CN114321131A - Electric screw pair locking device for space load deflection - Google Patents
Electric screw pair locking device for space load deflection Download PDFInfo
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- CN114321131A CN114321131A CN202111449576.2A CN202111449576A CN114321131A CN 114321131 A CN114321131 A CN 114321131A CN 202111449576 A CN202111449576 A CN 202111449576A CN 114321131 A CN114321131 A CN 114321131A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 35
- 238000003825 pressing Methods 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 2
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- 238000006073 displacement reaction Methods 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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Abstract
The invention provides an electric thread pair locking device for space load deflection in the technical field of space locking mechanisms, which comprises a driving assembly, a connecting piece and a connected piece, wherein the driving assembly is connected with the connecting piece through a screw; the driving assembly comprises a driving motor and a transmission shaft, the transmission shaft is arranged on the driving motor, and the transmission shaft is driven by the driving motor to rotate; the nut base is arranged on the connecting piece, a first through groove is formed in the nut base, a locking nut and a nut compression spring are arranged in the first through groove, the locking nut is slidably arranged in the first through groove, and the nut compression spring is arranged between the locking nut and the connecting piece; a bolt shell is arranged on the connected piece, a locking bolt is arranged in the bolt shell, and the locking bolt is arranged corresponding to the locking nut and the transmission shaft; the locking bolt is arranged in a meshed mode with the locking nut through rotation of the transmission shaft, and the connecting piece and the connected piece are arranged in a compressed mode. The invention realizes reliable locking by means of threaded connection, realizes repeated unlocking and locking, and ensures that the camera load is reliably locked after the camera load is displaced on the rail.
Description
Technical Field
The invention relates to the technical field of space locking mechanisms, in particular to an electric screw pair locking device for space load deflection.
Background
In order to meet the higher and higher on-orbit observation requirement, the space camera load technology is continuously developed, the functional requirements are more and more, and the on-orbit motion process is more complex. Taking a satellite load camera of a certain model as an example, the weight of the satellite load camera is about 400kg, the launching state of the satellite load camera is inconsistent with the on-orbit working state due to the limitation of the carrying envelope size, the on-orbit reconstruction needs to be carried out after the on-orbit, namely, a series of unlocking, moving, transposition and locking actions are carried out under the control of various actuating mechanisms from the installation and fixing state during launching after the on-orbit reconstruction, and the on-orbit working state is finally formed to finish the reconstruction. In order to ensure sufficient rigidity and stability after the camera is displaced, the axial locking force of a single locking point needs to reach 30kN, and a locking mechanism of the locking mechanism has to play a reliable locking function and is also a key technology for realizing camera reconstruction.
At present, in-orbit locking mechanisms used at home and abroad, such as a spring pin type repeated locking and releasing mechanism and a pull-rope type repeated locking and releasing mechanism for locking and releasing solar wings, are generally positioned by using positioning pins, and are difficult to effectively control and achieve larger locking force. Although the locking mechanism using the memory alloy or the elastic memory composite material eliminates driving elements such as a motor, the locking precision is yet to be further verified.
The search of the prior art shows that the Chinese utility model patent publication No. CN201159787Y discloses a super-large-caliber expandable primary mirror precision locking device of a space observation optical remote sensor, which comprises a positioning device and a locking device. The positioning device consists of a group of positioning blocks for limiting three degrees of freedom, a group of positioning blocks for limiting two degrees of freedom and a group of positioning blocks for limiting one degree of freedom; each group of positioning blocks consists of a female positioning block fixed on the intermediate mirror supporting structure of the primary mirror and a sub-positioning block fixed on the partitioned mirror supporting structure of the primary mirror. The locking device consists of a fixed spring nut, a front base, a spring, a locking nut, a rear base, a thrust bearing, a locking bolt, a speed reducer and a stepping motor. However, the above patents have the following disadvantages: due to the limitation of the interference problem of the relative movement form of the thread pair and the pressing surface, the locking requirement under the specific condition can not be met.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an electric screw pair locking device for space load deflection.
