GB2148444A - Apparatus for rocking a crank - Google Patents
Apparatus for rocking a crank Download PDFInfo
- Publication number
- GB2148444A GB2148444A GB08422120A GB8422120A GB2148444A GB 2148444 A GB2148444 A GB 2148444A GB 08422120 A GB08422120 A GB 08422120A GB 8422120 A GB8422120 A GB 8422120A GB 2148444 A GB2148444 A GB 2148444A
- Authority
- GB
- United Kingdom
- Prior art keywords
- spring
- crank
- coil spring
- rocking
- shape memory
- 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.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
- F03G7/065—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like using a shape memory element
-
- G—PHYSICS
- G12—INSTRUMENT DETAILS
- G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
- G12B1/00—Sensitive elements capable of producing movement or displacement for purposes not limited to measurement; Associated transmission mechanisms therefor
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H61/00—Electrothermal relays
- H01H61/01—Details
- H01H61/0107—Details making use of shape memory materials
- H01H2061/0122—Two SMA actuators, e.g. one for closing or resetting contacts and one for opening them
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Springs (AREA)
Abstract
An apparatus is disclosed for rocking a crank (4) wherein one end (4a) of the crank is pivoted to a substrate (5a) so as to rock freely. and the other end (4b) is connected to the substrate (5b), through a coil spring (1) made of a shape memory alloy fitted to one side of the rocking directions and is also connected to the substrate (5c) through a bias coil spring (2) or a coil spring (2) made of a shape memory alloy fitted to the other side of the rocking directions, whereby the crank is made to rock through the change of shape of the coil spring(s) made of the shape memory alloy caused by the temperature variation. The link points (E, F) at which the coil springs are connected to the substrate are provided at such positions that the angle (4) on the opposite side of the crank formed by the straight line (ED) connecting the crank pivot point and the link point of coil spring made of the shape memory alloy and that (FD) connecting the crank pivot point and the link point of the bias coil spring or coil spring made of shape memory alloy is from 105 to 170 degrees. <IMAGE>
Description
SPECIFICATION
Apparatus for rocking a crank
The present invention relates to an apparatus for rocking a crank, using both a coil spring means of a shape memory alloy and bias coil spring or coil spring made of shape memory alloy, which functions particularly to increase the rocking stroke of the crank and/or the rotational angle of the crank axis.
A shape memory alloy is one which shows a unique characteristic called the shape memory effect. This is, when the alloy is made to memorize a definite shape at a high temperature, and then deformed at a temperature below the transformation temperature, it recovers the memorized shape on heating above the transformation temperature. Among known alloys of this type are Ni-Ti, Cu-Zu-Al and Au-Cd. The phenomenon called the shape memory effect is ordinarily an irreversible phenomenon. Although the alloy recovers the memorized shape on heating after being deformed at a low temperature, it does not rerecover the shape deformed at the low temperature, even if it is cooled to the low temperature again. In order to utilize this phenomenon industrially, it is necessary to make the alloy function reversible to enable repetitive action, and various methods have been proposed.Among these methods, a method using a bias force has the advantages which include the facts that the design of the device is easy, and that a large amount of the shape memory alloy material is not needed, and a method using differential motion has advantages which include the facts that the generating force is strong, and that the control of the generating force is easy. Therefore, both methods are used widely.
