CN211693390U - Electrically-driven rotary power unit and quadruped robot applying same - Google Patents
Electrically-driven rotary power unit and quadruped robot applying same Download PDFInfo
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- CN211693390U CN211693390U CN202020281851.9U CN202020281851U CN211693390U CN 211693390 U CN211693390 U CN 211693390U CN 202020281851 U CN202020281851 U CN 202020281851U CN 211693390 U CN211693390 U CN 211693390U
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Abstract
The utility model discloses an electric drive gyration power pack and use its four-footed robot belongs to power pack and robot equipment technical field. The existing robot power unit only can adopt a first-stage planetary reducer to reduce speed under the limitation of a joint cavity, so that the reduction ratio of the robot power unit cannot be too high. Furthermore, the thickness size of the power unit of the structure is extremely difficult to further reduce; it is difficult to apply to smaller applications. The utility model breaks the design bias of the existing one-level speed reducer through continuous exploration and test, adopts the planet wheel and the double-gear ring with the double-gear structure, effectively saves the axial space, increases the design range of the reduction ratio and increases the application range of the power unit; furthermore, the design and processing difficulty of the power unit is effectively reduced. Meanwhile, the output gear ring is arranged for torque output, so that the reduction ratio adjusting range is larger, the size of the power unit is further reduced, and the application range of the power unit is wide.
Description
Technical Field
The utility model relates to an electric drive gyration power pack and use its four-footed robot belongs to power pack and robot equipment technical field.
Background
Chinese patent (publication No. CN 208845648U) discloses an electrically-driven rotary power unit at a robot joint and a quadruped robot applying the same, which comprises a motor base, a motor unit and a speed reducer unit, wherein the motor unit and the speed reducer unit are respectively arranged in the motor base; the motor unit comprises a motor rotor; the reducer unit comprises a sun gear, a planet gear, a gear ring and a planet carrier; the planet gear is respectively meshed with the sun gear and the gear ring, and the planet carrier is used for outputting the power of the rotary power unit; the motor rotor and the sun gear are coaxially arranged and fixedly connected. The sun gear is fixedly connected with the motor rotor on the rotor assembly, so that the structure is compact, the size is small, the axial length of the whole power unit is shortened, and the weight of the rotary power unit is reduced; the problems of incompact structure, large size of the whole power unit and the like caused by the fact that the motor unit and the speed reducer unit are used as two independent units and are connected in mechanical modes such as a coupler and the like in the prior art are solved.
However, the power output of the power unit needs to be reduced by the planet carrier of the reducer, and in order to keep the compactness of the robot joint, the size of the cavity in the robot joint is limited, so that the robot power unit can only adopt the first-stage planetary reducer to reduce the speed under the limitation of the cavity of the joint, and the reduction ratio of the power unit cannot be too high. Furthermore, the thickness size of the power unit of the structure is extremely difficult to further reduce; it is difficult to apply to smaller applications.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model aims to provide a planet wheel and a double-gear ring with a double-gear structure, which can effectively improve the reduction ratio adjusting range of a single-stage speed reducer; meanwhile, an output gear ring is arranged for torque output, so that the output gear ring has a larger reduction ratio; and further, the size and the weight of the power unit can be effectively reduced, so that the electric drive rotary power unit has wide application range and the quadruped robot applying the electric drive rotary power unit.
In order to achieve the above purpose, the technical scheme of the utility model is that:
an electrically-driven rotary power unit comprises a motor and a speed reducer unit,
the speed reducer unit comprises a sun gear fixedly connected with a rotating shaft of the motor rotor, a planet gear matched with the sun gear for transmission, a fixed gear ring meshed with the planet gear, and an output gear ring matched with the planet gear for torque output;
the planet gear comprises a planet input gear in gear connection with the sun gear and a planet output gear in gear connection with the output gear ring;
the planet input gear and the planet output gear are overlapped and fixedly connected together and rotate synchronously;
the motor drives the sun gear to rotate, the sun gear drives the planet input gear of the planet gear to rotate, the planet output gear which rotates synchronously with the planet input gear drives the output gear ring to rotate and output, and the speed reduction output of the motor is completed.
