CN112460214B - Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio - Google Patents
Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio Download PDFInfo
- Publication number
- CN112460214B CN112460214B CN202011391089.0A CN202011391089A CN112460214B CN 112460214 B CN112460214 B CN 112460214B CN 202011391089 A CN202011391089 A CN 202011391089A CN 112460214 B CN112460214 B CN 112460214B
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- shaft
- bearing
- unidirectional bearing
- driving shaft
- unidirectional
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 title claims abstract description 25
- 230000003044 adaptive effect Effects 0.000 claims description 11
- 238000005452 bending Methods 0.000 description 12
- 238000004804 winding Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- 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
- F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
- F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
- F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
Abstract
The invention relates to the technical field of transmission systems in mechanical equipment, in particular to a transmission mechanism with a small-range self-adaptive take-up and pay-off ratio, wherein a driving shaft is detachably arranged on the side wall of a base, a group of one-way bearings are sleeved on the driving shaft, a driven shaft is arranged beside the driving shaft and is detachably arranged on the side wall of the base, another group of one-way bearings are sleeved on the driven shaft, the driven shaft is connected with the driving shaft by a gear pair, and the driven shaft rotates along with the driving shaft; the steering shaft is detachably arranged on the bottom plate of the base, the rope is wound on the unidirectional bearing of the driving shaft, the unidirectional bearing of the driven shaft and the steering shaft and then passes through the terminal outside the wire hole on the side wall of the base to be connected.
Description
Technical Field
The invention relates to the technical field of transmission systems in mechanical equipment, in particular to a transmission mechanism with a small-range self-adaptive take-up and pay-off ratio.
Background
At present, the exoskeleton auxiliary instrument is used as equipment for assisting actions of specific people, external force assistance is carried out on limbs of a human body, and aims at bending and stretching of the limbs, and the limbs are defined as movable terminals, so that the principle of the exoskeleton auxiliary instrument is that the movable terminals are controlled to move through a power source by a transmission mechanism.
For the bending and stretching actions, the prior art needs two groups of power sources and can be completed through two groups of transmission mechanisms, so that the transmission mechanisms are large in size and not easy to carry or wear. And for the same terminal, different realization modes or different wearers have different requirements on the bending and stretching rate ratio, and the fluctuation adjustment of the rate ratio cannot be realized by the existing transmission mechanism.
It is necessary to design a transmission mechanism that can control the bending and stretching of a terminal using a single power source while adjusting the ratio of bending to stretching rate in a small range.
Disclosure of Invention
The invention breaks through the difficult problem in the prior art, and designs the transmission mechanism which can control the bending and stretching of the terminal by using a single power source and has the self-adaptive requirement of the bending and stretching speed ratio.
In order to achieve the above purpose, the invention designs a transmission mechanism with a small-range self-adaptive take-up and pay-off ratio, which is characterized in that: the transmission mechanism comprises:
the driving shaft is used for providing power required by the transmission mechanism;
the driving shaft is detachably arranged on the side wall of the base, and a one-way bearing is sleeved on the driving shaft;
the driven shaft is detachably arranged on the side wall of the base, a one-way bearing is sleeved on the driven shaft, and the driven shaft is connected with the driving shaft by utilizing a gear pair and rotates along with the driving shaft;
the steering shafts are respectively and detachably arranged on the bottom plate of the base and are used for changing the direction of the ropes;
the rope is used for controlling the terminal to move;
the rope is wound on the unidirectional bearing of the driving shaft, the unidirectional bearing of the driven shaft and the steering shaft, and then penetrates through the wire hole on the side wall to be connected with the terminal of the external device.
Further, the number of the unidirectional bearings on the driving shaft, the number of the unidirectional bearings on the driven shaft, the number of the steering shafts and the number of the ropes are the same, and are at least 2.
Further, the unidirectional bearing on the driving shaft is divided into a first unidirectional bearing and a second unidirectional bearing;
the driven shaft upper one-way bearing is divided into a third one-way bearing and a fourth one-way bearing;
the steering shaft is divided into a first steering shaft and a second steering shaft;
the ropes are divided into a first rope and a second rope.