The methods employing bias force or differential motion utilize the characteristics that the shape memory alloy is soft and the yield stress is small at a low temperature, that is, a temperature lower than that at which the shape is recovered by heating (this is called Af point), while it is hard and the yield stress is large at a temperature above the Af point. For example, as shown in Fig. 1, which is a diagrammatic illustration of one example of an apparatus for moving a rod, an apparatus is known, wherein a rod 3 is made to be pulled to and fro by placing a coil spring made of the shape memory alloy 1 (hereinafter abbreviated as the F spring) and a bias coil spring or coil spring made of the shape memory alloy 2 (hereinafter abbreviated as the B spring) under a state of pulling deformation appropriately.In the case of the method by means of bias force using bias coil spring as described above, the shape memory alloy is soft at a temperature below the Af point. Therefore, the F spring 1 is pulled and extended by the B spring 2 and the rod 3 occupies a position at the side of B spring 2. When the temperature is raised to a temperature above the Af point by heating through the irradiation with infrared rays, the conduction of electric current or the like, the F spring 1 becomes hard and strong as well as recovering the memorized shape. Therefore, the rod 3 is pulled by F spring 1 to move to the side of F spring 1. When the temperature of the F spring 1 is lowered again to a temperature below the Af point, the F spring 1 becomes soft and the rod 3 moves to the side of B spring 2 as a result of the pulling by
B spring 2.The rod 3 is therefore subjected to reciprocating movement through the shape change due to the temperature variation, and this can be ultilized in various actuators.
On the other hand, in the case of the method employing differential motion using a coil spring made of shape memory alloy (B spring) as described above, if the temperature of the B spring 2 is raised to a temperature above the Af point by heating through irradiation with infrared rays, the conduction of electric current or the like under a state where the ambient temperature is lower than the Af point, the B spring 2 becomes hard and strong as well as recovering its shape, while the F spring 1 is soft remaining at a temperature below the Af point. Therefore, the F spring 1 is pulled and extended by the B spring 2 and the rod 3 moves to the side of B spring 2.When the heating of the B spring 2 is stopped and the F spring 1 is heated, the F spring 1 becomes hard and strong as well as recovering its shape and pulls the B spring 2, while the B spring 2 which is not heated becomes soft remaining at a temperature below the Af point and is pulled by F spring 1.
As a result, the rod 3 moves to the side of F spring 1. The rod is therefore subjected to reciprocating movement through the shape change due to the temperature variation of both springs of F (1) and B (2), and this can be ultilized similarly in various actuators.
However, in a structure such as this, when the F spring contracts from the extended state through the shape recovery, the shape recovery force decreases gradually as the contraction of the F spring proceeds, while the spring force of the B spring increases gradually as the B spring is pulled and extended. As a result, the generating force which is a difference between the forces of the two springs decreases rapidly with increase of the rod movement (stroke). In order to increase the stroke and the generating force, it is necessary to decrease the stroke dependence of the force of the B spring and the shape recovery force of the F spring. To achieve this, both springs can be made longer, but this gives rise to problems as regards, for example, the size of the apparatus and price.
In order to resolve this problem, it is known to use an apparatus in which the spring force of the B spring is not increased but decreased adversely on the contraction of the F spring through the shape recovery by utilizing the crank mechanism and making the B spring have an apparent negative spring force dependence. For example, in the disclosure of Japanese Unexamined Patent Publication No.
7683/1974, the moment brought by the B spring is arranged to have a constantly negative position dependence. Since the moment is a product of the distance and the force, if the variation of the distance is large enough compared with that of the force and has a negative dependence, the negative position dependence can be obtained as a while moment to compensate for a positive position dependence of the shape recovery force of shape memory alloy.
Figs 2A and 2B of the accompanying drawings show the dependence on the angle of the movement generated by the B spring in the known apparatus for rocking a crank, Fig 2A showing the apparatus diagrammatically and
Fig. 2B being a graph showing the dependence of the moment on the angle. As shown in Fig. 2A, in order to make the moment brought by the B spring 2 exhibit a negative variation against the position of the crank 4 and generate an effective force, the range of the angle is extremely narrow as shown by A in Figure 2B, and it has been impossible to make the stroke long.
As a result of various investigations in view of this, an apparatus for rocking the crank has been developed leading to the present invention, which has made it possible to obtain a strong generating force over a wide position range by improving the crank mechanism, and by making the position dependence of the moment brought by the B spring negative within the position range where the moment brought by the F spring has a positive dependence against the position and the position dependence of the moment of B spring positive within the position range where the moment of F spring has a negative position dependence.
