WO2016138915A1 - Spanneinrichtung und verwendung einer spanneinrichtung - Google Patents
Spanneinrichtung und verwendung einer spanneinrichtung Download PDFInfo
- Publication number
- WO2016138915A1 WO2016138915A1 PCT/EP2015/000488 EP2015000488W WO2016138915A1 WO 2016138915 A1 WO2016138915 A1 WO 2016138915A1 EP 2015000488 W EP2015000488 W EP 2015000488W WO 2016138915 A1 WO2016138915 A1 WO 2016138915A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- clamping
- contact means
- magnetic
- support
- support means
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B1/00—Vices
- B25B1/06—Arrangements for positively actuating jaws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B1/00—Vices
- B25B1/24—Details, e.g. jaws of special shape, slideways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B5/00—Clamps
- B25B5/06—Arrangements for positively actuating jaws
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B5/00—Clamps
- B25B5/16—Details, e.g. jaws, jaw attachments
- B25B5/163—Jaws or jaw attachments
Definitions
- the invention relates to a clamping device for temporarily fixing a clamping object and a use of such a clamping device.
- clamping means which are used to apply workpieces during a transport and / or machining operation with a clamping force. For a temporary fixing of the respective workpiece or clamping object, this is pressed by the clamping means against a contact surface or received between two or more clamping means, which thus grip the workpiece.
- Such clamping means are for example attached to a workpiece table in order to determine a workpiece on a contact surface of the workpiece table can.
- such clamping means on a manipulator in particular in a hand area of an industrial robot, arranged to press a workpiece with a clamping force against a stationary support or to grip the workpiece.
- the workpiece is pressed, for example, by the clamping means against a contact surface on the manipulator or a plurality of oppositely operating clamping means exert gripping forces on the clamping object.
- clamping means on a base body and a contact body, wherein the base body is attached to the workpiece table or on the manipulator and the contact body is formed to rest on the workpiece.
- the contact body is resiliently supported on the base body or at least partially made of an elastically yielding, in particular rubber-elastic, material.
- the object of the invention is to provide a clamping device which allows an improved clamping force transmission to the clamping object.
- the clamping device has at least one contact means, which comprises a first magnetic device and which is designed to apply force to the clamping object, and further comprises a support means which comprises a second magnetic means and the force-transmitting coupling of the at least one contact means with a support assembly is formed, wherein the contact means and the support means are coupled by magnetic interaction between a permanent magnet and a superconductor contactless force-transmitting together and form a, in particular adjustable, working gap with each other.
- a magnetic device for providing a magnetic field as is the case in particular for a permanent magnet, or for providing reaction forces in the presence of an externally impressed magnetic field, as in particular in a superconductor, the or is cooled below its material-specific transition temperature is formed.
- a magnetic device of the clamping device comprises at least one permanent magnet and another magnetic device of the clamping device comprises at least one superconductor.
- the superconductor is conditioned in such a way that it provides a corresponding countermagnetic field, which counteracts the change in the external magnetic field, upon a change in a magnetic field impressed from the outside.
- the contact means is provided with the first magnetic device for a planar contact with a surface of the clamping object to initiate a clamping force on the clamping object.
- Clamping force for a non-positive and / or a positive clamping of the clamping object can be provided.
- the clamping force which is caused by magnetic interaction between the first magnetic device and the second magnetic device, preferably predominantly or exclusively in the normal direction to the surface of the clamping object.
- a frictional force between magnetic device and clamping object which is dependent on a normal force component of the clamping force as well as a coefficient of static friction between the contact means and the clamping object and which is preferably greater than a weight of the clamping object.
- the contact means engages in a recess of the clamping object such that the clamping object can at least partially support its weight on the contact means.
- the first and the second magnetic device are coordinated such that a magnetic interaction between the at least one permanent magnet and the at least one superconductor, is sufficiently large to apply the necessary clamping force for holding or moving the clamping object .
- the first magnetic device comprises one or more permanent magnets
- the second magnetic device preferably comprises one or more superconductors.
