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1. 发明申请

US20060040779A1 Planetary reduction mechanism, pin structure, and method for manufacturing pin 审中-公开
标题翻译：行星减速机构，销针结构及制造方法
公开(公告)号：US20060040779A1
公开(公告)日：2006-02-23
申请号：US11205048
申请日：2005-08-17
申请人： Yo Tsurumi , Takashi Haga , Jun Tamenaga
发明人： Yo Tsurumi , Takashi Haga , Jun Tamenaga
IPC分类号： F16H13/06
CPC分类号： F16H1/32 , F16H57/04
摘要： A planetary reduction mechanism includes a ring member and a planetary rotary member internally meshing with the internal gear, and a pin. The pin extends through the planetary rotary member for preventing orbital motion or rotation of the planetary rotary member, or for taking out an orbital motion component or a rotational component thereof. A continuous groove is formed on an outer circumference of the pin.
摘要翻译：行星减速机构包括环状构件和与内齿轮内啮合的行星旋转构件和销。销延伸穿过行星旋转构件，用于防止行星旋转构件的轨道运动或旋转，或用于取出轨道运动部件或其旋转部件。在销的外周形成连续的槽。

2. 发明申请

US20060213307A1 Power transmission device for driving robot wrist and power transmission device 审中-公开
标题翻译：用于驱动机器人手腕和动力传动装置的动力传动装置
公开(公告)号：US20060213307A1
公开(公告)日：2006-09-28
申请号：US11377873
申请日：2006-03-17
申请人： Takashi Haga , Yo Tsurumi , Jun Tamenaga
发明人： Takashi Haga , Yo Tsurumi , Jun Tamenaga
IPC分类号： B25J18/00
CPC分类号： B25J17/0283 , B25J9/102 , F16H1/32 , Y10T74/20305
摘要： The power transmission device includes an internal gear and an external gear that is inscribed in the internal gear and engages with the internal gear, and can transmit an input power to an attachment. The power transmission device further includes: an inner pin for bringing out a relative rotation component between the internal gear and the external gear; and an output flange connected to the inner pin. In this configuration, the inner pin and the output flange are integrally formed as one member, and a mounting hole for connecting the output flange to the attachment is formed in a surface of the output flange that is opposite to the inner pin.
摘要翻译：动力传递装置包括内齿轮和外齿轮，其内接在内齿轮中并与内齿轮接合，并且可以将输入动力传递到附件。动力传递装置还包括：用于在内齿轮和外齿轮之间引出相对旋转分量的内销; 以及连接到内销的输出法兰。在这种构造中，内销和输出凸缘一体地形成为一个构件，并且在输出凸缘的与内销相对的表面中形成用于将输出凸缘连接到附件的安装孔。

3. 发明申请

US20070243967A1 Oscillating internally meshing planetary gear system 有权
标题翻译：振动内啮合行星齿轮系统
公开(公告)号：US20070243967A1
公开(公告)日：2007-10-18
申请号：US11785398
申请日：2007-04-17
申请人： Takashi Haga , Yo Tsurumi
发明人： Takashi Haga , Yo Tsurumi
IPC分类号： F16H1/32
CPC分类号： F16H1/32
摘要： An oscillating internally meshing planetary gear system is provided in order to improve basic performance and reduce cost at the same time. The oscillating internally meshing planetary gear system has an internal gear and external gears internally meshing with the internal gear and is configured such that one of the external gears and the internal gear is oscillatingly rotated by means of eccentric bodies formed in an input shaft (eccentric body shaft). The system includes: a sliding motion-facilitating member intervening between an outer periphery of the eccentric body and the oscillating gear; and an eccentric body shaft bearing supporting the eccentric body shaft. In addition to this, the eccentric body shaft bearing and the sliding motion-facilitating member have the same configuration.
摘要翻译：提供摆动式内啮合行星齿轮系统，以提高基本性能，同时降低成本。振动内啮合行星齿轮系具有内齿轮和内齿轮啮合的外齿轮，并且构造成使得外齿轮和内齿轮中的一个通过形成在输入轴（偏心体）中的偏心体振动旋转轴）。该系统包括：滑动运动促进构件，其插入在偏心体的外周与摆动齿轮之间; 以及支承偏心体轴的偏心体轴承轴承。除此之外，偏心体轴承轴承和滑动促动构件具有相同的构造。

4. 发明授权

US07056253B2 Internal teeth oscillating inner gearing planetary gear system 失效
公开(公告)号：US07056253B2
公开(公告)日：2006-06-06
申请号：US10803102
申请日：2004-03-18
申请人： Yo Tsurumi , Takashi Haga
发明人： Yo Tsurumi , Takashi Haga
IPC分类号： F16H1/32
CPC分类号： F16H1/32
摘要： An internal teeth oscillating inner gearing planetary gear system is provided with an input shaft, an eccentric gear rotated by the input shaft, the internal oscillating body oscillatingly rotated through the inner circumferential surface of the eccentric gear, and an external gear meshed with the internal oscillating body.