The invention provides an electric screw pair locking device for space load deflection, which comprises a driving component, a connecting piece and a connected piece, wherein the driving component is connected with the connecting piece through a screw;
the driving assembly comprises a driving motor and a transmission shaft, the transmission shaft is arranged on the driving motor, and the transmission shaft is driven by the driving motor to rotate;
a nut base is arranged on the connecting piece, a first through groove is formed in the nut base, a locking nut and a nut compression spring are arranged in the first through groove, the locking nut is slidably arranged in the first through groove, and the nut compression spring is arranged between the locking nut and the connecting piece;
a bolt shell is arranged on the connected piece, a locking bolt is arranged in the bolt shell, one end of the locking bolt is arranged corresponding to the locking nut, and the other end of the locking bolt is arranged corresponding to the transmission shaft;
the locking bolt is meshed with the locking nut through rotation of the transmission shaft, and the connecting piece and the connected piece are arranged in a pressing mode.
In some embodiments, the driving assembly further includes a harmonic reducer and a reducer housing, the harmonic reducer is connected to the driving motor, the reducer housing is sleeved on the harmonic reducer, the transmission shaft is connected to the harmonic reducer, and the other end of the transmission shaft penetrates through the reducer housing.
In some embodiments, the driving assembly further comprises a deep groove ball bearing, the deep groove ball bearing is arranged in the reducer housing, and the deep groove ball bearing is sleeved on the transmission shaft.
In some embodiments, the harmonic reducer includes a rigid gear, a flexible gear, and a wave generator, the rigid gear is disposed in cooperation with the flexible gear, a flange is disposed on the driving motor, the rigid gear is disposed in cooperation with the flange and the reducer housing respectively by using a hole shaft, the wave generator is fixedly disposed on an output shaft of the driving motor, and the flexible gear is fixedly disposed on the transmission shaft.
In some embodiments, a second through groove is formed in the bolt housing, a locking bolt and a bolt compression nut are arranged in the second through groove, the locking bolt is slidably arranged in the second through groove, and the bolt compression nut is arranged between the locking bolt and the bolt housing.
In some embodiments, the top of the locking bolt has an external thread, the bottom of the locking bolt is provided with a square hole, the bottom of the locking bolt is an outer spherical surface, an inner spherical surface is arranged in the shell of the speed reducer, and the locking bolt is arranged in contact with the shell of the speed reducer by the mutual matching of the outer spherical surface and the inner spherical surface.
In some embodiments, the nut base includes a pressing surface, the nut base is disposed in contact with the bolt housing through the pressing surface, and the nut base is disposed in a four-boss structure.
In some embodiments, the locking nut is a hexagonal boss, the nut base is provided with a hexagonal hole, and the locking nut is disposed in the nut base through the mutual matching of the hexagonal boss and the hexagonal hole.
