CN206617466U

CN206617466U - Magnetic coupling devices with rotary-actuated system

Info

Publication number: CN206617466U
Application number: CN201621166316.9U
Authority: CN
Inventors: 托马斯·R·惠特; 大卫·H·莫顿
Original assignee: Magnetic Switch Technology Global Co Ltd
Current assignee: Magnetic Switch Technology Global Co Ltd
Priority date: 2015-10-30
Filing date: 2016-10-31
Publication date: 2017-11-07
Anticipated expiration: 2026-10-31
Also published as: KR20170001642U; DE202016006696U1

Abstract

The utility model provides a kind of magnetic coupling devices with rotary-actuated system, and it can include：Upper plate, plate includes multiple permanent magnet portions and multiple pole portions on this；And lower disk board, the lower disk board include multiple permanent magnet portions and multiple pole portions.One of upper plate and lower disk board can be changed relative to the orientation of the other of upper plate and lower disk board by the actuating system including revolving actuator.

Description

Magnetic coupling devices with rotary-actuated system

Technical field

This disclosure relates to the magnetic connection dress of such as Magnetic tools pedestal, magnetic mount and magnetic lift etc Put, and relate more specifically to the magnetic coupling devices that enable or disable by rotary-actuated system.

Background technology

Magnetic coupling devices are included instrument relative to the Magnetic tools pedestal that workpiece is positioned, the first workpiece is relative The magnetic mount that is kept in second workpiece and workpiece is attached to for making workpiece move to second from first position The magnetic lift of the lowering or hoisting gear of position.Exemplary lowering or hoisting gear includes mechanical arm.Some conventional magnetic coupling devices It can switch between the state that enables (on-state) and dead status (off-state), under the state that enables, magnetic connection dress Put and provide enough external magnetic fields so that workpiece is attached into magnetic coupling devices, under dead status, outside magnetic coupling devices Portion magnetic field reduces to promote workpiece to separate with magnetic coupling devices.Shown in United States Patent (USP) No.7,161,451 exemplary normal Advise changeable magnetic coupling devices.

Expect to be improved above-mentioned magnetic coupling devices.

Utility model content

There is provided a kind of magnetic coupling devices in the illustrative embodiments of the disclosure.The magnetic coupling devices include： Housing；The first plate supported by housing；The second plate supported by housing, the second plate includes rotation junction surface；And connection The rotation junction surface of the second plate is connected to so that the second plate is relative to the revolving actuator that the first plate rotates.First plate bag Include：Multiple first permanent magnet portions spaced apart, the plurality of first permanent magnet portion each has north pole side and south pole side；And plant Multiple first poles portion between the adjacent permanent magnet portion in multiple first permanent magnet portions.First plate includes the permanent magnetism of equal number Body portion and pole portion.During each pole portion that multiple first permanent magnet portions are arranged so that in the portion of multiple first poles is individually both following One of：The arctic province adjacent with the north pole side in two permanent magnet portions in multiple first permanent magnet portions；And with multiple first forever The adjacent South Pole portion of the south pole side in two permanent magnet portions of magnet portion.Second plate includes：Multiple second permanent magnets spaced apart Portion, the plurality of second permanent magnet portion each has north pole side and south pole side；And it is plugged on the adjacent of multiple second permanent magnet portions Multiple second poles portion between permanent magnet portion.Second plate includes the permanent magnet portion and pole portion of equal number.Multiple second permanent magnetism Each pole portion that body portion is arranged so that in the portion of multiple second poles is one of both following：With multiple second permanent magnet portions Two permanent magnet portions the adjacent arctic province of north pole side；And the South Pole with two permanent magnet portions in multiple second permanent magnet portions The adjacent South Pole portion in side.Revolving actuator make the second plate relative to the first plate (a) first state and (b) second state it Between rotate, in the first state, the South Pole portion of the first plate arctic adjacent and the first plate with the South Pole portion of the second plate Portion is adjacent with the arctic province of the second plate, in the second condition, and the South Pole portion of the first plate is adjacent with the arctic province of the second plate And the arctic province of the first plate is adjacent with the South Pole portion of the second plate.

In one example, the revolving actuator of magnetic coupling devices is pneumatic actuator.In another example, magnetic joins The revolving actuator of connection device is electro-motor.

In another example, in magnetic coupling devices, multiple second permanent magnet portions arrangement spaced apart of the second plate Center into the longitudinal extent for causing each permanent magnet portion in multiple second permanent magnet portions spaced apart from the second plate is radially Extend outwardly, so that the second plate has：It is central and multiple by what is be spaced apart with the first border including the second plate The first neighboring region that the internal range in each permanent magnet portion in the second permanent magnet portion is defined；The is shared with the first neighboring region One border and defined with the second boundary by the foreign range in each permanent magnet portion in multiple second permanent magnet portions spaced apart The second neighboring region；And for sharing the second boundary with the second neighboring region and being defined by the foreign range of the second plate Three neighboring regions.In the modification of the example, the rotation junction surface of the second plate is positioned at the first neighboring region of the second plate It is interior.In its another modification, the rotation junction surface of the second plate is positioned in the second neighboring region of the second plate.Become another In type, the rotation junction surface of the second plate is positioned in the 3rd neighboring region of the second plate.In another variation, the second plate Rotation junction surface be positioned at the first neighboring region of the second plate, the second neighboring region of the second plate, the of the second plate In at least two neighboring regions in three neighboring regions.

In another example of any example in aforementioned exemplary, rotation junction surface includes hole in the second plate. In the another example of any example in aforementioned exemplary, rotation junction surface is included in multiple second permanent magnets spaced apart The protuberance of the top extension in portion.In another example of any example in aforementioned exemplary, rotation junction surface includes many Individual gear teeth.In the further example of any example in aforementioned exemplary, rotation junction surface includes gear.

In another example of any example in aforementioned exemplary, the rotation axis of revolving actuator is relative to second The rotation axis of plate is at an angle of.In its modification, the rotation axis of the rotation axis of revolving actuator perpendicular to the second plate. In another modification, the rotation axis of the rotation axis of revolving actuator parallel to the second plate.In another modification, rotation is caused The rotation axis of dynamic device is aligned with the rotation axis of the second plate.In another variation, the rotation axis positioning of revolving actuator In the first neighboring region of the second plate.In further modification, the rotation axis of revolving actuator is positioned at the second disk In second neighboring region of plate.In further modification, the rotation axis of revolving actuator is positioned at the of the second plate In three neighboring regions.In further modification, the rotation axis of revolving actuator is positioned in the vertical border of housing simultaneously And it is in nonoverlapping relationship with the second plate.

In another example, revolving actuator includes the rotatable shaft for being attached to the second plate.In its modification, rotation is caused The rotatable shaft of dynamic device includes rotation axis and the second plate includes rotation axis, and rotatable shaft and the second plate are each wrapped Interlock feature is included so that rotatable shaft is attached to the second plate.In its improvement project, interlock feature is included by rotatable The first key features and the second key features by the carrying of the second plate that bearing is carried.In another modification, revolving actuator Rotation axis is aligned with the rotation axis of the second plate.In another modification, interlock feature is gear teeth, and rotary-actuated The rotation axis of device is aligned with the rotation axis of the second plate.In its improvement project, rotatable shaft is joined by planetary gearsets The second plate is connected to, rotatable shaft carries the central gear of planetary gearsets, and the second plate carries the ring of planetary gearsets Shape gear, central gear is attached to ring gear by multiple planetary gears.

In modified example, interlock feature is gear teeth, and revolving actuator rotation axis parallel to the second disk The rotation axis of plate and the rotation axis for deviateing the second plate.In its improvement project, rotatable shaft is coupled by gear train To the second plate, rotatable shaft carrying first gear, and the second plate carrying second gear, first gear are attached to the second tooth Wheel, and wherein, multiple second permanent magnet portions spaced apart of the second plate are arranged so that multiple second permanent magnetism spaced apart The longitudinal extent in each permanent magnet portion in body portion radially faces outwards extension from the center of the second plate, so that the second plate has Have：Center including the second plate and with the first border by each permanent magnet portion in multiple second permanent magnet portions spaced apart The first neighboring region for defining of internal range；The first border is shared with the first neighboring region and with the second boundary by being spaced apart Multiple second permanent magnet portions in each permanent magnet portion the second neighboring region for defining of foreign range；And abutted with second Region shares the second boundary and the 3rd neighboring region defined by the foreign range of the second plate.In its another improvement project In, the gear teeth of second gear is located in the first neighboring region.In its another improvement project, the gear teeth of second gear is located at In second neighboring region.In its still another refinement scheme, the gear teeth of second gear is located in the 3rd neighboring region.Further Improvement project in, wherein, second gear is bevel gear, and rotatable shaft rotation axis perpendicular to the second plate rotation Axis.

