WO1990000958A1 - Gear drive, in particular for rotating joints of industrial robots - Google Patents

Gear drive, in particular for rotating joints of industrial robots Download PDF

Info

Publication number
WO1990000958A1
WO1990000958A1 PCT/DE1989/000453 DE8900453W WO9000958A1 WO 1990000958 A1 WO1990000958 A1 WO 1990000958A1 DE 8900453 W DE8900453 W DE 8900453W WO 9000958 A1 WO9000958 A1 WO 9000958A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
gears
belt
gear transmission
gear
Prior art date
Application number
PCT/DE1989/000453
Other languages
German (de)
French (fr)
Inventor
Ernst Leisner
Gerhard Gosdowski
Joachim Bruns
Hans-Peter Buttau
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO1990000958A1 publication Critical patent/WO1990000958A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/103—Gears specially adapted therefor, e.g. reduction gears with backlash-preventing means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/121—Arrangements for adjusting or for taking-up backlash not provided for elsewhere using parallel torque paths and means to twist the two path against each other
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
    • F16H2057/126—Self-adjusting during operation, e.g. by a spring
    • F16H2057/127—Self-adjusting during operation, e.g. by a spring using springs

Definitions

  • Gear drives in particular for swivel joints of industrial robots
  • the invention relates to a gear transmission according to the preamble of the main claim.
  • gear transmissions of this type DE C2 33 08 4173
  • the two drive gears designed as pinions are arranged coaxially directly next to one another, one drive gear being firmly seated on a driven, torsionally elastic shaft, while the other drive gear with the egg End of a sleeve rotatably mounted on the shaft of the same torsional elasticity is connected, the other end of which is connected to the shaft via a clamping device having a plurality of cone parts.
  • the backlash compensation takes place only at one gear stage, so that there would be considerable construction and adjustment effort if one wanted to eliminate all backlashes in the same way in a multi-stage gear transmission.
  • the output gear must be dimensioned relatively wide so that the surface pressure between the drive gears, which are only half the width, and the output gear does not assume an impermissibly high value.
  • the arrangement according to the invention with the characterizing features of the main claim has the advantage that the entire tooth play in all gear stages can be eliminated with a single setting or with a single setting element, which is also possible even when the drive motor is switched on.
  • the running properties of the gearbox such as idle torque and noise, can be easily optimized with a few simple steps.
  • the gearwheels themselves can be connected to the gearshafts in a completely rigid manner, which has a favorable effect on the positioning accuracy.
  • the tensioning roller is mounted such that it can move in the tensioning direction and is pressed against the drive belt by spring force.
  • the characteristic curve of the clamping force can be easily designed regardless of internal, structurally determined conditions.
  • damping and force and path-limiting design measures can be taken with this arrangement without great effort.
  • FIG. 1 shows a side view of the gear transmission
  • FIG. 2 shows a section along the line II-II in FIG. 1. Description of the embodiment
  • the gear transmission has a drive motor 10, which drives two toothed belt pulleys 14, 16 via a toothed belt 12, which are arranged axially parallel at a distance a from one another, the toothed pulleys 14, 16 are parts of devices 18, 20 which are identical to one another are formed and each have a drive shaft 22 (FIG. 2) which is rotatably mounted in rigid support parts 24, 26 of the robot.
  • a toothed belt pulley 14 or 16 and a toothed pinion 28 are fastened, which meshes with a toothed wheel 30 which, together with another toothed pinion 32, is firmly seated on a shaft 34 which is rotatably mounted in the supporting parts 24, 26.
  • the two pinions 32 engage together in an output gear 36 which is rotatably mounted in the support parts 24, 26 and is provided with means (not shown in the drawing) for connecting to a robot arm which can be pivoted with respect to the support parts 24, 26.
  • the axes 38 (FIG. 2) of the two pinions 32 are arranged axially parallel by approximately the same distance a as the axes 40 of the drive shafts 22, offset from one another in a plane 42 which approximately affects the circumference of the driven gear 36.
  • the toothed belt 12 is tightened by a first tensioning roller 44, which is arranged between the drive motor 10 and the countershaft 20.
  • a second tensioning roller 46 is also provided, which is rotatably mounted on a pin 48, which in turn is slidably mounted in a wall web 50 connected to the supporting parts 24, 26.
  • the tensioning roller 46 is pressed against the toothed belt 12 by a spring 52, which sits on the bolt 48 and is supported on the wall web 50 and on a collar 54 of the bolt 48.
  • the tensioning path of the tensioning roller 46 is limited by the wall web 50 and a second collar 56 of the bolt 48.
  • the tensioning roller 46 is arranged symmetrically between the two rests 18, 20 and is at the same distance from the two toothed belt pulleys 14, 16. Due to the belt tension caused by the tensioning pulley 46, the countershaft gears 18, 20 are rotated relative to one another and the toothed pinions 32 are applied to the opposite tooth flanks of the drive gear 36 without play and pretensioned in the rest position of the transmission.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Gear Transmission (AREA)
  • Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

