CN104467530A - SMA driven stepping motor - Google Patents
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- CN104467530A CN104467530A CN201410591728.6A CN201410591728A CN104467530A CN 104467530 A CN104467530 A CN 104467530A CN 201410591728 A CN201410591728 A CN 201410591728A CN 104467530 A CN104467530 A CN 104467530A
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- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 101100288434 Arabidopsis thaliana LACS2 gene Proteins 0.000 description 1
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- 101100294206 Schizosaccharomyces pombe (strain 972 / ATCC 24843) fta4 gene Proteins 0.000 description 1
- 201000006960 adult spinal muscular atrophy Diseases 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
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- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 208000005606 type IV spinal muscular atrophy Diseases 0.000 description 1
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Abstract
The invention provides an SMA driven stepping motor which comprises an axle, a gear disc, a rail disc, a left driving device and a right driving device. The gear disc is installed on the axle, and the outer edge of the gear disc is provided with the rail disc. The left driving device and the right driving device each comprise a driving arm, a driving SMA line, an elastic connecting part and a reset SMA line, wherein the driving end of the driving arm is meshed with gear teeth of the gear disc, one end of the driving SMA line is connected to the other end of the driving arm, the driving SMA line which is originally in the normal state is converted to be in the shortened state to pull the driving arm to drive the gear disc to rotate, the reset SMA line pulls the driving end of the driving arm away from the gear disc when in the shortened state, and one end of the elastic connecting part is connected to the driving arm. According to the SMA driven stepping motor, the SMA lines are used for driving a motor gear to rotate; by means of symmetrical driving of the left and right driving devices and stretching and retraction of the left and right driving devices on the rail disc, the motor driving stability is ensured, the space is saved, the stress symmetry is good, driving is easy, and energy is saved.
Description
Technical field
The present invention relates to the technical field of stepping motor, particularly relate to the stepping motor that a kind of SMA drives.
Background technology
Stepping motor is good because having overload property, and it is convenient to control, and overall structure is simple and be widely used, and has application at electronic watch, Industrial robot arm, package packing machine, mine hoisting, automotive test etc.Directly can not be received in industrial frequency AC or DC power supply by stepping motor and work, and special stepping motor driver must be used.Driver is in the past more complicated, and cost is high, and the structure of whole motor is also comparatively complicated, and complex manufacturing technology cost is high, and weight is not light, and institute takes up space large, limits the scope of application of stepping motor.
SMA (shape memory alloys, marmem, is called for short SMA) be a kind of novel intelligent material, this material has shape memory effect and higher power to weight ratio, and driving is simple, control is convenient, is widely used as driving element.But SMA also comes with some shortcomings as driver: SMA is unidirectional drive as driver in the prior art, the stability of driving is not strong, and saves energy poor effect.
Summary of the invention
The object of the invention is to overcome above deficiency and defect and propose the stepping motor that a kind of SMA drives
For reaching this object, the present invention by the following technical solutions:
The stepping motor that SMA drives, comprises wheel shaft, toothed disc, track disc, left drive unit and right drive unit; Described wheel shaft output motor power, described toothed disc is installed on described wheel shaft; Described track disc is positioned at the outer of described toothed disc;
Described left drive unit comprises left actuating arm, left driving SMA line, left Flexible Connector and left reset SMA line; Gear teeth meshing on the drive end of described left actuating arm and described toothed disc, one end of described left driving SMA line is connected to the other end of described left actuating arm, pulls described left actuating arm driven gear disc spins when described driving SMA line changes shortening state into by normal condition; The drive end of described left actuating arm is pulled away from described toothed disc when shortening state by described left reset SMA line; One end of described left Flexible Connector is connected to described left actuating arm;
Described right drive unit comprises right actuating arm, right driving SMA line, right Flexible Connector and right reset SMA line; Gear teeth meshing on the drive end of described right actuating arm and described toothed disc, one end of described right driving SMA line is connected to the other end of described right actuating arm, pulls described right actuating arm driven gear disc spins when described right driving SMA line changes shortening state into by normal condition; The drive end of described right actuating arm is pulled away from described toothed disc when shortening state by described right reset SMA line; One end of described right Flexible Connector is connected to described right actuating arm;
Described left driving SMA line, left Flexible Connector, right driving SMA line and right Flexible Connector all stretch along described track disc; Described left drive unit and right drive unit drive described toothed disc simultaneously clockwise.