In another example, the magnetic coupling devices described in any example in aforementioned exemplary also include being supported by housing The 3rd plate and the 4th plate that is supported by housing.3rd plate includes：Multiple three permanent magnet portions spaced apart, it is described many Individual three permanent magnet portion each has north pole side and south pole side；And it is plugged on the adjacent permanent magnet portion in multiple three permanent magnet portions Between multiple 3rd pole portions.3rd plate includes the permanent magnet portion and pole portion of equal number, and multiple three permanent magnet portions The each pole portion being arranged so that in multiple 3rd pole portions is one of both following：With the two of multiple three permanent magnet portions The adjacent arctic province of the north pole side in individual permanent magnet portion；And the south pole side phase with two permanent magnet portions in multiple three permanent magnet portions Adjacent South Pole portion.4th plate includes：Multiple 4th permanent magnet portions spaced apart, the multiple 4th permanent magnet portion each has North pole side and south pole side；And it is plugged on multiple quadrupole portions between the adjacent permanent magnet portion in multiple 4th permanent magnet portions.The Four plates include the permanent magnet portion and pole portion of equal number, and multiple 4th permanent magnet portions are arranged so that multiple quadrupole portions In each pole portion be it is following both one of：It is adjacent with the north pole side in two permanent magnet portions in multiple 4th permanent magnet portions Arctic province；And the South Pole portion adjacent with the south pole side in two permanent magnet portions in multiple 4th permanent magnet portions.4th plate bag Include rotation junction surface.Revolving actuator is attached to the rotation junction surface of the 4th plate so that the 4th plate exists relative to the first plate (a) rotate, in a third condition, the South Pole portion of the first plate and the south of the 4th plate between the third state and (b) the 4th state Pole portion is adjacent and arctic province of the first plate is adjacent with the arctic province of the 4th plate, under the 4th state, the south of the first plate Pole portion arctic province adjacent and the first plate with the arctic province of the 4th plate is adjacent with the South Pole portion of the 4th plate.In its modification In, revolving actuator includes rotatable shaft, and rotatable shaft is attached to the second plate and is attached to the 4th plate so that the Two plates rotate simultaneously relative to the first plate, the 4th plate relative to the 3rd plate.In its another modification, revolving actuator Rotatable shaft the 4th plate is attached to by the secondary geared system of rack and pinion.

In another example, the magnetic coupling devices of any example in aforementioned exemplary also include electronic controller and input Equipment.Electronic controller makes revolving actuator by the second plate relative to the in response to the first input received from input equipment One plate is positioned at first state, and makes revolving actuator by the second disk in response to the second input received from input equipment Plate is positioned at the second state relative to the first plate.

In another example, the first plate and the second plate of the magnetic coupling devices of any example in aforementioned exemplary are Cylinder.First plate has first external diameter.Second plate has second external diameter.First external diameter is substantially equal to second external diameter.

In another example, multiple first poles of the first plate of the magnetic coupling devices of any example in aforementioned exemplary Portion is a part for the first overall base part.First overall base part includes multiple first permanent magnets for receiving the first plate It is multiple first opening, and the second plate multiple second poles portion be the second overall base part a part.Second is overall Base component includes multiple second openings for multiple second permanent magnets for receiving the second plate.In its modification, multiple first forever Magnet is diametrically disposed in the first base component, and each permanent magnet in multiple first permanent magnets of the first plate includes North pole side, south pole side, the end faced radially inwards, the end radially faced outwards, top side and bottom side, and wherein, Duo Ge Two permanent magnets are diametrically disposed in the second base component, and each permanent magnet in multiple second permanent magnets of the second plate Including north pole side, south pole side, the end faced radially inwards, the end radially faced outwards, top side and bottom side.In its improvement project In, north pole side, south pole side, the end that faces radially inwards of the first overall base part around multiple first permanent magnets of the first plate Portion and the end radially faced outwards, and the second overall base part is around the arctic of multiple second permanent magnets of the second plate Side, south pole side, the end faced radially inwards and the end radially faced outwards.In its another improvement project, the second overall base Base member is around the top side of multiple second permanent magnets of the second plate.In its another improvement project, the first overall base part Around the bottom side of multiple first permanent magnets of the first plate.

In another example, the second plate of the magnetic coupling devices of any example in aforementioned exemplary is positioned at the first disk On the top of plate.In its modification, in the first state, the South Pole portion of the first plate and the South Pole portion of the second plate are vertically right Standard, and the arctic province of the first plate is vertically aligned with the arctic province of the second plate.In its improvement project, in the second state Under, the South Pole portion of the first plate is vertically aligned with the arctic province of the second plate, and the arctic province of the first plate and the second disk The South Pole portion of plate is vertically aligned.

In another example of any example in aforementioned exemplary, magnetic coupling devices by mechanical arm end bearing.

Brief description of the drawings

By referring to the following description of embodiments of the present invention, the above-mentioned and other feature of the disclosure and excellent with reference to accompanying drawing Put and realize that the mode of the feature and advantage will be apparent, and the present invention will be better understood when in itself. In accompanying drawing：

Fig. 1 is the schematic diagram of the exemplary magnetic coupling arrangement according to the teaching of the disclosure；

Fig. 2 is the exploded perspective view of the exemplary plate of the magnetic coupling devices for Fig. 1；

Fig. 3 is the stereogram of Fig. 2 plate；

Fig. 4 is the top view of Fig. 3 plate；

Fig. 5 is Fig. 3 plate and the exploded perspective view of the second plate；

Fig. 6 is the assembling figure of Fig. 5 plate；

Fig. 7 is that Fig. 6 plate is attached to the partial section of workpiece, wherein, the plate is arranged to be in enable state；

Fig. 8 is that Fig. 6 plate is attached to the partial section of workpiece, wherein, the plate is arranged to be in closed mode；

Fig. 9 is the top view of Fig. 6 plate, shows the regional of the plate；

Fig. 9 A are the detailed views of a Fig. 9 part；

Figure 10 is the solid of the magnetic coupling devices of the direct drive with the revolving actuator for being attached directly to plate Figure；

Figure 11 is the exploded perspective view of the magnetic coupling devices of Figure 10 direct drive；

Figure 12 is the exploded partial perspective view of the magnetic coupling devices of Figure 10 direct drive；

Figure 13 is the solid of the magnetic coupling devices with the revolving actuator that upper plate is attached to by planetary gearsets Figure；

Figure 14 is the exploded perspective view of Figure 13 magnetic coupling devices；

Figure 15 is the exploded view of the planetary gearsets of Figure 13 magnetic coupling devices；

Figure 16 is the vertical of the magnetic coupling devices of the skew with the revolving actuator that upper plate is attached to by gear train Body figure；

Figure 17 is the exploded perspective view of the magnetic coupling devices of Figure 16 skew；

Figure 18 is the exploded partial perspective view of the magnetic coupling devices of Figure 16 skew；

Figure 19 is the partial perspective view of the magnetic coupling devices of Figure 16 skew；

Figure 20 is sectional view of the magnetic coupling devices of Figure 16 skew along the line 20-20 interceptions in Figure 16；

Figure 21 is the magnetic coupling devices of another skew with the revolving actuator that upper plate is attached to by gear train Stereogram；

Figure 22 is the partial perspective view of the magnetic coupling devices of Figure 21 skew；

Figure 23 is the decomposition partial perspective view of the magnetic coupling devices of Figure 21 skew；

Figure 24 is sectional view of the magnetic coupling devices of Figure 21 skew along the line 24-24 interceptions in Figure 21；

Figure 25 is the sectional perspective of the exemplary magnetic coupling arrangement with the revolving actuator for being attached to multiple plate groups Figure；

Figure 26 is the exploded partial perspective view of Figure 25 exemplary magnetic coupling arrangement；And

Figure 27 is the stereogram of exemplary robotic system, and the exemplary robotic system, which has, is attached to the system of robot At least one of exemplary magnetic coupling arrangement of the disclosure of the end of the arm of system.

Through some accompanying drawings, corresponding reference represents corresponding part.Here what is illustrated has illustrated this The illustrative embodiments of invention, and this example is not necessarily to be construed as limiting the scope of the present invention in any way.

