Joint of heavy-load mechanical arm for maintenance based on Tokamak device

Abstract

The invention discloses a tokamak device maintenance-based heavy-load mechanical arm joint which comprises a joint shell, a driving mechanism and a detection mechanism, the driving mechanism comprises a driving assembly and a rotating part, the rotating part is connected with other joints of a heavy-load mechanical arm, and the driving assembly is used for driving the rotating part to rotate by a preset angle; and the detection mechanism is used for detecting the rotating angle of the rotating part and controlling the driving assembly to work or stop according to the detection result. According to the joint of the heavy-load mechanical arm for maintenance based on the Tokamak device, through cooperation of the driving mechanism and the detection mechanism, the driving assembly drives the rotating part to rotate by the preset angle, and the detection mechanism detects the rotating angle of the rotating part and controls the driving assembly to work or stop according to the detection result; and a rotatable joint is arranged at the heavy-load mechanical arm, so that the heavy-load mechanical arm can be driven to rotate during maintenance, and the interior of the Tokamak device can be conveniently maintained.

Description

Technical Field

[0001] The invention belongs to the technical field of heavy-duty mechanical arms, and in particular relates to a joint of a heavy-duty mechanical arm for maintenance of a tokamak device. Background Art

[0002] The Tokamak nuclear fusion device is a device that uses magnetic confinement to achieve controlled nuclear fusion. It has many advantages and is the best choice for coping with future energy crises. China's current Tokamak nuclear fusion device CFETR is a new generation of device that demonstrates the feasibility of continuous large-scale fusion energy safety and stable power generation. Its overall structure and internal components are much larger than previous devices. The large components that need to be maintained in the CFETR vacuum chamber can weigh up to tons. The operation of CFETR will also bring radiation problems, and personnel cannot get close during internal maintenance.

[0003] The Tokamak nuclear fusion device is a device that uses magnetic confinement to achieve controlled nuclear fusion. After the Tokamak device has been running for a period of time, it is impossible for humans to directly enter and carry out maintenance work because of the high temperature and strong radiation vacuum environment inside. The large components that need to be maintained in the vacuum chamber can weigh up to tons, and the maintenance passages inside are often very small, making it impossible to disassemble and move large components out for maintenance. Therefore, a heavy-duty robotic arm is required to extend into the interior to maintain the large components. The joints of the existing heavy-duty robotic arms are fixed, which makes maintenance inconvenient during the specific maintenance process. Summary of the invention

[0004] The purpose of the present invention is to provide a joint of a heavy-duty robotic arm for maintenance of a tokamak device, so as to solve the problem that the joints of conventional heavy-duty robotic arms in the prior art are fixed and cannot be applied in a tokamak nuclear fusion environment.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A joint of a heavy-duty manipulator for maintenance of a tokamak device, comprising a joint housing, a driving mechanism and a detection mechanism, wherein:

[0007] The joint housing is provided with a receiving cavity for accommodating the driving mechanism;

[0008] The driving mechanism comprises a driving assembly and a rotating part, wherein the rotating part is rotatably mounted on the joint housing, the driving assembly is fixedly mounted on the joint housing, the driving end of the driving assembly is connected to the rotating part, and the driving assembly is configured to drive the rotating part to rotate a preset angle;

[0009] The detection mechanism is disposed on the rotating part, and is configured to detect the rotation angle of the rotating part and control the driving component to start or stop according to the detection result.

[0010] Furthermore, the rotating part includes a stator shaft assembly and a rotating bracket, wherein:

[0011] The stator shaft assembly is fixedly mounted on the driving assembly, the rotating bracket is rotatably sleeved on the periphery of the stator shaft assembly, and one end of the rotating bracket is connected to the driving end of the driving assembly.

[0012] Furthermore, the stator shaft assembly includes a stator shaft and a stator cover, the first end of the stator shaft is fixedly mounted on the driving assembly, and the stator cover is detachably mounted on the second end of the stator shaft.

