once more outside the magnetic holding device 1000b of FIG. 6. Specifically, the first N-pole piece 2110 in the space formed by the first S-pole piece 2120, the second N-pole piece 2210, the third S-pole piece 2320, and the fourth N-pole piece 2410. ), The second S-pole piece 2220, the third N-pole piece 2310 and the fourth S-pole piece 2420 are located, the fifth N-pole piece 2140, the fifth S-pole piece 2240, The first S-pole piece 2120, the second N-pole piece 2210, the third S-pole piece 2320, and the third space in the space formed by the sixth N-pole piece 2340 and the sixth S-pole piece 2440. 4N pole piece 2410 is located.

In the magnetic holding device 1000b of FIG. 6, one layer of pole pieces and permanent magnets may be stacked to obtain the magnetic holding device 2000b of FIG. 7, and in this case, a larger holding force than the increased volume for the device configuration may be obtained. You can get it. In this way, continuous lamination is possible, thereby obtaining a large holding force for the unit volume.

Specific principles may be referred to the descriptions of the magnetic holding devices 1000, 2000, and 1000b described above, and thus, detailed descriptions thereof will be omitted.

8A and 8B are schematic cross-sectional views of a magnetic holding device according to another embodiment of the present invention.

The magnetic body holding apparatus 1000c of FIG. 8A and the magnetic body holding apparatus 1000d of FIG. 8B have the same configuration as the magnetic body holding apparatus 1000 of FIGS. 1A to 1D, but only the shape of the first pole piece assembly 1100. Do it differently.

8A and 8B, the first faces 1111 and 1121 of the first pole piece assembly 1100 and the second faces 1412 and 1422 of the fourth pole piece assembly 1400 hold one attachment object. It can be formed to be. In addition, the first surfaces 1111 and 1121 of the first pole piece assembly 1100 and the second surfaces 1412 and 1422 of the fourth pole piece assembly 1400 may be disposed to face one side.

8A and 8B illustrate a modification of only the first pole piece assembly 1100, but the fourth pole piece assembly 1400 may be modified. Such deformation may be determined by the shape, size, and the like of the attachment object.

9 is a schematic cross-sectional view of a magnetic holding device according to another embodiment of the present invention.

The magnetic holding device 2000c of FIG. 9 has the same configuration as the magnetic holding device 2000 of FIGS. 2A to 2D, but differs only in the shape of the first pole piece assembly 2100.

As shown in FIG. 9, the first faces 2111, 2121, and 2141 of the first pole piece assembly 2100 and the second faces 2412, 2422, and 2442 of the fourth pole piece assembly 2400 may be attached to one attachment object. It can be formed to hold. The first faces 2111, 2121, and 2141 of the first pole piece assembly 2100 and the second faces 2412, 2422, and 2442 of the fourth pole piece assembly 2400 may be disposed to face one another. In addition, as shown in FIG. 9, the first S-pole piece 2120 of the first pole piece assembly 2100 may form two first surfaces 2121.

In FIG. 9, only the first pole piece assembly 2100 is modified, but the fourth pole piece assembly 2400 may be modified. Such deformation may be determined by the shape, size, and the like of the attachment object.

10A to 10D are schematic cross-sectional views of a magnetic holding device according to another embodiment of the present invention.

10A to 10D, the magnetic holding device 4000 of the present embodiment includes a first pole piece assembly 4100, a second pole piece assembly 4200, a third pole piece assembly 4300, and the like. And a fourth pole piece assembly 4400, a first connection pole piece 4500, a second connection pole piece 4600, a coil 4900, and a control device (not shown).

The first pole piece assembly 4100 includes a first N pole piece 4110, a first S pole piece 4120, and a first permanent magnet 4130. The first N-pole piece 4110 is a magnetic body and has a first face 4111 and a second face 4112. In addition, the first S-pole piece 4120 is a magnetic material and has a first surface 4121 and a second surface 4122. The first permanent magnet 4130 is disposed such that the N pole contacts the first N pole piece 4110 and the S pole contacts the first S pole piece 4120.

The second pole piece assembly 4200 includes a second N pole piece 4210, a second S pole piece 4220, and a second permanent magnet 4230. The second N pole piece 4210 is a magnetic body and has a first face 4211 and a second face 4212. The second S-pole piece 4220 is a magnetic substance and includes a first face 4221 and a second face 4222. The second permanent magnet 4230 is disposed such that the N pole contacts the second N pole piece 4210, and the S pole contacts the second S pole piece 4220.

The third pole piece assembly 4300 includes a third N pole piece 4310, a third S pole piece 4320, and a third permanent magnet 4330. The third N-pole piece 4310 is a magnetic body and has a first surface 4311 and a second surface 4312. In addition, the third S-pole piece 4320 is a magnetic material and includes a first face 4321 and a second face 4322. The third permanent magnet 4330 is disposed such that the N pole contacts the third N pole piece 4310, and the S pole contacts the third S pole piece 4320.

The fourth pole piece assembly 4400 includes a fourth N pole piece 4410, a fourth S pole piece 4420, and a fourth permanent magnet 4430. The fourth N-pole piece 4410 is a magnetic body and has a first face 4411 and a second face 4412. In addition, the fourth S-pole piece 4420 is a magnetic material and has a first surface 4421 and a second surface 4422. The fourth permanent magnet 4430 is disposed such that the N pole contacts the second N pole piece 4410 and the S pole contacts the fourth S pole piece 4420.

The first connecting pole piece 4500 has a first face 4501 and a second face 4502 and is made of magnetic material. The second connecting pole piece 4600 has a first face 4601 and a second face 4602 and is made of magnetic material.

