CN207559878U - Actuation means - Google Patents
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- CN207559878U CN207559878U CN201721511323.2U CN201721511323U CN207559878U CN 207559878 U CN207559878 U CN 207559878U CN 201721511323 U CN201721511323 U CN 201721511323U CN 207559878 U CN207559878 U CN 207559878U
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Abstract
A kind of actuation means include at least two piezoelectric units and at least two Flexible elements.Each piezoelectric unit can be controlled by control unit and is selectively bent.Each Flexible element energy external force compresses and corresponds to generation elastic-restoring force.Two piezoelectric units and two Flexible elements are formed around with accommodating space jointly, and each piezoelectric unit is set face to face each other with each Flexible element.Actuator is set in accommodating space.When any one piezoelectric unit is controlled by control unit and is bent, the part of piezoelectric unit can correspond to the outer wall of pushing and pressing actuator, can then be corresponded to by the actuator that piezoelectric unit pushes against and compress one of Flexible element；When two piezoelectric units are sequentially bent by control, actuator can be pushed against by each actuator and each Flexible element, and rotate an angle.Actuator can be moved along a closed path, so as to which actuator is made to rotate an angle.The structure of actuation means entirety is simple and at low cost.
Description
Technical field
The utility model is related to a kind of actuation means, particularly a kind of actuation means activated using piezoelectric unit.
Background technology
Now common various pivot structure, the relevant shaft structure being especially applied in laptop, in order to accord with
The different demands of He Ge manufacturers, pivot structure is increasingly sophisticated, and cost equally increases therewith.Therefore, for manufacturing shaft
For the relevant manufactures of structure, how effectively to simplify pivot structure, become most important subject.
Utility model content
The main purpose of the utility model is that a kind of actuation means are provided, and to solve in the prior art, pivot structure
It is complicated and of high cost the problem of.
To achieve these goals, the utility model provides a kind of actuation means, it includes：At least two piezoelectric units,
It is disposed adjacent to each other, and each piezoelectric unit can be controlled by a control unit and is selectively bent；At least two elasticity
Unit is disposed adjacent to each other, and each Flexible element energy external force compresses and corresponds to and generate an elastic-restoring force；Wherein, two
A piezoelectric unit and two Flexible elements are disposed adjacent to each other, and two piezoelectric units and two Flexible elements are jointly around shape
Cheng Youyi accommodating spaces, two piezoelectric units are set respectively in face of two Flexible elements；And an actuator, it is set to accommodating sky
Between in；Wherein, when any one piezoelectric unit is controlled by control unit and is bent, the part of piezoelectric unit can correspond to pushing and pressing actuator
Outer wall, can then be corresponded to by the actuator that piezoelectric unit pushes against and compress one of Flexible element；Two piezoelectric units sequentially by
When controlling and being bent, actuator can in turn be pushed against by each actuator and each Flexible element, and rotate an angle.
Preferably, each piezoelectric unit is controlled by control unit, and can be selectively to the bending of the direction of actuator or phase
Instead it is bent in the direction of actuator.
Preferably, actuation means also include a pedestal and multiple fixed cells, and pedestal includes an accommodating hole, Ge Gegu
The part of order member is correspondingly arranged in accommodating hole, and multiple fixed cells are correspondingly arranged there are two Flexible element and two piezoelectricity
Unit.
Preferably, at least two Flexible elements and at least two piezoelectric units are removable installed in multiple fixed cells.
Preferably, there is a perforation, perforation is provided with a shaft, and actuator is by each piezoelectric unit and each in actuator
When Flexible element is pushed against and rotated, pushing and pressing shaft can be corresponded to by forming the inner wall of perforation, and shaft is driven to rotate.
Preferably, each fixed cell has a concave inward structure, and each piezoelectric unit controlled by control unit, and to separate
When actuator direction is bent, the part of each piezoelectric unit, which corresponds to, to be placed in concave inward structure.
To achieve these goals, the utility model also provides a kind of actuation means, it includes：Multiple piezoelectric units,
It sets face to face two-by-two, and multiple piezoelectric units are formed around with an accommodating space jointly；One actuator is set to accommodating
In space；And a control unit, each piezoelectric unit is electrically connected, and control unit can selectively make each piezoelectric unit
Direction bending to actuator or the direction bending in contrast to actuator；Wherein, by control unit control and to actuator direction
The piezoelectric unit of bending can correspond to pushing and pressing actuator；Wherein, when control unit sequentially controls multiple piezoelectric units, actuator
It can sequentially be pushed against by piezoelectric unit, and rotate an angle.
