CN114204746A - Integrated steering engine device - Google Patents
Integrated steering engine device Download PDFInfo
- Publication number
- CN114204746A CN114204746A CN202111530307.9A CN202111530307A CN114204746A CN 114204746 A CN114204746 A CN 114204746A CN 202111530307 A CN202111530307 A CN 202111530307A CN 114204746 A CN114204746 A CN 114204746A
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- motor
- steering engine
- fixed
- engine device
- wheel
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- 229910000831 Steel Inorganic materials 0.000 description 23
- 239000010959 steel Substances 0.000 description 23
- 238000009434 installation Methods 0.000 description 17
- 239000003638 chemical reducing agent Substances 0.000 description 13
- 238000003466 welding Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention relates to the technical field of steering engines, in particular to an integrated steering engine device. The integration steering wheel device includes: a housing; the frameless motor comprises a motor stator and a motor rotor, wherein the motor stator is fixed in the shell; harmonic speed reducer ware, including wave generator, steel wheel, output wheel and flexbile gear, the steel wheel is fixed in the casing, the output wheel rotates to be installed in the casing, the flexbile gear overlap in the wave generator outside and simultaneously with steel wheel and output wheel meshing, the output wheel coaxial fixation has the installation axle, the installation axle extends to the inside installation department that forms of electric motor rotor, wave generator with electric motor rotor coaxial links firmly and rotates the suit on the installation axle. The integrated steering engine device provided by the invention achieves the development requirements of miniaturization and light weight of the steering engine through the mutual integration and integrated design of the sensor, the frameless motor, the harmonic reducer and the control and control driving printed board.
Description
Technical Field
The invention relates to the technical field of steering engines, in particular to an integrated steering engine device.
Background
The steering engine is used as an actuating mechanism of systems such as missile weapons, robots and various unmanned aerial vehicles, is responsible for executing corresponding actions according to instructions of a control system, and is an important component for realizing normal, reliable and stable operation of the system. Along with the development of novel equipment technology, the steering engine develops towards miniaturization and light weight.
The existing steering engine mostly adopts a split type structure, namely, control, drive and execution components are independent, the number of single machines of the product is increased, the occupied volume is larger, and the weight is larger.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects of large volume and large weight of the steering engine in the prior art, thereby providing a highly integrated steering engine device.
In order to solve the technical problem, the invention provides an integrated steering engine device, which comprises:
a housing;
the frameless motor comprises a motor stator and a motor rotor, wherein the motor stator is fixed in the shell;
harmonic speed reducer ware, including wave generator, steel wheel, output wheel and flexbile gear, the steel wheel is fixed in the casing, the output wheel rotates to be installed in the casing, the flexbile gear overlap in the wave generator outside and simultaneously with steel wheel and output wheel meshing, the output wheel coaxial fixation has the installation axle, the installation axle extends to the inside installation department that forms of electric motor rotor, wave generator with electric motor rotor coaxial links firmly and rotates the suit on the installation axle.
Optionally, the method further includes:
the sensor comprises a sensor circuit board and rotor magnetic steel, wherein the sensor circuit board is fixed on the shell, and the rotor magnetic steel is coaxially fixed on the mounting part.
Optionally, the method further includes:
and the control drive printed board is fixed in the shell, a first pin is arranged on the control drive printed board, and the first pin is connected with the sensor circuit board in a welding mode.
Optionally, the sensor circuit board is integrated with an induction chip and a sensor outgoing line, the induction chip is suitable for being matched with the rotor magnetic steel to acquire angle signals, and the sensor outgoing line is connected with the first pin in a welding mode.
Optionally, the frameless motor further includes a motor circuit board fixed to the motor stator, and the control drive printed board is further provided with a second pin, and the second pin is connected to the motor circuit board in a welded manner.
Optionally, the motor circuit board is integrated with a hall sensor and a motor outgoing line, and the motor outgoing line is connected with the second pin in a welding mode.
Optionally, only one electrical connection port is arranged on the control drive printed board, and the electrical connection port is suitable for communicating with an external interface.