Embodiment

Reference picture 1, depicts the exemplary magnetic coupling arrangement 10 of the disclosure.Magnetic coupling devices 10 include upper plate 12 With lower disk board 14.Each plate in plate 12 and plate 14 includes multiple permanent magnet portions 20 and multiple pole portions 30 spaced apart. Each permanent magnet portion in multiple permanent magnet portions 20 spaced apart includes one or more permanent magnets.In an embodiment In, each permanent magnet portion 20 includes single permanent magnet.Each permanent magnet portion is respectively provided with north pole side and south pole side.

The each arrangement shaping of the permanent magnet portion 20 and pole portion 30 of plate 12 and the permanent magnet portion 20 and pole portion 30 of plate 14 Into the shape of closure, wherein, the pole portion in pole portion 30 is positioned between two permanent magnet portions in permanent magnet portion 20.This Outside, the pole portion 30 between described two permanent magnet portions 20 that permanent magnet portion 20 is arranged so that in two permanent magnet portions 20 is contacted Each permanent magnet portion north pole side or south pole side contacted with pole portion 30.When the arctic side contacts pole portion in adjacent permanent magnet portion 20 When 30, the pole portion 30 is referred to as arctic province.When the South Pole side contacts pole portion 30 in adjacent permanent magnet portion 20, the pole portion 30 is claimed For South Pole portion.

Each plate in upper plate 12 and lower disk board 14 includes equal and even number permanent magnet portion 20.In addition, on The number in the pole portion 30 of each plate in plate 12 and lower disk board 14 is equal to the number in permanent magnet portion 20.In an embodiment In, in each plate in upper plate 12 and lower disk board 14, permanent magnet portion 20 and pole portion 30 are arranged with circular configuration.

Upper plate 12 can rotate relative to change the permanent magnet portion 20 and pole portion 30 of upper plate 12 relative to lower disk board 14 Alignment in the permanent magnet portion 20 of lower disk board 14 and pole portion 30.When the South Pole portion 30 and the South Pole portion 30 of upper plate 12 of lower disk board 14 When adjacent and lower disk board 14 arctic province 30 is adjacent with the arctic province 30 of upper plate 12, magnetic coupling devices 10 are considered to be in Enable state.Under the state that enables, passed through due to realizing magnetic circuit from upper plate 12 and the arctic province 30 of the alignment of lower disk board 14 Workpiece 50 and the South Pole portion 30 for reaching the above alignment of plate 12 and lower disk board 14, therefore be made up of ferromagnetic material such as steel or iron Workpiece 50 kept by magnetic coupling devices 10.When the South Pole portion 30 of lower disk board 14 is adjacent with the arctic province 30 of upper plate 12 and When the arctic province 30 of lower disk board 14 is adjacent with the South Pole portion 30 of upper plate 12, magnetic coupling devices 10 considered to be in deactivation shape State.Under dead status, due to realizing the magnetic circuit in upper plate 12 and lower disk board 14 from the arctic province of the upper plate 12 of alignment 30 to the South Pole portion 30 of lower disk board 14 and from the arctic province of the upper plate 12 of alignment to the South Pole portion 30 of lower disk board 14, therefore by The workpiece 50 that ferromagnetic material is made is not kept by magnetic coupling devices 10.In United States Patent (USP) No.7,161,451 and run through Present disclose provides exemplary plate.

Upper plate 12 includes being attached to the rotation junction surface 16 of revolving actuator 60.Revolving actuator 60 includes being attached to rotation Turn the rotatable shaft that rotation is transmitted at junction surface 16 with upward plate 12.Exemplary revolving actuator 60 is activated including electronic rotation Device, Pneumatic rotary actuator and other suitable devices that rotation is transmitted to rotatable shaft.Exemplary electric rotary actuator It is electro-motor.The electro-motor can include to the feedback electronics for the motion for adjusting electro-motor.In an example In, DC motors set limit switches or encoder and proportional plus integral plus derivative controller to drive plate by specifically moving Scope.In another example, there is provided stepper motor.The stepper motor with the formal operations of open loop and can assume the stepping Motor has enough driving torques to activate the unit in the case where not losing step-length (step).Sensor can be set The position of stepper motor is set up in help.In another example, stepper motor is provided with, the stepper motor is by encoder and stepper Integrate to check whether the actuation angle for keeping appropriate.Example pneumatic revolving actuator is half with rotating vane Revolving actuator or by be attached to by rack-and-pinion (pinion) center output shaft linear air rammer drive Half revolving actuator.

Revolving actuator 60 is attached to electronic controller or pneumatic controller 70, the electronic controller or pneumatic controller 70 Control operating and therefore controlling upper plate 12 relative to the alignment of lower disk board 14 for revolving actuator 60.Exemplarily, set Electronic controller.Electronic controller 70 is exemplarily illustrated as including the processor 72 with the memory 74 being connected.Memory 74 include magnetic connector block of state 76, and the magnetic connector block of state 76 makes Electronic Control when being performed by processor 72 Device 70 indicates revolving actuator 60 to move upper plate 12 so that magnetic coupling devices 10 are placed in the state of enabling and dead status One of.In one embodiment, electronic controller 70 from the input signal that input equipment 80 is received in response to changing magnetic The state of property coupling arrangement 10.Exemplary input devices include switch, button, touch-screen, loudspeaker, detector and operator The other equipment of one of order can be inputted for offer sense of touch order, audio input command or vision.

Reference picture 2 to Fig. 8, show for used in magnetic coupling devices 10 it is exemplary on plate 112 and example Property lower disk board 114.Reference picture 2, shows plate 112.Upper plate 112 includes with centre bore 122 and multiple radially extended Hole 124 cylindric base component 120.Each hole in the hole 124 radially extended is sized and is shaped as to receive permanent magnetism Body 130.Each permanent magnet 130 is with north side portion 132, southern side portion 134, the sidepiece 136 faced radially inwards, the side radially faced outwards Portion 138, top 140 and bottom 142.Reference picture 3, cylindric base component 120 is around the north side portion 132 of permanent magnet 130, south Each of sidepiece 134, the sidepiece 136 faced radially inwards and the sidepiece 138 that radially faces outwards.In one embodiment, Hole 124 is not through hole, but the blind hole with certain depth with the bottom side of cylindric base component 120 apart, and because This, cylindric base component 120 can also surround the top 140 in pole portion 30.In the embodiment shown, cylindric base portion Part 120 is single global facility.In one embodiment, cylindric base component 120 by link together two or More parts are constituted.

Reference picture 4, shows the top view of plate 112.As shown in Figure 4, permanent magnet 130 is arranged so that adjacent magnetic The face each other of north side portion 132 of body and the face each other of southern side portion 134 of adjacent magnets 130.This arrangement causes cylindric base The part 150 being located between permanent magnet 130 of base member 120 is used as the pole extension of permanent magnet 130.When pole portion is positioned at adjacent When between the north side portion 132 of permanent magnet 130, pole portion 150 is referred to as arctic province.When pole portion is located at the south of adjacent permanent magnet 130 When between sidepiece 134, pole portion 150 is referred to as South Pole portion.In one embodiment, base component 120 and therefore pole portion 150 It is formed from steel.Other suitable ferromagnetic materials can be used for base component 120.

Reference picture 5, upper plate 112 is shown in exploded form relative to lower disk board 114.Lower disk board 114 and upper plate 112 It is generally identical.Reference picture 6, upper plate 112 is shown as being positioned on the top of lower disk board 114.Upper plate 112 can be relative Rotated in lower disk board 114, magnetic coupling devices 10 are placed in the state of enabling or dead status.

Reference picture 7, upper plate 112 and lower disk board 114 are arranged to be in enable state, wherein, the South Pole portion of upper plate 112 The arctic province 150 of 150 adjacent with the South Pole portion 150 of lower disk board 114 and upper plates 112 and the phase of arctic province 150 of lower disk board 114 It is adjacent.Under the state that enables, workpiece is passed through due to realizing magnetic circuit from the arctic province 150 of upper plate 112 and the alignment of lower disk board 114 50 and upper plate 112 and the South Pole portion 150 of the alignment of lower disk board 114 are reached, therefore the quilt of workpiece 50 being made up of ferromagnetic material Magnetic coupling devices 10 are kept.

