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    • 21. 发明授权
    • Articulation device
    • 铰接装置
    • US5668432A
    • 1997-09-16
    • US620210
    • 1996-03-22
    • Takayuki TominagaKouji SendaTakaharu IdogakiTakashi KanekoHitoshi Kanayama
    • Takayuki TominagaKouji SendaTakaharu IdogakiTakashi KanekoHitoshi Kanayama
    • B25J7/00B25J18/06F16C11/00F16C11/06H01L41/083H01L41/09H01L41/08
    • H02N2/101B25J18/06B25J7/00F16C11/00F16C11/0647H01L41/0926H01L41/0953H01L41/0973H02N2/108
    • A moving member 2 is rotatably and slidably arranged in a holder 11 having a spherical inner surface 11a. An inertia body 5 is connected to the moving member 2 via a supporting member 4. At a location opposite the inertia body 5, an arm 3 extends so that it is directed outwardly via an opening of the holder. A piezo electric actuator 63 is arranged between the rotating member 2 and the supporting member 4. An elongation of the actuator causes a relative swing movement between the inertia body 5 and moving member to occur in one direction such that a reaction force in the moving member 2 due to the inertia of the inertia body 5 exceeds the frictional force between the moving member 4 and the holder 11, which allows the moving member 4 to be displaced with respect to the holder 11. A contraction of the actuator causes a relative movement between the inertia body 5 and moving member to occur in the opposite direction such that a reaction force in the moving member 2 does not exceed the frictional force, which allows the inertia body to follow with the actuator 63. A reception of the elongation and the contraction allows a movement of the moving member to occur so that it exceeds the limit of the bonding movement of the actuator.
    • 移动构件2可旋转并可滑动地布置在具有球形内表面11a的保持器11中。 惯性体5经由支撑构件4连接到移动构件2.在与惯性体5相对的位置处,臂3延伸,使得其经由保持器的开口向外指向。 压电电致动器63设置在旋转构件2和支撑构件4之间。致动器的伸长使惯性体5和移动构件之间的相对摆动运动发生在一个方向上,使得移动构件 2由于惯性体5的惯性超过了移动部件4和保持器11之间的摩擦力,这允许移动部件4相对于保持器11移位。致动器的收缩导致相对运动 惯性体5和移动构件沿相反方向发生,使得移动构件2中的反作用力不超过允许惯性体跟随致动器63的摩擦力。接收伸长率和收缩 允许移动构件的运动发生,使得其超过致动器的结合运动的极限。
    • 23. 发明授权
    • Electric actuator provided with a brake
    • 电动执行器配有制动器
    • US4360089A
    • 1982-11-23
    • US156088
    • 1980-06-03
    • Takeshi MatsuiTakaharu Idogaki
    • Takeshi MatsuiTakaharu Idogaki
    • H02K7/10B60K31/00B60K31/02B60K41/28
    • B60K31/02Y10T477/816
    • An electric actuator including a stationary housing, an output shaft rotatably supported by the housing, an output member mounted on said output shaft, an electric motor secured to the housing, speed reduction gear mechanism for reducing the rotational speed of the electric motor, differential gear mechanism provided between the output shaft and the speed reduction gear mechanism, an electromagnetic brake operatively connected to the differential gear mechanism. The differential gear mechanism includes an output side differential gear secured to the output shaft, and a brake side differential gear rotatable with a brake plate of the electromagnetic clutch. The electromagnetic brake includes an electromagnetic coil and an electromagnetic yoke secured to the housing, so that when the brake side differential gear is prevented from rotating by the electromagnetic brake the electric motor controls displacement of the output member, and when the brake side differential gear is freely rotatable relative to the housing the output member is freely rotatable irrespective of the rotation of the electric motor.
    • 一种电致动器,包括固定壳体,由所述壳体可旋转地支撑的输出轴,安装在所述输出轴上的输出构件,固定到所述壳体的电动机,用于降低所述电动机的转速的减速齿轮机构, 设置在输出轴和减速齿轮机构之间的机构,电磁制动器可操作地连接到差速齿轮机构。 差速齿轮机构包括固定到输出轴的输出侧差动齿轮和可与电磁离合器的制动板一起旋转的制动器侧差速齿轮。 电磁制动器包括电磁线圈和固定在壳体上的电磁轭,使得当制动器侧差速齿轮被电磁制动器阻止旋转时,电动机控制输出构件的位移,并且当制动器侧差动齿轮为 可以相对于壳体自由转动,而与电动机的旋转无关地,输出构件可自由转动。