CN108808976A - Servo motor device and robot - Google Patents
Servo motor device and robot Download PDFInfo
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- CN108808976A CN108808976A CN201710298915.9A CN201710298915A CN108808976A CN 108808976 A CN108808976 A CN 108808976A CN 201710298915 A CN201710298915 A CN 201710298915A CN 108808976 A CN108808976 A CN 108808976A
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- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000000034 method Methods 0.000 claims abstract description 6
- 230000008569 process Effects 0.000 claims abstract description 6
- 230000008859 change Effects 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052782 aluminium Inorganic materials 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 230000003321 amplification Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 230000006872 improvement Effects 0.000 description 9
- 238000012360 testing method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- 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
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- 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
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/02—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
- F16H3/08—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts
- F16H3/087—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts characterised by the disposition of the gears
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of servo motor device and robots.Wherein, which includes：Shell is provided in shell：It is electrically connected with Servo Control Board, the control for receiving Servo Control Board, with the motor rotated；It is mechanically connected with the output end of motor, the deceleration mechanism for reducing, and the output torque of motor being amplified the velocity of rotation of motor；It is mechanically connected with deceleration mechanism, the potentiometer of the actual rotation angle information for obtaining the output of deceleration mechanism；It is electrically connected with potentiometer, for receiving external control signal, and according to the rotation of control signal control motor, and according to the Servo Control Board of the comparison result of target rotational angle information and actual rotation angle information progress control process, wherein, control signal includes target rotational angle information.The present invention realizes 360 ° of limitless rotations, and controls rotational angle by the combination of potentiometer and Servo Control Board, improves rotational angle precision.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of servo motor devices and robot.
Background technology
With the fast development of robot industry, domestic main research type recently includes：Small scale robot, modularization
Robot and assembly type robot.In these robot products, it is applied to servo motor device.
But the operation principle of existing servo motor device is：By direct current or variable frequency ac drive, limited with mechanical collision
Position, microswitch control stop, stopping after reaching required rotational angle.Due to being limited using mechanical collision, so, it is existing
Servo motor device output rotational angle it is limited, the rotational angle of general 45 °, 60 ° or 90 ° of output.Therefore, how to solve
The output angle limitation problem of certainly existing servo motor device is current technical problem urgently to be resolved hurrily.
Invention content
The main purpose of the present invention is to provide a kind of servo motor devices, are exported with solving existing servo motor device
The limited problem of rotational angle.In addition, as an implementation, the present invention also provides a kind of specific servo motors to fill
The robot set.
To solve the above problems, as an implementation, the present invention provides a kind of servo motor devices comprising：
Shell is provided in shell：
It is electrically connected with Servo Control Board, the control for receiving Servo Control Board, with the motor rotated；
It is mechanically connected with the output end of motor, for reducing the velocity of rotation of motor, and the output torque of motor is put
Big deceleration mechanism；
It is mechanically connected with deceleration mechanism, the potentiometer of the actual rotation angle information for obtaining the output of deceleration mechanism；
It is electrically connected with potentiometer, for receiving external control signal, and according to the rotation of control signal control motor,
And the Servo Control Board of control process is carried out according to the comparison result of target rotational angle information and actual rotation angle information,
Wherein, control signal includes target rotational angle information.
Embodiment as a further improvement on the present invention, control signal includes pulse-width signal, pulse-width signal
Period be the first preset value, pulse width is preset range, and reference signal width is the second preset value, so that potentiometer is not deposited
It is being interrupted.
Embodiment as a further improvement on the present invention, Servo Control Board work as control by controlling signal control motor
When the actual signal width of signal is more than or equal to reference signal width, control motor rotates clockwise, when the reality of control signal
When signal width is less than reference signal width, control motor rotates counterclockwise.
Embodiment as a further improvement on the present invention, deceleration mechanism include change gear group and output gear group, are become
The output end of fast gear set and motor connects, and change gear group and output gear group are ratcheting, and potentiometer is set to output gear group
Bottom end.
Embodiment as a further improvement on the present invention, change gear group and output gear group are by resistance to using high intensity
Grind component composition prepared by aluminum material.
Embodiment as a further improvement on the present invention, change gear group include the first master gear, the second master gear, the
Three master gears, pinion and gear shaft, gear shaft is through the first master gear, the second master gear, third master gear, and the first main tooth
Wheel, the second master gear, third master gear are set in turn on gear shaft from top to bottom, third master gear include the first large fluted disc and
First small tooth plate, pinion and the first large fluted disc are ratcheting, and the output shaft of pinion and motor is coaxially connected.