The second surface 4112 of the first N-pole piece 4110 and the first surface 4221 of the second S-pole piece 4220 face each other, and the second surface 4122 of the first S-pole piece 4120. ) And the first surface 4211 of the second N-pole piece 4210 face each other, and the second surface 4212 of the second N-pole piece 4210 and the first surface of the first connection pole piece 4500. The 4501 faces each other, the second surface 4222 of the second S-pole piece 4220 and the first surface 4601 of the second connecting pole piece 4600 face each other, and the first connecting pole piece ( The second surface 4502 of the 4500 and the first surface 4321 of the third S-pole piece 4320 face each other, and the second surface 4602 and the third N-pole of the second connecting pole piece 4600 are facing each other. The first surface 4311 of the piece 4310 faces each other, and the second surface 4312 of the third N-pole piece 4310 and the first surface 4421 of the fourth S-pole piece 4420 face each other. The first pole piece assembly 4100 and the second pole so that the second surface 4322 of the third S pole piece 4320 and the first surface 4411 of the fourth N pole piece 4410 face each other. peace The assembly (4200), the third pole piece assembly 4300, the fourth pole piece assembly 4400, a first connection pole piece (4500) and the second connection pole piece (4600) is disposed.

Meanwhile, the first surfaces 4111 and 4121 of the first pole piece assembly 4100 and the second surfaces 4412 and 4422 of the fourth pole piece assembly 4400 may hold one attachment object 1. Is formed. Specifically, the first S-pole piece 4120, the second N-pole piece 4210, the first connecting pole piece 4500, the third S-pole piece 4320, and the fourth N-pole piece 4410 are formed. The first N-pole piece 4110, the second S-pole piece 4220, the second connecting pole piece 4600, the third N-pole piece 4310 and the fourth S-pole piece 4420 are located in the space.

The first pole piece assembly 4100, the fourth pole piece assembly 4400, the first connecting pole piece 4500 and the second connecting pole piece 4600 are fixed, and the second pole piece assembly 4200 and the third The pole piece assembly 4300 is moved.

The second pole piece assembly 4200 and the third pole piece assembly 4300 have a second face 4212 of the second N pole piece 4210 and a first face 4501 of the first connecting pole piece 4500. Contact with each other, the second surface 4222 of the second S-pole piece 4220 and the first surface 4601 of the second connecting pole piece 4600 are in contact with each other, and the third S-pole piece 4320 The first surface 4321 and the second surface 4502 of the first connecting pole piece 4500 are in contact with each other, and the first surface 4311 and the second connecting pole piece 4600 of the third N-pole piece 4310 are in contact with each other. The second side 4602 of the () contact each other, wherein the first pole piece assembly 4100 and the second pole piece assembly 4200 are spaced apart, the third pole piece assembly 4300 and the fourth pole piece assembly 4300 ) Is spaced apart from the first arrangement (as shown in FIGS. 10A and 10B), and the second surface 4112 of the first N-pole piece 4110 and the first surface 4221 of the second S-pole piece 4220. In contact with each other, the second surface 4122 of the first S-pole piece 4120 and the first surface of the second N-pole piece 4210. 4211 contact each other, the second surface 4312 of the third N-pole piece 4310 and the first surface 4421 of the fourth S-pole piece 4420 come in contact with each other, and the third S-pole piece 4320 is in contact with each other. Of the second surface 4322 and the first surface 4411 of the fourth N-pole piece 4410, wherein the second pole piece assembly 4200 and the third pole piece assembly 4300 are connected to the first connection pole. It is configured to be movable so as to enable switching between the piece 4500 and the second connecting pole piece 4600 and a second arrangement (position such as FIGS. 10C and 10D) spaced apart.

Movement of the second pole piece assembly 4200 and the third pole piece assembly 4300 may be implemented in various ways. For example, as in this embodiment, a guide rod 4001 is employed to guide the pole piece assemblies 4200 and 4300 through the second pole piece assembly 4200 and the third pole piece assembly 4300. Can be. The guide rod 4001 is preferably made of nonmagnetic material so as not to affect magnetic flow. The movement of the pole piece assembly may also be made by a known conveying method such as a rail, a linear guide, or the like.

On the other hand, between the first pole piece assembly 4100 and the second pole piece assembly 4200, the elastic means for applying an elastic force so that the first pole piece assembly 4100 and the second pole piece assembly 4200 away from each other (not shown City, for example a spring) may be interposed. In addition, an elastic means (not shown) is applied between the third pole piece assembly 4300 and the fourth pole piece assembly 4400 so that the third pole piece assembly 4300 and the fourth pole piece assembly 4400 are separated from each other. City, for example a spring) may be interposed. In addition, elastic means for applying an elastic force between the second pole piece assembly 4200 and the connecting pole pieces (4500, 4600), the second pole piece assembly (4200) and the connecting pole pieces (4500, 4600) away from each other (Not shown, for example a spring) may be interposed. In addition, the elastic means for applying an elastic force between the third pole piece assembly 4300 and the connecting pole pieces (4500, 4600), the third pole piece assembly (4300) and the connecting pole pieces (4500, 4600) away from each other (Not shown, for example a spring) may be interposed.

The coil 4900 may include a first N pole piece 4110, a first S pole piece 4120, a second N pole piece 4210, a second S pole piece 4220, a third N pole piece 4310, and a coil. It is wound around one or more of the 3rd S pole piece 4320, the 4th N pole piece 4410, the 4th S pole piece 4420, the 1st connection pole piece 4500, and the 2nd connection pole piece 4600. . The current is supplied to the coil 4900 by a controller. When the current is supplied to the coil 4900, a portion of the pole piece wound like an electromagnet is magnetized. When the magnetic flow is formed by the inner pole pieces on which the coil 4900 is wound, the magnetic flow can be strengthened or weakened by supplying current to the coil 4900. As will be described later, by controlling the current applied to the coil 4900, it is possible to switch between the first arrangement and the second arrangement by weakening the already formed magnetic flow.

