CN102729258A - Double-motor motion module - Google Patents
Double-motor motion module Download PDFInfo
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- CN102729258A CN102729258A CN2011104121444A CN201110412144A CN102729258A CN 102729258 A CN102729258 A CN 102729258A CN 2011104121444 A CN2011104121444 A CN 2011104121444A CN 201110412144 A CN201110412144 A CN 201110412144A CN 102729258 A CN102729258 A CN 102729258A
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Abstract
The invention discloses a double-motor motion module. The motion module comprises a shell which is provided with two servo motors with output shafts, and two drive modules respectively connected with the output shafts; the drive modules are driven by the output shafts based on the starting state or closing state of the servo motor and can not drive the output shafts reversely; the shell is also provided with a two-freedom-degree output module which is connected with the drive module and outputs the rotation of degree of freedom in one direction or two directions based on the driving of the drive modules. According to the invention, the structure of a mechanical arm or a robot can be simplified, and wide-range motion of two-freedom-degree is realized, so that the effect of wide motion range is realized in the case of compact size; besides, through the self-locking effect of a drive worm and a driven worm wheel, the servo motor is prevented from being damaged, and the motion posture of the two-freedom-degree output module is maintained as a result of the self-locking effect when the servo motor is not started, so that energy is saved.
Description
Technical field
The present invention relates to a kind of double motor motion module.
Background technology
Owing to have a plurality of joints on the mechanical arm (robot arm), make it can be in plane or three-dimensional space, carry out multi-direction free degree motion or linear displacement moves; Therefore the action of ability mimic human arm; So in the 1980's, mechanical arm just successfully is applied on auto manufacturing or other field manufacturing industry, belongs in the Robotics field; Range of application is the automated machine device the most widely; Even to this day, have during a lot of industry is made high risk assembling, spray paint, work such as welding, high temperature casting forgings, adopted mechanical arm replacement manually-operated mostly; Or even fields such as medical aid, entertainment service, military defendance and space probation, all can find the relevant apparatus of application machine arm.
Simultaneously; The significantly application of Robotics field in industry; The robot of amusement or sports usefulness also is in fashion gradually; Even many robot competitions appear, and for example: the contest of the international Olympics of WRO robot, the contest of FLL OIC (Open International Championship) Kaohsiung world cup robot, the intention contest of PMC robot, Hong Kong teenager's RoboCup (RCJHK) etc., therefore; There are many dealers to improve to each position structure of robot one after another, can satisfy user's various demands.As shown in Figure 1, generally speaking, limbs such as the hand of robot 1, pin; Action for can simulating human is equipped with a plurality of joints, and can sets up a drive motor module 11 in the position in each joint; The output 13 that each drive motor module 11 can drive its connection moves forward and backward or move left and right; For example, like the arm on Fig. 1 the right, the drive motor module 11A of top can drive the output 13A of top; Carry out moving of left and right directions; The drive motor module 11B of below then can drive the output 13B of below, carries out moving of fore-and-aft direction, thus; The output 13B of below just can be by the driving condition (as: start, close) of drive motor module 11A, 11B, and carries out single direction free degree motion (move forward and backward, move left and right) or two direction frees degree motion (moving simultaneously) all around.
General, if the dealer hopes the action of robot or mechanical arm, can the joint of greater number just must be set very near people's manual task, just can reach and human same action.Just as aforementioned, for keeping the activity in joint, the dealer needs all to assemble a drive motor module at each joint; But can be similar to people's hand, pin for the outward appearance of the limbs such as hand, pin that make robot; The dealer certainly will need each joint of robot compact as far as possible, or makes drive motor module reach miniaturization, becomes big with the length of limbs such as the hand of avoiding robot, pin because of the articular portion possessive volume; Cause itself and people's limbs such as hand, pin to greatly differ from each other; Cause it to be difficult to realize action, and can take too much activity space, increase collection in rain and go up or operational difficulty near human.And owing to drive motor module normally is made up of motor, reducing gear and power transmission therebetween; Make that its component count is too much, and be difficult for miniaturization, simultaneously; Too much component count also can cause the difficulty of user on assembling, C&M.