- an embodiment of the first magnetic device with one or more superconductors and the second magnetic device with one or more permanent magnets may be provided.
- the superconductor is made of a material that exhibits superconducting properties when cooled to or below a material-specific critical temperature.
- a material-specific critical temperature For the clamping device in this case the effect is exploited that the superconductor with reaching or falling below its critical temperature during the cooling process impressed from the outside magnetic field, so to speak, and counteracts a change in this outer "programmed” magnetic field until the transition temperature is exceeded again.
- YBCO yttrium barium copper oxide
- the at least one permanent magnet of the clamping device which may optionally be assigned to the first or second magnetic device, is provided for the magnetic interaction with the at least one superconductor and is preferably arranged during the cooling of the superconductor at or below the material-specific transition temperature relative to the superconductor he forms a working gap with the superconductor.
- This working gap is a volume of space between the superconductor and the contact agent which, depending on the field of application for the clamping device, tion is filled for example with a fluid such as air, a protective gas or a liquid.
- An expansion of the working gap varies depending on the forces to be transmitted between superconductor and contact means, wherein both a reduction and an increase of the working gap, starting from an extension of the working gap predetermined by the "programming" of the superconductor during the cooling to or below its transition temperature
- the working gap is set at or below its transition temperature during cooling of the superconductor so that a reliable magnetic interaction between superconductor and permanent magnet is ensured and within a provided for the clamping device clamping force interval no mechanical contact between the permanent magnet and Superconductor occurs.
- the contact means in addition to the first magnetic device also comprises a buffer element made of a material which is adapted to the chucking object in an advantageous manner. If, for example, the clamping object has a sensitive surface, a soft material is selected for the buffer element, which allows a force to be transmitted from the contact means to the clamping object without damage to the surface.
- the second magnetic device is formed as part of a support means, which is formed for example as a holder, with the fixing of the second magnetic device to a support assembly such as a hand area of a manipulator, in particular an industrial robot is enabled.
- the support means comprises a mechanical interface such as a mounting surface or a coupling arrangement to allow repeatable positionally accurate attachment to the support assembly.
- the support means relative to the associated contact means a linear movement, a movement on a curved path, in particular a pivoting movement along a circular path, or a superposition of a linear movement and a movement on a curved path, in particular a screwing performs.
- the contact means relative to the support means has exactly one degree of freedom of movement or alternatively several degrees of freedom of movement. Due to the contactless force overlap between the support means and the contact means, even with exactly one degree of freedom of movement, a certain directional balance between the support means and the contact means is possible. This is of particular interest when objects with an irregularly shaped surface are to be gripped.
- the support assembly is associated with an actuator for providing a clamping movement for the contact means.
- an actuator which may be, for example, a fluidic actuator such as a pneumatic cylinder or a hydraulic cylinder, or an electric actuator such as an electric linear direct drive or electric spindle drive, an automated, foreign-force-based provision of the clamping movement and the construction of a Clamping force allows.
- the actuator can be arranged, for example, between the support arrangement and the support means. This arrangement of the actuator is particularly of interest when the support assembly is designed as a machine frame and the clamping device is provided for temporarily fixing the clamping object on the machine frame.
- the actuator may be formed as part of the support assembly, as is the case for example with an arm portion of an industrial robot.
- a contactless force transmission between an actuator, which is associated with the support assembly, and the support means may be provided.
- a movable section of the actuator for example a piston rod of a fluid cylinder, is equipped with a permanent magnet and that the superconductor is "programmed" both on the permanent magnet of the contact means and on the permanent magnet of the actuator.
- the support means and / or the contact means is associated with a third magnetic device with variable magnetic flux, which is designed to influence the magnetic interaction between the support means and contact means.
- a third magnetic device with variable magnetic flux, which is designed to influence the magnetic interaction between the support means and contact means.
- an adjustment of an extension of the working gap between the two magnetic devices, that is the permanent magnet and the superconductor can be achieved in order to allow adaptation to different clamping situations.