[0013] Furthermore, the detection mechanism includes a first detection component, a second detection component and a monitoring component, wherein:

[0014] The first detection assembly and the monitoring component are fixedly mounted on the stator housing, the second detection assembly is mounted on the rotating bracket, and the driving assembly drives the rotating bracket to rotate, thereby driving the second detection assembly to rotate;

[0015] The monitoring component is configured to record the rotation angle of the rotating bracket and transmit the recorded information to the driving component to control the joint.

[0016] Furthermore, the first detection assembly includes a detection bracket and at least one photoelectric switch, the first end of the detection bracket is mounted on the stator cover, the second end of the detection bracket extends toward an end away from the stator cover, the second detection assembly includes at least one photoelectric switch blocking grid, each of the photoelectric switch blocking grids corresponds to one of the photoelectric switches, and each of the photoelectric switches has an avoidance groove for avoiding the corresponding photoelectric switch blocking grid;

[0017] The rotating bracket is provided with an encoder magnetic ring sleeved on the periphery of the second end of the stator shaft, the monitoring component is an encoder reading head, and the encoder reading head is installed on the inner surface of the stator housing;

[0018] When the rotating bracket rotates, the encoder magnetic ring is driven to rotate, and the encoder reading head cooperates with the encoder magnetic ring to read the rotation angle of the rotating bracket in real time, and transmits the angle information to the driving component, thereby controlling the joint;

[0019] When the joint moves to the extreme position, the rotating bracket drives the photoelectric switch barrier to pass through the avoidance groove corresponding to the photoelectric switch, and the photoelectric switch is triggered and transmits a stop signal to the drive component, and the drive component stops working, thereby limiting the joint.

[0020] Furthermore, the drive assembly includes several drive units and control components, wherein:

[0021] The driving unit includes a driving motor and a reducer, the driving end of the driving motor is installed on the reducer through a motor flange, the driving end of the reducer is connected to the rotating bracket, and the reducer is configured to drive the rotating bracket to rotate. The control component is installed on the joint housing, and the control component is configured to receive information sent by the monitoring component and the first detection component, and control the driving motor to start or stop according to the received information.

[0022] Furthermore, a placement area is provided on the joint housing, and the placement area is configured to accommodate the control component. A protective cover is detachably mounted on the outer ring of the placement area to isolate the placement area from the outside.

[0023] Furthermore, a maintenance hole for facilitating maintenance of internal facilities is provided on the joint housing, and a disassembly cover plate is detachably provided on the maintenance hole.

[0024] Furthermore, two photoelectric switch barriers are provided, the rotating bracket is provided as a circular structure, and the two photoelectric switch barriers are symmetrically arranged on the same diameter of the rotating bracket.

[0025] Furthermore, the reducer includes an RV reducer, a first gear set, a first transmission set, a second gear set, a third gear set and a second transmission set, wherein:

[0026] The driving end of the driving motor is connected to the RV reducer, the driving end of the RV reducer is connected to the first end of the first gear group, the second end of the first gear group is transmission-connected to the first end of the second gear group through the first transmission group, the second end of the second gear group is transmission-connected to the first end of the third gear group, and the second end of the third gear group is transmission-connected to the rotating bracket through the second transmission group.

[0027] Compared with the prior art, the beneficial effects of the joints of the heavy-duty robotic arm for maintenance of the tokamak device are as follows: through the cooperation of the driving mechanism and the detecting mechanism, the driving component drives the rotating part to rotate a preset angle, the detecting mechanism detects the rotation angle of the rotating part and controls the driving component to work or stop according to the detection result, and a rotatable joint is arranged at the heavy-duty robotic arm, which can drive the heavy-duty robotic arm to rotate during maintenance, thereby facilitating the maintenance of the interior of the tokamak device; by arranging a first detection component, a second detection component and a monitoring component, the monitoring component records the rotation angle of the rotating bracket and transmits the recorded information to the driving component, and the driving component drives the rotating bracket to stop rotating, and while ensuring rotation, the rotation angle of the rotating bracket can be limited; adding a number of driving units greatly improves the output torque provided for the heavy-duty robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following briefly introduces the background technology of the present invention and the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the joints of a heavy-duty mechanical arm for maintenance of a tokamak device provided by an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of the three-dimensional structure of a driving mechanism provided by an embodiment of the present invention;