In sum, structures such as present known machines people or mechanical arm are for having moving of a plurality of direction frees degree; Can simulate the action of staff, all need to be provided with a drive motor module in the position in each joint, this measure not only causes the limbs outward appearance of robot excessive; And can influence the flexibility ratio and the activity space of limb motion; When the joint on the limbs was too much, the drive motor module (like the drive motor module 11A of Fig. 1) of contiguous health not only must be born bigger applied external force when running still more; And must receive bigger electric current; Could keep it to have enough power and drive whole epipodite body running, cause drive motor module to expend too much electric power, and damage because of the high temperature that overload produced easily.Therefore,, design a kind of brand-new actuating unit,, be the technical problem that desire of the present invention solves to replace original drive motor module how to the shortcoming and the problem that exist in known machines people or the mechanical arm.
Summary of the invention
The technical problem that the present invention will solve provides a kind of double motor motion module; But this motion module self-locking twin shaft concurrent; Make and can carry out the effect that the two direction frees degree are rotated by the output that is connected with the double motor motion module, thus the load that can effectively alleviate the double motor motion module; And under the situation of the limbs volume that significantly reduces robot, still can reach the effect of grand movement.
For solving the problems of the technologies described above; The present invention adopts following technical proposals: a kind of double motor motion module; Comprise housing; Said housing is provided with two servo motors and two transmission modules that are connected with output shaft respectively of band output shaft, and transmission module is according to the starting state of servo motor or closed condition and by the output shaft drive, and can't oppositely drive output shaft; Also be provided with a two degrees of freedom output module that is connected with transmission module on the said housing, and according to the drive of each transmission module, and export the rotation of a direction free degree or the rotation of two direction frees degree.
Transmission module according to the invention comprises respectively:
A plurality of travelling gears, one of them travelling gear is connected to the output shaft of corresponding servo motor, and engagement each other, and by corresponding servo motor driven rotary;
A transmission worm screw is connected with another travelling gear, and can be by another travelling gear driven rotary;
A driven worm gear is meshed with said transmission worm screw, and the lead angle of the tooth portion that is meshing with each other of this transmission worm screw and driven worm gear is less than a predetermined angular, to produce self-locking action;
At least one driven gear is connected with said driven worm gear, with by the driven gear driven rotary.
Two degrees of freedom output module according to the invention comprises:
A hollow frame;
Two first bevel gears are positioned at two correspondence positions of said hollow frame;
Two first axostylus axostyles; Run through and be articulated in two corresponding side surface of said hollow frame respectively; And its two ends are connected to corresponding first bevel gear and driven gear respectively; So that each driven gear can drive corresponding first axostylus axostyle and first bevel gear in regular turn, and make hollow frame carry out the rotation of a direction free degree;
One second axostylus axostyle runs through and is articulated in addition two corresponding side surface of said hollow frame;
An output, its two ends are connected to the two ends of said second axostylus axostyle respectively;
One second bevel gear is positioned at hollow frame, and is connected to the stage casing of second axostylus axostyle; And be engaged to first bevel gear; Under the state that second bevel gear is driven to rotate, can drive second axostylus axostyle, and make output carry out the rotation of the other direction free degree.
The present invention's servo motor therein starts; Under another servo motor closing state, one of them first axostylus axostyle can drive the first corresponding bevel gear and hollow frame rotates, and another first axostylus axostyle then can not drive another corresponding first bevel gear and rotate; So that hollow frame is carried out the rotation of a direction free degree; And make first bevel gear that has rotated drive second bevel gear and rotate, this second bevel gear can rotate along the surface of another first bevel gear, and makes second spindle rotation; Make output according to the rotation of the hollow frame and second axostylus axostyle, and carry out the rotation of two direction frees degree.
The present invention starts at each servo motor; And drive under the state that the first corresponding axostylus axostyle turns in the same direction with same rotating speed respectively, first axostylus axostyle can drive corresponding first bevel gear and hollow frame and turn in the same direction, so that hollow frame is carried out the rotation of a direction free degree; And first bevel gear drives the direction of second bevel gear respectively for opposite; Second bevel gear can't be rotated, make output according to the rotation of hollow frame, and carry out the rotation of a direction free degree.
The present invention starts at each servo motor, and under the state that the first corresponding axostylus axostyle of drive rotates in the opposite direction respectively, first axostylus axostyle can drive the first corresponding bevel gear and rotate in the opposite direction; So that hollow frame can't rotate; And the direction that first bevel gear drives second bevel gear respectively is identical, second bevel gear can be rotated towards a direction, and drive second spindle rotation; Make output according to the rotation of second axostylus axostyle, and carry out the rotation of a direction free degree.
