Abstract: Disclosed is a detection device for a working surface. The detection device (100) comprises: a plurality of hydraulic supports (101), a laser ranging set (102), a displacement sensor (103), a hydroelectric signal conversion module (104), and a support controller (105) which are disposed on a working surface. The laser ranging set (102) is disposed below a top beam of a first target hydraulic support among the plurality of hydraulic supports and parallel to a post of the first target hydraulic support, and is configured to determine error length and send the error length to the hydroelectric signal conversion module (104). The displacement sensor (103) is configured to at least obtain the degrees of inclination of the hydraulic supports (101) and send the degrees of inclination to the hydroelectric signal conversion module (104).

Abstract: An internal meshing planetary gear apparatus and a robotic joint device. The internal meshing planetary gear apparatus includes an internally toothed gear, a planetary gear, a plurality of inner pins, an eccentric shaft which acts as an input shaft, and a bushing. The plurality of inner pins is respectively inserted into a plurality of inner pin holes formed in the planetary gear, and is configured to revolve in the inner pin holes while rotating relative to the internally toothed gear about a rotation axis. The eccentric shaft is configured to cause the planetary gear to oscillate eccentrically. The bushing includes a fixing structure configured to fix an object member, and the bushing is combined with the eccentric shaft and configured to rotate together with the eccentric shaft.

Abstract: An internally meshing planetary gear apparatus includes a bearing component, an internal gear, a planetary gear a plurality of inner pins, and a support structure. The plurality of inner pins are configured to be respectively inserted into a plurality of inner pin holes formed by the planetary gear. The inner pins are configured to revolve within the inner pin holes, and simultaneously rotate relative to the internal gear). When the plurality of inner pins are not rotating relative to the internal gear, a respective inner circumferential face of each pin hole among the plurality of inner pin holes presses against each pin among the plurality of inner pins, and the pin holes exert a pre-pressure on each pin among the plurality of inner pins. The support structure is configured to support each pin among the plurality of inner pins.

Abstract: An internally engaged planetary gear device includes a bearing member, an internally toothed gear, a planetary gear, a plurality of inner pins, and a plurality of rolling bearings. When respectively inserted into a plurality of inner pin holes formed in the planetary gear, the plurality of inner pins are configured to rotate relative to the internally toothed gear while revolving in the inner pin holes. The plurality of rolling bearings are configured to hold respective inner pins of the plurality of inner pins at two sides in a direction parallel to a rotation axis Ax1 with respect to the planetary gear. Each inner pin of the plurality of inner pins is configured to be held on each rolling bearing in a state capable of rotation.

Abstract: The harmonic gear device includes a rigid internal gear, a flexible external gear and a wave generator. The rigid internal gear is an annular component having internal teeth. The flexible external gear is an annular component having external teeth and configured on an inner side of the rigid internal gear. The wave generator is configured on an inner side of the flexible external gear and flexes the flexible external gear. The harmonic gear device is configured to deform the flexible external gear along with the rotation of the wave generator with the rotation shaft as a center, so that some of the external teeth mesh with some of the internal teeth. The flexible external gear thus rotates relative to the rigid internal gear according to the difference in the number of teeth between the flexible external gear and the rigid internal gear.

Abstract: An internal-meshing planetary gear device includes an internally toothed gear provided with internal teeth and is fixed to an outer ring. A planetary gear is provided with external teeth which partially mesh with the internal teeth. A plurality of internal pins is respectively inserted into a plurality of internal pin holes formed on the planetary gear revolve within the internal pin holes and rotate relative to the internally toothed gear. An inner ring includes a first inner ring and a second inner ring, which are opposite each other in a direction parallel to a rotation axis and have opposite surfaces that come in contact with each other. The first inner ring has a plurality of holding holes, through which the plurality of internal pins respectively penetrate in the direction parallel to the rotation axis. Each of the plurality of internal pins is held in the inner ring and is rotatable.

Abstract: A harmonic gear device includes a rigid internal gear, a flexible external gear and a wave generator. The rigid internal gear is an annular component having internal teeth. The flexible external gear is an annular component, which has external teeth and is configured on an inner side of the rigid internal gear. The wave generator is configured on an inner side of the flexible external gear, and deflects the flexible external gear. The harmonic gear device deforms the flexible external gear along with the rotation of the wave generator taking a rotation axis as the center, such that some of the external teeth mesh with some of the internal teeth. The flexible external gear rotates relative to the rigid internal gear in accordance with the difference between the numbers of teeth of the flexible external gear and the rigid internal gear.