[0031] Figure 3 is another three-dimensional structural schematic diagram of the driving mechanism provided by an embodiment of the present invention;

[0032] Figure 4 It is a transmission principle diagram of the reducer provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0034] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly and comprehensively understood. It should be noted that when a component is referred to as "fixed to" another component, it can be directly on the other component or there can also be a central component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0035] See also Figures 1 to 4 As shown, in this embodiment, a joint of a heavy-duty robotic arm for maintenance of a tokamak device includes a joint housing 1, a driving mechanism 2 and a detection mechanism 3, wherein: a receiving chamber 10 for placing the driving mechanism 2 is opened in the joint housing 1; the driving mechanism 2 includes a driving component 20 and a rotating part 21, the rotating part 21 is rotatably mounted on the joint housing 1, and other joints of the heavy-duty robotic arm for repairing equipment are mounted on the rotating part 21, the driving component 20 is fixedly mounted on the joint housing 1, the driving end of the driving component 20 is connected to the rotating part 21, and the driving component 20 is configured to drive the rotating part 21 to rotate a preset angle, thereby driving the heavy-duty robotic arm to rotate; the detection mechanism 3 is arranged on the rotating part 21, and the detection mechanism 3 is configured to detect the rotation angle of the rotating part 21 and control the driving component 20 to work or stop according to the detection result.

[0036] It can be seen that through the cooperation of the driving mechanism 2 and the detection mechanism 3, the driving component 20 drives the rotating part 21 to rotate a preset angle, thereby driving other joints of the heavy-loaded robotic arm to rotate. The detection mechanism 3 detects the rotation angle of the rotating part 21 and controls the driving component 20 to work or stop according to the detection result. A rotatable joint is arranged at the heavy-loaded robotic arm, which can drive other joints of the heavy-loaded robotic arm to rotate during maintenance, thereby facilitating the maintenance of the interior of the tokamak device.

[0037] Specifically, the entire joint is made of a titanium alloy shell, which greatly increases the strength of the joint and improves the safety of the heavy-loaded robotic arm.

[0038] As an embodiment, the rotating part 21 includes a stator shaft assembly and a rotating bracket 22, wherein: the stator shaft assembly is fixedly mounted on the driving assembly 20, the rotating bracket 22 can be rotatably mounted on the periphery of the stator shaft assembly, the first end of the rotating bracket 22 is connected to the driving end of the driving assembly 20, and the second end of the rotating bracket 22 is connected to other joints of the heavy-duty robotic arm.

[0039] Specifically, the rotating bracket 22 is an encoder bracket, and the encoder bracket is sleeved on the periphery of the stator shaft assembly through an encoder magnetic ring 34 .

[0040] As an embodiment, the stator shaft assembly includes a stator shaft 23 and a stator housing 24 , wherein a first end of the stator shaft 23 is fixedly mounted on the driving assembly 20 , and the stator housing 24 is detachably mounted on a second end of the stator shaft 23 .

[0041] As an embodiment, the detection mechanism 3 includes a first detection component, a second detection component and a monitoring part 30, wherein: the first detection component and the monitoring part 30 are fixedly mounted on the stator cover 24, the second detection component is mounted on the rotating bracket 22, the driving component 20 drives the rotating bracket 22 to rotate, so as to drive the second detection component to rotate; the monitoring part 30 is configured to record the rotation angle of the rotating bracket 22 and transmit the recorded information to the driving component 20.

