JP2021030156A - アクチュエータ及びこれを備えたトライポッド構造体 - Google Patents
アクチュエータ及びこれを備えたトライポッド構造体 Download PDFInfo
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- JP2021030156A JP2021030156A JP2019152948A JP2019152948A JP2021030156A JP 2021030156 A JP2021030156 A JP 2021030156A JP 2019152948 A JP2019152948 A JP 2019152948A JP 2019152948 A JP2019152948 A JP 2019152948A JP 2021030156 A JP2021030156 A JP 2021030156A
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- actuator
- piston
- pipe
- rolling bearing
- roller followers
- Prior art date
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- 238000005096 rolling process Methods 0.000 claims abstract description 34
- 238000006243 chemical reaction Methods 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 22
- 230000001133 acceleration Effects 0.000 abstract description 18
- 230000035939 shock Effects 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 241000238631 Hexapoda Species 0.000 description 12
- 230000036316 preload Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000011156 evaluation Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000004519 grease Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
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- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
-
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/10—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy
- B06B1/12—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of mechanical energy operating with systems involving reciprocating masses
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C13/00—Rolls, drums, discs, or the like; Bearings or mountings therefor
- F16C13/006—Guiding rollers, wheels or the like, formed by or on the outer element of a single bearing or bearing unit, e.g. two adjacent bearings, whose ratio of length to diameter is generally less than one
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C29/00—Bearings for parts moving only linearly
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C29/00—Bearings for parts moving only linearly
- F16C29/04—Ball or roller bearings
-
- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/24—Elements essential to such mechanisms, e.g. screws, nuts
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/042—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles providing simulation in a real vehicle
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0216—Compliance devices comprising a stewart mechanism
-
- 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
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2322/00—Apparatus used in shaping articles
- F16C2322/39—General buildup of machine tools, e.g. spindles, slides, actuators
-
- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft
-
- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2081—Parallel arrangement of drive motor to screw axis
-
- 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
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/2021—Screw mechanisms with means for avoiding overloading
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/24—Casings; Enclosures; Supports specially adapted for suppression or reduction of noise or vibrations
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Business, Economics & Management (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Transmission Devices (AREA)
- Bearings For Parts Moving Linearly (AREA)
- Instructional Devices (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
- Apparatuses For Generation Of Mechanical Vibrations (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
Description
100 ヘキサポッド構造体
110 天板
120A、120B、120C、120D、120E、120F アクチュエータ
200 トライポッド構造体
210 移動ベース
220、220A、220B、220C アクチュエータ
221 パイプ
222 ボールねじ
223 変換ナット
224 ピストン
225 サーボモータ
226 転がり軸受け部
226A、226B、226C、226D ローラフォロア部
226Aa ローラフォロア
226Ab シャフト
226Ac ヨーク
226Ad グリスニップル
226a 保持部
226P 予圧ねじ
227 固定フランジ
230 エアベアリング
240 すべり床
Claims (5)
- パイプと、
前記パイプの内部に配置され、送りねじとしてのボールねじと、
前記パイプの内部に配置され、前記ボールねじと螺合され、回転運動を直線運動に変換する、送りナットとしての変換ナットと、
前記パイプの内部に配置され、前記変換ナットと一体に固定され、前記パイプの一方の端部である自由端から伸縮可能に移動されるピストンと、
前記パイプの前記自由端の先端に設けられ、前記ピストンを移動可能に保持する支持機構と
を備えるアクチュエータにおいて、
前記支持機構が、複数のローラフォロアを備えた転がり軸受け構造であることを特徴とするアクチュエータ。 - 前記転がり軸受け構造は、前記複数のローラフォロアと、前記複数のローラフォロアのそれぞれが回転し前記ピストンを移動可能に保持するように、前記複数のローラフォロアを前記ピストンの周囲に配置する保持部とを備えることを特徴とする請求項1に記載のアクチュエータ。
- 前記転がり軸受け構造において、前記複数のローラフォロアのそれぞれがピストンに対して予圧され、前記ピストンが予圧されて保持されるように構成されることを特徴とする請求項1に記載のアクチュエータ。