- a weakening or amplification of the magnetic interaction between permanent magnet and superconductor can optionally be provided by means of the third magnetic device by providing a corresponding magnetic field.
- the third magnet device can be provided for initiating a translatory movement and / or a rotational movement between the support means and the contact means at a constant working gap.
- a plurality of contact means are arranged on a support means, each of which is movable relative to the support independently of one another with the aid of the third magnet means.
- at least one hollow-cylindrically shaped contact means which surrounds a rod-shaped support means in regions, can be guided linearly movably on the support means.
- the third magnetic device is used for providing a drive movement along a longitudinal axis of the support means in order to allow a displacement of the at least one contact means along this longitudinal axis.
- the third magnet device may be a permanent magnet mounted displaceably relative to the second magnet device, in particular the superconductor. Neten act, which can be approached depending on the requirements to be put on the clamping device on the contact means or removed from this, in order to thereby influence the magnetic interaction between the Mag net Anlagenen the proppant and the contact means to take.
- the third magnet device is designed as an electrical coil and that the third magnet device is associated with a drive device which is designed to provide a coil current to the third magnet device.
- a coil or an arrangement of coils can be achieved in an advantageous manner Be influencing the interaction between the superconductor and the contact means.
- a suitable coil current to the at least one coil is provided by a control device, whereby depending on the mechanical structure and arrangement of the coil and the current direction attenuation or amplification or change of the magnetic interaction between the superconductor and permanent magnet, in particular a setting of the working gap or a Relative movement between the support means and contact means while maintaining the expansion of the working gap, can be achieved.
- control device is associated with a sensor device, which is designed for example as a displacement measuring system to determine an extension of the working gap and / or a position of the contact means relative to the support means.
- control device is equipped with a controller, in particular designed as controller software for a microprocessor of the control device, which regulates the working gap to a predefinable, in particular constant, working state. gap width and / or a relative position of the contact means relative to the support means at a constant working gap allows.
- a plurality of support means are arranged on the support assembly, which are each formed for a magnetic interaction with associated contact means.
- the at least two support means for example, an introduction of clamping forces on the clamping object in the same or different spatial directions, preferably at least two different contact areas of the clamping object allows to thereby enable a particularly reliable determination of the clamping object.
- the movement of the contact means as a pure linear movement, as a pure pivoting movement, in particular on a
- Circular path or be performed as a superposition of a linear movement and a pivoting movement.
- opposing movements of the contact means are provided, so that a trained between the contact means gripping gap can be reduced or increased by simultaneous or temporally successive movements of the contact means.
- a plurality of support means together with the respective associated contact means form a gripping arrangement, in which the support means are arranged aligned on the support assembly in different spatial directions.
- the contact means can be arranged such that the provided tensioning forces are sufficiently large and suitably aligned to support the tensioning object.
- the clamping forces introduced by the contact means on the clamping object lead to a frictional connection and / or a Positive locking between the clamping device and the clamping object, so that a holding force can be exerted on the clamping object, which is at least so large that the clamping object can be held or preferably moved.
- the support means are arranged circularly on the support assembly with extending in the radial direction of force directions.
- the directions of force for the support means associated contact means may be similar, in particular star-shaped, aligned in the radial direction outwards or inwards.
- individual support means have different directions of force directed radially outwards or inwards relative to the associated contact means. It is particularly preferred that the force directions intersect at a common point, which is advantageous, for example, when a sleeve-shaped clamping object is to be gripped on a cylindrical outer surface or a cylindrical inner surface with the aid of the tensioning device.
- the support assembly and / or the support means and / or the contact means is associated with a cooling device.
- the cooling device can be a fluid container which is in heat-conducting coupling with the superconductor and in which a cooling fluid, such as a liquefied gas, is taken whose evaporative cooling holds the superconductor at or below the transition temperature.
- the cooling device can be designed as an electrically operated heat engine, which by supplying electrical energy, the critical temperature of the supra- maintained or permanently fall below.
- a heat engine as
- the support means is designed as a superconductor and / or if the one or more contact means are formed as part of the clamping object.