According to the present invention, there is provided an apparatus for rocking a crank, wherein one end of the crank is pivoted to a substrate so as to rock freely, and the other end is connected to the substrate through a coil spring made of a shape memory alloy fitted to one side of the rocking directions and is also connected to the substrate through a bias coil spring or a coil spring made of a shape memory alloy fitted to the other side of the rocking directions, whereby the crank is made to rock through the change of shape of the coil spring (s) made of the shape memory alloy caused by the temperature variation, wherein the link points at which the coil springs are connected to the substrate are provided at such positions that the angle on the opDosite side of the crank formed by the straight line connecting the crank pivot point and the link point of coil spring made of the shape memory alloy and that connecting the crank pivot point and the link point of the bias coil spring or coil spring made of shape memory alloy is from 105 to 1 70 degrees.
This will be described below in detail by reference to Figs 3, 4A and 4B of the accompanying drawings, in which:
Figure 1, as already mentioned, is a diagrammatic illustration of one example of a known apparatus for moving a rod;
Figures 2A and 2B, as already mentioned, show the dependence of the moment generated by the B spring in the known apparatus for rocking the crank on the angle, Fig 2A showing the apparatus diagrammatically and
Fig. 2B being a graph showing the dependence of the moment on the angle;
Figure 3 is a diagrammatic illustration of one embodiment of the apparatus of the in invention; and
Figures 4A and 4B indicate the characteristic of the apparatus of the invention, Fig. 4A being a schematic diagram of the apparatus of the invention and Fig. 4B being a graph illustrating the characteristic of the apparatus of Fig. 4A.
Fig. 3 shows an apparatus comprising an F spring 1 a B spring 2, a crank 4, and a substrate 5a, 5b, and 5c. One end 4a of the crank 4 is pivoted to the substrate 5a so that the crank can rock freely, and the other rocking end 4b of the crank is connected to the substrate 5b through the F spring fitted to one side of the rocking directions, and is also connected to the substrate Sc through the B spring 2 fitted to the other side of the rocking directions. Thus, the rocking end 4b of the crank 4 is kept in a state in which it is pulled both by the F spring 1 and by the B spring 2.
Now, in the case of the B spring being a bias coil spring, when the temperature of the F spring 1 is below the Af point, the rocking end 4b of the crank 4 occupies a position B near the B spring 2 side as shown in the diagram, since the force of the F spring 1 is weak and overcome by the force of the B spring 2. When the temperature of the F spring 1 exceeds the Af point by heating, the rocking end 4b of the crank 4 moves to a position C shown in the diagram, since the F spring 1 becomes strong and pulls the B spring 2. When the temperature of the F spring 1 is lowered below the Af point, the rocking end 4b of the crank 4 returns to the position B again. The means for heating the F spring 1 is not shown in the diagram, but the heating may be carried out by known means such as the conduction of electric current, irradiation with infrared rays or the like.
The pivot point D and the link points E and
F of the springs 1 and 2 are at positions such that the angle Ip on the opposite side of the crank 4 formed by the straight line DE connecting the pivot point D of the crank 4 and the link point E of the F spring 1 and the straight line DF connecting the pivot point D and the link point F of the B spring 2 is from 105 to 1 70 degrees, preferably from 1 20 to 1 60 degrees.By having the pivot point D and the link points E, F at such positions, the ef fect is achieved that, when the F spring 1 recovers its shape by heating to a temperature above the Af point and the generating moment is increased against the variation of the rocking angle of crank 4, that is, within a range where the moment provided by the F spring 1 has a positive dependence, the moment provided by the B spring 2 has a negative dependence adversely against the rocking angle, and within a range where the moment of the F spring 1 exhibits a negative variation against the rocking angle as a result of the increase in the rocking angle (contraction of the F spring 1), the moment by the B spring 2 has a positive dependence.