In gear drives for industrial robots, it is necessary, in order to maximize the positioning accuracy, to minimize play between the teeth, or eliminate it completely. This can be achieved by using, as the means to minimize or eliminate play, a tensioning roller (46) which acts on a belt drive (10, 12), the belt drive (10, 12) acting preferably via two transmission gears (18, 20) on two drive gears (32) mounted staggered with respect to each other but with their axes parallel, the two drive gears (32) engaging jointly with a driven gear (36) at various points on its circumference. Preferred field of application: pivoting-arm robots for assembly plants in the manufacturing industry.

Description

-2- -2-
Zahnradgetriebe, insbesondere für Drehgelenke von IndustrieroboternGear drives, in particular for swivel joints of industrial robots
Stand der TechnikState of the art
Die Erfindung geht aus von einem Zahnradgetriebe nach der Gattung des Hauptanspruchs. Bei bekannten Zahnradgetrieben dieser Gattung (DE C2 33 08 413) sind die beiden als Zahnritzel ausgebildeten An¬ triebszahnräder koaxial unmittelbar nebeneinander angeordnet, wobei das eine Antriebszahnrad fest auf einer angetriebenen, torsionsela¬ stischen Welle sitzt, während das andere Antriebszahnrad mit dem ei¬ nen Ende einer drehbar auf der Welle gelagerten Hülse gleicher Dreh¬ elastizität verbunden ist, deren anderes Ende mit der Welle über ei¬ ne mehrere Konusteile aufweisende Klemmvorrichtung verbunden ist. Mit diesen Mitteln erfolgt die Zahnspielkompensation nur an einer Getriebestufe, so daß sich ein erheblicher Bauund Einstellaufwand ergeben würde, wenn man bei einem mehrstufigen Zahnradgetriebe sämt¬ liche Zahnspiele auf die gleich Art und Weise beseitigen wollte. Außerdem muß das Abtriebszahnrad verhältnismäßig breit bemessen sein, damit die Flächenpressung zwischen den nur die halbe Breite aufweisenden Antriebszahnräder und dem Abtriebszahnrad nicht einen unzuläßig hohen Wert annimmt. Vorteile der ErfindungThe invention relates to a gear transmission according to the preamble of the main claim. In known gear transmissions of this type (DE C2 33 08 413), the two drive gears designed as pinions are arranged coaxially directly next to one another, one drive gear being firmly seated on a driven, torsionally elastic shaft, while the other drive gear with the egg End of a sleeve rotatably mounted on the shaft of the same torsional elasticity is connected, the other end of which is connected to the shaft via a clamping device having a plurality of cone parts. With these means, the backlash compensation takes place only at one gear stage, so that there would be considerable construction and adjustment effort if one wanted to eliminate all backlashes in the same way in a multi-stage gear transmission. In addition, the output gear must be dimensioned relatively wide so that the surface pressure between the drive gears, which are only half the width, and the output gear does not assume an impermissibly high value. Advantages of the invention
Die erfindungsgemäße Anordnung mit den kennzeichnenden Merkmalen des Hauptanspruchs hat demgegenüber den Vorteil, daß mit einer einzigen Einstellung bzw. mit einem einzigen Einstellorgan das gesamte Zahn¬ spiel in sämtlichen Getriebstufen beseitigt werden kann, was zudem auch bei eingeschaltetem Antriebsmotor möglich ist. Dadurch lassen sich die Laufeigenschaften des Getriebes, wie Leer1aufdrehmoment und Geräusch, mit einfachen Handgriffen gut optimieren. Die Getriebe- zahnräder selbst können vollkommen starr mit den Getriebewellen ver¬ bunden sein, was sich günstig auf die Positioniergenauigkeit aus¬ wirkt.The arrangement according to the invention with the characterizing features of the main claim has the advantage that the entire tooth play in all gear stages can be eliminated with a single setting or with a single setting element, which is also possible even when the drive motor is switched on. As a result, the running properties of the gearbox, such as idle torque and noise, can be easily optimized with a few simple steps. The gearwheels themselves can be connected to the gearshafts in a completely rigid manner, which has a favorable effect on the positioning accuracy.
