CA2053401A1 - Electromagnetic attachment mechanism - Google Patents
Electromagnetic attachment mechanismInfo
- Publication number
- CA2053401A1 CA2053401A1 CA2053401A CA2053401A CA2053401A1 CA 2053401 A1 CA2053401 A1 CA 2053401A1 CA 2053401 A CA2053401 A CA 2053401A CA 2053401 A CA2053401 A CA 2053401A CA 2053401 A1 CA2053401 A1 CA 2053401A1
- Authority
- CA
- Canada
- Prior art keywords
- power source
- grapple
- pull
- control circuit
- coil
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/641—Interstage or payload connectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/907—Sensor controlled device
Abstract
An electromagnetic attachment mechanism for use as an end effector of a remote manipulator system. A pair of electromagnets 15A,15B, each with a U-shaped magnetic core with a pull-in coil 34 and two holding coils 35,36 are mounted by a spring suspension system 38,47 on a base plate 25 of the mechanism housing 30 with end pole pieces 21,22 adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate 65 of a grapple fixture 20 affixed to a target object 14. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture.
An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electro-magnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils. When energized, the pull-in coils overcome the suspension system and air gap and are automati-cally de-energized when the pole pieces move to grapple and impose a preload force across the grapple interface. A bat-tery back-up 89A,89B is a redundant power source for each electromagnet in each individual control circuit and is auto-matically connected upon failure of the primary power source.
A centerline mounted camera 31 and video monitor 70 are used in cooperation with a target pattern 19 on the reflective surface 67 of the strike plate to effect targeting and align-ment.
An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electro-magnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils. When energized, the pull-in coils overcome the suspension system and air gap and are automati-cally de-energized when the pole pieces move to grapple and impose a preload force across the grapple interface. A bat-tery back-up 89A,89B is a redundant power source for each electromagnet in each individual control circuit and is auto-matically connected upon failure of the primary power source.
A centerline mounted camera 31 and video monitor 70 are used in cooperation with a target pattern 19 on the reflective surface 67 of the strike plate to effect targeting and align-ment.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US07/636,531 US5145227A (en) | 1990-12-31 | 1990-12-31 | Electromagnetic attachment mechanism |
US636,531 | 1990-12-31 |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2053401A1 true CA2053401A1 (en) | 1992-07-01 |
CA2053401C CA2053401C (en) | 1995-10-17 |
Family
ID=24552308
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA002053401A Expired - Fee Related CA2053401C (en) | 1990-12-31 | 1991-10-11 | Electromagnetic attachment mechanism |
Country Status (2)
Country | Link |
---|---|
US (2) | US5145227A (en) |
CA (1) | CA2053401C (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113954106A (en) * | 2015-09-08 | 2022-01-21 | 伯克希尔格雷股份有限公司 | System and method for providing high flow vacuum acquisition in an automated system |
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US6788999B2 (en) | 1992-01-21 | 2004-09-07 | Sri International, Inc. | Surgical system |
USH1378H (en) * | 1992-07-14 | 1994-11-01 | The United States Of America As Represented By The Department Of Energy | Electromagnetic fasteners |
US5754741A (en) * | 1992-08-10 | 1998-05-19 | Computer Motion, Inc. | Automated endoscope for optimal positioning |
US5524180A (en) * | 1992-08-10 | 1996-06-04 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
