WO2024025230A1 - Clamping device - Google Patents

Abstract

The present invention provides a clamping device capable of fixing an object to be fixed using a plurality of movable poles while controlling an arrangement state of a permanent magnet by a coil. The clamping device according to an embodiment of the present invention comprises: a first fixed pole piece and a second fixed pole piece; a fixed magnet supported between the first fixed pole piece and the second fixed pole piece; a rotary magnet rotatably arranged between the first fixed pole piece and the second fixed pole piece; a coil wound around at least one of the first fixed pole piece and the second fixed pole piece; and a plurality of movable pole pieces movably arranged above the first fixed pole piece and the second fixed pole piece.

Description

clamping device

The present invention relates to a clamping device that clamps a work using magnetic force.

A magnetic material holding device, such as a permanent magnet workholding device, is a device used to attach an attachment object made of magnetic material such as iron using magnetic force. Today, it is used for clamping molds in injection molding machines and in press machines. It is widely used as an internal device attached to mold clamping and machine tool chucks.

This magnetic material holding device basically uses the strong magnetic force of a permanent magnet to attach a magnetic object to the working surface. When released, the magnetic flow from the permanent magnet is controlled to prevent magnetic flow from forming to the working surface. This moves the attachment object away from the operating surface.

The present applicant has disclosed in Prior Document 1 (Korean Patent No. 10-1131134 Permanent Magnet Workholding Device) a permanent magnet workholding device that performs holding and release by changing the magnetic circuit by rotating the permanent magnet.

However, in the case of this permanent magnet workholding device, the permanent magnet is rotated as a motor, but since a lot of force must be applied to the motor, usability is not good, and a lot of power is used in the motor, so it has not been put into practical use.

In order to solve the above problem, the present applicant controls the magnetic force on the operating surface by controlling the arrangement of freely rotating permanent magnets with a coil in prior document 2 (Korean Patent No. 10-2072122 magnetic force control device and magnetic material holding device using the same). A magnetic force control device and a magnetic material holding device using the same have been disclosed.

However, Prior Document 2 was designed to allow flat contact when fixing a product, making it difficult to fix a product with a curved surface or a step shape.

The present invention was devised to solve the above-described problems, and its purpose is to provide a clamping device that can control the arrangement of permanent magnets with a coil and fix the object to be fixed using a plurality of movable poles.

The clamping device according to an embodiment of the present invention for solving the above problems is supported between a first fixed pole piece and a second fixed pole piece, and the first fixed pole piece and the second fixed pole piece. A fixed magnet, a rotating magnet rotatably disposed between the first fixed pole piece and the second fixed pole piece, a coil wound around at least one of the first fixed pole piece and the second fixed pole piece, and the first fixed pole piece, It is characterized in that it includes a fixed pole piece and a plurality of movable pole pieces movably disposed above the second fixed pole piece.

The movable pole piece is characterized in that it is further provided with an elastic body that provides elasticity so that it is always in close contact with the fixed object.

It is characterized in that it includes a plurality of movable guides disposed on top of the first fixed pole piece and the second fixed pole piece to slideably support each of the plurality of movable pole pieces.

The coil is disposed between the fixed magnet and the rotating magnet, and controls the current applied to the coil to rotate the rotating magnet, so that the plurality of coils are disposed on the first fixed pole piece and the second fixed pole piece and above them. It is characterized in that the fixed object can be controlled to be attached or detached by controlling the path through which the magnetic force flows through the moving pole piece.

The fixed magnet has its N and S poles in contact with the first fixed pole piece and the second fixed pole piece, respectively, forming a path through which magnetic force flows, and the rotating magnet contacts the first fixed pole piece and the second fixed pole piece. It is rotated by the current applied to the coil, and the N and S poles are switched to change the path through which the magnetic force flows to the first fixed pole piece, the second fixed pole piece, and a plurality of moving pole pieces disposed on top of them. It is characterized by being able to

The coil rotates by applying power only when the rotating magnet rotates, and is characterized in that the path through which the magnetic force flows can be maintained even if the power is turned off after the rotating magnet is rotated.

The movable pole piece is characterized in that the end to which the fixture is fixed is made of a convex hemispherical shape, and an attachment surface that can be attached and fixed by contacting the fixture according to the shape of the fixture is formed.

