6128 results about "Reduction drive" patented technology

The invention is suitable for the technical field of fault detection, and provides a fault detection method and device for a joint module and electronic equipment. The joint module comprises a motor, a speed reducer connected with the motor, a first encoder arranged between the motor and the speed reducer, and a second encoder arranged at the output end of the speed reducer. The fault detection method comprises the following steps: identifying a position difference between a rotor of the motor and an output shaft of the speed reducer based on the first encoder and the second encoder; and according to the position difference and a preset difference threshold value, whether the joint module has a fault or not is determined, and the difference threshold value is associated with the gear meshing clearance of the speed reducer. According to the embodiment of the invention, whether the joint module has a fault or not can be accurately detected.

The invention relates to the technical field of screening, and discloses an iron ore powder and antifreezing agent mixed screening device which comprises a rack, and the surface where the top of the rack is located is inclined; a first bearing seat is mounted on the rack, a roller with a rubber wheel surface is rotationally connected to the first bearing seat, a universal coupling is connected to the shaft end of the roller, a shaft rod is connected to the other end of the universal coupling, a speed reducer arranged on a second supporting seat is connected to the free end of the shaft rod, and the second supporting seat is connected with the rack; the speed reducer is driven by a first motor arranged on the rack, and the first motor and the speed reducer transmit power through belt transmission; a drum screen assembly used for improving the mixing uniformity of the iron ore powder and the anti-freezing agent is connected to the rolling wheel in a rolling mode, and mixed materials are discharged from screen holes of the drum screen assembly. Mixing, screening, conveying and cleaning are integrated, mixing uniformity is high, screening efficiency is excellent, operation and maintenance are convenient and fast, and the requirement for mixing and screening of iron ore powder and an anti-freezing agent is met.

The joint module comprises a motor and a harmonic reducer, the motor comprises a shell, a stator assembly and a rotor assembly, the shell comprises an outer shell and an inner oil cavity, a first oil port and a second oil port are formed in the two ends of the inner oil cavity respectively, the stator assembly is fixed to the inner side of the inner oil cavity, and the rotor assembly is fixed to the outer side of the inner oil cavity. The rotor assembly comprises a rotating shaft and a rotor hub arranged on the rotating shaft, the rotor hub comprises an inner shell and an outer shell, the inner shell and the outer shell are fixed through a connecting piece, an oil stirring channel is formed, the harmonic reducer comprises a wave generator, a flexible gear, a supporting bearing outer ring and a supporting bearing inner ring, and the rotating shaft is connected with the wave generator. The wave generator drives the flexible gear to deform, the flexible gear is fixed to the rear end cover, the outer ring of the supporting bearing is fixed to the rear end cover, and a gear ring is arranged on the inner wall of the inner ring of the supporting bearing and is in staggered tooth transmission with the flexible gear. Oil liquid is in direct contact with a stator heating source, the stator heat dissipation efficiency is improved, the rotor hub drives the oil liquid to flow, and the heat exchange efficiency is improved.

Provided is an electric heavy-load push-pull tool including a power input unit, a power conversion unit and a power output unit. Through the transmission design of multiple stages of reducers and a planetary roller screw of a downhole operation tool, low-speed and high-torque power output of the motor is realized. The heavy-load push-pull tool provided by the present disclosure can not only provide large-torque thrust force, but also provide large-torque pulling force. A forward direction of a transmission nut is based on a rotation direction of a motor. By controlling the forward rotation or reverse rotation of a transmission shaft of the motor, the forward or backward movement of an operation tool can be realized at low cost through power transmission.

The invention relates to the technical field of unmanned aerial vehicle control, and discloses a high-precision hovering system and method for an omni-directional flying robot, and the method comprises the steps: collecting the connection state of a module assembly, and allowing a flying action when the connection state is judged to be normal; collecting GNSS signal intensity of the positioning sensor, determining a positioning decision mode according to the GNSS signal intensity, and generating flight attitude control data according to the positioning decision mode; according to the flight attitude control data, the flight attitude of the flying robot is adjusted based on closed-loop PID control of a harmonic reducer and a servo motor; obtaining predicted wind speed data, determining disturbance torque, and performing feed-forward compensation on the flight attitude according to the disturbance torque; and controlling the central double rotors of the flying robot to continuously operate, and controlling the outer side rotors in the flying robot to start and stop based on Q-learning. According to the invention, the anti-wind hovering performance is guaranteed, the energy utilization rate is improved, and the environmental adaptability, the anti-wind stability and the cruising ability of the aircraft are enhanced.

