CN201188587Y - Piezoelectric motor for implementing spherical motion and spherical motion system - Google Patents
Piezoelectric motor for implementing spherical motion and spherical motion system Download PDFInfo
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- CN201188587Y CN201188587Y CN 200820092375 CN200820092375U CN201188587Y CN 201188587 Y CN201188587 Y CN 201188587Y CN 200820092375 CN200820092375 CN 200820092375 CN 200820092375 U CN200820092375 U CN 200820092375U CN 201188587 Y CN201188587 Y CN 201188587Y
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Abstract
The utility model provides a piezoelectric motor realizing spherical motion. The piezoelectric motor comprises a piezoelectric motor driving part and an auxiliary part used for realizing the spherical motion. The piezoelectric driving part comprises a piezoelectric structure generating two-dimensional motion through splicing piezoelectric pieces on a square column basal body. The basal body is provided with a driving head. The auxiliary part comprises spherical motion components which can realize spherical motion, and the spherical motion components are driven by the driving head. Four piezoelectric pieces are pasted on the circumference of the square column basal body. The piezoelectric pieces adopt a quadrant electrode mode, and diagonal piezoelectric pieces adopt a one-electrode grouping mode; one group of electrodes or two groups of electrodes can be simultaneously driven. The piezoelectric motor can be used as a monitor, a camera, an overhead projector, an astronomical telescope, and a direct drive of a microscopic device instead of a common tripod head, and the angle of the piezoelectric can be regulated; the piezoelectric motor can be used for driving the arms and the joints of minisize robots, top-grade electric toys, and visual angle regulating devices, such as rearview mirrors of vehicles, wall hung televisions, and the like.
Description
[technical field]
The utility model relates to the piezo-electric motor technical field, particularly a kind of piezo-electric motor, spheric motion system and drive circuit of realizing spheric motion.
[background technology]
Up to the present, the mankind use and the motor technologies and the product that have have many types, comprise electromagnetic motor, hydraulic motor, air pressure motor, piezo-electric motor or the like, we can say that design and application technology develop into very ripe at present.Classify with regard to its type of sports, single direction linear motion-type, straight reciprocating motion type, single rotary-type, two-way rotary-type, plane motion type, spheric motion type etc. of turning to are probably arranged.Wherein the motor product limitation of multi-dimensional movement type is very big.If we will realize plane motion or spheric motion in actual applications, will use two motors to realize that the motion of both directions superposes and achieve the goal.Two motors drive respectively and certainly will cause drive system complex structure, cost to raise, control a succession of problems such as complicated.And the direction of drive system technological progress is drive system simple structureization, control simplification, volume-diminishedization, cost minimization etc.
[utility model content]
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art part, and a kind of piezo-electric motor and spheric motion system that realizes spheric motion is provided.
Ultrasound piezoelectric motor of the present utility model can be realized two dimensional motion, realizes spheric motion by a piezo-electric motor.Because a driving body can directly be realized spheric motion, and directly realize the independence of two dimensional motion physically, therefore can solve the difficulty of multidimensional drive system to a great extent, reduce the volume of drive system, structure member quantity obviously reduces, cost reduction etc., in addition, because this system by Driven by Ultrasonic Motors, can directly obtain nano level positional precision without deceleration system, can the power down self-locking, and the very big power density and the quiet characteristics of working of tool.
The utility model comprises: the slave part of piezo-electric motor drive part, realization spheric motion.Specifically, the Piezoelectric Driving of piezo-electric motor partly comprises the piezoelectric structure that four blocks of piezoelectrics are bonded in a generation two dimensional motion ability that constitutes on the square column matrix.Slave part comprises the spheric motion assembly of some suitable shapes that can realize spheric motion.
The present invention solves existing technical problem, the technical scheme that is adopted is: a kind of piezo-electric motor of realizing spheric motion, comprise the slave part of piezo-electric motor drive part and the described spheric motion of realization, it is characterized in that: described Piezoelectric Driving partly comprises the piezoelectric structure that produces two dimensional motion that piezoelectric piece bonding constitutes on a square column matrix; Described matrix is provided with a driving head; The spheric motion assembly that described slave part comprises can realize spheric motion, driven by driving head.
