WO2016072754A1

WO2016072754A1 - Connection device using magnetic material holding device and multistage projectile device having same

Info

Publication number: WO2016072754A1
Application number: PCT/KR2015/011811
Authority: WO
Inventors: 최태광
Original assignee: 최태광
Priority date: 2014-11-05
Filing date: 2015-11-04
Publication date: 2016-05-12

Abstract

A connection device, according to one embodiment of the present invention, is a connection device convertible between a connected state, in which a first object and a second object are connected, and a separated state, in which the first object and the second object are not connected. The connection device comprises: a holding module arranged on the first object or second object side, and formed to have a holding surface such that a magnetic flow passing through the holding surface can be controlled; a locking module rotatably fixed to the second object; a release means for providing a force such that the locking module moves far away from the holding module; and a control device connected with the holding module so as to control the magnetic flow passing through the holding surface of the holding module. The holding module comprises: at least one permanent magnet; a plurality of pole pieces formed from magnetic material so as to form a path for the magnetic flow generated by the at least one permanent magnet; and at least one coil arranged such that the path of the magnetic flow formed by the plurality of pole pieces can pass therethrough. The plurality of pole pieces and the permanent magnet are arranged so as to form: a closed path for minimizing the intensity of the magnetic flow passing through the holding surface by allowing the magnetic flow to circulate inside the holding module; and an opened path for maximizing the intensity of the magnetic flow passing through the holding surface by preventing the formation of the magnetic flow of the closed path.

Description

Connecting device using a magnetic holding device and a multi-stage projectile device having the same

The present invention relates to a connecting device using a magnetic holding device and a multi-stage projectile device having the same. More specifically, the magnetic holding can be obtained by controlling the magnetic flow from the permanent magnet to obtain a strong holding force and easily switching between holding and releasing. It relates to a connection device using the device and a multi-stage projectile device having the same.

The connecting device collectively refers to a device for connecting two or more objects separated from each other. The connection device must not be disconnected when two or more objects are connected, and if disconnection is necessary, it must be disconnected with a high probability.

An example of the connection device is a pyrotechnics device which uses energy generated during explosive explosion and combustion during separation. Pyrotechnics devices include explosive bolts and pyro-expanding tubes.

In NASA's space launch program Endeavor, 356 pyrotechnics devices were required for separation and release systems. If any one of those pyrotechnics devices doesn't work properly, this program will fail. So, among other things, designing high-reliability components for pyrotechnics devices used in isolation systems is most important. The most common pyrotechnics device used in separation systems is the explosion bolt.

The explosive bolt serves as a bolt that joins two structures together under normal circumstances, but if a specific electrical force is applied at a desired time point, the bolt is cut and separated into two structures by the explosive force of the gunpowder charged inside the bolt body. It refers to Pyrotechnics which performs the function. The explosion bolt is widely used in missiles, aircraft, space launch vehicles, and parachutes that require separation of structures. An essential requirement for explosion bolts is that, like ordinary bolts, they must have the strength required to join the two structures together with the durability against the shock and vibrations encountered in the operating environment, and the high reliability that separation is required when a separation function is required. to be.

Often, the explosion bolt fails to explode in time, resulting in a failure to separate or pair off, causing the projectile to blast into the air. For example, in 2009, the Korean satellite launcher KSLV-1 (aka 'Naro') failed to orbit the satellite due to the failure of the detonation bolt to operate normally.

If the explosion bolt is too strong, it can damage the inside of the connected object. If the explosion bolt is too weak, it can't be separated, so it's difficult to control the intensity of the explosion. Has the potential to be done. The failure of the disconnection of the connection device, as in the failure of Lake Naro, is very costly and therefore requires a more reliable connection device.

On the other hand, a magnetic holding device such as a permanent magnet workholding device is a device that is used to attach the attachment object made of a magnetic material, such as iron, by magnetic force. It is widely used for internal clamping of die clamping of press machines, chucks of machine tools, and the like.

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

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

The applicant of the present invention has already proposed a magnetic body holding device using a separate electromagnet (see Patent Document 1). Moreover, the magnetic body holding apparatus of the further advanced form was shown (refer patent document 2-4).

Applicant's magnetic material holding device disclosed in

Patent Documents

1 and 2 can obtain a strong holding force with a simple structure by arranging the coil on the pole piece without installing a separate electromagnet, and only a small current can be obtained only when switching at the time of holding or releasing. It can be used to control the magnetic force of the permanent magnet, and it has the advantage of obtaining a strong holding force even with a small space.

(Patent Document 1)

International Patent Publication WO2012 / 039548A1

(Patent Document 2)

Korea Patent Registration KR10-1319052B

(Patent Document 3)

Korea Patent Registration KR10-1427066B

(Patent Document 4)

Korea Patent Registration KR10-1430383B

The problem to be solved by the present invention is to provide a connection device using a magnetic holding device that can obtain a strong holding force by controlling the magnetic flow from the permanent magnet and can be easily switched between holding and release, and a multi-stage projectile device having the same. .

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

The connection device according to an embodiment of the present invention is a connection device switchable between a connection state connecting the first object and the second object and a disconnection state not connecting the first object and the second object. The connecting device may include a holding module disposed at the side of the first object or the second object, the holding module having a holding surface and configured to control a magnetic flow passing through the holding surface; A locking module rotatably fixed to the second object and having a holding module-facing surface facing the holding surface of the holding module, the holding module-facing surface being made of at least a magnetic material and having a locking portion; Release means for providing a force away from the holding module; And a control device connected to the holding module to control a magnetic flow passing through the holding surface of the holding module. It includes. The locking module includes a connection-arrangement in which the holding surface of the holding module and the holding module-facing surface of the locking module come into contact with each other and the locking portion is caught by the first object, the holding surface of the holding module and the locking module. The holding module of the opposing surface is spaced apart and the locking portion is rotatable between the separation-disposition not to be caught by the first object. The holding module may include at least one permanent magnet, a plurality of pole pieces made of a magnetic body to form a path of magnetic flow generated by the at least one permanent magnet, and a path of magnetic flow formed by the plurality of pole pieces. At least one coil disposed to pass through. The plurality of pole pieces and the permanent magnet may be configured such that a magnetic flow of the closed path and the closed path are not formed by minimizing the strength of the magnetic flow passing through the holding surface by circulating the magnetic flow inside the holding module. It is arranged to form an open path that maximizes the strength of magnetic flow through the holding surface. The at least one coil is disposed at a position capable of switching between the closed path and the open path, and receives current from the control device. When the holding module forms the open path, the locking module is positioned in the connection-placement by holding on the holding module, and when the holding module forms the closing path, the locking module is connected to the release means. By means of the separation-placement. The control device controls the switching between the connected state and the disconnected state by controlling the current in the coil.

According to another feature of the invention, the release means is provided with a holding surface to control the magnetic flow passing through the holding surface, and the locking module has a release means for facing the holding surface of the release means. A surface is further provided, the release means-facing surface consisting of at least a magnetic body. The release means may include at least one permanent magnet, a plurality of pole pieces formed of a magnetic body to form a path of magnetic flow generated by the at least one permanent magnet, and a path of magnetic flow formed by the plurality of pole pieces. At least one coil disposed to pass through. The plurality of pole pieces and the permanent magnet of the release means are characterized in that the magnetic flow of the closing path and the closed path minimizes the strength of the magnetic flow through the holding surface of the release means by circulating inside the release means. And not formed, thereby forming an open path that maximizes the strength of magnetic flow through the holding surface of the release means. At least one coil of the release means is arranged at a position capable of switching between the closed path and the open path, and receives current from the control device. When the magnetic flow of the locking module forms the closed path, and when the magnetic flow of the release means forms the open path, the locking means is brought into contact with the release means-facing surface of the locking module and the holding surface of the release means. Modules are located in the connection-placement.

According to another feature of the invention, the holding module, the holding surface and the contact surface is formed N pole piece is a ferromagnetic material, the holding surface and the contact surface is formed and S pole piece is a ferromagnetic material, and the N pole piece in the N pole piece A permanent magnet disposed in contact with the S pole piece and in contact with the S pole piece, a base pole piece that is movable and ferromagnetic so as to be contacted and spaced from the contact surface of the N pole piece and the contact surface of the S pole piece, and the N pole A coil disposed on at least one of the piece, the S pole piece, and the base pole piece.

According to another feature of the invention, the latching module, the holding module-the N-pole piece is formed and the ferromagnetic body, the holding module-facing surface is formed and the ferromagnetic S pole piece is formed, the N pole piece N And a permanent magnet in which the pole is in contact and the S pole piece is arranged to be in contact with the S pole piece, the holding face of the N pole piece of the holding module and the holding module-facing face of the S pole piece of the locking module face each other. The locking module is arranged such that the holding surface of the S pole piece of the holding module and the holding module-facing surface of the N pole piece of the locking module face each other.

According to yet another feature of the invention, the release means comprises: an N pole piece having a holding surface and a contact surface and formed of a ferromagnetic material, an S pole piece having a holding surface and a contact surface being formed of a ferromagnetic material, and an N pole having the N pole piece; A permanent magnet disposed in contact with the S pole piece and in contact with the S pole piece, a base pole piece that is movable and ferromagnetic so as to be contacted and spaced apart from the contact surface of the N pole piece and the contact surface of the S pole piece, and the N pole. A coil disposed on at least one of the piece, the S pole piece, and the base pole piece. A release means-facing surface is formed on each of the N pole pieces of the locking module and the S pole piece of the locking module, and the holding face of the N pole piece of the release means and the release means-facing surface of the S pole piece of the locking module, respectively. The release means are arranged such that they face each other and the holding surface of the S pole piece of the release means and the release means-facing surface of the N pole piece of the engagement module face each other. The control device is connected to the coil of the release means to control the current applied to the coil of the release means.

According to another feature of the invention, the holding module is fixedly disposed on the second object, the first object has a protrusion protruding in the direction of the second object, the protrusion has a recess or insertion hole It is formed, the locking portion is inserted into the recess or the insertion hole is caught in the protrusion, and is separated from the recess or the insertion hole is configured not to be caught in the protrusion.

According to another feature of the invention, the holding module, the locking module and the release means are arranged so that at least two sets are arranged such that the locking module is caught by the protrusion at at least two points.

According to another feature of the present invention, the second object is formed with an insertion portion surrounding the protrusion, and the protrusion is configured to separate the first object and the second object by sliding the insertion portion.

According to another feature of the present invention, the holding module includes a first N-pole piece having a holding surface and a contact surface and formed of a ferromagnetic material, a first S pole piece having a holding surface and a contact surface being formed of a ferromagnetic material, and the first N A first pole piece assembly including a first permanent magnet disposed so that the N pole contacts the pole piece and the S pole contacts the first S pole piece; A second N-pole piece having a holding surface and a contact surface and being ferromagnetic, a second S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole contacting the second N-pole piece and the second S-pole piece And a second permanent magnet disposed to contact the S pole, wherein the contact surface of the second S pole piece is disposed to face the contact surface of the first N pole piece, and the contact surface of the second N pole piece is formed in the first contact. A second pole piece assembly disposed to face the contact surface of the first S pole piece; At least one first coil disposed to affect at least one of a magnetic flow passing through the holding surface of the first N-pole piece and a magnetic flow passing through the holding surface of the second S-pole piece; And at least one second coil disposed to affect at least one of a magnetic flow passing through the holding surface of the first S-pole piece and a magnetic flow passing through the holding surface of the second N-pole piece. Include. At least one of the first pole piece assembly and the second pole piece assembly may have a contact surface of the first N pole piece and a contact surface of the second S pole piece spaced apart from each other, The first arrangement in which the contact surfaces of the second N-pole pieces are spaced apart from each other, and the contact surface of the first N-pole piece and the contact surface of the second S-pole piece are in contact with each other, and the contact surface of the first S-pole piece and the second The contact surfaces of the N pole pieces are configured to be movable so as to switch between the second arrangements in contact with each other. The control device controls the magnetic flow passing through the first coil and the second coil by adjusting currents applied to the first coil and the second coil, thereby providing the first pole piece assembly and the second coil. The pole piece assembly is switchable between the first arrangement and the second arrangement, thereby controlling the magnetic flow through the holding surfaces of the first pole piece assembly and the second pole piece assembly.

According to another feature of the invention, the holding module, the holding surface and the contact surface is formed, the first connecting pole piece which is a ferromagnetic material; And a second connection pole piece having a holding surface and a contact surface and being ferromagnetic; It further includes. The contact surface of the first connecting pole piece is disposed to face the holding surface of the first N pole piece, and the contact surface of the second connecting pole piece is disposed to face the holding surface of the first S pole piece. The first connection pole piece, the second connection pole piece and the second pole piece assembly are fixed, and the first pole piece assembly is the first connection pole piece / the second connection pole piece and the second pole piece. It is movable between assemblies. When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding surfaces of the first pole piece assembly and the contact surfaces of the first connecting pole piece and the second connecting pole piece Respectively contacting and when the first pole piece assembly and the second pole piece assembly are arranged in the second arrangement, the holding surfaces of the first pole piece assembly and the first connecting pole piece and the second connecting pole. The first connecting pole piece and the second connecting pole piece are arranged such that the contact surfaces of the pieces are respectively spaced apart. When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, holding surfaces of the second pole piece assembly and holding surfaces of the first connection pole piece and the second connection pole piece. The locking module is held on any one of the holding surfaces, and the locking module is disposed from any one of the holding surfaces when the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement. Holding surfaces of the second pole piece assembly and the first connecting pole when the holding module is configured to be released or when the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement. When the locking module is held on the holding surfaces of the piece and the second connecting pole piece, and the first pole piece assembly and the second pole piece assembly are arranged in the second arrangement, The holding module is configured to release the locking module from the holding surfaces of the second pole piece assembly and the holding surfaces of the first connecting pole piece and the second connecting pole piece.

According to another feature of the present invention, the holding module includes a third N-pole piece formed with a holding surface and a contact surface and is a ferromagnetic material, a third S pole piece having a holding surface and a contact surface and is formed with a ferromagnetic material, and the third N And a third permanent magnet disposed so that the N pole contacts the pole piece and the S pole contacts the third S pole piece, and the contact surface of the third S pole piece faces the holding surface of the first N pole piece. And the contact surface of the third N-pole piece further includes a third pole piece assembly disposed to face the holding surface of the first S-pole piece. The second pole piece assembly and the third pole piece assembly are fixed, and the first pole piece assembly is movable between the second pole piece assembly and the third pole piece assembly. When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding surfaces of the N pole pieces of the first pole piece assembly and the contact surfaces of the third pole piece assembly contact each other, When the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement, the third pole so that the holding surfaces of the first pole piece assembly and the contact surfaces of the third pole piece assembly are spaced apart from each other. The piece assembly is placed. When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding module is configured to hold the engaging module on the holding surfaces of the second pole piece assembly, or the first When the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement, the holding module is configured to hold the locking module on the holding surfaces of the third pole piece assembly.

