CN101956891B - Self-driven joint - Google Patents
Self-driven joint Download PDFInfo
- Publication number
- CN101956891B CN101956891B CN2010102908022A CN201010290802A CN101956891B CN 101956891 B CN101956891 B CN 101956891B CN 2010102908022 A CN2010102908022 A CN 2010102908022A CN 201010290802 A CN201010290802 A CN 201010290802A CN 101956891 B CN101956891 B CN 101956891B
- Authority
- CN
- China
- Prior art keywords
- sleeve pipe
- self
- magnetic field
- field generation
- generation device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005291 magnetic effect Effects 0.000 claims abstract description 46
- 239000000696 magnetic material Substances 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 12
- 230000035699 permeability Effects 0.000 claims description 12
- 230000009977 dual effect Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 14
- 230000009471 action Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 230000005389 magnetism Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002301 combined effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Dynamo-Electric Clutches, Dynamo-Electric Brakes (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
The invention discloses a self-driven joint, which belongs to the technical field of driving sensing control. The self-driven joint comprises a sleeve, a structural permanent magnet and a magnetic field generating device. The structural permanent magnet is arranged in the sleeve in a way of rotating around the axis of the sleeve. The magnetic field generating device is fixedly arranged outside the sleeve and comprises a magnetostrictive piezoelectric sensor and corresponding electromagnetic coils, wherein the plurality of pairs of corresponding electromagnetic coils with opposite polarities are oppositely arranged on the outer wall of the sleeve; and the magnetostrictive piezoelectric sensor is arranged on the side wall of the sleeve. The self-driven joint has a compact structure and highstructural strength and can acquire sensor electric signal conveniently without being driven by any power supply.
Description
Technical field
What the present invention relates to is a kind of device that drives the sensing control technical field, specifically is a kind of self-driven joint based on materials such as permanent magnetism, magnetostriction and piezoelectricity or device compound action.
Background technique
Traditional articulation mechanism all is the joint device of passive driving, and its function is only for connecting and transmission agency.The realization that started process needs the external motor effect to realize.Through the retrieval of prior art is found that China Patent No. 20092025552.3 has been put down in writing a kind of " mechanical joint ", this technology is owing to be a kind of simple mechanical mechanism, the structure relative complex, and constituent elements is many.Similar joint device, its course of action need be used with external motor, and action degree or process also can only realize by the external sense system usually.Therefore, this class joint is not suitable for the manufacturing structure compactness, and joint quantity is many, and requires to realize the application of active drive and sensing control.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of self-driven joint is provided, this apparatus structure compactness, structural strength height, the joint has the self-driven intelligent characteristic of self-sensing from as driving power source; This joint device can conveniently be implemented in the rotation that drives any controlled angle under the loading condition, and rotation angle can be detected in real time by the self-sensor device; Can be suitable for large-scale array type and self-deploy mechanism, joint of robot, rotation drives control mechanism, motor performance system drive parts, intelligent switch door and window, intelligent switch mechanism, intelligent Hinge mechanism etc.
The present invention is achieved by the following technical solutions, the present invention includes: sleeve pipe, magnetic strength device and magnetic field generation device, wherein: the magnetic strength device rotates along casing axis and is arranged at inside pipe casing, and magnetic field generation device is fixedly set in jacket exterior.
Described magnetic field generation device comprises: magnetostriction piezoelectric sensing device and corresponding electromagnetic coil thereof, wherein: some opposite polarity electromagnetic coil is relatively arranged on the outer wall of sleeve pipe, magnetostriction piezoelectric sensing device is fixedly set on the sidewall of sleeve pipe.
The inside of described electromagnetic coil is provided with yoke;
Described magnetic field generation device also can be realized by one or some external permanent magnets that is flush-mounted in sleeve pipe;
The number of described magnetic field generation device is one or more groups, and this magnetic field generation device is specially along parallel layout the on the axial direction of sleeve pipe.
Described sleeve pipe is made up of the some blocks of arc HALF OPENING pipes that the permeability magnetic material body becomes with the non-magnet_conductible material system.