According to the utility model one preferred embodiment, described piezoelectric patches is four, is pasted on square column matrix week side, and piezoelectric patches electrode mode is four sub-electrodes, and two of matrix opposite side are the packet mode of a utmost point; Type of drive can singly be organized electrode drive, also can two arrays of electrodes composition electrode group drive the power output that reaches higher simultaneously.
According to the utility model one preferred embodiment, described piezoelectric patches can be three and be pasted on square column matrix three sides, or two piezoelectric patches are pasted on adjacent two sides of square column matrix; Piezoelectric patches electrode mode is four sub-electrodes, and two of matrix opposite side are the packet mode of a utmost point; Type of drive can singly be organized electrode drive, also can drive the power output that reaches higher simultaneously by two arrays of electrodes.
According to the utility model one preferred embodiment, described base shape is the rectangle column, and its inside can be
Solid construction or hollow-core construction, for example matrix of the hollow-core construction of circle or rectangle.
According to the utility model one preferred embodiment, described spheric motion assembly comprises sphere, ball set on the permeability magnetic material spherical support body, is driven sphere; This is driven sphere and contacts with driving head.
The present invention solves existing technical problem, another technical scheme that is adopted is: a kind of piezo-electric motor spheric motion system that realizes spheric motion, comprise the screw of adjusting spring force, supporting housing, spring, the piezo-electric motor of spheric motion, rubber washer, permanent magnet rings, permeability magnetic material spherical support body, the magnetic conductive ball group, dribbling face and magnetic conduction be driven parts, it is characterized in that the screw of described adjustment spring force, supporting housing, spring, the piezo-electric motor of spheric motion, rubber washer, permanent magnet rings, permeability magnetic material spherical support body, the magnetic conductive ball group, the parts that are driven of dribbling face and magnetic conduction are docile and obedient preface and are installed and fixed.
According to the utility model one preferred embodiment, described permanent magnet rings, be driven parts, magnetic conduction sphere, magnetic conductive ball group and constitute the shortest magnetic circuit; Magnetic conductive ball group support component magnetic conduction sphere, the spring handle piezo-electric motor is pressed on driven magnetic conduction sphere, and adjusts the pressure that screw is adjusted spring by spring, and rubber washer supports and can be limited in piezo-electric motor on the correct position.
According to the utility model one preferred embodiment, also comprise Drive and Control Circuit, signal generator, power amplifier, control switch K and piezoelectric electrode/electrode group; Described signal generator provides control signal to power amplifier, described power amplifier drive controlling K switch, and described control switch K receives described electrode/electro utmost point group respectively.Switch machinery or numeral all can.
According to the utility model one preferred embodiment, described signal generator provides sine wave, square wave or triangular wave control signal to power amplifier, and can be one road signal in the driving process, also can be the two paths of signals that the appropriate phase difference is arranged.
According to the utility model one preferred embodiment, the frequency of described control signal is 18KHz～200KHz.
The beneficial effects of the utility model are: because its power density is very high, and the very high nano level displacement of the lines of positional precision, it perhaps almost is arbitrarily small angular displacement, do not need reducing gear again, therefore can realize the spheric motion driver of small volume high precision, can replace common The Cloud Terrace, be used for the direct driver of the optical devices such as monitor, camera, projecting apparatus, astronomical telescope, microscope of adjustable angle joint, also can be used for driving small-sized, micromachine human arm spherical joint.Also can be used in fields such as electronic adjustable automobile rearview mirror, the visual angle automatic regulating equipment of wall hung TV, high-grade electronic toy, the application prospect of wide model is arranged in the Mechanical Driven field.
[description of drawings]
Fig. 1 is the general structure of piezo-electric motor; 1-1 is the block structure of motor, and 1-2 is the matrix of motor;
Fig. 2 is piezo-electric motor vibration principle of stacking figure; 2-1 is compressional vibration, and 2-2 is flexural vibrations;
Fig. 3 is the interior independently microcosmic machinery elliptic motion figure of two vertical planes that piezo-electric motor is realized;
Fig. 4 is the fundamental diagram of piezo-electric motor of the present utility model;
Fig. 5 is the spheric motion system installation diagram of piezo-electric motor design construction of the present utility model;
Fig. 6 is the profile of the spheric motion system of piezo-electric motor design construction of the present utility model;
Fig. 7 is the installation diagram of the spheric motion system of piezo-electric motor design construction of the present utility model;
Fig. 8 is the spherical support and the routing motion graph of a relation of the spheric motion pair of piezo-electric motor design construction of the present utility model;
Fig. 9 is the piezoelectric motor configuration figure that simplifies;
Figure 10 is hollow matrix figure available in the piezoelectric motor configuration;
Figure 11 is the Drive and Control Circuit schematic diagram that piezo-electric motor of the present utility model is formed the spheric motion system.