The connection device according to another embodiment of the present invention is a connection device switchable between a connection state connecting the first object and the second object and a disconnection state not connecting the first object and the second object. The connection device may include: a holding module disposed on the second object side, the holding module having a holding surface and configured to control a magnetic flow passing through the holding surface; A locking module including an intermediate pole piece which is disposed to be in contact with and spaced apart from the holding surface of the holding module, and a locking member rotatably fixed to the intermediate pole piece and the second object and having a locking part; Release means for providing a force to move the intermediate pole piece away from the holding surface; And a control device connected to the holding module to control a magnetic flow passing through the holding surface of the holding module. It includes. A connection-placement in which the holding surface of the holding module and the intermediate pole piece are in contact with each other and the locking portion is caught by the first object, and the holding surface of the holding module and the connecting pole piece are spaced apart from each other, and the locking portion is The locking member is rotatably fixed to the intermediate pole piece and the second object so as to be switchable between the separation-dispositions not caught by the first object. The holding module may include at least one permanent magnet, a plurality of pole pieces made of a magnetic body to form a path of magnetic flow generated by the at least one permanent magnet, and a path of magnetic flow formed by the plurality of pole pieces. At least one coil disposed to pass through. The plurality of pole pieces and the permanent magnet may be configured such that a magnetic flow of the closed path and the closed path are not formed by minimizing the strength of the magnetic flow passing through the holding surface by circulating the magnetic flow inside the holding module. It is arranged to form an open path that maximizes the strength of magnetic flow through the holding surface. The at least one coil is disposed at a position capable of switching between the closed path and the open path, and receives current from the control device. When the holding module forms the open path, the connecting pole is formed by holding the intermediate pole piece in the holding module, and the intermediate pole piece is the release means when the holding module forms a blocking path. The separation-batches are formed by being spaced apart from the holding module. The control device controls the switching between the connected state and the disconnected state by controlling the current in the coil.

According to another feature of the invention, the first object has a protrusion protruding in the direction of the second object, the protrusion is formed with a recess or insertion hole, the locking portion is inserted into the recess or the insertion hole As a result, it is configured to be caught by the protrusion and not to be caught by the protrusion by being separated from the recess or the insertion hole.

According to another feature of the present invention, the holding module includes a first N-pole piece having a holding surface and a contact surface and formed of a ferromagnetic material, a first S pole piece having a holding surface and a contact surface being formed of a ferromagnetic material, and the first N A first pole piece assembly including a first permanent magnet disposed so that the N pole contacts the pole piece and the S pole contacts the first S pole piece; A second N-pole piece having a holding surface and a contact surface and being ferromagnetic, a second S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole contacting the second N-pole piece and the second S-pole piece And a second permanent magnet disposed to contact the S pole, wherein the contact surface of the second S pole piece is disposed to face the contact surface of the first N pole piece, and the contact surface of the second N pole piece is formed in the first contact. A second pole piece assembly disposed to face the contact surface of the first S pole piece; At least one first coil disposed to affect at least one of a magnetic flow passing through the holding surface of the first N-pole piece and a magnetic flow passing through the holding surface of the second S-pole piece; At least one second coil disposed to affect at least one of a magnetic flow passing through the holding surface of the first S-pole piece and a magnetic flow passing through the holding surface of the second N-pole piece; At least one of the. At least one of the first pole piece assembly and the second pole piece assembly may have a contact surface of the first N pole piece and a contact surface of the second S pole piece spaced apart from each other, The first arrangement in which the contact surfaces of the second N-pole pieces are spaced apart from each other, and the contact surface of the first N-pole piece and the contact surface of the second S-pole piece are in contact with each other, and the contact surface of the first S-pole piece and the second The contact surfaces of the N pole pieces are configured to be movable so as to switch between the second arrangements in contact with each other. The control device controls the magnetic flow passing through the first coil and the second coil by adjusting currents applied to the first coil and the second coil, thereby providing the first pole piece assembly and the second coil. The pole piece assembly is switchable between the first arrangement and the second arrangement, thereby controlling the magnetic flow through the holding surfaces of the first pole piece assembly and the second pole piece assembly.

According to another feature of the invention, the holding module, the holding surface and the contact surface is formed, the first connecting pole piece which is a ferromagnetic material; And a second connection pole piece having a holding surface and a contact surface and being ferromagnetic; It further includes. The contact surface of the first connecting pole piece is disposed to face the holding surface of the first N pole piece, and the contact surface of the second connecting pole piece is disposed to face the holding surface of the first S pole piece. The first connection pole piece, the second connection pole piece and the second pole piece assembly are fixed, and the first pole piece assembly is the first connection pole piece / the second connection pole piece and the second pole piece. It is movable between assemblies. When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding surfaces of the first pole piece assembly and the contact surfaces of the first connecting pole piece and the second connecting pole piece Respectively contacting and when the first pole piece assembly and the second pole piece assembly are arranged in the second arrangement, the holding surfaces of the first pole piece assembly and the first connecting pole piece and the second connecting pole. The first connecting pole piece and the second connecting pole piece are arranged such that the contact surfaces of the pieces are respectively spaced apart. When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, holding surfaces of the second pole piece assembly and holding surfaces of the first connection pole piece and the second connection pole piece. The intermediate pole piece is held on any one of the holding surfaces, and when the first pole piece assembly and the second pole piece assembly are arranged in the second arrangement, the intermediate pole piece is separated from the one of the holding surfaces. If the holding module is configured to release the pole piece, or if the first pole piece assembly and the second pole piece assembly are arranged in the first arrangement, the holding surfaces of the second pole piece assembly and the first When the intermediate pole piece is held on the holding surfaces of the connecting pole piece and the second connecting pole piece, and the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement, The group is the holding module so that the middle pole piece off from the holding surface of the holding surface of the second pole piece assembly and the first pole piece connected to the second connection pole piece is formed.

According to another feature of the present invention, the holding module includes a third N-pole piece formed with a holding surface and a contact surface and is a ferromagnetic material, a third S pole piece having a holding surface and a contact surface and is formed with a ferromagnetic material, and the third N And a third permanent magnet disposed so that the N pole contacts the pole piece and the S pole contacts the third S pole piece, and the contact surface of the third S pole piece faces the holding surface of the first N pole piece. And the contact surface of the third N-pole piece further includes a third pole piece assembly disposed to face the holding surface of the first S-pole piece. The second pole piece assembly and the third pole piece assembly are fixed, and the first pole piece assembly is movable between the second pole piece assembly and the third pole piece assembly. When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding surfaces of the N pole pieces of the first pole piece assembly and the contact surfaces of the third pole piece assembly contact each other, When the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement, the third pole so that the holding surfaces of the first pole piece assembly and the contact surfaces of the third pole piece assembly are spaced apart from each other. The piece assembly is placed. When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding module is configured to hold the intermediate pole piece on the holding surfaces of the second pole piece assembly, or When the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement, the holding module is configured such that the intermediate pole piece is held on the holding surfaces of the third pole piece assembly.

According to another feature of the invention, the release means is a spring.

The connection device according to another embodiment of the present invention is a connection device switchable between a connection state connecting the first object and the second object and a disconnection state not connecting the first object and the second object. The connecting device may include a first N pole piece having a holding surface and a contact surface and being ferromagnetic, a first S pole piece having a holding surface and a contact surface and being ferromagnetic, and having an N pole in contact with the first N pole piece. A first permanent magnet disposed so that the S pole is in contact with the first S pole piece, a first base pole piece which is in contact with the contact surface of the first N pole piece and the contact surface of the first S pole piece, and is a ferromagnetic material; A first holding module including a first coil disposed on at least one of a 1N pole piece, the first S pole piece, and the first base pole piece and fixed to the second object; A second N-pole piece having a holding surface and a contact surface and being ferromagnetic, a second S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole contacting the second N-pole piece and the second S-pole piece A second permanent magnet disposed so that the S pole contacts the second pole, a second base pole piece which is in contact with the contact surface of the second N pole piece and the contact surface of the second S pole piece, and is a ferromagnetic material, the second N pole piece, A second holding module including a second coil disposed on at least one of the second S pole piece and the second base pole piece and fixed to the second object; A third N pole piece formed with a first surface and a second surface and being ferromagnetic, a third S pole piece formed with a first surface and a second surface, and a ferromagnetic material, and an N pole contacting the third N pole piece; A first latching module including a third permanent magnet disposed so that the S pole contacts the third S pole piece; A fourth N-pole piece having a first surface and a second surface and being ferromagnetic, a fourth S pole piece having a first surface and a second surface being ferromagnetic, and an N pole contacting the fourth N pole piece, And a fourth permanent magnet disposed so that the S pole contacts the fourth S pole piece, wherein the first surface of the fourth N pole piece faces the first surface of the third S pole piece and is located in the fourth S pole piece. A first latching module disposed on the first surface of the pole piece to face the first surface of the third N pole piece; And a control device controlling a current applied to the first coil and the second coil. It includes. The first object has a protrusion projecting in the direction of the second object, and the first catching module and the second catching module are movably disposed between a first arrangement in contact with each other and a second arrangement spaced from each other. In the first arrangement, the holding surface of the first N-pole piece and the second surface of the third S-pole piece are spaced apart from each other, and the holding surface of the first S-pole piece and the second surface of the third N-pole piece. The surfaces are spaced apart from each other, and the holding surface of the second N-pole piece and the second surface of the fourth S-pole piece are spaced apart from each other, and the holding surface of the second S-pole piece and the second surface of the fourth N-pole piece. The surfaces are spaced apart from each other, and in the second arrangement, the holding surface of the first N-pole piece and the second surface of the third S-pole piece are in contact with each other, and the holding surface of the first S-pole piece and the third surface are in contact with each other. The second surface of the N pole piece is in contact with each other, and the holding surface of the second N pole piece and the second surface of the fourth S pole piece are in contact with each other, and the holding surface of the second S pole piece and the fourth surface are in contact with each other. The first holding module and the second holding module are disposed such that the second surfaces of the N pole pieces contact each other. In the first arrangement, the first catching module and the second catching module are caught by the protrusion, and in the second arrangement, the first catching module and the second catching module are not caught by the protrusion.

According to another feature of the invention, the protrusion is formed with a recess, the first locking module and the second locking module in contact with each other to surround the protrusion and at the time of the first arrangement and the first As the pole pieces of the first catching module and the second catching module are inserted, the first catching module and the second catching module are caught by the protrusion.

The connection device according to another embodiment of the present invention is switchable between a connection state connecting the first object and the second object and a disconnection state not connecting the first object and the second object. The connecting device may include: a holding pole piece disposed at the side of the first object or the second object and having at least two holding surfaces magnetically connected to each other; A release pole piece disposed on the second object side and having at least two holding surfaces magnetically connected to each other; A first pole piece having a holding pole piece-facing surface and a release pole piece-facing surface and made of a ferromagnetic material, a second pole piece having a holding pole piece-facing surface and a release pole piece-facing surface and made of a ferromagnetic material; It includes a permanent magnet disposed so that the N pole is in contact with the first pole piece and the S pole is in contact with the second pole piece, and has a locking portion formed to be caught by the first object, and rotates on the second object A catch module that is possibly fixed; At least one coil wound around at least one of the holding pole piece, the first pole piece and the second pole piece; And a control device connected to the coil to control a current supplied to the coil. It includes. The locking module may include a connection-arrangement in which the holding surface of the holding pole piece and the holding pole piece-facing surface of the locking module are in contact with each other and the locking portion is caught by the first object, and the holding surface of the holding pole piece is connected to the holding surface of the holding pole piece. The holding pole piece-facing surface of the locking module is spaced apart, and the locking portion is rotatable between the separation-array not to be caught by the first object. The control device controls the switching between the connected state and the disconnected state by controlling the current in the coil.

According to another feature of the invention, the holding module has three holding surfaces, the release module has three holding surfaces, and the locking module has one first pole piece and two second portions. The pole piece is provided.

According to another feature of the invention, the coil is disposed on at least one of the first pole piece and the second pole piece and is also disposed between the permanent magnet and the holding pole piece-facing surface.

According to another feature of the invention, the coil is a first coil, and further comprises a second coil wound around the release pole piece.

The connection device according to another embodiment of the present invention is switchable between a connection state connecting the first object and the second object and a disconnection state not connecting the first object and the second object. The connecting device includes a pair of holding pole pieces disposed on the first object or the second object side and having at least two holding surfaces magnetically connected to each other; A release module disposed on the second object side and having at least two release pole pieces made of ferromagnetic material having a pair of holding surfaces; A first pole piece having a holding pole piece facing face and a release module facing face and made of ferromagnetic material, a second pole piece having a holding pole piece facing face and a release module facing face and made of ferromagnetic material; It includes a permanent magnet disposed so that the N pole is in contact with the first pole piece and the S pole is in contact with the second pole piece, and has a locking portion formed to be caught by the first object, and rotatable to the second object. A pair of locking modules fixed; A coil wound around at least one of the first pole piece and the second pole piece; And a control device connected to the coil to control the magnetic flow by supplying current to the coil. It includes. Each holding surface of any one of the release pole pieces may include a release module-facing surface of one of the first pole pieces of the catching module and a release module-facing surface of the second pole piece of the other one of the catching modules. Each holding surface facing each other, the holding surface of the other one, respectively, and the release module-facing surface of the second pole piece of any one of the locking module and the release module-facing surface of the other first pole piece of the locking module, respectively Face to face. The locking module may include a connection-arrangement in which the holding surface of the holding pole piece and the holding pole piece-facing surface of the locking module are in contact with each other and the locking portion is caught by the first object, and the holding surface of the holding pole piece is connected to the holding surface of the holding pole piece. The holding pole piece-facing surface of the locking module is spaced apart, and the locking portion is rotatable between the separation-array not to be caught by the first object. The control device controls the switching between the connected state and the disconnected state by controlling the current in the coil.

According to another feature of the invention, the holding module has three holding surfaces, the release module has three release pole pieces, and one of the catching modules includes one of the first pole pieces and two The second pole piece is provided, and the other one of the locking modules includes two first pole pieces and one second pole piece.

According to another feature of the invention, the coil further wound around the release pole piece.

According to another feature of the invention, the holding surfaces of the release module are all magnetically connected to each other.

Multi-stage projectile device according to an embodiment of the present invention, characterized in that the connecting device is provided with the above-described connection device.

According to the connection device of the present invention, by the strong magnetic force of the permanent magnet at the time of connection, the connection of the objects can be maintained strongly without consuming power, and when separating, it is possible to reliably separate by supplying a small amount of DC current The reliability of separation can be improved.

1A and 1B are schematic cross-sectional views of a magnetic holding device that can be used in a connection device according to an embodiment of the present invention.

2A to 2C are schematic cross-sectional views of a magnetic holding device according to another embodiment.

3A to 3C are schematic cross-sectional views of a magnetic holding device according to still another embodiment.

4A to 4C are schematic cross-sectional views of a magnetic holding device according to still another embodiment.

5A to 5C are schematic cross-sectional views of a magnetic holding device according to still another embodiment.

6A and 6B are schematic cross-sectional views of a connection device according to an embodiment of the present invention.

7A and 7B are schematic cross-sectional views of a connecting device according to another embodiment of the present invention.

8A to 8D are schematic cross-sectional views of a connecting device according to another embodiment of the present invention.

9A and 9B are schematic cross-sectional views of a connecting device according to another embodiment of the present invention.

10A and 10B are schematic cross-sectional views of a connection device according to another embodiment of the present invention.

