US 12,296,475 B2
Internally meshing planetary gear apparatus and joint apparatus for robot
Wenjie Lin, Osaka (JP); Gang Wang, Osaka (JP); Kiyoji Minegishi, Osaka (JP); Ziming Guo, Osaka (JP); and Tsuyoshi Isaji, Osaka (JP)
Assigned to MIDEA GROUP CO., LTD., Foshan (CN); GUANGDONG JIYA PRECISION MACHINERY TECHNOLOGY CO., LTD., Foshan (CN); GD MIDEA AIR-CONDITIONING EQUIPMENT CO., LTD., Foshan (CN); and GUANGDONG MIDEA ELECTRIC CO., LTD., Foshan (CN)
Filed by Midea Group Co., Ltd., Foshan (CN); Guangdong Jiya Precision Machinery Technology Co., Ltd., Foshan (CN); GD Midea Air-Conditioning Equipment Co., Ltd., Foshan (CN); and Guangdong Midea Electric Co., Ltd., Foshan (CN)
Filed on Aug. 25, 2023, as Appl. No. 18/238,406.
Application 18/238,406 is a continuation of application No. PCT/CN2021/114694, filed on Aug. 26, 2021.
Claims priority of application No. 2021-030509 (JP), filed on Feb. 26, 2021.
Prior Publication US 2023/0405805 A1, Dec. 21, 2023
Int. Cl. F16H 1/32 (2006.01); B25J 9/10 (2006.01); F16H 49/00 (2006.01)
CPC B25J 9/102 (2013.01) [F16H 1/32 (2013.01); F16H 49/001 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An internal-meshing planetary gear device, comprising:
a bearing member, provided with an outer ring, and an inner ring arranged on an inner side of the outer ring and supported to be rotatable relative to the outer ring with a rotation axis as a center;
an internally toothed gear, provided with internal teeth and fixed to the outer ring;
a planetary gear, provided with external teeth partially meshing with the internal teeth; and
a plurality of inner pins, configured to revolve in a plurality of inner pin holes formed in the planetary gear and configured to rotate relative to the internally toothed gear, in a state where the plurality of inner pins are inserted into the plurality of inner pin holes respectively,
an inner peripheral surface of each of the plurality of inner pin holes configured to press against each corresponding inner pin of the plurality of inner pins to apply a pre-pressure to each corresponding inner pin of the plurality of inner pins, when the plurality of inner pins do not rotate relative to the internally toothed gear,
the internal-meshing planetary gear device further comprising a support structure configured to support each of the plurality of inner pins to counteract moment generated from each of the plurality of inner pins due to the pre-pressure, wherein the support structure comprises a plurality of sets of holding parts configured to hold each of the plurality of inner pins at both sides of the planetary gear in a direction parallel to the rotation axis, wherein each of the plurality of sets of holding parts comprises a pair of rolling bearings, and the internal-meshing planetary gear device further comprises a first bearing and a second bearing, wherein at least a part of a first rolling bearing in the pair of rolling bearings is, along a direction parallel to a rotation axis, at a same position as the first bearing and at least a part of a second rolling bearing in the pair of rolling bearings is, along the direction parallel to the rotation axis, at a same position as the second bearing.