[embodiment]
Below in conjunction with accompanying drawing and typical specific embodiment the utility model is further specified.Of the present invention above-mentioned apparent with other feature and advantage general.Following examples are used to illustrate the present invention, but are not used for limiting the scope of the invention.
Fig. 1 is the general structure of piezo-electric motor; Among the figure, 1-1 is the block structure of motor, and 1-2 is the matrix of motor.
Four piezoelectric patches are pasted on around the square matrix, and piezoelectric patches electrode mode is four sub-electrodes, and two at diagonal angle is the packet mode of a utmost point.Type of drive can singly be organized electrode drive with simplified driving circuit, also can drive the power output that reaches higher simultaneously by two arrays of electrodes.
We know that the voltage effect that piezoelectric (sheet) is applied thereon can produce mechanical deformation, changes into mechanical energy to electric energy after polarization.As shown in Figure 1, four piezoelectrics are bonded on the flat column matrix, there is outstanding driving head T the matrix end, and these four piezoelectric patches are divided into two groups, is one group two of matrix opposite face, and we are assumed to electrode group P and electrode group Q.Two synchronous workings of each group realize the stack of output energy.Each sheet piezoelectric patches polarizes with thickness direction, and be divided into four electrode zones as Figure 1-1, these four electrode zones are divided into two arrays of electrodes, and two on the diagonal is one group, and we are assumed to piezoelectric patches group A and piezoelectric patches group B or piezoelectric patches group AA and piezoelectric patches group BB.
Fig. 2-1 and Fig. 2-the 2nd, the vibration principle of stacking figure in the piezo-electric motor work; Among the figure: 1-1 is compressional vibration, and 1-2 is flexural vibrations; Just can make the stack of two kinds of distortion of matrix generation in the time of piezoelectric patches A group or the work of piezoelectric patches B group, thus the mechanical microcosmic elliptic motion that produces the controlled supersonic frequency of direction in drive head.
Fig. 3 is the independently microcosmic machinery elliptic motion figure in two vertical planes that piezo-electric motor is realized; In the time of piezoelectric patches group A or the work of piezoelectric patches group B group, drive head produces the controlled mechanical elliptic motion of direction in the YZ plane, and when piezoelectric patches group AA or the work of piezoelectric patches group BB group, drive head produces the controlled mechanical elliptic motion of direction in the XZ plane.Type of drive has two kinds: one, on piezoelectric patches group A (or AA) and piezoelectric patches group B (or BB), apply exchanging or square wave voltage signal of same frequency simultaneously, and require these two groups of voltage signals to have the phase differences of 90 degree, signal frequency is determined by motor itself; Its two, only on piezoelectric patches group A (or AA) or piezoelectric patches group B (or BB), apply the sine or the square wave voltage signal of characteristic frequency.Different is that the former has bigger power output capacity under identical voltage drive condition.T represents the driving head given prominence among the figure.When electrode group P, Q alternation, can produce random spheric motion.
Fig. 4 is the fundamental diagram of piezo-electric motor of the present invention; Be that the elliptic motion of microcosmic machinery realizes Mechanical Driven by contact friction force.T represents the driving head given prominence among the figure.
Drive system as shown in Figure 4 makes up a spheric motion system.In this system, the driving head of motor and a spherical surface body (can be whole sphere or have the structure of a part of sphere) directly contact, sphere retrains (ball can freely rotate and not translation of the centre of sphere) by a spheric motion modular construction, provide contact pressure between motor and the sphere by spring, when driving head is done mechanical little elliptic motion with certain direction when, under the driving action of contact friction force, sphere will be done spheric motion under the spheric motion component limitations.Because the elliptic motion of driving head can be the motion in two vertical planes, this just can realize good sphere free movement.
Based on this motors designs, simply provide a practical spheric motion system here shown in Fig. 5,6,7.Fig. 5 is the spheric motion system installation diagram of piezo-electric motor design construction of the present invention; Fig. 5 is the schematic diagram that installs supporting housing at the piezo-electric motor theory structure of Fig. 4 additional.Fig. 6 is the generalized section of the spheric motion system of piezo-electric motor design construction of the present invention, and the section schematic construction after the piezo-electric motor spheric motion system assembles of the present invention is described.