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

12A to 12C are schematic cross-sectional views of a connection device according to another embodiment of the present invention.

13A to 13F are schematic cross-sectional views of a connecting device according to another embodiment of the present invention.

14A to 14F are schematic cross-sectional views of a connecting device according to another embodiment of the present invention.

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

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

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

Like reference numerals refer to like elements throughout.

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

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

First, referring to Figures 1a, 1b, 2a to 2c, 3a to 3c, 4a to 4c and 5a to 5c, the basic configuration of a magnetic holding device that can be used in the connection device of the present invention And the principle will be described.

1A and 1B are schematic cross-sectional views of a magnetic holding device that can be used in a connection device according to an embodiment of the present invention, and in particular, FIG. 1A is a schematic cross-sectional view of a magnetic holding device holding an attachment object, and FIG. 1b is a schematic cross-sectional view when the magnetic body holding device releases the attachment object.

1A and 1B, the magnetic holding device 1000 includes an S pole piece 1100, an N pole piece 1200, a permanent magnet 1300, a base pole piece 1400, and a coil ( 1500, a spring 1600, and a controller (not shown).

The S pole piece 1100 has a holding surface 1110 provided to hold the attaching object 1 that is a magnetic body and a contact surface 1120 provided at a different portion from the holding surface 1110, and is made of ferromagnetic material such as iron. Is done.

The N pole piece 1200 has a holding surface 1210 provided to hold the attachment object 1 that is a magnetic body and a contact surface 1220 provided at a different portion from the holding surface 1210, and is formed of a ferromagnetic material such as iron. Is done.

The permanent magnet 1300 is interposed between the S pole piece 1100 and the N pole piece 1200. The permanent magnet 1300 is disposed such that the N pole is in contact with the N pole piece 1200 and the S pole is in contact with the S pole piece 1100. As the permanent magnet 1300, various permanent magnets may be freely employed, and the number or shape may be freely employed.

The base pole piece 1400 is made of a ferromagnetic material such as iron, and is not in contact with at least one of the contact surface 1120 of the S pole piece 1100 and the contact surface 1220 of the N pole piece 1200 (Fig. Position at 1a) and a second position (position in FIG. 1b) that is in contact with both the contact surface 1120 of the S pole piece 1100 and the contact surface 1220 of the N pole piece 1200. .

With particular reference to FIGS. 1A and 1B, the base 1400 is guided and slides through a bolt 1410 secured through the pole to the S pole piece 1100 and the N pole piece 1200, which is an elastic means to be described later. Force is being applied upward through the spring 1600. The base pole piece 1400 is provided with a counter-bore 1430, so that the head pole 1420 of the bolt 1410 and the N pole piece 1100 and N are pushed upward by the spring 1600. The separation distance from the pole piece 1200 may be limited.

The coil 1500 may be wound around at least one of the S pole piece 1100, the N pole piece 1200, and the base pole piece 1400. The coil 1500 in this embodiment illustrates that the N pole piece 1200 is wound. However, the arrangement of the coil 1500 is not limited thereto, and may be wound only on the S pole piece 1100, may be wound on both the S pole piece 1100 and the N pole piece 1200, and the base pole piece 1400. ) May be wound only. In addition, the coil 1500 may be wound above or below the permanent magnet 1300.

On the other hand, the coil 1500 is disposed between the permanent magnet 1300 and the holding surface 1210 of the N pole piece 1200, as shown in Figures 1a and 1b, it is possible to control the magnetic flow more effectively, Do.

The spring 1600 is a kind of elastic means for providing elastic force in the direction away from the base pole piece 1400 and the S pole piece 1100 and the N pole piece 1200. As the elastic means, in addition to the spring 1600 of this embodiment, an elastic body such as rubber or polyurethane can be used.

The controller (not shown) controls the holding and releasing of the magnetic material holding device 1000 by controlling the current applied to the coil 1500.

Hereinafter, the principle of holding and releasing the attachment object 1 that is the magnetic body by the magnetic body holding device 1000 configured as described above will be described.

Referring to FIG. 1A, in the state where no current is applied to the coil 1500, the attachment object 1 is attached to the holding

surfaces

1110 and 1210 of the S pole piece 1100 and the N pole piece 1200. The permanent magnet 1300 generates magnetic flow inside the S pole piece 1100 and the N pole piece 1200, so that the S pole piece 1100 and the N pole piece 1200 are attracted to each other with the attachment object 1. In the end, the attachment object 1 is attached to the holding

surfaces

1110 and 1210, thereby forming a magnetic flow such as a dotted line. Therefore, the attachment object 1 is firmly attached to the magnetic body holding device 1000.

Of course, although some attraction force acts between the base pole piece 1400 and the S pole piece 1100 / N pole piece 1200, the base pole is pushed by the spring 1600 to push the base pole piece 1400. Piece 1400 is not attached to S polepiece 1100 and N polepiece 1200.

Accordingly, since the base pole piece 1400 is positioned at a first position that maintains a predetermined distance from the S pole piece 1100 and the N pole piece 1200, magnetic flow does not occur in the direction of the base pole piece 1400. If not, it occurs very small. Accordingly, the magnetic force generated from the permanent magnet 1300 mostly flows to the side to be attached 1, and the attachment object 1 is firmly attached to the magnetic body holding device 1000.

In this case, in order to increase the adhesion strength, a current may be applied to the coil 1500 so that an N pole is formed below FIG. 1A. When a current is applied to the coil 1500, the N pole piece 1200 is magnetized by electromagnetic induction, as in an electromagnet, thereby forming a stronger magnetic force.

With reference to FIG. 1B, the release of the attachment object 1 from the magnetic body holding apparatus 1000 is demonstrated.

As shown in FIG. 1B, when a current is applied to the coil 1500 to form the N pole toward the permanent magnet 130, the magnetic force that attracts the base pole piece 1400 is strengthened, so that the base pole piece 1400 is spring 1600. ) Overcomes the elastic force and attaches to contact

surfaces

1120 and 1220. That is, the base pole piece 1400 is positioned in the second position.

The base pole piece 1400 is attached to the contact surfaces 1120 and 1220 so that the permanent magnet 1300-N pole piece 1200-base pole piece 1400-S pole piece 1100-permanent magnet 1300 (I.e., a closed path), the magnetic flow is formed, and the coil 1500 guides the magnetic flow of the permanent magnet 1300 to the base pole piece 1400 instead of the attachment object 1, so that the attachment object 1 ), No magnetic flow is formed.

Due to this, the attachment object 1 can be released from the holding surface 1110 of the S pole piece 1100 and the holding surface 1210 of the N pole piece 1200. Thereafter, even if the application of the current to the coil 1500 is blocked, the base pole piece 1400 does not return to the first position again, and thus the magnetic flow passing through the base pole piece 1400 is maintained, thereby holding The attachment object 1 cannot be attached to the

faces

1110 and 1210.

In order to hold the attachment object 1 again, a current in a direction opposite to that of FIG. 1B is caused to flow through the coil 1500, and the base pole piece 1400 is moved to the first position as shown in FIG. 1A by the elastic force of the spring 1600. Need to be restored. That is, the strength of the magnetic flow, such as the dotted line in FIG. 1B, may be weakened by the coil 1500 to return the base pole piece 1400 to the first position.

Here, it is necessary to appropriately adjust the elastic modulus of the spring 1600. For example, if the elastic modulus of the spring 1600 is too small, once the base pole piece 1400 is attached to the S pole piece 1100 and the N pole piece 1200 as shown in FIG. 1B, the base pole piece ( Much current must be supplied to the coil 1500 to return the 1400 to the first position. On the contrary, if the elastic modulus of the spring 1600 is too large, a large amount of current is supplied to the coil 1500 in order to attach the base pole piece 1400 to the contact surfaces 1120 and 1220 upon release of the attachment object 1. It is undesirable because it must. The elastic modulus of the spring 1600 may be appropriately determined empirically or experimentally in consideration of the strength of the magnetic force that can be induced into the coil 1500 and the like.

In addition, along with the elastic modulus of the spring 1600, the distance that the base pole piece 1400 in the first position is spaced apart from the contact surfaces 1120 and 1220 should also be appropriately determined. If the distance is too large, the base pole piece 1400 may not be attached to the contact surfaces 1120 and 1220 even if the current is applied to the coil 1500. If the distance is too small, the base may not be applied to the coil 1500 even if the current is applied to the coil 1500. This is because the pole piece 1400 may be attached to the contact surfaces 1120 and 1220. Thus, in view of this, the base pole piece 1400 in the first position so that the base pole piece 1400 can be attached to the contact surfaces 1120 and 1220 only when a certain amount of current is applied to the coil 1500. ), The separation distance between the contact surfaces (1120, 1220) should be adjusted. This adjustment may be made empirically or experimentally taking into account the strength of the magnetic force that can be induced into the coil 1500, the elastic modulus of the spring 1600, and the like.

Also, once an appropriate separation distance is determined, it is possible to set the separation distance easily determined by the bolt 1410 coupled to the S pole piece 1100 and the N pole piece 1200.

The detailed configuration and other embodiments of the magnetic material holding device 1000 according to the present embodiment is filed and registered in the Republic of Korea Patent No. 1 139052 and the application filed on April 8, 2014, the applicant filed on June 7, 2013 Disclosed in Korean Patent No. 1427066, which is incorporated herein by reference.

2a to 2c are schematic cross-sectional views of a magnetic holding device according to another embodiment, in particular Figure 2a is a schematic cross-sectional view when the magnetic holding device releases the attachment object, Figures 2b and 2c is a magnetic holding device It is a schematic sectional drawing at the time of holding an attachment object.

2A to 2C, the magnetic holding device 2000 may include a first pole piece assembly 2100, a second pole piece assembly 2200, a first coil 2310, a second coil 2320, and the like. And a control device (not shown).

The first pole piece assembly 2100 includes a first N pole piece 2110, a first S pole piece 2120, and a first permanent magnet 2130. The first N-pole piece 2110 is a ferromagnetic material such as iron, and has a holding face 2111 and a contact face 2112. In addition, the first S-pole piece 2120 is a ferromagnetic material such as iron, and has a holding surface 2121 and a contact surface 2122. The first permanent magnet 2130 is disposed such that the N pole contacts the first N pole piece 2110 and the S pole contacts the first S pole piece 2120.

The second pole piece assembly 2200 includes a second N pole piece 2210, a second S pole piece 2220, and a second permanent magnet 2230. The second N pole piece 2210 is a ferromagnetic material, such as iron, and has a holding surface 2211 and a contact surface 2212. In addition, the second S-pole piece 2220 is a ferromagnetic material such as iron, and has a holding surface 2221 and a contact surface 2222. The second permanent magnet 2230 is disposed so that the N pole contacts the second N pole piece 2210 and the S pole contacts the second S pole piece 2220.

The first pole piece assembly 2100 and the second pole piece assembly 2200 have a contact surface 2222 of the second S pole piece 2220 contacting and spaced apart from the contact surface 2112 of the first N pole piece 2110. Are arranged to enable (ie to face) the contact surface 2212 of the second N-pole piece 2210 so as to be able to contact and space the contact surface 2122 of the first S-pole piece 2120 (ie Face to face).

The first coil 2310 is at least one of a magnetic flow passing through the holding surface 2111 of the first N pole piece 2110 and a magnetic flow passing through the holding surface 2221 of the second S pole piece 2220. It is arranged to affect. In addition, the second coil 2320 may have at least one of a magnetic flow passing through the holding surface 2121 of the first S-pole piece 2120 and a magnetic flow passing through the holding surface 2211 of the second N-pole piece 2210. It is arranged to affect one.

The first coil 2310 and the second coil 2320 are disposed to be wound around the magnetic body, and thus affect the magnetic flow by magnetizing the magnetic body surrounded by the application of the electric current. The first coil 2310 is arranged to influence the magnetic flow of the holding

surfaces

2111 and 2221, and the second coil 2320 is arranged to affect the magnetic flow of the holding

surfaces

2121 and 2211. The 2310 and / or the second coil 2320 may be 1) disposed between the first permanent magnet 2130 and the second permanent magnet 2230 as shown in FIGS. 2A to 2C, and 2) the first permanent magnet. 2130 and the

N pole pieces

2110 and 2210 or the

S pole pieces

2120 and 2220 outside the second permanent magnet 2230, 3) holding

surfaces

2111, 2121 and 2211 It may be disposed on the pole pieces, which are magnetic materials other than the

pole pieces

2110, 2120, 2210, and 2220, which are located outside the 2221. That is, the first coil 2310 and the second coil 2320 may be wound around a portion of the first pole piece assembly 2100 and the second pole piece assembly 2200, or may be wound outside thereof.

In addition, although each of the first coil 2310 and the second coil 2320 may be provided as shown in FIGS. 2A and 2C, two or more coils may be provided. In addition, only the first coil 2310 may be provided alone, or only the second coil 2320 may be provided alone.

The first coil 2310 and the second coil 2320 are connected to a control device, which controls the current (direction or strength of) applied to the first coil 2310 and the second coil 2320. The current referred to herein refers to a direct current, which is also the same below.

Meanwhile, at least one of the first pole piece assembly 2100 and the second pole piece assembly 2200 may be a contact surface 2222 of the contact surface 2112 of the first N pole piece 2110 and the second S pole piece 2220. ) Is spaced apart from each other and the contact surface 2122 of the first S-pole piece 2120 and the contact surface 2212 of the second N-pole piece 2210 are spaced apart from each other (the same arrangement as in FIG. 2C), and The contact surface 2112 of the 1 N pole piece 2110 and the contact surface 2222 of the second S pole piece 2220 are in contact with each other, and the contact surface 2122 and the second N pole piece of the first S pole piece 2120 are in contact with each other. The contact surface 2212 of 2210 is configured to be movable so as to switch between the second arrangements (positions such as FIGS. 2A and 2B) in contact with each other. Specifically, only the first pole piece assembly 2100 may be moved, only the second pole piece assembly 2200 may be moved, and both

pole piece assemblies

2100 and 2200 may be moved at the same time. In the following embodiments, for convenience of description, only the first pole piece assembly 2100 is illustrated as being moved, but it should be noted that the present invention is not limited thereto.

The moving structure of the first pole piece assembly 2100 or the second pole piece assembly 2200 can be widely used by known methods, for example, by moving by a guide pin inserted respectively, using a roller or the like. Can be freely employed.

The control device controls the flow of magnetic flow through the first coil 2310 and the second coil 2320 by adjusting the current (direction or intensity of) applied to the first coil 2310 and the second coil 2320. Control direction and intensity.

Referring to FIG. 2A, the control device does not apply current to the first coil 2310 and the second coil 2320, and the first pole piece assembly 2100 and the second pole piece assembly 2200 are in contact with each other. When disposed in the first arrangement, the magnetic flow is formed in an internal circulation structure passing through the contact surfaces 2112, 2122, 2212, 2222, like a dashed line. In this case, there is little magnetic flow passing through the holding

surfaces

2111, 2121, 2211, and 2221, and there is little difference in magnetic force (magnetic energy) between the first permanent magnet 2130 and the second permanent magnet 2230. The less magnetic flow through the holding

surfaces

2111, 2121, 2211, 2221 becomes. Therefore, in the arrangement as shown in FIG. 2A, a magnetic object is not held on the holding

surfaces

2111, 2121, 2211, and 2221.

