A connection mechanism based on a floatable electropermanent magnet

Abstract

A kind of connecting mechanism based on floatable electropermanent magnet, it includes shell and multiple electropermanent magnets;Multiple electropermanent magnets are evenly arranged along annular according to the direction of magnetic pole polarity uniformity;And the magnetic pole of multiple electropermanent magnets all passes through the surface of shell;Each magnetic pole includes valley-shaped magnetic pole and ridge-shaped magnetic pole, the end of ridge-shaped magnetic pole is provided with outwardly extending protrusion, the end of valley-shaped magnetic pole is provided with inwardly extending recess, when two connecting mechanisms are docked, the protrusion of ridge-shaped magnetic pole in one connecting mechanism is inserted into the recess of valley-shaped magnetic pole in another connecting mechanism, permanent magnet is arranged on control circuit board, permanent magnet corresponds with valley-shaped magnetic pole and ridge-shaped magnetic pole respectively, the polarity towards magnetic pole side is same with the polarity of corresponding surface on the magnetic pole after magnetization.The present application combines magnetic connection and mechanical connection, and the torsion resistance and shear resistance are greatly improved.

Description

Technical Field

[0001] This invention relates to a connection device, and more specifically to a connection mechanism based on a floating electro-permanent magnet. Background Technology

[0002] Standard, universal interfaces offer robots greater flexibility and scalability. Electro-permanent magnets require only current pulses to switch between magnetization and demagnetization, and then maintain their state without energy consumption, offering advantages in energy saving and high efficiency. However, this method has some inherent drawbacks compared to mechanical connections. The shear force and torsional load between the connection surfaces are balanced by magnetic force and static friction, resulting in weaker connection strength. Furthermore, current electro-permanent magnet pole designs lack locating surface features, leading to poor connection accuracy and failing to meet the complex working conditions in robotics. This patent improves the connection mechanism based on electro-permanent magnets by adding interlocking surface features to the magnetic poles, enhancing the shear and torsional strength of the connection surfaces and improving connection positioning accuracy. The added permanent magnet allows the electro-permanent magnet to passively float under different working conditions, saving space.

[0003] CN116810849A discloses a multifunctional connecting device based on electro-permanent magnets, in which neodymium iron boron magnets and aluminum nickel cobalt magnets are arranged in parallel, and the surfaces of the two magnetic poles are planar. Connecting devices arranged in this way have weak bending and shear resistance. Summary of the Invention

[0004] To overcome existing technologies, this invention provides a connection mechanism based on a floating electro-permanent magnet. This connection mechanism combines magnetic and mechanical connections, significantly improving torsional and shear resistance.

[0005] A connection mechanism based on floating electro-permanent magnets includes a housing and multiple electro-permanent magnets; the multiple electro-permanent magnets are uniformly arranged in a ring along a direction with uniform magnetic pole polarity; and the magnetic poles of the multiple electro-permanent magnets all pass through one surface of the housing; the magnetic poles of the multiple electro-permanent magnets are all snapped into the housing; the magnetic poles of the multiple electro-permanent magnets are connected to the power bus of a control circuit board; the drive signal input terminals of the multiple electro-permanent magnets are all connected to the pulse current output terminal of the control circuit board; the control circuit board is used to supply power to the electro-permanent magnets and also to send positive or reverse pulse currents to the drive signal input terminals of the multiple electro-permanent magnets according to the connection or disconnection control signal;

[0006] Each magnetic pole includes a valley-shaped magnetic pole and a ridge-shaped magnetic pole. The end of the ridge-shaped magnetic pole is provided with an outwardly extending protrusion, and the end of the valley-shaped magnetic pole is provided with an inwardly extending concave hole. When the two connecting mechanisms are docked, the protrusion of the ridge-shaped magnetic pole in one connecting mechanism is inserted into the concave hole of the valley-shaped magnetic pole in the other connecting mechanism. The control circuit board is provided with permanent magnets, which correspond to the valley-shaped magnetic poles and the ridge-shaped magnetic poles respectively. The polarity of the side facing the magnetic pole is the same as the polarity of the corresponding surface after the magnetic pole is magnetized.

[0007] Furthermore, the ridge-shaped magnetic pole includes a first semi-cylindrical component a and a second semi-cylindrical component b; the end of the second semi-cylindrical component b is provided with an outwardly extending protrusion; the first semi-cylindrical component a and the second semi-cylindrical component b are axially fixedly connected to form an integral part; the radius of the semi-circular surface of the first semi-cylindrical component a is greater than the radius of the semi-circular surface of the second semi-cylindrical component b; and the side plane of the first semi-cylindrical component a is fixedly connected to the neodymium iron boron magnetic rod and the AlNiCo magnetic rod.