The key element of this spheric motion system: spheric motion assembly, sphere drive pressure electric notor 4, spring 3.Wherein the spheric motion assembly is made up of the sphere that is driven parts 9 of the sphere on the permeability magnetic material spherical support body 7, ball set 8, magnetic conduction, and in the present embodiment, the parts 9 that are driven of dribbling face and magnetic conduction are the magnetic conduction spheroid.Spheric motion assembly and sphere drive pressure electric notor nestle up and are assembled together, and spring is positioned at the bottom of piezo-electric motor and piezo-electric motor is pushed up to the spheric motion assembly.Permanent magnet 6, magnetic conduction spheroid 9, magnetic conductive ball group 8 constitute the shortest magnetic circuit, and the magnetic conduction spheroid is attracted in this system, is supported by ball set 8 again simultaneously, reaches the effect that reduces frictional resistance.Spring 3 is pressed in piezo-electric motor 4 on the sphere of magnetic conduction spheroid 9, and adjusts screw by spring and adjust the pressure of spring 3 to obtain different actuating forces and actuating speed.Rubber can be limited in piezo-electric motor on the correct position.This system can realize that spheric motion drives.
Fig. 7 is assembly blast (decomposition) figure of the spheric motion system of piezo-electric motor design construction of the present invention; As shown in the figure, part from left to right is: adjust spring force screw 1, supporting housing 2, spring 3, spheric motion piezo-electric motor 4, rubber washer 5, permanent magnet rings 6, permeability magnetic material spherical support body 7, magnetic conductive ball group 8, dribbling face and magnetic conduction be driven parts spheroid 9.Being docile and obedient preface installs and fixes.The spheric motion system has very big spheric motion scope again when it has little frictional dissipation.Fig. 7 represents that piezo-electric motor of the present invention uses the example of an enforcement in the spheric motion system.It is to be noted that this piezo-electric motor is equally applicable to drive any mechanical sphere kinematic pair system, does not enumerate one by one at this.
Figure 8 shows that the permeability magnetic material spherical support body 7 of spheric motion pair; Spherical zone groove 7a directly supports the above little ball set 8 of two row, little ball set 8 directly supports the sphere of magnetic conduction spheroid 9, and so, little ball arbitrarily rolls in spherical zone groove 7a, magnetic conduction spheroid 9 can arbitrarily roll on the support belt that little ball set 8 is formed, and rolling frictional resistance is very little.Integral body is a very special outstanding spheric motion pair.
Fig. 9 is the piezoelectric motor configuration figure that simplifies; As seen from the figure, piezo-electric motor is pasted on by four piezoelectric patches around the square column matrix, and in other words, the Piezoelectric Driving of piezo-electric motor partly comprises four piezoelectric piece bondings and constitutes on a square column matrix.Four piezoelectric patches can remove any one or adjacent two and the piezo-electric motor that obtains simplifying, the electrode lay-out that piezoelectric patches is same, the piezo-electric motor of this designs simplification has the sphere driving force equally, and type of drive is constant, and just driving force decreases under same drive voltage.
Figure 10 is hollow matrix figure available in the piezoelectric motor configuration; Be pasted on around the square column matrix by four piezoelectric patches, constitute the piezo-electric motor of hollow matrix.Piezo-electric motor inner base shape is a rectangle column profile, and its inside also can be hollow-core construction, such as circular port, rectangular opening etc. are arranged, does not influence the drive form of Ben Mada, only can change the frequency of the driving voltage of Ben Mada.
Figure 11 is the Drive and Control Circuit schematic diagram that piezo-electric motor of the present invention is formed the spheric motion system.Piezo-electric motor is formed the Drive and Control Circuit of spheric motion system, is made up of signal generator, power amplifier, control switch K and electrode group.Signal generator provides sine wave, square wave, triangular signal etc. to power amplifier.Power amplifier drive controlling K switch 1-4, control switch K1 are connected to that electrode group A realizes, control switch K2 is connected to that electrode group B realizes turning right, control switch K3 is connected to changes before electrode group C realizes, control switch K4 is connected to electrode group D and realizes that the back changes.Signal frequency is a frequency range that meets the piezo-electric motor requirement, is generally 18KHz～200KHz.Circuit can be placed on this Drive Structure outside Anywhere, even can be integrated in the control terminal of total application system.