Further, the first wire rope is wound on the first unidirectional bearing of the driving shaft, the third unidirectional bearing of the driven shaft and the first steering shaft, and then penetrates through the first wire hole on the side wall of the base to be connected with the terminal of the external device;
the second rope is wound on a second unidirectional bearing of the driving shaft, a fourth unidirectional bearing of the driven shaft and a second steering shaft, and then penetrates through a second wire hole on the side wall of the base to be connected with a terminal of the external device.
Further, the gear pair comprises a driving gear and a driven gear, the driving gear is sleeved on the driving shaft, and the driven gear is sleeved on the driven shaft.
Further, one end of the driving shaft penetrates through one side wall of the base to be connected with a power source arranged outside.
Further, the rotation directions of the first unidirectional bearing and the third unidirectional bearing are the same;
the rotation directions of the second unidirectional bearing and the fourth unidirectional bearing are the same.
Further, the rotation directions of the first unidirectional bearing and the third unidirectional bearing are opposite to the rotation directions of the second unidirectional bearing and the fourth unidirectional bearing.
Further, the rotation directions of the first steering shaft and the second steering shaft are opposite;
the rotating direction of the first steering shaft is the same as that of the first unidirectional bearing and the third unidirectional bearing;
the rotation direction of the second steering shaft is the same as that of the second unidirectional bearing and the fourth unidirectional bearing.
Furthermore, the invention also comprises pressing shafts which are positioned at the upper side and the lower side of the driven shaft, so that the wire rope is abutted against the unidirectional bearing on the driven shaft, and the wire outlet is reliable.
Compared with the prior art, the invention only uses one power source, and by arranging and installing the one-way bearing, when the rope bypasses the one-way bearing to move, the self-adaptive control of the speed ratio between the winding rope and the unwinding rope required by the terminal is realized, and the one-way bearing is arranged on the driven shaft, and when the rope bypasses the one-way bearing to move, the time-sharing independent control of the power source on two actions of the terminal is realized; the gear pair is utilized to realize the primary control of the winding and unwinding ropes, and the final confirmation of the unwinding speed can be realized by utilizing the speed ratio between the winding ropes and the unwinding ropes.
Drawings
Fig. 1 is a top view of a small range adaptive take-up and pay-off ratio actuator in a final curved state in an embodiment.
Fig. 2 is a front view of a small range adaptive take-up and pay-off ratio actuator in a final curved state in an embodiment.
Fig. 3 is a top view of a small range of adaptive take-up and pay-off ratio actuator in an end extended state in an embodiment.
Fig. 4 is a front view of a small range adaptive take-up and pay-off ratio actuator in a terminal extended state in an embodiment.
Wherein, 1 is the driving shaft, 2 is the base, 3 is the driven shaft, 4 is first one-way bearing, 5 is the second one-way bearing, 6 is the third one-way bearing, 7 is the fourth one-way bearing, 8 is first steering shaft, 9 is the second steering shaft, 10 is first rope, 11 is the second rope, 12 is the driving gear, 13 is the driven gear, 14 is the pressing shaft.
Detailed Description
The invention will be further described with reference to the accompanying drawings, which are not intended to limit the invention.
It should be noted that the drawings of the present invention are in simplified form and are not to scale precisely, but rather are merely intended to facilitate a clear and concise description of embodiments of the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
Referring to the drawings, in the specific implementation, preferably, 4 unidirectional bearings are adopted, each group of unidirectional bearings are respectively arranged on the driving shaft 1 and the driven shaft 3, and the unidirectional bearings on the driving shaft 1 are divided into a first unidirectional bearing 4 and a second unidirectional bearing 5; the unidirectional bearing on the driven shaft 3 is divided into a third unidirectional bearing 6 and a fourth unidirectional bearing 7.
Preferably, 2 steering shafts are used, respectively designated as a first steering shaft 8 and a second steering shaft 9.
Preferably, two sets of cords are also used, labeled first cord 10 and second cord 11, respectively.
Preferably, the pressing shaft 14 also adopts 2 groups, which are respectively positioned at the upper side and the lower side of the driven shaft 3, so that the wire rope is abutted against the unidirectional bearing on the driven shaft 3, and the wire outgoing is reliable.
When in installation, the driving shaft 1 is detachably arranged on the side wall of the base 2, one end of the driving shaft penetrates through the side wall of one side of the base 2 to be connected with a power source arranged outside, and the driving gear 12 of the gear pair is sleeved at the other end of the driving shaft.
