CN104769236B - 致动器 - Google Patents

致动器 Download PDF

Info

Publication number
CN104769236B
CN104769236B CN201380039142.2A CN201380039142A CN104769236B CN 104769236 B CN104769236 B CN 104769236B CN 201380039142 A CN201380039142 A CN 201380039142A CN 104769236 B CN104769236 B CN 104769236B
Authority
CN
China
Prior art keywords
actuator
ring
contact
production equipment
actuation
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.)
Expired - Fee Related
Application number
CN201380039142.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN104769236A (zh
Inventor
詹姆斯·B·克拉森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Janis Robotics Mobile Canada
Original Assignee
Janis's Advanced Techniques Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Janis's Advanced Techniques Co Ltd filed Critical Janis's Advanced Techniques Co Ltd
Publication of CN104769236A publication Critical patent/CN104769236A/zh
Application granted granted Critical
Publication of CN104769236B publication Critical patent/CN104769236B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/08—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary motion and oscillating motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
    • F16H13/10—Means for influencing the pressure between the members
    • F16H13/12—Means for influencing the pressure between the members by magnetic forces
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H49/00—Other gearings
    • F16H49/001—Wave gearings, e.g. harmonic drive transmissions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N1/00—Electrostatic generators or motors using a solid moving electrostatic charge carrier
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/02—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing linear motion, e.g. actuators; Linear positioners ; Linear motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N2/00—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction
    • H02N2/10—Electric machines in general using piezoelectric effect, electrostriction or magnetostriction producing rotary motion, e.g. rotary motors
    • H02N2/105—Cycloid or wobble motors; Harmonic traction motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/18—Mechanical movements
    • Y10T74/18056—Rotary to or from reciprocating or oscillating

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
  • Transmission Devices (AREA)
  • Retarders (AREA)
  • Manipulator (AREA)
CN201380039142.2A 2012-06-19 2013-06-19 致动器 Expired - Fee Related CN104769236B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261661802P 2012-06-19 2012-06-19
US61/661,802 2012-06-19
PCT/CA2013/050472 WO2013188976A1 (en) 2012-06-19 2013-06-19 Actuator

Publications (2)

Publication Number Publication Date
CN104769236A CN104769236A (zh) 2015-07-08
CN104769236B true CN104769236B (zh) 2018-10-26

Family

ID=49767984

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380039142.2A Expired - Fee Related CN104769236B (zh) 2012-06-19 2013-06-19 致动器

Country Status (8)

Country Link
US (1) US9945458B2 (enExample)
EP (1) EP2861837B1 (enExample)
JP (1) JP6340701B2 (enExample)
CN (1) CN104769236B (enExample)
CA (1) CA2877403A1 (enExample)
IL (1) IL236417A0 (enExample)
MX (1) MX2014016060A (enExample)
WO (1) WO2013188976A1 (enExample)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10284117B2 (en) 2014-05-05 2019-05-07 Genesis Advanced Technology Inc. Buckling wave disk
US9874075B2 (en) * 2014-10-13 2018-01-23 Marathon Oil Company Electromagnetic induction generator for use in a well
US9683612B2 (en) * 2015-04-15 2017-06-20 Genesis Robotics Llp Wave actuator
GB201617745D0 (en) * 2016-10-20 2016-12-07 Cambridge Mechatronics Ltd SMA harmonic motor
GB201700684D0 (en) * 2017-01-15 2017-03-01 Hammerbeck John Philip Roger Motor and reducer
US11111997B2 (en) * 2018-04-24 2021-09-07 Hamilton Sundstrand Corporation Magnetically driven harmonic drive
CN108397536B (zh) * 2018-05-04 2023-07-25 顺德职业技术学院 新型波发生器的谐波传动机构
CN109667638B (zh) * 2018-12-28 2020-06-02 潍柴动力股份有限公司 气门控制装置及发动机
FR3091414B1 (fr) * 2018-12-31 2023-05-12 Hap2U Actionneurs piézoélectriques à déformation amplifiée
EP3911876A1 (en) * 2019-01-16 2021-11-24 Genesis Robotics and Motion Technologies, LP Compact actuator arrangement
GB201915013D0 (en) 2019-10-17 2019-12-04 Genesis Robotics And Motion Tech Lp Actuator arrangement
FR3092454B1 (fr) * 2019-02-04 2022-06-10 Cedrat Tech Mecanisme de deplacement nanometrique a vis
EP3977526A2 (en) 2019-06-03 2022-04-06 Gregory Scott Fischer Optical actuator
US11048347B2 (en) * 2019-11-26 2021-06-29 ACCO Brands Corporation Computer input device
JP7567657B2 (ja) * 2021-05-21 2024-10-16 トヨタ自動車株式会社 アクチュエータ
CN115296558B (zh) * 2022-08-29 2025-10-17 南京伶机宜动驱动技术有限公司 基于无线驱动的多自由度运动系统
US20250031357A1 (en) * 2023-07-19 2025-01-23 Asmpt Singapore Pte. Ltd. Bonding tool incorporating decoupled motion axes
CN117823595B (zh) * 2024-01-29 2024-09-24 重庆大学 一种多层复合柔轮型谐波减速器及柔性工业机器人
CN118149069B (zh) * 2024-01-29 2024-11-15 重庆大学 一种二维多头波发生器型谐波减速器及自适应工业机器人
CN117869555B (zh) * 2024-01-29 2024-09-06 重庆大学 一种三维多头波发生器型谐波减速器及单关节多自由度工业机器人