[0008] Furthermore, the ridge-shaped magnetic pole includes a first semi-cylindrical component a and a second semi-cylindrical component b; the end of the second semi-cylindrical component b is provided with an outwardly extending protrusion; the first semi-cylindrical component a and the second semi-cylindrical component b are axially fixedly connected to form an integral part; the radius of the semi-circular surface of the first semi-cylindrical component a is greater than the radius of the semi-circular surface of the second semi-cylindrical component b; and the side plane of the first semi-cylindrical component a is fixedly connected to the neodymium iron boron magnetic rod and the AlNiCo magnetic rod.

[0009] Furthermore, the permanent magnet is a cylindrical AlNiCo magnetic rod, magnetized along the axial direction.

[0010] Furthermore, after the electro-permanent magnet is magnetized, the valley-shaped magnetic poles and ridge-shaped magnetic poles in each connecting mechanism repel the permanent magnet with the same pole, while each is attracted by the corresponding ridge-shaped magnetic pole in another connecting mechanism, pushing the electro-permanent magnet out of the housing connecting surface to complete the protrusion and concave hole engagement, and the continuous magnetic force can lock it in place.

[0011] Furthermore, when the electro-permanent magnet is in a demagnetized state, the valley-shaped magnetic poles and ridge-shaped magnetic poles, being non-magnetic pure iron, will be attracted by the permanent magnet. At this time, the magnetic poles retract back into the shell connection surface and will not protrude.

[0012] The advantages of this invention compared to the prior art are:

[0013] 1. The design incorporates two magnetic poles, one as a valley-shaped magnetic pole and the other as a ridge-shaped magnetic pole. When mating, they can achieve a pin-and-hole-like fit, which is a connection scheme that combines high magnetic coupling efficiency with reliable mechanical coupling, resulting in high connection positioning accuracy.

[0014] 2. The designed passive floating magnetic poles can automatically retract into the connection surface when not in use, saving space.

[0015] 3. The coupling method is designed based on the modular concept, which can be easily integrated into existing devices.

[0016] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments: Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of a connection mechanism based on a floating electro-permanent magnet.

[0018] Figure 2 This is a partial cross-sectional view of the connection mechanism based on a floating electro-permanent magnet;

[0019] Figure 3 This is a schematic diagram of the three-dimensional structure of an electro-permanent magnet;

[0020] Figure 4 It is a cross-sectional view of the electro-permanent magnet perpendicular to the axis of the neodymium iron boron magnet and the alnico magnet;

[0021] Figure 5 This is a schematic diagram of the magnetic state of an electro-permanent magnet;

[0022] Figure 6 This is a schematic diagram of the demagnetization state of an electro-permanent magnet;

[0023] Figure 7 This is a schematic diagram of the docking process of the electro-permanent magnets of the two connecting mechanisms;

[0024] Figure 8 This is a schematic diagram showing the completion of the docking of the electro-permanent magnets of the two connecting mechanisms. Detailed Implementation

[0025] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. Unless otherwise stated, the technical or scientific terms used in this application should have the ordinary meaning understood by those skilled in the art.

[0026] This embodiment provides a connection mechanism based on a floating electro-permanent magnet, such as Figures 1-3 As shown, the device includes a housing B and multiple electro-permanent magnets A. The multiple electro-permanent magnets A are evenly arranged in a ring with a uniform magnetic pole polarity. The magnetic poles of the multiple electro-permanent magnets A all pass through one surface of the housing B. The magnetic poles of the multiple electro-permanent magnets A are snapped into the housing B. The magnetic poles A4 of the multiple electro-permanent magnets A are connected to the power bus of the control circuit board C. The drive signal input terminals of the multiple electro-permanent magnets A are all connected to the pulse current output terminal of the control circuit board C. The control circuit board C is used to supply power to the electro-permanent magnets A and also to send positive or reverse pulse currents to the drive signal input terminals of the multiple electro-permanent magnets A according to the connection or disconnection control signal.

[0027] Each magnetic pole includes a valley-shaped magnetic pole A4 and a ridge-shaped magnetic pole A5. The end of the ridge-shaped magnetic pole A5 is provided with an outwardly extending protrusion, and the end of the valley-shaped magnetic pole A4 is provided with an inwardly extending concave hole. When the two connecting mechanisms are docked, the protrusion of the ridge-shaped magnetic pole A5 in one connecting mechanism is inserted into the concave hole of the valley-shaped magnetic pole A4 in the other connecting mechanism. A permanent magnet D is provided on the control circuit board C. The permanent magnet D corresponds to the valley-shaped magnetic pole A4 and the ridge-shaped magnetic pole A5 respectively. The polarity of the side facing the magnetic pole is the same as the polarity of the corresponding surface after magnetization on the magnetic pole.