The arrangement of the coils 4900 can be wound around any pole piece if a switch between the first arrangement and the second arrangement is possible. Preferably, the coil 4900 is wound around the second connection pole piece 4600, the first N pole piece 4110, and the fourth S pole piece 4420 as shown in FIGS. 10A to 10D. In this case, the coil 4900 may be located inside the device, thereby reducing the device size. The coil 4900 can also be wound around the second S-pole piece 4220 or the third N-pole piece 4310.

In addition, the coil 4900 may have various arrangements and numbers. If the number of the coils 4900 increases, the required value of the current applied to one coil 4900 may be small, but since the volume may be larger, the size of the magnetic holding device 4000, the required current application amount, and the like. In consideration of the above, the arrangement and number of coils 4900 may be selected.

Hereinafter, with reference to FIGS. 10A to 10D, the operation principle of the magnetic holding device 4000 having the above-described configuration will be described.

Referring to FIG. 10A, the magnetic holding device 4000 has a first arrangement, and no current is supplied to the coil 4900. In this case, between the second pole piece assembly 4200 and the third pole piece assembly 4300, the second permanent magnet 4230 and the third through the first connecting pole piece 4500 and the second connecting pole piece 4600. The magnetic flow resulting from the permanent magnets 4330 circulates and the first faces 4111, 4121 of the first pole piece assembly 4100 and the second faces 4412, 4422 of the fourth pole piece assembly 4400. The magnetic attachment object 1 is held.

When a current is applied to the coil 4900 as shown in FIG. 10B, the magnetic flow shown by dotted lines in FIG. 10A is reduced. That is, the coils 4900 to reduce the magnetic flow generated by magnetizing the pole pieces 4210, 4220, 4310, 4320, 4500, and 4600 by the second permanent magnet 4230 and the third permanent magnet 4330. Apply current to As the current applied to the coil 4900 increases, the attraction force between the second pole piece assembly 4200 / the third pole piece assembly 4300 and the first connection pole piece 4500 / the second connection pole piece 4600 decreases. And reaches a predetermined current value, between the second pole piece assembly 4200 and the first connection pole piece 4500 / the second connection pole piece 4600 and the third pole piece assembly 4300 and the first. The second pole piece assembly 4200 and the third pole piece assembly 4300 are connected to the pole pieces 4500 and 4600 by elastic means interposed between the connection pole piece 4500 and the second connection pole piece 4600. Can be separated from. At this time, a certain amount of attraction force acts between the second pole piece assembly 4200 and the first pole piece assembly 4100 and between the third pole piece assembly 4300 and the fourth pole piece assembly 4400. Accordingly, the second pole piece assembly 4200 and the third pole piece assembly 4300 come into contact with the first pole piece assembly 4100 and the fourth pole piece assembly 4400, respectively, as shown in FIG. 10C.

Referring to FIG. 10C, the magnetic holding device 4000 is in a second arrangement, such that the internal circulating magnetic flow and the third pole piece assembly between the first pole piece assembly 4100 and the second pole piece assembly 4200. Internal cyclic magnetic flows are formed between the 4300 and the fourth pole piece assembly 4400, respectively. That is, when the magnetic holding device 4000 is in the second arrangement, the magnetic flow caused by the first permanent magnet 4130 and the fourth permanent magnet 4430 does not affect the external attachment object 1. , The second permanent magnet 4230 and the third permanent magnet 4330 are directed. Thereby, the attachment object 1 can be released.

In order to hold the attachment object 1 again, a current may be applied to the coil 4900 as shown in FIG. 10D. When the current is applied to the coil 4900 as illustrated in FIG. 10D, the circulating magnetic flow and the third pole piece assembly 4300 and the fourth pole formed in the first pole piece assembly 4100 and the second pole piece assembly 4200 are applied. Each of the cyclic magnetic flows formed in the piece assembly 4400 is weakened. Accordingly, the magnetic flow caused by the first permanent magnet 4100 and the fourth permanent magnet 4400 affects the attachment object 1 and can be held.

If the intensity of the current as shown in FIG. 10D is gradually increased, between the first pole piece assembly 4100 and the second pole piece assembly 4200 and between the third pole piece assembly 4300 and the fourth pole piece assembly 4400. The attraction force becomes weaker, and the holding force on the attachment object 1 becomes greater and larger, the attraction force between the second pole piece assembly 4200 and the connection pole pieces 4500 and 4600 and the third pole piece assembly 4300 and the connection pole The attraction between the pieces 4500 and 4600 becomes larger. When the current reaches a certain degree, the attraction between the second pole piece assembly 4200 and the connecting pole pieces 4500 and 4600 and between the third pole piece assembly 4300 and the connecting pole pieces 4500 and 4600 The attraction causes the second pole piece assembly 4200 and the third pole piece assembly 4300 to contact the connecting pole pieces 4500 and 4600. At this time, the resilient means is interposed between the first pole piece assembly 4100 and the second pole piece assembly 4200 and between the third pole piece assembly 4300 and the fourth pole piece assembly 4400, thereby providing each pole piece assembly. It is desirable to further promote separation of the liver.

As described above, the magnetic holding device 4000 of the present invention causes the switching between the first arrangement and the second arrangement by controlling the current applied to the coil 4900 by using the controller. Accordingly, the holding and release of the attachment object 1 to the first surfaces 4111 and 4121 of the first pole piece assembly 4100 or the second surfaces 4412 and 4422 of the fourth pole piece assembly 4400 can be controlled. Can be. That is, a DC current necessary for the switching only needs to be applied at the time of switching between holding and releasing, and no current is required to hold the holding and releasing. In the case of the existing electromagnet device, the supply of the current must be maintained in order to maintain the holding or releasing state, and thus the maintenance cost is high. There is this. According to the magnetic holding device 1000 of the present invention, the maintenance cost can be significantly reduced compared to the existing electromagnet device, and there is no room for safety problems even if the power supply is cut off.