- the support means as a superconductor, a particularly simple construction of the tensioning device is made possible. Such a construction is possible, for example, when the entire clamping device is operated in an environment in which temperatures are at or below the critical temperature of the superconductor, so that can be dispensed with a thermal decoupling between the superconductor and support assembly, in other embodiments of the clamping device can be ensured by the support means.
- a combination of the at least one contact means with the clamping object is preferably provided that the one or more permanent magnets of the or the contact means are integrated into the clamping object. Such an arrangement is of particular interest when the clamping object is a container or a workpiece carrier with which a material or workpiece is to be conveyed between different processing positions.
- a use of a clamping device according to one of claims 1 to 9 for the introduction of clamping forces on a clamping object is provided.
- a thermally or electrically decoupled gripping a clamping object can be realized because there is no direct connection between the contact means and the support means due to the working column of the respective clamping devices.
- FIG. 1 shows a schematic plan view of a first embodiment of a tensioning device, wherein a support means is assigned to a hand region of a manipulator and a contact means for providing a holding force for fixing a tensioning object to a machine frame is formed, a schematic side view of a second embodiment of a tensioning device, FIG. wherein the support means in each case a coil means for influencing a magnetic interaction between the superconductor and permanent magnet is assigned, a schematic plan view of a third embodiment of a clamping device with three star-shaped support means and each associated contact means a schematic representation of a side view of a fourth embodiment of a clamping device, the is designed as a sheet gripper device,
- FIG. 5 shows a front view of a support means as part of the tensioning device according to FIG. 4, FIG.
- FIG. 6 is a schematic representation of a fifth embodiment of a tensioning device, which is designed as a linear divider
- FIG. 7 shows a schematic illustration of an arrangement of linear actuators according to FIG. 5,
- FIG. 8 is a schematic representation of a sixth embodiment of a tensioning device, in which contact means are received in a linearly movable manner on a guide rod and provided with drive means, FIG.
- FIG. 9 shows a side view of the guide rod according to FIG. 8,
- FIG. 10 shows a side view of one of the contact means according to FIG. 8,
- Figure 11 is a schematic representation of a seventh embodiment of a tensioning device in which a contact means is pivotally mounted about a guide rod.
- Figure 12 is a front view of the contact means according to the fi gure 11 and
- Figure 13 is a front view of the guide rod according to the
- a first embodiment of a tensioning device 1 shown schematically in FIG. 1 comprises a support means 2 and a contact means 3 which are defined by a working gap 4. spaced apart from each other.
- a magnetic interaction is utilized for a transfer of clamping forces between the support means 2 and the contact - means 3 and for maintaining the position of the contact means 3 relative to the support means 2.
- This magnetic interaction is based on the superconducting properties of a magnetic device exemplified as a superconductor 5, which is associated with the support means 2, and the permanent magnetic properties of a magnetic device exemplified as a permanent magnet 6, which is associated with the contact means 3.
- the permanent magnet 6 is held at or below a material-specific transition temperature, for example by means of a holder, not shown, at a distance from the superconductor 5 during cooling of the superconductor 5 to the magnetic field of the permanent magnet 6 with reaching and possibly provided Falling below the transition temperature, so to speak, in the superconductor to "program.”
- the superconductor 5 provides with a change in the magnetic fields of the permanent magnet 6 respectively reaction forces that counteract a change in the magnetic fields, so that a position of the Permanent magnet 6 is maintained opposite to the superconductor 5.
- the superconductor 5 is exemplified by a heat conductor ter thermally coupled, which in turn is at least partially received in a fluid container 8.
- the fluid container 8 is exemplary for receiving a liquefied gas such as nitrogen Fabric formed and thus enables heat removal from the superconductor 5 via the heat conductor. 7
- a coupling portion 9 is formed, which is provided for example for coupling to a hand portion 10 of an industrial robot, not shown.
- a movement of the clamping device 1 with respect to an example designed as a plate clamping object 11 can be made to the clamping object 11 frictionally fixed to a machine frame 12.