Preferably, drive unit and lower drive unit is also provided with;
Described upper drive unit comprises actuating arm, upper driving SMA line, upper Flexible Connector and upper reset SMA line; Gear teeth meshing on the drive end of described upper actuating arm and described toothed disc, one end of described upper driving SMA line is connected to the other end of described upper actuating arm, pulls described upper actuating arm driven gear disc spins when described upper driving SMA line changes shortening state into by normal condition; The drive end of actuating arm on described is pulled away from described toothed disc when shortening state by described upper reset SMA line; One end of described upper Flexible Connector is connected to described upper actuating arm;
Described lower drive unit comprises lower actuating arm, lower driving SMA line, lower Flexible Connector and lower reset SMA line; Gear teeth meshing on the drive end of described lower actuating arm and described toothed disc, one end of described lower driving SMA line is connected to the other end of described lower actuating arm, pulls described lower actuating arm driven gear disc spins when described lower driving SMA line changes shortening state into by normal condition; The drive end of described lower actuating arm is pulled away from described toothed disc when shortening state by described lower reset SMA line; One end of described lower Flexible Connector is connected to described lower actuating arm;
Described upper driving SMA line, upper Flexible Connector, lower driving SMA line and lower Flexible Connector all stretch along described track disc; Described left drive unit and right drive unit drive described toothed disc simultaneously clockwise.
Preferably, the other end of described right driving SMA line is connected with the described upper other end of SMA line that drives; The other end of described right Flexible Connector is connected with the other end of described lower Flexible Connector; The other end of described left driving SMA line is connected with the described lower other end of SMA line that drives; The other end of described left Flexible Connector is connected with the other end of described upper Flexible Connector; One end of described right reset SMA line is vertically connected at the drive end of described right actuating arm; One end of described left reset SMA line is vertically connected at the drive end of described left actuating arm; One end of described upper reset SMA line is vertically connected at the drive end of described upper actuating arm; One end of described lower reset SMA line is vertically connected at the drive end of described lower actuating arm.
Preferably, the drive end of described left actuating arm, upper actuating arm, right actuating arm and lower actuating arm is provided with convex hook, the gear teeth meshing on described convex hook and described toothed disc.
Preferably, described left driving SMA line, upper driving SMA line, right driving SMA line, lower driving SMA line, lower driving SMA line, left reset SMA line, right reset SMA line, upper reset SMA line and lower reset SMA line are Nitinol line.
Preferably, the control panel changed between normal condition and shortening state for controlling described left driving SMA line, upper driving SMA line, right driving SMA line, lower driving SMA line, left reset SMA line, right reset SMA line, upper reset SMA line and lower reset SMA line is comprised.
Preferably, described control panel is provided with the counter of the change frequency recording described left driving SMA line, upper driving SMA line, right driving SMA line, lower driving SMA line, left reset SMA line, right reset SMA line, upper reset SMA line and lower reset SMA line.
Preferably, the wheel shaft of described toothed disc and stepping motor is fixed by hold-down nut.
Preferably, described wheel shaft is provided with ratio apparatus.
SMA drives repeatedly linear reciprocating motion to change the rotary motion of motor gear into by pulse voltage by the present invention, driven by the symmetry of left and right drive unit again, stressed symmetry is good thus ensure that motor has stronger stability in driving process, and symmetrical driving comparatively easily drives, thus save the energy.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the present invention's specific embodiment.
Fig. 2 is the schematic diagram of the present invention's specific embodiment.