Optionally, the method further includes:
the fixed suit of first bearing, its inner circle is in install the epaxial, the inner wall of wave generator and electric motor rotor's inner wall form an annular holding tank jointly, the outer lane of first bearing is arranged in order to realize axial positioning in the annular holding tank.
Optionally, the method further includes:
and the inner ring of the second bearing is fixedly sleeved on the outer side of the output wheel, and the outer ring of the second bearing is fixed in the shell.
Optionally, the method further includes:
and the inner ring of the third bearing is fixedly sleeved outside the mounting part, and the outer ring of the third bearing is fixed in the shell.
The technical scheme of the invention has the following advantages:
1. the integrated steering engine device provided by the invention adopts the frameless motor and the harmonic reducer, the motor rotor is connected with the wave generator to drive the harmonic reducer by the frameless motor, meanwhile, the rotor of the frameless motor and the wave generator are sleeved on the installation shaft extending from the output wheel, and the installation shaft reversely extends into the motor rotor, so that the frameless motor and the harmonic reducer are integrated, the weight and the volume of the whole device are reduced, and the integrated steering engine device is more in line with the development trend of miniaturization and light weight of the steering engine. In addition, the output speed reduction and torque increase of the motor are realized through a harmonic speed reduction principle, and the transmission design with a large speed reduction ratio is completed.
2. The integrated steering engine device provided by the invention adopts the non-contact type magnetic-inductive sensor consisting of the sensor circuit board and the rotor magnetic steel, and has high precision and strong anti-interference capability. In addition, the rotor magnetic steel is fixed on the mounting part, so that the axial space size is utilized to the maximum extent, and the axial length of the whole device is shortened.
3. The integrated steering engine device provided by the invention is provided with the control drive printed board, the control drive printed board is in welding communication with the sensor circuit board through the first pin and is in welding communication with the motor circuit board through the second pin, the arrangement of a lead-out cable is omitted, the limited space is fully utilized, and the integration level is higher.
4. According to the integrated steering engine device provided by the invention, the stator of the frameless motor is integrated with the shell, the motor circuit board is arranged on the frameless motor, the control drive printed board is in welding communication with the motor circuit board through the second pin, and the size and the weight of the motor are reduced to the maximum extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of an integrated steering engine device according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a frameless motor according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a harmonic reducer according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a sensor according to an embodiment of the present invention.
Description of reference numerals:
1. a housing; 11. a first housing; 12. a second housing; 2. a frameless motor; 21. a motor stator; 22. a motor rotor; 23. a motor circuit board; 3. a harmonic reducer; 31. a wave generator; 32. a steel wheel; 33. an output wheel; 34. a flexible gear; 35. installing a shaft; 351. an installation part; 4. a sensor; 41. a sensor circuit board; 42. rotor magnetic steel; 5. controlling and driving the printed board; 51. a first pin; 52. a second pin; 53. an electrical connection port; 6. a first bearing; 7. a second bearing; 8. a third bearing; 9. and (7) a cover plate.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Examples
As shown in fig. 1 to fig. 3, the present embodiment provides an integrated steering engine device, including:
a housing 1;
the frameless motor 2 comprises a motor stator 21 and a motor rotor 22, wherein the motor stator 21 is fixed in the shell 1; the frameless motor 2 is a motor structure which only has a stator and a rotor during delivery and supports the stator and the rotor according to the requirement during installation; the frameless motor 2 is preferably a flat frameless torque motor, the motor stator 21 is preferably sleeved in the housing 1 in an interference manner to form a motor stator 21 assembly, the electronic winding is positioned through the housing 1, and the motor stator 21 assembly can be fixed in the housing 1 by adopting common fixing methods such as bolts and the like;
