JP2022061843A - Magnetic attachment/detachment mechanism and connection separation system for connected body - Google Patents

Abstract

To provide a magnetic attachment/detachment mechanism and a connection separation system for a connected body, where attachment/detachment at unexpected timing can be prevented and attachment/detachment can be performed easily in performing the attachment/detachment.SOLUTION: An internal force compensation type magnet unit 11 comprises: an adsorption magnet 22 provided so as to be movable between an adsorption position for magnetically adsorbing onto an object 1 and a separation position for separating from the object 1; and a compensation interlock unit 23 that is provided so as to interlock with the adsorption magnet 22 and has a characteristic adverse to that of adsorption force of the adsorption magnet 22. The internal force compensation type magnet unit is provided so as to be capable of moving the adsorption magnet 22 to the adsorption position and the separation position by reciprocating the compensation interlock unit 23. A connection member 12 is connected to the compensation interlock unit 23 and extends in a direction separating from the adsorption magnet 22. An attachment/detachment side magnetic key 13 having a predetermined magnetic pattern is provided at another end of the connection member 12. An operation side magnetic key 14 has a magnetic pattern whose polarity is reverse to the magnetic pattern of the attachment/detachment side magnetic key 13.SELECTED DRAWING: Figure 1

Description

The present invention relates to a magnetic attachment / detachment mechanism and a connection / separation system for a connected body.

Conventionally, in various devices and the like, parts and parts having a predetermined function are modularized, and these modules are detachably configured. For example, in various mobile bodies such as drones, many mechanisms for modularizing design and connecting / separating each module have been proposed (see, for example, Non-Patent Document 1 or 2). Further, research and development and practical application of a coupler itself that can be easily attached and detached are being promoted even in a combined re-deformation robot and a train (see, for example, Non-Patent Document 3). Such modularization and the attachment / detachment mechanism of each module facilitate the replacement and repair of each module, which leads to the efficiency of maintenance of the entire device.

There is a so-called internal force compensation type magnet unit (IB magnet; Internally-Balanced Magnetic Unit) that can be easily attached and detached by magnetism (see, for example, Non-Patent Document 3 or Patent Document 1). Since the internal force compensation type magnet unit has a non-linear characteristic that the attractive force F _m of the permanent magnet increases rapidly as it approaches the attractive surface, this attractive force F _m can be increased by a non-linear spring having the same characteristics or another. It is compensated by the restoring force _Fr of a permanent magnet (compensation magnet) or the like. In this mechanism, since the internal force Fine (= _Fm - _Fr ) of the permanent _magnet becomes 0 regardless of the displacement, the permanent magnet is always in the equilibrium state and no force is required to move the permanent magnet. Further, in this mechanism, by bringing the permanent magnet into contact with the suction surface, the reaction force _Fa of the nonlinear spring or the compensating magnet presses the entire mechanism against the target surface, so that the mechanism can be brought into the suction state. Further, by separating the permanent magnet from the suction surface, the reaction force _Fa of the nonlinear spring, the compensating magnet, or the like becomes small, so that the permanent magnet can be easily separated from the suction surface. In this way, the internal force compensation type magnet unit can switch the adsorption state of the permanent magnet only by moving the permanent magnet with a small force.

Jose Baca, Nohelia Jimenez Kyle, Winfield-Simone, Tay Brianna, Tijerina Hans, Baierlipp Jonathan, Cor-tez Hector Moreno, “Design and Simulation Analysis of a Modular Aerial System”, Proceedings of the Latin Ameri-can Congress on Automation and Robotics , LACAR 2019: Advances in Automation and Robotics Research, p.112-118 Baca, J., Ferre, M., Aracil, R., “A heterogeneous modular robotic design for fast response to a diversity of tasks”, Ro-bot. Auton. Syst., 2012, 60 (4), p.522 -531 S. Murata, E. Yoshida, A. Kamimura, H. Kurokawa, K. Tomita, S. Kokaji, “M-TRAN: self-reconfigurable modular robotic system”, IEEE / ASME Transactions on Mechatronics, Dec. 2002, Volume 7 , Issue 4, p.431-441 Shigeo Hirose, Minehisa Imazato, Yoshiaki Kudo, Yoji Umetani, "Internal Force Compensated Magnetic Adsorption Unit", Journal of the Robotics Society of Japan, February 1985, Vol. 3, No. 1, p. 10-19