Described magnetic strength device is structure permanent magnet or electromagnet, wherein:
Described structure permanent magnet comprises: p-m rotor and rotation output barred body, wherein: p-m rotor is socketed on and rotates on the output barred body, rotates and exports the shaft core position that barred body is fixedly set in sleeve pipe.
Described electromagnet comprises: structure electromagnetic coil and structure yoke, wherein: the structure yoke is socketed on and rotates on the output barred body, and the structure electromagnetic coil is arranged on the structure yoke.
The number of described magnetic strength device is one or more groups, and this magnetic strength device is along the axial direction of sleeve pipe or the layout that walks abreast in the radial direction.
This device can be realized the autorotation driving and drive related mechanism or load generation action, and drive actions process and degree are that rotation angle can be perceived, thereby by computer control, make the driving in this joint self and sensing function acting in conjunction and realize intelligent self-driven articular system.
Compared with prior art, the present invention has the following advantages: realized a kind of by the inner self-driven joint device in joint; Realized driving and sensing integrated intelligent link; Articulation structure is simple, and constituent elements is few, and volume is less relatively, the structural strength height; Electromagnetic permanent magnet combined effect drives the efficient height, and it is strong to drive load capacity; Can realize rotating the Active Vibration Control of outbound course and utilizing electromagnetism and permanent magnetism, and the effect of doing mutually between permanent magnetism and the permeability magnetic material, and form active damping, with the convenient Active Vibration Control function that realizes.Match with sensing device, this joint has the self adaptive control of the rotating drive of realization, or the potentiality of vibration self adaptive control.
Based on above advantage, the self-driven joint of intelligence of the present invention can be used for large-scale array type and self-deploys mechanism, joint of robot, and rotation drives control mechanism, motor performance system drive parts, intelligent switch door and window, intelligent switch mechanism, intelligent Hinge mechanism etc.
Description of drawings
Fig. 1 is embodiment's 1 schematic representation.
Fig. 2 is that joint initial loading distribution structure and electromagnetism load initial time structure permanent magnet position view.
Fig. 3 be in the joint structure permanent magnet at electromagnetism loading procedure inflection point/process schematic representation.
Fig. 4 is that the structure permanent magnet loads the inflection point schematic representation finish time at electromagnetism in the joint.
Fig. 5 is the articulation structure schematic representation of the arbitrarily angled two pairs of electromagnetic pole effects in interval.
Fig. 6 is the articulation structure schematic representation of interval 90 degree (or other angles) two electromagnetic pole effects.
Fig. 7 is abnormally-structured permanent magnet joint schematic representation.
Fig. 8 is yoke and sleeve pipe and loop construction assembly relation schematic representation.
Fig. 9 forms schematic representation for the structure that the structure permanent magnet is changed to the structure electromagnetic coil.
When Figure 10 is changed to the structure electromagnetic coil for the structure permanent magnet, structural representation when external permanent magnets embeds in the outer ring body.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed mode of execution and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Show as Fig. 1, the self-driven joint of the present invention's intelligence comprises: sleeve pipe 1, the magnetic strength device of being formed by structure permanent magnet 3 and the rotation that is fixedly linked with it output barred body 4 and by electromagnetic coil 6, fastening piece 7, magnetostriction materials body 8 is pressed on the magnetic field generation device of piezoelectricity or compressive strain material disjunctor 9 compositions, wherein: the magnetic strength device rotates along sleeve pipe 1 axle center and is arranged at sleeve pipe 1 inside, magnetic field generation device is fixedly set in sleeve pipe 1 outside, a pair of opposite polarity electromagnetic coil 6 is relatively arranged on the outer wall of sleeve pipe 1, by fastening piece 7, the magnetostriction piezoelectric sensing device that magnetostriction materials body 8 is pressed on piezoelectricity or compressive strain material disjunctor 9 compositions is embedded on the sidewall of sleeve pipe 1.
Described sleeve pipe 1 is the affixed composite material sleeve pipe of permeability magnetic material body 2 and non-magnet_conductible material body 11;
Described structure permanent magnet 3 is the solid of rotation coaxial with sleeve pipe 1, places in the middle of the sleeve pipe;
As shown in Figure 2, the inside of described electromagnetic coil 6 is provided with first yoke 5, and during the assembling initial position, the permeability magnetic material body 2 on first yoke, 5 two ends and the sleeve pipe 1, structure permanent magnet 3 are serially connected on the same magnetic circuit direction.