the harmonic reducer 3 comprises a wave generator 31, a steel wheel 32, an output wheel 33 and a flexible wheel 34, wherein the steel wheel 32 is fixed in the shell 1, the output wheel 33 is rotatably installed in the shell 1, the flexible wheel 34 is sleeved outside the wave generator 31 and is simultaneously meshed with the steel wheel 32 and the output wheel 33, a mounting shaft 35 is coaxially fixed on the output wheel 33, the mounting shaft 35 extends into the motor rotor 22 to form a mounting part 351, and the wave generator 31 is coaxially fixedly connected with the motor rotor 22 and is rotatably sleeved on the mounting shaft 35; the steel wheel 32 can be fixed in the shell 1 by adopting a bolt, interference fit, buckle and the like, preferably adopting the interference fit; the output wheel 33 can be rotatably mounted in the housing 1 by means of a bearing, clearance fit, or the like, preferably in the housing 1 by means of a bearing, such as the second bearing 7 in fig. 1 and 3, and its inner ring is fixedly sleeved on the outer side of the output wheel 33 and its outer ring is fixed in the housing 1; the mounting shaft 35 can be fixedly connected with the output wheel 33 through bolts or can be integrally formed; the wave generator 31 and the motor rotor 22 are preferably fixedly connected through bolts, so that the assembly and disassembly are convenient, and the wave generator and the motor rotor can also be fixedly connected through fastening, welding and other modes; the whole after wave generator 31 and electric motor rotor 22 link firmly is preferred to be installed on installation axle 35 through the bearing, like first bearing 6 in fig. 1, its inner circle fixed suit is on installation axle 35, the inner wall of wave generator 31 and electric motor rotor 22's inner wall form an annular holding tank jointly, annular holding tank is arranged in order to realize axial positioning in first bearing 6's outer lane, first bearing 6 can be single bearing, also can set up two bearings or a plurality of bearing formation bearing group as required, the whole after wave generator 31 and electric motor rotor 22 link firmly also can be installed on installation axle 35 through axial limit structure such as clearance fit plus shaft shoulder. The harmonic reducer 3 is a structure mature in the field, for example, as described in patent publication No. CN103727209A or CN103671743A, and the detailed design of each part structure is not described herein.
In the integrated steering engine device of the embodiment, the frameless motor 2 is adopted as the driving structure, the harmonic reducer 3 is adopted as the speed reducing structure, the motor rotor 22 of the frameless motor 2 is connected with the wave generator 31 of the harmonic reducer 3 to complete driving, the whole body after the motor rotor 22 and the wave generator 31 are connected is sleeved on the mounting shaft 35 extending out of the output wheel 33 of the harmonic reducer 3, the frameless motor 2 and the harmonic reducer 3 are mutually integrated, the mounting space is saved, and the weight is smaller compared with the gear speed reducing structure.
When the flexible gear is in work, the motor rotor 22 rotates to drive the wave generator 31 to rotate, the wave generator 31 rotates to cause the flexible gear 34 to deform, the flexible gear 34 is meshed with the steel gear 32 and rotates slowly in the circumferential direction, the output gear 33 is driven to rotate, and the load is connected with the output gear 33 to output torque.
Referring to fig. 1 and 4, as a further improvement of the above solution, the integrated steering engine device further includes:
the sensor 4 includes a sensor circuit board 41 and rotor magnetic steel 42, the sensor circuit board 41 is fixed on the casing 1, and the rotor magnetic steel 42 is coaxially fixed on the mounting portion 351. Specifically, a cover plate 9 can be fixed on the housing 1, and the sensor circuit board 41 is fixed on the cover plate 9, so that the installation is more convenient and reliable. The rotor magnetic steel 42 may be fixed to the mounting portion 351 by a bolt, or a screw hole may be formed in an end surface of the mounting portion 351, and the rotor magnetic steel 42 is directly screwed into the screw hole, as shown in fig. 1. This improves the structure, and sensor 4's rotor magnet steel 42 is fixed on installation department 351, has realized sensor 4, frameless motor 2 and harmonic reducer 3's integration setting, and the structure is compacter, and occupation space is littleer.
Referring to fig. 1, as a further improvement of the above scheme, the integrated steering engine device further includes:
and the control drive printed board 5 is fixed in the shell 1, and is provided with a first pin 51, and the first pin 51 is connected with the sensor circuit board 41 in a welding manner.
