WO2004075388A1 - 駆動機構 - Google Patents
駆動機構 Download PDFInfo
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- WO2004075388A1 WO2004075388A1 PCT/JP2004/001764 JP2004001764W WO2004075388A1 WO 2004075388 A1 WO2004075388 A1 WO 2004075388A1 JP 2004001764 W JP2004001764 W JP 2004001764W WO 2004075388 A1 WO2004075388 A1 WO 2004075388A1
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- WIPO (PCT)
- Prior art keywords
- drive
- drive unit
- support
- driving
- unit
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
- H02N11/006—Motors
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- 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
- F03G7/005—Electro-chemical actuators; Actuators having a material for absorbing or desorbing gas, e.g. a metal hydride; Actuators using the difference in osmotic pressure between fluids; Actuators with elements stretchable when contacted with liquid rich in ions, with UV light, with a salt solution
Definitions
- the present invention relates to a driving mechanism including a driving unit and a driving method thereof.
- conductive polymers such as polypyrrole exhibit electrolytic stretching, which is a phenomenon of stretching or deformation due to fine and electrochemical redox.
- a molded product containing a conductive polymer can be driven by this electrolytic expansion and contraction by applying a voltage, and can be used as an actuator or a drive unit of a drive mechanism.
- Actuators or drive mechanisms using this conductive polymer molded article are expected to be applied to applications such as human muscles, robot arms, and artificial hands, and have been attracting attention in recent years.
- this actuator when the polypyrrole film and the counter electrode are immersed in the electrolytic solution and a voltage is applied between the counter electrode and the polypyrrole film, the polypyrrole film expands and contracts, and the polypyrrole film is 14.6 MPa (45 g). It describes that it expands and contracts by 1% while receiving a load. In other words, this actuator can generate a force of 14 MPa in the length direction due to electrolytic expansion and contraction.
- a mechanical or electric driving method such as traction by a wire or rotation by a motor is usually used.
- the structure becomes complicated, such as screwing the wire and providing a pulley.
- the structure becomes large-sized, and it is difficult to reduce the weight.
- An object of the present invention is to provide an actuator that includes a drive unit that can be easily fixed and can be easily fixed even in the case of a multilayer structure. Disclosure of the invention
- the present invention is characterized in that it includes a drive unit having an endless band shape, a ring shape or a wound body, and a plurality of supports for hanging the drive unit, wherein the drive unit is stretched over the support. It is a driving mechanism. By using the driving mechanism, the driving unit can be easily fixed, and when the driving unit is driven, the driving force is transmitted to the support, so that the driving force can be easily obtained.
- the present invention also provides a drive mechanism including a drive unit that is a wound body and a plurality of supports for hanging the drive unit, wherein a space to be hung is provided by the drive unit. There is also a drive mechanism provided on the inside, wherein the drive unit is stretched on the support. By using the driving mechanism, the driving unit can be easily fixed, and when the driving unit is driven, the driving force is transmitted to the support, so that the driving force can be easily obtained.
- an endless belt-shaped or ring-shaped drive unit a drive unit mounting support for hanging the drive unit, and an auxiliary support for stretching the drive unit are provided.
- the driving unit can be easily fixed.
- the drive mechanism can easily hold the drive section in the auxiliary support in a substantially S-shape, a substantially M-shape, or a continuous shape thereof, a zigzag shape, a spiral shape, or a folded shape. Therefore, even when the drive unit is long, for example, 20 cm or more, space can be saved, and the drive unit can be easily held in a compact state.
- the loop portion is hung on the driving portion mounting support and wound around the support, so that it can be easily wound. It is possible to form a driving unit which is a rotating body.
- the driving section includes a conductive polymer having a maximum expansion and contraction rate of 8% or more due to electrolytic expansion and contraction as a material, and when the actuator is driven, the expansion and contraction rate of the driving section is 50% of the maximum expansion and contraction rate.
- FIG. 1 is a schematic view of one embodiment of the first invention.
- FIG. 2 is a schematic view of a second embodiment of the first invention.
- FIG. 3 is a schematic diagram of a third embodiment of the first invention.
- FIG. 4 is a schematic view of a fourth embodiment of the first invention.
- FIG. 5 is a schematic side view of one embodiment of the drive mechanism of the second invention.
- FIG. 6 is a perspective view of another embodiment of the drive mechanism of the second invention.
- FIG. 7 is a sectional view of the drive mechanism taken along line AA in FIG.
- FIG. 8 is a perspective view of a housing in the drive mechanism of FIG.
- FIG. 9 is a sectional view taken along line BB of the housing of FIG. BEST MODE FOR CARRYING OUT THE INVENTION
- the invention of the present application is a driving mechanism, comprising: a driving unit; and a plurality of supports for hanging the driving unit, wherein the driving unit is stretched on the support.
- the drive unit may be an endless band shape or a ring shape, or may be a drive unit that is a wound body provided with a space to be hung inside the drive unit.
- the support body can be moved by the self-expanding and contracting movement of the drive unit.
- the present invention is referred to as a first invention.
- the driving unit may be any unit that can expand and contract by itself.
- the drive section is not particularly limited as long as the drive section itself expands and contracts due to electricity, humidity, and the like, and may be a drive section containing a conductive polymer or a resin containing a conductive material. It is preferable that the driving unit is a driving unit including a conductive polymer.
- the driving section includes a conductive polymer and can be hung on two or more supports, the driving section can be easily installed as a driving section. Further, in the driving unit, the support can be gripped by the inner surface of the driving unit, so that the driving unit can be easily driven.
- the drive section may have an endless band shape or a ring shape.
- the driving unit may be a wound body provided with a space for being suspended inside the driving unit. Since the drive section has these structures, the drive section can be hung on two or more supports, so that the installation as the drive section is easy, and the support can be gripped by the inner surface of the drive section. Since it can be driven, it can be easily driven, and the fixing of the driving section is also easy.
- FIG. 1 is a schematic view of one embodiment of the first invention.
- supports 1 2 1 and 1 2 2 are provided on a base 11 so as to slide along sliding grooves 13 1 and 13 2, respectively.
- An endless belt-shaped conductive polymer molded product 14 is hung on two supports.
- two supports 1 2 1 and 1 2 2 are provided with grips 15 1 and 15 2.
- this drive mechanism is installed in the electrolyte solution, the drive section is connected to the electrode via a lead, and the counter electrode is installed in the electrolyte solution, and the lead is connected to the counter electrode.