A plurality of fixed pole pieces that are ferromagnetic, a fixed magnet fixedly disposed between the plurality of fixed pole pieces, a rotating magnet rotatably disposed between the plurality of fixed pole pieces, and the plurality of fixed pole pieces. a magnetic force control module including a coil wound around at least one of the magnetic force control modules, a plurality of moving guides coupled to an upper side of the magnetic force control module, and a plurality of moving guides each movably disposed inside the plurality of moving guides and each having an action surface. It includes a holding module including movable pole pieces, and is capable of rotating the rotating magnet and controlling the magnetic force on the plurality of movable pole pieces by controlling the current applied to the coil.

The fixed pole pieces are provided in a pair of at least two, and are characterized in that the path through which magnetic force flows can be controlled according to the polarity of the fixed magnet and the rotating magnet.

The magnetic force control module and the holding module are characterized in that they are formed integrally.

The magnetic force control module and the holding module are provided individually, but are provided in contact with each other to form a path through which magnetic force flows.

The clamping device of the present invention uses a plurality of movable poles to respond to fixtures of various shapes, and magnetic force is selectively applied to each pole, making it easy to attach and detach the fixture.

In addition, in the present invention, even if a small current is applied to the moving pole piece that fixes the fixture, fluctuations in magnetic flow occur as the rotating magnet rotates, thereby fixing and releasing the fixture, which has the effect of facilitating control.

1 is a cross-sectional view of a clamping device according to an embodiment of the present invention.

Figure 2 is a plan view of a clamping device according to an embodiment of the present invention

3A to 3D are diagrams showing the operating state of the clamping device according to an embodiment of the present invention.

4A and 4B are diagrams illustrating a clamping device according to another embodiment of the present invention in which movable pole pieces are provided in a plurality of rows.

Figures 5a and 5b are operating states showing a state in which magnetic force is controlled to connect in a clamping device according to another embodiment of the present invention in a state in which movable pole pieces are provided in a plurality of rows.

Figure 6 is an embodiment showing a structure in which a rotating magnet is rotated about a vertical direction in a clamping device according to another embodiment of the present invention.

Figure 7 is an operating state diagram showing a state in which a rotating magnet is rotated about a vertical direction and the path through which magnetic force flows is controlled in a clamping device according to another embodiment of the present invention.

8A to 8C are diagrams showing an example of a method of arranging movable pole pieces in a clamping device according to an embodiment of the present invention.

The clamping device of the present invention is controlled to generate or not generate a magnetic force on an external magnetic material by changing the magnetic characteristics of the operating surface. It moves back and forth in a straight direction and is fixed in response to the shape of the object to be fixed, but is not affected by magnetic force. It is a clamping device that can be attached and fixed.

Hereinafter, a clamping device according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

1 is a cross-sectional view of a clamping device according to an embodiment of the present invention.

Referring to FIG. 1, the present invention largely includes a holding module 10 and a magnetic force control module 20 capable of fixing the fixture P in response to the shape of the fixture P.

The holding module 10 is made of a ferromagnetic material and includes a plurality of movable pole pieces 100 that are individually reciprocated by elasticity toward the fixture P and are movable.

The movable pole pieces 100 are provided to be spaced apart from each other so as to form a pair of at least two, and come into close contact with the fixture P according to the shape of the fixture P and fix the fixture P.

This movable pole piece 100 is provided with an elastic body 110 that movably supports the movable pole piece 100 by elasticity, and the elastic body 110 can be coupled to the inside of the movable pole piece 100. By forming a space, the elastic body 110 is combined to form an elastic body coupling hole 120 that provides a space deformable by elasticity.

And, on the lower outer side of the movable pole piece 100, a space is formed in which the movable pole piece 100 is moved to a diameter corresponding to the outer diameter of the movable pole piece 100, and the movable pole piece 100 holds the fixture (P). It is configured to include a movable pole piece guide 130 that guides it so that it can be moved only in the direction in which it is fixed.

Meanwhile, the end portion of the movable pole piece 100 that fixes the fixture (P) is formed in a hemispherical shape convex toward the fixture (P) and has an attachment surface that corresponds to the shape of the fixture (P) and can be attached and fixed. (140) is formed.

As a result, even if the shape of the fixture (P) is curved, it corresponds to the curved surface and comes into contact with the fixture, allowing the fixture (P) to be stably fixed.

The opposite side of the pair of movable pole pieces 100 to which the fixture P is fixed is a fixed pole made of a ferromagnetic material, individually contacting each movable pole piece 100, and transmitting magnetism to the movable pole piece 100. A piece 200 is provided.