Predetermined angular according to the invention is 4 degree.
The present invention compared with prior art can simplify mechanical arm or robot construction, and can realize binary grand movement; To realize the effect of large moving range under the compact volume, simultaneously, through the self-locking effect of transmission worm screw and driven worm gear; Can not only avoid damaging outside the servo motor; Also can when servo motor does not start, still keep the motion posture of two degrees of freedom output module, realize energy-conservation effect because of above-mentioned self-locking effect.
Description of drawings
Fig. 1 is a prior art robot construction sketch map.
Fig. 2 A is a schematic perspective view of the present invention.
Fig. 2 B is a vertical view of the present invention.
Fig. 3 is the sketch map after the present invention omits the part assembly.
Fig. 4 is the action sketch map of two degrees of freedom output module of the present invention.
Fig. 5 is another action sketch map of two degrees of freedom output module of the present invention.
Fig. 6 is the another action sketch map of two degrees of freedom output module of the present invention.
The main parts size symbol description:
Double motor motion module ... 2
Housing ... 20
Servo motor ... 21
Output shaft ... 211
Transmission module ... 23
Travelling gear ... 231
Transmission worm screw ... 233
Driven worm gear ... 235
Driven gear ... 237
Two degrees of freedom output module ... 25
Hollow frame ... 250
First axostylus axostyle ... 251
First bevel gear ... 252
Second axostylus axostyle ... 253
Second bevel gear ... 254
Output ... 255
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is done further description.
Shown in Fig. 2 A, Fig. 2 B; But the present invention is a kind of double motor motion module of self-locking twin shaft concurrent; In a preferred embodiment; This double motor motion module 2 comprises 21, two transmission modules 23 of servo motor (Servo Motor) and two degrees of freedom output module 25 of a housing 20, two band output shafts 211, and wherein servo motor 21, transmission module 23 all are located on the housing 20 with two degrees of freedom output module 25, thereby forms double motor motion module 2; So that housing 20 is assembled on the health or workbench of robot, and a joint of hand, pin or the mechanical arm of formation robot.An output shaft 211 of servo motor 21 can be connected to transmission module 23 respectively; To drive each transmission module 23 action; Transmission module 23 is connected to two degrees of freedom output module 25 respectively; So that two degrees of freedom output module 25 can be exported the rotation of the fore-and-aft direction and the left and right directions free degree (Degrees of freedom) at the same time or separately, so, the assembly that is connected with two degrees of freedom output module 25 (as: wrist of robot, foot joint or other limbs); Just can carry out the motion of one or two the direction free degree; And needn't extra again other motion module of installation, make and can significantly reduce its overall volume and weight away from the health of robot or the assembly of workbench.Simultaneously, still can avoid output to influence, and oppositely drive servo motor, the situation that causes servo motor to damage because of receiving external force.
Here only with regard to the thin portion structure of transmission module 23 with two degrees of freedom output module 25; Describe, like Fig. 2 A and shown in Figure 3, because the part assembly of the double motor motion module 2 among Fig. 2 A; Can cover other assembly; So for clearly disclosing the application's overall technology characteristic, Fig. 3 has omitted partly assembly, can know the annexation of each assembly of performance.Wherein, Transmission module 23 comprises a plurality of travelling gear 231,233, driven worm gears of transmission worm screw (Worm) (Worm Gear) 235 and at least one driven gear 237 respectively; Because each transmission module 23 is identical with the annexation of each servo motor 21, so the annexation of 21 of one group of transmission module 23 and servo motors on the right of the key diagram 2A only at the back.In the present embodiment, four travelling gears 231 are arranged, wherein the leftmost travelling gear 231 of Fig. 2 A is assembled on the output shaft 211 of servo motor 21; 231 of rightmost travelling gears are assembled on the transmission worm screw 233,231 engagements each other of travelling gear, so; When the output shaft 211 of servo motor 21 rotates; Just can drive 233 rotations of transmission worm screw through travelling gear 231, in addition, also can be by the gear proportioning of the above-mentioned travelling gear 231 of adjustment; And reach demands such as required rotating speed and torsion, to satisfy indivedual requirements of the required production different product of dealer.