- FIG. 2 is a schematic view of a second embodiment of the first invention.
- This embodiment is an example of a case where there are a plurality of driving units, and there are supports 2 2 1, 2 2 2, 2 2 3 and 2 2 4 on the table 2 1, and two independent driving units 2 3 1 , 2 3 2 are hung.
- An endless band containing a conductive polymer can be used for the driving unit as in the embodiment shown in FIG.
- a grip portion is provided so as to face each pair of the supports 221, 23 and the supports 22, 24. By doing so, the object can be clamped by the two sets of grips by expanding and contracting the drive part electrolytically.
- FIG. 3 is a schematic view of the third embodiment of the first invention as viewed from above.
- the embodiment shown in FIG. 3 is a case where the support is arranged on a plurality of members, and the driving unit is hung on the support so as to straddle the plurality of members.
- the first member 31 is connected to the second member with a set screw 33 so that the first member 31 can turn while sliding on the second member 32.
- the driving section 34 is hung on a columnar or cylindrical support 35 provided on the first part member and a columnar or cylindrical support 36 provided on the second member.
- Auxiliary support 3 7 and 3 8 It is stretched by being pressed more.
- This drive structure can be used as a joint mechanism for industrial robots and the human body.
- a joint mechanism that can freely rotate by using a ball joint for the sliding part by turning and also providing a driving part on the side. It can be.
- FIG. 4 is a schematic view of a fourth embodiment of the first invention as viewed from the side.
- FIG. 4 also shows a configuration in which a columnar or cylindrical support is disposed on a plurality of members, and a driving unit is hung on the support so as to straddle the plurality of members.
- the driving part 44 is wound around the support member 45 1, 45 2 of the first member 41 multiple times and suspended, and further, between the support members 46 1, 46 2 of the second member 42. It is also wound and hung several times. By being wound a plurality of times between the supports 451, 452 and between the supports 461, 462, the length of the drive unit can be increased, and the drive unit is, for example, 20 cm.
- the driving unit can be easily held in a compact state. Further, by making the expansion / contraction of 50% of the maximum expansion / contraction ratio, the driving unit generates an excellent expansion / contraction speed, so that the turning speed can be greatly improved.
- the drive mechanism according to the second aspect of the present invention includes an endless belt-shaped or ring-shaped drive unit, and a drive unit mounting support for hanging the drive unit.
- a drive mechanism comprising an auxiliary support.
- FIG. 5 is a schematic side view of one embodiment of the drive mechanism according to the second invention.
- FIG. 5 is a side view of a finger-like structure to which the driving mechanism is applied.
- the driving unit 51 is hung on a support 521 and a support 5222, and is pressed by an auxiliary support 523 to be connected to the support. It is in a stretched state.
- the driving section 53 is hung between the support members 524 and 525, is pressed by the support members 522, and is stretched over the support members.
- the middle phalanx part 54 rotates while sliding at the joint part 55
- the driving part 53 contracts the distal phalanx part 56 moves to the joint part 57. And turns while sliding.
- the fingers can bend and extend, and can be applied to artificial hands.
- the drive mechanism can artificially configure a human body mechanism other than the finger.
- the driving section contains a conductive polymer and the expansion and contraction ratio due to electrolytic expansion and contraction is 3% or more, it can be used as an artificial muscle.
- an artificial human body part can be created by using the support as a tendon portion of a human body.
- a support body is provided at a position corresponding to a tendon of a finger on a group of a plurality of members having joints corresponding to a DIP joint, a PIP joint, and an MP joint, and a flexor of a finger is provided.
- FIG. 6 is a perspective view of another embodiment of the drive mechanism of the second invention.
- the housing 61 houses a housing 62 having a drive mechanism therein.
- a movable support 65 is attached to an arm 641 provided in a lid of the case.
- the box-shaped housing 62 has a sliding groove 661 on which the movable support 65 slides.
- the sliding groove is provided on each of a pair of facing side surfaces.
- the movable support 65 is slidably mounted in both sliding grooves. By moving the housing so that the sliding groove slides on the movable support, the rod 63 is driven to apply a force to the outside.
- FIG. 7 is a sectional view of the drive mechanism taken along the line AA in FIG.
- the housing 62 is provided with a drive unit mounting support 681 to 687 at the top, and the drive unit 67 is hung on the drive unit mounting support.
- the endless belt-shaped drive part 67 is hung on the auxiliary supports 691, 692 and the movable support 65 to be stretched.
- the drive unit 67 is provided with a drive unit mounting support 681 to 687 and an auxiliary support 691, 692 in a substantially S shape, a substantially M shape, or a continuous zigzag shape thereof. It is held in a spiral or folded shape.
- the driving unit 67 When the driving unit 67 is driven by applying a voltage, the driving unit mounting support, the auxiliary support, and the movable support Since the carrier also has a function as an electrode, by applying a voltage to each support, the driving unit 67 expands and contracts and drives.
- the precursor drive unit is driven, the movable support 65 slides on the sliding groove 662, and the housing 62 is driven in the left-right direction in FIG. 7 while being supported by the lid of the housing 61. I do.
- the movable support 65 In this drive, the movable support 65 is given a rightward force in FIG. 7 by the contraction of the drive section 67. Since this movable support is fixed to the housing because it is attached to the arm 642 of the lid 70, the housing slidable with respect to the housing is driven.
- the housing that has slid to the left in FIG. 7 slides to the right by the force of the spring member 72 by extending the drive unit 67.
- the rod 63 provided in the housing is driven outside in the housing in the left-right direction in FIG. 7, and the force by the driving of the drive unit can be applied to the outside.
- the spring member 72 is not always necessary, and the rightward driving in FIG. 7 can be performed by, for example, fixing the driving unit 67 to a movable support.
- FIG. 8 is a perspective view of a housing in the drive mechanism of FIG.
- the housing 62 includes a drive unit mounting support 681 to 6887 and auxiliary supports 691 and 692. It is preferable that the driving unit mounting support and the auxiliary support are mounted so as to be rotatable in the circumferential direction by driving of the driving unit in order to eliminate friction between the driving unit and each support. From, it is attached to the housing by a pivot bearing.
- FIG. 9 is a sectional view taken along line BB of the housing of FIG.
- the housing 62 is provided with pivot bearings 7 1 1 to 7 14 on the side surface, and the drive unit mounting support 6 8 3 is attached to the housing by the pivot bearings 7 1 1 and 7 13.