The driven shaft 3 is detachably arranged on the side wall of the base 2 and is positioned beside the driving shaft 1, the driven shaft 3 is provided with a driven gear 13 of a gear pair, and the driven gear 13 is meshed with the driving gear 12, so that the driven shaft 3 is driven to rotate along with the driving shaft 1.
Preferably, the steering shafts are detachably mounted on the bottom plate of the base 2, i.e. the bottom ends thereof are fixed to the bottom plate of the base.
The rope is used for controlling the terminal to move;
preferably, the first wire rope 10 is wound on the first unidirectional bearing 4 of the driving shaft 1, the third unidirectional bearing 6 of the driven shaft 3 and the first steering shaft 8, and then passes through a first wire hole on the side wall of the base 2 to be connected with a terminal of an external device;
preferably, the second rope 11 is wound on the second unidirectional bearing 5 of the driving shaft 1, the fourth unidirectional bearing 7 of the driven shaft 3 and the second steering shaft 9, and then passes through a second wire hole on the side wall of the base 2 to be connected with an external terminal.
The driving shafts of the two strands of ropes for controlling the bending and stretching of the terminal are controlled by a single motor, the time-sharing individual control of the rotation and the wire winding of the two strands of ropes is realized by utilizing the clutch effect of the unidirectional bearing, and the rotation, the wire releasing and the wire winding of the other strand of ropes are not influenced when one strand of ropes acts; the gear pair is matched, so that a single motor can drive the driving shaft 1 and the driven shaft 3 to rotate simultaneously; preferably, the invention can also utilize friction on the feed shaft generated by the flexible hinge to drive the coiling and uncoiling of the spool.
In the specific implementation, the direction of the wire rope is changed by utilizing a steering shaft according to the direction requirement of the terminal on the wire rope; according to the requirement of the terminal on the winding and unwinding speed ratio of two strands of ropes (different design schemes and different requirements of wearing personnel), the power source drives the driving shaft 1 to actively rotate, the driven shaft 3 moves along with the driving shaft, the ropes are driven to perform winding and unwinding movements, and the speed is controlled by the terminal and is not higher than a certain value.
The winding and paying-off of the cord sets corresponding to the two different actions (bending and stretching) are completely opposite, and the speed ratio is kept consistent.
After the transmission mechanism with the small-range self-adaptive take-up and pay-off ratio is built according to the description, implementation can be performed.
Example 1:
referring to fig. 1 and 2, an embodiment of the transmission mechanism in a terminal bending state is shown with a small range of adaptive take-up and pay-off ratios.
The bending of the terminal requires that the first cord 10 is fed around the driving shaft 1 at a rate set to A1, and that the second cord 11 is then fed around the driving shaft 1 at a rate A2 (a2.ltoreq.a1).
The method comprises the following steps: the motor rotates to ensure that the first rope 10 is fed at the A1 speed, and the retraction and the speed of the second rope 11 are not affected due to the existence of the first unidirectional bearing 4 and the second unidirectional bearing 5 on the driving shaft 1; the motor rotates, and the fixed speed reverse rotation of the driven shaft 3 relative to the driving shaft 1 is realized through the transmission of a gear pair between the driving shaft 1 and the driven shaft 3; the incoming line of the first rope 10 is not influenced by the rotation of the driven shaft 3 due to the existence of the third unidirectional bearing 6 and the fourth unidirectional bearing 7 on the driven shaft 3; the first wire 10 is fed out of the transmission via the first steering shaft 8 to be connected to a terminal, which is controlled to bend at a fixed rate.
The bending of the terminal drives the second rope 11 to be led out at the speed A2, the driven shaft 3 and the driving shaft 1 are forced to be led out at the speed A2 through the second steering shaft 9, and the pressing shaft 14 ensures the reliability of the outgoing line.
Example 2:
referring to fig. 3 and 4, an embodiment of the transmission mechanism in a terminal extension state is shown with a small range of adaptive take-up and pay-off ratios.
The extension of the terminal requires the second cord 11 to be fed around the driving shaft 1 at a rate B1, and the first cord 10 to be fed around the driving shaft 1 at a rate B2 (B1. Gtoreq.b2).