The invention relates to the technical field of electric vehicle transmission and control, in particular to an electric vehicle speed reducer parking motor position feedback system. The system aims at solving the problems that the position feedback precision is reduced, the reliability is insufficient and the redundancy is deficient in a severe environment in the existing scheme. According to the system, through redundancy design of a main position sensing module (a magnetoelectric encoder) and an auxiliary position sensing module (an inductive sensor) and in combination with a multi-source data fusion module (based on Kalman filtering), anomaly detection and fault tolerance, position prediction and compensation and a temperature compensation and self-adaptive calibration mechanism, accurate feedback of the position of the parking motor rotor is achieved. According to the system, the accuracy and robustness of position feedback and the reliability of the system can be remarkably improved, the service life of a parking mechanism is prolonged, and the parking safety is improved.

The invention discloses a double-stator single-rotor planetary reduction type joint module which comprises a hollow shaft, a driver assembly, an axial magnetic flux motor, a planetary reducer and an output shaft, and the driver assembly, the axial magnetic flux motor and the planetary reducer are sequentially arranged on the hollow shaft in the axial direction; the axial magnetic flux motor comprises a rotor assembly and two stator assemblies. The two stator assemblies are symmetrically arranged on the two different sides of the rotor assembly in the axial direction. The rotor assembly comprises a rotor supporting plate and a plurality of magnetic steels, and the plurality of magnetic steels are circumferentially distributed on the rotor supporting plate; the stator assembly comprises a stator iron core and a plurality of stator windings, the stator iron core comprises a yoke part iron core and a plurality of tooth part iron cores, and each stator winding is wound on the corresponding tooth part iron core. According to the joint module, wiring can be facilitated, the integration level can be improved, the torque density of the joint module is effectively improved, and the heat dissipation performance is good.

The embodiment of the invention discloses a harmonic reducer, a mechanical arm and cleaning equipment, the harmonic reducer comprises a flexible gear, a connecting part and an output part, in the manufacturing process of the harmonic reducer, the protruding connecting part is formed on the surface of the flexible gear, production and machining of the flexible gear and the connecting part are more convenient, the machining precision can be improved, and the machining efficiency is improved. For example, the flexible gear and the connecting part which are integrally formed can be manufactured through an injection molding process, a connecting hole process in the traditional technology is replaced, the probability of deformation of the connecting part can be reduced or eradicated, and then the transmission precision of the harmonic reducer is guaranteed. In the assembling process, the output part is connected with the flexible gear through the connecting part, the connecting part protrudes out of the surface of the flexible gear, at least part of the connecting part can stretch into the output part, or at least part of components of the output part are arranged on the connecting part in a sleeving mode, and therefore rapid assembling of the output part and the connecting part can be facilitated; and the output part is conveniently connected with the flexible gear.

An optimization method of the tooth profile modification of the cycloid gear is provided, and optimizes the method of equidistant-distance combination modification of the tooth profile of the cycloid gear, with the help of multi-objective optimization algorithm based on pressure angle of tooth profile, curvature radius and contact performance, the working range of the tooth profile modification of the cycloid gear is determined, and the optimal modification amount of the cycloid pin gear planetary reducer is determined, the tooth profile of the cycloid gear is modified to compensate these errors, ensure that it has reasonable tooth side clearance, lubrication and assembly, and improve the transmission efficiency and bearing capacity of the cycloid pin gear planetary reducer. The optimization method has the effects of high precision transmission, low noise operation, improving transmission efficiency, prolonging fatigue life and reducing space occupation.