Embodiment as a further improvement on the present invention, output gear group include output bottom end gear, output terminal teeth
Wheel, output shaft and output bearing, output shaft export end gear, output bottom through output bottom end gear, output end gear
End tooth wheel is set in turn on output shaft from top to bottom, and the one end for exporting bearing is connected with exporting axis, and exports the other end of bearing
It is connect with potentiometer；Output bottom end gear includes the second largest fluted disc and the second small tooth plate, the second large fluted disc and the first small tooth plate tooth
It closes, the second small tooth plate and the second master gear are ratcheting, the first master gear and output end gear mesh.
Embodiment as a further improvement on the present invention, shell include head cover, enclosure body and bottom cover, head cover and shell
Body cap closes, and to form the first accommodating cavity, the first accommodating cavity is for housing deceleration mechanism, and bottom cover is closed with enclosure body lid, with shape
At the second accommodating cavity, the second accommodating cavity is for housing Servo Control Board, motor and potentiometer.
Embodiment as a further improvement on the present invention, fixing bracket is additionally provided in enclosure body, and motor is fixedly mounted
In in fixing bracket.
To solve the above problems, as an implementation, the present invention also provides a kind of robots comprising above-mentioned
Servo motor device.
Compared with prior art, the present invention is limited using potentiometer, rather than is limited using mechanical collision, therefore, is subtracted
The output end of fast mechanism will not be blocked, and it can be 0 ° -360 ° to cause the rotational angle that deceleration mechanism exports, to realize
360 ° of limitless rotations.In addition, combination of the present invention by potentiometer and Servo Control Board, controls rotational angle, improves and turn
Dynamic angle precision.In addition, when the servo motor device of the present invention is applied to robot, can effectively avoid because of rotary machine people energetically
Joint and the damage for causing servo motor device, to reach the limitless rotation of joint of robot.
Figure of description
Fig. 1 is the overall structure diagram of servo motor device one embodiment of the present invention；
Fig. 2 is the decomposition texture schematic diagram of servo motor device one embodiment of Fig. 1；
The structural schematic diagram of deceleration mechanism one embodiment in the servo motor device that Fig. 3 is Fig. 2；
Fig. 4 is the schematic cross-sectional view of servo motor device one embodiment of Fig. 1.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used to limit the present invention.
Fig. 1-Fig. 2 illustrates one embodiment of servo motor device of the present invention.It, in the present embodiment, should referring to Fig. 1
Servo motor device includes shell 1, which includes head cover 11, enclosure body 12 and bottom cover 13.
Specifically, referring to Fig. 2, which closes with the lid of enclosure body 12, to form the first accommodating cavity, in the first accommodating cavity
It is equipped with deceleration mechanism 20.Bottom cover 13 is closed with the lid of enclosure body 12, and to form the second accommodating cavity, the second accommodating cavity is watched for accommodating
Take control panel 40, motor 30 and potentiometer 50.Wherein, which is electrically connected with motor 30, potentiometer 50 respectively,
One end of deceleration mechanism 20 is mechanically connected with motor 30, and the other end and the potentiometer 50 of deceleration mechanism 20 are mechanically connected.
The present embodiment by deceleration mechanism 20 by being placed in the first accommodating cavity, and by Servo Control Board 40,30 and of motor
Potentiometer 50 is placed in the second accommodating cavity, achievees the effect that mechanical driving part and Electronic control part carrying out subregion setting,
Convenient for subsequently carrying out subregion repair.In addition, motor 30 and 20 left and right settings of deceleration mechanism have been reached and have improved control by the present embodiment
The effect of utilization rate processed.
Wherein, the motor 30 is for receiving the control of Servo Control Board 40 to be rotated.The deceleration mechanism 20, for controlling
System reduces the velocity of rotation of motor 30, and the output torque of motor 30 is amplified.
Specifically, referring to Fig. 3, which includes change gear group 201 and output gear group 202, change gear
Group 201 is connect with the output end of motor 30, and change gear group 201 and output gear group 202 are ratcheting, and potentiometer 50 is set to output
The bottom end of gear set 202.