- the contact means 3 follows the movement of the support means 2 due to the magnetic interaction between the permanent magnet 6 and the superconductor 5, thereby initially maintaining an expansion of the working gap 4.
- the contact means 3 is provided at a end region facing the clamping object 11 with a buffer section 20 made of a plastic material, which is designed for a gentle force introduction onto the clamping object 11.
- the support means 22 and the contact means 23 are basically of the same design as in the first embodiment according to FIG.
- two support means 22 are set opposite one another on a carrier plate 32.
- the contact means 23 are also arranged opposite each other and define a gripping gap 33, in which a clamping object 31 can be accommodated.
- the third support means 22 are each assigned third coils as coils 34 which are each electrically coupled to a control device 35 ,
- the drive device 35 is designed to provide individual coil currents to the coils 34 so that they can each provide a coil magnetic field which is provided for interaction with the respective superconductor 25 and the respective permanent magnet 26.
- a provision of coil current to the respective coil 34 can take place such that an amplification of the magnetic interaction between the superconductor 25 and the permanent magnet 26 occurs and the respective working gap 24 is reduced.
- the gripping gap 33 increases and the clamping object 31 can be inserted, for example, into the gripping gap 33 or removed from the gripping gap 33.
- the contact means 23 move toward each other again due to the magnetic interaction with the support means 22, so that the gripping gap 33 is reduced and the clamping object is fixed non-positively by the contact means 23.
- a sensor device 36 may be provided, which is designed for determining the relative position of the respective contact means 23.
- the sensor device 36 is designed as an elongate arrangement of magnetic-field-sensitive sensors, in particular Hall sensors, and is electrically connected to the control device 35.
- the control device 35 an evaluation of sensor signals of the sensor device 36 and based on a control or regulation of the coil currents for the coils 34th
- FIG. 3 In the third embodiment shown in Figure 3, in which the support means 42 and the contact means 43 are formed similar to the first embodiment of Figure 1, a star-shaped arrangement of exemplary three support means 42 and associated contact means 43 is provided.
- the support means 42 are each arranged on linearly movable carriage 52, as used for example in a three-jaw chuck for a lathe become.
- the carriages 52 and the supporting means 42 fixed thereto are arranged so as to be linearly movable with respect to one another such that axes of movement 53 of the carriages 52 intersect at a common point of intersection.
- exemplary support means 62 are provided which are designed in the shape of a plate, as can be seen in particular from FIG.
- a base body 66 of the support means 62 is preferably made of a superconducting material in which magnetic coils 67 are accommodated in a constant pitch both in a horizontal direction and in a vertical direction.
- the base body 66 each cup-like recesses 68 for receiving the magnetic coils 67, in which the magnetic coils 67 can be housed and fixed.
- the magnetic coils 67 are held by holding means, not shown, or materially, for example by means of a suitable adhesive, defined in the recesses 68.
- the magnetic coils 67 are electrically connected to a drive device, not shown, which is designed for an individual control of each of the magnetic coils 67.
- a drive device not shown, which is designed for an individual control of each of the magnetic coils 67.
- the contact means 63 is made of a film material with permanent magnetic properties.
- a magnetization of the contact means 63 is preferably formed such that a plurality of, in particular rectangular, magnetic regions is provided, which are preferably arranged in the horizontal direction and in the vertical direction in each case in the same areal division. In this case, it is provided by way of example that mutually adjacent magnet regions are each designed with an opposite magnetic polarization.
- the support means 62 was "programmed" during cooling to or below a material-specific transition temperature of the base body 66 made of superconducting material in a manner having a magnetic field corresponding to a flux density distribution at a predetermined distance of the contact means 63 to the support means
- the support means 62 can effect contactless spacing of the contact means 63 with a working gap 64.
- a clamping device 61 By a paired arrangement of such support means 62 and arranged between the support means 62 contact means 63, a clamping device 61 can be provided, as shown in the figure 4.
- This clamping device 61 has a variable gripping gap 69 and can be used for gripping a clamping object, not shown.