The embodiment of the utility model discloses a harmonic reducer, a mechanical arm and cleaning equipment, the harmonic reducer comprises a wave generator and an input assembly, and a first cavity is formed in an input shaft of the input assembly, so that in the working process of the harmonic reducer, power can be input through the input shaft, and the input shaft drives the wave generator to rotate. When a cable or a pipeline needs to be led into the harmonic reducer, the cable or the pipeline can utilize the first cavity in the input shaft, the cable or the pipeline can penetrate through the input shaft through the first cavity to complete cable arrangement, on the basis of full utilization of the internal space of the input assembly, layout of the cable and the pipeline is more convenient, and the practicability is high. The size of the harmonic reducer is reduced, the structure of the harmonic reducer is more compact, meanwhile, a cable or a pipeline penetrates through the input shaft with the first cavity, winding can be avoided, the structure of the harmonic reducer can be simplified, the cost of the harmonic reducer is reduced, and the working reliability of the harmonic reducer is improved.

The invention belongs to the technical field of speed reducers, and particularly relates to a multi-point meshing compound planetary gear speed reducer, a driving wheel set and a robot driving module. Wherein the multi-point meshing compound planetary gear reducer is provided with a sun gear serving as power input; the duplex planet gears are uniformly distributed around the sun gear, the duplex planet gears are composed of first planet gears and second planet gears, and the sun gear is meshed with the first planet gears; an intermediate planet gear exists between any two adjacent second planet gears in the circumferential direction, and each intermediate planet gear is meshed with the two adjacent second planet gears at the same time; an inner gear ring is arranged on a machine shell of the speed reducer, and the inner gear ring is meshed with the intermediate planet wheel. An existing planetary reducer has defects in the torque transmission capacity and the bearing capacity, a combined structure of a duplex planet wheel and an intermediate planet wheel is adopted, the intermediate planet wheel forms a multi-point meshing relation in the transmission process, loads are evenly dispersed, and the torque transmission capacity and the bearing capacity of the reducer are improved.

Apparatus and methods relate to a gear reducer, which may be used downhole to reduce rotational speed output from a downhole motor, such as a turbine motor, to a slower speed desired for rotation of a drill bit. The gear reducer includes a planetary gear arrangement coupled to receive rotational input from the downhole motor and a cycloidal gear arrangement driven by rotation resulting from the planetary gear arrangement. An output shaft couples to the cycloidal gear arrangement and rotates during operation slower than the rotational input from the downhole motor.

The invention discloses a two-stage planetary reduction transmission mechanism which comprises a first-stage planetary transmission mechanism and a second-stage planetary transmission mechanism. The first-stage planetary transmission mechanism comprises a first-stage sun gear and a first-stage gear ring; a plurality of first-stage planet gears and a first-stage planet carrier for mounting the first-stage planet gears are arranged between the first-stage sun gear and the first-stage gear ring; the first-stage planet gear is respectively meshed with the first-stage sun gear and the first-stage gear ring; the second-stage planetary transmission mechanism comprises a second-stage sun gear and a second-stage gear ring; a plurality of second-stage planet gears and a second-stage planet carrier for mounting the second-stage planet gears are arranged between the second-stage sun gear and the second-stage gear ring; the second-stage planet gear is respectively meshed with the second-stage sun gear and the second-stage gear ring; the fixing sleeve is arranged outside the first-stage gear ring and the second-stage gear ring in a sleeving mode, and the first-stage gear ring and the second-stage gear ring are in synchronous running fit with the fixing sleeve; the first-stage sun gear and the second-stage sun gear can rotate around the axis of the first-stage sun gear and the axis of the second-stage sun gear respectively. The invention further discloses a joint actuator.