US5657429A (en) | 1992-08-10 | 1997-08-12 | Computer Motion, Inc. | Automated endoscope system optimal positioning |
US5762458A (en) | 1996-02-20 | 1998-06-09 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US7074179B2 (en) | 1992-08-10 | 2006-07-11 | Intuitive Surgical Inc | Method and apparatus for performing minimally invasive cardiac procedures |
EP0591706B1 (en) * | 1992-10-06 | 2002-04-24 | Unaxis Balzers Aktiengesellschaft | Chamber for transport of substrates |
US5499785A (en) * | 1994-09-15 | 1996-03-19 | The Boeing Company | Autojettison method and apparatus for dual-point suspension systems |
US6646541B1 (en) | 1996-06-24 | 2003-11-11 | Computer Motion, Inc. | General purpose distributed operating room control system |
US6463361B1 (en) | 1994-09-22 | 2002-10-08 | Computer Motion, Inc. | Speech interface for an automated endoscopic system |
US7053752B2 (en) | 1996-08-06 | 2006-05-30 | Intuitive Surgical | General purpose distributed operating room control system |
US5649956A (en) | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
US5814038A (en) | 1995-06-07 | 1998-09-29 | Sri International | Surgical manipulator for a telerobotic system |
US6714841B1 (en) | 1995-09-15 | 2004-03-30 | Computer Motion, Inc. | Head cursor control interface for an automated endoscope system for optimal positioning |
US5855583A (en) | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
US6699177B1 (en) | 1996-02-20 | 2004-03-02 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US6436107B1 (en) | 1996-02-20 | 2002-08-20 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive surgical procedures |
US6911916B1 (en) | 1996-06-24 | 2005-06-28 | The Cleveland Clinic Foundation | Method and apparatus for accessing medical data over a network |
US6496099B2 (en) | 1996-06-24 | 2002-12-17 | Computer Motion, Inc. | General purpose distributed operating room control system |
US6132441A (en) | 1996-11-22 | 2000-10-17 | Computer Motion, Inc. | Rigidly-linked articulating wrist with decoupled motion transmission |
AUPP247798A0 (en) | 1998-03-18 | 1998-04-23 | Rudduck, Dickory | Fixing and release systems |
JP3148179B2 (en) * | 1998-05-14 | 2001-03-19 | 日鉱金属株式会社 | Height stop device for lifting equipment in overhead mobile crane system |
US6354540B1 (en) | 1998-09-29 | 2002-03-12 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Androgynous, reconfigurable closed loop feedback controlled low impact docking system with load sensing electromagnetic capture ring |
US6398726B1 (en) | 1998-11-20 | 2002-06-04 | Intuitive Surgical, Inc. | Stabilizer for robotic beating-heart surgery |
US6852107B2 (en) | 2002-01-16 | 2005-02-08 | Computer Motion, Inc. | Minimally invasive surgical training using robotics and tele-collaboration |
US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
US8527094B2 (en) | 1998-11-20 | 2013-09-03 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
US6951535B2 (en) | 2002-01-16 | 2005-10-04 | Intuitive Surgical, Inc. | Tele-medicine system that transmits an entire state of a subsystem |
ES2160050B1 (en) * | 1999-04-26 | 2002-05-16 | Asm S A | DEVICE FOR SEPARATION, LIFTING AND TRANSFER OF ALUMINUM SHEETS OR OTHER NON-FERROMAGNETIC MATERIAL. |
US7217240B2 (en) | 1999-10-01 | 2007-05-15 | Intuitive Surgical, Inc. | Heart stabilizer |
US6513760B1 (en) * | 1999-12-14 | 2003-02-04 | Kistler Aerospace Corporation | Logistics module system and method |
AUPQ861300A0 (en) * | 2000-07-06 | 2000-08-03 | Telezygology Pty Limited | Mulit-function tool |
US6726699B1 (en) | 2000-08-15 | 2004-04-27 | Computer Motion, Inc. | Instrument guide |
WO2002031945A2 (en) | 2000-10-13 | 2002-04-18 | Clarity, Llc | Magnetic actuation and positioning |
ATE495703T1 (en) | 2000-11-28 | 2011-02-15 | Intuitive Surgical Operations | ENDOSCOPIC STABILIZER FOR THE BEATING HEART AND VESSEL OCCLUSION OCCLUSION |