- a drive unit mounting support 6686 is mounted on the housing by pivot bearings 7 12 and 7 14.
- the drive unit mounting support can be easily attached to the housing.
- the auxiliary support and the movable support are preferably attached to the housing by a pivot bearing, similarly to the drive unit support, and the pivot bearing is a screw-in type pivot bearing. Is more preferable.
- the drive mechanism when the drive section includes a conductive polymer, and is driven by electrolytic expansion and contraction of the conductive polymer, the drive mechanism preferably includes a counter electrode and an electrolyte.
- the counter electrode and the electrolyte may be provided in a housing, a housing, or the like so that a driving unit can be driven by applying a voltage to each support serving as a working electrode.
- the counter electrode is provided on the inner wall surface of the housing, and the inside of the housing and the inside of the housing are filled with the electrolytic solution, so that the drive unit performs electrolytic expansion and contraction by applying a voltage to each support pair, and is attached to the housing and the housing.
- the rod 63 is driven.
- the drive unit is not particularly limited in the mechanism of expansion and contraction as long as the drive unit itself expands and contracts.
- the driving section includes a conductive polymer, and the driving section expands and contracts by an electrochemical expansion and contraction operation by applying a voltage to the conductive polymer.
- the auxiliary support is in a state of being in contact with the driving unit on an outer surface. Since the driving unit expands and contracts and the entire length of the driving unit expands and contracts, a force is applied to the object through a connecting member that connects the object to the object such as traction. It is preferably attached by a pivot bearing, or is preferably provided with a sleeve and a Z or bearing in order to reduce frictional resistance with the drive unit. Since the drive unit is in contact with the auxiliary support in the sleeve and Z or the bearing of the auxiliary support, there is little friction that hinders the expansion and contraction of the drive unit, so that the expansion / contraction speed is improved. be able to.
- the actuator is an actuator having a driving unit, an electrolyte, and a counter electrode, wherein the driving unit has an endless band shape or a ring shape, and a driving unit mounting support for hanging the driving unit. And an auxiliary support for stretching the drive unit.
- the actuator using the drive mechanism according to the second invention of the present application is configured such that the drive mechanism is It is not particularly limited as long as it includes a driving unit, an electrolyte, and a counter electrode.
- the drive mechanism it is possible to drive the actuator by immersing the drive mechanism shown in FIGS. 1 to 5 in a solid or liquid electrolyte and applying a voltage to the drive unit and the counter electrode.
- the drive unit mounting plate described above may be a part of a housing so that the drive unit can be housed inside the housing.
- a method of applying a voltage to a driving unit for driving the driving unit is not particularly limited.
- the driving section contains a conductive polymer
- the driving section contains a conductive polymer, and is driven by electrolytic expansion and contraction.
- the conductive polymer include polypyrrole, polythiophene, and polyaniline. Phosphorus, polyphenylene, etc. can be used, but it is easy to manufacture because it is a conductive polymer containing piar and Z or pior derivative in the molecular chain. Not only that, it is preferable because it has excellent electrolytic expansion / contraction performance.
- the driving unit may include a conventional conductive polymer such as a conductive polymer including sodium p-toluenesulfonate as a dopant.
- the drive section may be configured such that the operation section includes: a conductive polymer included in the operation section; A method for producing a conductive polymer, wherein the electropolymerization method can use an operating portion which is a conductive polymer obtained by the production method using an electrolytic solution containing an organic compound as a solvent.
- the organic compound may include (1) at least one or more chemical bond species selected from the group consisting of an ether bond, an ester bond, a carbon-halogen bond, and a carbonate bond, and Z or (2) a hydroxyl group. It is preferable that the molecule contains at least one functional group selected from the group consisting of a functional group consisting of a nitro group, a sulfone group and a nitrile group.
- the drive section is a drive section containing the conductive polymer manufactured by the manufacturing method, the expansion / contraction ratio of the drive section per oxidation-reduction cycle can be easily set to 3% or more.
- the drive mechanism of the present invention can be used for applications requiring a large expansion and contraction rate, such as artificial muscles.
- the electrolyte may contain a known dopant, and a plurality of fluorine atoms bonded to trifluoromethanesulfonic acid ion and Z or a central atom may be used in order to obtain a larger expansion / contraction rate per oxidation-reduction cycle. It is preferable to include an anion. Further, in order for the obtained conductive polymer to have an expansion / contraction rate of 16% or more per oxidation-reduction cycle, the electrolytic solution may be a fluorine atom with respect to the trifluoromethanesulfonate ion and / or the central atom. Chemical formula (1)
- organic compound examples include 1,2-dimethoxetane, 1,2-diethoxyethane, tetrahydrofuran, 2-methinoletetrahydrofuran, 1,4-dioxane (the above-mentioned organic compounds containing an ether bond), ⁇ -butyrolactone, acetic acid Ethyl, ⁇ -butyl acetate, -1-butyl acetate, 1,2-diacetoxetane, 3-methyl-2-oxazolidinone, methyl benzoate, ethyl benzoate, butyl benzoate, getyl phthalate , Organic compound containing an ester bond), propylene carbonate, ethylene carbonate, dimethinocarbonate, ethynolecarbonate, methylethyl carbonate (the above is an organic compound containing a carbonate bond), ethylene glycolone, 1- Butanol, 1-hexanol, cyclohexanol , 1-
- the organic compound containing a hydroxyl group is not particularly limited, and is preferably a polyhydric alcohol or a monohydric alcohol having 4 or more carbon atoms because of its good elasticity.
- the organic compound may have an ether bond, an ester bond, a carbonate bond, a hydroxyl group, a nitro compound in the molecule.
- An organic compound containing two or more bonds or functional groups in any combination among a mouth group, a sulfone group and a nitrile group may be used.
- the halogenated hydrocarbon contained as a solvent in the electrolytic solution is a hydrogenated hydrocarbon in which at least one or more hydrogen atoms have been replaced by halogen atoms, and therefore, it is required to be stably present as a liquid under electrolytic polymerization conditions.
- a hydrogenated hydrocarbon in which at least one or more hydrogen atoms have been replaced by halogen atoms, and therefore, it is required to be stably present as a liquid under electrolytic polymerization conditions.
- halogenated hydrocarbon examples include dichloromethane and dichloroethane.
