CN207975222U - Multiple harmonic drive with double-clutch mechanism - Google Patents
Multiple harmonic drive with double-clutch mechanism Download PDFInfo
- Publication number
- CN207975222U CN207975222U CN201820248801.3U CN201820248801U CN207975222U CN 207975222 U CN207975222 U CN 207975222U CN 201820248801 U CN201820248801 U CN 201820248801U CN 207975222 U CN207975222 U CN 207975222U
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- China
- Prior art keywords
- electromagnetic disc
- metal dish
- axle sleeve
- bearing
- flexible external
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Abstract
The utility model is related to for the multiple harmonic drive with double-clutch mechanism, feature be include first and second wave producer, first and second flexible external gear, first and second rigid internal gear, first to the electromagnetic disc of third axle sleeve, first and the 4th, first and second metal dish, central shaft and total output shaft；First and second wave producer is respectively provided in first and second flexible external gear；First and second flexible external gear is respectively provided in first and second rigid internal gear, and the first axle sleeve is connect with the first flexible external gear；First is arranged on center shaft to third axle sleeve；First metal dish is set on center shaft, first and second electromagnetic disc is located at the left and right sides of the first metal dish；Second wave producer is connect with the second axle sleeve；Third axle sleeve is connect with the second flexible external gear；4th electromagnetic disc is located at the right end of central shaft, and third and the 4th electromagnetic disc are located at the left and right sides of the second metal dish, and total output shaft is connect with the second metal dish.Its advantage is：It can be converted between level-one harmonic drive and two level harmonic drive.
Description
Technical field
The utility model is related to a kind of multiple harmonic drives with double-clutch mechanism.
Background technology
Currently, high-precision robot, high-precision 3D printer, high-precision dynamoelectric equipment, ultra-precision machine tool, ultraprecise instrument with
And the equipment such as high-precision detection device require pole to the feeding resolution ratio of transmission system, repetitive positioning accuracy and stable movement degree
Therefore height many times needs the harmonic gear transmission device of large transmission ratio and high transmission accuracy；Harmonic gear transmission device
Utility model has over half a century, mainly include harmonic oscillator, flexible bearing, rigid gear and flexible gear, according to
The flexible deformation generated by flexible gear is driven to realize；Harmonic Gears since the advantage of its own is used widely,
But common harmonic driving device and some existing two level harmonic speed reducers cannot meet due to being limited to its own structure deficiency
The requirement of some high-precision equipments.
Invention content
A kind of multiple harmonic wave with double-clutch mechanism is provided the purpose of the utility model is to overcome the deficiencies in the prior art
Transmission device not only has high feeding resolution ratio, repetitive positioning accuracy and stable movement degree, the also fine tuning with superelevation
Precision can combine step speed regulation with stepless speed regulation, be turned between level-one harmonic drive and two level harmonic drive at any time
It changes, simple in structure, dependable performance.
In order to achieve the above object, the utility model is realized in this way, it is a kind of multiple humorous with double-clutch mechanism
Wave transmission device, including：
The flexible external gear of first wave producer, the first flexible bearing and first；First wave producer is soft by first
Property bearing be located in the first flexible external gear, the rotation of the first wave producer drives the first flexible external gear rotation；
First rigid internal gear, the first key and the first axle sleeve；Described first flexible external gear is located at the first rigid internal gear
In and be intermeshed rotation, the left end of first axle sleeve is fixedly connected by the first key with the first flexible external gear；
First electromagnetic disc, the first metal dish, central shaft and the first feather key；The left part of the central shaft passes through the first feather key
Being located in the endoporus of the first axle sleeve simultaneously can left and right axial movement；First metal dish is fixed on the left part of central shaft；First electricity
Disk is fixedly connected with the right end of the first axle sleeve and positioned at the left side of the first metal dish, and the first electromagnetic disc is attracted the first gold medal after being powered
Belong to disk；
The flexible external gear of second flexible bearing, the second wave producer and second；Second wave producer is soft by second
Property bearing be located in the second flexible external gear, the rotation of the second wave producer drives the second flexible external gear rotation；
Second electromagnetic disc, the second axle sleeve, the second key and second bearing；Second wave producer passes through the second key and second