[0042] It can be seen that by setting the first detection component, the second detection component and the monitoring component 30, the monitoring component 30 records the rotation angle of the rotating bracket 22 and transmits the recorded information to the driving component 20. The driving component 20 drives the rotating bracket 22 to stop rotating. While ensuring the rotation, the rotation angle of the rotating bracket 22 can be limited.

[0043] Of course, as another embodiment, the accommodating cavity 10 is also configured to accommodate the wiring inside the joint, and a wiring hole 25 for wiring is opened on the stator cover 24. Obviously, the use of wiring inside the joint significantly makes the appearance simple and beautiful, and greatly improves safety and reliability.

[0044] As an embodiment, the first detection component includes a detection bracket 31 and at least one photoelectric switch 32, the first end of the detection bracket 31 is mounted on the stator housing 24, the second end of the detection bracket 31 extends toward an end away from the stator housing 24, the second detection component includes at least one photoelectric switch blocking grid 33, each photoelectric switch blocking grid 33 corresponds to a photoelectric switch 32, and each photoelectric switch 32 has an avoidance groove 320 for avoiding the corresponding photoelectric switch blocking grid 33; the rotating bracket 22 drives each photoelectric switch blocking grid 33 to pass through the avoidance groove 320 of the corresponding photoelectric switch 32;

[0045] The rotating bracket 22 is provided with an encoder magnetic ring 34 which is sleeved on the outer periphery of the second end of the stator shaft 23 . The monitoring component 30 is an encoder reading head which is mounted on the inner surface of the stator housing 24 .

[0046] When the rotating bracket 22 rotates, the encoder magnetic ring 34 is driven to rotate. The encoder reading head cooperates with the encoder magnetic ring 34 to read the rotation angle of the rotating bracket 22 in real time, and transmits the angle information to the driving component 20, thereby controlling the joint.

[0047] When the joint moves to the extreme position, the rotating bracket 22 drives the photoelectric switch barrier 33 to pass through the avoidance groove 320 corresponding to the photoelectric switch 32, and the photoelectric switch 32 is triggered and transmits a stop signal to the drive component 20, and the drive component 20 stops working, thereby limiting the joint.

[0048] It can be seen that the combined use of the encoder reading head and the photoelectric switch 32 can prevent collisions between joints and improve the safety of the joints.

[0049] As an embodiment, the drive assembly 20 includes a plurality of drive units and a control component 4, wherein: the drive unit includes a drive motor 5 and a reducer 6, the drive end of the drive motor 5 is mounted on the reducer 6 via a motor flange 7, the drive end of the reducer 6 is connected to a rotating bracket 22, the reducer 6 is configured to drive the rotating bracket 22 to rotate, the control component 4 is mounted on the joint housing 1, the control component 4 is configured to receive information sent by the monitoring component 30 and the first detection component, and control the drive motor 5 to work or stop according to the received information.

[0050] It can be seen that adding several drive units greatly improves the output torque provided to the heavy-load robotic arm.

[0051] Specifically, the number of driving units is three.

[0052] As an implementation mode, a placement area is provided on the joint housing 1 , and the placement area is configured to accommodate the control component 4 . A protective cover plate 11 is detachably mounted on the outer ring of the placement area to isolate the placement area from the outside.

[0053] Specifically, the control component 4 is a control circuit board.

[0054] When the output end of the reducer 6 rotates, the monitoring component 30 can read the rotation angle of the output end in real time, and transmit the angle information back to the control component 4 through the cable for collection, ultimately achieving real-time control of the joint.

[0055] As an implementation mode, a maintenance hole is provided on the joint housing 1 for facilitating maintenance of internal facilities, and a disassembly cover plate 12 is detachably provided on the maintenance hole.

[0056] As an implementation manner, two photoelectric switch barriers 33 are provided, the rotating bracket 22 is provided as a circular structure, and the two photoelectric switch barriers 33 are symmetrically arranged on the same diameter of the rotating bracket 22 .