Further, change gear group 201 includes the first master gear 2011, the second master gear 2012, third master gear
2013, pinion 2014 and gear shaft 2015, gear shaft 2015 is through the first master gear 2011, the second master gear 2012, third
Master gear 2013, and the first master gear 2011, the second master gear 2012, third master gear 2013 are set in turn in tooth from top to bottom
On wheel shaft 2015, third master gear 2013 include the first large fluted disc and the first small tooth plate (not shown), pinion 2014 with
First large fluted disc is ratcheting, and pinion 2014 and the output shaft of motor 30 are coaxially connected.
In addition, referring to Fig. 4, output gear group 202 includes output bottom end gear 2021, output end gear 2022, output
Axis 2023 and output bearing 2024, output shaft 2023 export end through output bottom end gear 2021, output end gear 2022
End tooth wheel 2022, output bottom end gear 2021 are set in turn in from top to bottom on output shaft 2023, export one end of bearing 2024
It is connect with output shaft 2023, the other end of output bearing 2024 is connect with potentiometer 50；It includes second to export bottom end gear 2021
Large fluted disc and the second small tooth plate, the second large fluted disc and the first small tooth plate are ratcheting, and the second small tooth plate and the second master gear 2012 are ratcheting,
First master gear 2011 and output end gear 2022 are ratcheting.
The potentiometer 50, the actual rotation angle information for obtaining the output of deceleration mechanism 20.The Servo Control Board 40 is used
Control signal outside receiving, and according to the rotation of control signal control motor 30, and according to target rotational angle information
Control process is carried out with the comparison result of actual rotation angle information, wherein control signal includes target rotational angle information.
Specifically, control process master is carried out according to the comparison result of target rotational angle information and actual rotation angle information
To include following several processing schemes：
The first：Target rotational angle information>Actual rotation angle information
When target rotational angle information is more than actual rotation angle information, that is, illustrate not rotate in place also, then servo control
Making sheet continues control motor and is rotated in a first direction, until target rotational angle information=actual rotation angle information.
Second：Target rotational angle information=actual rotation angle information
When target rotational angle information=actual rotation angle information, i.e., explanation rotate in place, then Servo Control Board control
Motor stalls processed.
The third：Target rotational angle information < actual rotation angle informations
When target rotational angle information < actual rotation angle informations, that is, illustrate to rotate offside, then Servo Control Board control
Motor processed is rotated in a second direction, and until target rotational angle information=actual rotation angle information, which is first
Side is in the opposite direction.
The present embodiment is limited using potentiometer 50, rather than is limited using mechanical collision, therefore, the output of deceleration mechanism
End will not be blocked, and it can be 0 ° -360 ° to cause the rotational angle that deceleration mechanism exports, to realize 360 ° of limitless rotations
Turn.In addition, combination of the present embodiment by potentiometer 50 and Servo Control Board 40, controls rotational angle, improves rotational angle
Precision.In addition, when the servo motor device of the present embodiment is applied to robot, can effectively avoid because of rotary machine person joint energetically
And the damage of servo motor device is caused, to reach the limitless rotation of joint of robot.
During the use of the servo motor device of the present embodiment, it may appear that the problem of potentiometer 50 is interrupted.Therefore, on
On the basis of stating embodiment, in other embodiment, which includes pulse-width signal, and the period of pulse-width signal is
First preset value, pulse width are preset range, and reference signal width is the second preset value, so that between potentiometer 50 is not present
It is disconnected.
Specifically, servo motor device needs a peripheral control unit (such as receiver of Robot remote device) to generate arteries and veins
Wide modulated signal is come to tell servo motor device rotational angle, pulse width be the coding information needed for Servo Control Board 40.This
The rotational angle of the servo motor device of invention is 0 ° -360 °, and control signal is that the pulsewidth modulation (PWM) that the period is 20ms is believed
Number, pulse width 0.9ms-2.1ms, reference signal width is 1.5ms, is interrupted existing for cyclic annular potentiometer to overcome.
During assembling and setting of the present embodiment in servo motor device, output rotation angle is limited or cannot be positive and negative
If turning, then the external force that will appear output shaft is excessive and the case where cause the gear failure of deceleration mechanism.Therefore, above-described embodiment
On the basis of, in other embodiment, Servo Control Board 40 is by controlling signal electric machine 30, when the actual signal width of control signal
When more than or equal to reference signal width, control motor 30 rotates clockwise, when the actual signal width of control signal is less than benchmark
When signal width, control motor 30 rotates counterclockwise.