Like Fig. 2 A and shown in Figure 3, transmission worm screw 233 is meshed with driven worm gear 235, can drive driven worm gear 235 rotations; And driven worm gear 233 also is connected with driven gear 237, and to drive driven gear 237 rotations, wherein the lead angle (Lead Angle) of the intermeshing tooth of transmission worm screw 233 and driven worm gear 235 portion is less than a predetermined angular (as: 4 degree); Make this driven worm gear 235 only can be driven, and can't oppositely drive transmission worm screw 233, to form self-locking effect (Self-Locking) by transmission worm screw 233; So, when applied external force is applied to 237 last times of driven gear, transmission worm screw 233 just can be born most applied external force with driven worm gear 235; Simultaneously, prevent that applied external force from causing servo motor 21 to be compelled to rotate and damage, simultaneously; By the self-locking effect of above-mentioned transmission worm screw 233 with driven worm gear 235; The assembly that is connected with transmission module 23 just can keep former motion posture, and can not be compelled to change because of receiving the external force influence, and therefore servo motor 21 of the present invention just can be accordinged to actual operating position; Change is certainly as starting state or closed condition; And be not required to be the motion posture of the assembly that keeps being connected with transmission module 23, be in starting state often, and then can effectively reduce the spent energy of double motor module of the present invention 2.In addition, in the present embodiment, be example with two driven gears 237, one of them driven gear 237 is arranged on the axostylus axostyle with driven worm gear 235 jointly, and driven gear 237 can drive another driven gear 237.Through changing the diameter of travelling gear; Can effectively change the rotating speed that servo motor is passed to driven gear; Make things convenient for the user to adjust the rotating speed and the torsion of output precision (as: limbs of mechanical arm or robot); And because of having the self-locking effect between transmission worm screw and driven worm gear, make driven gear oppositely to drive servo motor, the danger of avoiding servo motor to burn because of carrying high torsion.In addition, in other embodiments of the invention, the dealer can look the actual design demand, and only uses a driven gear 237, or 237 combinations of the driven gear more than two.
Like Fig. 2 A and shown in Figure 3; Two degrees of freedom output module 25 comprises a hollow frame 250, two first axostylus axostyles 251, two first bevel gears 252, one second axostylus axostyle 253, second bevel gear 254 and an output 255; Wherein first axostylus axostyle 251 runs through and is articulated in two corresponding side surface of hollow frame 250 respectively; 252 of first bevel gears are positioned at two correspondence positions of hollow frame 250; And the two ends of first axostylus axostyle 251 are connected to the first corresponding bevel gear 252 and driven gear 237 respectively, when driven gear 237 is driven to rotate, just can drive first corresponding axostylus axostyle 251 and 252 rotations of first bevel gear in regular turn; Thereby make hollow frame 250 carry out the rotation (to be the place ahead under the left side, upper right is the rear in Fig. 2 A) of the fore-and-aft direction free degree.Simultaneously; Second axostylus axostyle 253 runs through and is articulated in two corresponding side surface in addition of hollow frame 250, and 254 of second bevel gears are positioned at hollow frame 250, and are connected to the stage casing of second axostylus axostyle 253; The two ends of second axostylus axostyle 253 are connected to the two ends of output 255 respectively; The differential relation that second bevel gear then is engaged to 252 on first bevel gear, 252, the first bevel gears respectively can drive second bevel gear 254, and making output 255 can therefore carry out the rotation of the left and right directions free degree (is left with upper left in Fig. 2 A; The bottom right is right-hand); So, because output 255 still can be along with hollow frame 250 rotates, so output 255 can carry out the twin shaft concurrent motion of the fore-and-aft direction and the left and right directions free degree simultaneously.
For offering some clarification on the differential relation of above-mentioned two degrees of freedom output module 25, like Fig. 2 A and shown in Figure 4, when one of them servo motor 21 starts; And another servo motor 21 is when cutting out; One of them first axostylus axostyle 251 can be driven and towards turning clockwise (like first axostylus axostyle 251 of Fig. 4 left), and drives the first corresponding bevel gear 252 and turn clockwise with second bevel gear, 254 courts, and 251 of another first axostylus axostyles can not rotate (first axostylus axostyle 251 right-hand like Fig. 4); Make another corresponding first bevel gear 252 can not rotate; Therefore, second bevel gear 254 can rotate along the surface of another first bevel gear 252, and hollow frame 250 can be driven and rotate toward the clockwise direction by first axostylus axostyle 251; And drive output 255 rotates; Simultaneously, output 255 still can be driven and rotate toward the clockwise direction by second axostylus axostyle 253, so output 255 promptly possesses the rotation of the both direction free degree.