The method comprises the following steps: the motor rotates to ensure that the second wire rope 11 is fed at a speed B1, and the retraction and the speed of the first wire rope 10 are not affected due to the existence of a one-way bearing on the driving shaft 1; the driven shaft 3 rotates reversely at a fixed speed relative to the driving shaft 1; the incoming line of the second rope 11 is not influenced by the rotation of the driven shaft because of the existence of the one-way bearing on the driven shaft 3; the second wire 11 is connected to the transmission via the second steering shaft 9 to control the terminal to extend at a fixed rate.
The stretching of the terminal drives the first wire rope 10 to carry out wire outlet at the speed B2, the driven shaft 3 and the driving shaft 1 are forced to carry out wire outlet at the speed B2 through the first steering shaft 8, and the pressing shaft 14 ensures the reliability of wire outlet.
In summary, the invention only uses one power source, and by arranging and installing the one-way bearing, when the rope bypasses the one-way bearing to move, the self-adaptive control of the speed ratio between the winding rope and the unwinding rope required by a terminal is realized, and the invention is flexible control, and the adopted rope is also a flexible component, so that the volume of the transmission mechanism is reduced, and the invention is easy to carry and wear.
The foregoing is merely illustrative of the present invention and is not intended to limit the embodiments and scope of the present invention, and it should be appreciated by those skilled in the art that equivalent substitutions and obvious variations made using the description and illustrations of the present invention are intended to be included in the scope of the present invention.
Claims (6)
1. The transmission mechanism of the self-adaptation coiling and uncoiling ratio, its characterized in that: the transmission mechanism comprises:
a driving shaft (1) for providing power required by the transmission mechanism;
the driving shaft (1) is detachably arranged on the side wall of the base (2), and a one-way bearing is sleeved on the driving shaft;
the driven shaft (3) is detachably arranged on the side wall of the base (2), a one-way bearing is sleeved on the driven shaft, the driven shaft (3) is connected with the driving shaft (1) through a gear pair, and rotates along with the driving shaft (1);
the steering shafts are respectively and detachably arranged on the bottom plate of the base (2) and used for changing the direction of the ropes;
the rope is used for controlling the terminal to move;
the rope is wound on a one-way bearing of the driving shaft (1), a one-way bearing of the driven shaft (3) and a steering shaft, and then penetrates through a wire hole on the side wall of the base (2) to be connected with a terminal of the external device;
the number of the unidirectional bearings on the driving shaft (1), the number of the unidirectional bearings on the driven shaft (3), the number of the steering shafts and the number of the ropes are the same, and are at least 2;
the one-way bearing on the driving shaft (1) is divided into a first one-way bearing (4) and a second one-way bearing (5);
the unidirectional bearing on the driven shaft (3) is divided into a third unidirectional bearing (6) and a fourth unidirectional bearing (7);
the steering shaft is divided into a first steering shaft (8) and a second steering shaft (9);
the thread rope is divided into a first thread rope (10) and a second thread rope (11);
the first rope (10) is wound on a first unidirectional bearing (4) of the driving shaft (1), a third unidirectional bearing (6) of the driven shaft (3) and a first steering shaft (8), and then passes through a first wire hole on the side wall of the base (2) to be connected with a terminal of the external equipment;
the second rope (11) is wound on a second unidirectional bearing (5) of the driving shaft (1), a fourth unidirectional bearing (7) of the driven shaft (3) and a second steering shaft (9), and then passes through a second wire hole on the side wall of the base (2) to be connected with a terminal of the external equipment;
the gear pair comprises a driving gear (12) and a driven gear (13), the driving gear (12) is sleeved on the driving shaft (1), and the driven gear (13) is sleeved on the driven shaft (3).
2. The adaptive take-up and pay-off ratio transmission mechanism of claim 1, wherein: one end of the driving shaft (1) penetrates through one side wall of the base (2) and is connected with a power source arranged outside.
3. The adaptive take-up and pay-off ratio transmission mechanism of claim 1, wherein: the rotation directions of the first unidirectional bearing (4) and the third unidirectional bearing (6) are the same; the rotation directions of the second unidirectional bearing (5) and the fourth unidirectional bearing (7) are the same.