As shown in Figure 8, two of described first yoke 5 output terminals are relatively arranged on the both sides up and down of sleeve pipe 1;
In the described magnetostriction piezoelectric sensing device: adjust assemblage gap and magnetostriction materials body 8 is pressed on the sidewall hollow out position that also finally is fixed on sleeve pipe 1 on piezoelectricity or the compressive strain material disjunctor 9 with integral form by fastening piece 7, and seamlessly be clamped in the sleeve pipe 1 at the magnetostriction action direction.
During work, as shown in Figure 2, assembly and structural type according to this, described self-driven joint, during initial rigging position, permeability magnetic material body 2 absorption on magnetic pole of the structure permanent magnet 3 in the sleeve pipe 1 and the sleeve pipe 1 and fixed-site, another magnetic pole of structure permanent magnet 3 is owing to adjacent with the non-magnet material body 11 of sleeve pipe 1 and be not adsorbed, therefore structure permanent magnet 3 can be adsorbed and be fixed on the permeability magnetic material body 2 of sleeve pipe 1, namely can be fixed in the middle of the sleeve pipe 1.Electromagnetic coil 6 energisings (the general structural type of its jacket exterior as shown in Figure 8) to around first yoke 5 then produce magnetic field in first yoke, 5 both ends of the surface, and the size in this magnetic field can be controlled by the size of control coil 6 electric currents.Coil 6 on first yoke 5 is applied electric current, sense of current is correct when feeding, when electric current [strength is enough big, the magnetic force of the structure permanent magnet 3 of permeability magnetic material body 2 inner headed faces absorption repels each other on the magnetic force that first yoke, 5 ends that join with permeability magnetic material body 2 peripheries on the sleeve pipe 1 produce and the sleeve pipe 1, until offsetting initial permanent magnetism suction, this moment, permanent-magnet structure body 3 broke away from sleeve pipe 1, if continue to increase coil 6 electric current [strength, because homopolar-repulsion, the magnetic force that heteropole is inhaled mutually, structure permanent magnet 3 will deflect under the 5 electromagnetic force effects of first yoke, as shown in Figure 3, after 180 degree deflections, namely electromagnetic field direction and structure permanent magnet 3 magnetic directions are in the same way the time, and 3 deflections of structure permanent magnet stop.This moment, if disconnect the electric current of electromagnetic coil 6 on first yoke 5, magnetic field diminishes, this moment structure permanent magnet 3 near an end of permeability magnetic material body 2 on the sleeve pipes 1 and permeability magnetic material body 2 again adhesive and locate motionless, as shown in Figure 4.
In the above process, the rotation output barred body 4 that is connected on the structure permanent magnet 3 rotates 180 degree with structure permanent magnet 3, and this electromagnetism-permanent magnetism Resultant field torque can be got on by the mechanism that rotation output barred body 3 is transmitted to joint outside need control drive, thereby realize that 180 spend the effect of deflection rotations and Electromagnetic Control driving thereof.
In like manner, mechanism according to above working method, if feed and reciprocal electric current before for again the electromagnetic coil 6 of first yoke 5, and when electric current [strength is enough big, reverse 180 degree (or forward 180 degree that continue) rotation will take place in structure permanent magnet 3, get back to initial rigging position until structure permanent magnet 3, outage, restore the position.
So far, 180 of joint degree rotations drive and restore two typical operation of driving and can be achieved.
Embodiment 2
Present embodiment increases by second pair of electromagnetic coil 11 and second yoke 10 on embodiment 1 basis, and wherein: second pair of opposite polarity electromagnetic coil 11 electromagnetic coil 6 opposite with first pair pole is crisscross arranged in the outer wall of sleeve pipe 1.