The fixed pole piece 200 is provided in a straight line with the movable pole piece 100 to form a path through which magnetic force flows toward the movable pole piece 100.

The fixed pole piece 200 includes a first fixed pole piece 210 provided in contact with one of the pair of movable pole pieces 100 and the pair of movable pole pieces 100. It is configured to include a second fixed pole piece 220 provided in contact with the other movable pole piece 100 provided in contact with the first fixed pole piece 210.

Here, the surface where the first fixed pole piece 210 and the second fixed pole piece 220 are in contact with the moving pole piece 100 has a first effect that can control the magnetism flowing to the moving pole piece 100 by contact. A surface 211 and a second operating surface 221 are formed.

At this time, the first fixed pole piece 210 and the second fixed pole piece 220 may be integrated into a pair of movable pole pieces 100, respectively.

And a fixed magnet 300, which is provided on the upper side between the fixed pole pieces 200 and whose N and S poles are individually in contact with the first fixed pole piece 210 and the second fixed pole piece 220. ) and consists of.

In Figure 1, the N pole of the fixed magnet 300 is in contact with the first fixed pole piece 210, and the S pole is in contact with the second fixed pole piece 220.

Between the first fixed pole piece 210 and the second fixed pole piece 220, the lower part where the fixed magnet 300 is provided is installed to be spaced apart from the fixed magnet 300, and the fixed pole piece 200 It is configured to include a rotating magnet 400 rotatably provided therebetween.

The rotating magnet 400 can change the direction of magnetic force flowing toward the moving pole piece 100 and the fixed pole piece 200 by rotation.

At this time, the rotating magnet 400 is provided with a rotating shaft 410 in the horizontal direction at the center of the rotating magnet 400 in the drawing, and can be applied in a structure that rotates in the vertical direction around the rotating shaft 410. .

In Figure 1, the N pole of the rotating magnet 400 is connected to the first fixed pole piece 210 by magnetic force, and the S pole is connected to the second fixed pole piece 220 by magnetic force.

Here, the rotating magnet 400 is preferably installed to be rotatable by minimizing friction between the first fixed pole piece 210 and the second fixed pole piece 220.

Specifically, the rotating magnet 400 must be placed at a certain distance from the first fixed pole piece 210 and the second fixed pole piece 220 to enable smooth rotation. The closer the distance, the fixed pole piece ( The magnetic force flowing through 200) increases.

When the rotating magnet 400, the first fixed pole piece 210, and the second fixed pole piece 220 are connected, the rotating magnet 400, the first fixed pole piece 210, and the second fixed pole piece 220 ) are installed separately from each other, magnetic connection is possible due to magnetism.

Being magnetically connected includes being spaced apart enough that a magnetic flow can be formed in the fixed pole pieces 200 by the magnetic force of the rotating magnet 400, even if they are not in direct contact.

For example, when the rotating magnet 400 is in contact with the fixed pole pieces 200 and a magnetic flow with an intensity of A% or more is formed in the fixed pole pieces 200 compared to the intensity of the magnetic flow generated, the rotating magnet ( 400) and the fixed pole pieces can be said to be magnetically connected.

Here, A may be 80, 70, 60, 50, 40, 30, 20, etc. However, as previously mentioned, it is desirable to set the separation distance between the rotating magnet 400 and the pole pieces 210 and 220 to a minimum.

Due to this effect, it is desirable to set the separation distance between the rotating magnet 400 and the fixed pole pieces 210 and 220 to a minimum.

Meanwhile, a coil 500 capable of rotating the rotating magnet 400 by electric current is wound around the first fixed pole piece 210 and the second fixed pole piece 220.

The coil 500 is wound around the fixed pole piece 200, becomes magnetic by electric current, and selectively forms the polarity of the N or S pole, forming the N or S pole that acts on the rotating magnet 400. The rotating magnet 400 can be rotated, thereby changing the magnetic path flowing to the fixed pole piece 200.

Even if this coil 500 is wound around only one of the fixed pole pieces 200, it forms a polarity that acts on the rotating magnet 400, allowing the rotating magnet 400 to rotate.

The coil 500 can be placed at an appropriate position to change the magnetic flow. In this embodiment, it is exemplified as being placed between the fixed magnet 300 and the rotating magnet 400, and this arrangement is necessary for efficient magnetic flow control. is desirable.