On the other hand, the first permanent magnet 4130, the second permanent magnet 4230, the third permanent magnet 4330 and the fourth permanent magnet 4430 is preferably the same strength. This is because when the internal circulating magnetic flow is formed, the magnetic flow flowing out can be minimized. That is, by similarizing the characteristics of the permanent magnets 4130, 4230, 4330, 4430, it is possible to minimize the magnetic flow (residual magnetism) flowing out in the direction of the attachment object (1) upon release as shown in FIG.

In addition, when holding the arrangement of FIG. 10A, a strong magnetic force by the permanent magnets 4130 and 4430 may be applied to the attaching object 1, and thus, the attachment object 1 and the first pole piece assembly 4100 may be applied. Even if the first faces 4111 and 4121 and the second faces 1412 and 1422 of the fourth pole piece assembly 4400 are separated from each other, the attachment object 1 may be moved and held.

In addition, the thicknesses of the pole pieces 4210, 4220, 4310, and 4320 constituting the second pole piece assembly 4200 and the third pole piece assembly 4300 may have a thickness of the first pole piece assembly 4100 and the fourth pole piece assembly. A thickness thicker than the thickness of the pole pieces 4110, 4120, 4410, 4420 constituting the 4400 is preferred in that residual magnetism can be reduced. Specifically, the magnetic flow caused by the first permanent magnet 4130 and the fourth permanent magnet 4430 upon release as shown in FIG. 10C further leads to the second pole piece assembly 4200 and the third pole piece assembly 4300. It becomes easy to peel off, and the residual magnetism in the direction of external attachment object 1 can be minimized.

11A and 11B are schematic cross-sectional views of a magnetic holding device according to still another embodiment of the present invention.

11A and 11B, the magnetic holding device 5000 of the present embodiment includes a first pole piece assembly 5100, a second pole piece assembly 5200, a third pole piece assembly 5300, The fourth pole piece assembly 5400, the first connecting pole piece 5500, the second connecting pole piece 5600, the third connecting pole piece 5700, the coil 5900, and the controller (not shown) O).

Since the magnetic holding device 5000 of the present embodiment has a configuration similar to that of the magnetic holding device 4000 described above, only the added configuration will be described in detail and redundant descriptions are avoided.

The first pole piece assembly 5100 includes a first N pole piece 5110, a first S pole piece 5120, a first permanent magnet 5130, a fifth N pole piece 5140, and a first pole piece 5210. 5 permanent magnets 5150. Here, the first N pole piece 5110, the first S pole piece 5120, and the first permanent magnet 5130 are the first N pole pieces 4110 of the magnetic holding device 4000 of FIGS. 10A to 10D. ), The first S pole piece 4120 and the first permanent magnet 4130 are the same. The fifth N-pole piece 5140 has a first face 5251 and a second face 5152 and is a magnetic material. The fifth permanent magnet 5150 is disposed such that the N pole contacts the fifth N pole piece 5140, and the S pole contacts the first S pole piece 5120.

The second pole piece assembly 5200 includes a second N pole piece 5210, a second S pole piece 5220, a second permanent magnet 5230, a fifth S pole piece 5240, and a second pole piece 5220. 6 permanent magnets 5250. Here, the second N pole piece 5210, the second S pole piece 5220, and the second permanent magnet 5230 are second N pole pieces 4210 of the magnetic body holding device 4000 of FIGS. 10A to 10D. ), The second S-pole piece 4220 and the second permanent magnet 4230 are the same. The fifth S-pole piece 5240 has a first surface 5231 and a second surface 5122 and is a magnetic material. The sixth permanent magnet 5250 is disposed such that the N pole contacts the second N pole piece 5210, and the S pole contacts the fifth S pole piece 5240.

The third pole piece assembly 5300 includes a third N pole piece 5310, a third S pole piece 5320, a third permanent magnet 5330, a sixth N pole piece 5340, and a third pole piece 5320. 7 permanent magnet 5350. Here, the third N pole piece 5310, the third S pole piece 5320, and the third permanent magnet 5330 may be the third N pole piece 4310 of the magnetic holding device 4000 of FIGS. 10A to 10D. ), The third S pole piece 4320 and the third permanent magnet 4330 are the same. The sixth N-pole piece 5340 has a 1st surface 5331 and a 2nd surface 5332, and is a magnetic body. The seventh permanent magnet 5350 is disposed such that the N pole contacts the sixth N pole piece 5340, and the S pole contacts the third S pole piece 5320.

The fourth pole piece assembly 5400 includes a fourth N pole piece 5410, a fourth S pole piece 5520, a fourth permanent magnet 5430, a sixth S pole piece 5440, and a fourth pole piece 5410. 8 permanent magnets 5450. Here, the fourth N pole piece 5410, the fourth S pole piece 5520, and the fourth permanent magnet 5430 are the fourth N pole pieces 4410 of the magnetic holding device 4000 of FIGS. 10A to 10D. ), The fourth S-pole piece 4420 and the fourth permanent magnet 4430 are the same. The sixth S-pole piece 5440 has a first surface 5441 and a second surface 5442 and is a magnetic material. The eighth permanent magnet 5450 is disposed such that the N pole contacts the fourth N pole piece 5410 and the S pole contacts the sixth S pole piece 5440.