The improved structure fully utilizes the limited space in the shell 1, saves the arrangement of cables, is simple and reliable, and greatly reduces the space occupation.
Specifically, the sensor circuit board 41 is integrated with an induction chip and a sensor outgoing line, the induction chip is suitable for being matched with the rotor magnetic steel 42 to collect an angle signal, and the sensor outgoing line is connected with the first pin 51 in a welding mode. During operation, rotor magnet steel 42 rotates along with installation axle 35 synchronous, and the angle signal of output wheel 33 is acquireed through the rotation angle of gathering rotor magnet steel 42 to the response chip.
Referring to fig. 1 and 2, as a further improvement of the above solution, the frameless motor 2 further includes a motor circuit board 23 fixed to the motor stator 21, and the control drive printed board 5 is further provided with a second pin 52, and the second pin 52 is connected to the motor circuit board 23 by soldering. The frameless motor 2 replaces a cable through the motor circuit board 23, so that the occupied space is reduced, and the structure is simpler and more reliable.
Specifically, the motor circuit board 23 is integrated with a hall sensor and a motor lead-out wire, and the motor lead-out wire is connected with the second pin 52 in a welding manner.
Referring to fig. 1, as a further improvement of the above solution, only one electrical connection port 53 is provided on the control drive printed board 5, the electrical connection port 53 being adapted to communicate with an external interface. Since both the sensor circuit board 41 and the motor circuit board 23 are solder-communicated with the control drive printed board 5, only one electrical connection port 53 is provided to enable control and power supply of the components and the external structure. Only one electrical connection port 53 is arranged, so that the connection topology is simplified, and the reliability of the product is improved.
Referring to fig. 1, as a further improvement of the above-described configuration, the mounting portion 351 is rotatably mounted in the housing 1 by a third bearing 8, and an inner ring thereof is fixedly fitted to the outside of the mounting portion 351 and an outer ring thereof is fixed in the housing 1. The one end of installation axle 35 links firmly with output wheel 33, and output wheel 33 rotates and installs in casing 1, and the installation axle 35 other end rotates through third bearing 8 and installs in casing 1, has guaranteed installation axle 35 pivoted steady like this to the rotational accuracy requirement of electric motor rotor 22 and wave generator 31 has been satisfied.
Specifically, in order to install each part, the housing 1 is composed of a first housing 11 and a second housing 22, and the first housing 11 and the second housing 12 are buckled together to form an integral housing of the steering engine.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (10)
1. Integration steering wheel device, its characterized in that includes:
a housing (1);
the frameless motor (2) comprises a motor stator (21) and a motor rotor (22), wherein the motor stator (21) is fixed in the shell (1);
harmonic reducer ware (3), including wave generator (31), steel wheel (32), output wheel (33) and flexbile gear (34), steel wheel (32) are fixed in casing (1), output wheel (33) rotate to be installed in casing (1), flexbile gear (34) overlap in wave generator (31) outside and simultaneously with steel wheel (32) and output wheel (33) meshing, be fixed with on output wheel (33) installation axle (35) just installation axle (35) with output wheel (33) coaxial arrangement, installation axle (35) extend to motor rotor (22) inside formation installation department (351), wave generator (31) with motor rotor (22) coaxial link firmly and rotate the suit on installation axle (35).
2. The integrated steering engine device of claim 1, further comprising:
sensor (4), including sensor circuit board (41) and rotor magnet steel (42), sensor circuit board (41) are fixed on casing (1), rotor magnet steel (42) are fixed on installation department (351) and with installation department (351) coaxial arrangement.
3. The integrated steering engine device of claim 2, further comprising:
and the control drive printed board (5) is fixed in the shell (1), a first pin (51) is arranged on the control drive printed board, and the first pin (51) is connected with the sensor circuit board (41) in a welding mode.