JP-A-2019-212705

In the conventional module attachment / detachment mechanism as described in Non-Patent Documents 1 to 3, the trigger portion for attachment / detachment has geometric unevenness, and the trigger portion is operated by utilizing the shape of the unevenness. The module is designed to be attached and detached. However, this attachment / detachment mechanism has a problem that the trigger portion may operate at an unexpected timing due to an action from the outside world such as an external object being caught or hit by the unevenness. For example, in a moving object such as a drone, the movement causes more contact with the outside world, so there is a high possibility that the trigger part will operate unexpectedly during the movement, and it will be disassembled and damaged, or it will adversely affect the surrounding environment. There is a risk of giving.

The present invention has been made by paying attention to such a problem, and it is possible to prevent attachment / detachment at an unexpected timing, and when attaching / detaching, a magnetic attachment / detachment mechanism that can be easily attached / detached and a connection of a connecting body are connected. The purpose is to provide a separation system.

In order to achieve the above object, the magnetic attachment / detachment mechanism according to the present invention comprises a permanent magnet, and the object is located between an attraction position that magnetically attracts the object and a peeling position that separates from the object. The attraction magnet provided so as to be relatively movable with respect to the object and the attraction magnet provided so as to interlock with the attraction magnet, and the attraction magnet is attracted with respect to the movement distance of the attraction magnet from the attraction position. It has a compensation interlocking portion having characteristics opposite to the force, and by reciprocating the compensation interlocking portion, the internal force compensation provided so that the attraction magnet can be moved between the attraction position and the peeling position. It has a type magnet unit, a connecting member whose one end is connected to the compensation interlocking portion and extends in a direction away from the attraction magnet, and a predetermined magnetic pattern, and reciprocates with the compensation interlocking portion via the connecting member. It has a magnetic pattern on the detachable side provided at the other end of the connecting member and a magnetic pattern whose polarity is opposite to that of the magnetic pattern on the detachable side magnetic key, and has a predetermined positional relationship with the magnetic key on the detachable side. At one time, it is characterized by having an operation-side magnetic key provided so that a magnetic attraction force acts between the attachment / detachment-side magnetic key.

The magnetic attachment / detachment mechanism according to the present invention has a magnetic pattern in which the attachment / detachment side magnetic key and the operation side magnetic key have opposite polarities to each other, and when they are in a predetermined positional relationship, a magnetic attraction force is exerted between them. Because it works, the removable magnetic key can be moved by relatively moving the operation side magnetic key while the magnetic attraction force is working. As a result, the magnetic key on the operation side can be relatively moved to reciprocate the compensation interlocking part together with the magnetic key on the attachment / detachment side, and the attraction magnet is moved between the attraction position and the peeling position to move the object. It can be attached and detached. As described above, the magnetic attachment / detachment mechanism according to the present invention can be attached / detached by using the magnetic attraction force, and is affected by the action from the outside world as compared with the conventional one that attaches / detaches by using the shape of the unevenness. Since it is difficult, it is possible to prevent attachment / detachment at unexpected timings.

Since the magnetic attachment / detachment mechanism according to the present invention uses an internal force compensation type magnet unit (IB magnet), the attraction magnet can be moved together with the compensation interlocking portion with a small force. Therefore, even if the magnetic attraction force between the attachment / detachment side magnetic key and the operation side magnetic key is small, the attraction magnet can be moved and the object can be easily attached / detached.

The magnetic attachment / detachment mechanism according to the present invention can make it more difficult to receive an action from the outside world by complicating the magnetic pattern of the attachment / detachment side magnetic key and the operation side magnetic key, and enhances the effect of preventing unexpected attachment / detachment. Can be done. Further, in the magnetic attachment / detachment mechanism according to the present invention, the compensation interlocking portion may be any as long as it has characteristics opposite to the attraction force of the attraction magnet, for example, one having a nonlinear spring or one. It may have another permanent magnet.