The right part of axle sleeve is fixedly connected；The endoporus of second axle sleeve by second bearing be set in central shaft middle part and can be opposite
Rotation and axial movement, second electromagnetic disc are fixedly connected with the left end of the second axle sleeve and are located at the right side of the first metal dish,
Second electromagnetic disc is attracted the first metal dish after being powered；
Second rigid internal gear, third key, the second metal dish, fourth bearing, 5th bearing and third axle sleeve；Described second
Flexible external gear is located in the second rigid internal gear and is intermeshed rotation, and the left end of the third axle sleeve passes through third key and
Two flexible external gears are fixedly connected, the endoporus of the third axle sleeve by fourth bearing be set in central shaft right part and can phase
To rotationally and axially moving, the endoporus of second metal dish be arranged on center shaft by 5th bearing and can relatively rotate and
Axial movement, and the second metal dish is located at the right side of third axle sleeve；And
Sliding sleeve, the second feather key, third electromagnetic disc, total output shaft and the 4th electromagnetic disc；The third electromagnetic disc is solid with sliding sleeve
Fixed connection, the sliding sleeve and third electromagnetic disc are located at the right part of third axle sleeve by the second feather key and can be controlled on third axle sleeve
Axial movement, third electromagnetic disc are located at the left side of the second metal dish, and third electromagnetic disc is pull-in on after being powered on the second metal dish, institute
It states the 4th electromagnetic disc and fixes the right end for being located at central shaft, the 4th electromagnetic disc is located in the endoporus on the right side of the second metal dish, the 4th electricity
Disk is pull-in on after being powered on the second metal dish, and the total output shaft is fixedly connected with the second metal dish.
The right side of first electromagnetic disc is equipped with radial shallow slot, and the left side of first metal dish also is provided with radial shallow
Slot after first electromagnetic disc is powered, attracts the first metal dish to be moved to the left, the right side of the first electromagnetic disc and the first metal dish
Left side be pulled together.
The left side of second electromagnetic disc is equipped with radial shallow slot, and the right side of first metal dish also is provided with radial shallow
Slot after second electromagnetic disc is powered, attracts the first metal dish to move right, the right side of the first metal dish and the second electromagnetic disc
Left side be pulled together.
The right side of the third electromagnetic disc is equipped with radial shallow slot, and the left side of the second metal dish also is provided with radial shallow slot,
Third electromagnetic disc generates suction after being powered and moves right, and the right side of third electromagnetic disc and the left side of the second metal dish are pull-in on
Together.
The right side of second metal dish is equipped with radial shallow slot, and the left side of the 4th electromagnetic disc also is provided with radial shallow
Slot, the 4th electromagnetic disc generate suction after being powered and are moved to the left, and the right side of the second metal dish and the left side of the 4th electromagnetic disc are inhaled
It is combined.
The multiple harmonic drive with double-clutch mechanism, further includes first bearing and 3rd bearing；Described
One rigid internal gear is set in first axle by first bearing and puts on and relatively rotate, and second rigid internal gear passes through third
Bearing is set on third axle sleeve and relatively rotates.
First feather key and the second feather key can be set as free-sliding spline or ball spline as needed.
The utility model compared with prior art the advantages of be：With high feeding resolution ratio, repetitive positioning accuracy and
Stable movement degree, the also trimming precision with superelevation, can combine step speed regulation with stepless speed regulation, at any time in level-one harmonic wave
It is converted between transmission and two level harmonic drive, simple in structure, dependable performance.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of central shaft and the first metal dish in the utility model；
Fig. 3 is A-A sectional views in Fig. 2.
Specific implementation mode
Specific embodiment of the present utility model is described further below in conjunction with the accompanying drawings.It should be noted that
The explanation of these embodiments is used to help to understand the utility model, but does not constitute the restriction to the utility model.This
Outside, as long as technical characteristic involved in the various embodiments of the present invention described below does not constitute punching each other
It is prominent to be combined with each other.
In the utility model description, term " left side " and " right side ", etc. instructions orientation or positional relationship for based on attached drawing institute
The orientation or positional relationship shown is merely for convenience of description the utility model rather than requires the utility model must be with specific
Azimuth configuration and operation, therefore should not be understood as limiting the present invention.