As described above, the present invention can rotate the rotating magnet 400 by controlling the current applied to the coil 500.

Accordingly, it is possible to control the magnetic force to flow or not flow in the moving pole piece 100 so that the fixture P is attached or released.

Meanwhile, in fixing the fixture P, the present invention can fix a single fixture P, but can also fix objects that overlap each other using magnetism.

At this time, the fixture (P) must be made of a material through which magnetic force can flow, and when the magnetic force flows through the fixed pole piece (200) to the moving pole piece (100), the magnetic force also flows through the fixture (P) and other overlapping fixtures. (P) can also be attached and fixed.

Figure 2 is a plan view of a clamping device according to an embodiment of the present invention.

Referring to FIG. 2, in the present invention, a plurality of movable pole pieces 100 are arranged side by side in one row at positions installed on the first fixed pole piece 210 and the second fixed pole piece 220.

The movable pole piece 100 has a circular pole shape, and a movable pole piece guide 130 is provided outside the movable pole piece 100 to surround the movable pole piece 100.

As a result, it is possible to magnetically control a plurality of moving pole pieces 100 at the same time and stably fix or release the fixture P with various shapes of the fixing surface.

Hereinafter, referring again to FIGS. 3A to 3D, the principle of holding and releasing the fixture P, which is a magnetic material, will be described.

3A to 3D are diagrams showing the operating state of the clamping device according to an embodiment of the present invention.

Here, in Figure 3a, the N pole of the rotating magnet 400 is close to the first fixed pole piece 210 and is magnetically connected, and the S pole is close to the second fixed pole piece 220 and magnetically connected. In the first arrangement state (the arrangement state in FIGS. 3A and 3B), the S pole is close to the first fixed pole piece 210 and is magnetically connected, and the N pole is connected to the second fixed pole piece 220. It is rotatably disposed to be switched between a second arrangement state (the arrangement state in FIGS. 1C and 1D) in which the devices are magnetically connected in close proximity.

Specifically, the rotating magnet 400 is disposed between the first fixed pole piece 210 and the second fixed pole piece 220, and forms a space between the first fixed pole piece 210 and the second fixed pole piece 220. It can be connected magnetically. However, when the rotating magnet 400 is in the first arrangement and the second arrangement, magnetic flows in opposite directions are formed.

First, referring to FIG. 3A, if no current is applied to the coil 500, the rotating magnet 400 is connected to the first fixed pole piece 210 and the second fixed pole piece 220 by the fixed magnet 300. It is automatically placed in the first configuration by magnetization.

Thereby, an internal circular magnetic flow is formed, as shown in the dotted line. Accordingly, no magnetic flow is formed in the direction of the moving pole piece 100, so the object cannot be held on the attachment surface 140.

To form a magnetic flow in the direction of the attachment surface 140, current is applied to the coil 500 as shown in FIG. 3B.

That is, the coil 500 wound around the first fixed pole piece 210 is controlled so that the S pole is formed in the direction of the first operating surface 211 of the first fixed pole piece 210, and the N pole is formed on the opposite side. And, control the coil 500 wound around the second fixed pole piece 220 so that the N pole is formed in the direction of the second operating surface 221 of the second fixed pole piece 220, and the S pole is formed on the opposite side. do.

If the current applied to the coil 500 is sufficiently large, the surface of the first fixed pole piece 210 facing the rotating magnet 400 has an N pole, and the second fixed pole facing the rotating magnet 400 The surface of the piece 220 has an S pole.

If so, the rotating magnet 400 receives a repulsive force from each fixed pole piece, receives a rotational force, and rotates.

Accordingly, the rotating magnet 400 is switched to the second arrangement as shown in FIG. 3C, and accordingly, the moving pole pieces 100 in contact with the working surfaces 211 and 221 have S and N poles, respectively. This makes it possible to hold the fixture (P).

At this time, the magnetic flow is formed as shown by the dotted line in FIG. 3C so as to pass through the fixture P.

Once the magnetic flow as shown in FIG. 3C is formed, the magnetic flow is maintained even if the current applied to the coil 500 is removed, and thus the holding is maintained.

In order to release the held object P, current can be applied to the coil 500 as shown in FIG. 3D.