Preferably, actuation means also include a pedestal and multiple fixed cells, and pedestal includes an accommodating hole, Ge Gegu
The part of order member is correspondingly arranged in accommodating hole, and multiple piezoelectric units are correspondingly arranged in multiple fixed cells.
Preferably, each piezoelectric unit is removable installed in each fixed cell.
Preferably, there is in actuator a perforation, perforation is provided with a shaft, actuator pushed against by each piezoelectric unit and
During rotation, pushing and pressing shaft can be corresponded to by forming the inner wall of perforation, and rotate shaft.
The beneficial effects of the utility model can be：Pass through the phase interworking of two piezoelectric units and two Flexible elements
It closes or by four piezoelectric units, repeatedly pushes against actuator, actuator is enable to be moved along a closed path whereby, so as to
Actuator can be made to rotate an angle.The structure of actuation means entirety is simple and at low cost.
Description of the drawings
Fig. 1 and Fig. 2 is the stereoscopic schematic diagram of the actuation means of the utility model.
Fig. 3 is the decomposition diagram of the actuation means of the utility model.
Fig. 4 is the fixed cell of actuation means of the utility model and the decomposition diagram of piezoelectric unit.
Fig. 5 is the top view of the actuation means of the utility model.
Action signals of the Fig. 6 to Fig. 9 for the actuator of the actuation means of the utility model, piezoelectric unit and Flexible element
Figure.
Figure 10 shows for the actuator of another embodiment of the actuation means of the utility model, piezoelectric unit and Flexible element
It is intended to.
Specific embodiment
It is combination and the decomposition diagram of the actuation means of the utility model also referring to Fig. 1 and Fig. 2.As schemed
Show, actuation means 1 include the fixed cell 20, two of a pedestal 10, four piezoelectric unit 30a, 30b, two Flexible elements
40a, 40b, an actuator 50 and a shaft 60.It can be changed about the external form of pedestal 10 and fixed cell 20 according to demand,
Not to be limited shown in scheming.Two piezoelectric units 30a, 30b and two Flexible elements 40a, 40b are correspondingly arranged in four fixed lists
Member 20, and piezoelectric unit 30a, 30b, Flexible element 40a, 40b and 20 quantity of fixed cell can be changed according to demand.In
It is with setting two piezoelectric units 30a, 30b and two Flexible elements 40a, 40b adjacent to each other, and in it in the present embodiment figure
A rectangular through-holes are formed at center, but not limited to this, in various embodiments, the quantity of piezoelectric unit and Flexible element
When more, the center can form similar circular perforation.
Pedestal 10 includes an accommodating hole 101.Four fixed cells 20 are fixedly installed on pedestal 10, and each fixed cell
20 part, which corresponds to, to be located in accommodating hole 101.The external form of each fixed cell 20 can be analogous to the structure of L-type, and each
Two parts that fixed cell 20 forms L-type structure then correspond to the side for being located in accommodating hole 101 and being resisted against pedestal 10 respectively.
In practical application, each fixed cell 20 and pedestal 10 can be respectively provided with corresponding mounting hole 201,102, and each solid
Order member 20 can be then fixed to each other with pedestal 10 by multiple locking parts (such as screw) and multiple mounting holes 201,102.
Certainly, in different applications, the fixed form between each fixed cell 20 and pedestal 10 or using relative to each other
Snap-in structure be mutually clamped.In this present embodiment, it is removably to be fixed to each other with each fixed cell 20 with pedestal 10, but
It is not limited, in various embodiments, each fixed cell 20 can also utilize glued or other modes, non-disconnectable
It is fixedly installed on pedestal 10 with unloading.
As shown in figure 4, each piezoelectric unit 30a (30b) can be by two fixing pieces 21 and two locking parts 22, it can
It is removedly fixed and is set to fixed cell 20, and when fixed cell 20 is fixedly installed on pedestal 10, each piezoelectric unit 30a, 30b
It is then corresponding to be located in accommodating hole 101.In the same manner, each Flexible element 40a, 40b can also be removably secured to be set to admittedly
Order member 20, when fixed cell 20 is fixedly installed on pedestal 10, each Flexible element 40a, 40b can be and each piezoelectric unit
30a, 30b are set face to face each other.