The embodiment of the utility model discloses a harmonic reducer, a mechanical arm and cleaning equipment, the harmonic reducer comprises a flexible gear, a connecting part and an output part, in the manufacturing process of the harmonic reducer, the protruding connecting part is formed on the surface of the flexible gear, production and machining of the flexible gear and the connecting part are more convenient, the machining precision can be improved, and the machining efficiency is improved. For example, the flexible gear and the connecting part which are integrally formed can be manufactured through an injection molding process, a connecting hole process in the traditional technology is replaced, the probability of deformation of the connecting part can be reduced or eradicated, and then the transmission precision of the harmonic reducer is guaranteed. In the assembling process, the output part is connected with the flexible gear through the connecting part, the connecting part protrudes out of the surface of the flexible gear, at least part of the connecting part can stretch into the output part, or at least part of components of the output part are arranged on the connecting part in a sleeving mode, and therefore rapid assembling of the output part and the connecting part can be facilitated; and the output part is conveniently connected with the flexible gear.

The invention relates to the technical field of motor control, in particular to a harmonic gear motor based on double encoders and a control method thereof, which comprises the following steps: processing linear Hall element signals output by a rotor shaft encoder, including high-frequency noise suppression, direct-current bias calibration, amplitude normalization and phase difference calibration, to obtain accurate orthogonal signals; a double-dq rotating coordinate system phase-locked loop algorithm is adopted, the calibrated orthogonal signals are processed, and the high-precision real-time angle of the motor rotor is obtained through calculation; based on a signal of an output shaft encoder, matching with a preset angle partition of the harmonic reducer, and identifying an absolute position sector where the current output shaft is located; the rotor angle and the sector angle of the output shaft are fused to generate a high-resolution absolute angle of the output shaft; and based on the fused angle information, a magnetic field orientation control algorithm is adopted to drive a motor, and closed-loop control is achieved.

The invention provides an axial magnetic flux motor driven RV speed reduction driving assembly which comprises an axial magnetic flux motor unit and an RV speed reducer unit which are connected, the axial magnetic flux motor unit and the RV speed reducer unit are integrated in a shell, the axial magnetic flux motor unit comprises a plurality of stators which are distributed in an annular mode, and the stators are connected with the axial magnetic flux motor unit. A stator is arranged on the rotor, a disc type rotor is arranged on each of the two sides of the stator, a plurality of torsion bars which are uniformly distributed in the circumferential direction are arranged on the rotor facing the side where the RV speed reducer unit is located, the torsion bars are connected with a sun gear of a planetary gear train of the RV speed reducer unit, and an output disc of the RV speed reducer unit is a power output end. The RV speed reduction driving assembly driven by the axial magnetic flux motor has the advantages of being large in starting torque, high in mechanical efficiency, compact in structure, high in overload capacity and the like.

A coaxial asynchronous motor drive system, including a speed reducer, an electric motor and a main housing, and further including a motor controller, wherein the electric motor and the speed reducer are connected to form a motor reducer assembly and mounted inside the main housing, and the motor controller is fixed to the main housing and connected to the motor reducer assembly. The system reduces parasitic loss of an auxiliary motor drive system of a battery electric four-wheel-drive vehicle and increases the range per charge of the vehicle, and the compact and integrated coaxial motor drive system facilitates maximum utilization of available space of the vehicle.

The utility model discloses a power system and a vehicle. The power system comprises a first transmission shaft, a second transmission shaft, a gear shifting mechanism, a speed ratio amplifying mechanism, a main reduction driven gear and a motor. The gear shifting mechanism is arranged on the first transmission shaft, and the first transmission shaft is connected with the motor; the speed ratio amplifying mechanism and the main reduction driven gear are arranged on the second transmission shaft, the speed ratio amplifying mechanism is meshed with the first end of the gear shifting mechanism, and the second end of the gear shifting mechanism is meshed with the main reduction driven gear. According to the power system, the gear shifting mechanism is arranged on the first transmission shaft, the gear shifting mechanism can be prevented from being directly driven by the motor to rotate at a high speed, the power system can adapt to the high-rotating-speed working condition of the motor, meanwhile, the gear shifting mechanism is located on the middle shaft, the requirement for the deceleration transmission center distance can be lowered, the enveloping requirement of the whole power system is lowered, and cost is lowered.