- the halogenated hydrocarbon only one kind can be used as a solvent in the electrolytic solution, but two or more kinds can be used in combination. Further, the halogenated hydrocarbon may be used as a mixture with the above organic compound, and a mixed solvent with the organic solvent may be used as a solvent in the electrolytic solution.
- the electrolytic solution used in the electrolytic polymerization method contains an organic compound to be electrolytically polymerized (for example, pyrrole), trifluoromethanesulfonic acid ion, and anion containing a plurality of fluorine atoms with respect to Z or a central atom.
- the content of the trifluoromethanesulfonic acid ion and the anion containing a plurality of fluorine atoms with respect to the central atom or the trifluoromethanesulfonate ion is not particularly limited.
- the content is preferably 0% by weight, more preferably 1 to 15% by weight.
- Trifluoromethanesulfonic acid ion is a compound represented by the chemical formula CF 3 SO 3 .
- An anion containing a plurality of fluorine atoms with respect to the central atom has a structure in which a plurality of fluorine atoms are bonded to a central atom such as boron, phosphorus, antimony, and arsenic.
- Examples of the anion containing a plurality of fluorine atoms with respect to the central atom include, but are not particularly limited to, tetrafluoroborate ion (BF 4 —), hexafluorophosphate ion (PF 6 —), and hexafluorophosphate ion.
- Fluoroantimonate ion (S b F 6 I), and to be able to illustrate the Kisafuruorohi acid ion (A s F 6 I).
- CF 3 S0 3 _ preferably a BF 4 _ and PF 6 one has to take into account the safety to human body
- CF 3 S_ ⁇ 3 first and BF 4 - is preferable.
- II CF 3 SO 3 is particularly preferable in order to obtain a very excellent conductive polymer film.
- anion containing a plurality of fluorine atoms with respect to the central atom one kind of anion may be used, a plurality of kinds of anions may be used at the same time, and further, trifluoromethanesulfonic acid ion and a plurality of kinds of anions may be used. May be used simultaneously with an anion containing a plurality of fluorine atoms for the central atom.
- the electrolytic solution used in the electrolytic polymerization method includes a conductive polymer solution in a solution of the organic compound solvent and the trifluoromethanesulfonic acid ion and an anion containing a plurality of fluorine atoms with respect to Z or a central atom. It contains a monomer and may further contain other known additives such as polyethylene glycol and polyacrylamide.
- the electrolytic polymerization method a known electrolytic polymerization method can be used as the electrolytic polymerization of the conductive polymer monomer, and any of a constant potential method, a constant current method, and an electric sweep method can be used.
- the current density is 0.01 to 20 mA / cm 2
- the reaction temperature is 70 to 80 ° C., preferably the current density is 0;
- the reaction can be carried out at a reaction temperature of 30 to 30 ° C.
- the drive unit may appropriately include a conductive material such as a metal wire or a conductive oxide in order to reduce the resistance value of the drive unit, in addition to including a conductive polymer.
- a composite structure of a conductive substrate and a conductive polymer may be formed by forming a composite with a conductive substrate having a conductivity of 1.0 ⁇ 10 3 SZcm or more.
- the conductive substrate is not particularly limited as long as the conductive substrate has elasticity and the conductivity of the conductive substrate is 1.0 X 10 3 SZ cm or more.
- the conductivity of the conductive substrate 1. is 0 X 1 0 3 SZ cm or more, even when increasing the size of the conductive polymer composite structure comprising the conductive substrate, it can be practical as Akuchu eta It is possible to obtain a certain large expansion and contraction.
- the conductive substrate exhibits stretchability, if conductivity is 1. 0 X 1 0 3 SZc m or more, not the material is particularly limited.
- the material is conductive and mechanical From the viewpoint of strength, it is preferable to use metal, polymer fiber with metal plating, and carbon material. Structure of the conductive substrate, when the conductive substrate has a non-stretchable conductivity by containing wood charge 1. OX 1 0 3 S / cm or more conductive metal such as, expandable structure It is preferable that Since the conductive substrate can expand and contract, the conductive polymer composite structure in which the conductive substrate is composited with the conductive polymer can obtain a displacement such as expansion and contraction that can be practically used as an actuator. In the conductive polymer composite structure, the conductive substrate can also function as a core in the conductive polymer composite structure, so that the mechanical strength can be improved.
- the stretchable structure is not particularly limited as long as it is stretchable.
- the expandable and contractible structure is different from a plate-like or straight line-segment structure in that a structure having a space between members constituting a conductive base in a longitudinal section, such as a coil spring, a plate spring, and a mesh, is used. It is preferable to have a structure provided.
- Typical examples of the stretchable structure include a panel-like member, a mesh-like member, and a fiber structure sheet. (Support)
- the support in the drive mechanism according to the first and second inventions of the present application is not particularly limited as long as the drive unit can be hung, and two or more drive mechanisms are provided in the drive mechanism. .
- the shape of the support is rod-shaped, but any shape such as a rod, a cylinder, a column, or a prism can be used as long as the endless belt-shaped or ring-shaped drive unit can be suspended. Can be.
- the support has conductivity, and is connected to a power source via a lead, so that a drive unit containing a conductive polymer is suspended over the support, A voltage can be applied to the driving unit.
- the support does not necessarily need to have conductivity, and when the support does not have conductivity, a lead connected to a power supply may be directly connected to the driving unit. Thus, it is possible to apply a voltage to the driving unit.
- any material may be used as long as the support exhibits conductivity by including a material exhibiting conductivity, and may be, for example, gold, platinum, tungsten, or nickel. The material is formed May be something.
- the distance between the supports is set within 5 O mm, and by applying a potential to each of the supports, the stretching speed can be improved. It is sufficient that at least two or more of the supports are included in the driving mechanism, and the number of the supports is not particularly limited. It is preferable that the number of the support members is two or more because a driving portion is stretched.
- one driving unit may be stretched over two supports, or may be stretched over three or more supports. Further, in the support, two or more driving units may be stretched on one support.
- an auxiliary support such as a pin for pressing or pulling the driving unit can be used to stretch the driving unit to the support.
- the support has conductivity, and is connected to the power supply via a lead to be connected to the support.
- a driving unit including a conductive polymer When suspended, a voltage can be applied to the driving unit.
- the support does not necessarily need to have conductivity, and when the support does not have conductivity, a lead connected to a power supply may be directly connected to the driving unit. It is possible to apply a voltage to the driving unit.
- the drive mechanism of the first and second inventions includes an electrolyte when the drive section contains a conductive polymer.