The second surface 5152 of the fifth N-pole piece 5140 and the first surface 5231 of the fifth S-pole piece 5240 face each other, and the second surface 5524 of the fifth S-pole piece 5240 faces each other. ) And the first surface 5701 of the third connecting pole piece 5700 face each other, and the second surface 5702 of the third connecting pole piece 5700 and the first surface of the sixth N-pole piece 5340. The first pole piece assembly (5341) faces each other, and the second face 5322 of the sixth N-pole piece 5340 and the first face 541 of the sixth S-pole piece 5440 face each other. 5100, second pole piece assembly 5200, third pole piece assembly 5300 and fourth pole piece assembly 5400, first connection pole piece 5500, second connection pole piece 5600, and third The connecting pole piece 5700 is disposed.

Meanwhile, the first surfaces 5111, 5121, and 5141 of the first pole piece assembly 5100 and the second surfaces 5212, 5422, and 5442 of the fourth pole piece assembly 5400 may be configured to attach one attachment object 1. It is formed to hold. Specifically, the first S-pole piece 5120, the second N-pole piece 5210, the first connecting pole piece 5500, the third S-pole piece 5320, and the fourth N-pole piece 5410 are formed. The first N-pole piece 5110, the second S-pole piece 5220, the second connecting pole piece 5600, the third N-pole piece 5310 and the fourth S-pole piece 5520 are located in the space. In addition, a space formed by the fifth N-pole piece 5140, the fifth S-pole piece 5240, the third connecting pole piece 5700, the sixth N-pole piece 5340, and the sixth S-pole piece 5440. The first S-pole piece 5120, the second N-pole piece 5210, the first connecting pole piece 5500, the third S-pole piece 5320 and the fourth N-pole piece 5410 are located in the inside.

The coil 5900 may include a first N pole piece 5110, a first S pole piece 5120, a second N pole piece 5210, a second S pole piece 5220, and a third N pole piece 5310. , 3rd S pole piece 5320, 4th N pole piece 5410, 4th S pole piece 5520, 5th N pole piece 5140, 5th S pole piece 5240, 6th N pole It is wound around one or more of the piece 5340, the sixth S-pole piece 5440, the first connecting pole piece 5500, the second connecting pole piece 5600, and the third connecting pole piece 5700.

For example, the coil 5900 may include a first connection pole piece 5500, a second connection pole piece 5600, a first S pole piece 5120, and a fourth N pole piece 5140 as shown in FIGS. 11A and 11B. ) Can be wound. In this case, the coil 5900 may be located inside the device, thereby reducing the device size. The coil 5900 can also be wound around the second N-pole piece 5210 or the third S-pole piece 5320.

In addition, the coil 5900 may have various arrangements and numbers. When the number of the coils 5900 increases, the required value of the current applied to one coil 5900 may be reduced. However, since the volume becomes larger, the size of the magnetic holding device 5000, the required current application amount, etc. are taken into consideration. What is necessary is just to select the arrangement | positioning and the number of coils 5900 comprehensively.

Since the operation principle of the present embodiment is the same as that of the magnetic material holding device 4000 of FIGS. 10A to 10D, the above description may be referred to, and a separate description is omitted.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may be embodied in other specific forms without changing the technical spirit or essential features of the present invention. I can understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

For example, the structure of the magnetic holding device 3000 as shown in FIG. 3 is naturally applicable to the magnetic holding device to which the structure of the magnetic holding device 2000 of FIGS. 2A to 2D is applied. That is, the structure of the magnetic holding device 3000 is, the magnetic holding device 2000a of FIGS. 4A to 4C, the magnetic holding device 2000b of FIG. 7, the magnetic holding device 2000c of FIG. 9, and FIGS. 11A and 11B. It is applicable to the magnetic holding device 5000 of the. Here, in the case of the magnetic holding device 5000 of FIGS. 11A and 11B, the first connection pole piece 5500 may be formed separately.

Claims (25)