In the magnetic attachment / detachment mechanism according to the present invention, the attachment / detachment side magnetic key has a first smooth surface portion on at least a part of the outer surface, and the operation side magnetic key has a second smooth surface portion on at least a part of the outer surface. A predetermined smooth surface portion along the first smooth surface portion having a portion and having the second smooth surface portion in contact with or close to the first smooth surface portion of the detachable magnetic key in a predetermined direction. When the operation side magnetic key is relatively moved toward the direction of, the operation side magnetic key may be configured to have the predetermined positional relationship.

In this case, simply by moving the second smooth surface portion relative to the first smooth surface portion in a non-contact state in which the second smooth surface portion is in contact with or close to the first smooth surface portion, the magnetism is applied between the detachable side magnetic key and the operation side magnetic key. The attraction magnet can be moved by exerting an attractive force, and the object can be easily attached and detached. Further, since the attachment / detachment trigger portions are the first smooth surface portion and the second smooth surface portion, and the surface of the trigger portion has no unevenness, it is particularly difficult to receive an action from the outside world, and the effect of preventing unexpected attachment / detachment is further enhanced. be able to.

The connection / separation system of the connection according to the present invention is a connection / separation system of a connection in which the first connection portion and the second connection portion are connected, and has the magnetic attachment / detachment mechanism according to the present invention, and the first connection is described above. The internal force compensating magnet unit, the connecting member, and the detachable magnetic key are attached to the second connecting portion, and the attracting magnet of the internal force compensating magnet unit is at the attracting position in the second connecting portion. At this time, it is characterized in that it is connected to the first connecting portion by the magnetic attraction force of the attracting magnet, and is separated from the first connecting portion when the attracting magnet is in the peeling position. ..

In the connection / separation system of the connecting body according to the present invention, the first connecting portion and the second connecting portion can be connected or separated by using the magnetic attraction force by the magnetic attachment / detachment mechanism according to the present invention. As a result, it is less susceptible to the action from the outside world and can be prevented from being attached / detached at an unexpected timing, as compared with the conventional one in which the attachment / detachment is performed using the shape of the unevenness. In addition, the internal force compensation type magnet unit (IB magnet) of the magnetic attachment / detachment mechanism allows the attraction magnet to be moved with a small force, and easily connects and separates between the first connecting portion and the second connecting portion. be able to.

In the connection / separation system of the connection body according to the present invention, the attachment / detachment side magnetic key and the operation side magnetic key are arranged so as to have the predetermined positional relationship when the connection body is in a predetermined position in a predetermined posture. Is preferable. In this case, by relatively moving the connecting body to a predetermined place in a predetermined posture, a magnetic attraction force can be exerted between the detachable side magnetic key and the operation side magnetic key, and the first connecting portion and the first connecting portion can be moved. It is possible to connect or separate from the two connecting portions. Stable operation can be performed because the connection and separation are performed only when the connection is in the same posture and in the same place.

Further, in this case, when the attracting magnet is in the suction position, the attachment / detachment side magnetic key and the operation side magnetic key are moved by moving the connecting body from the predetermined place toward a predetermined first direction. The attachment / detachment side magnetic key may be moved by the magnetic attraction acting between the magnets and the magnets for attraction so as to be movable from the attraction position to the peeling position. As a result, the first connecting portion and the second connecting portion can be easily separated only by moving the connecting body. Further, when the attracting magnet is in the peeling position, the connecting body is moved from the predetermined place toward a predetermined second direction, thereby between the detachable side magnetic key and the operation side magnetic key. The attachment / detachment side magnetic key may be moved by the magnetic attraction force acting on the magnet, and the attraction magnet may be configured to be movable from the peeling position to the attraction position. As a result, the first connecting portion and the second connecting portion can be easily connected only by moving the connecting body. In these cases, the articulated body is preferably composed of various moving bodies such as drones that can be actively moved, or those that are transported and passively moved.

According to the present invention, it is possible to provide a magnetic attachment / detachment mechanism and a connection / separation system for a connected body, which can prevent attachment / detachment at unexpected timings and can be easily attached / detached at the time of attachment / detachment.