The utility model discloses through constantly exploring and experimental, break current one-level reduction gear design bias, adopt planet wheel and the double gear circle that has the double gear structure, effectively practiced thrift the axial space, increased the design scope of reduction ratio, enlarged power unit's application range, further, effectively reduced power unit's the design and the processing degree of difficulty. Meanwhile, the output gear ring is arranged for torque output, so that the output gear ring has a larger reduction ratio, the size of the power unit is further reduced, and the application range of the power unit is wide.
Furthermore, the utility model discloses a reduction gear can arrange and put or be close to motor center cavity front position at motor center cavity, further practices thrift the axial space.
As a preferable technical measure:
the number of teeth of the sun gear is less than that of the teeth of the planet input gear, and the sun gear and the planet input gear are meshed;
the number of teeth of the planetary input gear is more than that of the teeth of the planetary output gear, and the planetary input gear and the planetary output gear are fixedly connected and coaxially arranged;
the planet output gear is internally meshed with the output gear ring, so that the structure is compact, and the adjustment range of the reduction ratio is further enlarged.
The module of the sun gear, the module of the planet input gear and the module of the planet output gear are the same, and the structural design is convenient.
As a preferable technical measure:
three groups of planet wheels are uniformly distributed in the fixed gear ring in a toothed connection mode;
planetary input gears of the three groups of planetary gears are externally meshed with the sun gear respectively.
Three groups of planet wheels are uniformly distributed at intervals of 120 degrees, so that the torque output capacity and the structural strength of the power unit can be effectively improved.
As a preferable technical measure:
the planet output gears of the three groups of planet gears are in gear joint with the same floating sun gear;
the planetary output gear and the floating sun gear are located within the output ring gear.
The floating sun wheel does not participate in the speed reduction function of the speed reducer, and is mainly used for improving the stress stability and reliability of the speed reducer.
As a preferable technical measure:
the outer side end of the output gear ring is fixedly connected with an output end cover used for connecting external parts of the robot joint,
a third bearing is arranged between the output end cover and the output gear ring;
the inner ring of the bearing III is fixedly connected with the output end cover and the output gear ring,
the outer ring of the bearing III is fixedly connected with a motor shell; the bearing III is a cross bearing or a deep groove ball bearing; simple structure, practicality, and convenient production and manufacture.
As a preferable technical measure:
the motor comprises a stator and an outer rotor;
the stator is fixed on an upper end cover, and the side supporting end surface of the outer rotor is far away from the output end cover relative to the stator;
or the stator is fixed on a lower end cover, and the side supporting end surface of the outer rotor is close to the output end cover relative to the stator;
the outer rotor is rotatably connected with the stator through a connecting piece and a bearing.
When the stator is fixed on the lower end cover, the cavity is reserved on the upper end cover conveniently, the stator is used for fixing the drive plate and the circuit cover plate, and the stator is simple in structure and practical.
Those skilled in the art can flexibly select the stator fixing position according to actual conditions, and it is easy to think that the shapes of the upper end cover, the lower end cover and the corresponding components can be changed correspondingly according to the stator fixing position, and the details are not described here.
As a preferable technical measure:
one end of the outer rotor is rotatably connected with the motor shell through a first bearing, and the other end of the outer rotor is rotatably connected with the output end cover through a second bearing;
the bearing I is matched with the motor shell and is arranged on the upper end cover or the lower end cover;
the inner ring of the bearing II is matched on the rotating shaft of the outer rotor, and the outer ring of the bearing II is matched on the output end cover; the fixed gear ring is fixedly connected with the motor shell, and the fixed gear ring is arranged in the cavity of the inner ring of the stator or close to the cavity of the inner ring of the stator.
The utility model discloses simple structure is practical, and the scheme is feasible, the manufacturing of being convenient for.
As a preferable technical measure:
and a clamp spring for limiting the axial movement of the floating sun gear and the bearing II is arranged on the shaft on the outer rotor.
The axial movement of the floating sun wheel is limited by a shaft shoulder and a bearing II on the outer rotor rotating shaft, but a certain movement space is left, and a clamp spring can be added on the shaft on the outer rotor to limit the axial movement of the outer rotor.