- the electrolyte may be arranged so as to be in contact with the drive unit, and may be arranged so that the drive unit and the counter electrode are interposed between the electrolyte and the electrolyte, similarly to an actuator using a normal conductive polymer as a drive unit.
- the electrolyte is not particularly limited, and may be a liquid or a solid electrolyte. When the electrolyte is in a liquid state, it may be an aqueous solvent or an organic solvent, but it is easy to handle because of its low toxicity and the rate of volatilization is relatively slow. Can be It is preferably an aqueous solvent.
- the electrolytic solution when it is a solid electrolyte, it may be a gel polymer electrolyte or a completely solid polymer electrolyte, but a gel polymer electrolyte is preferred because of its high ionic conductivity in the electrolyte.
- the gel used for the gel polymer electrolyte it is preferable to use polyacrylamide, polyethylene glycol, agar, or the like because the gel polymer electrolyte can be easily prepared by complexing with an aqueous solution electrolyte.
- the electrolyte is an electrolyte containing at least one compound selected from the group consisting of trifluoromethanesulfonic acid ion, an ion containing a plurality of fluorine atoms relative to a central atom, and a sulfonate having 3 or less carbon atoms.
- Driving force It is preferable that the driving section including the conductive polymer can generate a larger expansion and contraction per oxidation-reduction cycle.
- the drive mechanism of the first and second inventions of the present application includes a counter electrode when the drive section includes a conductive polymer.
- the counter electrode may be disposed so as to be in contact with the electrolyte, and may be disposed so that the drive unit and the counter electrode are interposed between the electrolyte and the electrolyte, similarly to an actuator using a normal conductive polymer as a driving unit.
- the shape of the counter electrode is not particularly limited as long as the counter electrode is formed of a conductive material that can be used as an electrode, and may be a rod, a line, a film, or a plate. .
- the material of the counter electrode is not particularly limited, and may be a metal containing a noble metal such as gold or platinum as a type, or a conductive non-metal such as a conductive resin or ITO glass. However, it is preferably a noble metal because it is hardly corroded and easy to process, and more preferably platinum or gold.
- the electrolyte contains a surfactant.
- the driving unit When there is a member that comes into contact with the driving unit such as the above-described auxiliary support or the connection member by driving the driving unit, the driving unit is driven by including a surfactant in the electrolyte. Even in the case of turning, it is possible to prevent wear of the driving part in the vicinity of the member and the contact part in contact with the driving part.
- the surfactant is not particularly limited, and may be an aionic surfactant, a cationic surfactant, a nonionic surfactant, an amphoteric surfactant, or the like. It is preferable to use a neutral surfactant in order to prevent interaction with the dopant.
- surfactant examples include polyoxyethylene (8) isooctyl phenyl ether (trade name “Triton X_114”, manufactured by Wako Pure Chemical Industries, Ltd.), polyoxyethylene (10) isooctyl phenyl ether ( Trade name “Triton X-100", manufactured by Aldrich) can be used.
- the concentration of the surfactant is not particularly limited as long as it is contained in the electrolyte, and the concentration can be appropriately adjusted according to the type of the surfactant. For example, when polyoxyethylene (8) isooctylphenyl ether is used as the surfactant, it can be contained in the electrolyte in a concentration range of 0.1% by weight to 50% by weight. When a surfactant having a small orientation with respect to the surface is used, the content can be made larger than the above range.
- the electrolyte is not particularly limited, but is preferably a gel or liquid electrolyte.
- the invention of the present application is also a driving method for driving the driving mechanism of the first or second invention.
- the driving section contains a conductive polymer
- a conductive polymer having a maximum expansion and contraction rate of 8% or more due to electrolytic expansion and contraction is included as a material, and the expansion and contraction rate of the driving section during driving is maximized.
- the expansion and contraction ratio is defined as the ratio (D / LX) of the difference (displacement amount, D) between the length of the drive unit in the extended state (L) and the length of the drive unit when displaced from the extended state to the contracted state. 100 (%)), the maximum expansion and contraction ratio means the drive unit that is displaced from the most extended state to the most contracted state relative to the length (Lmin) of the most extended state of the drive unit. Ratio (Dmax / Lm in X 100 (%)) of the length difference (displacement, Dmax).
- a conductive polymer that expands and contracts electrochemically with a maximum expansion ratio of 12% (Strip, length 14 mm, width 2 mm, thickness 0.02 mm), when a voltage of 0.7 VV s Ag / Ag + is applied, this conductive polymer It takes 80 seconds from the start of driving to expand and contract the expansion and contraction ratio (7.5%), which is 62.5% of the maximum expansion and contraction ratio (12%).
- the expansion and contraction of the expansion and contraction ratio (6%) which is 50% of the maximum expansion and contraction ratio (12%) can be performed in 20 seconds from the start of driving. Large expansion and contraction can be performed in a short time.
- the time required for expansion and contraction can be reduced to 7 seconds.
- the driving method of expanding and contracting the driving section so that the expansion and contraction rate of the driving section at the time of driving becomes 30% or less of the maximum expansion and contraction rate can be suitably used for practical use because it expands and contracts in a shorter time. it can.
- the expansion and contraction rate per unit time after 20 seconds from the start of driving is 0.3% / s.
- the expansion / contraction rate per unit time after 10 seconds from the start of driving is about 0.47% / s, and the shorter the driving time, the shorter the expansion / contraction rate per unit time.
- the length of the conductive polymer (driving body) constituting the driving unit is increased to achieve (1) a larger expansion / contraction amount than the conventional expansion / contraction amount.
- the drive mechanism according to the first and second aspects of the present invention can easily obtain a larger expansion and contraction rate. Therefore, the drive mechanism has a large displacement in addition to a switch or a sensor that can be used even if the displacement is small. It can be suitably used as an artificial muscle for use. In other words, the drive mechanism of the present invention can expand the drive mechanism including the conductive polymer, which could only be used for applications with small displacement, to applications with large displacement of artificial muscles and the like. Further, the first invention and the second invention provide a lead having a function of buffering an external force, such as a panel mechanism, in order to prevent the lead from being cut by an impact caused by driving of the actuator and an external impact.
- the driving mechanism can be used as a linear actuator, and can be used as a driving device or a pressing device.
- the shaft can expand and contract by 3% or more, and the drive mechanism can obtain expansion and contraction of 3% or more. It can be suitably used for applications where the displacement of artificial muscles or the like is large.
