CN114017616A - Flat harmonic reducer for monitoring cradle head and cradle head - Google Patents
Flat harmonic reducer for monitoring cradle head and cradle head Download PDFInfo
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- CN114017616A CN114017616A CN202111383056.6A CN202111383056A CN114017616A CN 114017616 A CN114017616 A CN 114017616A CN 202111383056 A CN202111383056 A CN 202111383056A CN 114017616 A CN114017616 A CN 114017616A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 39
- 238000012544 monitoring process Methods 0.000 title claims abstract description 37
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 34
- 239000010959 steel Substances 0.000 claims abstract description 34
- 230000001360 synchronised effect Effects 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 4
- 238000001746 injection moulding Methods 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 4
- 239000011796 hollow space material Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 18
- 238000013461 design Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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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
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a flat harmonic reducer for a monitoring holder and the holder, which comprise a cam, a synchronous belt pulley used as a driven wheel, a flexible wheel, a steel wheel and a mandrel; the cam is arranged at one end of the mandrel, and the other end of the mandrel penetrates through a center hole of the flexible gear bottom cover to press the flexible gear on the output end to be used as the output end; the synchronous belt wheel is arranged on the cam, and power is input to the cam through the synchronous belt wheel; a flexible bearing is radially arranged between the cam and the flexible gear; the outer tooth surface of the flexible gear is matched with the inner tooth surface of the steel gear; the steel wheel and the cam are rotatably supported; the steel wheel is arranged on the bearing seat and used as a fixed end; the output end and the bearing seat are rotatably supported. The traditional monitoring cradle head structure is not changed, the transmission precision and the reduction ratio of the cradle head are improved, and meanwhile, the overall precision is high, the back clearance is small, and the cost is low. The structure is more compact, and the space can be saved to the maximize to the design mode of flat type.
Description
Technical Field
The invention belongs to the technical field of monitoring cloud deck transmission, and particularly relates to a harmonic transmission reducer for a cloud deck and a monitoring cloud deck adopting the harmonic transmission reducer.
Background
The harmonic reducer has the advantages of compact structure, small volume, light weight, large bearing capacity, small back clearance, high transmission precision and the like, and is widely applied to the fields of industrial robots, aerospace and precision machine tools. The harmonic speed reducer consists of a steel wheel, a flexible wheel and a wave generator, wherein the wave generator is arranged in the flexible wheel with elasticity, and the wave generator rotates to force the tooth form of the flexible wheel to be periodically meshed and separated with the tooth form of the steel wheel, so that the effect of reducing speed with small tooth difference is achieved.
The traditional monitoring cloud platform adopts synchronous belt transmission or a worm gear to realize the purposes of power transmission and speed reduction, and has the advantages of simple structure and low cost. However, with the development of the monitoring pan-tilt technology, especially the requirement of the ball machine linkage technology, the disadvantages of low transmission precision and small speed ratio of the synchronous belt transmission and the worm gear are highlighted.
The traditional harmonic reducer is simply applied to the monitoring cradle head, the structural design of the cradle head needs to be changed, so that the gravity center balance system of the cradle head needs to be redesigned, and meanwhile, the whole transmission precision and the back clearance of the cradle head are affected; meanwhile, the harmonic reducer is generally used for general transmission, and cannot be applied to combined transmission of a holder which needs at least two degrees of freedom. Meanwhile, the modification cost is high, so that the cost of the holder is high and the holder is difficult to popularize.
Disclosure of Invention
The invention aims to provide a flat harmonic speed reducer for a monitoring tripod head and the tripod head, which realize a harmonic speed reduction transmission scheme of the monitoring tripod head on the basis of not changing the structure of the traditional monitoring tripod head, improve the transmission precision and the speed reduction ratio of the tripod head, and have the advantages of high overall precision, small back clearance, low cost and high transmission precision.
In order to solve the technical problems, the invention adopts the following technical scheme:
a flat harmonic reducer for a monitoring holder comprises a cam, a flexible wheel, a steel wheel and a mandrel; the method is characterized in that: the cam is positioned at one end of the mandrel, and the other end of the mandrel penetrates through the center hole of the flexible gear bottom cover and presses the flexible gear on the output end to be jointly used as the output end; the synchronous belt wheel is arranged on the cam, and power is input to the cam through the synchronous belt wheel; a flexible bearing is radially arranged between the cam and the flexible gear; the outer tooth surface of the flexible gear is matched with the inner tooth surface of the steel gear; the steel wheel and the cam are rotatably supported; the steel wheel is arranged on the bearing seat and used as a fixed end; the output end and the bearing seat are rotatably supported.