As a preferable technical measure:
the lower end cover is provided with an annular space for placing circuit elements, so that a cable and a circuit board can be assembled conveniently, the circuit board is provided with an encoder chip, and the encoder chip is matched with an encoder at the end part of the motor rotor.
A quadruped robot comprises the electrically driven rotary power unit.
The quadruped robot of the utility model adopts the planet wheel and the double gear ring with double gear structures, which can effectively improve the reduction ratio adjusting range of the single-stage speed reducer; meanwhile, an output gear ring is arranged for torque output, so that the output gear ring has a larger reduction ratio adjusting range; and then can effectively reduce power unit size and weight, make it can assemble in the robot joint near the cavity in motor stator center, further make four-footed robot compact structure, occupation space is little.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses through constantly exploring and experimental, break current one-level reduction gear design bias, adopt planet wheel and the double gear circle that has the double gear structure, effectively practiced thrift the axial space, increased the design scope of reduction ratio, increased power unit's application range, further, effectively reduced power unit's the design and the processing degree of difficulty. Meanwhile, the output gear ring is arranged for torque output, so that the reduction ratio adjusting range is larger, the size of the power unit is further reduced, and the application range of the power unit is wide.
Drawings
FIG. 1 is an overall exploded view of the present invention;
FIG. 2 is an exploded view of the retarder unit of the present invention;
fig. 3 is a view of the motor assembly structure of the present invention and a full sectional view along the direction a-a;
fig. 4 is a view of another motor assembly structure of the present invention and a full sectional view along the direction B-B;
fig. 5 is a structural view of a mounting position of the bearing of the present invention and a full sectional view along the direction C-C.
Description of reference numerals:
1. a lower end cover; 2. a first bearing; 3. an outer rotor; 4. a stator; 5. a reducer unit; 51. fixing the gear ring; 52. a sun gear; 53. a planetary gear set; 54. a bushing; 55. a floating sun gear; 56. an output ring gear; 531. a planetary input gear; 532. a planetary output gear; 6. a second bearing; 7. an upper end cover; 8. a third bearing; 9. an output end cover; 10. a drive plate; 11. and a circuit cover plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in order to provide a better understanding of the present invention to the public, certain specific details are set forth in the following detailed description of the invention. It will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
It should be noted that when two elements are referred to as being "fixedly connected" or "fixedly secured," the two elements may be directly connected or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "upper", "lower" and the like are used herein for illustrative purposes only.
As shown in fig. 1-3, an electrically driven rotary power unit includes a motor and a reducer unit 5, where the reducer unit 5 includes a sun gear 52 fixed to a rotating shaft of a rotor of the motor, a planetary gear engaged with the sun gear 52, a fixed ring gear 51 engaged with the planetary gear, and an output ring gear 56 engaged with the planetary gear;
the planet gears include a planet input gear 531 in toothed engagement with the sun gear 52, and a planet output gear 532 in toothed engagement with the output ring gear 56;
the planet input gear 531 and the planet output gear 532 are fixedly overlapped and rotate synchronously;
the motor drives the sun gear 52 to rotate, and then the sun gear 52 drives the planet input gear 531 of the planet gear to rotate, and the planet output gear 532 which rotates synchronously with the planet input gear 531 drives the output gear ring 56 to rotate and output.
The utility model discloses through constantly exploring and experimental, break current one-level reduction gear design bias, adopt planet wheel and the double gear circle that has the double gear structure, effectively practiced thrift the axial space, increased the design scope of reduction ratio, increased power unit's application range, further, effectively reduced power unit's the design and the processing degree of difficulty. Meanwhile, the output gear ring 56 is arranged for torque output, so that the reduction ratio adjusting range is larger, the size of the power unit is further reduced, and the application range of the power unit is wide.
The utility model discloses a concrete embodiment of planet wheel structure:
the number of teeth of the planetary input gear 531 is more than that of the planetary output gear 532, and the planetary input gear and the planetary output gear are fixedly connected and coaxially arranged;
the planet input gear 531 is externally engaged with the sun gear 52, and the planet output gear 532 is internally engaged with the output ring gear 56, so that the structure is compact, and the adjustment range of the reduction ratio is further improved.