A magnetic body holding device configured to hold and release a magnetic object to be attached, A first N-pole piece and a first S-pole piece, each of which has a first surface and a second surface, and is formed of magnetic material; and the N-pole contacts the first N-pole piece and the S-pole contacts the first S-pole piece. A first pole piece assembly comprising a first permanent magnet; A second N-pole piece and a second S-pole piece which are formed with a first surface and a second surface and are magnetic materials, and the N pole is in contact with the second N pole piece and the S pole is in contact with the second S pole piece. A second pole piece assembly comprising a second permanent magnet; A third N-pole piece and a third S-pole piece which are formed with a first surface and a second surface and are magnetic materials, and the N pole is in contact with the third N pole piece and the S pole is in contact with the third S pole piece. A third pole piece assembly comprising a third permanent magnet; A fourth N-pole piece and a fourth S-pole piece, each of which has a first surface and a second surface, and which is a magnetic body, and the N-pole contacts the fourth N-pole piece, and the S-pole contacts the fourth S-pole piece. A fourth pole piece assembly comprising a fourth permanent magnet; The first N pole piece, the first S pole piece, the second N pole piece, the second S pole piece, the third N pole piece, the third S pole piece, the fourth N pole piece, and the At least one coil wound around at least one of the fourth S-pole pieces; And A controller for controlling a current applied to the coil; Including; The second surface of the first N-pole piece and the first surface of the second S-pole piece face each other, and the second surface of the first S-pole piece and the first surface of the second N-pole piece face each other. The second surface of the second N-pole piece and the first surface of the third S-pole piece face each other, and the second surface of the second S-pole piece and the first surface of the third N-pole piece are Face each other, the second surface of the third N-pole piece and the first surface of the fourth S-pole piece face each other, and the second surface of the third S-pole piece and the first of the fourth N-pole piece. The first pole piece assembly, the second pole piece assembly, the third pole piece assembly and the fourth pole piece assembly are disposed so that faces face each other, The second surface of the second N-pole piece and the first surface of the third S-pole piece contact each other, and the second surface of the second S-pole piece and the first surface of the third N-pole piece contact each other. The first pole piece assembly and the second pole piece assembly are spaced apart from each other, and the third pole piece assembly and the fourth pole piece assembly are spaced apart from each other, and a second surface of the first N pole piece. And the first surface of the second S-pole piece are in contact with each other, the second surface of the first S-pole piece and the first surface of the second N-pole piece are in contact with each other, Two surfaces and a first surface of the fourth S-pole piece contact each other, and a second surface of the third S-pole piece contacts a first surface of the fourth N-pole piece, wherein the second pole piece assembly and the Assembling the first pole piece assembly, the second pole piece assembly, the third pole piece such that the third pole piece assembly enables switching between spaced apart second arrangements. And Li, and wherein the two or more of the four pole piece assembly pieces are moveable, The control device causes a switch between the first and second arrangements by controlling the current applied to the coil, thereby causing the first surfaces of the first pole piece assembly or the first pole piece assembly of the fourth pole piece assembly. Magnetic holding device characterized in that the holding and release of the object to be attached to the two sides. According to claim 1, The first pole piece assembly includes a fifth N pole piece which is a magnetic body having a first surface and a second face, and an N pole contacts the fifth N pole piece and an S pole contacts the first S pole piece. Further comprising a fifth permanent magnet disposed, The second pole piece assembly includes a fifth S pole piece which is a magnetic body having a first surface and a second face, and the N pole contacts the second N pole piece and the S pole contacts the fifth S pole piece. Further comprising a sixth permanent magnet disposed therein, The third pole piece assembly includes a sixth N pole piece having a first surface and a second face, and a magnetic body, wherein the N pole contacts the sixth N pole piece and the S pole contacts the third S pole piece. It further comprises a seventh permanent magnet disposed, The fourth pole piece assembly includes a sixth S pole piece having a first surface and a second face and a magnetic body, wherein the N pole contacts the fourth N pole piece and the S pole contacts the sixth S pole piece. Further comprising an eighth permanent magnet disposed therein, The second surface of the fifth N-pole piece and the first surface of the fifth S-pole piece face each other, and the second surface of the fifth S-pole piece and the first surface of the sixth N-pole piece face each other. The first pole piece assembly, the second pole piece assembly, the third pole piece assembly, and the second face of the sixth N-pole piece and the first face of the sixth S-pole piece face each other. The fourth pole piece assembly is disposed, The at least one coil includes: the first N pole piece, the first S pole piece, the second N pole piece, the second S pole piece, the third N pole piece, the third S pole piece, the It is wound around at least one of a fourth N pole piece, the fourth S pole piece, the fifth N pole piece, the fifth S pole piece, the sixth N pole piece and the sixth S pole piece. Magnetic holding device. The method of claim 2, The first S pole piece includes two first sub S pole pieces, the first sub S pole pieces contacting the first permanent magnet and the fifth permanent magnet, respectively, and the first sub S pole piece. They each share a first side and a second side of the first S-pole piece, The second N-pole piece includes two second sub-N pole pieces, and the second sub-N pole pieces contact the second permanent magnet and the sixth permanent magnet, respectively, and the second sub-N pole piece They each share a first side and a second side of the second N-pole piece, The third S pole piece includes two third sub S pole pieces, and the third sub S pole pieces are in contact with the third permanent magnet and the seventh permanent magnet, respectively, and the third sub S pole piece They each share a first side and a second side of the third S pole piece, The fourth N pole piece includes two fourth sub N pole pieces, and the fourth sub N pole pieces contact the fourth permanent magnet and the eighth permanent magnet, respectively, and the fourth sub N pole pieces They each share a first side and a second side of the fourth N pole piece, The second surface of the first sub S pole piece in contact with the first permanent magnet and the first surface of the second sub N pole piece in contact with the second permanent magnet face each other and are in contact with the fifth permanent magnet. The second surface of the first sub S pole piece and the first surface of the second sub N pole piece in contact with the sixth permanent magnet face each other, and the second surface of the second sub N pole piece in contact with the second permanent magnet. The second surface and the seventh permanent magnet of the second sub-N pole piece which are in contact with each other and the first surface of the third sub S pole piece which is in contact with the third surface and the third permanent magnet are in contact with each other. A first sub surface of the third sub S pole piece in contact with each other, and the second sub N pole of the third sub S pole piece in contact with the third permanent magnet and the fourth sub N pole in