Harmonic Reducer

Our strain wave reducers deliver superior performance with rigidity 10% above industry standards and over 30% increased meshing tooth count. They offer a long service life of up to 50,000 hours for reliable robotic operation.
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Robot Joint Module

Our integrated robot joint modules adopt dual‑encoder design to realize virtual force control and high positioning accuracy, covering shoulder, elbow, wrist, hip, knee and wheel joints for collaborative and humanoid robots.
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Six-dimensional Torque Sensor

This six‑dimensional torque sensor achieves force‑control accuracy below 0.5% F.S.. Equipped with low‑noise amplifier, dual‑filtering algorithm and 24‑bit A/D chip, it supports sampling frequency up to 2 kHz and multiple communication protocols.
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Frameless Torque Motor

The frameless torque motor features torque fluctuation under 1% and 3.5‑times overload capacity, providing stable, high‑performance torque output for robot joint applications.
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Large Hollow Low Voltage Driver

Built with modular architecture, this large‑hollow low‑voltage driver applies model predictive vector control algorithm. It integrates on‑board STO and SBC via 24V I/O and is manufactured by Infranor in France.
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Absolute Encoder

Designed for harsh environments, this absolute‑value encoder resists oil, dust and water vapour. It provides high resolution of 16‑bit /18‑bit, repeat positioning accuracy better than ±10'', and works across ‑45 °C to 85 °C.
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Control System

Featuring integrated teaching pendant and controller in a compact footprint, this control system adopts EtherCat bus control mode to enable fast editing and rapid deployment. It supports flexible robot control with force‑control accuracy within 1N.
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Cobot

Haozhi engineers bespoke micro-drives, lightweight harmonic gearing, and frameless motors that enable bipedal locomotion...
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Humanoid Robot

Haozhi engineers bespoke micro-drives, lightweight harmonice gearing, and frameless motors that enable bipedal locomotion, dynamic balance, and complex manipulations in unstructured environments.
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Legged Robot

Haozhi engineers bespoke micro-drives, lightweight harmonice gearing, and frameless motors that enable bipedal locomotion, dynamic balance, and complex manipulations in unstructured environments.
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Industrial Robot

Haozhi engineers bespoke micro-drives, lightweight harmonice gearing, and frameless motors that enable bipedal locomotion, dynamic balance, and complex manipulations in unstructured environments.
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EV Charging Robot

Haozhi engineers bespoke micro-drives, lightweight harmonice gearing, and frameless motors that enable bipedal locomotion, dynamic balance, and complex manipulations in unstructured environments.
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Robot Joint Module

Harmonic Reducer

Precision-Engineered All-in-One Robot Joint Modules.Integrated with high-rigidity harmonic reducers, cogging-free torque motors, dual absolute encoders, and smart drives, Haozhi Robot Joint Modules deliver unmatched precision, ultra-low vibration, and exceptional stability for next-generation collaborative and humanoid robotics.

<0.5%
F.S. ACCURACY
Zero
BACKLASH
10k+
HRS LIFESPAN

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OVERVIEW

Empower Next-Gen Robotics with High-Precision Joint Integration

Designed for next-generation collaborative robots and demanding industrial automation, Haozhi Robot Joint Modules feature a highly integrated, compact structure that combines the motor, harmonic reducer, driver, dual absolute encoders, brake, and sensors into a single lightweight unit. Powered by custom cogging-free torque motor technology and ultra-high-precision encoders, our joint modules offer superior torque output, exceptional repeatability, and accurate force control. Engineered for fast deployment and effortless modular assembly, they provide a flexible, reliable, and high-performance foundation to bring your robotic applications to life.

Ultra-Flat Design

Optimized form factor significantly reduces the o verall footprint of robot joints without compromising load capacity.

High Torsional Stiffness

Advanced tooth profile engineering ensures maximum rigidity for fast dynamic responses in automation lines.

Cross-Roller Bearing Integrated

Built-in high rigidity cross-roller bearing allows for direct mounting of external loads, simplifying mechanical design.

SPECIFICATIONS

CHSG Selection Dimensions

Comprehensive geometric and performance parameters across all standard size variants. Contact engineering for custom modifications.

Performance & Service Rating
Physical Dimensions

Performance & Service Rating
MODEL SIZE	RATIO	MAX TORQUE (NM)	RATED SPEED (RPM)	MAX SPEED (RPM)	WEIGHT (KG)
CHSG-14	50, 80, 100	23	3500	8500	0.54
CHSG-17	50, 80, 100, 120	54	3500	7300	0.72
CHSG-20	50, 80, 100, 120, 160	92	3500	6500	0.98
CHSG-25	50, 80, 100, 120, 160	178	3500	5600	1.55
CHSG-32	50, 80, 100, 120, 160	353	3500	4800	3.20

Physical Dimensions
MODEL SIZE	RATIO	MAX TORQUE (NM)	RATED SPEED (RPM)	MAX SPEED (RPM)	WEIGHT (KG)
CHSG-14	50, 80, 100	23	3500	8500	0.54
CHSG-17	50, 80, 100, 120	54	3500	7300	0.72
CHSG-20	50, 80, 100, 120, 160	92	3500	6500	0.98
CHSG-25	50, 80, 100, 120, 160	178	3500	5600	1.55
CHSG-32	50, 80, 100, 120, 160	353	3500	4800	3.20

Dimensions

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