WO2010137551A1 - Actionneur électrique - Google Patents

Actionneur électrique Download PDF

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Publication number
WO2010137551A1
WO2010137551A1 PCT/JP2010/058729 JP2010058729W WO2010137551A1 WO 2010137551 A1 WO2010137551 A1 WO 2010137551A1 JP 2010058729 W JP2010058729 W JP 2010058729W WO 2010137551 A1 WO2010137551 A1 WO 2010137551A1
Authority
WO
WIPO (PCT)
Prior art keywords
screw shaft
electric motor
electric actuator
nut
ring
Prior art date
Application number
PCT/JP2010/058729
Other languages
English (en)
Japanese (ja)
Inventor
数野恵介
Original Assignee
Ntn株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ntn株式会社 filed Critical Ntn株式会社
Publication of WO2010137551A1 publication Critical patent/WO2010137551A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • 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
    • F16H25/2454—Brakes; Rotational locks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L13/00—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations
    • F01L13/0015—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque
    • F01L13/0021—Modifications of valve-gear to facilitate reversing, braking, starting, changing compression ratio, or other specific operations for optimising engine performances by modifying valve lift according to various working parameters, e.g. rotational speed, load, torque by modification of rocker arm ratio
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L2820/00—Details on specific features characterising valve gear arrangements
    • F01L2820/03—Auxiliary actuators
    • F01L2820/032—Electric motors
    • 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
    • F16H2025/2075—Coaxial drive motors
    • 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

