Abstract: The present invention discloses a shafting structure of an integrated joint for a collaborative robot, wherein two ends of a long input shaft are respectively a motor rear end and a flexspline end, and a harmonic gear drive is installed on the flexspline end; the motor rear end is coaxially provided with a motor rear end bearing set, a motor rear end inner race pressing ring, a motor rear end outer race pressing ring, a motor rear end outer race seat and a motor rear end angle encoder mounting seat; and the flexspline end is provided coaxially with a flexspline end bearing set, a flexspline end inner race pressing ring and the harmonic gear drive. In the present invention high-precision position feedback and control can be realized.

Abstract: The present invention relates to a liquid, propellant-free pharmaceutical preparation and a method for administering a pharmaceutical preparation by nebulizing the pharmaceutical preparation in an inhaler. The propellant-free pharmaceutical preparation comprises: (a) an active substance selected from umeclidinium bromide and vilanterol trifenatate and combinations thereof; (b) a solvent; (c) a pharmacologically acceptable solubilizing agent; and (d) a pharmacologically acceptable preservative, and optionally includes a pharmacologically acceptable stabilizer, a pharmacologically acceptable co-solvent, or other pharmacologically acceptable additives.

Abstract: The present invention discloses a shafting structure of an integrated joint for a collaborative robot, wherein two ends of a long input shaft are respectively a motor rear end and a flexspline end, and a harmonic gear drive is installed on the flexspline end; the motor rear end is coaxially provided with a motor rear end bearing set, a motor rear end inner race pressing ring, a motor rear end outer race pressing ring, a motor rear end outer race seat and a motor rear end angle encoder mounting seat; and the flexspline end is provided coaxially with a flexspline end bearing set, a flexspline end inner race pressing ring and the harmonic gear drive. In the present invention high-precision position feedback and control can be realized.

Abstract: The present invention discloses a liquid, propellant-free pharmaceutical preparation and a method for administering a pharmaceutical preparation by nebulizing the pharmaceutical preparation in an inhaler. The propellant-free pharmaceutical preparation comprising: (a) active substances selected from glycopyrronium bromide and indacaterol maleate; (b) a solvent; and (c) a pharmacologically acceptable preservative, optionally including a pharmacologically acceptable stabilizer, a pharmacologically acceptable solubilizing agent, a pharmacologically acceptable co-solvent, or other pharmacologically acceptable additives.

Abstract: The present invention relates to a liquid, propellant-free pharmaceutical preparation and a method for administering a pharmaceutical preparation by nebulizing the pharmaceutical preparation in an inhaler. The propellant-free pharmaceutical preparation comprises: (a) an active substance selected from umeclidinium bromide and vilanterol trifenatate and combinations thereof; (b) a solvent; (c) a pharmacologically acceptable solubilizing agent; and (d) a pharmacologically acceptable preservative, and optionally includes a pharmacologically acceptable stabilizer, a pharmacologically acceptable co-solvent, or other pharmacologically acceptable additives.