US 12,330,299 B2
Internally engaged planetary gear device and robot joint device
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. 18/238,407.
Application 18/238,407 is a continuation of application No. PCT/CN2021/114700, filed on Aug. 26, 2021.
Claims priority of application No. 2021-030510 (JP), filed on Feb. 26, 2021.
Prior Publication US 2023/0398682 A1, Dec. 14, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/10 (2006.01); F16H 1/32 (2006.01)
CPC B25J 9/102 (2013.01) [F16H 1/32 (2013.01)] 14 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, and
a plurality of sets of rolling bearings 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 inner pins is held on each corresponding set of rolling bearings in a self-rotatable state.