The module of the sun gear, the module of the planet input gear and the module of the planet output gear are the same, and the structural design is convenient.
The utility model discloses planet wheel quantity a concrete embodiment:
three groups of planet gears are uniformly distributed in the ring 51 of the fixed gear ring in a toothed connection mode;
planetary input gears 531 of the three planetary gear sets are externally meshed with the sun gear 52 respectively.
Three groups of planet wheels are uniformly distributed at intervals of 120 degrees, so that the torque output capacity and the structural strength of the power unit can be effectively improved.
The utility model discloses add a concrete embodiment of unsteady sun gear 55:
the planet output gears 532 of the three sets of planet wheels are in toothed connection with the same floating sun gear 55;
the planetary output gear 532 and floating sun gear 55 are located within the output ring gear 56 annulus.
The floating sun gear 55 does not participate in the speed reduction function of the speed reducer, and is mainly used for improving the stress stability and reliability of the speed reducer.
The utility model discloses add 9 concrete embodiments of output end cover:
the outer side end of the output gear ring 56 is fixedly connected with an output end cover 9 for connecting the external part of the robot joint,
a third bearing 8 is arranged between the output end cover 9 and the output gear ring 56;
the inner ring of the bearing III 8 is fixedly connected with the output end cover 9 and the output gear ring 56,
the outer ring of the bearing III 8 is fixedly connected with the motor shell; the bearing III is a cross bearing or a deep groove ball bearing; simple structure, practicality, and convenient production and manufacture.
The utility model discloses a concrete embodiment of motor assembly structure:
the motor comprises a stator 4 and an outer rotor 3;
the stator 4 is fixed on the upper end cover 7 and is rotationally connected with the outer rotor 3.
One end of the outer rotor 3 is rotatably connected with a lower end cover 1 through a bearing I2, and the other end of the outer rotor is rotatably connected with an output end cover 9 through a bearing II 6; the lower end cover 1 is provided with an annular space for placing circuit elements, a cable and a circuit board are convenient to assemble, an encoder chip is arranged on the circuit board, and the encoder chip is matched with an encoder at the end part of the motor rotor.
And the bearing can be arranged on the upper end cover or the lower end cover at a position matched with the motor shell.
The inner ring of the second bearing 6 is matched on the outer rotor 3, and the outer ring of the second bearing is matched on the output end cover 9; simple structure is practical, and the scheme is feasible, the manufacturing of being convenient for.
The fixed gear ring 51 is fixedly connected with the motor shell, and the fixed gear ring 51 is arranged in the inner ring cavity of the motor stator 4 or close to the inner ring cavity of the stator 4.
As shown in fig. 4, the present invention provides another embodiment of the motor assembling structure:
the motor comprises a stator 4 and an outer rotor 3;
the stator 4 is fixed on a lower end cover 1, and the side supporting end surface of the outer rotor 3 is close to an output end cover 9 relative to the stator 4; the outer rotor 3 is rotatably connected with the stator 4 through a connecting piece and a bearing.
The stator 4 is fixed on the lower end cover, so that a cavity is reserved on the upper end cover conveniently, the stator is used for fixing the drive plate 10 and the circuit cover plate 11, and the structure is simple and practical.
Those skilled in the art can flexibly select the stator fixing position according to actual conditions, and it is easy to think that the shapes of the upper end cover, the lower end cover and the corresponding components can be changed correspondingly according to the stator fixing position, and the details are not described here.
As shown in fig. 5, the bearing 2 of the present invention is another embodiment of the mounting position.
The utility model discloses add a concrete embodiment of jump ring:
and a clamp spring for limiting the floating sun gear 55 and the bearing to axially move is arranged on a shaft on the outer rotor 3.
The axial movement of the floating sun gear 55 is limited by a shaft shoulder on the outer rotor 3 and the second bearing 6, but a certain movement space is left, and a clamp spring can be added on the shaft on the outer rotor 3 to limit the axial movement.