- such a clamping device 61 is provided for gripping clamping objects on which no high surface pressure can be applied due to their material properties and which can not or only with difficulty be grasped with conventional clamping devices.
- a targeted control of individual solenoids 67 or groups of solenoids 67 may be provided to thereby allow a local force gain or local force attenuation between support means 62 and contact means 63 and the gripping gap 69 through flexible deformation of the contact means 63 to vary locally.
- the support means 82 produced by way of example from superconducting material is, for example, cuboidal and forms the superconductor 85.
- An exemplary cylindrical recess 88 is inserted into the support means 82 and used for linearly movable reception an elongate contact means 83 is used.
- three annular coils 94 are provided by way of example, which are electrically connected to a control device (not shown) and are designed to provide variable magnetic fields.
- the contact means 83 is constructed by way of example of a pin-shaped core 89 and fixed on the core 89, preferably hollow cylindrical ring magnet 90 constructed. It is preferably provided that the ring magnets 90 are each magnetized in the axial direction and thus parallel to the center axis 91, with ring magnets 90 arranged adjacent to one another being polarized in opposite directions. Furthermore, it is provided by way of example that a pitch of the ring magnets 90 along the central axis 91 is chosen to be different from a pitch of the ring coils 94 along the central axis 91. By a magnetic interaction between the ring magnet 90 and the toroidal coils 94 may be at a loading of the toroidal coils 94 with electrical energy a force acting along the central axis 91 on the contact means 83 are exerted.
- a "programming" of the support means 82 may be provided in the sense of an adaptation or conditioning for the contact means 83. Programming "takes place, for example, in that the contact means 83 is arranged concentrically in the recess 88 by means of a holder, not shown, wherein a position of the contact means 83 along the central axis 91 corresponds to a preferred basic position of the contact means 83 relative to the support means 82.
- the support means 82 cools down to or below a material-specific transition temperature of the superconducting material, from which the support means 82 is at least partially constructed.
- a static magnetic interaction between the support means 82 and the contact means 83 occurs due to the superconducting properties of the support means 82, through which the contact means 83 is arranged floating with respect to the support means 82 without additional force influences .
- an additional dynamic magnetic interaction between the magnetic fields of the toroidal coils 94 and the magnetic fields of the ring magnets 90 occurs, by means of which a translation movement of the ring magnets 90
- Supporting means 82 along the central axis 91 can be effected.
- a control of the toroidal coils 94 takes place such that the support means 82 can be extended at least by a certain amount from the recess 88 to with an end region facing away from the ring magnet 30 in contact with a clamping object, not shown.
- a radial extent of a working gap between support means 82 and contact means 83 remains constant.
- a needle gripper is formed, by means of which, for example, strip-shaped clamping objects can be gripped.
- FIGS. 8 to 10 show a sixth embodiment of a tensioning device 101 in which the support means 102 is designed in an exemplary rod-shaped manner and the contact means 103 are each embodied in the form of slides which are arranged displaceably independently of one another along the support means 102.
- the support means 102 which may be fixed to a schematically illustrated support arrangement 112, such as a hand axle of an industrial robot, not shown, comprises a cylindrically shaped core 104, which may be made of a plastic material or a ceramic material.
- ledges 105, 106 and 107 each extend along a central axis 111 with an annular segment-shaped cross section shown in FIG. 8.
- the strips 105 are made of a permanent magnetic material and magnetized in the radial direction relative to the central axis 111 ,
- the strips 106 may be made of the same material as the core 104, for example.
- the strip 107 is an arrangement of permanent magnets 108 formed, wherein the permanent magnets 108 are magnetized relative to the central axis 111 in the radial direction. Adjacent permanent magnets 108 are each magnetized in opposite directions.
- the two contact means 103 shown in FIG. 9 are each constructed identically and each comprise a hollow-cylindrical main body 109 whose cross-section can be seen in FIG.
- the main body 109 is made of a superconducting material and thus forms a superconductor.