Like Fig. 2 A and shown in Figure 5, when each servo motor 21 all starts, and drive the first corresponding axostylus axostyle 251 when clockwise rotating with same rotational speed respectively; Each first axostylus axostyle 251 can drive the first corresponding bevel gear 252 towards clockwise rotating; Because each first bevel gear 252 drives the in the opposite direction of second bevel gear 254, therefore, through the differential formula; After the rotating speed that first bevel gear 252 drives second bevel gear 254 respectively subtracts each other is 0; Promptly second bevel gear 254 can not drive 253 rotations of second axostylus axostyle, and meaning is that hollow frame 250 can be driven and rotate toward the clockwise direction by first axostylus axostyle 251, and drives output 255 rotations; But output 255 is because of not driven by second axostylus axostyle 253, so only have the rotation of a direction free degree.For another Fig. 2 A and shown in Figure 6, when each servo motor 21 all starts, and (as: first axostylus axostyle, 251 courts of Fig. 6 left turn clockwise when different directions rotate to drive the first corresponding axostylus axostyle 251 respectively; The first right-hand axostylus axostyle 251 is towards rotation counterclockwise), each first axostylus axostyle 251 can drive first bevel gear 252 and rotate towards corresponding direction, at this moment; Hollow frame 250 is because of receive opposite effect power simultaneously; And can't rotate, but because the direction of first bevel gear, 252 drives, second bevel gear 254 is identical, therefore; The rotation toward the clockwise direction of second bevel gear 254; And drive second axostylus axostyle 253 and rotate, so output 255 because of only by 253 drives of second axostylus axostyle, and the rotation that only has a direction free degree.
Can know in sum; The dealer only needs modularization to produce this double motor motion module 2; And at a joint of industrial robot arm or robot, pin; This double motor motion module 2 is set, just can makes the connector assembly (assembly that is connected with output 255) of mechanical arm or robot, pin carry out the rotation of single the direction free degree (rotating or left-right rotation only) through the interaction relation of two servo motors 21 of control; Perhaps carry out the rotation (shown in Fig. 4～6) of the both direction free degree (rotating and left-right rotation simultaneously) simultaneously; And do not need as the design of mechanical arm or robot in the past generally, and need a servo motor is set at each joint, just can reach the rotation of the both direction free degree; Therefore double motor motion module 2 of the present invention not only is convenient to production of dealer's modularization and assembling; And can effectively simplify mechanical arm or robot construction, under the situation that realizes compact volume, still keep the effect of large moving range with the joint that reaches mechanical arm or robot.The above is merely preferred embodiment of the present invention, however the interest field that the present invention advocated; Be not limited thereto, all technical staff who is familiar with this are according to the technology contents that the present invention disclosed; Can think easily and equivalence change, all should belong to application protection category of the present invention.
Claims (7)
1. double motor motion module; Comprise housing; It is characterized in that: said housing is provided with two servo motors and two transmission modules that are connected with output shaft respectively of band output shaft; Transmission module is driven by output shaft according to the starting state of servo motor or closed condition, and can't oppositely drive output shaft; Also be provided with a two degrees of freedom output module that is connected with transmission module on the said housing, and according to the drive of each transmission module, and export the rotation of a direction free degree or the rotation of two direction frees degree.
2. double motor motion module as claimed in claim 1 is characterized in that: said transmission module comprises respectively:
A plurality of travelling gears, one of them travelling gear is connected to the output shaft of corresponding servo motor, and engagement each other, and by corresponding servo motor driven rotary;
A transmission worm screw is connected with another travelling gear, and can be by another travelling gear driven rotary;
A driven worm gear is meshed with said transmission worm screw, and the lead angle of the tooth portion that is meshing with each other of this transmission worm screw and driven worm gear is less than a predetermined angular, to produce self-locking action;
At least one driven gear is connected with said driven worm gear, with by the driven gear driven rotary.