- 前記転がり軸受け構造には、3個以上の前記ローラフォロアが設けられることを特徴とする請求項1に記載のアクチュエータ。
- 請求項1乃至4のいずれか1項に記載された前記アクチュエータを3個備え、移動ベースに、上面視の初期状態で相互に中心角度が120°の角度で離間するように、前記3個のアクチュエータが接続され、前記移動ベースがエアベアリングを介してすべり床の上をX−Y方向に移動できるのと共に、Z軸回りの回転(Yaw運動)ができるように構成されたことを特徴とするトライポッド構造体。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019152948A JP7157021B2 (ja) | 2019-08-23 | 2019-08-23 | アクチュエータ及びこれを備えたトライポッド構造体 |
CN202080051223.4A CN114127444B (zh) | 2019-08-23 | 2020-06-22 | 致动器及具备该致动器的三足结构体 |
US17/625,927 US11828410B2 (en) | 2019-08-23 | 2020-06-22 | Actuator and tripod structure equipped therewith |
PCT/JP2020/024420 WO2021039058A1 (ja) | 2019-08-23 | 2020-06-22 | アクチュエータ及びこれを備えたトライポッド構造体 |
EP20855991.4A EP3982519B1 (en) | 2019-08-23 | 2020-06-22 | Actuator and tripod structure equipped therewith |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019152948A JP7157021B2 (ja) | 2019-08-23 | 2019-08-23 | アクチュエータ及びこれを備えたトライポッド構造体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021030156A true JP2021030156A (ja) | 2021-03-01 |
JP7157021B2 JP7157021B2 (ja) | 2022-10-19 |
Family
ID=74676838
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019152948A Active JP7157021B2 (ja) | 2019-08-23 | 2019-08-23 | アクチュエータ及びこれを備えたトライポッド構造体 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11828410B2 (ja) |
EP (1) | EP3982519B1 (ja) |
JP (1) | JP7157021B2 (ja) |
CN (1) | CN114127444B (ja) |
WO (1) | WO2021039058A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3067155B1 (fr) * | 2017-06-01 | 2022-01-28 | Thales Sa | Dispositif de securisation des mouvements electriques de plateformes mobiles pour simulateurs |
JP7297151B2 (ja) * | 2020-07-03 | 2023-06-23 | 深▲せん▼怡豊自動化科技有限公司 | Agv娯楽運輸工具及び接続組立体 |
JP7432902B1 (ja) | 2022-10-21 | 2024-02-19 | 嘉明 村山 | シミュレータ用駆動ユニット及びシミュレータ |
Citations (6)
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JP2003065332A (ja) * | 2001-08-23 | 2003-03-05 | Nsk Ltd | 直動案内装置 |
JP2004270746A (ja) * | 2003-03-06 | 2004-09-30 | Nsk Ltd | 直動案内装置 |
JP2005325943A (ja) * | 2004-05-14 | 2005-11-24 | Hama International:Kk | 移動装置 |
WO2006106817A1 (ja) * | 2005-03-31 | 2006-10-12 | Thk Co., Ltd. | 電動アクチュエータ |
WO2015019535A1 (ja) * | 2013-08-08 | 2015-02-12 | 株式会社鷺宮製作所 | 加振装置、および、それを備えるシミュレーター用加振システム |
JP2017067229A (ja) * | 2015-10-01 | 2017-04-06 | 株式会社スター精機 | 樹脂成形品取出し機の直動案内装置 |
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JPS5813706B2 (ja) | 1974-10-17 | 1983-03-15 | ナカタニ ヨシカズ | ジヨウ |
US6145395A (en) * | 1999-01-19 | 2000-11-14 | E-Drive Design, Inc. | Side load compensated linear actuator |
JP2001124175A (ja) | 1999-10-29 | 2001-05-08 | Iai:Kk | アクチュエータ |
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GB0327457D0 (en) * | 2003-11-26 | 2003-12-31 | Goodrich Actuation Systems Ltd | Linear actuator |
JP2006217779A (ja) * | 2005-02-07 | 2006-08-17 | Yasuo Fujii | 減速機一体型アクチュエータ |
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JP6038589B2 (ja) * | 2012-10-17 | 2016-12-07 | Ntn株式会社 | 直動案内装置 |
JP5746266B2 (ja) * | 2013-06-07 | 2015-07-08 | Thk株式会社 | アクチュエータ |
JP2015040614A (ja) | 2013-08-23 | 2015-03-02 | 株式会社鷺宮製作所 | アクチュエータ |
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US20190145504A1 (en) * | 2017-11-16 | 2019-05-16 | National Cheng Kung University | Linear series elastic actuator |
-
2019
- 2019-08-23 JP JP2019152948A patent/JP7157021B2/ja active Active
-
2020
- 2020-06-22 WO PCT/JP2020/024420 patent/WO2021039058A1/ja unknown
- 2020-06-22 CN CN202080051223.4A patent/CN114127444B/zh active Active
- 2020-06-22 US US17/625,927 patent/US11828410B2/en active Active
- 2020-06-22 EP EP20855991.4A patent/EP3982519B1/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003065332A (ja) * | 2001-08-23 | 2003-03-05 | Nsk Ltd | 直動案内装置 |
JP2004270746A (ja) * | 2003-03-06 | 2004-09-30 | Nsk Ltd | 直動案内装置 |
JP2005325943A (ja) * | 2004-05-14 | 2005-11-24 | Hama International:Kk | 移動装置 |
WO2006106817A1 (ja) * | 2005-03-31 | 2006-10-12 | Thk Co., Ltd. | 電動アクチュエータ |
WO2015019535A1 (ja) * | 2013-08-08 | 2015-02-12 | 株式会社鷺宮製作所 | 加振装置、および、それを備えるシミュレーター用加振システム |
JP2017067229A (ja) * | 2015-10-01 | 2017-04-06 | 株式会社スター精機 | 樹脂成形品取出し機の直動案内装置 |
Also Published As
Publication number | Publication date |
---|---|
US20220252210A1 (en) | 2022-08-11 |
WO2021039058A1 (ja) | 2021-03-04 |
EP3982519B1 (en) | 2024-05-08 |
EP3982519A1 (en) | 2022-04-13 |
CN114127444A (zh) | 2022-03-01 |
CN114127444B (zh) | 2024-07-23 |
US11828410B2 (en) | 2023-11-28 |
EP3982519A4 (en) | 2023-06-21 |
JP7157021B2 (ja) | 2022-10-19 |
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