The utility model discloses four-footed robot embodiment of application electric drive gyration power pack:
a quadruped robot comprises an upper end cover 7, a lower end cover 1, a motor, a speed reducer unit 5 and an output end cover 9.
The motor comprises a stator 4 and an outer rotor 3; the reducer unit 5 includes a fixed ring gear 51, a sun gear 52, a planetary gear, a bush 54, a floating sun gear 55, and an output ring gear 56.
The utility model relates to a preferred assembly embodiment:
the stator 4 is fixedly connected to the upper end cover 7, and the stator and the upper end cover are adhered by glue. The rear end of the outer rotor 3 is rotatably connected with the motor shell through a bearing I2, the inner ring of the bearing I2 is fixedly connected to the outer rotor 3, and the outer ring of the bearing I2 is fixedly connected to the lower end cover 1. The front end of the outer rotor 3 is rotatably connected with the output end cover 9 through a second bearing 6, the inner ring of the second bearing 6 is fixedly connected to the outer rotor 3, and the outer ring of the second bearing 6 is fixedly connected to the output end cover 9.
The fixed gear ring 51 in the speed reducer unit 5 is fixedly connected with the upper end cover 7, and the two are adhered by glue. Sun gear 52 and outer rotor 3 are fixed on the shaft of outer rotor 3, and can be adhered by glue or connected by pins. In the planet wheel, a planet input gear 531 and a planet output gear 532 are fixed together by welding or glue; in which the planetary input gear 531 is in external engagement with the sun gear 52 and in internal engagement with the fixed ring gear 51.
The three groups of planet wheels are uniformly distributed and are spaced by 120 degrees; the output ring gear 56 is in mesh with a planetary output gear 532 of the three sets of planet gears. The output gear ring 56 and the output end cover 9 are fixedly connected with two ends of the inner ring of the bearing III 8 through screws, so that the output gear ring 56 is fixedly connected with the output end cover 9 and the inner ring of the bearing III 8. The floating sun gear 55 is rotatably connected to the outer rotor 3 via a bush 54, and the floating sun gear 55 is in mesh with a planetary output gear 532 of the three planetary gear sets.
Axial movement of three groups of planet wheels in the speed reducer is limited by the output end cover 9 and the outer rotor 3, and friction between the planet wheels and the output end cover 9 and the outer rotor 3 is reduced by using a lubricating product; the floating sun gear 55 does not participate in the speed reduction action of the speed reducer, but is used for increasing the structural strength, the axial movement of the floating sun gear is limited by a shaft shoulder on the rotating shaft of the outer rotor 3 and the bearing II 6, a certain movement space is left, and a clamp spring can be added on the shaft of the outer rotor 3 to limit the axial movement of the floating sun gear.
The quadruped robot of the utility model adopts the planet wheel and the double gear ring with double gear structures, which can effectively improve the reduction ratio adjusting range of the single-stage speed reducer; meanwhile, an output gear ring 56 is arranged for torque output, so that the output gear ring has a larger reduction ratio adjusting range; and then can effectively reduce power unit size and weight, make it can assemble in the cavity in the robot joint, further make four-footed robot compact structure, occupation space is little.
In the present application, the fastening or fixing connection may be a screw connection, an adhesive connection, a welding, a riveting, an inserting connection, or a connection through a third group of components, and those skilled in the art may select the fastening or fixing connection according to actual situations.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An electrically-driven rotary power unit comprises a motor and a speed reducer unit (5), and is characterized in that,
the speed reducer unit (5) comprises a sun gear (52) fixedly connected with a rotating shaft of a motor rotor, a planet gear matched with the sun gear (52) for transmission, a fixed gear ring (51) meshed with the planet gear, and an output gear ring (56) matched with the planet gear for torque output;
the planet gears comprise a planet input gear (531) in tooth connection with the sun gear (52) and a planet output gear (532) in tooth connection with the output gear ring (56);
the planet input gear (531) and the planet output gear (532) are overlapped and fixedly connected together and rotate synchronously;
the motor drives the sun gear (52) to rotate, the sun gear (52) drives the planet input gear (531) of the planet gear to rotate, the planet output gear (532) which synchronously rotates with the planet input gear (531) drives the output gear ring (56) to rotate and output, and the speed reduction output of the motor is completed.