Each piezoelectric unit 30a, 30b are electrically connected a control unit (not shown), and control unit can pass through offer
The electric current of different directions gives each piezoelectric unit 30a, 30b, so that piezoelectric unit 30a, 30b are bent to different specific directions.
For example, each piezoelectric unit 30a, 30b can be controlled by control unit, and curved to the direction far from fixed cell 20
Song is bent to the direction of fixed cell 20；Alternatively, piezoelectric unit 30a, 30b can also be rendered as not to specific direction
The state of bending.In practical applications, control unit can be electrically connected all piezoelectric units, and control unit can evidence
Each piezoelectric unit to be controlled to be bent in the specific time to specific direction；Certainly, in different application or part
Piezoelectric unit connect same control unit, and the piezoelectric unit of another part connects another control unit.
In practical applications, the flexural property after being powered according to piezoelectric unit 30a, 30b, fixed cell 20 are provided with piezoelectricity
The one side wall of unit 30a, 30b can be correspondingly formed a concave inward structure 202, in this way, piezoelectric unit 30a, 30b are controlled
Unit is controlled to when being bent close to 20 direction of fixed cell, and the part of piezoelectric unit 30a, 30b, which can then correspond to, is placed in indent
In structure 202.In the same manner, fixed cell 20 is correspondingly arranged on the side wall of Flexible element 40a, 40b or is formed with indent knot
Structure 202 makes Flexible element 40a, 40b be squeezed when deforming by external force whereby, and the part of Flexible element 40a, 40b can then correspond to appearance
It is placed in concave inward structure 202.
Also referring to Fig. 3 and Fig. 5, two piezoelectric units 30a, 30b and two Flexible elements 40a, 40b are fixedly installed on
Four fixed cells 20, and four fixed cells 20 are corresponded to when being fixedly installed on pedestal 10, actuator 50 is to be correspondingly arranged in appearance
A SP is emptied, and two piezoelectric units 30a, 30b and two Flexible elements 40a, 40b are then the lateral walls in face of actuator 50
501 settings.When control unit controls any one piezoelectric unit 30a, 30b to be bent to the direction far from fixed cell 20, bending
Piezoelectric unit 30a, 30b will push against actuator 50, and actuator 50 is made to be moved in accommodating space SP；Relatively, it is pushed away
The actuator 50 for supporting and being moved in accommodating space SP can then correspond to bullet of the pushing and pressing positioned at piezoelectric unit 30a, 30b opposite
Property unit 40a, 40b, and Flexible element 40a, 40b generate an elastic-restoring force by corresponding.When control unit controls piezoelectric unit
When 30a, 30b return back to the state that will not push against actuator 50, the elastic-restoring force of Flexible element 40a, 40b can then correspond to effect
In actuator 50, actuator 50 is pushed against whereby, and actuator 50 is made to be moved in accommodating space SP.
It is noted that in practical applications, actuation means 1 can be that the corresponding substrate that is fixedly installed on (is schemed not
Show).Specifically, pedestal 10 and four fixed cells 20 can be fixedly installed on substrate by locking part (not shown)
On.Actuator 50 and the shaft 60 being disposed therein can be that rotatably pivot joint is set on substrate.
In practical applications, the spacing between the lateral wall 501 of actuator 50 and piezoelectric unit 30a, 30b, can be according to
The amplitude that the amplitude and Flexible element 40a, 40b for being controlled and being bent according to piezoelectric unit 30a, 30b are pressurized and correspond to bending carries out
Design.For example, when the not controlled system of piezoelectric unit 30a, 30b is bent, the lateral wall 501 and piezoelectric unit of actuator 50
Be between 30a, 30b there may be gap or actuator 50 can be correspondence be resisted against piezoelectric unit 30a, 30b.It is identical
Ground, when the not controlled system of piezoelectric unit 30a, 30b is bent, the lateral wall 501 of actuator 50 can be resisted against Flexible element
40a, 40b, and the lateral wall 501 for not bestowing active force or actuator 50 to Flexible element 40a, 40b can be that correspondence compresses
Flexible element 40a, 40b, and correspondence bestows active force in Flexible element 40a, 40b.