4. The adaptive take-up and pay-off ratio transmission mechanism of claim 1, wherein: the rotation direction of the first unidirectional bearing (4) and the third unidirectional bearing (6) is opposite to the rotation direction of the second unidirectional bearing (5) and the fourth unidirectional bearing (7).
5. The adaptive take-up and pay-off ratio transmission mechanism of claim 1, wherein: the rotation direction of the first steering shaft (8) is opposite to that of the second steering shaft (9);
the rotation direction of the first steering shaft (8) is the same as that of the first unidirectional bearing (4) and the third unidirectional bearing (6);
the rotation direction of the second steering shaft (9) is the same as that of the second unidirectional bearing (5) and the fourth unidirectional bearing (7).
6. The adaptive take-up and pay-off ratio transmission mechanism of claim 1, wherein: the wire rope pressing device is characterized by further comprising a pressing shaft (14), wherein the pressing shaft (14) is positioned on the upper side and the lower side of the driven shaft (3), so that the wire rope is abutted against a one-way bearing on the driven shaft (3), and the wire rope is reliably led out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011391089.0A CN112460214B (en) | 2020-12-02 | 2020-12-02 | Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011391089.0A CN112460214B (en) | 2020-12-02 | 2020-12-02 | Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112460214A CN112460214A (en) | 2021-03-09 |
| CN112460214B true CN112460214B (en) | 2024-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011391089.0A Active CN112460214B (en) | 2020-12-02 | 2020-12-02 | Transmission mechanism with small-range self-adaptive coiling and uncoiling ratio |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112460214B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102518768A (en) * | 2011-12-29 | 2012-06-27 | 长安大学 | Reversibly rotating speed-changing anisotropic output three-shaft operating device |
| WO2017000278A1 (en) * | 2015-07-01 | 2017-01-05 | 深圳怡化电脑股份有限公司 | Bank note accepting and dispensing drive control mechanism and automatic teller machine |
| CN106826761A (en) * | 2017-01-22 | 2017-06-13 | 哈尔滨工业大学 | A kind of lower limb assistance exoskeleton robot based on steel wire drive gear ratio joint |
| CN207098466U (en) * | 2017-08-11 | 2018-03-13 | 深圳广田机器人有限公司 | Threading mechanism |
| KR20200058257A (en) * | 2018-11-19 | 2020-05-27 | 엄재풍 | A Emergency Escape System In High-Rise Buildings |
| CN210655707U (en) * | 2019-10-12 | 2020-06-02 | 青岛智翱翔机器人科技有限公司 | ROV neutral cable synchronous winding and unwinding devices |
| CN213839446U (en) * | 2020-12-02 | 2021-07-30 | 上海市静安区中心医院(复旦大学附属华山医院静安分院) | Transmission mechanism capable of self-adapting take-up and pay-off ratio |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3698096B2 (en) * | 2001-11-29 | 2005-09-21 | 株式会社豊田自動織機 | Rotating machinery for vehicles |
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2020
- 2020-12-02 CN CN202011391089.0A patent/CN112460214B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102518768A (en) * | 2011-12-29 | 2012-06-27 | 长安大学 | Reversibly rotating speed-changing anisotropic output three-shaft operating device |
| WO2017000278A1 (en) * | 2015-07-01 | 2017-01-05 | 深圳怡化电脑股份有限公司 | Bank note accepting and dispensing drive control mechanism and automatic teller machine |
| CN106826761A (en) * | 2017-01-22 | 2017-06-13 | 哈尔滨工业大学 | A kind of lower limb assistance exoskeleton robot based on steel wire drive gear ratio joint |
| CN207098466U (en) * | 2017-08-11 | 2018-03-13 | 深圳广田机器人有限公司 | Threading mechanism |
| KR20200058257A (en) * | 2018-11-19 | 2020-05-27 | 엄재풍 | A Emergency Escape System In High-Rise Buildings |
| CN210655707U (en) * | 2019-10-12 | 2020-06-02 | 青岛智翱翔机器人科技有限公司 | ROV neutral cable synchronous winding and unwinding devices |
| CN213839446U (en) * | 2020-12-02 | 2021-07-30 | 上海市静安区中心医院(复旦大学附属华山医院静安分院) | Transmission mechanism capable of self-adapting take-up and pay-off ratio |
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| Publication number | Publication date |
|---|---|
| CN112460214A (en) | 2021-03-09 |
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