In the case of the B spring being a coil spring made of the shape memory alloy, in this state, when the temperature of the F spring 1 is below the Af point and that of the
B spring 2 is above the Af point, the rocking end 4b of the crank 4 is pulled to the B spring 2 side and moves to a position C as shown in the diagram, since the force of the F spring 1 is weak and overcome by the force of the B spring 2. When the temperature of the B spring 2 is below the Af point and that of the F spring 1 is above the Af point by heating, the rocking end 4b of the crank 4 moves to the position B shown in the diagram, since the F spring 1 becomes strong and pulls the B spring 2.The means for heating the F spring 1 is not shown in the diagram, but the heating may be carried out by known means such as the conduction of electric current, irradiation with infrared rays, the supplying of hot air, the supplying of hot or cold water, the use of heater environment temperature or the like. The pivot point D and the link points E and F of the springs 1 and 2 are at positions such that the angle + mentioned above is similarly 105 to 1 70 degrees, preferably 1 20 to 1 60 degrees.By having the pivot point D and the link points E and F at such positions, the effect is achieved that, when the F spring 1 recovers its shape by heating to a temperature above the Af point and the generating moment is increased against the variation of the rocking angle of crank 4, that is within a range where the moment provided by the F spring 1 has a positive dependence, the moment provided by the B spring 2 has a negative dependence adversely against the rocking angle, and within the range where the moment of the F spring 1 exhibits a negative variation against the rocking angle as a result of the increase in the rocking angle (contraction of the F spring 1), the moment by the B spring 2 has a position dependence.
The apparatus of the invention thus makes it possible to put not only the range A where the moment of the B spring has a negative dependence against the rocking angle of the crank as shown in Fig. 2 which has been known so far, but also the range where the moment of the B spring has a positive dependence, into an effective acting region, and to increase the rocking stroke of the crank and/or the rotational angle of the crank axis to more than about twice compared with that of known apparatus.
The invention is further explained below using examples.
EXAMPLE 1
A coil spring was made of a shape memory alloy (F spring) which was prepared by forming a shape memory alloy wire of the Ni-Ti type having a diameter of 0.75 mm into a closely wound coil spring having a mean diameter of 5. 0 mm and an effective winding number of 20, and heat-treating it for 30 minutes at a temperature of 450"C under a fixed state. A bias coil spring (B spring) was made of stainless steel and having a spring constant of 0.003 kgf/mm, and a crank having a length of 1 5 mm, as shown in Fig. 4 (A).One end of the crank 4 was pivoted to the substrate 5a so as to rock freely, the rocking end of the crank 4 was connected to the substrate 5b through the F spring 1 fitted to one side of the rocking directions, and it was also connected to the substrate Sc through the B spring 2 fitted to the other side of the rocking directions to constitute the apparatus for rocking the crank. Using this apparatus, the pivot D and the link points E and F were established varying the angle Ip on the opposite side of the crank 4 formed by the straight line DE connecting the pivot point
D of the crank and the link point E of the F spring 1 and the straight line DF connecting the pivot point D and the link point F of the B spring 2.The F spring 1 was heated through the conduction of electric current, and the variable angle 8 of the crank capable of acting reversibly was measured between (B) and (C).
Results are shown in Fig. 4B.
As can be seen from Fig. 4B, a variable angle amounting to about twice that of the conventional apparatus is obtained with an angle + of 105 to 1 70 degrees formed between the pivot point and the two link points.
In particular, excellent results are obtained within a range of 1 20 to 1 60 degrees. Thus, by keeping ip between 105 and 1 70 degrees, the aforementioned characteristic does not change so much and an excellent acting characteristic can be obtained, even if the length of the crank and the distance between the pivot point of the crank and the link points of both springs are allowed to change, or the initial tension of the B spring is allowed to change within an utility limit (from zero to 10 times the spring constant).