In various embodiments, the lateral wall 501 of actuator 50 can be resisted against simultaneously two Flexible element 40a,
The lateral wall 501 of 40b and two piezoelectric unit 30a, 30b or actuator 50 can be only against two Flexible element 40a,
40b (or two piezoelectric units 30a, 30b)；Or the lateral wall 501 of actuator 50 may also be and be resisted against a Flexible element
40a (40b) and a piezoelectric unit 30a (30b), do not limit in this.
Also referring to shown in Fig. 6 to Fig. 9, be shown as two piezoelectric units 30a, 30b and two Flexible element 40a,
40b is controlled by control unit, and the illustrative view for rotating actuator 50.It illustrates, is only painted in Fig. 6 to Fig. 9
Two piezoelectric unit 30a, 30b, two Flexible element 40a, 40b, actuator 50 and shaft 60, and each piezoelectric unit 30a,
The bending degree of 30b and Flexible element 40a, 40b are by the amplification of appropriateness, are clearly illustrated with profit.
As shown in fig. 6, control unit can first control one of piezoelectric unit 30a to close to the direction of actuator 50
(i.e. the direction far from fixed cell 20) bending, piezoelectric unit 30a after bending pushes against actuator 50 by corresponding, and makes actuator
The 50 X-direction movement into figure.The Flexible element 40a that the actuator 50 pushed against will then correspond to pushing and pressing piezoelectric unit 30a opposites,
And after the driven moving parts 50 of Flexible element 40a push against, generate elastic-restoring force by corresponding.It is noted that shown by Fig. 6
The state of piezoelectric unit 30b and Flexible element 40b can be changed according to demand, also that is, piezoelectric unit 30b and elasticity
Unit 40b can be the state or piezoelectric unit 30b that are rendered as in figure and Flexible element 40b can also be-Y the sides into figure
Can be rendered as unbent state to bending or piezoelectric unit 30b and Flexible element 40b.
As shown in fig. 7, after control unit controls piezoelectric unit 30a to be bent to 50 direction of actuator, control unit then may be used
Piezoelectric unit 30b to be controlled to be bent to 50 direction of actuator, moved with pushing against actuator 50 to -Y direction.Piezoelectric unit 30b phases
The Flexible element 40b faced then pushes against driven moving part 50, and corresponds to generation elastic-restoring force.In the state of Fig. 7, piezoelectricity list
First 30a is then controlled unit control, and keeps the flexuosity such as Fig. 6.
In practical application, control unit can sequentially control piezoelectric unit 30a, 30b, so that actuator 50 is by Fig. 6
State convert to the state of Fig. 7；It is fixed simultaneously to separate alternatively, control unit can also be control piezoelectric unit 30a, 30b
The direction bending of unit 20, and actuator 50 is made to be pushed against simultaneously by two piezoelectric units 30a, 30b.
As shown in figure 8, successively control piezoelectric unit 30a, 30b is bent control unit to the direction of actuator 50 respectively, and
When pushing against the driven moving part 50 of Flexible element 40a, 40b priority, and corresponding to generation elastic-restoring force respectively, control unit can be controlled
Piezoelectric unit 30a processed is transformed into the state far from the bending of 50 direction of actuator from the state that is bent to 50 direction of actuator, with
Piezoelectric unit 30a is made no longer to push against actuator 50.At this point, elastic-restoring force caused by the driven moving parts 50 of Flexible element 40a, then
Actuator 50 can be acted on, and actuator 50 is made to be moved to -X direction.
In practical applications, the difference of deflection and actuator 50 when being pushed against according to the driven moving parts 50 of Flexible element 40a
The existing gap size between unbending piezoelectric unit 30a, control unit can also be control piezoelectric unit 30a to drive
The state that moving part 50 is bent, is converted to unbending state.