However, when the control device applies current to the first coil 2310 and the second coil 2320 as shown in FIG. 2B, the first permanent magnet 2130 passes through the contact surfaces 2112, 2122, 2212, and 2222. Magnetic flow between the second permanent magnets 2230 is weakened and eventually disconnected. At this time, when the holding objects 2111, 2121, 2211, and 2221 are brought into contact with the attaching

objects

1 and 2, which are magnetic bodies, respectively, the magnetic flow passing through the attaching

objects

1 and 2 is formed as shown by the dotted line in FIG. 2B. Accordingly, the object to be attached 1, 2 is held on the holding

surfaces

2111, 2121, 2211, 2221.

Subsequently, even if the application of the current to the first coil 2310 and the second coil 2320 is removed as shown in FIG. 2C, the magnetic flow to the attachment objects 1 and 2 once formed is maintained without being destroyed, and the contact surfaces ( As no magnetic flow through 2112, 2122, 2212, and 2222 is formed, the first pole piece assembly 2100 and the second pole piece assembly 2200 may be spaced apart.

If the

object

1 and 2 to be attached again is to be released from the first pole piece assembly 2100 and the second pole piece assembly 2200, the first coil 2310 and the second coil 2320 are opposite to those of FIG. 2B. By applying a current in the direction of the direction, the arrangement of the first pole piece assembly 2100 and the second pole piece assembly 2200 may be switched to the second arrangement as shown in FIG. 2A, and the magnetic flow as shown in FIG. 2A may be restored.

In sum, the control device adjusts the currents applied to the first coil 2310 and the second coil 2320 to thereby control the direction and intensity of the magnetic flow passing through the first coil 2310 and the second coil 2320. The first pole piece assembly 2100 and the second pole piece assembly 2200 are switchable between the first arrangement and the second arrangement, and the first pole piece assembly 2100 and the second pole piece assembly ( The direction and intensity of the magnetic flow passing through the holding

surfaces

2111, 2121, 2211, and 2221 of the 2200 are controlled. Thereby, the attachment objects 1 and 2 which are magnetic bodies on the holding

surfaces

2111, 2121, 2211 and 2221 can be held and released.

Referring again to FIG. 2A, the magnetic holding device 2000 having the above-described structure circulates magnetic flows from the

permanent magnets

2130 and 2230 only in the interior, upon release of the attachment object, thereby substantially retaining residual magnetic to the outside. It can be removed close to zero or completely (this effect can be maximized if the first permanent magnet 2130 and the second permanent magnet 2230 have the same magnetic force (magnetic energy)). In addition, by providing a structure in which the permanent magnets can be arranged closely, strong holding force can be expected when holding. In addition, it can be held in two directions, there is an advantage that can be implemented as various embodiments.

When the magnetic body holding device 2000 of the present embodiment is applied to the connecting device described later, only the

upper holding surfaces

2111 and 2121 or the

lower holding surfaces

2221 and 2211 exert a magnetic force on the latching module. It may be arranged to.

3A to 3C are schematic cross-sectional views of a magnetic holding device according to another embodiment of the present invention. In particular, FIG. 3A is a schematic cross-sectional view when the magnetic holding device releases an attachment object, and FIGS. 3B and 3C are magnetic bodies. It is a schematic sectional drawing when a holding apparatus holds an attachment object.

3A to 3C, the magnetic holding device 3000 of the present embodiment includes a first pole piece assembly 3100, a second pole piece assembly 3200, a first coil 3310, and a second The coil 3320, the first connection pole piece 3410, the second connection pole piece 3420, and a control device (not shown) are configured.

The first pole piece assembly 3100, the second pole piece assembly 3200, the first coil 3310 and the second coil 3320 are the first pole piece assembly 2100 and the second pole of FIGS. 2A-2C. Descriptions overlapping with the same configuration as the piece assembly 2200, the first coil 2310, and the second coil 2320 are omitted.

The first connecting pole piece 3410 has a holding surface 3411 and a contact surface 3412, and is a ferromagnetic material such as iron. In addition, the second connecting pole piece 3420 has a holding surface 341 and a contact surface 3342 and is a ferromagnetic material such as iron.

The first pole piece assembly 3100 is configured to be movable in the vertical direction of FIGS. 3A to 3C, and the second pole piece assembly 3200 is fixed. However, it is a matter of course that the first pole piece assembly 3100 is fixed and the second pole piece assembly 3200 may be moved.

When the first pole piece assembly 3100 is disposed in a first arrangement (arrangement as shown in FIG. 3C) in contact with the second pole piece assembly 3200, the holding surfaces 3111, of the second pole piece assembly 3200. 3121 and the contact surface 3412 of the first connecting pole piece 3410 and the contact surface 3422 of the second connecting pole piece 3420 are respectively in contact, and the first pole piece assembly 3100 is connected to the second pole piece assembly ( When disposed in a second arrangement (such as FIGS. 3A and 3B) spaced apart from the 3200, the holding faces 3111, 3121 of the second pole piece assembly 3200 are formed of the first connection pole piece 3410. The first connecting pole piece 3410 and the second connecting pole piece 3420 are disposed so as to be spaced apart from the contact surface 3422 of the contact surface 3412 and the second connecting pole piece 3420, respectively.

Here, the first connection pole piece 3410, the second connection pole piece 3420, and the second pole piece assembly 3200 are fixed, but may be surrounded by a cover 3001 that is nonmagnetic.

Referring to FIG. 3A, no current is applied to the first coil 3310 and the second coil 3320, and the first pole piece assembly 3100 and the second pole piece assembly 3200 are disposed in a second arrangement. In this case, the magnetic flow circulates inside the first pole piece assembly 3100 and the second pole piece assembly 3200 and does not pass through the holding

surfaces

3111, 3121, 3211, and 3221. Nor can it be held.

Thereafter, when a current is applied to the first coil 3310 and the second coil 3320 as shown in FIG. 3B, the magnetic flow between the first pole piece assembly 3100 and the second pole piece assembly 3200 is cut off. Since the strength of the magnetic flow passing through the holding

surfaces

3211 and 3221 of the second pole piece assembly 3200 becomes stronger, the attachment object 2 may be held toward the second pole piece assembly 3200. However, even in this case, since the first pole piece assembly 3100 is spaced apart from the first connection pole piece 3410 and the second connection pole piece 3420, the holding of the first connection pole piece 3410 is performed. The strength of the magnetic flow passing through the face 3411 and the holding face 341 of the second connecting pole piece 3420 is nearly zero, making it difficult to hold the attachment object with the holding faces 3411 and 3421.

Subsequently, when the current applied to the first coil 3310 and the second coil 3320 in the same direction as that of FIG. 3B becomes greater than a predetermined value, the first pole piece assembly 3100 is moved by a magnetic force to make the first connection pole It is attached to the piece 3410 and the second connecting pole piece 3420, whereby the first pole piece assembly 3100 and the second pole piece assembly 3200 are arranged in a first arrangement. When the first pole piece assembly 3100 is arranged in the first arrangement as shown in FIG. 3C, since the magnetic flow from the first permanent magnet 3130 flows through the attachment object 1, the attachment object 1 also moves upwards. ) Can be held.

Thereafter, as shown in FIG. 3C, even when currents to the first coil 3310 and the second coil 3320 are blocked, magnetic flow such as a dotted line already formed is maintained, so that the attachment targets 1 and 2 are attached to the second pole piece assembly 3200. The holding surfaces 3111 and 3221 and the holding

surfaces

3411 and 3421 of the first connecting pole piece 3410 and the second connecting pole piece 3420 are respectively held.

If the

object

1 and 2 to be attached again is to be released from the first pole piece assembly 3100 and the second pole piece assembly 3200, the first coil 3310 and the second coil 3320 are opposite to those of FIG. 3B. By applying the current in the direction, the arrangement of the first pole piece assembly 3100 and the second pole piece assembly 3200 is switched to the second arrangement as shown in FIG. 3A, and the magnetic flow as shown in FIG. 3A may be restored.

In addition, although it is preferable to provide both the 1st coil 3310 and the 2nd coil 3320, only one may be provided independently.

The magnetic holding device 3000 of this embodiment has the advantage of holding the attachment objects 1 and 2 in both directions, and the first connecting pole piece 3410 / the second connecting pole piece ( Since the 3420 and the first pole piece assembly 3100 are spaced apart and the magnetic flow is circulated only inside the first pole piece assembly 3100 and the second pole piece assembly 3200, there is an advantage of generating little residual magnetism. .

When the magnetic holding device 3000 of the present embodiment is applied to the connecting device described later, only the holding

surfaces

3411 and 3421 of the connecting

pole pieces

3410 and 3420 or the holding of the second pole piece assembly 3200 are provided. Only the

faces

3221, 3211, or deform the shape of the connecting

pole pieces

3410, 3420 or the second pole piece assembly 3200, thereby holding the holding faces 3411, 3421, 3221, 3211 of all of them. It may be arranged to exert a magnetic force on the module.

4A to 4C are schematic cross-sectional views of a magnetic holding device according to still another embodiment of the present invention. In particular, FIGS. 4A and 4C are schematic cross-sectional views when the magnetic holding device is holding an attachment object, and FIG. 4B is attached. It is a schematic sectional drawing at the time of switching of a target.

4A to 4C, the magnetic holding device 4000 of the present embodiment includes a first pole piece assembly 4100, a second pole piece assembly 4200, a third pole piece assembly 4300, It is comprised including the 1st coil 4410, the 2nd coil 4420, and a control apparatus (not shown).

The first pole piece assembly 4100, the second pole piece assembly 4200, the first coil 4410, and the second coil 4420 may include the first pole piece assembly (FIGS. 2A-2C and 3A-3C). 2100 and 3100, the second

pole piece assemblies

2200 and 3200, the

first coils

2310 and 3310, and the

second coils

2320 and 3320, respectively, have the same configuration and overlapping descriptions will be omitted.

The third pole piece assembly 4300 includes a third N pole piece 4310, a third S pole piece 4320, and a third permanent magnet 4330. The third N-pole piece 4310 is a ferromagnetic material such as iron, and has a holding surface 4311 and a contact surface 4312. In addition, the third S-pole piece 4320 is a ferromagnetic material such as iron, and has a holding surface 4321 and a contact surface 4322. The third permanent magnet 4330 is disposed such that the N pole contacts the third N pole piece 4310, and the S pole contacts the third S pole piece 4320.

The first pole piece assembly 4100 and the third pole piece assembly 4300 have a contact surface 4322 of the third S pole piece 4320 in contact with the holding surface 4111 of the first N pole piece 4110. Spaced apart (ie, facing), and the contact surface 4312 of the third N-pole piece 4310 may be in contact with and spaced apart from the holding surface 4121 of the first S-pole piece 4120. (Ie to face).

The first pole piece assembly 4100 is configured to be movable in the vertical direction of FIGS. 4A to 4C, and the second pole piece assembly 4200 and the third pole piece assembly 4300 are fixed. However, it is obvious that the first pole piece assembly 4100 may be fixed, and the second pole piece assembly 4200 and the third pole piece assembly 4300 may be moved.

When the first pole piece assembly 4100 is disposed in a first arrangement (arrangement as shown in FIG. 4C) spaced apart from the second pole piece assembly 4200, the holding faces 4111, of the first pole piece assembly 4100. 4121 and a second arrangement where the contact surfaces 4322 and 4312 of the third pole piece assembly 4300 are in contact with each other, and the first pole piece assembly 4100 is in contact with the second pole piece assembly 4200 (FIG. 4A). 4B, the holding

surfaces

4111 and 4121 of the first pole piece assembly 4100 may be spaced apart from the contact surfaces 4322 and 4312 of the third pole piece assembly 4300, respectively. The third pole piece assembly 4330 is disposed.

Here, the second pole piece assembly 4200 and the third pole piece assembly 4300 are fixed, but may be surrounded by a cover 4001 which is a nonmagnetic material on the outside.

Referring to FIG. 4A, a current is not applied to the first coil 4310 and the second coil 4320, and the first pole piece assembly 4100 and the second pole piece assembly 4200 are disposed in a second arrangement. In this case, the magnetic flow circulates inside the first pole piece assembly 4100 and the second pole piece assembly 4200 and does not pass through the holding

surfaces

4111, 4121, 4211, 4221, and thus, the second pole piece assembly 4200. The attachment object cannot be held on the) side. Alternatively, the attachment object 1 may be held on the third pole piece assembly 4300 by a magnetic force by the third permanent magnet 4330.

Thereafter, when a current is applied to the first coil 4410 and the second coil 4420 as shown in FIG. 4B, the magnetic flow between the first pole piece assembly 4100 and the second pole piece assembly 4200 is cut off. Since the strength of the magnetic flow passing through the holding

surfaces

4211 and 4221 of the second pole piece assembly 4200 becomes stronger, the attachment object 2 may be attached to the second pole piece assembly 4200. Even in this case, the attachment object 1 is held in a holding state. In other words, both the attaching object 1 and the attaching object 2 can be held transiently.

Subsequently, when the current applied to the first coil 4410 and the second coil 4420 in a direction as shown in FIG. 4B becomes greater than a predetermined value, the first pole piece assembly 4100 is moved by a magnetic force to cause the third pole piece to be moved. Attached to the assembly 4300, whereby the first pole piece assembly 4100 and the second pole piece assembly 4200 are placed in a first arrangement. In this case, the magnetic flow of the third permanent magnet 4330 flowing in the direction of the attachment object 1 is caused by the magnetic force of the first permanent magnet 4130 and the first pole piece assembly 4100 and the third pole piece assembly 4300. It is formed internally (see FIG. 4C). In this way, the attachment object 1 can be released, and the attachment object 2 is held.

Thereafter, as shown in FIG. 4C, even when the currents to the first coil 4410 and the second coil 4420 are blocked, the magnetic flow such as the dotted line already formed is maintained, so that the attachment object 2 may be connected to the second pole piece assembly 4200. It is held in the holding

surfaces

4211 and 4221.

If the attachment object 2 is to be released again from the second pole piece assembly 4200 and the attachment object 1 is to be held on the holding

surfaces

4311 and 4321 of the third pole piece assembly 4300, the first coil By applying a current in a direction opposite to that of FIG. 4B to the 4410 and the second coil 4420, the arrangement of the first pole piece assembly 4100 and the second pole piece assembly 4200 is arranged in a second arrangement as shown in FIG. 4A. The magnetic flow as shown in FIG. 4A may be restored.

On the other hand, although it is preferable to provide both the 1st coil 4410 and the 2nd coil 4420, only one may be provided independently.

The magnetic body holding device 4000 of this embodiment has the advantage of selectively holding any one of the attachment objects 1, 2, and the magnetic flow is released when the attachment objects 1, 2 are released. Since it is circulated only inside the 4100 and the second pole piece assembly 4200 or inside the first pole piece assembly 4100 and the third pole piece assembly 4300, there is an advantage of generating little residual magnetism.

When the magnetic material holding device 4000 of the present embodiment is applied to the connecting device described later, only the holding

surfaces

4211 and 4221 of the second pole piece assembly 4200 or the holding surface of the third pole piece assembly 4300 are provided. Only the

fields

4321 and 4311 may be arranged to apply a magnetic force to the locking module.