- the drive mechanism of the present invention is a drive mechanism in which the conductive polymer is driven by electricity, and is silent as it is driven. Therefore, the drive mechanism is suitable as a drive unit or a pressing unit in an indoor use device.
- a positioning device is lighter than a conventional linear actuator because there are few metal parts
- a posture control device is provided for an elevating device, a transport device, a moving device, an adjusting device, an adjusting device, a guiding device, and It can be suitably used as a drive unit of a joint device.
- the drive mechanism of the first invention and the second invention is characterized in that, in order to use as an artificial muscle, the expansion and contraction rate of the drive section can be increased or decreased as the drive mechanism. It is preferably at least 3%, more preferably at least 6%, per reduction cycle.
- the drive mechanism of the present invention described above can be suitably used for artificial muscles, robot arms and artificial hands.
- medical instruments such as tweezers, scissors, forceps, snares, laser scalpels, spatulaes, clips, etc. in microsurgery technology, various sensors for inspection and repair, and repair tools, health appliances, hygrometers, Suitable for industrial equipment such as hygrometer control devices, soft manipulators, underwater valves, and soft transport devices, underwater mobiles such as goldfish, and articles used in water such as moving fishing baits and hobby equipment such as propulsion fins. Can be used.
- the drive mechanism of the present invention described above is a drive unit that generates a linear drive force or a drive unit that generates a drive force for moving a track-type trajectory including an arc portion in the following apparatus and equipment, or It can be suitably used as a pressing part that moves linearly or in a curved manner; OA equipment, antennas, equipment for placing people such as beds and chairs, medical equipment, engines, optical equipment, fixtures, side trimmers, Vehicles, lifting equipment, food processing equipment, cleaning equipment, measuring equipment, inspection equipment, control equipment, machine tools, processing machines, electronic equipment, electron microscopes, electric razors, electric toothbrushes, manipulators, masts, play equipment, amusement equipment Riding simulation device, vehicle occupant holding device, and aircraft extension equipment.
- OA equipment antennas, equipment for placing people such as beds and chairs, medical equipment, engines, optical equipment, fixtures, side trimmers, Vehicles, lifting equipment, food processing equipment, cleaning equipment, measuring equipment, inspection equipment, control equipment, machine tools, processing machines, electronic equipment, electron microscopes, electric razors, electric toothbrush
- the drive mechanism and the drive mechanism include, for example, a drive unit or an arc unit that generates a linear drive force in a valve, a brake, and a lock device used in general machines including the above-described devices such as OA devices and measurement devices. It can be used as a driving unit that generates a driving force for moving on a track-type trajectory, or as a pressing unit that operates linearly.
- a driving unit of a positioning device a driving unit of a posture control device, a driving unit of a lifting device, a driving unit of a transport device, a driving unit of a moving device.
- a drive unit of an adjustment device for adjusting the amount and direction
- a drive unit of an adjustment device such as a shaft, a drive unit of a guidance device, and a pressing unit of a pressing device.
- the drive mechanism and the drive mechanism of the present invention described above can be suitably used as a drive unit in a joint device, such as a joint intermediate member or a drive unit that applies a rotational motion to a joint, such as a joint intermediate member.
- the drive mechanism of the present invention is, for example, a drive unit for an inkjet unit in an inkjet printer such as a CAD printer, a drive unit for displacing the optical axis of the optical beam of the printer, and a disk drive such as an external storage device.
- Image forming apparatus including a printer, a copier, and a facsimile It can be suitably used as a driving unit of a paper pressing contact force adjusting means in a paper feeder of a paper source.
- the drive mechanism of the present invention described above includes, for example, a drive unit of a drive mechanism that moves and installs a measurement unit and a feed unit such as moving a high frequency feed unit such as a frequency shared antenna for radio astronomy to a second focal point, and It can be suitably used as a drive unit of a lift mechanism in a mast antenna such as a vehicle-mounted compressed air operated telescopic mast (telescopic mast).
- a drive unit of a drive mechanism that moves and installs a measurement unit and a feed unit such as moving a high frequency feed unit such as a frequency shared antenna for radio astronomy to a second focal point
- a mast antenna such as a vehicle-mounted compressed air operated telescopic mast (telescopic mast).
- the drive mechanism of the present invention is, for example, a drive unit of a massage unit of a chair-shaped massage machine, a drive unit of a nursing or medical bed, a drive unit of a posture control device of an electric reclining chair, a massage machine and an easy chair.
- the present invention can be suitably used for a drive unit used for turning a backrest, a red rest or a bed of a nursing bed for swiveling, and a drive unit for controlling a posture of an upright chair.
- the drive mechanism of the present invention described above includes, for example, a drive unit of an examination device, a drive unit of a pressure measurement device such as a blood pressure used in an extracorporeal blood treatment device, a drive of a catheter, an endoscope device, forceps, and the like.
- Drive unit of a cataract surgery device using ultrasonic waves drive unit of a movement device such as a jaw movement device, drive unit of means for relatively expanding and contracting the chassis member of a hoist for the disabled, and a nursing bed It can be suitably used for a drive unit for raising / lowering, movement, posture control, and the like.
- the drive mechanism of the present invention described above includes, for example, a drive unit of a vibration isolator that attenuates vibration transmitted from a vibration generation unit such as an engine to a vibration receiving unit such as a frame, and a drive mechanism for intake and exhaust valves of an internal combustion engine. It can be suitably used as a drive unit of a valve device, a drive unit of an engine fuel control device, and a drive unit of a fuel supply device of an engine such as a diesel engine.
- the drive mechanism of the present invention is, for example, a drive unit of a calibration device of an imaging device with a camera shake correction function, a drive unit of a lens drive mechanism such as a home video power lens, a moving lens of an optical device such as a still camera or a video camera.
- a driving unit of a mechanism for driving the group The drive unit of the camera's autofocus unit, the drive unit of the lens barrel used in imaging devices such as cameras and video cameras, the drive unit of the automatic guider that captures the light of the optical telescope, and two optical systems such as stereoscopic sight and binoculars
- a drive unit or pressing unit that applies a compressive force to the fiber for wavelength conversion of a fiber-type wavelength tunable filter used for optical communication, optical information processing, optical measurement, etc. It can be suitably used for a driving unit of a matching device and a driving unit of a camera shutter mechanism.
- the above-described drive mechanism of the present invention can be suitably used, for example, as a pressing portion of a fixing tool for fixing a hose fitting to a hose body by force.