Wherein: 1 is toothed disc, 2 is left Flexible Connector, and 3 is left actuating arm, and 4 is left driving SMA line, 5 is right Flexible Connector, and 6 is right actuating arm, and 7 is right driving SMA line, 8 is upper Flexible Connector, and 9 is upper actuating arm, and 10 is upper driving SMA line, 11 is lower Flexible Connector, and 12 is lower actuating arm, and 13 is lower driving SMA line, 14 is track disc, and 15 is left reset SMA line, and 16 is right reset SMA line, 17 is upper reset SMA line, and 18 is lower reset SMA line, and 101,102,103,104 is convex hook.
Embodiment
Technical scheme of the present invention is further illustrated by embodiment below in conjunction with accompanying drawing.
As shown in Figure 1, the stepping motor that a kind of SMA drives, comprises wheel shaft, toothed disc 1, track disc 14, left drive unit and right drive unit to one embodiment of the present of invention; Described wheel shaft output motor power, described toothed disc 1 is installed on described wheel shaft; Described track disc 14 is positioned at the outer of described toothed disc 1;
Described left drive unit comprises left actuating arm 3, left driving SMA line 4, left Flexible Connector 2 and left reset SMA line 15; Gear teeth meshing on the drive end of described left actuating arm 3 and described toothed disc 1, one end of described left driving SMA line 4 is connected to the other end of described left actuating arm 3, pulls described left actuating arm 3 driven gear dish 1 to rotate when described left driving SMA line 4 changes shortening state into by normal condition; The drive end of described left actuating arm 3 is pulled away from described toothed disc 1 when shortening state by described left reset SMA line 15; One end of described left Flexible Connector 2 is connected to described left actuating arm 3;
Described right drive unit comprises right actuating arm 6, right driving SMA line 7, right Flexible Connector 5 and right reset SMA line 16; Gear teeth meshing on the drive end of described right actuating arm 6 and described toothed disc 1, one end of described right driving SMA line 7 is connected to the other end of described right actuating arm 6, pulls described right actuating arm 6 driven gear dish 1 to rotate when described right driving SMA line 7 changes shortening state into by normal condition; The drive end of described right actuating arm 6 is pulled away from described toothed disc 1 when shortening state by described right reset SMA line 16; One end of described right Flexible Connector 5 is connected to described right actuating arm 6;
Described left driving SMA line 4, left Flexible Connector 2, right driving SMA line 7 and right Flexible Connector 5 all stretch along described track disc 14; Described left drive unit and right drive unit drive described toothed disc 1 simultaneously clockwise.
The motor of the present embodiment drives like this.Shorten when left driving SMA line 4 and right driving SMA line 7 making alive, pull left actuating arm 3 and left actuating arm 6, thus make described toothed disc 1 rotate a tooth, described wheel shaft rotates outputting power.Then, left reset SMA line 15 and right reset SMA line 16 pressurize, and left actuating arm 3 and left actuating arm 6 are pulled away from toothed disc 1, the loss of voltage of left driving SMA line 4 and right driving SMA line 7, and left driving SMA4 line and right driving SMA line 7 are elongated to normal condition; Left reset SMA line 15 and right reset SMA line loss of voltage, under the effect of left Flexible Connector 2 and right Flexible Connector 5, left actuating arm 3 and right actuating arm 6 recover the state engaged with toothed disc 1, thus can do pulling next time to toothed disc 1.The voltage be added on left driving SMA line 4, right driving SMA line 7, left reset SMA line 15 and right reset SMA line 16 is pulse voltage, so can continue to repeat above-mentioned behavior, although the distance of the only tooth of drive gear disk 1 of each pulse voltage cycle, the general performance of motor is made to be the rotation that wheel shaft continues.This kind of electric machine structure is very simple, and volume is very little.SMA line drives repeatedly linear reciprocating motion to change the rotary motion of motor gear into by pulse voltage by the present invention, driven by the symmetry of left and right drive unit again and stretch along described track disc 14, ensure that the stability of motor in driving process and save space, stressed symmetry well comparatively easily drives, thus saves the energy.
The pulse voltage of control panel to above-mentioned SMA line can be adopted to control, to regulate motor speed.