contact with the fourth permanent magnet. The second surface of the third sub S-pole piece and the eighth permanent magnet which face each other and are in contact with the seventh permanent magnet. The first sub S pole pieces, the second sub N pole pieces, the third sub S pole pieces, and the fourth sub N pole so that a first surface of the fourth sub N pole piece which is in contact with each other faces each other. Magnetic holding device, characterized in that the pieces are arranged. According to claim 1, The at least one coil is composed of two or more coils, and at least one coil is wound around the second S pole piece or the third N pole piece between the second permanent magnet and the third permanent magnet, and the second Magnetic holding device, characterized in that at least one wound around the N pole piece or the third S pole piece. According to claim 1, The at least one coil is composed of four or more coils, at least one of which is wound around the first N pole piece or the second S pole piece between the first permanent magnet and the second permanent magnet, and the first At least one is wound around the S pole piece or the second N pole piece, and at least one is wound around the third N pole piece or the fourth S pole piece between the third permanent magnet and the fourth permanent magnet. Magnetic holding device, characterized in that at least one wound around the third S-pole piece or the fourth N-pole piece. The method of claim 2, And at least one coil is wound around the second N pole piece or the third S pole piece between the second permanent magnet and the third permanent magnet. The method of claim 2, The at least one coil is composed of two or more coils, and at least one coil is wound around the first S pole piece or the second N pole piece between the first permanent magnet and the second permanent magnet. Magnetic holding device characterized in that at least one wound around the third S-pole piece or the fourth N-pole piece between the third permanent magnet and the fourth permanent magnet. The method according to any one of claims 1 to 3, The first pole piece assembly and the fourth pole piece assembly are fixed and configured to move the second pole piece assembly and the third pole piece assembly, And the first surfaces of the first pole piece assembly and the second surfaces of the fourth pole piece assembly are configured to hold one attachment object. The method of claim 8, And holding the first surfaces of the first pole piece assembly and the second surfaces of the fourth pole piece assembly. The method of claim 9, And the second pole piece assembly and the third pole piece assembly are configured to move in a direction along the first faces of the first pole piece assembly and the second faces of the fourth pole piece assembly. . According to claim 1, The first pole piece assembly and the fourth pole piece assembly are fixed and configured to move the second pole piece assembly and the third pole piece assembly, First surfaces of the first pole piece assembly and second surfaces of the fourth pole piece assembly are formed to hold one attachment object, The first N pole piece, the second S pole piece, and the third N in a space formed by the first S pole piece, the second N pole piece, the third S pole piece, and the fourth N pole piece. Magnetic pole holding device characterized in that the pole piece and the fourth S pole piece is located. The method of claim 2, The first pole piece assembly and the fourth pole piece assembly are fixed and configured to move the second pole piece assembly and the third pole piece assembly, First surfaces of the first pole piece assembly and second surfaces of the fourth pole piece assembly are formed to hold one attachment object, The first N pole piece, the second S pole piece, and the third N in a space formed by the first S pole piece, the second N pole piece, the third S pole piece, and the fourth N pole piece. The pole piece and the fourth S pole piece is located, The first S pole piece, the second N pole piece, and the third S in a space formed by the fifth N pole piece, the fifth S pole piece, the sixth N pole piece, and the sixth S pole piece. Magnetic pole holding device characterized in that the pole piece and the fourth N pole piece is located. According to claim 1, The first pole piece assembly and the fourth pole piece assembly are fixed and configured to move the second pole piece assembly and the third pole piece assembly, First surfaces of the first pole piece assembly and second surfaces of the fourth pole piece assembly are formed to hold one attachment object, The first pole piece assembly, the third pole piece assembly, and the fourth pole piece assembly are located in a space formed by the first pole piece assembly, or the first pole piece is formed in a space formed by the fourth pole piece assembly. And a pole piece assembly, the second pole piece assembly and the third pole piece assembly. According to claim 1, The first pole piece assembly and the fourth pole piece assembly are fixed and configured to move the second pole piece assembly and the third pole piece assembly, First surfaces of the first pole piece assembly and second surfaces of the fourth pole piece assembly are formed to hold one attachment object, The first N pole piece, the second S pole piece, and the third N in a space formed by the first S pole piece, the second N pole piece, the third S pole piece, and the fourth N pole piece. The first S in the space formed by the pole piece and the fourth S-pole piece or the first N-pole piece, the second S-pole piece, the third N-pole piece and the fourth S-pole piece. Magnetic pole holding device, characterized in that the pole piece, the second N pole piece, the third S pole piece and the fourth N pole piece is located. The method of claim 2, The first pole piece assembly and the fourth pole piece assembly are fixed and configured to move the second pole piece assembly and the third pole piece assembly, First surfaces of the first pole piece assembly and second surfaces of the fourth pole piece assembly are formed to hold one attachment object, The second pole piece assembly, the third pole piece assembly, and the fourth pole piece assembly are located in a space formed by the first S pole piece, or the first pole in a space formed by the fourth N pole piece. And the third pole piece assembly and the third pole piece assembly are located. A magnetic body holding device configured to hold and release a magnetic object to be attached, A first N-pole piece and a first S-pole piece, each of which has a first surface and a second surface, and is formed of magnetic material; and the N-pole contacts the first N-pole piece and the S-pole contacts the first S-pole piece. A first pole piece assembly comprising a first permanent magnet; A second N-pole piece and a second S-pole piece which are formed with a first surface and a second surface and are magnetic materials, and the N pole is in contact with the second N pole piece and the S pole is in contact with the second S pole piece. A second pole piece assembly comprising a second permanent magnet; A third N-pole piece and a third S-pole piece which are formed with a first surface and a second surface and are magnetic materials, and the N pole is in contact with the third N pole piece and the S pole is in contact with the third S pole piece. A third pole piece assembly comprising a third permanent magnet; A fourth N-pole piece and a fourth S-pole piece, each of which has a first surface and a second surface, and which is a magnetic body, and the N-pole contacts the fourth N-pole piece, and the S-pole contacts the fourth S-pole piece. A fourth pole piece assembly comprising a fourth permanent magnet; A first connecting pole piece having a first surface and a second surface and being magnetic; A second connecting pole piece having a first face and a second face and being magnetic; The first N pole piece, the first S pole piece, the second N pole piece, the second S pole piece, the third N pole piece, the third S pole piece, the fourth N pole piece, the At least one coil wound around at least one of a fourth S pole piece, the first