5A to 5C are schematic cross-sectional views of a magnetic holding device according to still another embodiment of the present invention. In particular, FIG. 5A is a schematic cross-sectional view when the magnetic holding device releases an attachment object, and FIGS. 5B and 5C It is a schematic sectional drawing when a magnetic holding apparatus hold | maintains an attachment object.

5A to 5C, the magnetic holding device 5000 of the present embodiment includes a first pole piece assembly 5100, a second pole piece assembly 5200, a first coil 5310, and a second And a coil 5320, a first connecting pole piece 5410, a second connecting pole piece 5520, and a control device (not shown).

The first pole piece assembly 5100, the second pole piece assembly 5200, the first coil 5310, and the second coil 5320 may include the first pole piece assembly 5100 and the second pole of FIGS. 3A to 3C. Descriptions overlapping with the same configuration as the piece assembly 3200, the first coil 3310, and the second coil 3320 are omitted. However, the first connection pole piece 5410 and the second connection pole piece 5420 may be modified by disposing the holding surfaces of the first connection pole piece 3410 and the second connection pole piece 3420 of FIGS. 3A to 3C. It is a feature of the present embodiment that is formed.

The holding surface 5411 of the first connecting pole piece 5410 and the holding surface 5421 of the second connecting pole piece 5520 are formed to hold the attachment object 1. As a result, the first connecting pole piece 5410 and the second connecting pole piece 5520 surround the first pole piece assembly 5100 and the second pole piece assembly 5200. The holding surface 5411 of the first connecting pole piece 5410, the holding surface 5421 of the second connecting pole piece 5520 and the holding

surfaces

5211 and 5221 of the second pole piece assembly 5200 are provided in this embodiment. Although it may be formed to be one surface as an example, this may vary depending on the shape of the attachment object (1).

Meanwhile, a cover 5001 of a nonmagnetic material may be provided to connect the first connection pole piece 5410 and the second connection pole piece 5520 and fix the same.

In addition, although it is preferable to provide both the 1st coil 5310 and the 2nd coil 5320, only one may be provided independently.

Since the other principles of operation and the like are the same as those described as the embodiments of FIGS. 3A to 3C, detailed descriptions thereof will be omitted.

Specific configurations and other embodiments of the magnetic

material holding apparatuses

2000, 3000, 4000, and 5000 according to the present embodiment are disclosed in Korean Patent Application No. 2014-0132314 filed on October 1, 2014 by the present applicant. Patents are incorporated herein by reference.

Hereinafter, a description will be given of a connection device using the above-described magnetic material holding devices (1000 to 5000).

6A and 6B are schematic cross-sectional views of a connection device according to an embodiment of the invention, in particular FIG. 6A shows a connected state, and FIG. 6B shows a disconnected state.

6A and 6B, an embodiment of the connection device 100 will be described.

The connecting device 100 is a switchable device between a connected state connecting the first object 10 and the second object 20 and a disconnected state not connecting the first object 10 and the second object 20. And a holding module 110, a locking module 120, a release means 130 and a control device (not shown).

The first object 10 and the second object 20 are objects to be connected or disconnected from each other, for example, the first object 10 and the second object 20 may be adjacent projectiles of the multi-stage projectile. In addition, the first object 10 may be a fighter, and the second object 20 may be a missile mounted on the fighter. In addition, the first object 10 may be a robot arm, and the second object 20 may be a tool. In addition, the first object 10 and the second object 20 may be employed in various ways.

The holding module 110 is arranged at the side of the first object 10 or the second object 20, and is configured to have a holding surface 111 so as to control the magnetic flow passing through the holding surface 111. . The holding module 110 includes at least one permanent magnet, a plurality of pole pieces made of a magnetic body to form a path of magnetic flow generated by the at least one permanent magnet, and a magnetic flow formed by the plurality of pole pieces. At least one coil disposed to pass the path. The plurality of pole pieces and the permanent magnet may be formed so as not to form a blocking path and a magnetic flow in the closed path which minimizes the strength of the magnetic flow passing through the holding surface 111 by circulating inside the holding module 110. Thereby forming an open path that maximizes the strength of magnetic flow through the holding surface 111, and at least one coil is disposed at a position capable of switching the closed path and the open path. Examples of such detailed arrangements are disclosed in the magnetic holding devices 1000-5000 described above.

Referring to the magnetic holding device 1000 of FIGS. 1A and 1B as an example of the holding module 110, the N pole piece 1200 and the S pole piece to form an open path as shown in FIG. 1A and a closed path as shown in FIG. 1B. 1100, pole pieces such as base pole piece 1400, and permanent magnet 1300 are disposed. Under the control of the control device, the current applied to the coil 1500 is controlled, whereby the base pole piece 1400 is moved, thereby switching the open path and the closed path. Accordingly, the strength of the magnetic flow through the holding

surfaces

1110 and 1210 is maximized or minimized. The holding surfaces 1110 and 1210 of FIGS. 1A and 1B correspond to the holding surfaces 111 of FIGS. 6A and 6B.

The holding module 110 is disposed so that the holding surface 111 faces the locking module 120 described later. In the present exemplary embodiment, the holding module 110 is fixed to the first object 10, but the holding module 110 may be fixed to the second object 20.

The locking module 120 is rotatably fixed to the second object 20, and the holding module-facing surface 121 is formed to face the holding surface 111 of the holding module 110. The holding module-facing surface 121 is made of at least a ferromagnetic material, but the entirety of the locking module 120 may be made of a ferromagnetic material.

In addition, the locking module 120 has a locking portion 122 located at the end side. The locking portion 122 may have a bent shape to be caught by the first object 10, and may have a hook shape, for example.

The locking module 120 has the holding surface 111 of the holding module 110 and the holding module-facing surface 121 of the locking module 120 in contact with each other, and the locking portion 122 of the locking module 120 contacts the first object 10. (Batch arrangement as shown in FIG. 6A), the holding surface 111 of the holding module 110 and the holding module-facing surface 121 of the locking module 120 are separated, and the locking portion 122 It is rotatable between separation-arrangements (arrangements as in FIG. 6B) that do not catch the first object 10.

The release means 130 provide a force for the locking module 120 to move away from the holding module 110. As the release means 130, an elastic means such as a spring may be used as in this embodiment, the above-described magnetic holding devices 1000 to 5000 may be used, and a permanent magnet may be used.

The control device is configured to control the magnetic flow passing through the holding surface 111 of the holding module 110 connected to the coil of the holding module 110 (eg, 1500 in FIG. 1A). For a detailed control method by the control device, refer to the description of the magnetic material holding devices 1000 to 5000 of FIGS. 1 to 5.

When the holding module 110 forms an open path of magnetic flow (FIGS. 1A, 2B and 2C, FIGS. 3B and 3C with respect to the attachment object 2, FIGS. 4B and with reference to the attachment object 2). 4C, 5B and 5C), the magnetic flow pulls the latching module 120 through the holding surface 111. Accordingly, the locking module 120 is located in the connection-arrangement as shown in FIG. 6A, whereby the first object 10 and the second object 20 are fixed to each other. On the other hand, when the holding module 110 forms a blockage path (FIGS. 1B, 2A and 3A based on the attachment object 2 and FIGS. 4A and 5A based on the attachment object 2), the magnetic flow is Since it is circulated inside the holding module 110 so as not to pass through or minimally through the holding surface 111, there is little or no force (ie minimized) to pull the latch module 120. Accordingly, by the force acting from the release means 130, the locking module 120 is positioned away from the holding module 110 in a detached arrangement as shown in FIG. 6B, whereby the first object 10 and the second object 20 are located. ) May be separated from each other.

The holding force of the release means 130 to pull the locking module 120 should be smaller than the holding module 110 to pull the locking module 120 in the connected state as shown in FIG. 6A, and the holding module ( 110) should be greater than the pulling force of the latch module 120. In particular, a residual magnet may be generated in the holding module 110 in the detached state, and the latching module 120 may remain held on the holding surface 111 by the residual magnet. It is necessary to set the release means 130 to pull the catch module 120 with a greater force.

7a and 7b are schematic cross-sectional views of a connection device according to another embodiment of the invention, in particular Fig. 7a shows a connected state, and Fig. 7b shows a disconnected state.

The configuration of the connection device 200 of the present embodiment is similar to that of the connection device 100 of FIGS. 6A and 6B, and differs only in the holding module 210 and the release means 230, and thus the differences will be described in detail. Duplicate explanations are omitted.

7A and 7B, the connection device 200 of the present embodiment includes a holding module 210, a locking module 220, a release means 230, and a control device (not shown).

In this embodiment, the holding module 210 is disposed on the second module 20 side, and thus, the holding module-facing surface 221 of the locking module 220 is also formed on the second module 20 side. In addition, the release means 230 is arranged on the first module 10 side.

As such, the arrangement of the holding module 210 and the release means 230 may be installed on any part of the first object 10 and the second object 20, and various modifications may be possible.

8a to 8d are schematic cross-sectional views of a connection device according to another embodiment of the invention, in particular Fig. 8a shows a connected state, Fig. 8b is a side cross-sectional view showing a disconnected state, and also Figs. 8c and 8d. Shows a sectional view along line AA of FIG. 8A.

The connection device 300 of FIGS. 8A to 8D differs from the connection device 100 of FIGS. 6A and 6B in that only the locking module 320 and the release means 330 are different, and the other configurations are the same. Detailed explanations will be omitted.

According to the connecting device 300 of the present embodiment, as the releasing means 330, the above-described magnetic body holding devices 1000 to 5000 can be employed as the holding module 110 of FIGS. 6A and 6B. Specifically, the control device controls the release means 330 such that the magnetic flow passing through the holding surface 331 of the release means 330 is minimized in the connected state as shown in FIG. 8A, and in the separated state as shown in FIG. 8B. Control the release means 330 to maximize the magnetic flow through 331. That is, if the release means 330 forms the open path as shown in FIG. 1A and the holding module 310 forms the closed path as shown in FIG. 1B, the release means-facing surface 323 of the locking module 320 It is attracted to the holding surface 331 of the release means 330 so that the locking module 320 is positioned in a separate-arrangement as shown in FIG. 8B.

On the other hand, the locking module 320 may be made of a ferromagnetic material as a whole, it may have a configuration as shown in Figure 8c and 8d.

Assuming that the holding module 310 and the release means 330 are composed of the magnetic holding device 1000 of FIGS. 1A and 1B, the connection device 300 of the present embodiment will be described.

8C and 8D, the locking module 320 of the connection device 300 of the present embodiment includes an N pole piece 324, an S pole piece 325, and a permanent magnet 326.

N pole piece 324 and S pole piece 325 has a holding module-facing surface 321 and a release means-facing surface 323, and is made of ferromagnetic material such as iron. The permanent magnet 326 is disposed so that the N pole contacts the N pole piece 324, and the S pole contacts the S pole piece 325.

The holding module-facing surface 321 of the N pole piece 324 faces each other with the holding surface 1110, ie 311 of the S pole piece 1100 of the holding module 310, and the holding of the S pole piece 325. The latch module 320 is disposed such that the module-facing surface 321 faces each other with the holding surface 1210, ie 311 of the N pole piece 1200 of the holding module 310.

Further, the release means-facing surface 323 of the N pole piece 324 faces each other with the holding surface 1110, ie 331, of the S pole piece 1100 of the release means 330, and the S pole piece 325 The catching module 320 and the release means 330 are arranged such that the release means-facing surface 323 of the release means 330 faces each other with the holding face 1210, ie 331, of the N pole piece 1200. .

When the holding module 310 is controlled to form an open path, as shown in FIG. 8C, the locking module 320 comes into contact with the holding module 310, thereby allowing magnetic flow between the holding module 310 and the locking module 320. Is formed (see dotted line) so that the holding module 310 and the locking module 320 are firmly held to each other by a magnetic force. As a result, the locking module 320 is positioned in the connected-array state.

As shown in FIG. 8D, in order to position the latch module 320 in a detached-position, a current is applied to the coil 1500 of the holding module 310 so as to cut off the magnetic flow between the latch module 320 and the holding module 310. It may be applied (specifically, a current is applied to the coil 1500 so that the N pole is formed in the left direction in FIG. 8C). Accordingly, the base-pole piece 1400 of the holding module 310 comes into contact with the N pole piece 1200 and the S pole piece 1100 to form a closed path as illustrated in FIG. 8D, and passes through the holding surface 311. The strength of magnetic flow is minimized. Accordingly, the force by which the holding module 310 pulls the locking module 320 is minimized. If an opening path is formed as shown in FIG. 8D such that the current is applied to the coil 1500 of the release means 330 so that the release means 330 maximizes the strength of the magnetic flow through the holding surface 331, The module 320 is drawn to the release means 330 and held in the release means 330. Accordingly, the latch module 320 is in the detached-placed state.

The connection device 300 of the present embodiment forms a circulation path of magnetic flow between the holding module 310 and the locking module 320 in the connected state, and the magnetic flow between the locking module 320 and the release means 330 in the disconnected state. By forming a circulation path of, it provides a secure connection in the connected state and a secure separation in the disconnected state.

9a and 9b are schematic cross-sectional views of a connection device according to another embodiment of the invention, in particular Fig. 9a shows a connected state and Fig. 9b shows a disconnected state.

In the present embodiment, the first object 10 has a protrusion 11 protruding in the direction of the second object 20, and the depression 11 is formed with a depression 12. Herein, the depression 12 may mean a portion recessed in the surface of the protrusion 11 and may also be referred to as a recess.

The connection device 400 according to the present embodiment includes a holding module 410, a locking module 420, and a release means 430. When one set is used, two or more sets may be disposed. In other words, the locking module 420 may be inserted into the recessed portion 12 of the protrusion 11 at at least two points to strongly connect the first object 10 and the second object 20. In addition, the holding module 410 and the locking module 420 are disposed on the second object 20.

Meanwhile, instead of the recessed part 12, an insertion hole may be formed in the protrusion 11, and the connection device 400 may be configured such that the locking part 422 of the locking module 420 is inserted into the insertion hole.

Although the spring is exemplified as the release means 430 in this embodiment, it should be noted that the magnetic holding devices 1000 to 5000 may be used as the release means as shown in FIGS. 8A to 8D.

Since other operations and structures are similar to the connection device 100 of FIGS. 6A and 6B, detailed descriptions thereof will be omitted.

10A and 10B are schematic cross-sectional views of a connection device according to another embodiment of the invention, in particular FIG. 10A shows a connected state, and FIG. 10B shows a disconnected state.

In the present embodiment, the second object 20 is formed with an insertion portion 21 surrounding the protrusion 11 of the first object 10, and the protrusion 11 slides the insertion portion 21 so that the first The connecting device 500 is configured such that the first object 10 and the second object 20 are separated.

The insertion part 21 is formed with an insertion hole 12 into which the locking part 522 of the locking module 520 can be inserted. Referring to FIG. 10A, the locking part is connected through the insertion hole 12 in a connected state. 522 is inserted into the insertion hole 12 formed in the projection 11. Thereafter, when the locking module 520 is moved by the release means 530 as shown in FIG. 10B, the first object 10 may be separated from the second object 20.

As the release means 530, magnetic holding devices 1000 to 5000 are illustrated in this embodiment, however, it should be noted that elastic means such as a spring may be used.