As shown in Figure 2, an alternative embodiment of the invention, is also provided with drive unit and lower drive unit;
Described upper drive unit comprises actuating arm 9, upper driving SMA line 10, upper Flexible Connector 8 and upper reset SMA line 17; Gear teeth meshing on the drive end of described upper actuating arm 9 and described toothed disc 1, one end of described upper driving SMA line 10 is connected to the other end of described upper actuating arm 9, pulls described upper actuating arm 9 driven gear dish 1 to rotate when described upper driving SMA line 10 changes shortening state into by normal condition; The drive end of actuating arm 9 on described is pulled away from described toothed disc 1 when shortening state by described upper reset SMA line 17; One end of described upper Flexible Connector 8 is connected to described upper actuating arm 9;
Described lower drive unit comprises lower actuating arm 12, lower driving SMA line 13, lower Flexible Connector 11 and lower reset SMA line 18; Gear teeth meshing on the drive end of described lower actuating arm 12 and described toothed disc 1, one end of described lower driving SMA line 13 is connected to the other end of described lower actuating arm 12, pulls described lower actuating arm 12 driven gear dish 1 to rotate when described lower driving SMA line 13 changes shortening state into by normal condition; The drive end of described lower actuating arm 12 is pulled away from described toothed disc 1 when shortening state by described lower reset SMA line 18; One end of described lower Flexible Connector 11 is connected to described lower actuating arm 12;
Described upper driving SMA line 10, upper Flexible Connector 8, lower driving SMA line 13 and lower Flexible Connector 11 all stretch along described track disc 14; Described upper drive unit and lower drive unit drive described toothed disc 1 simultaneously counterclockwise.
Also pulse voltage can be added at upper driving SMA line 10 and lower driving SMA line 13, but when driving SMA line 10 and lower driving SMA line 13 to apply pulse voltage on giving, described left driving SMA line 4 and right driving SMA line 7 do not apply pulse voltage, toothed disc 1 both can be driven clockwise, also can rotate counterclockwise, expand range of application of the present invention.
As Fig. 2, the other end of described right driving SMA line 7 is connected with the described upper other end of SMA line 10 that drives; The other end of described right Flexible Connector 5 is connected with the other end of described lower Flexible Connector 11; The other end of described left driving SMA line 4 is connected with the described lower other end of SMA line 13 that drives; The other end of described left Flexible Connector 2 is connected with the other end of described upper Flexible Connector 8; One end of described right reset SMA line is vertically connected at the drive end of described right actuating arm; One end of described left reset SMA line is vertically connected at the drive end of described left actuating arm; One end of described upper reset SMA line is vertically connected at the drive end of described upper actuating arm; One end of described lower reset SMA line is vertically connected at the drive end of described lower actuating arm.
By the connection between the connection between driving SMA line described above and described Flexible Connector, described left drive unit, upper drive unit, right drive unit and lower drive unit are connected to form the structure of a similar round shape, such structural design makes drive efficiency the highest, the minimum change in size of SMA line can be made to complete drive actions, thus reach joint space-efficient object.
Preferably, the drive end of described left actuating arm 3, upper actuating arm 9, right actuating arm 6 and lower actuating arm 12 is provided with convex hook 101,103,102 and 104, the gear teeth meshing on described convex hook 101,103,102 and 104 and described toothed disc 1.
When the pulse that control panel sends received by left driving SMA line 4, upper driving SMA line 10, right driving SMA line 7 and lower driving SMA line 13, left driving SMA line 4, upper driving SMA line 10, right driving SMA line 7 and lower driving SMA line 13 just pull described left actuating arm 3, upper actuating arm 9, right actuating arm 6 and lower actuating arm 12 clockwise and counterclockwise, and described convex hook 101,102,103 and 104 catches on the gear teeth, thus easily pull the rotation of described toothed disc 1.It is simple that such actuating arm moves structural design, and manufacture craft is simple, thus cost-saving.
Preferably, described left driving SMA line 4, upper driving SMA line 10, right driving SMA line 7, lower driving SMA line 13, left reset SMA line 15, right reset SMA line 16, upper reset SMA line 17 and lower reset SMA line 18 are Nitinol line.
Nitinol has outside unique shape memory function, also has the excellent characteristics such as wear-resistant, anticorrosive, high damping and super-elasticity.