What deserves to be explained is that the piezo-electric motor among the design is applicable to that other any spheric motion subsystems drive, and just do not enumerate one by one at this.
Though described exemplary embodiments of the present invention, should be understood that and the invention is not restricted to these embodiment, concerning the professional and technical personnel, various changes and modifications of the present invention can both realize, but these are all within the spirit and scope of claim of the present invention.
Claims (10)
1, a kind of piezo-electric motor of realizing spheric motion, comprise the slave part of piezo-electric motor drive part and the described spheric motion of realization, it is characterized in that: described Piezoelectric Driving partly comprises the piezoelectric structure that produces two dimensional motion that piezoelectric piece bonding constitutes on a square column matrix; Described matrix is provided with a driving head; The spheric motion assembly that described slave part comprises can realize spheric motion, driven by driving head.
2, according to the piezo-electric motor of the described realization spheric motion of claim 1, it is characterized in that: described piezoelectric patches is four, is pasted on square column matrix week side, and piezoelectric patches electrode mode is four sub-electrodes, and two of matrix opposite side are the packet mode of a utmost point; Type of drive can singly be organized electrode drive, also can two arrays of electrodes composition electrode group drive the power output that reaches higher simultaneously.
3, according to the piezo-electric motor of the described realization spheric motion of claim 1, it is characterized in that: described piezoelectric patches is three and is pasted on square column matrix three sides, or two piezoelectric patches are pasted on adjacent two sides of square column matrix; Piezoelectric patches electrode mode is four sub-electrodes, and two of matrix opposite side are the packet mode of a utmost point; Type of drive can singly be organized electrode drive, also can drive the power output that reaches higher simultaneously by two arrays of electrodes.
According to the piezo-electric motor of claim 1,2 or 3 described realization spheric motions, it is characterized in that 4, described base shape is the rectangle column, its inside is the hollow-core construction of circle or rectangle.
According to the piezo-electric motor of the described realization spheric motion of claim 1, it is characterized in that 5, described spheric motion assembly comprises sphere, ball set on the permeability magnetic material spherical support body, is driven sphere; This is driven sphere and contacts with driving head.
6, a kind of piezo-electric motor spheric motion system that realizes spheric motion, comprise the screw (1) of adjusting spring force, supporting housing (2), spring (3), the piezo-electric motor of spheric motion (4), rubber washer (5), permanent magnet rings (6), permeability magnetic material spherical support body (7), magnetic conductive ball group (8), dribbling face and magnetic conduction be driven parts (9), it is characterized in that the screw of described adjustment spring force (1), supporting housing (2), spring (3), the piezo-electric motor of spheric motion (4), rubber washer (5), permanent magnet rings (6), permeability magnetic material spherical support body (7), magnetic conductive ball group (8), the parts (9) that are driven of dribbling face and magnetic conduction are docile and obedient preface and are installed and fixed.
7, according to the piezo-electric motor spheric motion system of the described realization spheric motion of claim 6, it is characterized in that, described permanent magnet rings (6), be driven parts (9), magnetic conduction sphere, magnetic conductive ball group (8) and constitute magnetic circuit; Magnetic conductive ball group (8) support component (9) magnetic conduction sphere, spring (3) is pressed in piezo-electric motor on driven magnetic conduction sphere, and adjust the pressure that screw is adjusted spring by spring (3), rubber washer (5) supports and can be limited in piezo-electric motor on the correct position.
8, according to the piezo-electric motor spheric motion system of claim 6 or 7 described realization spheric motions, it is characterized in that: also comprise Drive and Control Circuit, signal generator, power amplifier, control switch K and electrode/electro utmost point group; Described signal generator provides control signal to power amplifier, described power amplifier drive controlling K switch, and described control switch K receives described electrode/electro utmost point group respectively.
9, the piezo-electric motor spheric motion system of described according to Claim 8 realization spheric motion, it is characterized in that: described signal generator provides sine wave, square wave or triangular wave control signal to power amplifier.
10, according to the piezo-electric motor spheric motion system of the described realization spheric motion of claim 9, it is characterized in that: the frequency of described control signal is 18KHz～200KHz.