In some embodiments, the driving motor is powered on, an output shaft of the driving motor drives the wave generator to rotate, and the driving motor drives the flexible gear and the transmission shaft to rotate after speed reduction, so as to drive the locking bolt to rotate; the locking bolt continues to rotate, the locking nut moves downwards for 2mm under the action of the thread pair until the locking nut is attached to the inner end face of the thread base, the locking nut cannot move continuously, and the locking bolt starts to move upwards until the step face of the locking bolt is attached to the inner end face of the bolt shell; the driving motor is continuously electrified, the step surface of the locking bolt is attached to the bolt shell, the locking bolt starts to generate a tightening torque under the action of the driving motor, and the driving motor is powered off to complete locking along with the rotation of the locking bolt until the required torque requirement is met.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, by arranging the connecting piece and the connected piece, the connecting piece is connected with the nut base, the locking nut and the nut pressing spring, and the connected piece is connected with the locking bolt, the bolt pressing spring and the bolt shell, the locking mechanism has small size and low part processing difficulty, reliable locking is realized by means of threaded connection, and the locking mechanism can be used repeatedly to realize repeated unlocking and locking;
2. according to the invention, the nut pressing spring is arranged, the nut pressing spring is meshed with the locking nut under the pressure action of the nut pressing spring, the bolt slowly rises, the connecting piece and the connected piece are gradually pressed, and finally the required tightening torque is achieved through the control of the motor, so that the camera load is reliably locked after the camera load is displaced on the rail.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic cross-sectional view of an electric screw pair locking device for space load deflection according to the present invention in an initial state;
FIG. 2 is a schematic cross-sectional view of the electric screw pair locking device for space load deflection according to the present invention in a state of completing locking;
FIG. 3 is a cross-sectional view of the drive assembly of the present invention;
FIG. 4 is a schematic structural view of the lock bolt of the present invention;
FIG. 5 is a schematic structural view of the lock nut of the present invention;
FIG. 6 is a schematic structural view of a nut base according to the present invention;
reference numerals:
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Fig. 1 is a schematic cross-sectional view of an electric screw pair locking device for space load deflection in an initial state, and fig. 2 is a schematic cross-sectional view of the electric screw pair locking device for space load deflection in a complete locking state, and the electric screw pair locking device comprises a driving assembly 1, a connecting piece 2 and a connected piece 3. Be provided with nut base 9 on the connecting piece 2, seted up first logical groove on the nut base 9, first logical inslot is provided with lock nut 5 and nut compression spring 7, and lock nut 5 slides and sets up at first logical inslot, and nut compression spring 7 sets up between lock nut 5 and connecting piece 2.
Be provided with bolt shell 8 on the connecting piece 3, be provided with locking bolt 4 in the bolt shell 8, locking bolt 4 one end corresponds lock nut 5 and sets up, and locking bolt 4's the other end corresponds transmission shaft 14 and sets up. The bolt shell 8 is provided with a second through groove, the second through groove is internally provided with a locking bolt 4 and a bolt compression nut, the locking bolt 4 is arranged in the second through groove in a sliding manner, the bolt compression nut is arranged between the locking bolt 4 and the bolt shell 8, and the locking nut 5 is compressed on the inner end face of the nut base 9 through a nut compression spring 7 so as to provide axial force in the initial meshing process of threads and ensure that the threads enter a meshing state. The locking bolt 4 is arranged in a meshing way with the locking nut 5 through the rotation of the transmission shaft 14, and the connecting piece 2 is arranged in a pressing way with the connected piece 3.
As shown in fig. 3, which is a cross-sectional schematic view of the driving assembly 1, the driving assembly 1 includes a driving motor 11, a transmission shaft 14, a harmonic reducer 12, a reducer housing 13, and a deep groove ball bearing 15, the transmission shaft 14 is disposed on the driving motor 11, and the transmission shaft 14 is rotatably disposed by being driven by the driving motor 11. Harmonic reducer 12 connects and sets up on driving motor 11, and the cover of reduction gear shell 13 is established on harmonic reducer 12, and transmission shaft 14 connects and sets up on harmonic reducer 12, and the transmission shaft 14 other end runs through reduction gear shell 13 and sets up. The deep groove ball bearing 15 is arranged in the reducer shell 13, and the deep groove ball bearing 15 is sleeved on the transmission shaft 14.
The harmonic reducer 12 comprises a rigid gear 121, a flexible gear 123 and a wave generator 122, wherein the rigid gear 121 and the flexible gear 123 are arranged in a matched mode, a flange is arranged on the driving motor 11, the rigid gear 121, the flange and the reducer shell 13 are arranged in a matched mode through hole shafts respectively, the wave generator 122 is fixedly arranged on an output shaft of the driving motor 11, and the flexible gear 123 and the transmission shaft 14 are fixedly arranged.