5. 发明授权

US07819770B2 Oscillating internally meshing planetary gear system 有权
标题翻译：振动内啮合行星齿轮系统
公开(公告)号：US07819770B2
公开(公告)日：2010-10-26
申请号：US11785398
申请日：2007-04-17
申请人： Takashi Haga , Yo Tsurumi
发明人： Takashi Haga , Yo Tsurumi
IPC分类号： F16H1/32
CPC分类号： F16H1/32
摘要： An oscillating internally meshing planetary gear system is provided in order to improve basic performance and reduce cost at the same time. The oscillating internally meshing planetary gear system has an internal gear and external gears internally meshing with the internal gear and is configured such that one of the external gears and the internal gear is oscillatingly rotated by means of eccentric bodies formed in an input shaft (eccentric body shaft). The system includes: a sliding motion-facilitating member intervening between an outer periphery of the eccentric body and the oscillating gear; and an eccentric body shaft bearing supporting the eccentric body shaft. In addition to this, the eccentric body shaft bearing and the sliding motion-facilitating member have the same configuration.
摘要翻译：提供摆动式内啮合行星齿轮系统，以提高基本性能，同时降低成本。振动内啮合行星齿轮系具有内齿轮和内齿轮啮合的外齿轮，并且构造成使得外齿轮和内齿轮中的一个通过形成在输入轴（偏心体）中的偏心体振动旋转轴）。该系统包括：滑动运动促进构件，其插入在偏心体的外周与摆动齿轮之间; 以及支承偏心体轴的偏心体轴承轴承。除此之外，偏心体轴承轴承和滑动促动构件具有相同的构造。

6. 发明申请

US20060148608A1 Internal teeth oscillating inner gearing planetary gear system 失效
公开(公告)号：US20060148608A1
公开(公告)日：2006-07-06
申请号：US11364179
申请日：2006-03-01
申请人： Yo Tsurumi , Takashi Haga
发明人： Yo Tsurumi , Takashi Haga
IPC分类号： F16H3/70
CPC分类号： F16H1/32
摘要： An internal teeth oscillating inner gearing planetary gear system is provided with an input shaft, an eccentric gear rotated by the input shaft, the internal oscillating body oscillatingly rotated through the inner circumferential surface of the eccentric gear, and an external gear meshed with the internal oscillating body.

7. 发明授权

US07510497B2 Internal teeth oscillating inner gearing planetary gear system 失效
标题翻译：内齿摆动内齿轮行星齿轮系统
公开(公告)号：US07510497B2
公开(公告)日：2009-03-31
申请号：US11364179
申请日：2006-03-01
申请人： Yo Tsurumi , Takashi Haga
发明人： Yo Tsurumi , Takashi Haga
IPC分类号： F16H1/32 , F16H3/70
CPC分类号： F16H1/32
摘要： An internal teeth oscillating inner gearing planetary gear system is provided with an input shaft, an eccentric gear rotated by the input shaft, the internal oscillating body oscillatingly rotated through the inner circumferential surface of the eccentric gear, and an external gear meshed with the internal oscillating body.
摘要翻译：内齿摆动内齿轮行星齿轮系统设有输入轴，由输入轴旋转的偏心齿轮，内摆动体通过偏心齿轮的内周面摆动旋转，外部齿轮与内振动身体。

8. 发明授权

US07070533B2 Internal teeth oscillation type inner gearing planetary gear system 失效
标题翻译：内齿振动型内齿轮行星齿轮系统
公开(公告)号：US07070533B2
公开(公告)日：2006-07-04
申请号：US10809713
申请日：2004-03-26
申请人： Yo Tsurumi , Takashi Haga
发明人： Yo Tsurumi , Takashi Haga
IPC分类号： F16H1/32
CPC分类号： F16H1/32 , F16H2001/323
摘要： An internal teeth oscillating inner gearing planetary gear system, wherein installation space for piping, wiring, etc. can be easily secured in the central portion of the system according to a particular application. The gear system is configured such that rotation of an input shaft is reduced by internal teeth oscillating bodies oscillatingly rotating with respect to an external gear. Eccentric shafts are plurally provided. Eccentric shaft gears are provided for the plurality of eccentric shafts, respectively. A transmitting external gear with which the eccentric shaft gears and a driving source-end pinion concurrently mesh is also provided.
摘要翻译：内齿摆动内齿轮行星齿轮系统，其中管道，配线等的安装空间可以根据具体应用容易地固定在系统的中心部分。齿轮系统构造成使得通过相对于外齿轮摆动地旋转的内齿摆动体来减小输入轴的旋转。偏心轴是多重的。分别为多个偏心轴设置偏心轴齿轮。还提供了偏心轴齿轮和驱动源端小齿轮同时啮合的传动外齿轮。