The invention relates to the technical field of speed reducers, in particular to a multi-stage coaxial speed reducer which comprises an outer cylinder, a first-stage gear ring and a second / third-stage gear ring are arranged in the outer cylinder, and a first-stage speed reducer, a second-stage speed reducer and a third-stage speed reducer are sequentially arranged in the outer cylinder. The first-stage planet carrier framework is axially fixed, and the second-stage planet carrier framework and the third-stage planet carrier framework axially float; gaskets / thrust bearings are arranged between stages to achieve axial supporting and friction reduction, and the last-stage three-stage planet gears adopt staggered-tooth gears to eliminate meshing clearances. Through the coaxial compact integrated design, the large reduction ratio and the compact structure are both considered; due to the lubricating circulation design of inter-stage antifriction supporting and self-adaptive rotating speed, the friction loss is greatly reduced, and the transmission efficiency is improved; the structure of staggered tooth clearance eliminating, elastic buffering and shaft system stabilizing effectively reduces gear abrasion and impact loads, remarkably prolongs the service life, has the advantages of being high in transmission precision, fast in response and stable in operation, and can be used for precise transmission, automobile active stabilizer bars and other scenes.

The invention discloses a new energy automobile speed reducer efficiency optimization system based on multi-physics field coupling, and belongs to the technical field of new energy automobiles. The system constructs a structure-heat-fluid multi-physics field intensity coupling simulation model: firstly, the structure-heat model calculates friction heat generated by gear engagement based on a finite element method; then, the heat source is input into a heat-fluid sub-model to calculate a whole machine temperature field and oil stirring loss; the key point is that the temperature field can perform bidirectional feedback to update material attributes, lubricating oil viscosity and thermal deformation in real time, and a high-fidelity coupling solution is obtained through iterative solution. Based on the precise model, the system adopts intelligent optimization methods such as a genetic algorithm to carry out iterative optimization on variables such as gear parameters or lubricating oil viscosity, and outputs a design combination enabling the comprehensive efficiency to be optimal. According to the invention, the strong coupling effect among force-heat-fluid is accurately simulated, the deviation of traditional decoupling analysis is overcome, and the efficiency of the speed reducer and the energy efficiency of the whole vehicle can be systematically improved.

The application discloses an intelligent electric chassis configuration and a fault-tolerant control method of the intelligent electric chassis, and relates to the technical field of electric chassis. The chassis configuration comprises a front axle centralized motor drive assembly, a rear axle distributed motor drive assembly, a front axle electronic hydraulic brake system, a rear axle electronic mechanical brake system and a chassis domain controller. The front axle centralized motor drive assembly comprises a centralized drive motor, a front wheel speed reducer and a drive half shaft which are sequentially connected. The rear axle distributed motor drive assembly comprises a left rear wheel end drive motor and a left rear wheel speed reducer which are sequentially connected, and a right rear wheel end drive motor and a right rear wheel speed reducer which are sequentially connected. The front axle electronic hydraulic brake system comprises a first main brake unit and a redundant brake unit. The rear axle electronic mechanical brake system comprises a second main brake unit. The chassis domain controller is used for controlling the centralized drive motor, the left and right rear wheel end drive motors, the first main brake unit, the redundant brake unit, the second main brake unit, a front axle steer-by-wire system, an intelligent suspension system and an intelligent tire. The application can improve the chassis safety and fault-tolerant capability to support high-level automatic driving functions.

The invention provides an assembling and meshing precision adjusting method for a harmonic reducer, and relates to the technical field of reducers, the harmonic reducer comprises a flexible gear and a rigid gear with specific tooth profiles, and the tooth profile of the flexible gear comprises a first arc tooth top and a first arc tooth root; the tooth profile of the rigid gear comprises a second planar tooth top, transition arcs located at the vertex angles of the two sides of the second planar tooth top and a second arc-shaped tooth root. The elliptical wave generator is used for driving the flexible gear; the wave height of the wave generator is defined as the difference between a long half shaft and a short half shaft; the method comprises the following steps: acquiring a tooth profile parameter set of a flexible gear and a rigid gear, wherein the tooth profile parameter set comprises a first tooth crest arc radius, a first tooth root arc radius, a second tooth crest plane width and a second tooth root arc radius; based on the tooth profile parameter set, according to a preset matching relation used for optimizing the meshing performance, cooperatively determining a target wave height matched with the tooth profile parameter; and according to the target wave height, a corresponding wave generator is selected to complete the assembly of the harmonic reducer.