US20020165524A1 (en) | 2001-05-01 | 2002-11-07 | Dan Sanchez | Pivot point arm for a robotic system used to perform a surgical procedure |
US6728599B2 (en) | 2001-09-07 | 2004-04-27 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
US6839612B2 (en) | 2001-12-07 | 2005-01-04 | Institute Surgical, Inc. | Microwrist system for surgical procedures |
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US6879082B2 (en) * | 2002-03-25 | 2005-04-12 | Clarity Technologies, Inc. | Electromagnetic positioning |
KR100487689B1 (en) * | 2002-05-31 | 2005-05-03 | 주식회사 두배시스템 | Device for transmitting power of submerged camera |
US7600301B2 (en) * | 2002-06-19 | 2009-10-13 | Telezygology, Inc. | Fixing and release systems and fastener networks |
US6945742B2 (en) * | 2002-06-20 | 2005-09-20 | Dave Roberts | Portable manhole cover remover |
DE10316131B4 (en) * | 2003-04-09 | 2006-07-13 | Eads Space Transportation Gmbh | Supply and inspection device for small platforms in orbit |
US6945500B2 (en) * | 2003-08-15 | 2005-09-20 | Skycorp, Inc. | Apparatus for a geosynchronous life extension spacecraft |
JP4075002B2 (en) * | 2004-06-28 | 2008-04-16 | 村田機械株式会社 | Overhead traveling car |
US7802738B2 (en) * | 2004-07-16 | 2010-09-28 | Nelson Irrigation Corporation | Power-assisted docking station for mobile irrigation apparatus |
US20060145023A1 (en) * | 2004-12-20 | 2006-07-06 | Honeywell International, Inc. | Geometrically encoded magnetic latch intercontact face |
US7815149B1 (en) | 2005-04-01 | 2010-10-19 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Magnetic capture docking mechanism |
DE102006040034A1 (en) * | 2006-08-23 | 2008-03-20 | Stäubli Tec-Systems GmbH | coupling system |
KR100775988B1 (en) | 2006-10-30 | 2007-11-15 | 한국항공우주연구원 | Optical loading device of observation satellite |
JP2010535682A (en) * | 2007-08-10 | 2010-11-25 | エスジーエム ガントリー エス.ピー.エー. | Electromagnetic lifter for moving coil of hot rolled steel sheet and related operation method |
FR2931451B1 (en) * | 2008-05-22 | 2010-12-17 | Fmc Technologies Sa | CONTROL DEVICE FOR SYSTEM FOR LOADING AND / OR UNLOADING FLUIDS |
US8490955B2 (en) | 2008-09-19 | 2013-07-23 | The Boeing Company | Electromagnetic clamping device |
US8757345B2 (en) * | 2009-04-29 | 2014-06-24 | Novellus Systems, Inc. | Magnetic rotational hardstop for robot |
US8864120B2 (en) * | 2009-07-24 | 2014-10-21 | The Boeing Company | Electromagnetic clamping system for manufacturing large structures |
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AT510701B1 (en) * | 2010-12-10 | 2012-06-15 | Ruag Space Gmbh | DEVICE FOR HOLDING AND COMMANDED RELEASING A RELEASE ELEMENT OF A SPACE VEHICLE |
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ES2929439T3 (en) * | 2011-11-15 | 2022-11-29 | Macdonald Dettwiler & Associates Inc | Propellant transfer system and procedure for fluid propellant replenishment to an orbiting spacecraft |
DE102012105241A1 (en) * | 2012-06-15 | 2013-12-19 | Hitec Zang Gmbh | Robot with tool changer |
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US10016136B2 (en) | 2014-06-20 | 2018-07-10 | Optomak, Inc. | Image relaying cannula with detachable self-aligning connector |
US10688669B2 (en) * | 2015-10-30 | 2020-06-23 | Fetch Robotics, Inc. | Wireless quick change end effector system for use with a robot |
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US10322890B2 (en) * | 2016-10-17 | 2019-06-18 | Oakland University | Sheet metal blank destacker |
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US20180229865A1 (en) * | 2017-02-15 | 2018-08-16 | Astroscale Japan Inc. | Capturing system, space vehicle and plate |
CA3069541A1 (en) | 2017-07-21 | 2019-01-24 | Northrop Grumman Innovation Systems, Inc. | Spacecraft servicing devices and related assemblies, systems, and methods |