[0057] It should be noted that: in this embodiment, the range of motion of the joint is 0-180°, so the two photoelectric switch barriers 33 are distributed on the same diameter of the rotating bracket 22; wherein the photoelectric switch 32 is fixed, and the photoelectric switch barrier 33 rotates together with the output end of the reducer 6. When the joint moves to the extreme position, the photoelectric switch barrier 33 passes through the avoidance groove 320 of the photoelectric switch 32, and the photoelectric switch 32 is triggered, and the stop signal is transmitted back to the control component 4 through the cable. The control component 4 controls the three drive motors 5 to stop, and the joint stops moving, which plays a role of limiting.

[0058] As an embodiment, the reducer 6 includes an RV reducer 60, a first gear group 61, a first transmission group 62, a second gear group 63, a third gear group 64 and a second transmission group, wherein: the driving end of the drive motor 5 is connected to the RV reducer 60, the driving end of the RV reducer 60 is connected to the first end of the first gear group 61, the second end of the first gear group 61 is transmission-connected to the first end of the second gear group 63 through the first transmission group 62, the second end of the second gear group 63 is transmission-connected to the first end of the third gear group 64, and the second end of the third gear group 64 is transmission-connected to the rotating bracket 22 through the second transmission group.

[0059] Specifically, the first gear set 61, the second gear set 63 and the third gear set 64 are all transmission gears, the first transmission set 62 is a first transmission ring gear, the second transmission set includes a primary planetary gear 65, a secondary planetary gear 66, a second transmission ring gear 67 and a third transmission ring gear 68, the first end of the primary planetary gear 65 is transmission-connected with the secondary planetary gear 66, the second end of the secondary planetary gear 66 is transmission-connected with the first end of the third transmission ring gear 68, the second end of the third transmission ring gear 68 is transmission-connected with the rotating bracket 22, and the second transmission ring gear 67 is transmission-connected with the primary planetary gear 65.

[0060] When the joints of the heavy-duty robotic arm for maintenance of the tokamak device are working, the driving motor 5 drives the rotating bracket 22 to rotate through the reducer 6. When the output end of the reducer 6 rotates, the photoelectric switch fence 33 rotates together with the output end of the reducer 6. When the joint moves to the extreme position, the photoelectric switch fence 33 passes through the avoidance groove 320 of the photoelectric switch 32, and the photoelectric switch 32 is triggered, and the stop signal is transmitted back to the control component 4 through the cable. The control component 4 controls the three driving motors 5 to stop, and the joint stops moving.

[0061] It should be noted that the transmission principle of the reducer 6 is as follows: the RV reducer 60 is used as the input end, and the external drive motor 5 is connected to transmit the power to the first gear set 61, and the first transmission set 62 is driven to rotate by the internal meshing of the gears, and the first transmission set 62 synchronously drives the second gear set 63 to rotate, and the second gear set 63 then drives the third gear set 64 to rotate through the external meshing of the gears, and transmits the power to the transmission of the primary planetary gear 65 and the secondary planetary gear 66, and finally the torque is output by the third transmission gear ring 68. The reducer 6 includes a total of four stages of reduction, which can obtain a large reduction ratio and obtain a large output torque from a small input torque.

[0062] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above examples. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A joint of a heavy-duty manipulator for maintenance of a tokamak device, characterized in that: The joint of the heavy-duty manipulator for maintenance of the Tokamak device comprises a joint housing, a driving mechanism and a detection mechanism, wherein: The joint housing is provided with a receiving cavity for accommodating the driving mechanism; The driving mechanism comprises a driving assembly and a rotating part, wherein the rotating part is rotatably mounted on the joint housing, the driving assembly is fixedly mounted on the joint housing, the driving end of the driving assembly is connected to the rotating part, and the driving assembly is configured to drive the rotating part to rotate a preset angle; The detection mechanism is disposed on the rotating part, and is configured to detect the rotation angle of the rotating part and control the driving component to start or stop according to the detection result.