connection pole piece, and the second connection pole piece; And A controller for controlling a current applied to the coil; Including; The second surface of the first N-pole piece and the first surface of the second S-pole piece face each other, and the second surface of the first S-pole piece and the first surface of the second N-pole piece face each other. The second surface of the second N-pole piece and the first surface of the first connection pole piece face each other, and the second surface of the second S pole piece and the first surface of the second connection pole piece Face each other, a second face of the first connecting pole piece and a first face of the third S pole piece face each other, a second face of the second connecting pole piece and a first of the third N pole piece; Surfaces face each other, the second surface of the third N-pole piece and the first surface of the fourth S-pole piece face each other, and the second surface of the third S-pole piece and the fourth N-pole piece. The first pole piece assembly, the second pole piece assembly, the third pole piece assembly, the fourth pole piece assembly, the first connecting pole piece and the second connection such that a first face faces each other. Pieces are arranged, The second surface of the second N-pole piece and the first surface of the first connection pole piece contact each other, and the second surface of the second S pole piece and the first surface of the second connection pole piece contact each other. The first surface of the third S-pole piece and the second surface of the first connection pole piece are in contact with each other, and the first surface of the third N-pole piece and the second surface of the second connection pole piece are A first arrangement in contact with each other, wherein the first pole piece assembly and the second pole piece assembly are spaced apart from each other, and the third pole piece assembly and the fourth pole piece assembly are spaced apart from each other; Two surfaces and a first surface of the second S-pole piece contact each other, a second surface of the first S-pole piece and a first surface of the second N-pole piece contact each other, and the third N-pole piece The second surface of the fourth S-pole piece and the first surface of the fourth S-pole piece in contact with the first surface of the fourth N-pole piece, the second pole The second pole piece assembly and the third pole piece assembly are moveable such that the assembly and the third pole piece assembly enable switching between a second arrangement spaced apart from the first connection pole piece and the second connection pole piece. and, The control device causes a switch between the first and second arrangements by controlling the current applied to the coil, thereby causing the first surfaces of the first pole piece assembly or the first pole piece assembly of the fourth pole piece assembly. Magnetic holding device characterized in that the holding and release of the object to be attached to the two sides. The method of claim 16, Further having a first side and a second side, the third connecting pole piece being magnetic; The first pole piece assembly includes a fifth N pole piece which is a magnetic body having a first surface and a second face, and an N pole contacts the fifth N pole piece and an S pole contacts the first S pole piece. Further comprising a fifth permanent magnet disposed, The second pole piece assembly includes a fifth S pole piece which is a magnetic body having a first surface and a second face, and the N pole contacts the second N pole piece and the S pole contacts the fifth S pole piece. Further comprising a sixth permanent magnet disposed therein, The third pole piece assembly includes a sixth N pole piece having a first surface and a second face, and a magnetic body, wherein the N pole contacts the sixth N pole piece and the S pole contacts the third S pole piece. It further comprises a seventh permanent magnet disposed, The fourth pole piece assembly includes a sixth S pole piece having a first surface and a second face and a magnetic body, wherein the N pole contacts the fourth N pole piece and the S pole contacts the sixth S pole piece. Further comprising an eighth permanent magnet disposed therein, The second surface of the fifth N-pole piece and the first surface of the fifth S-pole piece face each other, and the second surface of the fifth S-pole piece and the first surface of the third connecting pole piece face each other. And the second surface of the third connecting pole piece and the first surface of the sixth N pole piece face each other, and the second surface of the sixth N pole piece and the first surface of the sixth S pole piece Facing each other, the first pole piece assembly, the second pole piece assembly, the third pole piece assembly and the fourth pole piece assembly, the first connection pole piece, the second connection pole piece and the third connection. The pole piece is placed, The at least one coil includes: the first N pole piece, the first S pole piece, the second N pole piece, the second S pole piece, the third N pole piece, the third S pole piece, the Fourth N-pole piece, the fourth S-pole piece, the fifth N-pole piece, the fifth S-pole piece, the sixth N-pole piece, the sixth S-pole piece, the first connection pole piece, the first And at least one of the second connecting pole piece and the third connecting pole piece. The method of claim 16, First surfaces of the first pole piece assembly and second surfaces of the fourth pole piece assembly are formed to hold one attachment object, The first N pole piece and the second S in a space formed by the first S pole piece, the second N pole piece, the first connection pole piece, the third S pole piece, and the fourth N pole piece. Magnetic pole holding device, characterized in that the pole piece, the second connecting pole piece, the third N pole piece and the fourth S pole piece is located. The method of claim 17, First surfaces of the first pole piece assembly and second surfaces of the fourth pole piece assembly are formed to hold one attachment object, The first S pole piece and the second N in a space formed by the fifth N pole piece, the fifth S pole piece, the third connecting pole piece, the sixth N pole piece, and the sixth S pole piece. Magnetic pole holding device, characterized in that the pole piece, the first connecting pole piece, the third S pole piece and the fourth N pole piece is located. The method of claim 18, The coil is at least three, The coil is wound around at least one of the second connecting pole piece, the first N pole piece and the second S pole piece, and the third N pole piece and the fourth S pole piece. Magnetic body holding device. The method of claim 19, The coil is at least four, The coil is a first connecting pole piece, the second connecting pole piece. And at least one of the first S-pole piece and the second N-pole piece, and at least one of the third S-pole piece and the fourth N-pole piece. The method according to any one of claims 1, 2, 3, 16 and 17, And a resilient means for providing an elastic force in a direction in which the first pole piece assembly and the second pole piece assembly are spaced apart from each other. The method according to any one of claims 1 to 3, And a resilient means for providing an elastic force in a direction in which the second pole piece assembly and the third pole piece assembly are spaced apart from each other. The method according to any one of claims 1, 2, 3, 16 and 17, And a resilient means for providing an elastic force in a direction in which the third pole piece assembly and the fourth pole piece assembly are spaced apart from each other. The method of claim 17 or 18, First elastic means for providing elastic force in a direction in which the second pole piece assembly and the connecting pole pieces are spaced apart from each other, and second elastic means for providing elastic force in a direction in which the third pole piece assembly and the connection pole pieces are spaced from each other Magnetic holding device further comprises a means.

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