The connection device 500 of the present embodiment is provided with the insertion portion 21, it is possible to maintain a more stable connection state.

11a and 11b are schematic cross-sectional views of a connection device according to another embodiment of the invention, in particular Fig. 11a shows a connected state, and Fig. 11b shows a disconnected state.

The connection device 600 of the present embodiment includes a holding module 610, a locking module 620, a release means 630, and a control device (not shown).

Holding module 610 may be a magnetic holding device (1000 to 5000), and has the same configuration as the holding module (110 to 510) described above.

The locking module 620 is disposed so as to be in contact with and spaced apart from the holding surface 611 of the holding module 610, and has an intermediate pole piece 621, which is a ferromagnetic material such as iron, an intermediate pole piece 621, and a second one. The locking member 625 is rotatably fixed to the object 20 and includes a locking member 626.

The release means 630 provide a force such that the intermediate pole piece 621 is away from the holding surface 611 of the holding module 610. As the release means 630, an elastic means can be used, for example a spring can be employed.

Referring to FIG. 11A, when the intermediate pole piece 621 is held on the holding surface 611 of the holding module 610, the locking portion 626 of the locking member 625 is the recessed portion 12 of the protrusion 11. ), The first object 10 and the second object 20 are connected.

In addition, referring to FIG. 11B, when the intermediate pole piece 621 is not held on the holding surface 611 of the holding module 610, it is lifted by the releasing means 630, and accordingly the locking portion 626. Is no longer caught by the depression 12 so that the first object 10 and the second object 20 can be separated.

On the other hand, the locking member 625 is preferably made of a nonmagnetic material because it does not affect the magnetic flow of the holding module 610.

In addition, it is preferable that any one of the rotating shafts is formed in the long hole to accommodate the left and right movement so that the locking member 625 can be rotated. It should be noted that these specific design details are applicable using known techniques.

The other configuration can be understood with reference to the above-described connection device (100 to 500), detailed description thereof will be omitted.

12A and 12C are schematic cross-sectional views of a connecting device according to another embodiment of the present invention, in particular FIG. 12A shows a connected state, FIG. 12B shows a disconnected state, and FIG. 12C shows a line BB of FIG. 12A The cross section along the.

The connection device 700 of the present embodiment includes a first holding module 710, a second holding module 720, a first locking module 730, a second locking module 740, and a control device (not shown). ).

The first holding module 710 is fixed to the second object 20. The first holding module 710 has a holding surface 712 and a contact surface (not shown) and a first N pole piece 711 that is a ferromagnetic material, and a holding surface 715 and a contact surface (not shown) are formed. A first S pole piece 714 that is a ferromagnetic material, a first permanent magnet 717 disposed so that the N pole contacts the first N pole piece 711, and the S pole contacts the first S pole piece 714. A first base pole piece 718 in contact with the contact surface of the first N pole piece 711 and the first S pole piece 714 and a ferromagnetic material, and the first N pole piece 711 and the first S pole. A first coil 719 disposed on one or more of the piece 714 and the first base pole piece 718.

The second holding module 720 is fixed to the second object 20. The second holding module 720 has a holding surface 722 and a contact surface (not shown) and a second N pole piece 721 that is a ferromagnetic material, and a holding surface 725 and a contact surface (not shown). A second S pole piece 724 which is a ferromagnetic material, a second permanent magnet 727 which is arranged such that the N pole contacts the second N pole piece 721, and the S pole contacts the second S pole piece 724. A second base pole piece 728 which is in contact with the contact surface of the second N pole piece 721 and the second S pole piece 724 and is a ferromagnetic material, and the second N pole piece 721 and the second S pole. And a second coil 729 disposed on at least one of the piece 724 and the second base pole piece 728.

The first locking module 730 includes a third N pole piece 731 having a first surface 732 and a second surface 733, which are magnetic materials, and a first surface 735 and a second surface 736. The third permanent magnet is formed so that the third S pole piece 734 which is a ferromagnetic material and the N pole contact the third N pole piece 731, and the S pole contact the third S pole piece 734. 737).

The second locking module 740 includes a fourth N pole piece 741 having a first surface 742 and a second surface 743 and a ferromagnetic material, and a first surface 745 and a second surface 746. The fourth permanent magnet is formed such that the fourth S-pole piece 744, which is a ferromagnetic material, and the N-pole are in contact with the fourth N-pole piece 741, and the S-pole is in contact with the fourth S-pole piece 744. 747). In addition, in the second locking module 740, the first surface 742 of the fourth N-pole piece 741 faces the first surface 735 of the third S-pole piece 734, and the fourth S-pole piece ( The first surface 745 of 744 is disposed to face the first surface 732 of the third N pole piece 731.

The control device controls the current applied to the first coil 719 and the second coil 729. On the other hand, the first object 10 includes a protrusion 11 protruding in the direction of the second object 20, and the depression 11 is formed in the protrusion 11.

The first catching module 730 and the second catching module 740 are movably disposed between a first arrangement (see FIG. 12A) in contact with each other and a second arrangement (see FIG. 12B) spaced from each other.

In the first arrangement as shown in FIG. 12A, the holding surface 712 of the first N-pole piece 711 and the second surface 736 of the third S-pole piece 734 are spaced apart from each other, and the first S-pole piece ( The holding surface 715 of the 714 and the second surface 733 of the third N pole piece 731 are spaced apart from each other, and the holding surface 722 and the fourth S pole piece of the second N pole piece 721 are spaced apart from each other. The second face 746 of 744 is spaced apart from each other and the holding face 725 of the second S-pole piece 724 and the second face 743 of the fourth N-pole piece 741 are spaced apart from each other. In addition, in the second arrangement as shown in FIG. 12B, the holding surface 712 of the first N-pole piece 711 and the second surface 736 of the third S-pole piece 734 are in contact with each other and the first S-pole. The holding surface 715 of the piece 714 and the second surface 733 of the third N-pole piece 731 are in contact with each other, and also the holding surface 722 and the fourth S of the second N-pole piece 721. The second face 746 of the pole piece 744 is in contact with each other and the holding face 725 of the second S pole piece 724 and the second face 743 of the fourth N pole piece 741 are in contact with each other. The first holding module 710 and the second holding module 720 are disposed.

In addition, in the first arrangement, the first locking module 710 and the second locking module 720 are caught by the protrusion 11, and in the second arrangement, the first locking module 730 and the second locking module 740. Is not caught by the projection 11. Specifically, in the first arrangement, the first catching module 730 and the second catching module 740 contact each other to surround the protrusion 11, and together with the first catching module 710 in the recess 12. By inserting the

pole pieces

731, 734, 741, and 744 of the second locking module 720, the first locking module 730 and the second locking module 740 are caught by the protrusion.

That is, referring to FIG. 12C, the

pole pieces

731, 734, 741, and 744 may have a “c” shape, and when such a structure is provided, a strong connection is possible.

According to the connection device 100 to 700 of the present invention, by using the magnetic holding device (1000 to 5000), it is possible to maintain the connection state of the objects strongly without consuming power by the strong magnetic force by the permanent magnet at the time of connection, In the case of separation, by providing a small amount of direct current, the separation can be performed reliably, thereby increasing the reliability of the separation.

13a to 13f are schematic cross-sectional views of a connection device according to another embodiment of the invention, in particular FIG. 13a shows a connected state, FIG. 13b is a side cross-sectional view showing a disconnected state, and also FIGS. 13c to 13f Shows a sectional view along line AA of FIG. 13A.

13A and 13B, the connecting device 800 of the present embodiment includes a holding pole piece 810, a release pole piece 820, a locking module 830, a coil 840, and a control device. It is configured to include (not shown).

13C to 13F, the holding pole piece 810 is disposed on the side of the first object 10 or the second object 20, which in this embodiment illustrates the arrangement on the first object 10. . The holding pole piece 810 is made of a ferromagnetic material such as iron, and has at least two holding surfaces 811 magnetically connected to each other. In the present embodiment, three holding surfaces 811 are provided.

The release pole piece 820 is disposed on the second object 20 side. The release pole piece 820 is made of ferromagnetic material such as iron, and has at least two holding surfaces 821 magnetically connected to each other. In the present embodiment, three holding surfaces 821 are provided.

13A and 13B, the locking module 830 is rotatably fixed to the second object 20 and includes a locking portion 831 formed to be caught by the first object 10. As shown in FIG. 13A, when the holding pole piece 810 holds the locking module 830, the locking portion 831 is caught by the first object 10, so that the first object 10 and the second object 20 are connected to each other. And fixed. On the other hand, as shown in FIG. 13B, when the release pole piece 820 pulls the catching module 830 and the catching portion 831 does not catch the first object 10, the first object 10 and the second material 20 are formed. Are not connected to each other and can be separated.

13C to 13F, the locking module 830 includes a first pole piece 832, a second pole piece 833, and a permanent magnet 834.

The first pole piece 832 is a holding pole piece facing the holding surface 811 of the holding pole piece 810 and a release pole facing the holding surface 821 of the release pole piece 820. It has a piece-facing surface 832b, and is made of ferromagnetic material such as iron. The second pole piece 833 is a holding pole piece facing the holding surface 811 of the holding pole piece 810 and a release pole facing the holding surface 821 of the release pole piece 820. It has a piece-facing surface 833b and is made of ferromagnetic material such as iron.

The permanent magnet 834 is disposed so that the N pole contacts the first pole piece 832 and the S pole contacts the second pole piece 833.

The locking module 830 contacts the holding surface 811 of the holding pole piece 810 and the holding pole piece-facing

surfaces

832a and 833a of the locking module 830, and the locking portion 831 has a first contact. A connection-arrangement (arrangement as in FIG. 13A) that is caught on the object 10, and a holding surface 811 of the holding pole piece 810 and a holding pole piece-facing

surface

832a and 833a of the locking module 830 are separated from each other. In addition, the locking portion 831 is rotatable between the separation-arrangement (arrangement as in FIG. 13B) in which the locking portion 831 is not caught by the first object 10.

Meanwhile, in the present embodiment, it should be noted that one first pole piece 832, two second pole pieces 833, and two permanent magnets 834 are provided only as an example. One or more first pole pieces 832, second pole pieces 833, and permanent magnets 834 may be provided.

The coil 840 is wound around at least one of the holding pole piece 810, the first pole piece 832, and the second pole piece 833. One or more coils 840 may be provided. However, even if one coil 840 is provided in the first pole piece 832, the coil 840 is sufficient to change the connection state and the disconnection state.

As in the present embodiment, the coil 840 is preferably disposed near the portion where the N pole of the permanent magnet 834 is in contact with the first pole piece 832, so that the magnetic flow is easily controlled. Further, the coil 840 is preferably disposed between the permanent magnet 834 and the holding pole piece-facing surface 832a in that the peeling from the connected state as shown in FIGS. 13A and 13C is easy.

Naturally, the coil 840 may have a configuration other than that illustrated in this embodiment. For example, the coil 840 may be disposed between the permanent magnet 834 and the release pole piece-facing surface 832b to facilitate peeling from a separation state such as FIGS. 13B and 13E, and may be released. It may also be disposed on the pole piece 820.

That is, the number of coils 840 may be set in various ways. Larger number of coils 840 may reduce the amount of current applied per coil 840 for control of magnetic flow, but the device is complex. Conversely, a small number of coils 840 increases the amount of current applied to the coils 840 for control of magnetic flow, but the apparatus is simplified.

For example, when the connecting device 800 of the present embodiment is used as the connecting device of the multi-stage projectile device connecting adjacent projectiles, the transition from the connected state to the disconnected state is more important, so that the coil 840 is implemented in this embodiment. It may be desirable to be disposed between the holding pole piece 810 and the permanent magnet 834 as in the example.

The control device is connected to the coil 840 to control the current supplied to the coil 840, thereby controlling the switching between the connected state as shown in FIG. 13A and the disconnected state as shown in FIG. 13B.

Hereinafter, referring to FIGS. 13C to 13F, the operating principle of the connection device 800 of the present embodiment will be described.

Referring to FIG. 13C, even if a current is not applied to the coil 840 by the magnetic force generated from the permanent magnet 834, the latching module 830 is attached to the holding pole piece 810, and thus, a connection module as shown in FIG. 13A is connected. Placement is achieved. That is, the first object 10 and the second object 20 are in a connected state, and the connected state cannot be easily released by attraction due to magnetic flow such as a dotted line.

In order to release the connection state, a current is applied to the coil 840 as shown in FIG. 13D. When a current as shown in FIG. 13D is applied to the coil 840, the magnetic flow as in the dotted line in FIG. 13C is weakened, and the magnetic flow proceeds to the release pole piece-facing

surfaces

832b and 833b. Accordingly, the attractive force between the holding pole piece 810 and the locking module 830 is weakened, and the attractive force between the locking module 830 and the release pole piece 820 is strengthened.

When the amount of current applied to the coil 840 as shown in FIG. 13D exceeds a predetermined amount, the locking module 830 is separated from the holding pole piece 810 and attached to the release pole piece 820 as shown in FIG. 13E. The catch module 830 is made to separate-place as shown in FIG. 13B. After attachment, a magnetic flow such as a dotted line is formed, and this state is maintained even when the application of current to the coil 840 is blocked.

In order to change to the same state as in FIG. 13C, the magnetic flow in FIG. 13E may be reduced by applying a current to the coil 840 as in FIG. 13F. At this time, the direction of the current applied to the coil 840 is opposite to that of FIG. 13D.

According to the connection device 800 of the present embodiment, the connection state and the disconnection state can be switched by a small amount of current applied to the coil 840, and power is not consumed in the maintenance of the connection state and the disconnection state. There is an inexpensive advantage.

14a to 14f are schematic cross-sectional views of a connection device according to another embodiment of the invention, in particular FIG. 14a shows a connected state, FIG. 14b is a side sectional view showing a disconnected state, and also FIGS. 14f is a cross-sectional view taken along the line AA of FIG. 14A.

14A and 14B, the connection device 900 of the present embodiment includes a pair of holding pole pieces 910, a release module 920, a locking module 930, a coil 940, And a control device (not shown).

Referring to FIGS. 14C-14F, the holding pole piece 910 is disposed on the first object 10 or the second object 20 side, which is illustrated in this embodiment as being disposed on the first object 10. . The holding pole piece 910 is made of ferromagnetic material such as iron, and has at least two holding surfaces 911 magnetically connected to each other. In this embodiment, three holding surfaces 911 are provided.

The release module 920 is disposed on the side of the second object 20 and has at least two release pole pieces 921. The release pole piece 921 is made of a ferromagnetic material such as iron, and has a pair of holding surfaces 922 magnetically connected to each other. In this embodiment, three release pole pieces 921 are provided.

14A and 14B, the locking module 930 is rotatably fixed to the second object 20 and includes a locking portion 931 formed to be caught by the first object 10. As shown in FIG. 14A, when the holding pole piece 910 holds the locking module 930, the locking portion 931 is caught by the first object 10 so that the first object 10 and the second object 20 are connected to each other. And fixed. On the other hand, as shown in FIG. 14B, when the release module 920 pulls the catching module 930 and the catching portion 931 does not catch the first object 10, the first object 10 and the second object 20 are Not connected to each other can be separated.