Definitions

  • the present invention relates to an electric actuator provided with a ball screw mechanism used in a drive unit of a general industrial electric motor, an automobile, and the like, and more specifically, a rotational input from an electric motor receives a swing motion of a control shaft via the ball screw mechanism.
  • the present invention relates to an electric actuator that converts into
  • a gear mechanism such as a trapezoidal screw or a rack and pinion is generally used as a mechanism for converting the rotational motion of the electric motor into a linear linear motion. Since these conversion mechanisms involve a sliding contact portion, the power loss is large, and it is necessary to increase the size of the electric motor and increase the power consumption.
  • variable valve mechanism that opens and closes an intake valve and an exhaust valve in conjunction with a crankshaft of an internal combustion engine and makes the lift characteristics of the intake valve or exhaust valve variable has been widely known.
  • the variable valve mechanism opens and closes the intake valve in conjunction with the rotation of the crankshaft, and continuously changes the valve lift amount and operating angle of the intake valve as the control shaft rotates.
  • An electric actuator is used for the variable valve mechanism.
  • an electric actuator using a ball screw mechanism performs a desired function by converting rotational force from an electric motor into thrust, and in this case, when an external force is applied to the linear motion member of the ball screw, The axial load is converted into rotational torque by a ball screw.
  • the ball screw since the ball screw has high conversion efficiency even when the axial load is converted into rotational torque, the rotational torque converted by the ball screw is transmitted to the electric motor via a coupling or the like. The
  • it is desired to maintain the control position of the linear motion it is necessary to continue to supply the holding current to the electric motor, and there is a problem that the power consumption of the electric motor increases.
  • An electric actuator as shown in FIG. 5 is known as one that reduces the power consumption of the electric motor.
  • the electric actuator 50 includes an electric motor 51, a ball screw mechanism 52 linked to the electric motor 51, and a link mechanism 54 linked to the ball screw mechanism 52 and the control shaft 53.
  • the rotational force of the electric motor 51 is transmitted to the control shaft 53 via the ball screw mechanism 52 and the link mechanism 54.
  • the ball screw mechanism 52 includes a screw shaft 55 driven by the electric motor 51 and a nut that cannot be rotated by the rotation of the screw shaft 55 and moves forward and backward in the axial direction on the screw shaft 55 via a ball (not shown). 56.
  • the link mechanism 54 includes a first swing link 57 linked to the nut 56, a substantially L-shaped second swing link having one end linked to the first swing link 57 and the other end fixed to the control shaft 53. 58, and the forward / backward movement (linear movement) of the nut 56 is converted into a rotational movement for rotating the control shaft 53.
  • An intermediate position holding mechanism 59 that can hold the control shaft 53 at an intermediate position between the upper limit position and the lower limit position of the mechanically rotatable range is provided inside the electric actuator 50.
  • the intermediate position holding mechanism 59 is composed of a pair of spring members 60 and 61.
  • the intermediate position holding mechanism 59 sandwiches the nut 56 from both sides and is urged by a predetermined set load.
  • the spring members 60 and 61 are respectively set so that the set load is larger than the load necessary for moving the nut 56 for changing the control shaft 53 from the upper limit position to the lower limit position of the rotatable range. As a result, the control shaft 53 can be held at an intermediate position between the upper limit position and the lower limit position of the rotatable range.
  • the present invention has been made in view of such problems of the prior art, and has as its object to provide a low-cost and compact electric actuator while reducing the power consumption of the electric motor.
  • the present invention provides an electric actuator comprising a cylindrical housing, an electric motor attached to the housing, and a ball screw mechanism connected to the electric motor.
  • a screw shaft that is coupled to the motor shaft of the electric motor via a coupling, is rotatably supported with respect to the housing via a pair of rolling bearings, and is non-movable in the axial direction;
  • a nut arranged so as not to be rotatable relative to the screw shaft and to be relatively movable in the axial direction, and to rotate the electric motor in the axial direction of the nut.
  • a solenoid is mounted on the housing, and the rod of the solenoid protrudes to engage the rotating side member of the ball screw mechanism.
  • the ball screw mechanism is cupped on the motor shaft of the electric motor.
  • a screw shaft connected via a ring, rotatably supported via a pair of rolling bearings with respect to the housing, and non-movable in the axial direction, and extrapolated via a number of balls to the screw shaft. It consists of a nut that is not rotatable relative to the shaft and is relatively movable in the axial direction. It converts the rotary motion of the electric motor into a linear motion in the axial direction of the nut, and a solenoid is mounted on the housing.
  • the solenoid rod protrudes and engages with the rotating side member of the ball screw mechanism, the external force applied to the nut rotates the screw shaft. Even if, as converted to torque, the rotational movement of the screw shaft can be prevented, rotation torque to the electric motor can be prevented from being transmitted through the coupling. Therefore, unlike the conventional case, it is not necessary to continuously supply a holding current to the electric motor to prevent the rotational movement of the screw shaft, and the desired control position in the linear movement of the nut can be reliably held with a simple configuration. In addition, the power consumption of the electric motor can be reduced, and a low-cost and compact electric actuator can be provided.
  • a ring-shaped member is disposed in a state of being sandwiched between the rolling bearing on the electric motor side and the stepped portion of the screw shaft, and the outer diameter of the screw shaft
  • the electric actuator can be reduced in weight and size.
  • the concavo-convex portion is formed by rolling, the number of processing steps can be simplified and further cost reduction can be achieved.
  • the uneven portion may be formed in a cross shape by knurling, and the solenoid rod may be pressed against the uneven portion and held unrotatable by a frictional force.
  • the ring-shaped member is formed by injection molding from a synthetic resin material and a fiber reinforcing material is added, weight reduction can be achieved at low cost while ensuring strength and rigidity. While being able to do it, it is excellent in corrosion resistance and can improve durability over a long period of time.
  • the rolling bearing on the electric motor side is fitted into the housing and is fixed in the axial direction by a fixing nut, and a plurality of balls are placed on the outer ring.
  • an inner ring fitted to the screw shaft via a predetermined shimoshiro and the other rolling bearing includes an outer ring fitted in the housing, and the screw shaft via a plurality of balls.
  • the rolling bearing on the electric motor side becomes the supporting bearing on the fixed side, and the other rolling bearing is the supporting bearing on the free side, as long as the inner ring is fitted to the end of the inner ring through a predetermined radial clearance. Even if the screw shaft expands and contracts due to temperature rise during operation, this can be allowed at the fitting part between the rolling bearing on the free side and the screw shaft, and an excessive load is applied to the rolling bearing. Prevent It is possible to improve the durability.
  • a trunnion shaft is fixed to the outer periphery of the nut, a first link that engages with the trunnion shaft, and one end connected to the control shaft via the pivot on the first link.
  • a link mechanism constituted by a second link may be provided, and the linear motion of the nut may be converted into a swing motion of the control shaft.
  • the electric actuator according to the present invention is an electric actuator comprising a cylindrical housing, an electric motor attached to the housing, and a ball screw mechanism connected to the electric motor, wherein the ball screw mechanism is the electric motor.
  • a screw shaft that is coupled to the motor shaft of the motor via a coupling, is rotatably supported with respect to the housing via a pair of rolling bearings and is not movable in the axial direction, and a number of balls are mounted on the screw shaft.
  • a nut arranged so as not to be rotatable relative to the screw shaft and to be relatively movable in the axial direction, and the rotational motion of the electric motor is linearly moved in the axial direction of the nut.