2. The joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 1, characterized in that: The rotating part comprises a stator shaft assembly and a rotating bracket, wherein: The stator shaft assembly is fixedly mounted on the driving assembly, the rotating bracket is rotatably sleeved on the periphery of the stator shaft assembly, and one end of the rotating bracket is connected to the driving end of the driving assembly.

3. The joint of the heavy-duty manipulator for maintenance of the Tokamak device according to claim 2 is characterized in that: The stator shaft assembly comprises a stator shaft and a stator cover. The first end of the stator shaft is fixedly mounted on the driving assembly, and the stator cover is detachably mounted on the second end of the stator shaft.

4. The joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 3 is characterized in that: The detection mechanism includes a first detection component, a second detection component and a monitoring component, wherein: The first detection assembly and the monitoring component are fixedly mounted on the stator housing, the second detection assembly is mounted on the rotating bracket, and the driving assembly drives the rotating bracket to rotate, thereby driving the second detection assembly to rotate; The monitoring component is configured to record the rotation angle of the rotating bracket and transmit the recorded information to the driving component to control the joint.

5. The joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 4, characterized in that: The first detection assembly includes a detection bracket and at least one photoelectric switch, wherein a first end of the detection bracket is mounted on the stator housing, and a second end of the detection bracket extends toward an end away from the stator housing, and the second detection assembly includes at least one photoelectric switch blocking grid, each of the photoelectric switch blocking grids corresponds to one of the photoelectric switches, and each of the photoelectric switches has an avoidance groove for avoiding the corresponding photoelectric switch blocking grid; The rotating bracket is provided with an encoder magnetic ring sleeved on the periphery of the second end of the stator shaft, the monitoring component is an encoder reading head, and the encoder reading head is installed on the inner surface of the stator housing; When the rotating bracket rotates, the encoder magnetic ring is driven to rotate, and the encoder reading head cooperates with the encoder magnetic ring to read the rotation angle of the rotating bracket in real time, and transmits the angle information to the driving component, thereby controlling the joint; When the joint moves to the extreme position, the rotating bracket drives the photoelectric switch barrier to pass through the avoidance groove corresponding to the photoelectric switch, and the photoelectric switch is triggered and transmits a stop signal to the drive component, and the drive component stops working, thereby limiting the joint.

6. The joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 4, characterized in that: The drive assembly includes several drive units and control components, wherein: The driving unit includes a driving motor and a reducer, the driving end of the driving motor is installed on the reducer through a motor flange, the driving end of the reducer is connected to the rotating bracket, and the reducer is configured to drive the rotating bracket to rotate. The control component is installed on the joint housing, and the control component is configured to receive information sent by the monitoring component and the first detection component, and control the driving motor to start or stop according to the received information.

7. The joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 6, characterized in that: A placement area is provided on the joint housing, and the placement area is configured to accommodate the control component. A protective cover plate is detachably mounted on the outer ring of the placement area to isolate the placement area from the outside.

8. The joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 1, characterized in that: The joint housing is provided with a maintenance hole for facilitating maintenance of internal facilities, and a disassembly cover plate is detachably provided on the maintenance hole.

9. The joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 5, characterized in that: The photoelectric switch barriers are provided with two, the rotating bracket is provided with a circular structure, and the two photoelectric switch barriers are symmetrically arranged on the same diameter of the rotating bracket.

10. The joint of the heavy-duty manipulator for maintenance of a Tokamak device according to claim 6, characterized in that: The reducer includes an RV reducer, a first gear set, a first transmission set, a second gear set, a third gear set and a second transmission set, wherein: The driving end of the driving motor is connected to the RV reducer, the driving end of the RV reducer is connected to the first end of the first gear group, the second end of the first gear group is transmission-connected to the first end of the second gear group through the first transmission group, the second end of the second gear group is transmission-connected to the first end of the third gear group, and the second end of the third gear group is transmission-connected to the rotating bracket through the second transmission group.

Images