Actuator
First Claim
Patent Images
1. An actuator comprising:
- a hollow driving member having a mounting portion and a substantially spherical inner surface with an opening spaced from said mounting portion;
a first group of piezoelectric motor elements adapted to generate progressive waves in a first direction;
a second group of piezoelectric motor elements adapted to generate progressive waves in a second direction different from said first direction;
said piezoelectric motor elements of said first and second groups being arranged alternately and disposed on said substantially spherical inner surface of said driving member;
a driven member having a substantially spherical section and an arm section, said substantially spherical section having a substantially spherical outer surface disposed in a closely spaced face-to-face relationship with said substantially spherical inner surface of said driving member, said first and second groups of piezoelectric motor elements being disposed therebetween; and
a power source for supplying voltages to said first and second groups of piezoelectric motor elements.
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Accused Products
Abstract
An actuator suitable for use in a joint device for driving a robot arm or in a subject follow-up device in a video camera, etc., is designed to have a mobility of a freedom of two degrees or more and is adapted to drive a movable part directly using first piezoelectric motor elements each of which consists of piezoelectric elements having a non-ring-like configuration and an elastic body and second piezoelectric motor elements each of which consists of at most one ring-like piezoelectric element and an elastic member. The actuator exhibits a simplified structure, is small and lightweight, provides a powerful driving power and has a wide range of mobility.
28 Citations
27 Claims
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1. An actuator comprising:
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a hollow driving member having a mounting portion and a substantially spherical inner surface with an opening spaced from said mounting portion; a first group of piezoelectric motor elements adapted to generate progressive waves in a first direction; a second group of piezoelectric motor elements adapted to generate progressive waves in a second direction different from said first direction; said piezoelectric motor elements of said first and second groups being arranged alternately and disposed on said substantially spherical inner surface of said driving member; a driven member having a substantially spherical section and an arm section, said substantially spherical section having a substantially spherical outer surface disposed in a closely spaced face-to-face relationship with said substantially spherical inner surface of said driving member, said first and second groups of piezoelectric motor elements being disposed therebetween; and a power source for supplying voltages to said first and second groups of piezoelectric motor elements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An actuator comprising:
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a driving member having a substantially spherical outer surface; a driven member having a substantially spherical inner surface disposed in a closely spaced relationship with said substantially spherical outer surface of said driving member; a first group of piezoelectric motor elements adapted to generate progressive waves in a first direction and being arranged on said substantially spherical outer surface of said driving member; a second group of piezoelectric motor elements adapted to generate progressive waves in a second direction different from said first direction and being arranged on said substantially spherical inner surface of said driven member; and a power source for supplying voltages to said first and second groups of piezoelectric motor elements. - View Dependent Claims (15, 16, 17, 18, 19)
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20. An actuator comprising:
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a driving member having a first substantially spherical surface; a driven member having a second substantially spherical surface, said second substantially spherical surface being disposed in a closely spaced relationship with said first substantially spherical surface; a first group of piezoelectric motor elements adapted to generate progressive waves in a first direction; a second group of piezoelectric motor elements adapted to generate progressive waves in a second direction different from said first direction; said piezoelectric motor elements of at least one of said first and second groups being arranged on at least one of said first and second substantially spherical surfaces so as to be disposed between said first and second substantially spherical surfaces and so as to cover substantially the entire surface of at least one of said first and second substantially spherical surfaces; and a power source for supplying voltages to said first and second groups of piezoelectric motor elements. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27)
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Specification