It is sectional drawing of the magnetic attachment / detachment mechanism of embodiment of this invention. (A) A plan view showing an example in which the connecting body is composed of a drone, and (b) a side view showing an example in which the connecting body is composed of a drone and a transported object, in the connection / separation system of the connecting body according to the embodiment of the present invention. c) It is a side view which shows an example which a connection body consists of a drone and a part such as a ceiling which suspends a drone. It is a perspective view which shows the example of the connection separation system of the connection body of embodiment of this invention, in which the connection body consists of a drone, and connection and separation are performed at the upper part of a pole. It is a side view which shows the example which performs the connection and separation in the state which the connection body consists of a drone, and is suspended by the rail which performs takeoff and landing in the connection separation system of the connection body of embodiment of this invention. It is a perspective view of (a) the separated state, (b) the state immediately before or immediately after the connection, and (c) the connected state showing an example of the connection and separation system of the connected body of the embodiment of the present invention in which the connecting force is enhanced. ..

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 5 show a magnetic attachment / detachment mechanism and a connection / separation system of a connected body according to an embodiment of the present invention.
As shown in FIG. 1, the magnetic attachment / detachment mechanism 10 has an internal force compensation type magnet unit 11, a connecting member 12, an attachment / detachment side magnetic key 13, and an operation side magnetic key 14.

The internal force compensation type magnet unit 11 has a support portion 21, an attraction magnet 22, and a compensation interlocking portion 23. The support portion 21 has a columnar outer shape and has a circular recess 21a having a predetermined depth in the center of one surface of the support portion 21. Further, the support portion 21 has a through hole 21b provided so as to penetrate the bottom portion of the circular recess 21a and the central portion of the other surface. The through hole 21b has an inner diameter smaller than the inner diameter of the recess 21a.

The attraction magnet 22 is made of a thin cylindrical permanent magnet and has a diameter slightly smaller than the inner diameter of the recess 21a and a thickness smaller than the depth of the recess 21a. The suction magnet 22 is arranged inside the recess 21a of the support portion 21 so that the outer peripheral surface faces the inner wall surface of the recess 21a. The attraction magnet 22 is provided so as to be reciprocally movable inside the recess 21a along the direction of the center line.

The compensation interlocking portion 23 has a mounting member 23a and a non-linear spring 23b. The mounting member 23a is elongated and inserted into the through hole 21b, and one end thereof is mounted on the suction magnet 22 inside the recess 21a and is provided so as to interlock with the suction magnet 22. The mounting member 23a is provided with a flange portion 23c at the other end of the outer side of the recess 21a. The non-linear spring 23b is stretchably attached between the other surface of the support portion 21 around the through hole 21b and the flange portion 23c. The non-linear spring 23b exerts a force between the support portion 21 and the flange portion 23c to cancel the suction force with respect to the relationship between the moving distance of the suction magnet 22 from the suction position and the suction force of the suction magnet 22. It is provided to exert. As a result, the compensation interlocking unit 23 has a characteristic opposite to the suction force of the suction magnet 22 with respect to the moving distance of the suction magnet 22 from the suction position.

The internal force compensation type magnet unit 11 is configured to be detachably attached to an object 1 having a magnet 22 for attraction and a magnet 1a provided so as to be adsorbable on the opening side of the recess 21a. That is, the internal force compensation type magnet unit 11 has a suction position where the suction magnet 22 is magnetically attracted to the object 1 on the opening side of the recess 21a by reciprocating the compensation interlocking portion 23, and the recess 21a. It is configured to be relatively movable with respect to the object 1 between the bottom side and the peeling position where the object 1 is peeled off. The internal force compensating magnet unit 11 can be attracted to the object 1 by the reaction force of the nonlinear spring 23b pressing the support portion 21 against the object 1 when the attracting magnet 22 is in the suction position. Further, when the suction magnet 22 is moved from the suction position to the peeling position, the reaction force of the nonlinear spring 23b becomes small, so that the object 1 can be easily peeled. In the example shown in FIG. 1, the internal force compensation type magnet unit 11 is made of the IB magnet shown in Non-Patent Document 3, but is based on another permanent magnet as shown in Patent Document 1. It may be made up.