Reference picture 8, upper plate 112 and lower disk board 114 are arranged to be in dead status, wherein, the South Pole portion of upper plate 112 The arctic province 150 of 150 adjacent with the arctic province 150 of lower disk board 114 and upper plates 112 and the phase of South Pole portion 150 of lower disk board 114 It is adjacent.Under dead status, the arctic province 150 of South Pole portion 150 and the lower disk board 114 of the upper plate 112 due to realizing alignment it Between and the magnetic circuit between the arctic province 150 of upper plate 112 of alignment and the South Pole portion 150 of lower disk board 114, therefore by ferromagnetic material Expect that the workpiece 50 being made is not kept by magnetic coupling devices 10.In other words, plate 112 and 114 makes the magnetic circuit in pole portion 150 Shunting, so that external magnetic field is disintegrated.

Reference picture 8, the base component 120 of the upper base component 120 of plate 112 and lower disk board 114 is configured to keep lower disk board 114 permanent magnet 130 is spaced apart with workpiece 50 and keeps the permanent magnet 130 of lower disk board 114 and the magnet 130 of upper plate 112 It is spaced apart.Permanent magnet 130 is attached to cylindric base component 120 to keep between permanent magnet 130 and cylindric base component 120 Relation.In the exemplary embodiment, one of by the following method or other suitable methods keep permanent magnets 130 and circle Relation between column base component 120：Permanent magnet 130 is press-fitted into cylindric base component 120, by permanent magnet 130 It is held in place by adhesive, couples permanent magnet 130 by fastener.

In the embodiment shown, upper plate 112 and lower disk board 114 each include six permanent magnet portions 130 and six Pole portion 150.In one embodiment, upper plate 112 and lower disk board 114 each include four permanent magnet portions 130 and four poles Portion 150.In one embodiment, upper plate 112 and lower disk board 114 each include eight permanent magnet portions 130 and eight pole portion 150.In one embodiment, upper plate 112 and lower disk board 114 each include ten permanent magnet portions 130 and ten pole portion 150.In one embodiment, upper plate 112 and lower disk board 114 each include at least four permanent magnet portions 130 and at least four Individual pole portion 150.

As being previously mentioned with reference to Fig. 1, revolving actuator 60 is attached to upper plate 112 by rotating junction surface 16.Reference picture 9, the top view of plate 112 is shown, wherein, upper plate 112 is divided into three neighboring regions.Including in upper plate 112 First neighboring region 160 of the heart by permanent magnet 130 the sidepiece 136 faced radially inwards --- be such as expressed as the first border 162 --- define.Second neighboring region 164 and the first neighboring region 160 share the first border 162 and by permanent magnet 130 The sidepiece 138 radially faced outwards is defined with the second boundary 166.3rd neighboring region 168 (referring to Fig. 9 A) and the second neighboring region 164 share the second boundaries 166 and are defined by the foreign range 170 of upper plate 112.

In one embodiment, the rotation junction surface 16 of upper plate 112 is positioned at the first neighboring region of plate 112 In 160.In one embodiment, the rotation junction surface 16 of upper plate 112 is positioned at the second neighboring region of plate 112 In 164.In one embodiment, the rotation junction surface 16 of upper plate 112 is positioned at the 3rd neighboring region of plate 112 In 168.In one embodiment, the rotation junction surface 16 of upper plate 112 is positioned at the first neighboring region of plate 112 160th, at least two regions in the second neighboring region 164 of upper plate 112 and the 3rd neighboring region 168 of upper plate 112 It is interior.Rotation junction surface 16 can include at least one hole in upper plate 112.Rotation junction surface 16 can include extending beyond The protuberance of the permanent magnet 130 of plate 112.Rotation junction surface 16 can include multiple gear teeth.

Reference picture 10 shows magnetic coupling devices 200 to Figure 12.Magnetic coupling devices 200 include upper plate 112 with Plate 114.Upper plate 112 and lower disk board 114 are positioned in housing 202.In shown embodiment, housing 202 includes Bottom shell 204 and top shell 206.Bottom shell 204 and top shell 206 are made by nonmagnetic substance.

Bottom shell 204 has hole 208, and lower disk board 114 is received within hole 208.Lower disk board 114 is fastened to bottom shell 204 to prevent lower disk board 114 relative to the rotation of bottom shell 204.In the exemplary embodiment, one of following methods are passed through Or other suitable methods keep the relation between lower disk board 114 and bottom shell 204：Lower disk board 114 is press-fitted into bottom It is held in place in portion's housing 204, by lower disk board 114 by adhesive, couples lower disk board 114 by fastener.Bottom shell 204 are made up of nonmagnetic substance.In one embodiment, the lower surface of lower disk board 114 and the bottom table of bottom shell 204 Face is flushed.In one embodiment, the lower surface of lower disk board 114 is offset from the lower surface of bottom shell 204.At one In example, in the recessed bottom shell 204 of lower surface of lower disk board 114.

In one embodiment, at the lower surface in hole 208, bottom shell 204 can include the circumference around hole 208 Small lip edge.On the antelabium, it is allowed to rest upon the plate or distance piece that there is the diameter being equal with hole 208.Then, lower disk board 114 On the top for being installed in the plate or distance piece.This is lower disk board when magnetic coupling devices 200 are placed on the work surface 114 provide surge guard.The circumference of the plate or distance piece can also be sealed by packing ring or O-ring against antelabium, from And allow housing 202 to be sealed and protect the internal mechanism of upper plate 112 and lower disk board 114 and magnetic coupling devices 200 From the infiltration of dirt or fluid.

Reference picture 12, top shell 206 has recess 228, and upper plate 112 is received within the recess 228.Top shell 206 also include hole 230, and hole 230 is intersected with recess 228 and extends through the top surface 232 of top shell 206 (referring to Figure 11). Upper plate 112 can rotate in the recess 228 of top shell 206.Bottom shell 204 and top shell 206 tighten together To keep upper plate 112 relative to lower disk board 114, while allowing plate 112 to be rotated relative to lower disk board 114. Upper plate 112 can rotate around rotation axis 144.In one embodiment, in the part of upper plate 112 and lower disk board 114 Part between be plugged with bearing, bushing or other devices, with by the part and the part of lower disk board 114 of upper plate 112 Between gap be provided aid in upper plate 112 relative to the rotation of lower disk board 114.In one embodiment, bottom shell 204 Include the features of such as flange or rib with one or both of top shell 206, with by the part of upper plate 112 with Gap is provided between the part of lower disk board 114 to aid in upper plate 112 relative to the rotation of lower disk board 114.The He of bottom shell 204 Top shell 206 passes through the fastener, adhesive, interlocking for keeping the relation between bottom shell 204 and top shell 206 Feature, threaded surface or other suitable methods and tighten together.

Electro-motor 240 is positioned on the top of housing 202 and supported by housing 202.Electro-motor 240 by for Keep the fastener of relation between electro-motor 240 and top shell 206, adhesive, interlock feature part, threaded surface or Other suitable methods and be fastened to top shell 206.Electro-motor 240 includes rotatable shaft 242, and the rotatable shaft 242 prolongs Stretch out the housing 244 of electro-motor 240.Rotatable shaft 242 can rotate around rotation axis 246.

When assembled, rotatable shaft 242 is received within the medium pore 122 of plate 112.Rotatable shaft 242 is with Central aperture 122 each includes preventing plate 112 relative to the band key surface 248 and 250 that rotatable shaft 242 is rotated against.Showing It is the polygonal shape of matching with key surface 248 and 250 in the embodiment gone out.In this embodiment, medium pore 122 It is the rotation junction surface 16 of upper plate 112 with key surface 250.Therefore, rotation junction surface 16 is positioned at the first neighbour of plate 112 Connect in region 160.In alternative embodiment, rotatable shaft 242 can be by for preventing upper plate 112 relative to can revolve Fastener, adhesive or other suitable methods that rotating shaft 242 is rotated against and be attached to plate 112.Electro-motor 240 Rotation axis 246 is parallel with the rotation axis 144 of upper plate 112 and is aligned with the rotation axis 144 of upper plate 112.

Electro-motor 240 is operatively coupled to electronic controller 70.In response to from electronic controller 70 Input, electro-motor 240 rotates rotatable shaft 242 and and then plate 112 is rotated relative to lower disk board 114.Pass through Plate 112 is set to be rotated relative to lower disk board 114, magnetic coupling devices 200 can be placed in the state of enabling or dead status.

Reference picture 13 shows magnetic coupling devices 300 to Figure 15.Magnetic coupling devices 300 and magnetic coupling devices 200 Substantially similar and use identical housing 202.Magnetic coupling devices 300 include upper plate 112 and lower disk board 114.Magnetic joins Connection device 300 also includes planetary gearsets 310.