Fig. 4 is a schematic structural view of the lock bolt 4, fig. 5 is a schematic structural view of the lock nut 5, fig. 6 is a schematic structural view of the nut base 9, the top of the lock bolt 4 has external threads, the bottom of the lock bolt 4 is provided with square holes to realize torque transmission, and the lock bolt 4 can slide along the transmission shaft 14 and can tolerate a larger coaxiality error. The bottom of the locking bolt 4 is an outer spherical surface, an inner spherical surface is arranged in the reducer shell 13, and the locking bolt 4 is matched with the reducer shell 13 through the outer spherical surface and the inner spherical surface to be in contact arrangement so as to adapt to the locking boltTilt error of the pin 4. The locking nut 5 is pressed by a nut pressing spring 7, the protruding pressing surface of the locking nut 5 is about 4mm when the locking nut is not jacked by the locking bolt 4, and the locking nut 5 is connected with an accommodating groove provided with a protruding part of the locking nut 5. Solid MoS is adopted between sliding surfaces of the locking mechanism2Lubrication and cold welding prevention.
The nut base 9 comprises a pressing surface, the nut base 9 is in contact with the bolt shell 8 through the pressing surface, and the nut base 9 is arranged in a four-boss structure to enlarge the supporting area and improve the connection rigidity. The locking nut 5 adopts a hexagonal boss, a hexagonal hole is formed in the nut base 9, and the locking nut 5 is arranged in the nut base 9 through the mutual matching of the hexagonal boss and the hexagonal hole so as to limit the rotation of the locking nut 5 in the thread meshing process.
When the tightening torque is applied, at least 3 sets of locking mechanisms are used, and the tightening torque is applied uniformly, symmetrically and step by step in the tightening process. The working principle is as follows: under the initial condition, the lock bolt 4 and the lock bolt 4 have moved to coaxial state, connecting piece 2 together with nut base 9, lock nut 5, nut pressure spring 7 have been close to by connecting piece 3 under the actuation of other displacement mechanisms until connecting the face laminating, lock nut 5 and nut pressure spring 7 are promoted by lock bolt 4 and move up about 2mm, because lock bolt 4 and lock nut 5 all have the design of chamfer, the chamfer of lock bolt 4 pushes up the chamfer of lock nut 5, internal and external screw thread is in half meshing or non-meshing state this moment.
The driving motor 11 is powered on, the output shaft of the driving motor 11 drives the wave generator 122 to rotate, and the driving motor 11 drives the flexible gear 123 and the transmission shaft 14 to rotate after speed reduction, so as to drive the locking bolt 4 to rotate. Since the lock nut 5 is restricted in rotational freedom by the hexagonal hole and is pressed by the nut hold-down spring 7, the external thread at the top end of the lock bolt 4 is fully engaged with the internal thread of the nut in a half-engaged or non-engaged state after the lock bolt rotates by a certain angle. The locking bolt 4 continues to rotate, the locking nut 5 moves downwards for 2mm under the action of the thread pair until the locking nut is attached to the inner end face of the thread base, the locking nut 5 cannot move continuously, and the locking bolt 4 starts to move upwards until the step face of the locking bolt 4 is attached to the inner end face of the bolt shell 8; the driving motor 11 is continuously electrified, the step surface of the locking bolt 4 is attached to the bolt shell 8, the locking bolt 4 starts to generate a screwing torque under the action of the motor, the torque gradually increases along with the rotation of the bolt, and the motor is powered off and the locking is completed by controlling the pulse frequency or the current until the required torque requirement is met.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (9)
1. A space load shifts and uses the locking device of the electronic screw pair, characterized by that, including driving assembly (1), link (2) and link (3) by;
the driving assembly (1) comprises a driving motor (11) and a transmission shaft (14), the transmission shaft (14) is arranged on the driving motor (11), and the transmission shaft (14) is driven by the driving motor (11) to rotate;
a nut base (9) is arranged on the connecting piece (2), a first through groove is formed in the nut base (9), a locking nut (5) and a nut compression spring (7) are arranged in the first through groove, the locking nut (5) is arranged in the first through groove in a sliding mode, and the nut compression spring (7) is arranged between the locking nut (5) and the connecting piece (2);
a bolt shell (8) is arranged on the connected piece (3), a locking bolt (4) is arranged in the bolt shell (8), one end of the locking bolt (4) is arranged corresponding to the locking nut (5), and the other end of the locking bolt (4) is arranged corresponding to the transmission shaft (14);
the locking bolt (4) is meshed with the locking nut (5) through rotation of the transmission shaft (14), and the connecting piece (2) and the connected piece (3) are pressed tightly.