2. An electrically driven rotary power unit as claimed in claim 1,
the number of teeth of the sun gear (52) is less than that of the planet input gear (531), and the sun gear and the planet input gear are meshed;
the number of teeth of the planetary input gear (531) is more than that of the planetary output gear (532), and the planetary input gear and the planetary output gear are fixedly connected and coaxially arranged;
the planetary output gear (532) is in internal mesh with an output ring gear (56).
3. An electrically driven rotary power unit as claimed in claim 1,
three planet gears are uniformly distributed in the fixed gear ring (51) in a toothed connection mode;
planetary input gears (531) of the three planetary gears are externally meshed with the sun gear (52) respectively.
4. An electrically driven rotary power unit as claimed in claim 3,
planetary output gears (532) of the three planetary gears are in gear joint with the same floating sun gear (55);
the planetary output gear (532) and floating sun gear (55) are located within an output ring gear (56) ring.
5. An electrically driven rotary power unit as claimed in any one of claims 1 to 4,
the outer side end of the output gear ring (56) is fixedly connected with an output end cover (9) for connecting the external part of the robot joint,
a third bearing (8) is arranged between the output end cover (9) and the output gear ring (56);
the inner ring of the bearing III (8) is fixedly connected with the output end cover (9) and the output gear ring (56),
the outer ring of the bearing III (8) is fixedly connected with the motor shell; and the third bearing is a cross bearing or a deep groove ball bearing.
6. An electrically driven rotary power unit according to claim 5,
the motor comprises a stator (4) and an outer rotor (3);
the stator (4) is fixed on an upper end cover (7), and the side supporting end surface of the outer rotor (3) is far away from the output end cover (9) relative to the stator (4);
or the stator (4) is fixed on a lower end cover (1), and the side supporting end surface of the outer rotor (3) is close to the output end cover (9) relative to the stator (4); the outer rotor (3) is rotatably connected with the stator (4) through a connecting piece and a bearing.
7. An electrically driven rotary power unit according to claim 6,
one end of the outer rotor (3) is rotationally connected with the motor shell through a bearing I (2),
the other end is rotationally connected with an output end cover (9) through a second bearing (6);
the bearing I is matched with the motor shell and is arranged on the upper end cover or the lower end cover;
the inner ring of the second bearing (6) is matched on the rotating shaft of the outer rotor (3), and the outer ring of the second bearing is matched on the output end cover (9);
the fixed gear ring (51) is fixedly connected with the motor shell, and the fixed gear ring (51) is arranged in the inner ring cavity of the stator (4) or at a position close to the inner ring cavity of the stator (4).
8. An electrically driven rotary power unit as claimed in claim 7,
and a clamp spring for limiting the axial movement of the floating sun gear (55) and the second bearing (6) is arranged on a shaft on the outer rotor (3).
9. An electrically driven rotary power unit according to claim 8, characterized in that the lower end cover (1) is provided with an annular space for housing circuit components.
10. A quadruped robot comprising an electrically driven rotary power unit as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020281851.9U CN211693390U (en) | 2020-03-09 | 2020-03-09 | Electrically-driven rotary power unit and quadruped robot applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020281851.9U CN211693390U (en) | 2020-03-09 | 2020-03-09 | Electrically-driven rotary power unit and quadruped robot applying same |
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| Publication Number | Publication Date |
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| CN211693390U true CN211693390U (en) | 2020-10-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113258718A (en) * | 2021-06-29 | 2021-08-13 | 机致科技（北京）有限公司 | Integrated motor |
| CN114123645A (en) * | 2022-01-28 | 2022-03-01 | 北京动思创新科技有限公司 | Differential speed reducer and brushless motor with same |
-
2020
- 2020-03-09 CN CN202020281851.9U patent/CN211693390U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113258718A (en) * | 2021-06-29 | 2021-08-13 | 机致科技（北京）有限公司 | Integrated motor |
| CN114123645A (en) * | 2022-01-28 | 2022-03-01 | 北京动思创新科技有限公司 | Differential speed reducer and brushless motor with same |
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