Rotatable shaft 242 has the band key surface 248 coordinated with key surface 312 with central gear carrier 314.Showing It is the polygonal shape of matching with key surface 248 and 312 in the embodiment gone out.In alternative embodiment, rotatable shaft 242 can be by for preventing central gear carrier 314 relative to the fastener, adhesive that rotatable shaft 242 is rotated against Or other suitable methods and be attached to central gear carrier 314.The rotation axis 246 of electro-motor 240 and upper plate 112 Rotation axis 144 it is parallel and be aligned with the rotation axis of upper plate 112.

Central gear carrier 314 includes base segments 316 and central gear 318.Central gear 318 is fixed to base portion portion Divide 316 and can not be rotated relative to base segments 316.Central gear 318 is the part of gear train 310.Gear train 310 is also Including ring-shaped article 320, multiple planetary gears 322, top planet carrier 324 and bottom planet carrier 326.Planetary gear 322 are attached to top planet carrier 324 and bottom planet carrier 326 and can be relative to top planet carrier 324 Rotated with bottom planet carrier 326.Top planet carrier 324 includes the hole 330 that central gear 318 is passed through.Sun tooth The tooth of wheel 318 is intermeshed into each planetary tooth in planetary gear 322 causes the rotation of central gear 318 to cause The rotation of planetary gear 322.The component of planetary gear 322, top planet carrier 324 and bottom planet carrier 326 is connect It is contained in the hole 332 of ring-shaped article 320.Ring-shaped article 320 includes being intermeshed with each planetary tooth in planetary gear 322 Internal tooth.

Gear train 310 is received within the medium pore 122 of plate 112.In one embodiment, ring-shaped article 320 is consolidated Surely plate 112 is attached to so that the rotation of ring-shaped article 320 causes the rotation of upper plate 112.In this embodiment, under Portion's planet carrier 326 is fixedly coupled to lower disk board 114, and the lower disk board 114 is fixedly coupled to housing 202 again.In operation In, the rotation of central gear 318 causes each planetary corresponding rotation in planetary gear 322.Because bottom planet is held Carrier 326 relative to the remains stationary of lower disk board 114, therefore planetary gear 322 rotation cause the corresponding rotation of ring-shaped article 320 with And the therefore corresponding rotation of upper plate 112.The power of gear train 310 is transferred to rotatable disk 112 by ring-shaped article 320. In the embodiment, ring-shaped article 320 is the rotation junction surface 16 of upper plate 112.Therefore, rotation junction surface 16 is positioned at plate In 112 the first neighboring region 160.

In one embodiment, top planet carrier 324 is fixedly coupled to plate 112 to cause top planet The rotation of carrier 324 causes the rotation of plate 112.For example, the periphery of top planet carrier 324 can be sized to weight The top surface of stacked on plate 112.In this embodiment, ring-shaped article 320 is fixedly coupled to lower disk board 114, and lower disk board 114 is again It is fixedly coupled to housing 202.In operation, the rotation of central gear 318 causes each planetary gear in planetary gear 322 Corresponding rotation.Because ring-shaped article 320 is relative to the remains stationary of lower disk board 114, therefore the rotation of planetary gear 322 causes top The corresponding rotation of planet carrier 324 and bottom planet carrier 326 and the therefore corresponding rotation of upper plate 112.In the reality Apply in mode, top planet carrier 324 is the rotation junction surface 16 of upper plate 112.Therefore, rotation junction surface 16 is positioned at In first neighboring region 160 of plate 112 and in the second neighboring region 164 of upper plate 112.The power of gear train 310 passes through Planet carrier 324 is transferred to the disk 112 that can be rotated.

Electro-motor 240 is operatively coupled to electronic controller 70.In response to from electronic controller 70 Input, electro-motor 240 rotates rotatable shaft 242, and and then makes upper plate 112 relative to lower wall by gear train 310 Plate 114 rotates.By making upper plate 112 be rotated relative to lower disk board 114, magnetic coupling devices 300 can be placed in and enable shape State or dead status.

Compared with magnetic coupling devices 200, planetary gearsets 310 are combined with magnetic coupling devices 300 to be realized Make the increased mechanical dominance of the aspect of the rotation of plate 112.In one embodiment, electro-motor 240 is arranged so that Rotatable shaft 242 is at an angle of relative to the rotation axis 144 of upper plate 112.For example, electro-motor 240 can be with horizontally disposed. In this case, be provided between electro-motor 240 and gear train 310 bevel gear set with will be from electro-motor 240 it is dynamic Power is transferred to plate 112.

It is due to gear train 310 although magnetic coupling devices 300 are shown with electric actuator, motor 240 Speed reducing ratio, therefore can alternatively use pneumatic actuator.Exemplary Pneumatic rotary actuator can provide typically up to 270 The rotation of degree.Therefore, 3: 1 gear-boxes will easily make this actuator fully actuated to the plate progress that can be rotated.

Reference picture 16 shows magnetic coupling devices 400 to Figure 20.Magnetic coupling devices 400 include upper plate 112 with Plate 114.Upper plate 112 and lower disk board 114 are positioned in housing 402.In the embodiment as shown, housing 402 includes bottom Portion's housing 404 and top shell 406.Bottom shell 404 and top shell 406 are made up of nonmagnetic substance.

Bottom shell 404 has hole 408, and lower disk board 114 is received into the hole 408.Lower disk board 114 is fastened to bottom shell Body 404 is to prevent lower disk board 114 from being rotated relative to bottom shell 404.In the exemplary embodiment, lower disk board 114 by using A kind of method in the following methods for keeping the relation between lower disk board 114 and bottom shell 404 and be fastened to bottom shell 404：It is press-fitted into bottom shell 404, is held in place with adhesive, by fastener connection or other suitable method.Bottom Portion's housing 404 is made up of nonmagnetic substance.In one embodiment, the bottom of the basal surface of lower disk board 114 and bottom shell 404 Surface is flushed.In one embodiment, the basal surface of lower disk board 114 is offset from the basal surface of bottom shell 404.Show at one In example, in the recessed bottom shell 404 of basal surface of lower disk board 114.

Reference picture 20, top shell 406 has recess 428, and upper plate 112 is received into the recess 428.Top shell 406 also include hole 430, and hole 430 is intersected with recess 428 and extends through the top surface 432 of top shell 406 (referring to Figure 17). Upper plate 112 can rotate in the recess 428 of top shell 406.Bottom shell 404 and top shell 406 tighten together To keep upper plate 112 relative to lower disk board 114, while allowing plate 112 to be rotated relative to lower disk board 114. Upper plate 112 can rotate around rotation axis 144.In one embodiment, in the part of upper plate 112 and lower disk board 114 Part between be plugged with bearing, bushing or other devices, with by the part and the part of lower disk board 114 of upper plate 112 Between gap be provided aid in the upper plate 112 to be rotated relative to lower disk board 114.In one embodiment, the He of bottom shell 404 One or both of top shell 406 includes the features of such as flange or rib, with by the part of upper plate 112 with Gap is provided between the part of plate 114 to aid in upper plate 112 to rotate relative to lower disk board 114.Bottom shell 404 and top Housing 406 passes through the fastener, adhesive, interlock feature for keeping the relation between bottom shell 404 and top shell 406 Part, threaded surface or other suitable methods and tighten together.

Electro-motor 240 is positioned on the top of housing 402 and supported by housing 402.Electro-motor 240 by for Keep the fastener of relation between electro-motor 240 and top shell 406, adhesive, interlock feature part, threaded surface or Other suitable methods and be fastened to top shell 406.Electro-motor 240 includes rotatable shaft 242, and the rotatable shaft 242 prolongs Stretch out the housing 244 of electro-motor 240.Rotatable shaft 242 can rotate around rotation axis 246.As shown in Figure 20, rotary shaft Line 246 is parallel with the rotation axis 144 of upper plate 112 but the rotation axis 144 with upper plate 112 is not aligned.

Magnetic coupling devices 400 also include gear train 450.Gear train 450 includes the spur gear for being attached to rotatable shaft 242 452 and it is attached to the gear 460 of plate 112.The tooth of spur gear 452 and the tooth of gear 460 are intermeshed to cause spur gear 452 rotation causes the corresponding rotation of gear 460.Spur gear 452 includes having the hole 454 with key surface 456.When assembled When, rotatable shaft 242 is received within the hole 454 of spur gear 452.The band key surface 248 of rotatable shaft 242 and spur gear 452 Band key surface 456 interact to prevent upper plate 112 from rotating against relative to rotatable shaft 242.In the embodiment party shown It is the polygonal shape of matching with key surface 248 and 456 in formula.