  • a solenoid is mounted on the housing, and a rod of the solenoid is projected to engage with the rotation side member of the ball screw mechanism. Therefore, even if the rotational torque converted to the screw shaft is converted into the screw shaft by the external force applied to the nut, the rotational motion of this screw shaft can be prevented, and through the coupling It is possible to prevent the rotational torque from being transmitted to the electric motor. Therefore, unlike the conventional case, it is not necessary to continuously supply a holding current to the electric motor to prevent the rotational movement of the screw shaft, and the desired control position in the linear movement of the nut can be reliably held with a simple configuration. In addition, the power consumption of the electric motor can be reduced, and a low-cost and compact electric actuator can be provided.
  • FIG. 3 is a transverse sectional view taken along line III-III in FIG. It is a cross-sectional view showing a modification of FIG. It is a longitudinal cross-sectional view which shows the conventional electric actuator.
  • an electric actuator comprising a cylindrical housing, an electric motor attached to the housing, and a ball screw mechanism connected to the electric motor
  • the ball screw mechanism provides a coupling to the motor shaft of the electric motor.
  • a screw shaft that is connected to the housing via a pair of rolling bearings and is supported so as not to move in the axial direction, and the screw shaft is extrapolated via a plurality of balls.
  • a nut that is not rotatable relative to the shaft and is disposed so as to be relatively movable in the axial direction, and converts the rotational motion of the electric motor into a linear motion in the axial direction of the nut;
  • a ring-shaped member is disposed in a state of being sandwiched between the rolling bearing on the electric motor side and the step portion of the screw shaft, and a part of the outer diameter portion of the screw shaft.
  • the rolling bearing is fixed in the axial direction by a caulking portion formed by plastic deformation, and a solenoid is mounted on the housing, and a rod of the solenoid protrudes so that the rod engages with the ring-shaped member.
  • FIG. 1 is a longitudinal sectional view showing an embodiment of an electric actuator according to the present invention
  • FIG. 2 is a sectional view showing a ball screw mechanism of FIG. 1
  • FIG. 3 is a cross-sectional view taken along line III-III of FIG.
  • FIG. 4 is a cross-sectional view showing a modification of FIG.
  • the electric actuator 1 includes a cylindrical housing 2, an electric motor 3 attached to the housing 2, and the rotational force of the electric motor 3 is transmitted to the screw shaft 5 via the coupling 4.
  • a ball screw mechanism 7 that converts the rotational motion of the nut 6 into a linear motion of the nut 6
  • a link mechanism 9 that converts the linear motion of the nut 6 into a swing motion of the control shaft 8.
  • the screw shaft 5 of the ball screw mechanism 7 is supported by the pair of rolling bearings 10 and 11 with respect to the housing 2 so as to be rotatable and not movable in the axial direction.
  • the pair of rolling bearings 10 and 11 are deep groove ball bearings.
  • the rolling bearing 10 on the electric motor 3 side (left side in the figure) is fitted into the housing 2 and has a thick outer ring 12, and the outer ring 12.
  • the inner ring 14 is fitted to the screw shaft 5 via a plurality of balls 13 via a predetermined shimoshiro.
  • a rolling bearing 11 on the counter-electric motor 3 side (right side in the figure) has an outer ring 15 fitted inside the housing 2 and a predetermined diameter at the end of the screw shaft 5 via a plurality of balls 16 on the outer ring 15. It consists of an inner ring 17 fitted through a direction clearance.
  • the rolling bearing 10 on the electric motor 3 side is formed by the outer ring 12 being fixed to the housing 2 in the axial direction by a fixing nut 18 and the inner ring 14 being formed by plastic deformation of a part of the outer diameter portion of the screw shaft 5. It is fixed in the axial direction by a caulking portion 19 via a disc-shaped spacer 20.
  • the rolling bearing 10 on the electric motor 3 side serves as a fixed-side support bearing
  • the rolling bearing 11 on the counter-electric motor 3 side serves as a free-side support bearing.
  • the link mechanism 9 includes a first link 21 that engages with the nut 6 of the ball screw mechanism 7, and a second link 23 having one end connected to the first link 21 via a pivot 22.
  • the forward / backward movement (linear movement) of the nut 6 is converted into the swinging movement of the control shaft 8.
  • the ball screw mechanism 7 has a screw shaft 5 having a spiral thread groove 5a formed on the outer periphery thereof, and is opposed to the screw groove 5a of the screw shaft 5, and has a spiral shape on the inner periphery thereof. And a plurality of balls 24 accommodated in a spiral space formed by both screw grooves 5a and 6a so as to be freely rollable.
  • the trunnion shaft 25 that engages with the first link 21 described above is press-fitted and fixed to the outer periphery of the nut 6 so that it cannot rotate relative to the screw shaft 5 but can move in the axial direction.
  • the screw shafts 5 and the screw grooves 5a and 6a of the nut 6 may have a circular arc shape in which two circular arcs each having a radius of curvature slightly larger than the radius of the ball 24 are combined.
  • a circular arc shape having a single radius of curvature that is slightly larger than the radius may be used, but here, the contact angle with the ball 24 is large, and the gothic arc shape is set so that the axial clearance can be set small. . Thereby, the rigidity with respect to an axial load becomes high and generation
  • a ring-shaped member 27 is sandwiched between the rolling bearing 10 on the electric motor 3 side and the stepped portion 26 of the screw shaft 5.
  • the ring-shaped member 27 has an uneven portion 28 formed on the outer periphery.
  • grooved part 28 should just be provided with the groove
  • the ring-shaped member 27 is formed by press working from a cold-rolled steel plate (JIS standard SPCC system or the like) excellent in mass productivity, but other than this, for example, polyphenylene sulfide (PPS) or the like
  • PPS polyphenylene sulfide
  • a synthetic resin material is formed by injection molding, and a reinforcing material such as GF (glass fiber) is added in an amount of 30 to 50 wt%.
  • injection-moldable synthetic resins such as PA (polyamide) 66, PA6.12, PPA (polyphthalamide), PBT (polybutylene terephthalate) can be exemplified.
  • PA polyamide
  • PA6.12 polyphthalamide
  • PBT polybutylene terephthalate
  • fibrous reinforcement not only GF but CF (carbon fiber), an aramid fiber, a boron fiber, etc. can be illustrated other than this.
  • the housing 2 is provided with a solenoid 29 facing the ring-shaped member 27.
  • the rod 29a of the solenoid 29 faces the uneven portion 28 of the ring-shaped member 27, and the rod 29a protrudes by an electric signal to engage with the groove 28a of the uneven portion 28, thereby making the ring-shaped member 27 non-rotatable. Can be held. That is, by holding the ring-shaped member 27 integrally fixed to the screw shaft 5 so as not to rotate, the rotational motion of the screw shaft 5 can be prevented.
  • the ring-shaped member 27 is fixed in the axial direction by the crimping portion 19 while being sandwiched between the rolling bearing 10 and the stepped portion 26 of the screw shaft 5, and thus is determined by the frictional force of the contact surface.
  • the ring-shaped member 27 can be fixed integrally without rotating relative to the screw shaft 5 unless a rotational torque exceeding the torque to be applied is applied to the ring-shaped member 27.
  • a cross-shaped uneven portion is formed on the outer periphery of the ring-shaped member 27 by knurling, and the rod 29a of the solenoid 29 is pressed against the uneven portion of the ring-shaped member 27, and the ring-shaped member 27 is held unrotatable by frictional force.
  • the concave and convex portion 28 is formed on the outer periphery of the ring-shaped member 27, and the rod 29a is engaged with the concave and convex portion 28, whereby the pressing force of the rod 29a is set small. Even if it hold
  • FIG. 4 shows a modification of the above-described embodiment.
  • the uneven portion 31 is formed directly on the outer periphery of the coupling 30.
  • the uneven portion 31 is formed of a spline formed by rolling or cutting.
  • a solenoid 29 is disposed in the housing 2 so as to face the coupling 30.
  • the rod 29a of the solenoid 29 which opposes the uneven
  • the ring-shaped member 27 may be fixed to the rotation-side member including the screw shaft 5, and may be press-fitted into the outer diameter of the coupling 4, for example. Further, the uneven portion may be formed directly on the outer periphery of the end portion of the screw shaft 5. Furthermore, the solenoid 29 may not be opposed to the outer periphery of the ring-shaped member 27 but may be opposed to the end surface to generate a frictional force between the rod 29 a of the solenoid 29 and the end surface of the ring-shaped member 27.
  • An electric actuator includes a ball screw mechanism that is used in a drive unit of a general industrial electric motor, an automobile, or the like, and that converts a rotational input from an electric motor into a swinging motion of a control shaft via the ball screw mechanism. Applicable to electric actuators.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transmission Devices (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