CN107336249B (en) * | 2017-09-04 | 2020-02-18 | 重庆市臻憬科技开发有限公司 | Intelligent restaurant with three-jaw mechanical arm |
CN109249420A (en) * | 2018-09-26 | 2019-01-22 | 大连美德乐工业组装技术有限公司 | A kind of electric flexible clamping jaw |
AU2020208316A1 (en) | 2019-01-15 | 2021-08-05 | Northrop Grumman Systems Corporation | Spacecraft servicing devices and related assemblies, systems, and methods |
CN110239747B (en) * | 2019-05-24 | 2022-04-01 | 南京理工大学 | Point type microsatellite separation unlocking device |
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CN111994306B (en) * | 2020-07-23 | 2022-03-04 | 北京空间飞行器总体设计部 | High-precision electromagnetic docking mechanism with large-angle tolerance |
CN112238954B (en) * | 2020-10-14 | 2022-02-08 | 哈尔滨工业大学 | Space target adsorption grasping device based on bionic controllable adsorption |
JP7429181B2 (en) | 2020-10-16 | 2024-02-07 | 株式会社アストロスケール | Spacecraft and capture systems |
CN112338956A (en) * | 2020-11-27 | 2021-02-09 | 北京石油化工学院 | Electromagnetic gripper device for carrying base plate |
GB202109914D0 (en) * | 2021-07-09 | 2021-08-25 | Astroscale Ltd | Docking structure |
CN114055507B (en) * | 2021-12-09 | 2023-04-18 | 厦门大学 | Operation method of flexible gripping device for industrial robot |
WO2023249565A1 (en) * | 2022-06-24 | 2023-12-28 | B Bond Beyond Technology Llc | A magnetic attachment system and method of use thereof |
CN115028061B (en) * | 2022-08-10 | 2022-11-29 | 法兰泰克重工股份有限公司 | Battery production lifting device |
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US3582017A (en) * | 1968-09-13 | 1971-06-01 | Ltv Aerospace Corp | Magnetic separation device |
JPS51108497A (en) * | 1975-03-18 | 1976-09-25 | Kohan Sendan Kikai Kk | Taguhoototo senpakutoorenketsusurusochi |
US4295740A (en) * | 1978-09-05 | 1981-10-20 | Westinghouse Electric Corp. | Photoelectric docking device |
US4260187A (en) * | 1979-03-23 | 1981-04-07 | Nasa | Terminal guidance sensor system |
FR2485978A1 (en) * | 1980-07-04 | 1982-01-08 | Souriau & Cie | GRIPPER WITH OPTICAL SENSORS AND APPARATUS USING THE SAME |
US4350379A (en) * | 1980-10-10 | 1982-09-21 | General Electric Company | Universal lifting magnet |
US4631815A (en) * | 1985-12-18 | 1986-12-30 | Amp Incorporated | Pick-up head |
BR8702929A (en) * | 1987-05-22 | 1988-12-20 | Josef David Baumann | PERMANENT MAGNETIC RETENTION DEVICE FOR MOVING MOUNTING OR TRANSPORT OF PIECES OR FERROMAGNETIC LOADS WITH ELECTRONIC SWITCHING OF THE MAGNETIC FLOW FOR DISCONNECTING TRANSPORTED LOAD |
US4890918A (en) * | 1988-09-15 | 1990-01-02 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Docking alignment system |
US4921292A (en) * | 1988-09-23 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Magnetic attachment mechanism |
-
1990
- 1990-12-31 US US07/636,531 patent/US5145227A/en not_active Expired - Lifetime
-
1991
- 1991-10-11 CA CA002053401A patent/CA2053401C/en not_active Expired - Fee Related
-
1993
- 1993-05-06 US US08/061,613 patent/US5449211A/en not_active Expired - Fee Related
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113954106A (en) * | 2015-09-08 | 2022-01-21 | 伯克希尔格雷股份有限公司 | System and method for providing high flow vacuum acquisition in an automated system |
CN113954106B (en) * | 2015-09-08 | 2023-10-27 | 伯克希尔格雷营业股份有限公司 | System and method for providing high flow vacuum acquisition in an automated system |
US11945100B2 (en) | 2015-09-08 | 2024-04-02 | Berkshire Grey Operating Company, Inc. | Systems and methods for providing high flow vacuum acquisition in automated systems |
Also Published As
Publication number | Publication date |
---|---|
CA2053401C (en) | 1995-10-17 |
US5449211A (en) | 1995-09-12 |
US5145227A (en) | 1992-09-08 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request | ||
MKLA | Lapsed |