The invention relates to an automatic press-fitting system for a rotor and a spline shaft, which is characterized in that a laser sensor is used for detecting the reflected light intensity difference of a tooth crest and a tooth groove, and a PLC (Programmable Logic Controller) calculates the angular deviation of the spline shaft in real time based on a difference signal and generates a rotation instruction; after receiving the instruction, the servo motor drives the spline shaft to adjust at a certain increment angle; the suction cup tool sucks the rotor end face through a vacuum suction cup and moves to the position coaxial with the spline shaft; and the servo press drives the rotor to press with constant pressure, the PLC synchronously analyzes the press-in force and displacement, when the displacement reaches a preset range, it is judged that meshing succeeds, and when the displacement does not reach the preset range, it is judged that tooth crest interference occurs, and a reverse rotation correction process is triggered. The system can realize high-precision angle detection and dynamic correction, improves the one-time success rate of engagement of the spline shaft and the rotor, is suitable for precision assembly scenes such as a new energy automobile electric drive system and an industrial speed reducer, effectively reduces the manual intervention cost, and improves the production takt time stability.

The invention discloses a double-rotor single-stator planetary speed reduction type joint module which comprises a hollow shaft, a driver assembly, an axial magnetic flux motor, a planetary speed reducer and an output shaft, and the driver assembly, the axial magnetic flux motor and the planetary speed reducer are sequentially arranged on the hollow shaft in the axial direction; the axial magnetic flux motor comprises a rotor support, a stator assembly and two rotor assemblies, the two rotor assemblies are symmetrically arranged on the two different sides of the stator assembly in the axial direction respectively, and the two rotor assemblies are in transmission connection with the power input end of the planetary reducer through the rotor support. The power output end of the planetary reducer, the output shaft and the hollow shaft are in transmission connection in sequence; the stator assembly comprises a plurality of stator units which are circumferentially arranged; each of the two rotor assemblies comprises a rotor supporting plate and a plurality of magnetic steels. Wiring arrangement of the joint module can be facilitated, the integration degree is improved, and the torque density of the joint module is effectively improved.

The invention relates to the field of mechanical engineering, discloses a speed reducer multi-field loss balancing method and system based on working condition self-adaptive feedback, and aims to solve the problems of local loss concentration, intensified temperature rise and low energy efficiency caused by neglect of a multi-physical field coupling relation in the prior art. The method comprises the following steps: acquiring mechanical, thermal, fluid and electromagnetic parameters in operation of the speed reducer through a distributed sensor, and generating a standardized working condition state vector; and inputting into a mechanical-thermal-fluid-electromagnetic four-field coupling model, and solving the space-time loss distribution of the key component by combining with a data driving correction term. According to the scheme, refined prediction and closed-loop regulation and control of multi-field loss distribution are achieved, the local temperature difference and energy consumption concentration are remarkably reduced, the energy efficiency of the whole machine is improved by 8%-15%, the service cycle is prolonged, and the method is suitable for a high-end equipment transmission system under the high-dynamic heavy-load working condition.

The utility model relates to a coal gangue recycling treatment device, and belongs to the technical field of mixing and stirring equipment. Feeding devices are fixedly arranged at the four corners of the upper portion of the stirring barrel, a left net rack with side hooks is movably hung below the feeding devices and above the stirring barrel, a right net rack is movably arranged on one side of the left net rack through a positioning hinge, and a lifting handle is fixedly arranged on the right net rack; the lower part of the side hook is movably contacted with an inductive switch; the inductive switch is fixed on the outer side surface of the mixing drum; coal gangue powder fed from the feeding device is filtered by the left net rack and the right net rack and then falls into the stirring barrel, the motor with the speed reducer drives the main shaft and the spiral blade to conduct mixing and stirring, and the right end of the bottom of the stirring barrel is provided with the discharging port and the discharging device so that the flow can be controlled. Four groups of moving wheels are fixedly arranged at the bottom of the support frame, so that the device is convenient to transport and move; the control switch is connected with the motor, the gear motor and the inductive switch through power lines, unified control is achieved, and operation is safe.