4. The integrated steering engine device according to claim 3, wherein the sensor circuit board (41) is integrated with an induction chip and a sensor lead-out wire, the induction chip is suitable for being matched with the rotor magnetic steel (42) to collect angle signals, and the sensor lead-out wire is connected with the first pin (51) in a welding manner.
5. The integrated steering engine device according to claim 3, wherein the frameless motor (2) further comprises a motor circuit board (23) fixed to the motor stator (21), the control drive printed board (5) is further provided with a second pin (52), and the second pin (52) is connected with the motor circuit board (23) in a welded manner.
6. The integrated steering engine device according to claim 5, wherein the motor circuit board (23) is integrated with a Hall sensor and a motor lead-out wire, and the motor lead-out wire is connected with the second pin (52) in a welding manner.
7. The integrated steering engine device according to claim 5, wherein only one electrical connector (53) is provided on the control drive printed board (5), and the electrical connector (53) is adapted to communicate with an external interface.
8. The integrated steering engine device of any one of claims 1 to 7, further comprising:
first bearing (6), its inner circle fixed suit is in on installation axle (35), the inner wall of wave generator (31) and the inner wall of electric motor rotor (22) form an annular holding tank jointly, the outer lane of first bearing (6) is arranged in the annular holding tank in order to realize axial positioning.
9. The integrated steering engine device of claim 8, further comprising:
and the inner ring of the second bearing (7) is fixedly sleeved on the outer side of the output wheel (33), and the outer ring of the second bearing is fixed in the shell (1).
10. The integrated steering engine device of claim 9, further comprising:
and the inner ring of the third bearing (8) is fixedly sleeved on the outer side of the mounting part (351), and the outer ring of the third bearing is fixed in the shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111530307.9A CN114204746A (en) | 2021-12-14 | 2021-12-14 | Integrated steering engine device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111530307.9A CN114204746A (en) | 2021-12-14 | 2021-12-14 | Integrated steering engine device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114204746A true CN114204746A (en) | 2022-03-18 |
Family
ID=80653746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111530307.9A Pending CN114204746A (en) | 2021-12-14 | 2021-12-14 | Integrated steering engine device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114204746A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116455133A (en) * | 2023-06-16 | 2023-07-18 | 广东群宇互动科技有限公司 | Particle building block module type magnetic control coupling and steering engine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201352736Y (en) * | 2009-02-11 | 2009-11-25 | 宁波北斗科技有限公司 | Harmonic wave brushless motor |
| CN103671743A (en) * | 2013-11-29 | 2014-03-26 | 清华大学 | Planetary and harmonic combined speed reducer |
| CN109366480A (en) * | 2018-12-19 | 2019-02-22 | 浙江双环传动机械股份有限公司 | A kind of dynamoelectric controlled integrated joint of robot mould group of high integration |
| CN112706188A (en) * | 2019-10-24 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
| US20210197404A1 (en) * | 2019-12-31 | 2021-07-01 | Ubtech Robotics Corp Ltd | Robot joint and robot having the same |
| 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
- 2021-12-14 CN CN202111530307.9A patent/CN114204746A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201352736Y (en) * | 2009-02-11 | 2009-11-25 | 宁波北斗科技有限公司 | Harmonic wave brushless motor |
| CN103671743A (en) * | 2013-11-29 | 2014-03-26 | 清华大学 | Planetary and harmonic combined speed reducer |
| CN109366480A (en) * | 2018-12-19 | 2019-02-22 | 浙江双环传动机械股份有限公司 | A kind of dynamoelectric controlled integrated joint of robot mould group of high integration |
| CN112706188A (en) * | 2019-10-24 | 2021-04-27 | 库卡机器人制造（上海）有限公司 | Robot and driving module thereof |
| US20210197404A1 (en) * | 2019-12-31 | 2021-07-01 | Ubtech Robotics Corp Ltd | Robot joint and robot having the same |
| 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 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116455133A (en) * | 2023-06-16 | 2023-07-18 | 广东群宇互动科技有限公司 | Particle building block module type magnetic control coupling and steering engine |
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Application publication date: 20220318 |