La présente invention se rapporte à un actionneur électrique conçu pour consommer moins d'énergie électrique et pour être compact et pas cher. Un mécanisme de vis à bille (7) comprend : un arbre à vis (5) qui est relié à un arbre de moteur (3a) par l'intermédiaire d'un dispositif d'accouplement (4) et qui est soutenu par une paire de paliers à roulement (10, 11) de sorte que l'arbre à vis (5) puisse tourner mais ne puisse pas se déplacer dans la direction axiale ; et un écrou (6) qui est monté sur l'arbre à vis (5), des billes étant disposées entre ceux-ci, et qui est disposé de sorte que l'écrou (6) puisse tourner ou non par rapport à l'arbre à vis (5) et puisse se déplacer dans la direction axiale par rapport à l'arbre à vis (5). Le mouvement de rotation du moteur électrique (3) est converti en mouvement linéaire axial de l'écrou (6). Un élément de type bague (27) est disposé de manière à être coincé et maintenu entre le palier à roulement (10) sur le côté moteur électrique (3) et une section étage (26) de l'arbre à vis (5). Le palier à roulement (10) est fixé dans la direction axiale par une section rivetée (19) formée par la déformation plastique d'une partie de la section de diamètre extérieur de l'arbre à vis (5). Un solénoïde (29) est monté sur un logement (2), et la tige (29a) du solénoïde est amenée à faire saillie et à venir en prise avec l'élément de type bague (27).
PCT/JP2010/058729 2009-05-25 2010-05-24 Actionneur électrique WO2010137551A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009-125496 2009-05-25
JP2009125496A JP2010270886A (ja) 2009-05-25 2009-05-25 電動アクチュエータ