The connecting member 12 is made of an elongated rod, and one end thereof is connected to the flange portion 23c of the mounting member 23a so as to extend in a direction away from the attracting magnet 22. The other end of the connecting member 12 extends to a position where it is hardly affected by the magnetic field generated by the attracting magnet 22. The connecting member 12 is not limited to a rod as long as it can transmit power to the suction magnet 22 to move the suction magnet 22, and may have any structure such as a structure using a wire or a fluid. good.

The detachable side magnetic key 13 has a predetermined magnetic pattern and is attached to the other end of the connecting member 12 so as to reciprocate together with the compensation interlocking portion 23 via the connecting member 12. The detachable side magnetic key 13 is provided so that the magnetic pattern changes along the extension direction of the connecting member 12. Further, the detachable side magnetic key 13 has an outer surface smoothly formed along the direction in which the magnetic pattern changes to form the first smooth surface portion 13a. In the example shown in FIG. 1, the detachable magnetic key 13 forms a predetermined magnetic pattern by arranging three magnets 13b side by side.

The operation-side magnetic key 14 has a magnetic pattern whose polarity is opposite to that of the attachment / detachment-side magnetic key 13. When the operation side magnetic key 14 is in a predetermined positional relationship with the detachable side magnetic key 13, that is, the magnetic pattern faces the magnetic pattern of the detachable side magnetic key 13 and is further distanced from the detachable side magnetic key 13. Is provided so that a magnetic attraction force acts between the attachment / detachment side magnetic key 13 and the attachment / detachment side magnetic key 13 when is within a predetermined range. The outer surface of the operation-side magnetic key 14 is smoothly formed along the direction in which the magnetic pattern changes to form the second smooth surface portion 14a. In the example shown in FIG. 1, the operation-side magnetic key 14 has three magnets 14b arranged side by side to form a magnetic pattern having a polarity opposite to that of the attachment / detachment-side magnetic key 13.

The magnetic attachment / detachment mechanism 10 aligns the direction in which the magnetic pattern of the attachment / detachment side magnetic key 13 and the magnetic pattern of the operation side magnetic key 14 change, and the operation side magnetism with respect to the first smooth surface portion 13a of the attachment / detachment side magnetic key 13. When the operation side magnetic key 14 is relatively moved from the state where the second smooth surface portion 14a of the key 14 is in contact with or close to each other in the direction in which each magnetic pattern changes, the magnetic key 14 on the operation side becomes a predetermined positional relationship and is attached / detached. A magnetic attraction force acts between the side magnetic key 13 and the operation side magnetic key 14.

Next, the operation will be described.
In the magnetic attachment / detachment mechanism 10, when the attachment / detachment side magnetic key 13 and the operation side magnetic key 14 have magnetic patterns having opposite polarities to each other and are in a predetermined positional relationship, a magnetic attraction force acts between them. Therefore, by relatively moving the operation side magnetic key 14 in a state where the magnetic attraction force is applied, the detachable side magnetic key 13 can be moved. At this time, the internal force compensation type magnet unit (IB magnet) 11 can reciprocate the compensation interlocking portion 23 and the attraction magnet 22 together with the detachable side magnetic key 13 with a small force. As a result, the suction magnet 22 can be moved between the suction position and the peeling position, and the object 1 can be easily attached to and detached. As described above, the magnetic attachment / detachment mechanism 10 can be attached / detached by using the magnetic attraction force, and is less susceptible to the action from the outside world than the conventional one that attaches / detaches by using the shape of the unevenness. It is possible to prevent attachment / detachment at unexpected timings.

Further, the magnetic attachment / detachment mechanism 10 is relatively in a non-contact state in which the second smooth surface portion 14a of the operation side magnetic key 14 is in contact with or close to the first smooth surface portion 13a of the attachment / detachment side magnetic key 13. By simply moving it, a magnetic attraction force is exerted between the attachment / detachment side magnetic key 13 and the operation side magnetic key 14, the attraction magnet 22 is moved, and the object 1 can be easily attached / detached. As described above, the attachment / detachment trigger portions are the first smooth surface portion 13a and the second smooth surface portion 14a, and since the surface of the trigger portion has no unevenness, it is particularly difficult to receive an action from the outside world and unexpected attachment / detachment is prevented. The effect can be further enhanced.