- the drive mechanism of the present invention includes, for example, a drive unit such as a coil spring of a vehicle suspension, a drive unit of a fuel filler lid opener for unlocking a fuel filler lid of a vehicle, and a drive unit for driving extension and retraction of a bulldozer blade.
- the present invention can be suitably used for a drive unit of a drive device for automatically changing the gear ratio of an automobile transmission or automatically connecting and disconnecting a clutch.
- the drive mechanism of the present invention includes, for example, a drive unit of a lift device of a wheelchair with a seat plate lifting device, a drive unit of a lift for removing a step, a drive unit of a lift transfer device, a medical bed, an electric bed, and an electric motor.
- the above-described drive mechanism of the present invention can be suitably used, for example, as a drive unit of a discharge amount adjustment mechanism such as a food discharge nozzle device of a food processing device.
- the above-described drive mechanism of the present invention can be suitably used, for example, as a drive unit for lifting and lowering a truck or a cleaning unit of a cleaning device.
- the drive mechanism of the present invention described above includes, for example, a drive unit of a measurement unit of a three-dimensional measurement device that measures the shape of a surface, a drive unit of a stage device, a drive unit of a sensor unit such as a detection system for detecting the operating characteristics of a tire, and a force.
- the above-described drive mechanism of the present invention can be suitably used for, for example, a drive unit of an electric razor and a drive unit of an electric toothbrush.
- the drive mechanism of the present invention described above includes, for example, a drive unit of an imaging device for a three-dimensional object or a device for adjusting the depth of focus of a readout optical system commonly used for CDs and DVDs.
- Driving unit for image forming apparatus driving unit for mounting members such as magnetic head members, and optical disk for driving and controlling the focusing lens group in the optical axis direction
- a drive unit of a master exposure apparatus a drive unit of a head drive unit that drives an optical head, a drive unit of an information recording / reproducing apparatus that records information on a recording medium or reproduces information recorded on the recording medium,
- it can be suitably used as a drive unit for opening and closing circuit breakers and breakers (distribution circuit breakers).
- the above-described drive mechanism of the present invention can be suitably used, for example, as a drive section of the following apparatus: a drive section of a rubber composition press-molding vulcanization apparatus; Of a part aligning device that aligns parts in a predetermined position, a drive of a compression molding device, a drive of a holding mechanism of a welding device, a drive of a bag making and packaging machine, a machine tool such as a machining center, and an injection molding machine And molding machines such as press machines Driving unit, printing unit, coating unit, driving unit of fluid application device such as lacquer spraying device, driving unit of manufacturing equipment that manufactures camshaft, etc., driving unit of lifting device for covering material, tuft control in shuttleless loom Driving unit for body, etc., driving unit for needle driving system of tufting machine, looper driving system, knife driving system, etc., driving unit of polishing device for polishing parts such as cam grinders and ultra-precision parts, weaving machine Driving unit for a braking device for a pig iron
- Drive unit of fork drive selection linear control unit drive unit of horizontal moving mechanism of annealing window drive unit, drive unit of support arm of glass melting furnace forehearth, rack of exposure equipment such as method for forming fluorescent screen of color picture tube Drive unit, torch arm drive unit for ball bonding equipment, bonding head drive unit in the XY direction, mounting and measurement inspection processes for components such as chip component mounting and measurement using probes.
- Driving unit lifting / lowering driving unit of the cleaning tool support of the substrate cleaning device, driving unit for moving the detection head that scans the glass substrate forward and backward, driving unit for the positioning device of the exposure device that transfers the pattern onto the substrate, precision machining In the field of sub-micrometers in such fields as driving units for micro-positioning devices, measuring devices for chemical force-cal polishing tools
- a driving unit of a positioning device a driving unit for positioning a stage device suitable for an exposure apparatus and a scanning exposure apparatus used for manufacturing a circuit device such as a semiconductor circuit element or a liquid crystal display element in a lithographic process, Driving unit for means for transporting or positioning workpieces, etc .; driving unit for positioning and transporting reticle stages and wafer stages; driving unit for precision positioning stage devices in chambers; workpieces for chemical mechanical polishing systems; Driving unit for semiconductor wafer positioning equipment, Driving unit for semiconductor stepper equipment, Driving unit for equipment that accurately positions in the introduction station of processing machines, NC machines, machine tools such as machining centers, etc.
- Moving parts are used as lithographic Ye of semiconductor elements and liquid crystal display device manufacturing
- a driving unit for displacing the reference grating plate of the light beam scanning device in the direction of the optical axis of the light beam in an exposure device or the like, and a transfer device for transferring the light beam into the article processing unit in a direction transverse to the conveyor.
- the above-described drive mechanism of the present invention can be suitably used, for example, as a drive unit of a probe positioning device of a scanning probe microscope such as an electron microscope and a drive unit of a sample fine movement device for an electron microscope. .
- the drive mechanism of the present invention described above includes, for example, a drive unit of a joint mechanism represented by a wrist of a robot arm in a robot or a manipulator, such as an automatic welding robot, an industrial robot or a nursing robot, and a joint other than a direct drive type.
- the drive unit, the drive unit of the motion conversion mechanism of the slide open / close type chuck used as a hand such as a robot finger itself, a mouth pot, etc.
- a drive unit of a micromanipulator for operating in an arbitrary state a drive unit of an artificial limb such as an electric prosthesis having a plurality of fingers that can be opened and closed, a drive unit of a handling robot, a drive unit of a prosthesis, and a power supply unit It can be suitably used for a driving section.
- the above-described drive mechanism of the present invention can be suitably used for, for example, a pressing portion of a device for pressing an upper rotary blade or a lower rotary blade of a side trimmer.
- the drive mechanism of the present invention described above is, for example, a drive unit of an accessory or the like in a game machine such as a pachinko machine, a drive unit of an amusement device such as a doll pet pot, and a drive unit of a simulation device of a boarding simulation device. It can be suitably used.
- the drive mechanism of the present invention described above can be used, for example, in a drive unit of a valve used in a general machine including the above-described devices and the like.
- Driving unit for pressure-sensitive control valve of type driving unit for opening device to drive pig iron frame, driving unit for vacuum gut valve, driving unit for solenoid operated control valve for hydraulic system, motion transmission using pivot lever It can be suitably used as a drive section of a valve incorporating a device, a drive section of a valve of a movable nozzle of a rocket, a drive section of a suck-back valve, and a drive section of a pressure regulating valve section.