Term " first " to " the 4th " is used for description purposes only in the description of the present invention, and should not be understood as referring to
Show or imply relative importance.
As shown in Figure 1 to Figure 3, it is the multiple harmonic drive with double-clutch mechanism, including：
First wave producer 2, the first flexible bearing 1 and the first flexible external gear 4；First wave producer 2 passes through
One flexible bearing 1 is located in the first flexible external gear 4, and the rotation of the first wave producer 2 drives the first flexible external gear 4 to rotate；
First rigid internal gear 3, the first key 5 and the first axle sleeve 31；Described first flexible external gear 4 is located in the first rigidity
In gear 3 and it is intermeshed rotation, the left end of first axle sleeve 31 is fixed and connected by the first key 5 and the first flexible external gear 4
It connects；
First electromagnetic disc 7, the first metal dish 8, central shaft 27 and the first feather key 30；The left part of the central shaft 27 passes through
First feather key 30 is located in the endoporus of the first axle sleeve 31 and can left and right axial movement；First electromagnetic disc, 7 and first metal dish 8
From left to right it is sequentially sleeved at the left part of central shaft 27, and 7 opposite central shaft of the first electromagnetic disc, the 27 rotatable and axial shifting in left and right
Dynamic, the first metal dish 8 is fixed on central shaft 27；First electromagnetic disc 7 is fixedly connected with the right end of the first axle sleeve 31, and first
Electromagnetic disc 7 is attracted the first metal dish 8 after being powered；
Second flexible bearing 24, the second wave producer 25 and the second flexible external gear 22；Second wave producer 25 is logical
It crosses the second flexible bearing 24 to be located in the second flexible external gear 22, the rotation of the second wave producer 25 drives the second flexible external gear 22
Rotation；
Second electromagnetic disc 9, the second axle sleeve 26, the second key 23 and second bearing 28；Second wave producer 25 passes through
Two keys 23 are fixedly connected with the right part of the second axle sleeve 26；During the endoporus of second axle sleeve 26 is set in by second bearing 28
The middle part of mandrel 27 simultaneously can relatively rotate and move axially, second electromagnetic disc 9 be set on central shaft 27 and can relatively in
Mandrel 27 rotates and left and right axial movement, the second electromagnetic disc（9）It is fixedly connected with the left end of the second axle sleeve 26 and is located at the first gold medal
Belong to the right side of disk 8, the second electromagnetic disc 9 is attracted the first metal dish 8 after being powered；
Second rigid internal gear 21, third key 10, the second metal dish 15, fourth bearing 19,5th bearing 18 and third axis
Set 20；Described second flexible external gear 22 is located in the second rigid internal gear 21 and is intermeshed rotation, the third axle sleeve 20
Left end be fixedly connected with the second flexible external gear 22 by third key 10, the endoporus of the third axle sleeve 20 passes through fourth bearing
19 are set in the right part of central shaft 27 and can relatively rotate and move axially, and the endoporus of second metal dish 15 passes through the 5th
Bearing 18 is set on central shaft 27 and can relatively rotate and move axially, and the second metal dish 15 is located at the right side of third axle sleeve 20
Side；And
Sliding sleeve 12, the second feather key 13, third electromagnetic disc 14, total output shaft 16 and the 4th electromagnetic disc 17；The third electromagnetism
Disk 14 is fixedly connected with sliding sleeve 12, and the sliding sleeve 12 and third electromagnetic disc 14 are located at the right side of third axle sleeve 20 by the second feather key 13
Portion simultaneously left and right axial movement, third electromagnetic disc 14 can be located at the left side of the second metal dish 15, third electromagnetism on third axle sleeve 20
Disk 14 is pull-in on after being powered on the second metal dish 15, and the 4th electromagnetic disc 17 fixes the right end for being located at central shaft 27, the 4th electricity
Disk 17 is located in the endoporus on 15 right side of the second metal dish, and the 4th electromagnetic disc 17 is pull-in on after being powered on the second metal dish 15, institute
Total output shaft 16 is stated to be fixedly connected with the second metal dish 15.