14C to 14F, the locking module 930 includes a first pole piece 932, a second pole piece 933, and a permanent magnet 934.

The first pole piece 932 is a holding pole piece facing the holding face 911 of the holding pole piece 910-an opposing face 932a and a release module facing the holding face 922 of the release module 920. It has an opposing surface 932b and is made of ferromagnetic material such as iron. The second pole piece 933 is a holding pole piece facing the holding surface 911 of the holding pole piece 910-an opposing surface 933 a and a release module facing the holding surface 922 of the release module 920. It has an opposing surface 933b and is made of ferromagnetic material such as iron.

The permanent magnet 934 is disposed such that the N pole contacts the first pole piece 932 and the S pole contacts the second pole piece 933.

In the locking module 930, the holding face 911 of the holding pole piece 910 and the holding pole piece-facing

surfaces

932a and 933a of the locking module 930 come into contact with each other, and the locking part 931 makes a first contact. The connection-arrangement (arrangement as in FIG. 14A) that hangs on the object 10, and the holding surface 911 of the holding pole piece 910 and the holding pole pieces-facing

surfaces

932a and 933a of the locking module 930 are spaced apart. In addition, the locking portion 931 is rotatable between the separation-arrangement (arrangement as shown in FIG. 14B) in which the locking portion 931 does not catch the first object 10.

The holding surface 922 of each of the release pole pieces 921 includes the release module-facing surface 932b and the locking module 930 of the first pole piece 932 of any one of the locking modules 930. ) Face each of the release module-facing surface 933b of the other second pole piece 933, and each holding surface 922 of the other one of the release pole pieces 921 includes a locking module 930. The release module-facing surface 933b of one of the second pole pieces 933 and the release module-facing surface 932b of the other first pole piece 932 of the locking module 930 respectively face each other. .

In other words, the first pole piece 932 and the second pole piece 933 face the holding surface 922 of the release pole piece 921, respectively.

Meanwhile, in this embodiment, one first pole piece 932, two second pole pieces 933, and two permanent magnets 934 are provided for one of the locking modules 930, and the other one of the locking modules 930 is provided. It should be noted that it is merely an example that one second pole piece 933, two first pole pieces 932 and two permanent magnets 934 are provided for the module 930. One or more first pole pieces 932, second pole pieces 933, and permanent magnets 934 may be provided with respect to one locking module 930.

The coil 940 is wound around at least one of the first pole piece 932 and the second pole piece 933 for each latch module 930. One or more coils 940 may be provided for each locking module 930, and one coil may be connected to the first pole piece 932 as shown in the locking module 930 of FIGS. 14C to 14F. It is enough to change the state and separation state. In addition, two first pole pieces 932 may be provided, respectively, like the locking module 930 on the right side.

As in the present embodiment, the coil 940 is preferably disposed near the portion where the N pole of the permanent magnet 934 is in contact with the first pole piece 932 because it is easy to control the magnetic flow. Further, the coil 940 is preferably disposed between the permanent magnet 934 and the holding pole piece-facing surface 932a in that the peeling from the connected state as shown in FIGS. 14A and 14C is easy.

Naturally, the coil 940 may be disposed in addition to the locking module 930. As in this embodiment, the coil 940 may be disposed between the permanent magnet 934 and the release module-facing surface 932b to facilitate stripping from a separate state such as FIGS. 14B and 14E. It may also be arranged on the release pole piece 921.

That is, the number of coils 940 may be set in various ways. A larger number of coils 940 can reduce the amount of current applied per coil 940 for control of magnetic flow, but the device is complex. Conversely, a small number of coils 940 increases the amount of current applied to the coils 940 for controlling the magnetic flow, but the apparatus is simplified.

For example, when the connecting device 900 of the present embodiment is used as a connecting device of a multi-stage projectile device connecting adjacent projectiles, the transition from the connected state to the disconnected state is more important, so that the coil 940 is a holding pole. It would be desirable to be disposed between the piece 910 and the permanent magnet 934.

The control device is connected to the coil 940 to control the current supplied to the coil 940, thereby controlling the switching between the connected state as shown in FIG. 14A and the disconnected state as shown in FIG. 14B.

Hereinafter, with reference to Figs. 14c to 14f, the operating principle of the connecting device 900 of the present embodiment will be described.

Referring to FIG. 14C, even if a current is not applied to the coil 940 by the magnetic force generated from the permanent magnet 934, the locking module 930 is attached to the holding pole piece 910 and connected as shown in FIG. 14A. Placement is achieved. That is, the first object 10 and the second object 20 are in a connected state, and the connected state cannot be easily released by attraction due to magnetic flow such as a dotted line.

To release this connection, a current is applied to the coil 940 as shown in FIG. 14D. When a current as shown in FIG. 14D is applied to the coil 940, the magnetic flow as shown by the dotted line in FIG. 14C is weakened, and the magnetic flow proceeds to the release module-facing

surfaces

932b and 933b. Accordingly, the attraction between the holding pole piece 910 and the locking module 930 is weakened, and the attraction between the locking module 930 and the release module 920 is strengthened.

If the amount of current applied to the coil 940 as shown in FIG. 14D exceeds a predetermined amount, the locking module 930 is separated from the holding pole piece 910 and attached to the release module 920 as shown in FIG. Module 930 is to achieve a split-batch as shown in FIG. 14B. After attachment, a magnetic flow such as a dotted line is formed, and this state is maintained even when the application of current to the coil 940 is blocked.

In order to change to the same state as in FIG. 14C, the magnetic flow in FIG. 14E may be reduced by applying a current to the coil 940 as in FIG. 14F. At this time, the direction of the current applied to the coil 940 is opposite to that of FIG. 14D.

According to the connection device 900 of the present embodiment, the connection state and the disconnection state can be switched by a small amount of current applied to the coil 840, and power is not consumed in the maintenance of the connection state and the disconnection state. There is an inexpensive advantage.

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

Claims

A connection device switchable between a connection state connecting a first object and a second object and a disconnection state not connecting the first object and the second object,

A holding module disposed at the side of the first object or the second object, the holding module having a holding surface and configured to control a magnetic flow passing through the holding surface;

A locking module rotatably fixed to the second object and having a holding module-facing surface facing the holding surface of the holding module, the holding module-facing surface being made of at least a magnetic material and having a locking portion;

Release means for providing a force away from the holding module; And

A control device connected to the holding module to control a magnetic flow passing through the holding surface of the holding module; Including,

The locking module includes a connection-arrangement in which the holding surface of the holding module and the holding module-facing surface of the locking module come into contact with each other and the locking portion is caught by the first object, the holding surface of the holding module and the locking module. The holding module of the opposing surface is spaced apart and the locking portion is rotatable between the separation-disposition not to be caught by the first object,

The holding module may include at least one permanent magnet, a plurality of pole pieces made of a magnetic body to form a path of magnetic flow generated by the at least one permanent magnet, and a path of magnetic flow formed by the plurality of pole pieces. At least one coil disposed to pass through,

The plurality of pole pieces and the permanent magnet may be configured such that a magnetic flow of the closed path and the closed path are not formed by minimizing the strength of the magnetic flow passing through the holding surface by circulating the magnetic flow inside the holding module. Disposed to form an open path that maximizes the strength of magnetic flow through the holding surface,

The at least one coil is disposed at a position capable of switching between the closed path and the open path, and receives current from the control device,

When the holding module forms the open path, the locking module is positioned in the connection-placement by holding on the holding module, and when the holding module forms the closing path, the locking module is connected to the release means. Positioned in the separation-placement by

And the control device controls the switching between the connected state and the disconnected state by controlling the current in the coil.
According to claim 1,

The release means has a holding surface and is configured to control the magnetic flow passing through the holding surface,

The locking module is further provided with a release means-facing surface so as to face the holding surface of the release means, the release means-facing surface made of at least a magnetic material,

The release means may include at least one permanent magnet, a plurality of pole pieces formed of a magnetic body to form a path of magnetic flow generated by the at least one permanent magnet, and a path of magnetic flow formed by the plurality of pole pieces. At least one coil disposed to pass through,

The plurality of pole pieces and the permanent magnet of the release means are characterized in that the magnetic flow of the closing path and the closed path minimizes the strength of the magnetic flow through the holding surface of the release means by circulating inside the release means. Not formed so as to form an open path that maximizes the strength of magnetic flow through the holding surface of the release means,

At least one coil of the release means is disposed at a position capable of switching between the closed path and the open path, and receives current from the control device,

When the magnetic flow of the locking module forms the closed path, and when the magnetic flow of the release means forms the open path, the locking means is brought into contact with the release means-facing surface of the locking module and the holding surface of the release means. And a module is located in said connection-placement.
According to claim 1,

The holding module,

N pole piece formed of a holding surface and a contact surface and is a ferromagnetic material,

S-pole piece formed of a holding surface and a contact surface and is a ferromagnetic material,

A permanent magnet disposed so that the N pole contacts the N pole piece and the S pole contacts the S pole piece;

A base pole piece that is movable and ferromagnetic so as to be in contact and spaced apart from the contact surface of the N pole piece and the contact surface of the S pole piece;

And a coil disposed on at least one of the N pole piece, the S pole piece, and the base pole piece.
The method of claim 3, wherein

The latch module,

Holding Module-N-Piece with Ferromagnetic Body

Holding module-S-pole piece formed with opposing surface and ferromagnetic,

A permanent magnet disposed so that the N pole contacts the N pole piece and the S pole contacts the S pole piece,

The holding face of the N pole piece of the holding module and the holding module-facing face of the S pole piece of the locking module face each other, the holding face of the S pole piece of the holding module and the holding face of the N pole piece of the locking module. The locking module is arranged such that opposing surfaces face each other.
The method of claim 4, wherein

The release means,

A N pole piece having a holding surface and a contact surface and being ferromagnetic,

S-pole piece formed of a holding surface and a contact surface and is a ferromagnetic material,

A permanent magnet disposed so that the N pole contacts the N pole piece and the S pole contacts the S pole piece;

A base pole piece that is movable and ferromagnetic so as to be in contact and spaced apart from the contact surface of the N pole piece and the contact surface of the S pole piece;

A coil disposed on at least one of the N pole piece, the S pole piece, and the base pole piece,

N pole pieces of the locking module and S pole piece of the locking module are respectively provided with a release means-facing surface,

The holding surface of the N pole piece of the release means and the release means-facing surface of the S pole piece of the engagement module face each other, the holding surface of the S pole piece of the release means and the release means of the N pole piece of the engagement module. The release means are arranged such that the opposing faces face each other,

And the control device is connected to the coil of the release means to control a current applied to the coil of the release means.
According to claim 1,

The holding module is disposed fixed to the second object,

The first object has a protrusion protruding in the direction of the second object, the protrusion is formed with a recess or an insertion hole,

And the locking portion is configured to be caught by the protrusion by being inserted into the recess or the insertion hole, and not to be caught by the protrusion by being separated from the recess or the insertion hole.
The method of claim 6,

The holding module, the locking module and the release means are arranged so that at least two sets are arranged such that the locking module is caught by the protrusion at at least two points.
The method of claim 6,

The second object is formed with an insertion portion surrounding the projection, the projection is configured to be separated from the first object and the second object by sliding the insertion portion.
According to claim 1,

The holding module,

A first N-pole piece having a holding surface and a contact surface and being ferromagnetic, a first S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole in contact with the first N-pole piece, the first S-pole piece A first pole piece assembly including a first permanent magnet disposed to be in contact with the S pole;

A second N-pole piece having a holding surface and a contact surface and being ferromagnetic, a second S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole contacting the second N-pole piece and the second S-pole piece And a second permanent magnet disposed to contact the S pole, wherein the contact surface of the second S pole piece is disposed to face the contact surface of the first N pole piece, and the contact surface of the second N pole piece is formed in the first contact. A second pole piece assembly disposed to face the contact surface of the first S pole piece; And

At least one first coil disposed to affect at least one of a magnetic flow passing through the holding surface of the first N-pole piece and a magnetic flow passing through the holding surface of the second S-pole piece; At least one second coil disposed to affect at least one of a magnetic flow passing through the holding surface of the first S-pole piece and a magnetic flow passing through the holding surface of the second N-pole piece; At least one of

At least one of the first pole piece assembly and the second pole piece assembly may have a contact surface of the first N pole piece and a contact surface of the second S pole piece spaced apart from each other, The first arrangement in which the contact surfaces of the second N-pole pieces are spaced apart from each other, and the contact surface of the first N-pole piece and the contact surface of the second S-pole piece are in contact with each other, and the contact surface of the first S-pole piece and the second Is configured to be movable so that the contact surfaces of the N pole pieces switch between the second arrangements in contact with each other,

The control device controls the magnetic flow passing through the first coil and the second coil by adjusting currents applied to the first coil and the second coil, thereby providing the first pole piece assembly and the second coil. And the pole piece assembly is switchable between the first arrangement and the second arrangement, thereby controlling the magnetic flow through the holding surfaces of the first pole piece assembly and the second pole piece assembly.
The method of claim 9,

The holding module,

A first connection pole piece having a holding surface and a contact surface and being ferromagnetic; And

A second connecting pole piece having a holding surface and a contact surface and being ferromagnetic; More,

The contact surface of the first connecting pole piece is disposed to face the holding surface of the first N pole piece, the contact surface of the second connecting pole piece is disposed to face the holding surface of the first S pole piece,

The first connection pole piece, the second connection pole piece and the second pole piece assembly are fixed, and the first pole piece assembly is the first connection pole piece / the second connection pole piece and the second pole piece. Moveable between assemblies,

When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding surfaces of the first pole piece assembly and the contact surfaces of the first connecting pole piece and the second connecting pole piece Respectively contacting and when the first pole piece assembly and the second pole piece assembly are arranged in the second arrangement, the holding surfaces of the first pole piece assembly and the first connecting pole piece and the second connecting pole. The first connecting pole piece and the second connecting pole piece are arranged such that the contact surfaces of the pieces are respectively spaced apart,

When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, holding surfaces of the second pole piece assembly and holding surfaces of the first connection pole piece and the second connection pole piece. The locking module is held on any one of the holding surfaces, and the locking module is disposed from any one of the holding surfaces when the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement. Holding surfaces of the second pole piece assembly and the first connecting pole when the holding module is configured to be released or when the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement. When the locking module is held on the holding surfaces of the piece and the second connecting pole piece, and the first pole piece assembly and the second pole piece assembly are arranged in the second arrangement, And the holding module is configured to release the locking module from the holding surfaces of the second pole piece assembly and the holding surfaces of the first connecting pole piece and the second connecting pole piece.
The method of claim 9,

The holding module,

A third N-pole piece having a holding surface and a contact surface and being ferromagnetic; a third S-pole piece having a holding surface and a contact surface and being ferromagnetic; and an N-pole contacting the third N-pole piece and contacting the third S-pole piece. And a third permanent magnet disposed to contact the S pole, wherein the contact surface of the third S pole piece is disposed to face the holding surface of the first N pole piece, and the contact surface of the third N pole piece is disposed on the contact surface of the third N pole piece. And a third pole piece assembly disposed to face the holding surface of the first S pole piece,

The second pole piece assembly and the third pole piece assembly are fixed, the first pole piece assembly is movable between the second pole piece assembly and the third pole piece assembly,