Publications (1)

Publication Number Publication Date
WO2010137551A1 true WO2010137551A1 (fr) 2010-12-02

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PCT/JP2010/058729 WO2010137551A1 (fr) 2009-05-25 2010-05-24 Actionneur électrique

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WO (1) WO2010137551A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114552864A (zh) * 2022-02-28 2022-05-27 内蒙古工业大学 一种具备防堵功能的多轴丝杠滑台

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6047371B2 (ja) 2012-10-31 2016-12-21 株式会社ハイレックスコーポレーション 開閉駆動装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4814952B1 (fr) * 1970-06-01 1973-05-11
JPS63143080U (fr) * 1987-03-10 1988-09-20
JPH04201079A (ja) * 1990-11-29 1992-07-22 Matsushita Electric Ind Co Ltd 直進ロボット
JP2008111424A (ja) * 2006-10-02 2008-05-15 Nissan Motor Co Ltd 内燃機関の可変動弁装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4814952B1 (fr) * 1970-06-01 1973-05-11
JPS63143080U (fr) * 1987-03-10 1988-09-20
JPH04201079A (ja) * 1990-11-29 1992-07-22 Matsushita Electric Ind Co Ltd 直進ロボット
JP2008111424A (ja) * 2006-10-02 2008-05-15 Nissan Motor Co Ltd 内燃機関の可変動弁装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114552864A (zh) * 2022-02-28 2022-05-27 内蒙古工业大学 一种具备防堵功能的多轴丝杠滑台

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