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5148068A (en) * 1990-10-09 1992-09-15 Zexel Corporation Electromagnetic actuator for moving an object
US6155220A (en) * 1999-09-13 2000-12-05 General Motors Corporation Piezoelectric differential cam phaser
US6664711B2 (en) * 2001-08-23 2003-12-16 Delphi Technologies, Inc. Harmonic motor
US7161278B2 (en) * 2003-10-31 2007-01-09 Piezomotor Uppsala Ab Peristaltic electromechanical actuator

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2906143A (en) 1955-03-21 1959-09-29 United Shoe Machinery Corp Strain wave gearing
US3389274A (en) 1965-12-06 1968-06-18 Perkin Elmer Corp Peristaltic actuator
US4734610A (en) 1986-03-25 1988-03-29 Canon Kabushiki Kaisha Vibration wave motor
FI873139A7 (fi) 1987-07-15 1989-01-16 Antti Mikael Poro Vaexelsammansaettning.
JP2503027B2 (ja) 1987-09-21 1996-06-05 株式会社ハーモニック・ドライブ・システムズ 撓みかみ合い式歯車装置
JP2667209B2 (ja) 1988-07-01 1997-10-27 株式会社ハーモニック・ドライブ・システムズ 永久磁石を用いた調和歯車装置
JPH02129436A (ja) * 1988-11-08 1990-05-17 Sumitomo Heavy Ind Ltd アクチュエータ
JPH06502295A (ja) * 1991-08-13 1994-03-10 リヒター，ハンス 電動モータ
US6437485B1 (en) 2000-12-20 2002-08-20 Piezomotor Uppsala Ab Double bimorph electromechanical element
US7086309B2 (en) 2002-09-19 2006-08-08 The Johns Hopkins University Planetary-harmonic motor
US7675253B2 (en) 2006-11-15 2010-03-09 Schlumberger Technology Corporation Linear actuator using magnetostrictive power element
US20120204674A1 (en) 2007-12-05 2012-08-16 Ivan Lundberg Harmonic motor, drive assembly, industrial robot, robot boom and robot joint
WO2009071604A1 (en) 2007-12-05 2009-06-11 Abb Research Ltd Harmonic motor
WO2010000302A1 (en) 2008-06-30 2010-01-07 Abb Research Ltd Harmonic friction drive
DE102009053728A1 (de) * 2009-11-18 2011-05-19 Audi Ag Spannungswellengetriebe

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5148068A (en) * 1990-10-09 1992-09-15 Zexel Corporation Electromagnetic actuator for moving an object
US6155220A (en) * 1999-09-13 2000-12-05 General Motors Corporation Piezoelectric differential cam phaser
US6664711B2 (en) * 2001-08-23 2003-12-16 Delphi Technologies, Inc. Harmonic motor
US7161278B2 (en) * 2003-10-31 2007-01-09 Piezomotor Uppsala Ab Peristaltic electromechanical actuator

Also Published As

Publication number Publication date
CA2877403A1 (en) 2013-12-27
CN104769236A (zh) 2015-07-08
MX2014016060A (es) 2016-05-31
US20150198222A1 (en) 2015-07-16
EP2861837B1 (en) 2019-08-21
WO2013188976A1 (en) 2013-12-27
JP6340701B2 (ja) 2018-06-13
IL236417A0 (en) 2015-02-26
US9945458B2 (en) 2018-04-17
EP2861837A1 (en) 2015-04-22
EP2861837A4 (en) 2016-06-01
JP2015527853A (ja) 2015-09-17

Similar Documents

Publication Publication Date Title
CN104769236B (zh) 致动器
Chen et al. Soft crawling robots: design, actuation, and locomotion
JP7273103B2 (ja) ウェーブアクチュエータ
Steltz et al. Jamming as an enabling technology for soft robotics
JP5937044B2 (ja) トランスデューサ、アクチュエータ、及び、トランスデューサを製造する方法
US11635094B2 (en) High Strain Peano hydraulically amplified self-healing electrostatic (HASEL) transducers
Anderson et al. A thin membrane artificial muscle rotary motor
EP2662558A2 (en) Mechanisms for creating undulating motion, such as for propulsion and for harnessing the energy of moving fluid
Jiang et al. Soft Pocket Pump for Multi‐Medium Transportation via an Active Tubular Diaphragm
US20150297442A1 (en) Massage device
JP6898922B2 (ja) エネルギ変換システム及び方法
CN111033089B (zh) 应力波驱动器和减速器
Horst et al. Flexcva: A continuously variable actuator for active orthotics
US11856861B2 (en) Spring with a plurality of elements, and actuator including such as a spring
KR102135089B1 (ko) 전기 활성 섬유
KR102561982B1 (ko) 자석챔버구조를 갖는 소프트 공압 구동기 및 그 작동방법
WO2018130806A1 (en) Combined motor and reducer

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
EXSB Decision made by sipo to initiate substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20181011

Address after: British Columbia Canada

Applicant after: Janis Robotics Mobile Canada

Address before: Langley Street 64, British Columbia, Canada

Applicant before: GENESIS ADVANCED TECHNOLOGY Inc.

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20181026