- a magnetic coil 110 is accommodated in the main body 109, which is connected in a manner not shown to a control device, from which electrical energy can be supplied to the magnetic coil 110 as required. From the sectional view of Figure 10 can be seen how the magnetic coil 110 is received in the base body 109.
- the magnetic coil 110 is designed with a curvature which corresponds to the curvature of the main body 109, so that a particularly space-saving integration of the magnetic coil 110 into the main body 109 can be achieved.
- a plurality of magnetic coils are arranged in the base body.
- the contact means 103 For commissioning the tensioning device 101, provision must initially be made for the contact means 103 to be arranged concentrically with respect to the support means 102 by means of a holding device (not shown), whereby an unillustrated working gap between the contact means 103 and the support means 102 is determined. Subsequently, cooling takes place at or below a material-specific transition temperature of the superconducting material of the contact means 103. During the cooling of the superconducting material at or below the transition temperature, a "programming" is thus achieved. The superconducting material then acts on the magnetic fields of the permanent-magnetic strips 105 and the permanent magnets 108. If the superconducting material's transition temperature is maintained or further undershot, magnetic interactions between the contact means 103 and the support means 102 ensure that the working gap is maintained, which was predetermined during the cooling by the holding device.
- both contact means 103 are each arranged on a radially outer region with a parallelepiped-shaped gripping element.
- provided jaw 115 wherein the opposing jaws 115 of the two contact means 103 form a gripping gap 116 which is adjustable in size.
- a rotational mobility of the contact means 123 against the support means 122 is provided.
- the rotational movement of the contact means 123 can be used, for example, to set a clamping object, not shown, with the aid of the gripping jaw 138 on a bearing surface, also not shown.
- the support means 122 is subdivided into a storage area 133 and a drive area 134.
- the object of the storage area 133 is to provide magnetic forces that interact with the basic body produced by way of example from a superconducting material and thus embodied as a superconductor
- the drive region 134 serves in interaction with a coil arrangement 130 provided in the main body 129, which by way of example has four in the same angular pitch to a central axis
- the storage area 133 is formed as an arrangement of a plurality of permanent magnets 136, each with a cylindrical outer contour, in particular in the form of plane parallel plates.
- the permanent magnets 136 are magnetized radially with respect to the central axis 135, so that they have on their outer surface 137 position-independent respectively the same magnetic flux.
- the drive region 134 comprises a core 127 made of a plastic material or a ceramic material and prismatic strips 125 and 126, which are attached along the central axis 135 and are mounted thereon.
- the strips 125 are made of a permanent magnetic material and have a circular magnetization, as symbolized in Figure 11 by the arrows.
- the strips 126 serve only as spacers and are made of the same material as the core 127 by way of example.
- the contact means 123 is arranged concentrically with the support means 122 by means of a holding device, not shown, and there is a cooling of the clamping device 121, at least the contact means 123, at or below a material-specific transition temperature of the superconducting material of the contact means 123 instead.
- the magnetic fluxes of the permanent magnets 136 of the bearing portion 133 and the permanent magnetic strip 125 of the drive portion 134 are "programmed" into the superconducting material of the contact means 123 and, while maintaining or falling short of the transition temperature, lead to magnetic interactions between the contact means 123 and the support means 122.
- Supporting means 122 is ensured with a constant working gap 124.
- the circumferentially inhomogeneous magnetic fluxes of the permanent magnetic strips 125 in interaction with the superconducting base body 129 cause an alignment of the contact means 123 relative to the support means 122 in a rotational preferred position or in a plurality of rotational preferred positions.
- a torque introduction between contact means 123 and support means 122 whereby the interaction between the permanent magnetic strips 125 and the superconducting body 129 can be overcome and a rotational movement between the contact means 101 20 and support means 122 while maintaining the constant Work gaps 124 can be performed.
- the gripping jaw 138 for example, press a body, not shown, on a bearing surface, also not shown, and thus cause a clamping operation.
- a purely axial bearing of the contact means with respect to the support means is provided.
- the support means is formed as a plate-shaped superconductor and the contact means as a permanent magnet assembly.