That is, when a current in the opposite direction to that of FIG. 3B is applied to the coil 500, the surface of the first fixed pole piece 110 facing the rotating magnet 400 has an S pole, and the surface of the first fixed pole piece 110 facing the rotating magnet 400 has an S pole. The surface of the second fixed pole piece 220 has an N pole.

If so, the rotating magnet 400 receives a repulsive force from each pole, thereby receiving a rotational force, and the arrangement is switched to the first arrangement as shown in FIG. 3A.

Accordingly, the fixture P can be released from the movable pole pieces 100 in contact with the action surfaces 211 and 221.

Once the arrangement of the rotating magnet 400 is switched to the first arrangement state, even if no current is applied to the coil 500, an internal circulating magnetic flow such as the dotted line in FIG. 3A is formed, and the moving pole pieces 100 The epi fixture (P) cannot be held.

Meanwhile, the rotation direction of the rotating magnet 400 shown in FIGS. 3B and 3D is an example, so it may be rotated in any direction.

In the following, the rotation direction of the rotating magnet 400 is only an example.

That is, the clamping device of this embodiment rotates the rotating magnet 400 by controlling the current applied to the coil 500 to generate a transition between the first arrangement state and the second arrangement state, and thus the first fixed pole The magnetic force on the action surfaces 211 and 221 of the piece 210 and the second fixed pole piece 220 is controlled, and the fixed object ( P) can be attached, fixed or released.

Figures 4a and 4b are embodiment diagrams showing a state in which movable pole pieces are provided in a plurality of rows in a clamping device according to another embodiment of the present invention, and Figures 5a and 5b are clamping devices according to another embodiment of the present invention. This is an operation state diagram showing a state in which the device is controlled so that magnetic force is connected in a state in which a plurality of rows of movable pole pieces are provided.

Referring to FIGS. 4A to 5B, the movable pole pieces 1100 may be provided in a plurality of rows depending on the size and type of the object to be fixed, as shown in FIG. 4A.

At this time, it is preferable that the movable pole pieces 1100 are provided in the same quantity in the first fixed pole piece 1210 and the second fixed pole piece 1220 to ensure a uniform flow of magnetism.

As an example, according to FIG. 4b, eight movable pole pieces 1100 are arranged in two rows of four on the first fixed pole piece 1210, and eight movable pole pieces 1100 are placed on the second fixed pole piece 1220, as shown in FIG. 4b. (1100) is arranged in 2 rows of 4 each.

As described above, the plurality of movable pole pieces 1100 provided in a plurality of rows include the movable pole pieces 1100 disposed on the first fixed pole piece 1210 and the movable pole pieces 1100 disposed on the second fixed pole piece 1220. (1100) are controlled so that magnetism flows or does not flow in the first fixed pole piece 1210 and the second fixed pole piece 1220, respectively.

Referring to FIGS. 5A and 5B, in a state where the movable pole pieces 1100 are arranged in a plurality of rows, the movable pole pieces are provided in contact with the first fixed pole piece 1210 and the second fixed pole piece 1220, respectively. 1100) can be attached and fixed to correspond to the size and shape of the object to be fixed (P) while controlling its magnetism uniformly.

Detailed operating states of other embodiments of the present invention are the same as those of one embodiment of the present invention, and descriptions of the operating states of other embodiments of the present invention will be omitted.

Figure 6 is an embodiment diagram showing a structure in which a rotating magnet is rotated about a vertical direction in a clamping device according to another embodiment of the present invention, and Figure 7 is a clamping device according to another embodiment of the present invention. , This is an operation state diagram showing the state in which the rotating magnet rotates about the vertical axis and controls the path through which magnetic force flows.

Referring to FIGS. 6 and 7 , the rotating magnet 2400 may be rotated around the vertical direction.

At this time, the rotation shaft 2410 is provided in a vertical direction along the longitudinal direction of the first fixed pole piece 2210 and the second fixed pole piece 2220, and the rotating magnet 2400 is provided in a vertical direction. It rotates around and can be controlled to change the path through which magnetic force flows.

The detailed operating state of another embodiment of the present invention is the same as that of one embodiment of the present invention, and a description of the operating state of another embodiment of the present invention will be omitted.

8A to 8C are diagrams illustrating a method of arranging movable pole pieces in a clamping device according to an embodiment of the present invention.

Referring to FIGS. 8A to 8C, the present invention can be installed in various arrangement structures depending on the shape or size of the object to be fixed.