2. The electric screw pair locking device for space load deflection according to claim 1, wherein the driving assembly (1) further comprises a harmonic reducer (12) and a reducer housing (13), the harmonic reducer (12) is connected and arranged on the driving motor (11), the reducer housing (13) is sleeved on the harmonic reducer (12), the transmission shaft (14) is connected and arranged on the harmonic reducer (12), and the other end of the transmission shaft (14) penetrates through the reducer housing (13).
3. The electric screw pair locking device for space load deflection according to claim 2, wherein the driving assembly (1) further comprises a deep groove ball bearing (15), the deep groove ball bearing (15) is arranged in the reducer housing (13), and the deep groove ball bearing (15) is sleeved on the transmission shaft (14).
4. The electric screw pair locking device for space load deflection according to claim 3, wherein the harmonic reducer (12) comprises a rigid gear (121), a flexible gear (123) and a wave generator (122), the rigid gear (121) and the flexible gear (123) are arranged in a matched manner, a flange is arranged on the driving motor (11), the rigid gear (121) is respectively arranged in a matched manner with the flange and the reducer housing (13) through hole shafts, the wave generator (122) is fixedly arranged on an output shaft of the driving motor (11), and the flexible gear (123) and the transmission shaft (14) are fixedly arranged.
5. The electric screw pair locking device for space load deflection according to claim 1, wherein a second through groove is formed in the bolt housing (8), a locking bolt (4) and a bolt compression nut are arranged in the second through groove, the locking bolt (4) is slidably arranged in the second through groove, and the bolt compression nut is arranged between the locking bolt (4) and the bolt housing (8).
6. The locking device of an electric screw pair for space load deflection according to claim 1, wherein the top of the locking bolt (4) is provided with an external thread, the bottom of the locking bolt (4) is provided with a square hole, the bottom of the locking bolt (4) is an outer spherical surface, an inner spherical surface is arranged in the reducer housing (13), and the locking bolt (4) is arranged in contact with the reducer housing (13) through the mutual matching of the outer spherical surface and the inner spherical surface.
7. The electric screw pair locking device for space load deflection according to claim 1, wherein the nut base (9) comprises a pressing surface, the nut base (9) is in contact with the bolt housing (8) through the pressing surface, and the nut base (9) is arranged in a four-boss structure.
8. The electric screw pair locking device for space load deflection according to claim 7, wherein the lock nut (5) is a hexagonal boss, the nut base (9) is provided with a hexagonal hole, and the lock nut (5) is arranged in the nut base (9) through the mutual fit of the hexagonal boss and the hexagonal hole.