- the drive mechanism of the present invention described above is used, for example, in general machines including the above-described devices and the like.
- it can be used as a pressing part of a braking device suitable for use as a brake of a play tier elevator for emergency, security, parking, etc., and a pressing part of a brake structure or a brake system. It can be suitably used.
- the drive mechanism of the present invention described above can be used, for example, as a pressing portion of a lock device used in general machines including the above-described devices and the like, for example, a pressing portion of a mechanical lock device, a pressing portion of a vehicle steering lock device. And a pressing portion of a power transmission device having a load limiting mechanism and a coupling release mechanism.
- the driving mechanism according to the first or second invention of the present application can be easily fixed by being hung on a support. Particularly, even when the driving section has a multilayer structure, the same tension is applied to each layer. Therefore, it is suitable as a drive mechanism to obtain a large generating force.
- the drive mechanism can be used for a complicated structure because the drive unit is hung on a support and each drive unit can be driven independently, and the spatial space is narrow. It is suitable for a structure that moves complicatedly, such as a human body.
- the drive mechanisms of the first and second inventions of the present application can be easily fixed, and since they are actuators in which conductive polymers are driven by electricity, they are silent when driven. It is suitable as a driving unit or a pressing unit in an indoor use device.
- the drive mechanism is lighter than a conventional linear actuator because of a small number of metal parts. Therefore, by exclusively utilizing the property of light weight, a positioning device, a posture control device, an elevating device, a transport device, and a moving device are used. By using the device, the adjusting device, the adjusting device, the guiding device, and the driving device of the joint device, the weight can be reduced, so that the device can be suitably used.
Abstract
Description
Claims
Applications Claiming Priority (4)
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JP2003040346 | 2003-02-18 | ||
JP2003-040346 | 2003-02-18 | ||
JP2003-190670 | 2003-07-02 | ||
JP2003190670 | 2003-07-02 |
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PCT/JP2004/001764 WO2004075388A1 (ja) | 2003-02-18 | 2004-02-18 | 駆動機構 |
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CN103926380A (zh) * | 2014-04-24 | 2014-07-16 | 苏州科曼特自动化科技有限公司 | 新型工业部件探伤机器人 |
CN103977973A (zh) * | 2014-05-09 | 2014-08-13 | 欧蒙医学诊断(中国)有限公司 | 一种载片清洗装置和方法 |
CN104713597A (zh) * | 2015-02-13 | 2015-06-17 | 中国科学院国家天文台 | Fast射电望远镜健康监测方法 |
CN105540432A (zh) * | 2015-12-24 | 2016-05-04 | 三一海洋重工有限公司 | 一种起重机拉杆导向装置 |
CN105598049A (zh) * | 2013-08-30 | 2016-05-25 | 重庆润泽医药有限公司 | 一种电凝镊自动擦拭支座 |
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CN111129770A (zh) * | 2019-12-31 | 2020-05-08 | 京信通信技术(广州)有限公司 | 天线、传动装置及传动机构 |
CN112790004A (zh) * | 2021-03-09 | 2021-05-14 | 西京学院 | 一种无人机搭载的高频振动式核桃采摘系统 |
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CN105598049A (zh) * | 2013-08-30 | 2016-05-25 | 重庆润泽医药有限公司 | 一种电凝镊自动擦拭支座 |
CN103926380A (zh) * | 2014-04-24 | 2014-07-16 | 苏州科曼特自动化科技有限公司 | 新型工业部件探伤机器人 |
CN103977973A (zh) * | 2014-05-09 | 2014-08-13 | 欧蒙医学诊断(中国)有限公司 | 一种载片清洗装置和方法 |
CN104713597A (zh) * | 2015-02-13 | 2015-06-17 | 中国科学院国家天文台 | Fast射电望远镜健康监测方法 |
CN105540432A (zh) * | 2015-12-24 | 2016-05-04 | 三一海洋重工有限公司 | 一种起重机拉杆导向装置 |
CN105965419A (zh) * | 2016-06-24 | 2016-09-28 | 滁州欧博特电子制造有限公司 | 一种定位精准的导轨固定工装 |
CN108955004A (zh) * | 2018-03-30 | 2018-12-07 | 河南三张节能环保工程有限公司 | 一种基于互联网的热泵机组控制系统 |
CN109555054A (zh) * | 2018-12-05 | 2019-04-02 | 魏敏生 | 一种地面清理装置 |
CN109594048A (zh) * | 2019-01-30 | 2019-04-09 | 深圳市华星光电半导体显示技术有限公司 | 金属溅镀机 |
CN109594048B (zh) * | 2019-01-30 | 2021-01-01 | 深圳市华星光电半导体显示技术有限公司 | 金属溅镀机 |
CN110538001B (zh) * | 2019-07-29 | 2020-07-10 | 浙江大学 | 一种用于皮肤3d打印的飞行器 |
CN110538001A (zh) * | 2019-07-29 | 2019-12-06 | 浙江大学 | 一种用于皮肤3d打印的飞行器 |
CN110646948A (zh) * | 2019-08-19 | 2020-01-03 | 江苏钜芯集成电路技术股份有限公司 | 一种电动调节双目相机镜头焦距的装置以及调焦系统 |
CN110646948B (zh) * | 2019-08-19 | 2022-03-29 | 江苏钜芯集成电路技术股份有限公司 | 一种电动调节双目相机镜头焦距的装置以及调焦系统 |
CN111129770A (zh) * | 2019-12-31 | 2020-05-08 | 京信通信技术(广州)有限公司 | 天线、传动装置及传动机构 |
CN112790004A (zh) * | 2021-03-09 | 2021-05-14 | 西京学院 | 一种无人机搭载的高频振动式核桃采摘系统 |
CN113253663A (zh) * | 2021-06-20 | 2021-08-13 | 安徽艾宁机电设备有限公司 | 一种设备控制电路 |
CN113253663B (zh) * | 2021-06-20 | 2022-03-25 | 安徽艾宁机电设备有限公司 | 一种设备控制电路 |
CN113382566A (zh) * | 2021-08-13 | 2021-09-10 | 江油星联电子科技有限公司 | 一种金属电路板层压用便于组合安装的工装 |
CN113382566B (zh) * | 2021-08-13 | 2021-10-29 | 江油星联电子科技有限公司 | 一种金属电路板层压用便于组合安装的工装 |
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