During embodiment 2 work by at first to the electromagnetic coil on first yoke 5 energising offset initial structure permanent magnet 3 and act on the permanent magnetism suction on the permeability magnetic material body 2 in the sleeve pipe 1, add back current by the electromagnetic coil 11 to second yoke 10 then, and under the electromagnetic attraction acting in conjunction of magnetic first yoke, 5 electromagnetic repulsion forces and second yoke 10, the deflection of angle takes place to put corresponding to second yoke 10 in structure permanent magnet 3, and owing to the suction of second yoke 10 is stopped on the magnetic line of force direction of second yoke 10.In like manner, exchange the electrical current direction of above two yoke magnetic poles, structure permanent magnet 3 will turn round, and return back to initial position.
The number of described electromagnetic coil and yoke can further increase to form rotation driving and the control of multi-angle or angle sorting.
As shown in Figure 6, present embodiment employing section is first yoke 5 of L font structure;
During present embodiment work, its all composition important documents are identical with mode of execution 1 with the drive actions mode, and just for this working method situation, the both ends of the surface normal of first yoke 5 is an angle of 90 degrees; During initial position, normal line of butt end of first yoke 5 and the dead in line of structure permanent magnet 3 length directions (/ vertical) or vertical (/ overlap), situation as shown in Figure 6.In conjunction with the driving process of working method 1, under this kind working method, structure permanent magnet 3 can be realized the reciprocal rotating drive action of 90 degree corners.
Embodiment 4
As shown in Figure 7, present embodiment adopts the structure permanent magnet 3 of centrosymmetric structure, realizes reciprocal rotating drive action by nonaxisymmetric structure.
As shown in Figure 9, adopt structure electromagnetic coil 11 and being arranged to be provided with ferromagnetic material or permanent-magnet material or ferromagnetic, that the permanent-magnetic composite materials system becomes structure yoke 12 in the structure electromagnetic coil 11 as the magnetic strength device in the present embodiment.
As shown in figure 10, corresponding above-mentioned magnetic strength device adopts external permanent magnets 13 as magnetic field generation device in the present embodiment, and this external permanent magnets 13 can be flush-mounted in the sleeve pipe 1 and be achieved for one, or pair of outer permanent magnet 13 is symmetricly set in sleeve pipe 1 outside up and down.
Based on the structural type of this implementation column, its deflecting action mechanism is identical with embodiment 1-4.
By above several concrete mode of execution explanations, the intelligent self-driven joint of the invention that proposes can be realized the autorotation driving and be driven related mechanism or load generation action, and drive actions process and degree are the convenient control of rotation angle, drive degree of rotation or angle simultaneously and can be implemented perception, by computer control, can realize self-driven and intelligent drives articular system sensing capabilities.
Claims (5)
1. self-driven joint, comprising: sleeve pipe, magnetic strength device and magnetic field generation device is characterized in that: the magnetic strength device rotates along casing axis and is arranged at inside pipe casing, and magnetic field generation device is fixedly set in jacket exterior;
Described magnetic field generation device adopts one of following dual mode, is specially:
Mode one: described magnetic field generation device, comprise: magnetostriction piezoelectric sensing device and corresponding electromagnetic coil, wherein: some opposite polarity electromagnetic coil is relatively arranged on the outer wall of sleeve pipe, magnetostriction piezoelectric sensing device is fixedly set on the sidewall of sleeve pipe;
Mode two: described magnetic field generation device is realized by one or some external permanent magnets that is flush-mounted in sleeve pipe;
Described magnetic strength device is the structure permanent magnet, wherein:
Described structure permanent magnet comprises: p-m rotor and rotation output barred body, wherein p-m rotor is socketed on and rotates on the output barred body, rotates and exports the shaft core position that barred body is fixedly set in sleeve pipe.
2. self-driven joint according to claim 1 is characterized in that, when described magnetic field generation device comprised magnetostriction piezoelectric sensing device and corresponding electromagnetic coil, the inside of described electromagnetic coil was provided with yoke.
3. self-driven joint according to claim 1 is characterized in that, the number of described magnetic field generation device is one or more groups, and this magnetic field generation device is along parallel layout the on the axial direction of sleeve pipe.
4. self-driven joint according to claim 1 is characterized in that, described sleeve pipe is made up of the some blocks of arc HALF OPENING pipes that the permeability magnetic material body becomes with the non-magnet_conductible material system.