The invention relates to the technical field of gear detection, and discloses a gear fatigue damage monitoring method and system based on a GCM counting method.The method comprises the steps that the input torque of a main speed reducer is obtained by calculating automobile running resistance, and tooth surface contact stress is obtained by combining gear geometric parameters and the Hertz contact theory; dividing stress into m grades, dividing a monitoring period into k time windows, and counting the cycle index of each stress grade to construct a GCM matrix; and correcting the stress into symmetric cyclic stress by adopting a Goodman criterion, calculating fatigue damage of each grade according to the S-N curve of the material, accumulating to obtain a total damage value, judging fatigue failure when the total damage exceeds a threshold value, and otherwise, calculating the residual cycle life. According to the method, accurate evaluation and early warning of the fatigue life of the main reducer gear can be realized, and the reliability and the safety of an automobile transmission system are improved.

The invention relates to the technical field of photovoltaic tracking driving, and provides a reverse self-locking speed reduction driving device which comprises a transmission shaft, a shell, a first gear, two output shafts and a third gear, the two output shafts are symmetrically installed at the two ends of the transmission shaft, the output shafts are coaxial with the axis of the transmission shaft, the first gear is eccentrically installed on the transmission shaft, and the second gear is eccentrically installed on the shell. Comprising a first gear and a second gear which are different in tooth number, a second gear meshed with the first gear is formed on each output shaft, a third gear is eccentrically meshed with the second gear, and the eccentric directions of the two first gears meshed with the two output shafts are conjugated. Large reduction ratio output can be achieved through two-stage speed reduction, multi-tooth meshing bearing is achieved through cooperation of arc teeth, the bearing torque is increased, sliding friction transmission is adopted between teeth, and reverse large-torque self-locking of the output shaft is achieved.

The invention provides a knuckle module and a dexterous hand. The knuckle module comprises a first knuckle section, a motor, a control circuit board, a reversing mechanism and a speed reducer, wherein the motor and the control circuit board are arranged in the first knuckle section, and the reversing mechanism and the speed reducer are arranged in the end portion of one end of the first knuckle section. The direction of an output shaft of the motor is parallel to the length direction of the first knuckle section, the direction of an output shaft of the speed reducer is perpendicular to the direction of the output shaft of the motor, and the reversing mechanism is arranged between the motor and the speed reducer and used for converting rotation of the output shaft of the motor into rotation of an input shaft of the speed reducer. The control circuit board is arranged at the end, away from the reversing mechanism, of the motor and electrically connected with the motor. According to the knuckle module provided by the invention, the use requirements of light weight and miniaturization of finger joints can be met, the motion control precision of the finger joints is greatly improved, meanwhile, modularization is realized, a plurality of knuckle modules can be stacked to be connected into a finger, and the knuckle module is convenient to disassemble and assemble and easy to maintain.

The invention discloses a long-service-life composite heat treatment method for a harmonic reducer flexible gear made of an SNCM439 material, belongs to the technical field of long-service-life manufacturing of harmonic reducers, and solves the problem that the service life of the harmonic reducer flexible gear is short. According to the method, a flexible gear made of an SNCM439 material is subjected to a composite heat treatment method of secondary normalizing, quenching, deep cooling and tempering, and the specific process method is as follows: the primary normalizing temperature is 870-890 DEG C, the heat preservation time is 50-70 minutes, and air cooling is performed; the secondary normalizing temperature is 850-870 DEG C, the heat preservation time is 50-70 min, and air cooling is carried out; the quenching temperature is 830-850 DEG C, the heat preservation time is 50-70 min, and oil cooling is conducted; the subzero treatment temperature is-70 DEG C to-90 DEG C, and the heat preservation time is 110-120 min; the tempering temperature is 490-510 DEG C, and the heat preservation time is 120-140 minutes.