In the technical scheme, the cam is a hollow three-step shaft; a synchronous belt wheel is arranged on the step with the wide diameter of the cam, a double-row angular contact bearing is arranged between the middle step of the cam and the steel wheel, and a flexible bearing is arranged on the step with the narrow diameter of the cam; the double-row angular contact bearing is installed on the steel wheel, and the periphery of the cam is elliptic at least at the narrow-diameter step.
In the technical scheme, the flexible gear is a hollow cylinder with a bottom cover, and the outer wall of the cylinder is provided with an outer tooth surface of the flexible gear which is meshed with an inner tooth surface of the steel gear; the bottom cover of the flexible gear is axially positioned between the mandrel and the output end, so that the other end of the mandrel penetrates through the center hole of the bottom cover and presses and supports the flexible gear against the output end.
In the technical scheme, a disk is arranged at the press-fitting position of the mandrel and the flexible gear, and the diameter of the disk is larger than the center hole of the bottom cover of the flexible gear and smaller than the inner wall of the cylinder body of the flexible gear.
In the technical scheme, the axial extension length of the flexible gear covers the narrow-diameter step of the cam, and the flexible bearing is arranged between the narrow-diameter step of the cam and the inner wall of the flexible gear.
In the technical scheme, the flexible gear is a cup-shaped flexible gear or a cap-shaped flexible gear which is made of special metal materials or is formed by characteristic plastic injection molding, and the hollow space is used for hollow wiring.
In the technical scheme, the steel wheel is of a gear ring structure, and at least one part of the inner wall surface of the steel wheel is provided with an inner tooth surface in an axial height to be meshed with an outer tooth surface of the flexible gear.
Among the above-mentioned technical scheme, install double column angular contact bearing and oil blanket between output and the bearing frame.
Among the above-mentioned technical scheme, the synchronous pulley outside that the pick-up plate was installed at the one end of dabber is used as external detection.
A cloud platform is characterized in that the flat harmonic reducer for the monitoring cloud platform is used, and a mandrel is vertically arranged; the motor drives the small synchronous belt pulley to drive the synchronous belt, and the synchronous belt is connected with the synchronous belt pulley on the mandrel.
In the invention, the synchronous belt wheel is arranged at the end of the rotating shaft provided with the cam, power is input to the cam through the synchronous belt and rotates to drive the flexible wheel to rotate, so that the speed reduction function is realized, and the flexible wheel is connected with the output end to serve as power output.
Compared with the prior art, the invention provides the novel flat harmonic reducer for the monitoring pan-tilt and the matched pan-tilt kit, and the motor drives the small synchronous belt pulley to drive the synchronous belt and the wave generator with the large synchronous belt pulley on the harmonic reducer on the basis of not changing the structure of the traditional monitoring pan-tilt, so that the harmonic speed reduction transmission scheme of the monitoring pan-tilt is realized, and the transmission precision and the speed reduction ratio of the pan-tilt are improved.
The harmonic reducer is based on a cup-shaped flexible gear or a cap-shaped flexible gear which is processed by special metal materials or is formed by special plastic injection molding and a wave generator. The hollow wiring device has the advantages of hollow wiring, high transmission precision, small back clearance, low cost and the like.
Compared with the existing holder design, the invention has the advantages that the structure is more compact, the space can be saved to the maximum extent by adopting a flat design mode, and the size of the harmonic speed reducer is saved by about 1/3 compared with that of a standard speed reducer in the axial dimension.
Drawings
FIG. 1 is a schematic structural diagram of a flat harmonic reducer for a monitoring head according to the present invention;
FIG. 2 is a schematic diagram of a flexible gear structure of a flat harmonic reducer for a monitoring console according to the present invention;
FIG. 3 is a schematic structural diagram of a steel wheel of a flat harmonic reducer for a monitoring head according to the present invention;
FIG. 4 is a schematic structural view of a rotating shaft cam of the flat harmonic reducer for the monitoring pan/tilt head according to the present invention;
fig. 5 is a schematic view of a structure of a flat harmonic reducer for a monitoring pan/tilt head according to the present invention.
The reference numerals correspond to the following:
the device comprises a flexible bearing 1, a cam 2, an output end 3, a steel wheel 4, a double-row angular contact bearing 5, an oil seal 6, a bearing seat 7, a driven wheel 8, a double-row angular contact bearing 9, a mandrel 10, a flexible wheel 11 and a detection plate 12.
Detailed Description
The flat harmonic reducer for the monitoring pan-tilt and the pan-tilt of the invention are further described in detail with reference to the attached drawings 1-5.
As shown in fig. 1 to 4, the flat harmonic reducer 100 for a monitoring head of the present invention mainly includes: flexible wheel 11, steel wheel 4, cam 2.