[0028] In this embodiment, the magnetic poles are designed as valley-shaped magnetic poles A4 and ridge-shaped magnetic poles A5, with end concave holes and protrusions that cooperate to achieve both magnetic and mechanical coupling, resulting in a reliable connection effect and high connection positioning accuracy.

[0029] The permanent magnet D allows the electro-permanent magnet A to passively float under different operating conditions, saving space. This application combines magnetic and mechanical connections, possessing the advantages of both. Torsional and shear resistance are significantly improved.

[0030] like Figure 4 As shown, each electro-permanent magnet A includes a winding A1, a neodymium iron boron (NdFeB) magnetic rod A2, and an aluminum nickel cobalt (AlNiCo) magnetic rod A3; the NdFeB magnetic rod A2 and AlNiCo magnetic rod A3 are of equal length and arranged in parallel, and the valley-shaped magnetic pole A4 and the ridge-shaped magnetic pole A5 are respectively fixed at both ends of the NdFeB magnetic rod A2 and AlNiCo magnetic rod A3, and the winding A1 is wound around the outside of the NdFeB magnetic rod A2 and AlNiCo magnetic rod A3.

[0031] In this embodiment, the control circuit board C is used to supply power to the electro-permanent magnet A, and also to send positive or reverse pulse currents of different widths to the drive signal input terminals of the four electro-permanent magnets A according to different functional requirements. Specifically, switching the magnetization or demagnetization state of the electro-permanent magnet requires sending two sets of 1ms wide positive or negative current pulses, with a time interval of 10ms between the two sets of current pulses. A 10µs wide positive pulse is sent during communication (negative pulses are prohibited during communication as they would weaken the system's connection performance).

[0032] In this embodiment, each electro-permanent magnet A consists of a low-carbon steel valley pole A4 and a ridge pole A5 sandwiching a neodymium iron boron (N40) magnetic rod A2 and an AlNiCo (LNG40) magnetic rod A3, which are then bonded together with metal adhesive. The two magnetic rods are wound with enameled wire A1 at least 80mm. The electro-permanent magnet A has only two states: magnetization and demagnetization. The polarity of each magnetic pole after magnetization is determined. During assembly, one polarity is selected to correspond to the ridge pole A5, and the other polarity to correspond to the valley pole A4. The electro-permanent magnet connection mechanism only consumes energy when switching between states; afterwards, the magnet state remains unchanged. Furthermore, state switching can be achieved within 1ms, thus this connection mechanism has the advantages of energy saving and rapid response.

[0033] The magnetic poles can be processed into semi-circular or square shapes as needed. The two ends of the winding leads are connected to the circuit board, and all magnetic poles are connected to the circuit board through contacts.

[0034] Specifically, such as Figure 3 , Figure 4 and Figure 7As shown, the ridged magnetic pole A5 includes a first semi-cylindrical member aA51 and a second semi-cylindrical member bA52; the end of the second semi-cylindrical member bA52 is provided with an outwardly extending protrusion, the first semi-cylindrical member aA51 and the second semi-cylindrical member bA52 are axially fixedly connected to form an integral part, the radius of the semi-circular surface of the first semi-cylindrical member aA51 is larger than the radius of the semi-circular surface of the second semi-cylindrical member bA52, and the side plane of the first semi-cylindrical member aA51 is fixedly connected to the neodymium iron boron magnetic rod A2 and the alnico magnetic rod A3.

[0035] Specifically, such as Figure 3 , Figure 4 and Figure 7 As shown, the valley-shaped magnetic pole A4 includes a first semi-cylindrical member cA41 and a second semi-cylindrical member dA42; the end of the second semi-cylindrical member dA42 extends inward with a concave hole, and the end of the second semi-cylindrical member dA42 is provided with an outwardly extending protrusion. The first semi-cylindrical member cA41 and the second semi-cylindrical member dA42 are axially fixedly connected to form an integral part. The radius of the semi-circular surface of the first semi-cylindrical member cA41 is larger than the radius of the semi-circular surface of the second semi-cylindrical member dA42. The side plane of the first semi-cylindrical member cA41 is fixedly connected to the neodymium iron boron magnetic rod A2 and the aluminum nickel cobalt magnetic rod A3.

[0036] Specifically, the permanent magnet D is a cylindrical AlNiCo magnetic rod that is magnetized along the axial direction.