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| CN 200820092375 CN201188587Y (en) | 2008-03-03 | 2008-03-03 | Piezoelectric motor for implementing spherical motion and spherical motion system |
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| CN 200820092375 CN201188587Y (en) | 2008-03-03 | 2008-03-03 | Piezoelectric motor for implementing spherical motion and spherical motion system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101847342A (en) * | 2009-03-24 | 2010-09-29 | 德昌电机(深圳)有限公司 | Display device |
| CN101895231A (en) * | 2010-07-30 | 2010-11-24 | 北京大学 | Miniature two-degrees-of-freedom plane motion piezoelectric motor |
| CN104340126A (en) * | 2013-07-31 | 2015-02-11 | 铃木株式会社 | Vehicle door rear mirror installation structure |
| CN104690743A (en) * | 2015-03-31 | 2015-06-10 | 郑州大学 | Robot wrist joint structure based on single-stator multi-degree-of-freedom ultrasonic motor |
| EP3184960A1 (en) | 2015-12-22 | 2017-06-28 | Tesa Sa | Motorized orientable head for measuring system |
| CN106933254A (en) * | 2017-03-03 | 2017-07-07 | 鞍山天源科技有限公司 | A kind of frameless spherical pan head device |
| WO2021243741A1 (en) * | 2020-06-02 | 2021-12-09 | 深圳市歌美迪电子技术发展有限公司 | Manual anti-glare media streaming rearview mirror |
| US11467504B2 (en) | 2018-08-16 | 2022-10-11 | Asml Netherlands B.V. | Piezoelectric actuator, actuator system, substrate support, and lithographic apparatus including the actuator |
| CN116690627A (en) * | 2023-07-31 | 2023-09-05 | 季华实验室 | Mechanical clamping jaw and excitation method thereof |
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2008
- 2008-03-03 CN CN 200820092375 patent/CN201188587Y/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101847342A (en) * | 2009-03-24 | 2010-09-29 | 德昌电机(深圳)有限公司 | Display device |
| US8113726B2 (en) | 2009-03-24 | 2012-02-14 | Johnson Electric S.A. | Display device |
| CN101895231A (en) * | 2010-07-30 | 2010-11-24 | 北京大学 | Miniature two-degrees-of-freedom plane motion piezoelectric motor |
| CN104340126A (en) * | 2013-07-31 | 2015-02-11 | 铃木株式会社 | Vehicle door rear mirror installation structure |
| CN104690743A (en) * | 2015-03-31 | 2015-06-10 | 郑州大学 | Robot wrist joint structure based on single-stator multi-degree-of-freedom ultrasonic motor |
| EP3184960A1 (en) | 2015-12-22 | 2017-06-28 | Tesa Sa | Motorized orientable head for measuring system |
| US10302407B2 (en) | 2015-12-22 | 2019-05-28 | Tesa Sa | Motorized orientable head for measuring system |
| CN106933254A (en) * | 2017-03-03 | 2017-07-07 | 鞍山天源科技有限公司 | A kind of frameless spherical pan head device |
| US11467504B2 (en) | 2018-08-16 | 2022-10-11 | Asml Netherlands B.V. | Piezoelectric actuator, actuator system, substrate support, and lithographic apparatus including the actuator |
| WO2021243741A1 (en) * | 2020-06-02 | 2021-12-09 | 深圳市歌美迪电子技术发展有限公司 | Manual anti-glare media streaming rearview mirror |
| CN116690627A (en) * | 2023-07-31 | 2023-09-05 | 季华实验室 | Mechanical clamping jaw and excitation method thereof |
| CN116690627B (en) * | 2023-07-31 | 2023-11-07 | 季华实验室 | Mechanical clamping jaw and excitation method thereof |
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| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Guangdong Dechang Motor Co.,Ltd. Assignor: Johnson Electric (Shenzhen) Co., Ltd. Contract fulfillment period: 2009.9.8 to 2014.9.7 Contract record no.: 2009440001441 Denomination of utility model: Piezoelectric motor for implementing spherical motion and spherical motion system Granted publication date: 20090128 License type: Exclusive license Record date: 20090918 |
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| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.9.8 TO 2014.9.7; CHANGE OF CONTRACT Name of requester: GUANGDONG DECHANG ELECTRIC MACHINE CO., LTD. Effective date: 20090918 |
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| CX01 | Expiry of patent term |
Granted publication date: 20090128 |
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| CX01 | Expiry of patent term |