9. The electric screw pair locking device for space load deflection according to claim 1, wherein the driving motor (11) is powered on, an output shaft of the driving motor (11) drives the wave generator (122) to rotate, and the driving motor (11) drives the flexible gear (123) and the transmission shaft (14) to rotate after being decelerated, so as to drive the locking bolt (4) to rotate; the locking bolt (4) continues to rotate, the locking nut (5) moves downwards for 2mm under the action of the thread pair until the locking nut is attached to the inner end face of the thread base, the locking nut (5) cannot move continuously, and the locking bolt (4) starts to move upwards until the step face of the locking bolt (4) is attached to the inner end face of the bolt shell (8); the driving motor (11) is continuously electrified, the step surface of the locking bolt (4) is attached to the bolt shell (8), the locking bolt (4) starts to generate tightening torque under the action of the driving motor (11), the driving motor (11) is powered off along with the rotation of the locking bolt (4) until the required torque requirement is met, and the locking is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111449576.2A CN114321131A (en) | 2021-11-30 | 2021-11-30 | Electric screw pair locking device for space load deflection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111449576.2A CN114321131A (en) | 2021-11-30 | 2021-11-30 | Electric screw pair locking device for space load deflection |
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| Publication Number | Publication Date |
|---|---|
| CN114321131A true CN114321131A (en) | 2022-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111449576.2A Pending CN114321131A (en) | 2021-11-30 | 2021-11-30 | Electric screw pair locking device for space load deflection |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001059928A (en) * | 1999-08-23 | 2001-03-06 | Ishikawajima Harima Heavy Ind Co Ltd | Device for adjusting optical element angle of optical instrument |
| CN101236288A (en) * | 2007-11-30 | 2008-08-06 | 北京空间机电研究所 | Spatial observation optical remote sensing equipment very large diameter expansible primary mirror precision locking apparatus |
| US20090284852A1 (en) * | 2008-05-19 | 2009-11-19 | Ryozo Hosoda | Lens drive mechanism and optical pickup having same |
| CN203560401U (en) * | 2013-10-31 | 2014-04-23 | 无锡汉神电气有限公司 | Flexible drive coupling mechanism |
| CN108190051A (en) * | 2018-02-09 | 2018-06-22 | 北京航空航天大学 | A kind of super large load tripper of SMA driving |
| CN207522520U (en) * | 2017-12-04 | 2018-06-22 | 睿贞（上海）自动化科技有限公司 | A kind of single motor drives bolt tensioning jack handgrip |
| CN109445063A (en) * | 2018-11-05 | 2019-03-08 | 南通大学 | A kind of installation auxiliary device of laser mirror piece and pedestal |
| CN111624730A (en) * | 2020-05-29 | 2020-09-04 | 中国科学院长春光学精密机械与物理研究所 | Quick reflector with double flexible structure |
| CN214617735U (en) * | 2020-11-26 | 2021-11-05 | 大族激光科技产业集团股份有限公司 | Motor direct-coupled harmonic reducer with eccentric shaft |
-
2021
- 2021-11-30 CN CN202111449576.2A patent/CN114321131A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001059928A (en) * | 1999-08-23 | 2001-03-06 | Ishikawajima Harima Heavy Ind Co Ltd | Device for adjusting optical element angle of optical instrument |
| CN101236288A (en) * | 2007-11-30 | 2008-08-06 | 北京空间机电研究所 | Spatial observation optical remote sensing equipment very large diameter expansible primary mirror precision locking apparatus |
| US20090284852A1 (en) * | 2008-05-19 | 2009-11-19 | Ryozo Hosoda | Lens drive mechanism and optical pickup having same |
| CN203560401U (en) * | 2013-10-31 | 2014-04-23 | 无锡汉神电气有限公司 | Flexible drive coupling mechanism |
| CN207522520U (en) * | 2017-12-04 | 2018-06-22 | 睿贞（上海）自动化科技有限公司 | A kind of single motor drives bolt tensioning jack handgrip |
| CN108190051A (en) * | 2018-02-09 | 2018-06-22 | 北京航空航天大学 | A kind of super large load tripper of SMA driving |
| CN109445063A (en) * | 2018-11-05 | 2019-03-08 | 南通大学 | A kind of installation auxiliary device of laser mirror piece and pedestal |
| CN111624730A (en) * | 2020-05-29 | 2020-09-04 | 中国科学院长春光学精密机械与物理研究所 | Quick reflector with double flexible structure |
| CN214617735U (en) * | 2020-11-26 | 2021-11-05 | 大族激光科技产业集团股份有限公司 | Motor direct-coupled harmonic reducer with eccentric shaft |
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