EXAMPLE 2
Two coil springs were made of shape memory alloy (F spring and B spring) which were prepared by forming a shape memory alloy wire of the type of Ni-Ti having a diameter of 0.75 mm into closely wound coil springs each having a mean diameter of 5.0 mm and an effective winding number of 20, and heattreating them for 30 minutes at a temperature of 450"C under a fixed state.A crank was used having a length of 1 5 mm, as shown in
Fig. 4 (A), one end of the crank 4 being pivoted to the substrate 5a so as to rock freely, and the rocking end of the crank 4 was connected to the substrate 5b through the F spring 1 fitted to one side of the rocking directions, and connected to the substrate Sc through the B spring 2 fitted to the other side of the rocking directions to constitute the apparatus for rocking the crank.Using this appratus, the pivot point D and both link points E and F were established varying the angle + on the opposite side of the crank 4 formed by the straight line DE connecting the pivot point D of the crank and the link point E of the F spring 1 and the straight line DF connecting the pivot point D and the link point F of the B spring 2. Both the F spring 1 and the B spring 2 where heated alternately through the conduction of electric current, and the variable angle 8 of the crank capable of acting reversibly was measured between B and C. Similar results were obtained as in
Example 1.
As described above, according to the invention, special parts are not needed, and only by establishing the positions of the pivot point of crank and the link points of both springs in a specific relation, there is a great improvement in the variable angle H that is, in the rocking stroke of the crank and/or the rotational angle of the crank axis. Therefore, the invention can be applied to sensors, actuators and combined actuators, such as various actuators, thermal sensors, safety devices and the like, with a remarkable effectiveness.
Claims (5)
1. An apparatus for rocking a crank, wherein one end of the crank is pivoted to a substrate so as to rock freely, and the other end is connected to the substrate through a coil spring made of a shape memory alloy fitted to one side of the rocking directions and is also connected to the substrate through a bias coil spring or a coil spring made of a shape memory alloy fitted to the other side of the rocking directions, whereby the crank is made to rock through the change of shape of the coil spring(s) made of the shape memory alloy caused by the temperature variation, wherein the link points at which the coil spring are connected to the substrate are provided at such positions that the angle on the opposite side of the crank formed by the straight line connecting the crank pivot point and the link point of coil spring made of the shape memory alloy and that connecting the crank pivot point and the link point of the bias coil spring or coil spring made of shape memory alloy is from 105 to 1 70 degrees.
2. An apparatus as claimed in claim 1, wherein the said other end of the crank is connected to the substrate through a coil spring made of the shape memory alloy and a bias coil spring.
3. An apparatus as claimed in claim 1, wherein the said other end of the crank is connected to the substrate in both rocking directions by coil springs made of shape memory alloy.
4. An apparatus as claimed in any one of claims 1 to 3, wherein the said angle is 1 20 to 1 60 degrees.
5. An apparatus for rocking a crank, substantially as herein described with reference to
Figures 3 and 4 of the accompanying drawings.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16092683A JPS6053676A (en) | 1983-09-01 | 1983-09-01 | Crank swinging apparatus |
| JP4179284A JPS60186779A (en) | 1984-03-05 | 1984-03-05 | Rocking device for crank |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB8422120D0 GB8422120D0 (en) | 1984-10-03 |
| GB2148444A true GB2148444A (en) | 1985-05-30 |
| GB2148444B GB2148444B (en) | 1986-10-01 |