- the superconductor is preferably conditioned such that a rotationally fixed, floating coupling of the contact means with respect to the support means is made possible, so that a rotational movement of the superstructure conductor, which can be initiated via an additional actuator, leads to a corresponding rotational movement of the permanent magnet arrangement.
- a gripping finger is attached to the contact means, which allows a definition of the object to be gripped.
- an arrangement of two counter-pivoting clamping devices is provided to accommodate the object to be gripped between two pivotally mounted gripping fingers.
- joints which are based on a combination of one or more permanent magnets and one or more superconductors with at least one dynamic "third" magnetic device, which may be formed in particular as a relatively movable permanent magnet assembly and / or as an electrically operable coil or coil assembly, and
- joints with a single degree of freedom of movement as well as joints with several degrees of freedom of movement are suitable, in particular if these specify a preferred direction for a movement.
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Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112015005928.8T DE112015005928A5 (de) | 2015-03-04 | 2015-03-04 | Spanneinrichtung und Verwendung einer Spanneinrichtung |
PCT/EP2015/000488 WO2016138915A1 (de) | 2015-03-04 | 2015-03-04 | Spanneinrichtung und verwendung einer spanneinrichtung |
CN201580077411.3A CN107405757B (zh) | 2015-03-04 | 2015-03-04 | 夹紧设备和夹紧设备的应用 |
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Citations (6)
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EP0526903A1 (de) * | 1991-08-06 | 1993-02-10 | Koyo Seiko Co., Ltd. | Lagervorrichtung |
US5298875A (en) * | 1991-05-22 | 1994-03-29 | International Business Machines Corporation | Controllable levitation device |
US5947237A (en) * | 1991-12-03 | 1999-09-07 | University Of Houston - University Park | Magnet-superconductor systems for controlling and influencing relative motion |
WO2008131128A1 (en) * | 2007-04-18 | 2008-10-30 | The Brigham And Women's Hospital, Inc. | Magnetic manipulation and retraction for surgical procedures |
DE102010034258A1 (de) * | 2010-08-13 | 2012-02-16 | Schaeffler Technologies Gmbh & Co. Kg | Supraleitendes Magnetlager |
DE202013003510U1 (de) * | 2013-04-02 | 2013-04-22 | Evico Gmbh | Manipulatorvorrichtung |
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CN202270984U (zh) * | 2011-10-17 | 2012-06-13 | 上海大学 | 预载荷永磁轴承支承的电主轴 |
CN104092410B (zh) * | 2014-06-16 | 2016-06-15 | 浙江大学 | 加热型边界层控制减阻超精密磁悬浮导轨工作台系统及其方法 |
-
2015
- 2015-03-04 DE DE112015005928.8T patent/DE112015005928A5/de active Pending
- 2015-03-04 WO PCT/EP2015/000488 patent/WO2016138915A1/de active Application Filing
- 2015-03-04 CN CN201580077411.3A patent/CN107405757B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5298875A (en) * | 1991-05-22 | 1994-03-29 | International Business Machines Corporation | Controllable levitation device |
EP0526903A1 (de) * | 1991-08-06 | 1993-02-10 | Koyo Seiko Co., Ltd. | Lagervorrichtung |
US5947237A (en) * | 1991-12-03 | 1999-09-07 | University Of Houston - University Park | Magnet-superconductor systems for controlling and influencing relative motion |
WO2008131128A1 (en) * | 2007-04-18 | 2008-10-30 | The Brigham And Women's Hospital, Inc. | Magnetic manipulation and retraction for surgical procedures |
DE102010034258A1 (de) * | 2010-08-13 | 2012-02-16 | Schaeffler Technologies Gmbh & Co. Kg | Supraleitendes Magnetlager |
DE202013003510U1 (de) * | 2013-04-02 | 2013-04-22 | Evico Gmbh | Manipulatorvorrichtung |
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DE112015005928A5 (de) | 2017-10-19 |
CN107405757B (zh) | 2019-09-03 |
CN107405757A (zh) | 2017-11-28 |
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