[0037] The valley-shaped magnetic pole A4 and the ridge-shaped magnetic pole A5 are respectively glued to both ends of the neodymium iron boron magnetic rod A2 and the AlNiCo magnetic rod A3. During installation, the polarity of the side facing the magnetic pole is the same as the polarity of the corresponding surface after the magnetic pole is magnetized.

[0038] The control circuit board C sends pulse currents to control the opening and closing of the electro-permanent magnet poles A4 and A5.

[0039] After the electro-permanent magnet A is magnetized, the valley-shaped magnetic poles A4 and ridge-shaped magnetic poles A5 in each connecting mechanism repel the permanent magnet D, while simultaneously being attracted by the corresponding ridge-shaped magnetic pole A5 in another connecting mechanism. This pushes the electro-permanent magnet A out of the connecting surface of the housing B to complete the protrusion and concave hole engagement. Continuous magnetic force can lock it in place. Figure 5 As shown. In this process, the electro-permanent magnet A is constrained within the shell and aligned by the chamfer between it and the connecting surface. The levitation of each magnet is passive and independent, and the structure is simple and easy to implement.

[0040] Specifically: The first semi-cylindrical component aA51 and the second semi-cylindrical component bA52 have an outer chamfered transition connection surface. After the electro-permanent magnet A is magnetized, it is constrained on the inner chamfered transition connection surface of the housing B, and the two are aligned by chamfering. The first semi-cylindrical component cA41 and the second semi-cylindrical component dA42 also have an outer chamfered transition connection surface. After the electro-permanent magnet A is magnetized, it is constrained on the inner chamfered transition connection surface of the housing B, and the two are aligned by chamfering. Figure 7 and Figure 8 The diagrams show the docking process and completion of the two connecting mechanisms.

[0041] When the electro-permanent magnet A is in the demagnetized state, the valley-shaped magnetic poles A4 and ridge-shaped magnetic poles A5, being non-magnetic pure iron, will be attracted by the permanent magnet. At this time, the magnetic poles retract back into the connecting surface of the shell B and will not protrude. Figure 6 As shown. Specific Implementation

[0043] The connecting mechanism described in this application can be flexibly scaled up to meet the needs of different scenarios. One configuration's performance parameters are as follows:

[0044] Weight: 60g

[0045] Tensile strength: >60N

[0046] Shear strength: >100N

[0047] Bending resistance: >40Nm.

[0048] Figure 1 This is a configuration that allows connection to be achieved by placing the magnets anywhere within a standard grid. There are four connection orientations, each 90° apart, with a geometric feature of four-fold axial symmetry. The four electro-permanent magnets are arranged uniformly in a ring. The connectors are not male or female, and there are four different relative connection orientations between any two connectors. The control circuit board C sends pulsed currents to control the magnetization and demagnetization of the valley poles A4 and ridge poles A5 of the electro-permanent magnets. Electro-permanent magnet A only consumes energy during switching operations; afterwards, its state remains unchanged.

[0049] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed structure and technical content to create equivalent embodiments without departing from the scope of the present invention, and all such modifications or alterations shall still fall within the scope of the present invention.

Claims

1. A connection mechanism based on a floating electro-permanent magnet, comprising a housing (B) and a plurality of electro-permanent magnets (A); the plurality of electro-permanent magnets (A) are uniformly arranged in a ring along a direction with uniform magnetic pole polarity; and the magnetic poles of the plurality of electro-permanent magnets (A) all pass through one surface of the housing (B); the magnetic poles of the plurality of electro-permanent magnets (A) are all snapped into the housing (B); the magnetic poles of the plurality of electro-permanent magnets (A) are connected to the power bus of a control circuit board (C); the drive signal input terminals of the plurality of electro-permanent magnets (A) are all connected to the pulse current output terminals of the control circuit board (C); the control circuit board (C) is used to supply power to the electro-permanent magnets (A), and is also used to send positive or reverse pulse currents to the drive signal input terminals of the plurality of electro-permanent magnets (A) according to a connection or disconnection control signal; characterized in that: Each magnetic pole includes a valley-shaped magnetic pole (A4) and a ridge-shaped magnetic pole (A5). The end of the ridge-shaped magnetic pole (A5) is provided with an outwardly extending protrusion, and the end of the valley-shaped magnetic pole (A4) is provided with an inwardly extending concave hole. When the two connecting mechanisms are docked, the protrusion of the ridge-shaped magnetic pole (A5) in one connecting mechanism is inserted into the concave hole of the valley-shaped magnetic pole (A4) in the other connecting mechanism. A permanent magnet (D) is provided on the control circuit board (C). The permanent magnet (D) corresponds to the valley-shaped magnetic pole (A4) and the ridge-shaped magnetic pole (A5) respectively. The polarity of the side facing the magnetic pole is the same as the polarity of the corresponding surface after the magnetic pole is magnetized. The permanent magnet (D) allows the electro-permanent magnet (A) to float passively in different working states. After the electro-permanent magnet (A) is magnetized, the valley-shaped magnetic pole (A4) and ridge-shaped magnetic pole (A5) in each connecting mechanism repel the permanent magnet (D) with the same pole, and at the same time, they are attracted by the corresponding ridge-shaped magnetic pole (A5) in another connecting mechanism, pushing the electro-permanent magnet (A) out of the connecting surface of the housing (B) to complete the protrusion and concave hole cooperation. The continuous magnetic force can lock it in place. When the electro-permanent magnet (A) is in a demagnetized state, the valley-shaped magnetic poles (A4) and ridge-shaped magnetic poles (A5), being non-magnetic pure iron, will be attracted by the permanent magnet. At this time, the magnetic poles retract back into the connecting surface of the shell (B) and will not protrude.