In a comparable fashion, gear 460 includes having the extension protuberance 462 with key surface 464.When assembled, tooth The extension protuberance 462 of wheel 460 is received within the medium pore 122 of plate 112.The band key surface 464 of gear 460 and upper disk The band key surface 250 of plate 112 interacts to prevent gear 460 from rotating against relative to upper plate 112.In the embodiment party shown It is the polygonal shape of matching with key surface 464 and 250 in formula.In the embodiment as shown, the tooth of gear 460 is upper disk The rotation junction surface 16 of plate 112.Therefore, rotation junction surface 16 is positioned in the second neighboring region 164 of plate 112.

Electro-motor 240 is operatively coupled to electronic controller 70.In response to from electronic controller 70 Input, electro-motor 240 rotates rotatable shaft 242 makes upper plate 112 relative to lower disk board with and then by gear train 450 114 rotations.By making upper plate 112 be rotated relative to lower disk board 114, magnetic coupling devices 200 can be placed in the state of enabling Or dead status.

Reference picture 21 shows magnetic coupling devices 500 to Figure 24.Magnetic coupling devices 500 include upper plate 112 with Plate 114.Upper plate 112 and lower disk board 114 are positioned in housing 502 (referring to Figure 24).In the embodiment as shown, housing 502 include bottom shell 504 and top shell 506.Bottom shell 504 and top shell 506 are made up of nonmagnetic substance.

Bottom shell 504 has hole 508, and lower disk board 114 is received within the hole 508.Lower disk board 114 is fastened to bottom shell Body 504 is to prevent lower disk board 114 from being rotated relative to bottom shell 504.In the exemplary embodiment, lower disk board 114 by using A kind of method in the following methods for keeping the relation between lower disk board 114 and bottom shell 504 and be fastened to bottom shell 504：It is press-fitted into bottom shell 504, is held in place with adhesive, by fastener connection or other suitable method.Bottom Portion's housing 504 is made up of nonmagnetic substance.In one embodiment, the bottom of the basal surface of lower disk board 114 and bottom shell 504 Surface is flushed.In one embodiment, the basal surface of lower disk board 114 is offset from the basal surface of bottom shell 504.In a reality In example, in the recessed bottom shell 504 of basal surface of lower disk board 114.

Reference picture 24, top shell 506 has recess 528, and upper plate 112 is received into the recess 528.Top shell 506 also include hole 530, and hole 530 is intersected with recess 528 and extends through the tower portion 532 of top shell 506 (referring to Figure 17).On Plate 112 can rotate in the recess 528 of top shell 506.Bottom shell 504 and top shell 506 tighten together with Upper plate 112 is kept relative to lower disk board 114, while allowing plate 112 to be rotated relative to lower disk board 114.On Plate 112 can rotate around rotation axis 144.In one embodiment, in the part of upper plate 112 and lower disk board 114 Bearing, bushing or other devices are plugged between part, with by the part of the part of upper plate 112 and lower disk board 114 it Between gap be provided aid in the upper plate 112 to be rotated relative to lower disk board 114.In one embodiment, bottom shell 504 and top One or both of portion's housing 506 includes the features of such as flange or rib, with by the part of upper plate 112 and lower wall Gap is provided between the part of plate 114 to aid in upper plate 112 to rotate relative to lower disk board 114.Bottom shell 504 and top shell Body 506 passes through the fastener, adhesive, interlock feature for keeping the relation between bottom shell 504 and top shell 506 Part, threaded surface or other suitable methods and tighten together.

Electro-motor 240 is positioned on the top of housing 502 and supported by housing 502.Electro-motor 240 by for Keep the fastener of relation between electro-motor 240 and top shell 506, adhesive, interlock feature part, threaded surface or Other suitable methods and be fastened to top shell 506.Electro-motor 240 includes rotatable shaft 242, and the rotatable shaft 242 prolongs Stretch out the housing 244 of electro-motor 240.Rotatable shaft 242 can rotate around rotation axis 246.As shown in Figure 24, rotary shaft Line 246 is at an angle of relative to the rotation axis 144 of upper plate 112, illustratively, rotation axis 246 and the rotation of upper plate 112 Axis 144 is vertical.

Magnetic coupling devices 500 also include gear train 550.Gear train 550 includes the first cone for being attached to rotatable shaft 242 Gear 552 and the second bevel gear 560 for being attached to plate 112.The tooth of first bevel gear 552 and the tooth of second bevel gear 560 It is intermeshed to cause the rotation of first bevel gear 552 to cause the corresponding rotation of second bevel gear 560.First bevel gear 552 is wrapped Include with the hole 554 with key surface.Upon assembly, rotatable shaft 242 is received within the hole 554 of first bevel gear 552.It can revolve Rotating shaft 242 interacts with key surface and the band key surface of first bevel gear 552, with prevent first bevel gear 552 relative to Rotatable shaft 242 is rotated against.In one embodiment, the two are the polygonal shape matched with key surface.

In a comparable fashion, second bevel gear 560 includes having the extension protuberance 562 with key surface.Upon assembly, The extension protuberance 562 of two bevel gears 560 is received within the medium pore 122 of plate 112.Second bevel gear 560 it is keyed Surface and the band key surface of upper plate 112 interact to prevent second bevel gear 560 from being rotated against relative to upper plate 112. In one embodiment, the two are the polygonal shape matched with key surface.In the embodiment as shown, the second cone tooth The tooth of wheel 560 is the rotation junction surface 16 of upper plate 112.Therefore, rotation junction surface 16 is positioned at the second adjoining of plate 112 In region 164.

The gear train 550 arranged drives upper plate 112 from the outer peripheral position of closer upper plate 112, wherein can Obtain the maximum mechanical dominance on torque.In the embodiment as shown, the bevel gear 560 of separation is attached to plate 112.In one embodiment, the outward flange of base component 120 is processed to include mutually to nibble with the tooth of first bevel gear 552 The gear teeth of conjunction.In this embodiment, the rotation junction surface 16 of gear train 550 is by positioned at the 3rd adjacent area of upper plate 112 In domain 168.

In one embodiment, the arrangement relative to upper plate 112 of electro-motor 240 is changed to combine screw conic Gear or hypoid gear.

Electro-motor 240 is operatively coupled to electronic controller 70.In response to from electronic controller 70 Input, electro-motor 240 rotates rotatable shaft 242, and and then makes upper plate 112 relative to lower wall by gear train 550 Plate 114 rotates.By making upper plate 112 be rotated relative to lower disk board 114, magnetic coupling devices 500 can be placed in and enable shape State or dead status.

In one embodiment, electro-motor 240 is attached to multiple groups 620 and 622 be made up of plate 112 and 144 To drive each group 620,622 be made up of plate 112 and 114 simultaneously.Reference picture 25 and Figure 26, show exemplary magnetic Coupling arrangement 600.Magnetic coupling devices 600 include two groups being made up of plate 112 and 114 being received within housing 610 620、622.Identical with housing 204, housing 610 is kept into lower disk board 114 so that lower disk board 114 can not be relative to housing 610 rotations.In addition, identical with housing 206, upper plate 112 is kept into by housing 610 enables plate 112 relative under Plate 114 rotates.Different from housing 202, housing 610 is to receive upper plate 112 and both the single housing portions of lower disk board 114 Part.

Electro-motor 240 with the electro-motor 240 in magnetic coupling devices 300 to be attached to the similar of upper plate 112 Mode is attached to plate group 620.In the embodiment as shown, little gear 602 is attached to rotatable shaft 242 so that little gear 602 can not rotate relative to rotatable shaft 242.Little gear 602 also includes extension 630, and the extension 630 has band key table Face 632, the band key surface interaction of the medium pore 122 with the upper plate 112 in the plate group 620 of key surface 632 and first, Little gear 602 is attached into upper plate 112 and so that little gear 602 can not rotate relative to upper plate 112.

In addition, the gear teeth of little gear 602 and the tooth phase interaction in the first rack member 606 and the second rack member 608 With.Rack member 606 and rack member 608 are moved linearly by along direction 640 and direction 642 respectively when little gear 602 rotates. Second little gear 604 is attached to the upper plate 112 of the second plate group 622, so that the upper plate 112 of plate group 622 and plate group 620 upper plate 112 rotates simultaneously.In one embodiment, upper shell (not shown) is provided with guide rail, and the guide rail receives tooth Bar component 606 and 608 and rack member 606 and 608 is kept to be located at the position that is engaged with little gear 602 and 604.