It should be noted that the present embodiment can also be wide more than or equal to reference signal when the actual signal width of control signal
When spending, control motor 30 rotates counterclockwise, and when the actual signal width for controlling signal is less than reference signal width, controls motor
30 rotate clockwise.
In debugging, servo motor device specifications parameter of the invention may be configured as：The rotating speed of servo motor device defines
For：Servo motor device turns over 60 ° of angle required times to weigh in an unloaded situation, the servo control that the present invention is arranged
Pulsewidth processed is 500-2500usec, and the rotating speed of servo motor device of the invention when test voltage is 4.8V is 0.16S/60 °,
Rotating speed is 0.13S/60 ° when test voltage is 6.0V.
The unit of servo motor device torque is Kgcm, this is a Torque unit, it can be understood as on output shaft
At motor shaft central horizontal distance 1cm, weight of object that micro servo motor can drive.The servo motor device of the present invention
Torque when test voltage is 4.8V is 1.9Kgcm, and torque when test voltage is 6.0V is 2.5Kgcm.The present invention
The operating voltage of servo motor device has performance great influence, and the voltage of recommendation is typically all 4.8V or 6V.
The rotational angle of the present embodiment is 0 ° -360 °, 360 ° of limitless rotations is realized, at the same time it can also according to control
The comparison result of the actual signal width and reference signal width of signal realizes positive and negative rotation, so as to avoid the external force of output shaft
The generation of the case where gear failure that is excessive and causing deceleration mechanism had both extended the service life of servo motor device, had also dropped
The low technical difficulty of assembly manipulation.
During the use of the servo motor device of the present embodiment, light weight is proposed to servo motor device, is used
The performance requirements such as long lifespan, therefore, on the basis of above-described embodiment, in other embodiment, change gear group 201 and output gear
Group 202 is made of the component prepared using high-strength abrasion-proof aluminum material.
Specifically, the shell of the present embodiment is prepared using plastics, and the deceleration mechanism of the present embodiment uses high-strength abrasion-proof aluminium
The component of material preparation forms.Specifically, the component composition that the deceleration mechanism of the present embodiment is prepared using aluminium alloy.
The appearance and size of the servo motor device of the present invention is 12.6 × 23 × 23 (mm), and weight 9g can be provided
Torque is 1.9Kgcm (4.8V voltages), and the weight of the servo motor device of existing comparable size specification is 12.5g.
High-strength abrasion-proof aluminum material in the present embodiment has that light-weight, price is low, and rigidity is strong, the characteristics such as wear-resistant,
Therefore, speed reducer structure is formed using component prepared by the high-strength abrasion-proof aluminum material, has reached that light weight, price are low, rigidity is strong
With it is wear-resistant and other effects, mitigate the servo motor device weight to reach, and extend servo motor device use the longevity
The effect of life.
During the use of the servo motor device of the present embodiment, in order to avoid motor 30 shakes in rotation process
It is dynamic.On the basis of the above embodiments, in other embodiment, referring to Fig. 4, it is additionally provided with fixing bracket 60 on 1 ontology 12 of shell, electricity
Machine 30 is fixedly installed in fixing bracket 60.
The present embodiment when avoiding the work of motor 30, is significantly shaken, to ensure that by the way that fixing bracket 60 is arranged
30 job stability of motor, to improve the performance for stability of servo motor device.
The present invention also provides a kind of robots comprising 30 device of servo motor of above-described embodiment description.Wherein, machine
30 device of servo motor is identical as 30 apparatus structure of servo motor in above-described embodiment in device people, and therefore, details are not described herein.
The specific implementation mode of invention is described in detail above, but it is only used as example, the present invention is not intended to limit
With specific embodiments described above.For a person skilled in the art, any equivalent modifications that the invention is carried out
Or substitute also all among scope of the invention, therefore, in the case where not departing from the spirit and principles in the present invention range made by it is impartial
Transformation and modification, improvement etc., all should be contained within the scope of the invention.