3. double motor motion module as claimed in claim 2 is characterized in that: said two degrees of freedom output module comprises:
A hollow frame;
Two first bevel gears are positioned at two correspondence positions of said hollow frame;
Two first axostylus axostyles; Run through and be articulated in two corresponding side surface of said hollow frame respectively; And its two ends are connected to corresponding first bevel gear and driven gear respectively; So that each driven gear can drive corresponding first axostylus axostyle and first bevel gear in regular turn, and make hollow frame carry out the rotation of a direction free degree;
One second axostylus axostyle runs through and is articulated in addition two corresponding side surface of said hollow frame;
An output, its two ends are connected to the two ends of said second axostylus axostyle respectively;
One second bevel gear is positioned at hollow frame, and is connected to the stage casing of second axostylus axostyle; And be engaged to first bevel gear; Under the state that second bevel gear is driven to rotate, can drive second axostylus axostyle, and make output carry out the rotation of the other direction free degree.
4. double motor motion module as claimed in claim 3; It is characterized in that: a servo motor starts therein; Under another servo motor closing state, one of them first axostylus axostyle can drive the first corresponding bevel gear and hollow frame rotates, and another first axostylus axostyle then can not drive another corresponding first bevel gear and rotate; So that hollow frame is carried out the rotation of a direction free degree; And make first bevel gear that has rotated drive second bevel gear and rotate, this second bevel gear can rotate along the surface of another first bevel gear, and makes second spindle rotation; Make output according to the rotation of the hollow frame and second axostylus axostyle, and carry out the rotation of two direction frees degree.
5. double motor motion module as claimed in claim 3; It is characterized in that: start at each servo motor; And drive under the state that the first corresponding axostylus axostyle turns in the same direction with same rotating speed respectively, first axostylus axostyle can drive corresponding first bevel gear and hollow frame and turn in the same direction, so that hollow frame is carried out the rotation of a direction free degree; And first bevel gear drives the direction of second bevel gear respectively for opposite; Second bevel gear can't be rotated, make output according to the rotation of hollow frame, and carry out the rotation of a direction free degree.
6. double motor motion module as claimed in claim 3; It is characterized in that: start at each servo motor, and under the state that the first corresponding axostylus axostyle of drive rotates in the opposite direction respectively, first axostylus axostyle can drive the first corresponding bevel gear and rotate in the opposite direction; So that hollow frame can't rotate; And the direction that first bevel gear drives second bevel gear respectively is identical, second bevel gear can be rotated towards a direction, and drive second spindle rotation; Make output according to the rotation of second axostylus axostyle, and carry out the rotation of a direction free degree.
7. like claim 3,4,5 or 6 any described double motor motion module, it is characterized in that: said predetermined angular is 4 degree.
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| CN103213131B (en) * | 2013-04-25 | 2014-12-24 | 戴文钟 | Robot crus structure capable of imitating human body ankle motions by utilizing pull rods |
| US9752665B2 (en) | 2014-12-02 | 2017-09-05 | Industrial Technology Research Institute | Compliance motor structure and manufacturing method thereof |
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| CN106808469B (en) * | 2017-03-24 | 2020-02-21 | 华中科技大学 | Mechanical arm transmission joint mechanism with force position measuring function |
| CN108799439A (en) * | 2018-07-20 | 2018-11-13 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of worm and gear gear composite driving mechanism that large torque is provided |
| CN113194867A (en) * | 2018-12-17 | 2021-07-30 | 柯惠Lp公司 | Robotic surgical system having robotic arm assembly |
| CN109464227A (en) * | 2018-12-20 | 2019-03-15 | 中国科学院深圳先进技术研究院 | A kind of multivariant artificial limb arm joint |
| EP3715061A1 (en) * | 2019-03-01 | 2020-09-30 | Cloudminds (Beijing) Technologies Co., Ltd. | Robot wrist structure and robot |
| US11541555B2 (en) | 2019-03-01 | 2023-01-03 | Cloudminds (Beijing) Technologies Co., Ltd. | Robot wrist structure and robot |
| DE102021119519A1 (en) | 2021-07-28 | 2023-02-02 | Karl Storz Se & Co. Kg | Surgical instrument and steering gear therefor |
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Application publication date: 20121017 |