Reference picture 27, shows exemplary robot system 700.Robot system 700 includes electronic controller 70.Electricity Sub-controller 70 include being stored in the memory 74 of correlation for the additional logic that is performed by processor 72.Include machine People's motion module 702 is used to the motion of control machinery arm 704.In the embodiment as shown, mechanical arm 704 includes the first arm Section 706, first arm section 706 can rotate relative to pedestal around vertical axis.First arm section 706 passes through the first joint 710 are attached to the second arm section 708 in a movable manner, at the first joint 710, and the second arm section 708 can be relative to First arm section 706 is rotated in a first direction.Second arm section 708 is attached in a movable manner by the second joint 712 3rd arm section 711, at the second joint 712, the 3rd arm section 711 can be relative to the second arm section 708 in a second direction Rotation.3rd arm section 711 is attached to the 4th arm section in a movable manner by the 3rd joint 716 and swivel joint 718 714, wherein, at the 3rd joint 716, the 4th arm section 714 can rotate relative to the 3rd arm section 711 along third direction, At swivel joint 718, the 4th arm section 714 can change relative to the orientation of the 3rd arm section 711.Magnetic coupling devices 200 are fastened to the end of mechanical arm 704.Magnetic coupling devices 200 are used to workpiece 50 being attached to mechanical arm 704.Although showing Any magnetic coupling devices in magnetic coupling devices 200, but magnetic coupling devices as described herein and any number of Magnetic coupling devices as described herein can be used together with robot system 700.

In one embodiment, the electronic controller 70 for performing robot motion's module 702 by processor 72 makes machinery Arm 704 is moved to the first posture, under the first posture, and magnetic coupling devices 200 contact workpiece 50 in first position.By handling The electronic controller 70 that device 72 performs magnetic connector block of state 76 moves the upper plate 112 of magnetic coupling devices 200, with Magnetic coupling devices 200 are placed in the state of enabling, so that workpiece 50 is attached into robot system 700.Performed by processor 72 The electronic controller 70 of robot motion's module 702 makes workpiece 50 be moved to expected second spaced apart from first position Put.Once workpiece 50 is in the expected second place, the electronics control of magnetic connector block of state 76 is performed by processor 72 Device 70 processed moves the upper plate 112 of magnetic coupling devices 200, and magnetic coupling devices 200 are placed in into dead status, so that will Workpiece 50 disconnects with robot system 700 to be coupled.Electronic controller 70 then repeats the process so that another workpiece 50 couple, Mobile and disconnection connection.

Although magnetic coupling devices shown in this article all have fixed lower disk board and rotatable upper plate, alternative Embodiment includes rotatable lower disk board and fixed upper plate.Actuating system disclosed in several can be with the device one Rise and use.

In one embodiment, revolving actuator is replaced with linear actuators, linear actuators engagement rotation engagement Portion 16.In one example, the linear actuators is pneumatic actuator.In another example, the linear actuators is electronic Motor.The linear actuators is attached to electronic controller or pneumatic controller, the electronic controller or pneumatic controller control line Property actuator 60 operate and therefore control upper plate 12 relative to the alignment of lower disk board 14.

Although the utility model is had described as with exemplary design, the utility model can be in the disclosure Further changed in spirit and scope.Therefore, the application is intended to cover any change of the present utility model using its General Principle Type, purposes or remodeling.In addition, the application be intended to relative to the disclosure fall into known in the utility model art or In the practical framework of convention and this deviating from of falling into the restriction of appended claims.

Claims

1. a kind of magnetic coupling devices, including：

Housing；

First plate, first plate is supported by the housing, and first plate includes multiple first permanent magnetism spaced apart Body portion and including multiple first poles portion, the multiple first permanent magnet portion each has north pole side and a south pole side, and the multiple the One pole portion is plugged between the adjacent permanent magnet portion in the multiple first permanent magnet portion, wherein, first plate includes Equal numbers of permanent magnet portion and pole portion, and the multiple first permanent magnet portion is arranged so that in the portion of the multiple first pole Each pole portion be it is following both one of：With the arctic in two permanent magnet portions in the multiple first permanent magnet portion The adjacent arctic province in side；And the south adjacent with the south pole side in two permanent magnet portions in the multiple first permanent magnet portion Pole portion；

Second plate, second plate is supported by the housing, and second plate includes multiple second permanent magnetism spaced apart Body portion and including multiple second poles portion, the multiple second permanent magnet portion each has north pole side and a south pole side, and the multiple the Two poles portion are plugged between the adjacent permanent magnet portion in the multiple second permanent magnet portion, wherein, second plate includes Equal numbers of permanent magnet portion and pole portion, and the multiple second permanent magnet portion is arranged so that in the portion of the multiple second pole Each pole portion be it is following both one of：With the arctic in two permanent magnet portions in the multiple second permanent magnet portion The adjacent arctic province in side；And the south adjacent with the south pole side in two permanent magnet portions in the multiple second permanent magnet portion Pole portion, second plate includes rotation junction surface；And

Revolving actuator, the revolving actuator is attached to the rotation junction surface of second plate so that second disk Plate rotates relative to first plate between (a) first state and (b) second state, wherein, in the first state, The South Pole portion of first plate is adjacent with the South Pole portion of second plate and first plate described Arctic province is adjacent with the arctic province of second plate, in second state, the South Pole of first plate Portion is adjacent with the arctic province of second plate and the arctic province of first plate and second plate The South Pole portion is adjacent.

2. magnetic coupling devices according to claim 1, wherein,

The revolving actuator is pneumatic actuator.

3. magnetic coupling devices according to claim 1, wherein,

The revolving actuator is electro-motor.

4. magnetic coupling devices according to claim 1, wherein,

The multiple second permanent magnet portion spaced apart of second plate is arranged so that spaced apart the multiple second The longitudinal extent in each permanent magnet portion in permanent magnet portion extends radially outwardly from the central portion of second plate, and causes institute Stating the second plate has：First neighboring region, the central portion of first neighboring region including second plate and the One boundary is defined by the internal range in each permanent magnet portion in the multiple second permanent magnet portion spaced apart；Second adjoining Region, second neighboring region shares first border and at the second boundary by being spaced with first neighboring region The foreign range in each permanent magnet portion in the multiple second permanent magnet portion opened is defined；And the 3rd neighboring region, it is described 3rd neighboring region shares the second boundary and by foreign range circle of second plate with second neighboring region It is fixed.

5. magnetic coupling devices according to claim 4, wherein,

The rotation junction surface of second plate is positioned in first neighboring region of second plate.

6. magnetic coupling devices according to claim 4, wherein,

The rotation junction surface of second plate is positioned in second neighboring region of second plate.

7. magnetic coupling devices according to claim 4, wherein,

The rotation junction surface of second plate is positioned in the 3rd neighboring region of second plate.

8. magnetic coupling devices according to claim 4, wherein,

The rotation junction surface of second plate is positioned at first neighboring region of second plate, described second In second neighboring region of plate and the 3rd neighboring region of second plate at least in both.

9. the magnetic coupling devices according to any one of claim 1 to 8, wherein,

The rotation junction surface includes hole in second plate.

10. the magnetic coupling devices according to any one of claim 1 to 8, wherein,

The rotation junction surface includes protuberance, and the protuberance extends beyond the multiple second permanent magnet portion spaced apart.

11. the magnetic coupling devices according to any one of claim 1 to 8, wherein,

The rotation junction surface includes multiple gear teeth.

12. the magnetic coupling devices according to any one of claim 1 to 8, wherein,

The rotation junction surface includes gear.

13. the magnetic coupling devices according to any one of claim 1 to 8, wherein,

The rotation axis of the revolving actuator is at an angle of relative to the rotation axis of second plate.

14. magnetic coupling devices according to claim 13, wherein,

Rotation axis of the rotation axis of the revolving actuator perpendicular to second plate.

15. magnetic coupling devices according to claim 4, wherein,

Rotation axis of the rotation axis of the revolving actuator parallel to second plate.

16. magnetic coupling devices according to claim 15, wherein,

The rotation axis of the revolving actuator is aligned with the rotation axis of second plate.

17. the magnetic coupling devices according to any one of claim 15 and 16, wherein,

The rotation axis of the revolving actuator is positioned in first neighboring region of second plate.

18. the magnetic coupling devices according to any one of claim 15 and 16, wherein,

The rotation axis of the revolving actuator is positioned in second neighboring region of second plate.

19. the magnetic coupling devices according to any one of claim 15 and 16, wherein,

The rotation axis of the revolving actuator is positioned in the 3rd neighboring region of second plate.