The present embodiment also comprises the control panel changed between normal condition and shortening state for controlling described left driving SMA line 4, upper driving SMA line 10, right driving SMA line 7, lower driving SMA line 13, left reset SMA line 15, right reset SMA line 16, upper reset SMA line 17 and lower reset SMA line 18.
The cycle of control panel pulse voltage and amplitude carry out Comprehensive Control, are conducive to regulating the multiple motor operating modes such as motor speed according to various actual conditions.
Preferably, described control panel is provided with the counter of the change frequency recording described left driving SMA line 4, upper driving SMA line 10, right driving SMA line 7, lower driving SMA line 13, left reset SMA line 15, right reset SMA line 16, upper reset SMA line 17 and lower reset SMA line 18.
Described counter can read the numerical value that control panel exports pulse, and converts the rotational angle of gear to may correspond to.
Preferably, described toothed disc 1 is fixed by hold-down nut with the wheel shaft of stepping motor.
Utilize hold-down nut by fixing with the wheel shaft of stepping motor for described toothed disc 1 both simple and fasts, dismounting also facilitates.
Preferably, described wheel shaft is provided with ratio apparatus.
Rotated by the output of gear shaft 1, then add that rotatory force can zoom in or out by ratio apparatus.As adopted reduction of speed power can be amplified than just, to increase the actuating force of SMA line, overcome the weakness that the actuating force of SMA line is little.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other embodiment of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (9)
1. a stepping motor for SMA driving, is characterized in that: comprise wheel shaft, toothed disc, track disc, left drive unit and right drive unit; Described wheel shaft output motor power, described toothed disc is installed on described wheel shaft; Described track disc is positioned at the outer of described toothed disc;
Described left drive unit comprises left actuating arm, left driving SMA line, left Flexible Connector and left reset SMA line; Gear teeth meshing on the drive end of described left actuating arm and described toothed disc, one end of described left driving SMA line is connected to the other end of described left actuating arm, pulls described left actuating arm driven gear disc spins when described driving SMA line changes shortening state into by normal condition; The drive end of described left actuating arm is pulled away from described toothed disc when shortening state by described left reset SMA line; One end of described left Flexible Connector is connected to described left actuating arm;
Described right drive unit comprises right actuating arm, right driving SMA line, right Flexible Connector and right reset SMA line; Gear teeth meshing on the drive end of described right actuating arm and described toothed disc, one end of described right driving SMA line is connected to the other end of described right actuating arm, pulls described right actuating arm driven gear disc spins when described right driving SMA line changes shortening state into by normal condition; The drive end of described right actuating arm is pulled away from described toothed disc when shortening state by described right reset SMA line; One end of described right Flexible Connector is connected to described right actuating arm;
Described left driving SMA line, left Flexible Connector, right driving SMA line and right Flexible Connector all stretch along described track disc; Described left drive unit and right drive unit drive described toothed disc simultaneously clockwise.
2. the stepping motor of SMA driving according to claim 1, is characterized in that: be also provided with drive unit and lower drive unit;
Described upper drive unit comprises actuating arm, upper driving SMA line, upper Flexible Connector and upper reset SMA line; Gear teeth meshing on the drive end of described upper actuating arm and described toothed disc, one end of described upper driving SMA line is connected to the other end of described upper actuating arm, pulls described upper actuating arm driven gear disc spins when described upper driving SMA line changes shortening state into by normal condition; The drive end of actuating arm on described is pulled away from described toothed disc when shortening state by described upper reset SMA line; One end of described upper Flexible Connector is connected to described upper actuating arm;
Described lower drive unit comprises lower actuating arm, lower driving SMA line, lower Flexible Connector and lower reset SMA line; Gear teeth meshing on the drive end of described lower actuating arm and described toothed disc, one end of described lower driving SMA line is connected to the other end of described lower actuating arm, pulls described lower actuating arm driven gear disc spins when described lower driving SMA line changes shortening state into by normal condition; The drive end of described lower actuating arm is pulled away from described toothed disc when shortening state by described lower reset SMA line; One end of described lower Flexible Connector is connected to described lower actuating arm;
Described upper driving SMA line, upper Flexible Connector, lower driving SMA line and lower Flexible Connector all stretch along described track disc; Described upper drive unit and lower drive unit drive described toothed disc simultaneously counterclockwise.