Claims (10)
1. a kind of servo motor device, which is characterized in that it includes：
Shell is provided in the shell：
It is electrically connected with Servo Control Board, the control for receiving the Servo Control Board, with the motor rotated；
It is mechanically connected with the output end of the motor, for reducing the velocity of rotation of the motor, and by the defeated of the motor
Go out the deceleration mechanism of torque amplification；
It is mechanically connected with the deceleration mechanism, the current potential of the actual rotation angle information for obtaining the deceleration mechanism output
Device；
It is electrically connected with the potentiometer, the electricity is controlled for receiving external control signal, and according to the control signal
The rotation of machine, and control process is carried out according to the comparison result of target rotational angle information and the actual rotation angle information
The Servo Control Board, wherein the control signal includes the target rotational angle information.
2. servo motor device according to claim 1, which is characterized in that the control signal includes pulsewidth modulation letter
Number, the period of the pulse-width signal is the first preset value, and pulse width is preset range, and reference signal width is second pre-
If value, so that there is no interruptions for the potentiometer.
3. servo motor device according to claim 2, which is characterized in that the Servo Control Board is believed by the control
Number control motor controls institute when the actual signal width of the control signal is more than or equal to the reference signal width
It states motor to rotate clockwise, when the actual signal width of the control signal is less than the reference signal width, described in control
Motor rotates counterclockwise.
4. servo motor device according to claim 1, which is characterized in that the deceleration mechanism include change gear group and
Output gear group, the change gear group are connect with the output end of the motor, the change gear group and the output gear
Group is ratcheting, and the potentiometer is set to the bottom end of the output gear group.
5. servo motor device according to claim 4, which is characterized in that the change gear group and the output gear
Group is made of the component prepared using high-strength abrasion-proof aluminum material.
6. servo motor device according to claim 4, which is characterized in that the change gear group includes the first main tooth
Wheel, the second master gear, third master gear, pinion and gear shaft, the gear shaft is through first master gear, the second main tooth
Wheel, third master gear, and first master gear, second master gear, the third master gear are set gradually from top to bottom
In on the gear shaft, the third master gear includes the first large fluted disc and the first small tooth plate, the pinion and described first
Large fluted disc is ratcheting, and the output shaft of the pinion and the motor is coaxially connected.
7. servo motor device according to claim 6, which is characterized in that the output gear group includes output bottom end tooth
Wheel, output end gear, output shaft and output bearing, the output shaft is through output bottom end gear, the output end
Gear, and output end gear, output bottom end gear are set in turn in from top to bottom on the output shaft, it is described defeated
The one end for going out bearing is connected to the output shaft, and the other end of the output bearing is connect with the potentiometer；The output bottom
End tooth wheel includes the second large fluted disc and the second small tooth plate, and second large fluted disc and first small tooth plate are ratcheting, and described second
Small tooth plate and second master gear are ratcheting, first master gear and output end gear mesh.
8. servo motor device according to claim 1, which is characterized in that the shell include head cover, enclosure body and
Bottom cover, the head cover are closed with the enclosure body lid, and to form the first accommodating cavity, first accommodating cavity is for housing described subtract
Fast mechanism, the bottom cover are closed with the enclosure body lid, and to form the second accommodating cavity, second accommodating cavity is for accommodating described
Servo Control Board, the motor and the potentiometer.
9. servo motor device according to claim 8, which is characterized in that be additionally provided with fixed branch in the enclosure body
Frame, the motor are fixedly installed in the fixing bracket.
10. a kind of robot, which is characterized in that it includes the servo motor device described in one of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298915.9A CN108808976A (en) | 2017-04-28 | 2017-04-28 | Servo motor device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710298915.9A CN108808976A (en) | 2017-04-28 | 2017-04-28 | Servo motor device and robot |
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| Publication Number | Publication Date |
|---|---|
| CN108808976A true CN108808976A (en) | 2018-11-13 |
Family
ID=64053861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710298915.9A Pending CN108808976A (en) | 2017-04-28 | 2017-04-28 | Servo motor device and robot |
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|---|---|
| CN (1) | CN108808976A (en) |
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| CN110138041A (en) * | 2019-05-30 | 2019-08-16 | 歌尔科技有限公司 | Wireless headset charging box |
| CN112003495A (en) * | 2020-08-28 | 2020-11-27 | 江苏科技大学 | Speed reducing motor |
| US20230173664A1 (en) * | 2020-05-20 | 2023-06-08 | Robotis, Inc. | Small actuator for robot |
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| CN112003495B (en) * | 2020-08-28 | 2023-08-18 | 江苏科技大学 | Speed reducing motor |
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