As shown in figure 9, in Flexible element 40a pushing and pressing actuators 50 after -X direction movement, control unit can be control
Piezoelectric unit 30b is bent to the direction far from actuator 50, and piezoelectric unit 30b is made no longer to apply and acts on actuator 50；This
When, Flexible element 40b can then bestow elastic-restoring force to actuator 50, and actuator 50 is made to be moved to Y-direction.In practical reality
Shi Zhong, control unit can be that piezoelectric unit 30a, 30b is controlled to return back to the position for not pushing against actuator 50 simultaneously, and make driving
Part 50 is pushed against simultaneously by two Flexible elements 40a, 40b.
As described above, actuator 50 is converted by the state of Fig. 6 to the state of Fig. 9, will be moved approximately along a closed path, and
Actuator 50 will substantially rotate an angle.Wherein, the angular dimension that actuator 50 actually rotates, then can be according to practical piezoelectric unit
30a, 30b are controlled by control unit and the degree of bending and the driven moving part 50 of Flexible element 40a, 40b compress and the elasticity that generates
The intensity of restoring force determines.The closed path can be rectangle, circle, ellipse etc., not limited in this.Therefore control
Unit processed can repeatedly control two piezoelectric units 30a, 30b, curved to the direction far from actuator 50 and close actuator 50
Song so that actuator 50 is constantly pushed against by two piezoelectric units 30a, 30b and two Flexible elements 40a, 40b, and rotates one
Week.It illustrates, control unit controls the sequence of two piezoelectric units 30a, 30b, and being can be according to changes in demand；Citing
For, control unit can also be control two piezoelectric units 30a, 30b and two Flexible elements 40a, 40b by Fig. 9 states according to
Sequence is converted to the state of Fig. 6, actuator 50 can be made to be rotated to different directions whereby.
Please ginseng Fig. 1 again, in different applications, actuator 50 can include a perforation 502, can be in perforation 502
It is to be correspondingly arranged on a shaft 60；When actuator 50 is mutual by two piezoelectric units 30a, 30b and two Flexible elements 40a, 40b
During pushing and pressing, the madial wall for forming perforation 502 pushes against shaft 60 by corresponding, and driven member 50 is driven and rotated by shaft 60 whereby.
In practice, actuator 50 can be rendered as cylindric, and the diameter of actuator 50 can be the several times of the diameter of shaft 60,
Actuator 50 turns by two piezoelectric units 30a, 30b and two Flexible element 40a, 40b pushing and pressing, and during one angle of rotation whereby
Axis 60 can driven member 50 drive and more than rotating a circle.
Referring to Fig. 10, it is shown as the schematic diagram of another embodiment of the actuation means of the utility model.Aforementioned implementation
Two Flexible elements 40a, 40b of example can be replaced into two piezoelectric units 30c, 30d.Also that is, the actuating dress of the present embodiment
Putting 1 is included there are four piezoelectric unit 30a, 30b, 30c, 30d, without including Flexible element.Control unit controls four pressures
The mode of electric unit 30a, 30b, 30c, 30d then can first control two piezoelectric units 30a, 30b respectively to close and far from drive
The direction bending of moving part 50, then control unit controls two piezoelectric units 30c, 30d respectively to close and far from actuator again
50 direction bending, makes 50 priority of actuator be rendered as the state of Fig. 6 and Fig. 7 whereby.Then, control unit can control two
The negative direction of piezoelectric unit 30a, 30b to script bending is bent, so that actuation means 1 are converted to the state of Fig. 8 by Fig. 7 states；
Then, the negative direction that control unit can control other two piezoelectric unit 30c, 30d to script bending is bent, so that actuating fills
Put 1 state that Fig. 9 is converted to by the state of Fig. 8.In this way, actuator 50 can be by four piezoelectric units 30a, 30b, 30c, 30d
It pushes against and rotates an angle；Similarly, actuator 50 can also be provided with a shaft 60, and shaft 60 then can driven 50 band of moving part
It moves and rotates.Certainly, in practical applications, the quantity for the piezoelectric unit that actuation means 1 are included is not limited with four, can
According to increase in demand, and the arrangement set-up mode of multiple piezoelectric units, also it is not set as in a manner of facing each other in scheming
Limit.