9. 发明授权

US07534184B2 Oscillating inner gearing planetary gear system 有权
标题翻译：摆动内齿轮行星齿轮系统
公开(公告)号：US07534184B2
公开(公告)日：2009-05-19
申请号：US10809935
申请日：2004-03-26
申请人： Yo Tsurumi
发明人： Yo Tsurumi
IPC分类号： F16H3/70
CPC分类号： F16H1/32
摘要： An oscillating inner gearing planetary gear system is provided which does not need to occupy a large space even in a state where a driving source is joined. In particular, the axial length thereof can be shortened, and a large diameter hollow shaft therethrough can be formed. The oscillating inner gearing planetary gear system (100) is configured in such a manner that rotation of an input shaft (104) is reduced by internal oscillating bodies (116A,116B) oscillatingly rotating relative to an external gear (118), and the reduced output is delivered by the external gear (118) also serving as an output shaft. A middle shaft (108) is located parallel to the external gear (118) at a position more radially outward than the internal oscillating bodies (116A,116B). An orthogonal gearset (106) connects the middle shaft (108) and the input shaft (104) at a right angle. Power from the input shaft (104) is inputted from a direction radially outward of the internal oscillating bodies (116A,116B) through the middle shaft (108).
摘要翻译：提供摆动内齿轮行星齿轮系统，即使在驱动源接合的状态下也不需要占用较大的空间。特别地，其轴向长度可以缩短，并且可以形成通过其的大直径中空轴。摆动内齿轮行星齿轮系统（100）被构造成使得通过相对于外齿轮（118）摆动地旋转的内部摆动体（116A，116B）减小输入轴（104）的旋转，输出由也用作输出轴的外齿轮（118）输送。中间轴（108）在比内部振动体（116A，116B）更径向向外的位置处平行于外齿轮（118）定位。正交齿轮组（106）以直角连接中轴（108）和输入轴（104）。来自输入轴（104）的动力从内部振动体（116A，116B）的径向外侧通过中间轴（108）输入。

10. 发明申请

US20090192004A1 Oscillating inner gearing planetary gear system 有权
标题翻译：摆动内齿轮行星齿轮系统
公开(公告)号：US20090192004A1
公开(公告)日：2009-07-30
申请号：US12385025
申请日：2009-03-30
申请人： Yo Tsurumi
发明人： Yo Tsurumi
IPC分类号： F16H1/32
CPC分类号： F16H1/32
摘要： An oscillating inner gearing planetary gear system is provided which does not need to occupy a large space even in a state where a driving source is joined. In particular, the axial length thereof can be shortened, and a large diameter hollow shaft therethrough can be formed. The oscillating inner gearing planetary gear system (100) is configured in such a manner that rotation of an input shaft (104) is reduced by internal oscillating bodies (116A, 116B) oscillatingly rotating relative to an external gear (118), and the reduced output is delivered by the external gear (118) also serving as an output shaft. A middle shaft (108) is located parallel to the external gear (118) at a position more radially outward than the internal oscillating bodies (116A, 116B). An orthogonal gearset (106) connects the middle shaft (108) and the input shaft (104) at a right angle. Power from the input shaft (104) is inputted from a direction radially outward of the internal oscillating bodies (116A, 116B) through the middle shaft(108).
摘要翻译：提供摆动内齿轮行星齿轮系统，即使在驱动源接合的状态下也不需要占用较大的空间。特别地，其轴向长度可以缩短，并且可以形成通过其的大直径中空轴。摆动内齿轮行星齿轮系统（100）被构造成使得通过相对于外齿轮（118）摆动地旋转的内部摆动体（116A，116B）减小输入轴（104）的旋转，输出由也用作输出轴的外齿轮（118）输送。中间轴（108）在比内部振动体（116A，116B）更径向向外的位置处平行于外齿轮（118）定位。正交齿轮组（106）以直角连接中轴（108）和输入轴（104）。来自输入轴（104）的动力从内部振动体（116A，116B）的径向外侧通过中间轴（108）输入。

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