5. self-driven joint according to claim 1 is characterized in that: the number of described magnetic strength device is one or more groups, and this magnetic strength device is for along the axial direction of sleeve pipe or be arranged in juxtaposition in the radial direction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102908022A CN101956891B (en) | 2010-09-26 | 2010-09-26 | Self-driven joint |
| PCT/CN2011/001513 WO2012037777A1 (en) | 2010-09-26 | 2011-09-06 | Self-driven joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102908022A CN101956891B (en) | 2010-09-26 | 2010-09-26 | Self-driven joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101956891A CN101956891A (en) | 2011-01-26 |
| CN101956891B true CN101956891B (en) | 2013-09-25 |
Family
ID=43484398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102908022A Active CN101956891B (en) | 2010-09-26 | 2010-09-26 | Self-driven joint |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101956891B (en) |
| WO (1) | WO2012037777A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101956891B (en) * | 2010-09-26 | 2013-09-25 | 上海交通大学 | Self-driven joint |
| CN104908835B (en) * | 2015-06-10 | 2017-03-01 | 华南理工大学 | A kind of climbing mechanism of climbing robot |
| CN106870288B (en) * | 2017-03-18 | 2023-08-15 | 南昌工程学院 | Rotary piezoelectric breeze power generation device based on magnetostriction |
| CN107471247B (en) * | 2017-08-25 | 2020-10-09 | 歌尔科技有限公司 | Robot head rotating method and robot |
| CN112178404A (en) * | 2020-09-25 | 2021-01-05 | 南京明行宇贸易有限公司 | Intelligent manufacturing display equipment of silence is inhaled to electronic commerce magnetism |
| CN112647480B (en) * | 2020-12-09 | 2022-04-22 | 浙江城乡工程检测有限公司 | Construction foundation ditch wisdom monitoring jacking equipment and system |
| CN113503437A (en) * | 2021-07-14 | 2021-10-15 | 舒崇峰 | Mapping device for construction convenient to carry |
| CN113478520A (en) * | 2021-07-26 | 2021-10-08 | 海门海立电子科技有限公司 | Robot magnetic suspension joint and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2241613Y (en) * | 1995-06-07 | 1996-12-04 | 中国人民解放军89000部队 | Artificial joint driving device |
| JP2007152454A (en) * | 2005-12-01 | 2007-06-21 | Nippon Mektron Ltd | Adsorbing and carrying device for plate-like workpiece, and carrying method using the same |
| CN200988225Y (en) * | 2006-12-30 | 2007-12-12 | 浙江工业大学 | Robot flexible arm joint driving and it speed reducing device |
| CN101486190A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Electromagnetic direct driven robot finger apparatus |
| CN201380492Y (en) * | 2009-05-05 | 2010-01-13 | 扬州大学 | Magnetic suspension spherical driving joint with centripetal tension |
| CN201764206U (en) * | 2010-09-26 | 2011-03-16 | 上海交通大学 | Self-drive articulation |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4163164A (en) * | 1977-10-11 | 1979-07-31 | Micropump Corporation | Split magnet drive |
| FR2601129B1 (en) * | 1986-07-02 | 1994-06-03 | Commissariat Energie Atomique | ANGULAR POSITION SENSOR AND ANGULAR POSITION DETERMINATION ASSEMBLY PROVIDED WITH SEVERAL SAME |
| DE102004059342B4 (en) * | 2004-11-27 | 2006-12-21 | Schunk Gmbh & Co. Kg Fabrik Für Spann- Und Greifwerkzeuge | Gripping or clamping device |
| KR100760846B1 (en) * | 2006-09-04 | 2007-09-21 | 한국과학기술연구원 | Device for generating stiffness and joint of robot manipulator comprising the same |
| CN101698304B (en) * | 2009-09-29 | 2011-04-27 | 大连理工大学 | Magnetic inductive magnetic transmitter |
| CN101956891B (en) * | 2010-09-26 | 2013-09-25 | 上海交通大学 | Self-driven joint |
-
2010
- 2010-09-26 CN CN2010102908022A patent/CN101956891B/en active Active
-
2011
- 2011-09-06 WO PCT/CN2011/001513 patent/WO2012037777A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2241613Y (en) * | 1995-06-07 | 1996-12-04 | 中国人民解放军89000部队 | Artificial joint driving device |
| JP2007152454A (en) * | 2005-12-01 | 2007-06-21 | Nippon Mektron Ltd | Adsorbing and carrying device for plate-like workpiece, and carrying method using the same |