3. the stepping motor of SMA driving according to claim 2, is characterized in that: the other end of described right driving SMA line is connected with the described upper other end of SMA line that drives; The other end of described right Flexible Connector is connected with the other end of described lower Flexible Connector; The other end of described left driving SMA line is connected with the described lower other end of SMA line that drives; The other end of described left Flexible Connector is connected with the other end of described upper Flexible Connector; One end of described right reset SMA line is vertically connected at the drive end of described right actuating arm; One end of described left reset SMA line is vertically connected at the drive end of described left actuating arm; One end of described upper reset SMA line is vertically connected at the drive end of described upper actuating arm; One end of described lower reset SMA line is vertically connected at the drive end of described lower actuating arm.
4. the stepping motor that drives of SMA according to claim 1, is characterized in that: the drive end of described left actuating arm, upper actuating arm, right actuating arm and lower actuating arm is provided with convex hook, the gear teeth meshing on described convex hook and described toothed disc.
5. the stepping motor of SMA driving according to claim 2, is characterized in that: described left driving SMA line, upper driving SMA line, right driving SMA line, lower driving SMA line, left reset SMA line, right reset SMA line, upper reset SMA line and lower reset SMA line are Nitinol line.
6. the stepping motor of SMA driving according to claim 2, is characterized in that: comprise the control panel changed between normal condition and shortening state for controlling described left driving SMA line, upper driving SMA line, right driving SMA line, lower driving SMA line, left reset SMA line, right reset SMA line, upper reset SMA line and lower reset SMA line.
7. the stepping motor of SMA driving according to claim 6, is characterized in that: described control panel is provided with the counter of the change frequency recording described left driving SMA line, upper driving SMA line, right driving SMA line, lower driving SMA line, left reset SMA line, right reset SMA line, upper reset SMA line and lower reset SMA line.
8. the stepping motor of SMA driving according to claim 1, is characterized in that: the wheel shaft of described toothed disc and stepping motor is fixed by hold-down nut.
9. the stepping motor of SMA driving according to claim 1, is characterized in that: described wheel shaft is provided with ratio apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410591728.6A CN104467530B (en) | 2014-10-28 | 2014-10-28 | A kind of stepper motor of SMA drivings |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410591728.6A CN104467530B (en) | 2014-10-28 | 2014-10-28 | A kind of stepper motor of SMA drivings |
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| CN104467530A true CN104467530A (en) | 2015-03-25 |
| CN104467530B CN104467530B (en) | 2016-06-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111371341A (en) * | 2020-03-24 | 2020-07-03 | 燕山大学 | Microminiature SMA oscillating tooth driven motor |
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| Publication number | Publication date |
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| CN104467530B (en) | 2016-06-29 |
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Effective date of registration: 20201224 Address after: 23 Xichang street, Huai'an District, Huai'an City, Jiangsu Province Patentee after: Huaian District comprehensive inspection and testing center of Huai'an City Address before: 528000 two, 1603, Wenhua North Road 56, Chancheng District, Foshan, Guangdong, two Patentee before: FOSHAN HECAI TECHNOLOGY SERVICE Co.,Ltd. Patentee before: Tang Yiping |
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Application publication date: 20150325 Assignee: Huai'an Sanxing Valve Factory Assignor: Huaian District comprehensive inspection and testing center of Huai'an City Contract record no.: X2024980013362 Denomination of invention: A SMA driven stepper motor Granted publication date: 20160629 License type: Common License Record date: 20240829 |
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Application publication date: 20150325 Assignee: Huaian Pinyoude Technology Co.,Ltd. Assignor: Huaian District comprehensive inspection and testing center of Huai'an City Contract record no.: X2024980013865 Denomination of invention: A SMA driven stepper motor Granted publication date: 20160629 License type: Common License Record date: 20240903 |
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