Further, the magnetic attachment / detachment mechanism 10 can make it more difficult to receive an action from the outside world by complicating the magnetic pattern of the attachment / detachment side magnetic key 13 and the operation side magnetic key 14, further preventing the effect of preventing unexpected attachment / detachment. Can be enhanced. The magnetic attachment / detachment mechanism 10 can attach / detach the object 1 only when the operation side magnetic key 14 is present, and the effect of limitation is high.

The magnetic attachment / detachment mechanism 10 can be used in the connection / separation system of the connection body according to the embodiment of the present invention. That is, as shown in FIGS. 2 to 5, in the connecting / separating system of the connecting body according to the embodiment of the present invention, the connecting body 30 in which the first connecting portion 31 and the second connecting portion 32 are connected by the magnetic attachment / detachment mechanism 10 Is a system for connecting and separating. The connecting body 30 may be any as long as it has a site for connecting and separating. In a specific example shown in FIGS. 2 to 4, the connecting body 30, the first connecting portion 31 or the second connecting portion 32 is composed of a drone, but various moving bodies other than the drone or being transported and passively moving. It may consist of what it does.

The first connecting portion 31 is attached with the internal force compensation type magnet unit 11 of the magnetic attachment / detachment mechanism 10, the connecting member 12, and the attachment / detachment side magnetic key 13. The second connecting portion 32 corresponds to the object 1 and has a attracting magnet 22 of the magnetic attachment / detachment mechanism 10 and a permanent magnet 32a provided so as to be adsorbable. The second connecting portion 32 is connected to the first connecting portion 31 by the magnetic attraction force of the attraction magnet 22 when the attraction magnet 22 of the internal force compensation type magnet unit 11 is in the attraction position, and the attraction magnet 22 is in the peeling position. At this time, it is provided so as to be separated from the first connecting portion 31. The first connecting portion 31 and the second connecting portion 32 may be reversed.

In the example in which the connecting body 30, the first connecting portion 31 or the second connecting portion 32 shown in FIG. 2 is composed of a drone, one of the drone bodies separately provided in two is the first connecting portion 31, and the other is the second. The connecting portion 32 may be used, the driving portion having a propeller may be the first connecting portion 31, and the drone main body provided with the driving portion detachably provided may be the second connecting portion 32 (FIG. 2A). reference). In these cases, the drone can be disassembled for each functional part, and maintenance such as repair or replacement can be easily performed for each disassembled functional part. Further, the drone provided so as to be able to convey the conveyed object may be the first connecting portion 31, and the conveyed object may be the second connecting portion 32 (see FIG. 2B). In this case, the operation-side magnetic key 14 only needs to be used when receiving the transported object, and the transported object can be delivered to a desired place or person. Further, the drone provided so as to be suspended may be the first connecting portion 31, and the portion such as the ceiling on which the drone is suspended may be the second connecting portion 32 (see FIG. 2C). In this case, takeoff and landing can be performed at a desired place and time.

In the connection / separation system of the connecting body according to the embodiment of the present invention, the first connecting portion 31 and the second connecting portion 32 can be connected / separated by using the magnetic attraction force by the magnetic attachment / detachment mechanism 10. can. As a result, it is less susceptible to the action from the outside world and can be prevented from being attached / detached at an unexpected timing, as compared with the conventional one in which the attachment / detachment is performed using the shape of the unevenness. Further, the internal force compensating magnet unit 11 of the magnetic attachment / detachment mechanism 10 can move the adsorption magnet 22 with a small force, and can easily connect and separate the first connecting portion 31 and the second connecting portion 32. It can be carried out.

In the connection / separation system of the connection body according to the embodiment of the present invention, the attachment / detachment side magnetic key 13 and the operation side magnetic key are arranged so that the connection body 30 has a predetermined positional relationship when the connection body 30 is in a predetermined position in a predetermined posture. 14 may be arranged. In the example shown in FIG. 3, the connecting body 30 is composed of a drone, and the drone main body is provided so as to be separable into two at the central portion. It is part 32. Further, the operation side magnetic key 14 is attached to the upper end of the pole 41 which is erected vertically. Further, when the drone stops or approaches the vicinity of the upper end of the pole 41 in a predetermined direction, a magnetic attraction force acts between the attachment / detachment side magnetic key 13 of the drone and the operation side magnetic key 14 at the upper end of the pole 41. , The detachable side magnetic key 13 and the operation side magnetic key 14 are arranged.