20. the magnetic coupling devices according to any one of claim 15 and 16, wherein,

The rotation axis of the revolving actuator is positioned in the vertical border of the housing and is in second plate Non-overlapped relation.

21. magnetic coupling devices according to claim 1, wherein,

The revolving actuator includes rotatable shaft, and the rotatable shaft is attached to second plate.

22. magnetic coupling devices according to claim 21, wherein,

The rotatable shaft of the revolving actuator includes rotation axis and second plate includes rotation axis, described Rotatable shaft and second plate each include interlock feature the rotatable shaft is attached into second plate.

23. magnetic coupling devices according to claim 22, wherein,

The interlock feature includes：

First key features, the first key features are carried by the rotatable shaft；And

Second key features, the second key features are carried by second plate.

24. the magnetic coupling devices according to any one of claim 22 and 23, wherein,

25. magnetic coupling devices according to claim 22, wherein,

The interlock feature is gear teeth, and the rotation axis of the revolving actuator and the rotary shaft of second plate Line is aligned.

26. magnetic coupling devices according to claim 25, wherein,

The rotatable shaft is attached to second plate by planetary gearsets, and the rotatable shaft carries the planetary gear The central gear of group, and second plate carries the ring gear of the planetary gearsets, and the central gear passes through many Individual planetary gear is attached to the ring gear.

27. magnetic coupling devices according to claim 22, wherein,

The interlock feature is gear teeth, and the revolving actuator rotation axis parallel to second plate rotation Shaft axis and the rotation axis for deviateing second plate.

28. magnetic coupling devices according to claim 27, wherein,

The rotatable shaft is attached to second plate by gear train, and the rotatable shaft carries first gear and described Second plate carries second gear, and the first gear is attached to the second gear, and wherein,

The multiple second permanent magnet portion spaced apart of second plate is arranged so that spaced apart the multiple second The longitudinal extent in each permanent magnet portion in permanent magnet portion extends radially outwardly from the central portion of second plate, and causes institute Stating the second plate has：First neighboring region, the central portion of first neighboring region including second plate and Defined with the first border by the internal range in each permanent magnet portion in the multiple second permanent magnet portion spaced apart；Second is adjacent Region is connect, second neighboring region shares first border and with the second boundary by interval with first neighboring region The foreign range in each permanent magnet portion in the multiple second permanent magnet portion opened is defined；And the 3rd neighboring region, it is described 3rd neighboring region shares the second boundary and by foreign range circle of second plate with second neighboring region It is fixed.

29. magnetic coupling devices according to claim 28, wherein,

The gear teeth of the second gear is located in first neighboring region.

30. magnetic coupling devices according to claim 28, wherein,

The gear teeth of the second gear is located in second neighboring region.

31. magnetic coupling devices according to claim 28, wherein,

The gear teeth of the second gear is located in the 3rd neighboring region.

32. the magnetic coupling devices according to any one of claim 28 to 31, wherein,

The second gear is bevel gear, and the rotatable shaft rotation axis perpendicular to second plate rotary shaft Line.

33. magnetic coupling devices according to claim 1, in addition to：

3rd plate, the 3rd plate is supported by the housing, and the 3rd plate includes multiple 3rd permanent magnetism spaced apart Body portion and including multiple 3rd pole portions, the multiple three permanent magnet portion each has north pole side and a south pole side, and the multiple the Three poles portion are plugged between the adjacent permanent magnet portion in the multiple three permanent magnet portion, wherein, the 3rd plate includes Equal numbers of permanent magnet portion and pole portion, and the multiple three permanent magnet portion is arranged so that in the multiple 3rd pole portion Each pole portion be it is following both one of：With the arctic in two permanent magnet portions in the multiple three permanent magnet portion The adjacent arctic province in side；And the south adjacent with the south pole side in two permanent magnet portions in the multiple three permanent magnet portion Pole portion；And

4th plate, the 4th plate is supported by the housing, and the 4th plate includes multiple 4th permanent magnetism spaced apart Body portion and including multiple quadrupole portions, the multiple 4th permanent magnet portion each has north pole side and a south pole side, and the multiple the Quadrupole portion is plugged between the adjacent permanent magnet portion in the multiple 4th permanent magnet portion, wherein, the 4th plate includes Equal numbers of permanent magnet portion and pole portion, and the multiple 4th permanent magnet portion is arranged so that in the multiple quadrupole portion Each pole portion be it is following both one of：With the arctic in two permanent magnet portions in the multiple 4th permanent magnet portion The adjacent arctic province in side；And the south adjacent with the south pole side in two permanent magnet portions in the multiple 4th permanent magnet portion Pole portion, the 4th plate includes rotation junction surface, wherein, the revolving actuator is attached to the rotation of the 4th plate Turn junction surface so that the 4th plate rotates relative to first plate between (a) third state and (b) the 4th state, Wherein, in the third state, the South Pole portion of first plate is adjacent with the South Pole portion of the 4th plate And the arctic province of first plate is adjacent with the arctic province of the 4th plate, in the 4th state, The South Pole portion of first plate is adjacent with the arctic province of the 4th plate and first plate described Arctic province is adjacent with the South Pole portion of the 4th plate.

34. magnetic coupling devices according to claim 33, wherein,

The revolving actuator includes rotatable shaft, and the rotatable shaft is attached to second plate and the 4th disk Both plates, simultaneously to make second plate relative to first plate, the 4th plate relative to the 3rd disk Plate rotates.

35. magnetic coupling devices according to claim 34, wherein,

The rotatable shaft of the revolving actuator is attached to the 4th disk by the secondary transmission device of rack and pinion Plate.

36. magnetic coupling devices according to claim 1, in addition to electronic controller and input equipment, the electronics control Device processed makes the revolving actuator by the second plate phase in response to receiving the first input from the input equipment The first state is positioned at for first plate, and the electronic controller to reception in response to coming from the input Second input of equipment and make the revolving actuator that second plate is positioned at into described the relative to first plate Two-state.

37. magnetic coupling devices according to claim 1, wherein,

First plate and second plate are columned, and first plate has first external diameter, second disk Plate has second external diameter, and the first external diameter is substantially equal to the second external diameter.

38. magnetic coupling devices according to claim 1, wherein,

The multiple first pole portion of first plate is a part for the first overall base part, first overall base Part includes the multiple first openings, and the multiple first opening receives the multiple first permanent magnet portion of first plate, And the multiple second pole portion of second plate is a part for the second overall base part, second overall base Part includes the multiple second openings, and the multiple second opening receives the multiple second permanent magnet portion of second plate.

39. the magnetic coupling devices according to claim 38, wherein,

The multiple first permanent magnet portion is radially disposed in the first overall base part, and first plate Each permanent magnet portion in the multiple first permanent magnet portion includes the north pole side, the south pole side, the end faced radially inwards Portion, the end radially faced outwards, top side and bottom side, and wherein,

The multiple second permanent magnet portion is radially disposed in the second overall base part, and second plate Each permanent magnet portion in the multiple second permanent magnet portion includes the north pole side, the south pole side, the end faced radially inwards Portion, the end radially faced outwards, top side and bottom side.

40. the magnetic coupling devices according to claim 39, wherein,

The first overall base part surrounds the north pole side in the multiple first permanent magnet portion of first plate, institute State south pole side, the end faced radially inwards and the end radially faced outwards, and the second overall base part Around the north pole side in the multiple second permanent magnet portion of second plate, the south pole side, described face radially inwards End and the end radially faced outwards.

41. the magnetic coupling devices according to any one of claim 39 and 40, wherein,

The top side of the second overall base part around the multiple second permanent magnet portion of second plate.

42. the magnetic coupling devices according to any one of claim 39 to 40, wherein,

The bottom side of the first overall base part around the multiple first permanent magnet portion of first plate.

43. magnetic coupling devices according to claim 1, wherein,

Second plate is positioned on the top of first plate.

44. magnetic coupling devices according to claim 43, wherein,

In said first condition, the South Pole portion of the South Pole portion of first plate and second plate is vertically It is aligned, and the arctic province of first plate is vertically aligned with the arctic province of second plate.

45. magnetic coupling devices according to claim 44, wherein,

In said second condition, the arctic province of the South Pole portion of first plate and second plate is vertically It is aligned, and the arctic province of first plate is vertically aligned with the South Pole portion of second plate.

46. magnetic coupling devices according to claim 1, wherein,

The magnetic coupling devices by mechanical arm end bearing.