For example, when performing processing or assembly work that does not apply excessive force by fixing a small fixture (P), the first fixed pole piece 210 and the second fixed pole piece 220 are attached as shown in Figure 8a. It can be used by applying two movable pole pieces 100 that are respectively connected.

In particular, it can be applied when the fixed surface of the fixture (P) has a concave shape corresponding to the attachment surface 140 of the movable pole piece 100.

And when the size of the fixture P is relatively large or wide, a plurality of moving pole pieces 100 can be arranged at a short distance as shown in FIG. 8B.

At this time, it is preferable that the movable pole piece 100 is connected to the first fixed pole piece 210 and the second fixed pole piece 220, and that a plurality of pairs through which magnetism can pass are arranged in a short distance.

In addition, when fixing a long and narrow fixture (P), a pair that is connected to the first fixed pole piece 210 and the second fixed pole piece 220 and can conduct magnetism is used as shown in FIG. 8C. It can be used in multiple quantities and spaced apart from a distance.

The present invention made as described above can be fixed to correspond to the shape of the fixture by means of a movable pole piece that reciprocates toward the fixture when fixing the object.

In addition, the object to be fixed can be attached or released by magnetic force by a plurality of fixed pole pieces capable of applying magnetism to the movable pole piece, and a fixed magnet and a rotating magnet provided between the fixed pole pieces.

In addition, the rotating magnet can change the polarity of the coil and rotate as a current is applied, controlling the magnetic force to pass or not pass through to the moving pole piece, so that it can be easily controlled to attach or detach the fixture.

Claims (11)

a first fixed pole piece and a second fixed pole piece; a fixed magnet supported between the first fixed pole piece and the second fixed pole piece; a rotating magnet rotatably disposed between the first fixed pole piece and the second fixed pole piece; A coil wound around at least one of the first fixed pole piece and the second fixed pole piece; and, A clamping device comprising: a plurality of movable pole pieces movably disposed above the first fixed pole piece and the second fixed pole piece. In claim 1, The clamping device further includes an elastic body that provides elasticity so that the movable pole piece is always in close contact with the fixture. In claim 2, A clamping device comprising a plurality of movable guides disposed on top of the first fixed pole piece and the second fixed pole piece to slideably support each of the plurality of movable pole pieces. In claim 1, The coil is disposed between the fixed magnet and the rotating magnet, and controls the current applied to the coil to rotate the rotating magnet, so that the plurality of coils are disposed on the first fixed pole piece and the second fixed pole piece and above them. A clamping device that controls the attachment and detachment of the fixture by controlling the path through which magnetic force flows to the moving pole piece. In claim 4, The fixed magnet has its N and S poles in contact with the first fixed pole piece and the second fixed pole piece, respectively, forming a path through which magnetic force flows, and the rotating magnet contacts the first fixed pole piece and the second fixed pole piece. It is rotated by the current applied to the coil, and the N and S poles are switched to change the path through which the magnetic force flows to the first fixed pole piece, the second fixed pole piece, and a plurality of moving pole pieces disposed on top of them. clamping device. In claim 1, A clamping device that rotates the coil by applying power only when the rotating magnet rotates, and can maintain a path through which magnetic force flows even if the power is turned off after the rotating magnet rotates. In claim 1, The movable pole piece is a clamping device in which an end portion to which the fixture is fixed is formed in a convex hemisphere shape, and an attachment surface that can be attached and fixed by contacting the fixture according to the shape of the fixture is formed. A plurality of fixed pole pieces that are ferromagnetic, a fixed magnet fixedly disposed between the plurality of fixed pole pieces, a rotating magnet rotatably disposed between the plurality of fixed pole pieces, and the plurality of fixed pole pieces. A magnetic force control module including a coil wound around at least one of the A holding module including a plurality of movable guides coupled to an upper side of the magnetic force control module and a plurality of movable pole pieces each movably disposed inside the plurality of movable guides and each having an action surface, A clamping device that rotates the rotating magnet and thereby controls the magnetic force on the plurality of moving pole pieces by controlling the current applied to the coil. In claim 8, A clamping device in which at least two fixed pole pieces are provided in a pair, and the path through which magnetic force flows can be controlled according to the polarity of the fixed magnet and the rotating magnet. In claim 8, A clamping device in which the magnetic force control module and the holding module are integrally formed. In claim 8, A clamping device in which the magnetic force control module and the holding module are provided individually, but are provided in contact with each other to form a path through which magnetic force flows.

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