When work, when harmonic drive is level-one harmonic device, extraneous input shaft drives the rotation of the first wave producer 2,
First wave producer 2 drives the first flexible external gear 4 to rotate by the first flexible bearing 1, and the first flexible rotation of external gear 4 drives
First axle sleeve 31 rotates, and the rotation of the first axle sleeve 31 drives central shaft 27 to rotate, at this point, the first electromagnetic disc 7 and the 4th electromagnetic disc 17
It is powered simultaneously, the first electromagnetic disc 7 generates magnetic force after being powered and the first metal dish 8 is attracted to be moved to the left, and the first metal dish 8 is moved to the left
Entire central shaft 27 is driven to be moved to the left, 7 right side of the first electromagnetic disc is tightly pulled together with 8 left side of the first metal dish,
The left side of 4th electromagnetic disc 17 generates magnetic force and is tightly pulled together with 15 right side of the second metal dish after powered up, central shaft
The 4th electromagnetic disc 17 of 27 rotation is to drive the rotation of the second metal dish 15, the rotation of the second metal dish 15 to drive 16 turns of total output shaft
It is dynamic；
When harmonic drive is two level harmonic device, extraneous input shaft drives the rotation of the first wave producer 2, first wave hair
Raw device 2 drives the first flexible external gear 4 to rotate by the first flexible bearing 1, and the first flexible rotation of external gear 4 drives the first axle sleeve
31 rotations, the rotation of the first axle sleeve 31 drives central shaft 27 to rotate, at this point, the second electromagnetic disc 9 is powered simultaneously with third electromagnetic disc 14,
The energization of second electromagnetic disc 9 generates magnetic force and the first metal dish 8 is attracted to move right, 9 left side of the second electromagnetic disc and the first metal dish 8
Right side is tightly pulled together that the rotation of the second electromagnetic disc 9, the rotation of the second electromagnetic disc 9 is driven to drive 26 turns of the second axle sleeve
Dynamic, the rotation of the second axle sleeve 26 drives the rotation of the second wave producer 25, the second wave producer 25 to be driven by the second flexible bearing 24
Second flexible external gear 22 rotates, and the second flexible rotation of external gear 22 drives third axle sleeve 20 to rotate, and third electromagnetic disc 14 is powered
It generates electromagnetic attraction and moves right, the right side of third electromagnetic disc 14 and the left side of the second metal dish 15 are tightly pull-in on one
It rises, the rotation of third axle sleeve 20 drives third electromagnetic disc 14 to rotate, and the rotation of third electromagnetic disc 14 drives the second metal dish 15 to band
Dynamic total output shaft 16 rotates.
In the present embodiment, the right side of first electromagnetic disc 7 is equipped with radial shallow slot, a left side for first metal dish 8
End face also is provided with radial shallow slot, after first electromagnetic disc 7 is powered, attracts the first metal dish 8 to be moved to the left, the first electromagnetic disc 7
Right side and the left side of the first metal dish 8 be pulled together.
In the present embodiment, the left side of second electromagnetic disc 9 is equipped with radial shallow slot, the right side of first metal dish 8
End face also is provided with radial shallow slot, after second electromagnetic disc 9 is powered, attracts the first metal dish 8 to move right, the first metal dish 8
Right side and the left side of the second electromagnetic disc 9 be pulled together.
In the present embodiment, the right side of the third electromagnetic disc 14 is equipped with radial shallow slot, the left end of the second metal dish 15
Face also is provided with radial shallow slot, and third electromagnetic disc 14 generates suction after being powered and moves right, the right side of third electromagnetic disc 14 and the
The left side of two metal dish 15 is pulled together.
In the present embodiment, the right side of second metal dish 15 is equipped with radial shallow slot, the 4th electromagnetic disc 17
Left side also is provided with radial shallow slot, and the 4th electromagnetic disc 17 generates suction after being powered and is moved to the left, the right side of the second metal dish 15
It is pulled together with the left side of the 4th electromagnetic disc 17.