As shown in fig. 2, the flexible gear 11 is a hollow cylindrical cover body, and the outer teeth of the flexible gear are arranged on the outer wall of the cylinder body and are meshed with the inner teeth of the steel gear 4; the size of the bottom cover central hole of the flexible gear 11 is matched with that of the mandrel 10, so that the mandrel 10 penetrates through the bottom cover central hole, and the flexible gear 11 is pressed on the output end 3 by the penetrating end of the mandrel 10 to be used as an output end; the through end of the mandrel 10 is provided with a disk, and the diameter of the disk is larger than the bottom cover central hole of the flexible gear 11 and smaller than the inner wall of the cylinder body of the flexible gear. The extension length of the flexible wheel 11 covers the third step of the cam 2, and a flexible bearing 1 is arranged between the third step of the cam 2 and the inner wall of the flexible wheel.
The flexible gear 11 is a cup-shaped flexible gear or a cap-shaped flexible gear which is made of special metal materials or is formed by characteristic plastic injection molding; adopt hollow structure, can realize the cavity of speed reducer and walk the line.
As shown in fig. 3, the steel wheel 4 is a ring gear structure, and two end faces are provided with fixing bolt holes. At least one part of the height of the inner ring of the steel wheel 4 is provided with an inner tooth surface which is meshed with the outer tooth surface of the flexible gear. A double-row angular contact bearing 9 is arranged between the inner wall of the steel wheel 4 and the second step of the cam. The steel wheel 4 is mounted on the bearing seat 7 to be used as a fixed end.
As shown in fig. 4, the cam 2 is an elliptical hollow stepped shaft, and the outer circumferential step of the cam is three steps from a wide portion to a narrow portion along the axial direction. A driven wheel 8 is arranged on a first step (widest part) of the cam 2, the driven wheel 8 is positioned outside a shaft end wide part of the cam 2, a double-row angular contact bearing 9 is arranged between the outer part of a second step (secondary wide part) of the cam 2 and the steel wheel 4 in the radial direction, and a flexible bearing 1 is arranged on a third step (narrow part) of the cam 2. The double row angular contact bearing 9 is fixedly mounted on the radially outer steel wheel 4.
As shown in fig. 1, power is input from the driven wheel 8 to rotate the cam 2.
The flexible gear 11 is pressed on the output end 3 by one end of the mandrel 10 and is used as output; a double-row angular contact bearing 5 and an oil seal 6 are arranged between the output end 3 and the bearing seat 7; a test plate 12 is mounted on the other end of the mandrel 10 and is used for external testing. The double-row angular contact bearing 5 is respectively bonded with the bearing seat 7 and the output end 3 by special glue.
Fig. 5 is a schematic view of a structure of a flat harmonic reducer for a monitoring head according to the present invention. Wherein the motor drives the small synchronous pulley to drive the synchronous belt, and the synchronous belt drives the large synchronous pulley (i.e. the driven pulley 8 of the invention) on the flat harmonic reducer 100 for the monitoring pan-tilt of the invention, thereby driving the wave generator of the invention. The pitch mechanism 200 may adopt a conventional reduction gear, and may also adopt a flat harmonic reducer for a monitoring head of the present invention or other conventional harmonic reducers.
Claims (10)
1. A flat harmonic reducer for a monitoring holder comprises a cam, a flexible wheel, a steel wheel and a mandrel; the method is characterized in that: the cam is positioned at one end of the mandrel, and the other end of the mandrel penetrates through the center hole of the flexible gear bottom cover and presses the flexible gear on the output end to be jointly used as the output end; the synchronous belt wheel is arranged on the cam, and power is input to the cam through the synchronous belt wheel; a flexible bearing is radially arranged between the cam and the flexible gear; the outer tooth surface of the flexible gear is matched with the inner tooth surface of the steel gear; the steel wheel and the cam are rotatably supported; the steel wheel is arranged on the bearing seat and used as a fixed end; the output end and the bearing seat are rotatably supported.
2. The flat harmonic reducer for the monitoring head according to claim 1, wherein: the cam is a hollow three-step shaft; a synchronous belt wheel is arranged on the step with the wide diameter of the cam, a double-row angular contact bearing is arranged between the middle step of the cam and the steel wheel, and a flexible bearing is arranged on the step with the narrow diameter of the cam; the double-row angular contact bearing is installed on the steel wheel, and the periphery of the cam is elliptic at least at the narrow-diameter step.
3. The flat harmonic reducer for the monitoring head according to claim 1, wherein: the flexible gear is a hollow cylinder with a bottom cover, and the outer wall of the cylinder is provided with an outer tooth surface of the flexible gear which is meshed with an inner tooth surface of the steel gear; the bottom cover of the flexible gear is axially positioned between the mandrel and the output end, so that the other end of the mandrel penetrates through the center hole of the bottom cover and presses and supports the flexible gear against the output end.