At this time, by stopping or approaching the drone near the upper end of the pole 41 in a predetermined direction, a magnetic attraction force can be exerted between the detachable side magnetic key 13 and the operation side magnetic key 14, and the drone body can be moved. It can be separated into two. It is also possible to connect the drone body that was separated into two at that position. In this way, stable operation can be performed because the drones are connected and separated only when they are in the same posture and in the same place.

Further, in the connection / separation system of the connection body according to the embodiment of the present invention, when the attraction magnet 22 is in the attraction position, the connection body 30 is moved from a predetermined place toward a predetermined first direction to be attached / detached. The detachable side magnetic key 13 may be moved by the magnetic attraction force acting between the side magnetic key 13 and the operation side magnetic key 14, so that the attraction magnet 22 can be moved from the attraction position to the peeling position. Further, when the attracting magnet 22 is in the peeling position, it works between the detachable side magnetic key 13 and the operation side magnetic key 14 by moving the connecting body 30 from a predetermined place toward a predetermined second direction. The attachment / detachment side magnetic key 13 may be moved by the magnetic attraction force, and the attraction magnet 22 may be configured to be movable from the peeling position to the attraction position.

In this case, in a specific example shown in FIG. 4, the connecting body 30 is composed of a drone, is suspended from a rail 42 and is provided so as to be able to take off and / or land, and a drive unit having a propeller is provided. The first connecting portion 31 and the drone main body provided with the driving portion thereof detachably are the second connecting portion 32. Further, when the drone is suspended from the rail 42 and moves, the operation side magnetic key is located at a position where the drone attachment / detachment side magnetic key 13 passes so that a magnetic attraction force acts between the drone attachment / detachment side magnetic key 13. 14 are arranged.

At this time, by moving the drone in which the drone body and the drive unit are connected to one side along the rail, a magnetic attraction force is exerted between the detachable side magnetic key 13 and the operation side magnetic key 14 to attract the drone. The magnet 22 can be moved from the suction position to the peeling position to separate the drone body and the drive unit. Further, by moving the drone body from which the drive unit is separated in the opposite direction along the rail, a magnetic attraction force is exerted between the attachment / detachment side magnetic key 13 and the operation side magnetic key 14, and the attraction magnet 22 is used. Can be moved from the peeling position to the suction position, and the drive unit can be connected to the drone body at some position. Since the magnetic attraction force acts between the detachable side magnetic key 13 and the operation side magnetic key 14 both at the time of separation and connection, the drone and the drone body moving along the rail are decelerated at the same time as separation and connection. It can also be accelerated.

Further, as shown in FIG. 5, in the connection / separation system of the connection body according to the embodiment of the present invention, the first connection unit 31 applies a magnetic attraction force between the attachment / detachment side magnetic key 13 and the operation side magnetic key 14. When the attracting magnet 22 is moved from the peeling position to the suction position and attracted to the permanent magnet 32a of the second connecting portion 32 by working, it protrudes toward the second connecting portion 32 and the attracting magnet 22 is moved from the suction position. When it is moved to the peeling position and peeled from the permanent magnet 32a of the second connecting portion 32, it has a fitting convex portion 43 that returns from the protruding state to the original state, and the second connecting portion 32 attracts the permanent magnet 32a. When the magnet 22 is attracted to the magnet 22, the fitting concave portion 44 may be provided so that the fitting convex portion 43 protruding from the first connecting portion 31 can be fitted.