2. The connection mechanism based on a floating electro-permanent magnet according to claim 1, characterized in that: Each electro-permanent magnet (A) includes a winding (A1), a neodymium iron boron (NdFeB) magnetic rod (A2), and an AlNiCo (AlNiCo) magnetic rod (A3); the NdFeB magnetic rod (A2) and the AlNiCo magnetic rod (A3) are of equal length and arranged in parallel, and the valley-shaped magnetic pole (A4) and the ridge-shaped magnetic pole (A5) are fixed at both ends of the NdFeB magnetic rod (A2) and the AlNiCo magnetic rod (A3), respectively, and the winding (A1) is wound around the outside of the NdFeB magnetic rod (A2) and the AlNiCo magnetic rod (A3).

3. The connection mechanism based on a floating electro-permanent magnet according to claim 1, characterized in that: The ridge-shaped magnetic pole (A5) includes a first semi-cylindrical member a (A51) and a second semi-cylindrical member b (A52); the end of the second semi-cylindrical member b (A52) is provided with an outwardly extending protrusion, the first semi-cylindrical member a (A51) and the second semi-cylindrical member b (A52) are axially fixedly connected to form an integral part, the radius of the semi-circular surface of the first semi-cylindrical member a (A51) is larger than the radius of the semi-circular surface of the second semi-cylindrical member b (A52), and the side plane of the first semi-cylindrical member a (A51) is fixedly connected to the neodymium iron boron magnetic rod (A2) and the AlNiCo magnetic rod (A3).

4. The connection mechanism based on a floating electro-permanent magnet according to claim 1, characterized in that: The valley-shaped magnetic pole (A4) includes a first semi-cylindrical part c (A41) and a second semi-cylindrical part d (A42); the end of the second semi-cylindrical part d (A42) has an inwardly extending concave hole and an outwardly extending protrusion. The first semi-cylindrical part c (A41) and the second semi-cylindrical part d (A42) are axially fixedly connected to form an integral part. The radius of the semi-circular surface of the first semi-cylindrical part c (A41) is larger than the radius of the semi-circular surface of the second semi-cylindrical part d (A42). The side plane of the first semi-cylindrical part c (A41) is fixedly connected to the neodymium iron boron magnetic rod (A2) and the AlNiCo magnetic rod (A3).

5. The connection mechanism based on a floating electro-permanent magnet according to claim 1, characterized in that: The permanent magnet (D) is a cylindrical AlNiCo magnetic rod that is magnetized along the axial direction.

6. The connection mechanism based on a floating electro-permanent magnet according to claim 1, characterized in that: The valley-shaped magnetic pole (A4) and the ridge-shaped magnetic pole (A5) are respectively glued to the two ends of the neodymium iron boron magnetic rod (A2) and the alnico magnetic rod (A3).

7. The connection mechanism based on a floating electro-permanent magnet according to claim 3, characterized in that: The first semi-cylindrical part a (A51) and the second semi-cylindrical part b (A52) have an outer chamfered transition connection surface. After the electro-permanent magnet (A) is magnetized, it is constrained on the inner chamfered transition connection surface of the housing (B). The two are aligned by chamfering.

8. The connection mechanism based on a floating electro-permanent magnet according to claim 4, characterized in that: The first semi-cylindrical part c (A41) and the second semi-cylindrical part d (A42) have an outer chamfered transition connection surface. After the electro-permanent magnet (A) is magnetized, it is constrained on the inner chamfered transition connection surface of the housing (B). The two are aligned by chamfering.

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