| CN200988225Y (en) * | 2006-12-30 | 2007-12-12 | 浙江工业大学 | Robot flexible arm joint driving and it speed reducing device |
| CN101486190A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Electromagnetic direct driven robot finger apparatus |
| CN201380492Y (en) * | 2009-05-05 | 2010-01-13 | 扬州大学 | Magnetic suspension spherical driving joint with centripetal tension |
| CN201764206U (en) * | 2010-09-26 | 2011-03-16 | 上海交通大学 | Self-drive articulation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101956891A (en) | 2011-01-26 |
| WO2012037777A1 (en) | 2012-03-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101956891B (en) | Self-driven joint | |
| US11804767B2 (en) | Magnetic coupling element with a magnetic bearing function | |
| KR20050086346A (en) | Magnetic rotating motor generator | |
| CN103001392B (en) | Swinging driving device based on electromagnetic energy and permanent magnetic energy hybrid | |
| CN103119838A (en) | Dynamo-electric machine | |
| CN102983778A (en) | Electric rotating machine based on super magnetostriction material | |
| WO2021098548A1 (en) | Magnetic shaft coupling and use and adjustment method thereof | |
| CN101267171B (en) | Electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor | |
| CN103911815A (en) | Washing machine and washing machine driving method | |
| CN201764206U (en) | Self-drive articulation | |
| CN103911817A (en) | Washing machine inner drum limiting device and method and washing machine | |
| CN110431736A (en) | Rotational-linear actuating assembly | |
| CN201918878U (en) | Radial-direction permanent-magnet coupling driver | |
| CN105743319B (en) | Oscillating motor and electric hair cutter | |
| CN107733143B (en) | A kind of bistable permanent magnetic steering engine and actuation method based on buckled beam | |
| CN103023373A (en) | Two-freedom-degree rotation-line motion micro ultrasonic motor | |
| ITFI20080150A1 (en) | PERMANENT MAGNET ACTUATOR FOR ADAPTIVE TYPE IMPLEMENTATION | |
| CN108736675A (en) | A kind of moving-coil type unipolarity permanent magnet rotational alignment motor | |
| CN104022615A (en) | Permanent magnet direct current linear flexible driver | |
| CN208369436U (en) | A kind of moving-coil type unipolarity permanent magnet rotational alignment motor | |
| CN107131124B (en) | Driving integrated screw rotor | |
| CN207082922U (en) | A kind of magnetic favourable turn | |
| CN205595913U (en) | Rotatory electromagnetic actuator of high performance | |
| CN101447362A (en) | Permanent magnet swing angle electric operating mechanism of high voltage circuit breaker | |
| CN203457030U (en) | Sleeve type magnet-gathering type magnetic circuit structure for permanent magnetic eddy current transmission device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220802 Address after: 200240 Building 1, No. 600, Jianchuan Road, Minhang District, Shanghai Patentee after: Shanghai LINGJI Intelligent Technology Co.,Ltd. Address before: 200240 No. 800, Dongchuan Road, Shanghai, Minhang District Patentee before: SHANGHAI JIAO TONG University |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20230531 Address after: 200240 No. 800, Dongchuan Road, Shanghai, Minhang District Patentee after: SHANGHAI JIAO TONG University Address before: 200240 Building 1, No. 600, Jianchuan Road, Minhang District, Shanghai Patentee before: Shanghai LINGJI Intelligent Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230629 Address after: Room 402, room 811, 64, Dongchuan Road, Minhang District, Shanghai Patentee after: Yang Bintang Address before: 200240 No. 800, Dongchuan Road, Shanghai, Minhang District Patentee before: SHANGHAI JIAO TONG University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230907 Address after: 201109 Building 1, No. 600, Jianchuan Road, Minhang District, Shanghai Patentee after: Lingji (Shanghai) Drive Technology Center (L.P.) Address before: Room 402, room 811, 64, Dongchuan Road, Minhang District, Shanghai Patentee before: Yang Bintang |
|
| TR01 | Transfer of patent right |