Family
ID=26381461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB08422120A Expired GB2148444B (en) | 1983-09-01 | 1984-08-31 | Apparatus for rocking a crank |
Country Status (2)
| Country | Link |
|---|---|
| DE (1) | DE3432134A1 (en) |
| GB (1) | GB2148444B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4736587A (en) * | 1984-11-07 | 1988-04-12 | Kabushiki Kaisha Tokai Rika Denki Seisakusho | Shape-memory electromechanical drive |
| US4811564A (en) * | 1988-01-11 | 1989-03-14 | Palmer Mark D | Double action spring actuator |
| WO1990015928A1 (en) * | 1989-06-21 | 1990-12-27 | Johnson Service Company | A shape memory actuator |
| EP0461075A1 (en) * | 1990-06-05 | 1991-12-11 | I.P.S., B.V. | Heat responsive memory metal actuator |
| US5186420A (en) * | 1991-11-08 | 1993-02-16 | The United States Of America As Represented By The Secretary Of The Navy | Articulated fin/wing control system |
| US7779715B2 (en) | 2006-07-05 | 2010-08-24 | Grand Haven Stamped Products, A Division Of Jsj Corporation | Shifter with actuator incorporating magnetic unlock mechanism |
| US8117938B2 (en) | 2006-07-05 | 2012-02-21 | Ghsp, Inc. | Shifter with shape memory alloy and safety |
| WO2013044946A1 (en) * | 2011-09-28 | 2013-04-04 | Fg-Innovation Gmbh | Actuator for generating positioning movements |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4220752A1 (en) * | 1992-06-29 | 1994-01-13 | Herbert Schreiber | Force amplification arrangement, e.g. for vehicle brakes - has spring applying additional force to working element as operating element is advanced |
| DE19738296A1 (en) * | 1997-09-02 | 1999-03-04 | Univ Dresden Tech | Mechanism for providing actuator movement, e.g. miniature gripper for industrial robot arm |
| DE19842923A1 (en) * | 1998-09-18 | 2000-03-23 | Univ Dresden Tech | Mechanism for producing actuating movement in driving element has shape memory element which contracts to move lever mechanism |
| US20050184533A1 (en) * | 2003-06-20 | 2005-08-25 | Hebenstreit Joseph J. | Shape memory alloy-actuated release mechanisms for drive systems |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1383476A (en) * | 1972-03-31 | 1974-02-12 | Foxboro Co | Positioning device using negative spring-rate tensioning means |
-
1984
- 1984-08-31 DE DE19843432134 patent/DE3432134A1/en active Granted
- 1984-08-31 GB GB08422120A patent/GB2148444B/en not_active Expired
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4736587A (en) * | 1984-11-07 | 1988-04-12 | Kabushiki Kaisha Tokai Rika Denki Seisakusho | Shape-memory electromechanical drive |
| US4811564A (en) * | 1988-01-11 | 1989-03-14 | Palmer Mark D | Double action spring actuator |
| WO1990015928A1 (en) * | 1989-06-21 | 1990-12-27 | Johnson Service Company | A shape memory actuator |
| EP0461075A1 (en) * | 1990-06-05 | 1991-12-11 | I.P.S., B.V. | Heat responsive memory metal actuator |
| US5107916A (en) * | 1990-06-05 | 1992-04-28 | I.P.S., B.V. | Heat responsive memory metal actuator |
| US5186420A (en) * | 1991-11-08 | 1993-02-16 | The United States Of America As Represented By The Secretary Of The Navy | Articulated fin/wing control system |
| US7779715B2 (en) | 2006-07-05 | 2010-08-24 | Grand Haven Stamped Products, A Division Of Jsj Corporation | Shifter with actuator incorporating magnetic unlock mechanism |
| US7814810B2 (en) | 2006-07-05 | 2010-10-19 | Grand Haven Stamped Products, A Division Of Jsj Corporation | Shifter with actuator incorporating shape memory alloy |
| US8117938B2 (en) | 2006-07-05 | 2012-02-21 | Ghsp, Inc. | Shifter with shape memory alloy and safety |
| WO2013044946A1 (en) * | 2011-09-28 | 2013-04-04 | Fg-Innovation Gmbh | Actuator for generating positioning movements |
Also Published As
| Publication number | Publication date |
|---|---|
| GB8422120D0 (en) | 1984-10-03 |
| GB2148444B (en) | 1986-10-01 |
| DE3432134A1 (en) | 1985-03-21 |
| DE3432134C2 (en) | 1992-07-16 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PG | Patent granted |