Claims (10)
1. a kind of actuation means, which is characterized in that the actuation means include：
At least two piezoelectric units, are disposed adjacent to each other, and each piezoelectric unit can by a control unit control and
Selectively it is bent；
At least two Flexible elements, are disposed adjacent to each other, and each Flexible element energy external force compresses and corresponds to generation
One elastic-restoring force；Wherein, two piezoelectric units and two Flexible elements are disposed adjacent to each other, and described in two
Piezoelectric unit and two Flexible elements are formed around with an accommodating space jointly, and two piezoelectric units face two respectively
A Flexible element setting；And
One actuator is set in the accommodating space；
Wherein, when any one described piezoelectric unit is controlled by described control unit and is bent, the part of the piezoelectric unit can be right
The outer wall of the actuator should be pushed against, can then be corresponded to and be compressed described in one of them by the actuator that the piezoelectric unit pushes against
Flexible element；When two piezoelectric units are sequentially bent by control, the actuator can be by each actuator and each
A Flexible element pushes against in turn, and rotates an angle.
2. actuation means according to claim 1, which is characterized in that each piezoelectric unit is by described control unit control
System, and selectively can be bent to the direction of the actuator or be bent in contrast to the direction of the actuator.
3. actuation means according to claim 1, which is characterized in that the actuation means also include a pedestal and multiple
Fixed cell, the pedestal include an accommodating hole, and the part of each fixed cell is correspondingly arranged in the accommodating hole,
And multiple fixed cells are correspondingly arranged there are two the Flexible element and two piezoelectric units.
4. actuation means according to claim 3, which is characterized in that at least two Flexible elements and at least two institutes
It states piezoelectric unit and is removable installed in multiple fixed cells.
5. actuation means according to claim 1, which is characterized in that there is a perforation, the perforation in the actuator
A shaft is provided with, when the actuator is pushed against by each piezoelectric unit and each Flexible element and rotated, is formed
The inner wall of the perforation can correspond to the pushing and pressing shaft, and the shaft is driven to rotate.
6. according to the actuation means described in claim 3 to 5 any of which item, which is characterized in that each fixed cell tool
Have a concave inward structure, each piezoelectric unit is controlled by described control unit, and to far from the actuator direction bending when,
The part of each piezoelectric unit corresponds to and is placed in the concave inward structure.
7. a kind of actuation means, which is characterized in that the actuation means include：
Multiple piezoelectric units, are set face to face two-by-two, and multiple piezoelectric units are formed around with an accommodating sky jointly
Between；
One actuator is set in the accommodating space；And
One control unit, each piezoelectric unit of electric connection, and described control unit can selectively make each described
Piezoelectric unit is bent to the direction bending of the actuator or in contrast to the direction of the actuator；Wherein, it is single by the control
Member is controlled to the piezoelectric unit that the actuator direction is bent, and can correspond to the pushing and pressing actuator；
Wherein, when described control unit sequentially controls multiple piezoelectric units, the actuator can be sequentially by the piezoelectricity
Unit pushes against, and rotates an angle.
8. actuation means according to claim 7, which is characterized in that the actuation means also include a pedestal and multiple
Fixed cell, the pedestal include an accommodating hole, and the part of each fixed cell is correspondingly arranged in the accommodating hole,
And multiple piezoelectric units are correspondingly arranged in multiple fixed cells.
9. actuation means according to claim 8, which is characterized in that each piezoelectric unit is removable installed in respectively
A fixed cell.
10. actuation means according to claim 7, which is characterized in that there is a perforation, the perforation in the actuator
A shaft is provided with, when the actuator is pushed against by each piezoelectric unit and rotated, the inner wall for forming the perforation can be right
The shaft should be pushed against, and rotates the shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721511323.2U CN207559878U (en) | 2017-11-13 | 2017-11-13 | Actuation means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721511323.2U CN207559878U (en) | 2017-11-13 | 2017-11-13 | Actuation means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207559878U true CN207559878U (en) | 2018-06-29 |
Family
ID=62681447
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721511323.2U Expired - Fee Related CN207559878U (en) | 2017-11-13 | 2017-11-13 | Actuation means |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207559878U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113224973A (en) * | 2020-01-21 | 2021-08-06 | 精工爱普生株式会社 | Piezoelectric motor and robot |
-
2017
- 2017-11-13 CN CN201721511323.2U patent/CN207559878U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113224973A (en) * | 2020-01-21 | 2021-08-06 | 精工爱普生株式会社 | Piezoelectric motor and robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180629 Termination date: 20211113 |