In the present embodiment, further include first bearing 6 and 3rd bearing 11；First rigid internal gear 3 passes through first
Bearing 6 is set on the first axle sleeve 31 and relatively rotates, and second rigid internal gear 21 is set in by 3rd bearing 11
On three axle sleeves 20 and relatively rotate.
In the present embodiment, first feather key, 30 and second feather key 13 can be set as free-sliding spline or ball as needed
Spline.
In above example, installation positioning second bearing 28, fourth bearing 19 and the 5th used between central shaft 27 and hole
Bearing 18 can be held with Linear rotary shaft, and Linear rotary shaft holds equal with keeping moving in high-precision axial movement or radial motion
Even characteristic.
Since the technologies such as electric control technology, wiring technique and electric rotary joint are highly developed, and non-the utility model
Emphasis, therefore do not represent in structure principle chart, illustrate hereby
The embodiment of the utility model is explained in detail above in association with attached drawing, but the utility model is not limited to institute
The embodiment of description.For the ordinary skill in the art, the principles of the present invention and objective are not being departed from
In the case of to these embodiments carry out it is a variety of variation, modification, replace and deformation still fall in the scope of protection of the utility model
It is interior.
Claims (7)
1. a kind of multiple harmonic drive with double-clutch mechanism, it is characterised in that including：
First wave producer（2）, the first flexible bearing（1）And the first flexible external gear（4）；First wave producer（2）It is logical
Cross the first flexible bearing（1）It is located at the first flexible external gear（4）In, the first wave producer（2）Rotation drives the first flexible external tooth
Wheel（4）Rotation；
First rigid internal gear（3）, the first key（5）And first axle sleeve（31）；Described first flexible external gear（4）It is located at first just
Property internal gear（3）In and be intermeshed rotation, first axle sleeve（31）Left end pass through the first key（5）With the first flexible external tooth
Wheel（4）It is fixedly connected；
First electromagnetic disc（7）, the first metal dish（8）, central shaft（27）And first feather key（30）；The central shaft（27）Left end
Portion passes through the first feather key（30）It is located at the first axle sleeve（31）Endoporus in and can left and right move axially；First metal dish（8）It is fixed
In central shaft（27）Left part；First electromagnetic disc（7）With the first axle sleeve（31）Right end be fixedly connected and be located at the first gold medal
Belong to disk（8）Left side, the first electromagnetic disc（7）The first metal dish is attracted after energization（8）；
Second flexible bearing（24）, the second wave producer（25）And the second flexible external gear（22）；Second wave producer
（25）Pass through the second flexible bearing（24）It is located at the second flexible external gear（22）In, the second wave producer（25）Rotation drives second
Flexible external gear（22）Rotation；
Second electromagnetic disc（9）, the second axle sleeve（26）, the second key（23）And second bearing（28）；Second wave producer（25）
Pass through the second key（23）With the second axle sleeve（26）Right part be fixedly connected；Second axle sleeve（26）Endoporus pass through the second axis
It holds（28）It is set in central shaft（27）Middle part and can relatively rotate and move axially, second electromagnetic disc（9）With the second axis
Set（26）Left end be fixedly connected and be located at the first metal dish（8）Right side, the second electromagnetic disc（9）The first metal is attracted after energization
Disk（8）；
Second rigid internal gear（21）, third key（10）, the second metal dish（15）, fourth bearing（19）, 5th bearing（18）And
Third axle sleeve（20）；Described second flexible external gear（22）It is located at the second rigid internal gear（21）In and be intermeshed rotation, institute
State third axle sleeve（20）Left end pass through third key（10）With the second flexible external gear（22）It is fixedly connected, the third axle sleeve
（20）Endoporus pass through fourth bearing（19）It is set in central shaft（27）Right part and can relatively rotate and move axially, it is described
Second metal dish（15）Endoporus pass through 5th bearing（18）It is set in central shaft（27）Above and it can relatively rotate and move axially,
And second metal dish（15）Positioned at third axle sleeve（20）Right side；And
Sliding sleeve（12）, the second feather key（13）, third electromagnetic disc（14）, total output shaft（16）And the 4th electromagnetic disc（17）；Described
Three electromagnetic discs（14）With sliding sleeve（12）It is fixedly connected, the sliding sleeve（12）And third electromagnetic disc（14）Pass through the second feather key（13）If
In third axle sleeve（20）Right part and can be in third axle sleeve（20）Upper left and right axial movement, third electromagnetic disc（14）Positioned at the second gold medal
Belong to disk（15）Left side, third electromagnetic disc（14）The second metal dish is pull-in on after energization（15）On, the 4th electromagnetic disc（17）
Fixation is located at central shaft（27）Right end, the 4th electromagnetic disc（17）Positioned at the second metal dish（15）In the endoporus on right side, the 4th electricity
Disk（17）The second metal dish is pull-in on after energization（15）On, the total output shaft（16）With the second metal dish（15）It is fixed to connect
It connects.