4. The flat harmonic reducer for the monitoring head according to claim 1, wherein: and a disc is arranged at the press-fitting position of the mandrel and the flexible gear, and the diameter of the disc is larger than the central hole of the bottom cover of the flexible gear and smaller than the inner wall of the cylinder body of the flexible gear.
5. The flat harmonic reducer for the monitoring head according to claim 1, wherein: the axial extension length of the flexible gear covers the narrow-diameter step of the cam, and a flexible bearing is arranged between the narrow-diameter step of the cam and the inner wall of the flexible gear.
6. The flat harmonic reducer for the monitoring head according to claim 1, wherein: the flexible gear is a cup-shaped flexible gear or a cap-shaped flexible gear which is processed by using a special metal material or formed by injection molding of characteristic plastics, and the hollow space is used for hollow wiring.
7. The flat harmonic reducer for the monitoring head according to claim 1, wherein: the steel wheel is in a gear ring structure, and at least one part of the axial height of the inner wall surface of the steel wheel is provided with an inner tooth surface which is meshed with an outer tooth surface of the flexible gear.
8. The flat harmonic reducer for the monitoring head according to claim 1, wherein: and a double-row angular contact bearing and an oil seal are arranged between the output end and the bearing seat.
9. The flat harmonic reducer for the monitoring head according to claim 1, wherein: the detection plate is arranged on the outer side of the synchronous belt wheel at one end of the mandrel and used as an external detection.
10. A cradle head, characterized in that a flat harmonic reducer for a monitoring cradle head according to any one of claims 1 to 9 is used, and a spindle is vertically arranged; the motor drives the small synchronous belt pulley to drive the synchronous belt, and the synchronous belt is connected with the synchronous belt pulley on the mandrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383056.6A CN114017616B (en) | 2021-11-22 | 2021-11-22 | Flat harmonic reducer for monitoring cradle head and cradle head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111383056.6A CN114017616B (en) | 2021-11-22 | 2021-11-22 | Flat harmonic reducer for monitoring cradle head and cradle head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114017616A true CN114017616A (en) | 2022-02-08 |
| CN114017616B CN114017616B (en) | 2023-06-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111383056.6A Active CN114017616B (en) | 2021-11-22 | 2021-11-22 | Flat harmonic reducer for monitoring cradle head and cradle head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114017616B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2160808Y (en) * | 1993-04-14 | 1994-04-06 | 陈望 | Harmonic gearing electric desk |
| CN206344160U (en) * | 2016-12-14 | 2017-07-21 | 亿嘉和科技股份有限公司 | A kind of inspection machine user tripod head |
| CN111147759A (en) * | 2020-02-19 | 2020-05-12 | 北京中安吉泰科技有限公司 | Binocular range finding cloud platform device |
| CN112720568A (en) * | 2021-02-09 | 2021-04-30 | 中山早稻田科技有限公司 | Dual-module integrated joint with force perception |
| CN213744790U (en) * | 2020-08-21 | 2021-07-20 | 大族激光科技产业集团股份有限公司 | Reduction gear, power module and robot |
| CN113404839A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof |
| CN113404838A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Harmonic speed reducer for barrier gate and barrier gate device |
| CN113404837A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Carry on light-duty steering wheel of harmonic speed reducer machine |
-
2021
- 2021-11-22 CN CN202111383056.6A patent/CN114017616B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2160808Y (en) * | 1993-04-14 | 1994-04-06 | 陈望 | Harmonic gearing electric desk |
| CN206344160U (en) * | 2016-12-14 | 2017-07-21 | 亿嘉和科技股份有限公司 | A kind of inspection machine user tripod head |
| CN111147759A (en) * | 2020-02-19 | 2020-05-12 | 北京中安吉泰科技有限公司 | Binocular range finding cloud platform device |
| CN113404839A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Super flat non-metal harmonic speed reducer and ball machine transmission mechanism thereof |
| CN113404838A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Harmonic speed reducer for barrier gate and barrier gate device |
| CN113404837A (en) * | 2020-03-16 | 2021-09-17 | 无锡巨蟹智能驱动科技有限公司 | Carry on light-duty steering wheel of harmonic speed reducer machine |
| CN213744790U (en) * | 2020-08-21 | 2021-07-20 | 大族激光科技产业集团股份有限公司 | Reduction gear, power module and robot |
| CN112720568A (en) * | 2021-02-09 | 2021-04-30 | 中山早稻田科技有限公司 | Dual-module integrated joint with force perception |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114017616B (en) | 2023-06-23 |
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