When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding surfaces of the N pole pieces of the first pole piece assembly and the contact surfaces of the third pole piece assembly contact each other, When the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement, the third pole so that the holding surfaces of the first pole piece assembly and the contact surfaces of the third pole piece assembly are spaced apart from each other. Piece assembly is placed,

When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding module is configured to hold the engaging module on the holding surfaces of the second pole piece assembly, or the first And the holding module is configured to hold the locking module on holding surfaces of the third pole piece assembly when the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement.
A connection device switchable between a connection state connecting a first object and a second object and a disconnection state not connecting the first object and the second object,

A holding module disposed on the second object side, the holding module having a holding surface and configured to control magnetic flow passing through the holding surface;

A locking module disposed to be in contact with and spaced apart from the holding surface of the holding module, the locking module including an intermediate pole piece that is a magnetic material, and a locking member rotatably fixed to the intermediate pole piece and the second object and having a locking part;

Release means for providing a force to move the intermediate pole piece away from the holding surface; And

A control device connected to the holding module to control a magnetic flow passing through the holding surface of the holding module; Including,

A connection-placement in which the holding surface of the holding module and the intermediate pole piece are in contact with each other and the locking portion is caught by the first object, and the holding surface of the holding module and the connecting pole piece are spaced apart from each other, and the locking portion is The locking member is rotatably fixed to the intermediate pole piece and the second object so as to be switchable between the separation-disposition not to be caught by the first object,

The holding module may include at least one permanent magnet, a plurality of pole pieces made of a magnetic body to form a path of magnetic flow generated by the at least one permanent magnet, and a path of magnetic flow formed by the plurality of pole pieces. At least one coil disposed to pass through,

The plurality of pole pieces and the permanent magnet may be configured such that a magnetic flow of the closed path and the closed path are not formed by minimizing the strength of the magnetic flow passing through the holding surface by circulating inside the holding module. Disposed to form an open path that maximizes the strength of magnetic flow through the holding surface,

The at least one coil is disposed at a position capable of switching between the closed path and the open path, and receives current from the control device,

When the holding module forms the open path, the connecting pole is formed by holding the intermediate pole piece in the holding module, and the intermediate pole piece is the release means when the holding module forms a blocking path. The separation-batches are formed by being spaced apart from the holding module by

The control device controls the switching between the connected state and the disconnected state by controlling the current in the coil.
The method of claim 12,

The first object has a protrusion protruding in the direction of the second object, the protrusion is formed with a recess or an insertion hole,

And the locking portion is configured to be caught by the protrusion by being inserted into the recess or the insertion hole, and not to be caught by the protrusion by being separated from the recess or the insertion hole.
The method of claim 12,

The holding module,

N pole piece formed of a holding surface and a contact surface and is a ferromagnetic material,

S-pole piece formed of a holding surface and a contact surface and is a ferromagnetic material,

A permanent magnet disposed so that the N pole contacts the N pole piece and the S pole contacts the S pole piece;

A base pole piece that is movable and ferromagnetic so as to be in contact and spaced apart from the contact surface of the N pole piece and the contact surface of the S pole piece;

And a coil disposed on at least one of the N pole piece, the S pole piece, and the base pole piece.
The method of claim 12,

The holding module,

A first N-pole piece having a holding surface and a contact surface and being ferromagnetic, a first S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole in contact with the first N-pole piece, the first S-pole piece A first pole piece assembly including a first permanent magnet disposed to be in contact with the S pole;

A second N-pole piece having a holding surface and a contact surface and being ferromagnetic, a second S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole contacting the second N-pole piece and the second S-pole piece And a second permanent magnet disposed to contact the S pole, wherein the contact surface of the second S pole piece is disposed to face the contact surface of the first N pole piece, and the contact surface of the second N pole piece is formed in the first contact. A second pole piece assembly disposed to face the contact surface of the first S pole piece; And

At least one first coil disposed to affect at least one of a magnetic flow passing through the holding surface of the first N-pole piece and a magnetic flow passing through the holding surface of the second S-pole piece; At least one second coil disposed to affect at least one of a magnetic flow passing through the holding surface of the first S-pole piece and a magnetic flow passing through the holding surface of the second N-pole piece; At least one of

At least one of the first pole piece assembly and the second pole piece assembly may have a contact surface of the first N pole piece and a contact surface of the second S pole piece spaced apart from each other, The first arrangement in which the contact surfaces of the second N-pole pieces are spaced apart from each other, and the contact surface of the first N-pole piece and the contact surface of the second S-pole piece are in contact with each other, and the contact surface of the first S-pole piece and the second Is configured to be movable so that the contact surfaces of the N pole pieces switch between the second arrangements in contact with each other,

The control device controls the magnetic flow passing through the first coil and the second coil by adjusting currents applied to the first coil and the second coil, thereby providing the first pole piece assembly and the second coil. And the pole piece assembly is switchable between the first arrangement and the second arrangement, thereby controlling the magnetic flow through the holding surfaces of the first pole piece assembly and the second pole piece assembly.
The method of claim 15,

The holding module,

A first connection pole piece having a holding surface and a contact surface and being ferromagnetic; And

A second connecting pole piece having a holding surface and a contact surface and being ferromagnetic; More,

The contact surface of the first connecting pole piece is disposed to face the holding surface of the first N pole piece, the contact surface of the second connecting pole piece is disposed to face the holding surface of the first S pole piece,

The first connection pole piece, the second connection pole piece and the second pole piece assembly are fixed, and the first pole piece assembly is the first connection pole piece / the second connection pole piece and the second pole piece. Moveable between assemblies,

When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding surfaces of the first pole piece assembly and the contact surfaces of the first connecting pole piece and the second connecting pole piece Respectively contacting and when the first pole piece assembly and the second pole piece assembly are arranged in the second arrangement, the holding surfaces of the first pole piece assembly and the first connecting pole piece and the second connecting pole. The first connecting pole piece and the second connecting pole piece are arranged such that the contact surfaces of the pieces are respectively spaced apart,

When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, holding surfaces of the second pole piece assembly and holding surfaces of the first connection pole piece and the second connection pole piece. The intermediate pole piece is held on any one of the holding surfaces, and when the first pole piece assembly and the second pole piece assembly are arranged in the second arrangement, the intermediate pole piece is separated from the one of the holding surfaces. If the holding module is configured to release the pole piece, or if the first pole piece assembly and the second pole piece assembly are arranged in the first arrangement, the holding surfaces of the second pole piece assembly and the first When the intermediate pole piece is held on the holding surfaces of the connecting pole piece and the second connecting pole piece, and the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement, Group a second pole piece assembly holding surface and the first connection pole piece and the second pole connected to the intermediate pole piece is to be the holding module so that the release arrangement, the connecting device from the holding surface of the piece.
The method of claim 15,

The holding module,

A third N-pole piece having a holding surface and a contact surface and being ferromagnetic; a third S-pole piece having a holding surface and a contact surface and being ferromagnetic; and an N-pole contacting the third N-pole piece and contacting the third S-pole piece. And a third permanent magnet disposed to contact the S pole, wherein the contact surface of the third S pole piece is disposed to face the holding surface of the first N pole piece, and the contact surface of the third N pole piece And a third pole piece assembly disposed to face the holding surface of the first S pole piece,

The second pole piece assembly and the third pole piece assembly are fixed, the first pole piece assembly is movable between the second pole piece assembly and the third pole piece assembly,

When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding surfaces of the N pole pieces of the first pole piece assembly and the contact surfaces of the third pole piece assembly contact each other, When the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement, the third pole so that the holding surfaces of the first pole piece assembly and the contact surfaces of the third pole piece assembly are spaced apart from each other. Piece assembly is placed,

When the first pole piece assembly and the second pole piece assembly are disposed in the first arrangement, the holding module is configured to hold the intermediate pole piece on the holding surfaces of the second pole piece assembly, or And the holding module is configured to hold the intermediate pole piece on the holding surfaces of the third pole piece assembly when the first pole piece assembly and the second pole piece assembly are disposed in the second arrangement.
The method of claim 12,

And the release means is a spring.
A connection device switchable between a connection state connecting a first object and a second object and a disconnection state not connecting the first object and the second object,

A first N-pole piece having a holding surface and a contact surface and being ferromagnetic, a first S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole in contact with the first N-pole piece, the first S-pole piece A first permanent magnet disposed so that the S pole is in contact with the first pole, a first base pole piece which is in contact with the contact surface of the first N pole piece and the contact surface of the first S pole piece, and is a ferromagnetic material, the first N pole piece, A first holding module including a first coil disposed on at least one of the first S pole piece and the first base pole piece and fixed to the second object;

A second N-pole piece having a holding surface and a contact surface and being ferromagnetic, a second S-pole piece having a holding surface and a contact surface and being ferromagnetic, and an N pole contacting the second N-pole piece and the second S-pole piece A second permanent magnet disposed so that the S pole contacts the second pole, a second base pole piece which is in contact with the contact surface of the second N pole piece and the contact surface of the second S pole piece, and is a ferromagnetic material, the second N pole piece, A second holding module including a second coil disposed on at least one of the second S pole piece and the second base pole piece and fixed to the second object;

A third N pole piece formed with a first surface and a second surface and being ferromagnetic, a third S pole piece formed with a first surface and a second surface, and a ferromagnetic material, and an N pole contacting the third N pole piece; A first latching module including a third permanent magnet disposed so that the S pole contacts the third S pole piece;

A fourth N-pole piece having a first surface and a second surface and being ferromagnetic, a fourth S pole piece having a first surface and a second surface being ferromagnetic, and an N pole contacting the fourth N pole piece, And a fourth permanent magnet disposed so that the S pole contacts the fourth S pole piece, wherein the first surface of the fourth N pole piece faces the first surface of the third S pole piece and is located in the fourth S pole piece. A first latching module disposed on the first surface of the pole piece to face the first surface of the third N pole piece; And

A control device for controlling a current applied to at least one of the first coil and the second coil; Including;

The first object has a protrusion projecting in the direction of the second object,

The first catching module and the second catching module are disposed to be movable between a first arrangement in contact with each other and a second arrangement spaced apart from each other,

In the first arrangement, the holding surface of the first N-pole piece and the second surface of the third S-pole piece are spaced apart from each other, and the holding surface of the first S-pole piece and the second surface of the third N-pole piece. The surfaces are spaced apart from each other, and the holding surface of the second N-pole piece and the second surface of the fourth S-pole piece are spaced apart from each other, and the holding surface of the second S-pole piece and the second surface of the fourth N-pole piece. The surfaces are spaced apart from each other, and in the second arrangement, the holding surface of the first N-pole piece and the second surface of the third S-pole piece are in contact with each other, and the holding surface of the first S-pole piece and the third surface are in contact with each other. The second surface of the N pole piece is in contact with each other, and the holding surface of the second N pole piece and the second surface of the fourth S pole piece are in contact with each other, and the holding surface of the second S pole piece and the fourth surface are in contact with each other. The first holding module and the second holding module are disposed such that the second surfaces of the N pole pieces contact each other.

And the first locking module and the second locking module are caught by the protrusion in the first arrangement, and the first locking module and the second locking module are not caught by the protrusion in the second arrangement.
The method of claim 14,

The protrusion is formed with a depression,

In the first arrangement, the first locking module and the second locking module are in contact with each other to surround the protrusion, and the pole pieces of the first locking module and the second locking module are inserted into the recess, And the first catching module and the second catching module are caught by the protrusion.
A connection device switchable between a connection state connecting a first object and a second object and a disconnection state not connecting the first object and the second object,

A holding pole piece disposed on the first object or the second object side and having at least two holding surfaces magnetically connected to each other;

A release pole piece disposed on the second object side and having at least two holding surfaces magnetically connected to each other;

A first pole piece having a holding pole piece-facing surface and a release pole piece-facing surface and made of a ferromagnetic material, a second pole piece having a holding pole piece-facing surface and a release pole piece-facing surface and made of a ferromagnetic material; It includes a permanent magnet disposed so that the N pole is in contact with the first pole piece and the S pole is in contact with the second pole piece, and has a locking portion formed to be caught by the first object, and rotates on the second object A catch module that is possibly fixed;

At least one coil wound around at least one of the holding pole piece, the first pole piece and the second pole piece; And

A control device connected to the coil to control a current supplied to the coil; Including,

The locking module may include a connection-arrangement in which the holding surface of the holding pole piece and the holding pole piece-facing surface of the locking module are in contact with each other and the locking portion is caught by the first object, and the holding surface of the holding pole piece is connected to the holding surface of the holding pole piece. The holding pole piece-facing surface of the locking module is spaced apart, and the locking portion is rotatable between the separation-array not caught by the first object,

And the control device controls the switching between the connected state and the disconnected state by controlling the current in the coil.
The method of claim 21,

And the holding module has three holding surfaces, the release module has three holding surfaces, and the locking module has one first pole piece and two second pole pieces.
The method of claim 21,

And the coil is disposed on at least one of the first pole piece and the second pole piece and is also disposed between the permanent magnet and the holding pole piece-facing surface.
The method of claim 21,

The coil is a first coil,

And a second coil wound around the release pole piece.
A connection device switchable between a connection state connecting a first object and a second object and a disconnection state not connecting the first object and the second object,

A pair of holding pole pieces disposed on the side of the first object or the second object and having at least two holding surfaces magnetically connected to each other;

A release module disposed on the second object side and having at least two release pole pieces made of ferromagnetic material having a pair of holding surfaces;

A first pole piece having a holding pole piece facing face and a release module facing face and made of ferromagnetic material, a second pole piece having a holding pole piece facing face and a release module facing face and made of ferromagnetic material; It includes a permanent magnet disposed so that the N pole is in contact with the first pole piece and the S pole is in contact with the second pole piece, and has a locking portion formed to be caught by the first object, and rotatable to the second object. A pair of locking modules fixed;

A coil wound around at least one of the first pole piece and the second pole piece; And

A control device connected to the coil to control magnetic flow by supplying current to the coil; Including,

Each holding surface of any one of the release pole pieces may include a release module-facing surface of one of the first pole pieces of the catching module and a release module-facing surface of the second pole piece of the other one of the catching modules. Each holding surface facing each other, the holding surface of the other one, respectively, and the release module-facing surface of the second pole piece of any one of the locking module and the release module-facing surface of the other first pole piece of the locking module, respectively Face to face,

The locking module may include a connection-arrangement in which the holding surface of the holding pole piece and the holding pole piece-facing surface of the locking module are in contact with each other, and the locking portion is caught by the first object, and the holding surface of the holding pole piece is provided. The holding pole piece-facing surface of the locking module is spaced apart, and the locking portion is rotatable between the separation-array not caught by the first object,

And the control device controls the switching between the connected state and the disconnected state by controlling the current in the coil.
The method of claim 25,

The holding module has three holding surfaces, the release module has three release pole pieces, and one of the catching modules has one first pole piece and two second pole pieces; And another one of said catching modules comprises two said first pole pieces and one said second pole piece.
The method of claim 25,

And a coil wound around the release pole piece.
The method of claim 25,

And the holding surfaces of the release module are all magnetically connected to one another.
A multi-stage projectile device comprising a connecting device according to any one of claims 1, 12, 19, 21, and 25, to which adjacent projectiles are connected.