INTERNAL MESHING PLANETARY GEAR APPARATUS AND ROBOT JOINT APPARATUS

WIPO Patent Application WO/2022/227560

A1

An internal meshing planetary gear apparatus (1, 1A) and a robot joint apparatus (200). The internal meshing planetary gear apparatus (1, 1A) comprises an internally toothed gear (2), a planetary gear (3), a plurality of inner pins (4), an eccentric shaft (7) which acts as an input shaft, and a bushing (70). The plurality of inner pins (4) are respectively inserted into a plurality of inner pin holes (32) formed in the planetary gear (3), and revolve in the inner pin holes (32) while relatively rotating relative to the internally toothed gear (2) by using a rotation axis (Ax1) as the center. The eccentric shaft (7) makes the planetary gear (3) oscillate eccentrically. The bushing (70) has a fixing structure (701) used for fixing an object member (P2), and the bushing (70) is combined with the eccentric shaft (7) and rotates together with the eccentric shaft (7).

JPS587436	[Title of the Invention] An actuator of a robot for industry
WO/2023/095821	DRIVE DEVICE FOR VEHICLE

WANG GANG (JP)
LIN WENJIE (JP)
MINEGISHI KIYOJI (JP)
GUO ZIMING (JP)
ISAJI TSUYOSHI (JP)

PCT/CN2021/134363

November 03, 2022

November 30, 2021

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MIDEA GROUP CO LTD (CN)
GUANGDONG JIYA PRECISION MACHINERY TECH CO LTD (CN)
GD MIDEA AIR CONDITIONING EQUIPMENT CO LTD (CN)

F16H1/32; B25J9/08; F16H57/032

CN110005759A	2019-07-12
CN110360274A	2019-10-22
CN110630694A	2019-12-31
JP2896069B2	1999-05-31
CN102207169A	2011-10-05
CN102691771A	2012-09-26
CN102235326A	2011-11-09
JP2021075096A	2021-05-20
JP2003074646A	2003-03-12

CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)

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