2. the multiple harmonic drive according to claim 1 with double-clutch mechanism, it is characterised in that described first
Electromagnetic disc（7）Right side be equipped with radial shallow slot, first metal dish（8）Left side also be provided with radial shallow slot, described
One electromagnetic disc（7）After energization, attract the first metal dish（8）It is moved to the left, the first electromagnetic disc（7）Right side and the first metal dish
（8）Left side be pulled together.
3. the multiple harmonic drive according to claim 1 with double-clutch mechanism, it is characterised in that described second
Electromagnetic disc（9）Left side be equipped with radial shallow slot, first metal dish（8）Right side also be provided with radial shallow slot, described
Two electromagnetic discs（9）After energization, attract the first metal dish（8）It moves right, the first metal dish（8）Right side and the second electromagnetic disc
（9）Left side be pulled together.
4. the multiple harmonic drive according to claim 1 with double-clutch mechanism, it is characterised in that in the third
Electromagnetic disc（14）Right side be equipped with radial shallow slot, the second metal dish（15）Left side also be provided with radial shallow slot, third electromagnetism
Disk（14）It generates suction after energization to move right, third electromagnetic disc（14）Right side and the second metal dish（15）Left side inhale
It is combined.
5. the multiple harmonic drive according to claim 1 with double-clutch mechanism, it is characterised in that described second
Metal dish（15）Right side be equipped with radial shallow slot, the 4th electromagnetic disc（17）Left side also be provided with radial shallow slot, the 4th
Electromagnetic disc（17）It generates suction after energization to be moved to the left, the second metal dish（15）Right side and the 4th electromagnetic disc（17）Left end
Face is pulled together.
6. the multiple harmonic drive according to claim 1 with double-clutch mechanism, it is characterised in that further include first
Bearing（6）And 3rd bearing（11）；First rigid internal gear（3）Pass through first bearing（6）It is set in the first axle sleeve（31）
It goes up and relatively rotates, second rigid internal gear（21）Pass through 3rd bearing（11）It is set in third axle sleeve（20）It is upper and opposite
Rotation.
7. the multiple harmonic drive according to claim 1 with double-clutch mechanism, it is characterised in that described first slides
Key（30）And second feather key（13）It can be set as free-sliding spline or ball spline as needed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820248801.3U CN207975222U (en) | 2018-02-12 | 2018-02-12 | Multiple harmonic drive with double-clutch mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820248801.3U CN207975222U (en) | 2018-02-12 | 2018-02-12 | Multiple harmonic drive with double-clutch mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207975222U true CN207975222U (en) | 2018-10-16 |
Family
ID=63767546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820248801.3U Withdrawn - After Issue CN207975222U (en) | 2018-02-12 | 2018-02-12 | Multiple harmonic drive with double-clutch mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207975222U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108286598A (en) * | 2018-02-12 | 2018-07-17 | 顺德职业技术学院 | Multiple harmonic drive with double-clutch mechanism |
-
2018
- 2018-02-12 CN CN201820248801.3U patent/CN207975222U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108286598A (en) * | 2018-02-12 | 2018-07-17 | 顺德职业技术学院 | Multiple harmonic drive with double-clutch mechanism |
| CN108286598B (en) * | 2018-02-12 | 2023-08-15 | 顺德职业技术学院 | Complex harmonic transmission device with double clutch mechanisms |
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Granted publication date: 20181016 Effective date of abandoning: 20230815 |