In this case, when the first connecting portion 31 and the second connecting portion 32 are connected, not only the attracting magnet 22 but also the fitting convex portion 43 is connected, so that the connecting force can be increased. In the example shown in FIG. 5, the connecting portion of the first connecting portion 31 protrudes in a tapered shape, and the connecting portion of the second connecting portion 32 is recessed so as to fit with the protruding portion. Further, a plurality of fitting convex portions 43 are provided on the side surface of the protruding connecting portion of the first connecting portion 31, and each protruding fitting convex portion 43 is fitted on the side surface of the recessed connecting portion of the second connecting portion 32. It has a plurality of fitting recesses 44 that are provided so as to be compatible.

1 Object 1a Magnet

10 Magnetic attachment / detachment mechanism 11 Internal force compensation type magnet unit 21 Support part 21a Recession 21b Through hole 22 Adsorption magnet 23 Compensation interlocking part 23a Mounting member 23b Non-linear spring 23c Flange part 12 Connecting member 13 Detachable side magnetic key 13a First smooth surface part 13b Magnet 14 Operation side magnetic key 14a First smooth surface 14b Magnet

30 Connecting part 31 First connecting part 32 Second connecting part 32a Permanent magnet

41 Pole 42 Rail 43 Fitting convex part 44 Fitting concave part

Claims (6)

A magnet for attraction, which is composed of a permanent magnet and is provided so as to be relatively movable with respect to the object between an attraction position that magnetically attracts the object and a peeling position that separates from the object. It has a compensation interlocking portion that is provided so as to interlock with the attracting magnet and has characteristics opposite to the attracting force of the attracting magnet with respect to the moving distance of the attracting magnet from the attracting position. An internal force compensation type magnet unit provided so that the attraction magnet can be moved between the attraction position and the peeling position by reciprocating the compensation interlocking portion.
A connecting member whose one end is connected to the compensation interlocking portion and extends in a direction away from the suction magnet.
A detachable magnetic key having a predetermined magnetic pattern and provided at the other end of the connecting member so as to reciprocate with the compensation interlocking portion via the connecting member.
When it has a magnetic pattern whose polarity is opposite to that of the magnetic pattern on the detachable side and is in a predetermined positional relationship with the magnetic key on the detachable side, a magnetic attraction force acts between the magnetic pattern on the detachable side and the magnetic key on the detachable side. With the provided operation side magnetic key,
A magnetic attachment / detachment mechanism characterized by having. The detachable magnetic key has a first smooth surface portion on at least a part of the outer surface.
The operation-side magnetic key has a second smooth surface portion on at least a part of the outer surface.
With the second smooth surface portion in contact with or close to the first smooth surface portion of the detachable magnetic key in a predetermined direction, toward a predetermined direction along the first smooth surface portion. The magnetic attachment / detachment mechanism according to claim 1, wherein the magnetic key on the operation side is configured to have a predetermined positional relationship when the magnetic key is relatively moved. It is a connection / separation system of a connection body in which the first connection portion and the second connection portion are connected.
The magnetic attachment / detachment mechanism according to claim 1 or 2 is provided.
The internal force compensating magnet unit, the connecting member, and the detachable magnetic key are attached to the first connecting portion.
The second connecting portion is connected to the first connecting portion by the magnetic attraction force of the attraction magnet when the attraction magnet of the internal force compensating magnet unit is at the attraction position, and the attraction magnet is the attraction. A connection / separation system for a connected body, characterized in that it is provided so as to separate from the first connecting portion at the peeling position. The third aspect of claim 3, wherein the detachable side magnetic key and the operation side magnetic key are arranged so as to have the predetermined positional relationship when the connected body is in a predetermined position in a predetermined posture. Connection separation system for connections. When the attracting magnet is in the suction position, it acts between the detachable side magnetic key and the operation side magnetic key by moving the connecting body from the predetermined place toward a predetermined first direction. The connection / separation system for a coupling according to claim 4, wherein the attachment / detachment side magnetic key is moved by a magnetic attraction force so that the attraction magnet can be moved from the attraction position to the peeling position. .. When the attracting magnet is in the peeling position, it acts between the detachable side magnetic key and the operation side magnetic key by moving the connecting body from the predetermined place toward a predetermined second direction. The connection of the coupling according to claim 4 or 5, wherein the attachment / detachment side magnetic key is moved by a magnetic attraction force so that the attraction magnet can be moved from the peeling position to the attraction position. Separation system.

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