Durch die in den Unteransprüchen enthaltenen Merkmale sind vorteil¬ hafte Weiterbildungen der Anordnung nach dem Hauptanspruch möglich.The features contained in the subclaims allow advantageous developments of the arrangement according to the main claim.
Besonders vorteilhaft ist es, wenn die Spannrolle in Spannrichtung beweglich gelagert und durch Federkraft gegen den Treibriemen ge¬ drückt ist. Dadurch kann die Kennlinie der Verspannkraft unabhängig von inneren, konstruktiv festgelegten Verhältnissen leicht gestaltet werden. Außerdem können bei dieser Anordnung dämpfende, sowie kraft- und wegbegrenzende konstruktive Maßnahmen ohne großen Aufwand getroffen werden.It is particularly advantageous if the tensioning roller is mounted such that it can move in the tensioning direction and is pressed against the drive belt by spring force. As a result, the characteristic curve of the clamping force can be easily designed regardless of internal, structurally determined conditions. In addition, damping and force and path-limiting design measures can be taken with this arrangement without great effort.
Zeichnungdrawing
Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung schema¬ tisch dargestellt und in der nachfolgenden Beschreibung näher er¬ läutert. Es zeigen Fig. 1 eine Seitenansicht des Zahradgetriebes und Fig. 2 einen Schnitt nach der Linie II-II in Fig. 1. Beschreibung des AusführungsbeispielesAn embodiment of the invention is shown schematically in the drawing and explained in more detail in the following description. 1 shows a side view of the gear transmission and FIG. 2 shows a section along the line II-II in FIG. 1. Description of the embodiment
Das Zahnradgetriebe hat einen Antriebsmotor 10, der über einen Zahn¬ riemen 12 zwei Zahnriemenscheiben 14, 16 antreibt, die achsparallel in einem Abstand a voneinander angeordnet sind, die Zahriemenschei- ben 14, 16 sind Teile von Vorgelegen 18, 20, die unter sich gleich ausgebildet sind und je eine Antriebswelle 22 (Fig. 2) haben, welche in starren Tragteilen 24, 26 des Roboters drehbar gelagert ist. Auf jeder Antriebswelle 22 ist eine Zahnriemenscheibe 14 bzw. 16 und ein Zahnritzel 28 befestigt, das mit einem Zahnrad 30 kämmt, das gemein¬ sam mit einem weiteren Zahnritzel 32 fest auf einer in den Tragtei¬ len 24, 26 drehbar gelagerten Welle 34 sitzt. Die beiden Zahnritzel 32 greifen gemeinsam in ein Abtriebszahnrad 36 ein, welches in den Tragteilen 24, 26 drehbar gelagert und mit in der Zeichnung nicht dargestellten Mitteln zum Verbinden mit einem gegenüber den Tragtei¬ len 24, 26 verschwenkbaren Roboterarm versehen ist.The gear transmission has a drive motor 10, which drives two toothed belt pulleys 14, 16 via a toothed belt 12, which are arranged axially parallel at a distance a from one another, the toothed pulleys 14, 16 are parts of devices 18, 20 which are identical to one another are formed and each have a drive shaft 22 (FIG. 2) which is rotatably mounted in rigid support parts 24, 26 of the robot. On each drive shaft 22, a toothed belt pulley 14 or 16 and a toothed pinion 28 are fastened, which meshes with a toothed wheel 30 which, together with another toothed pinion 32, is firmly seated on a shaft 34 which is rotatably mounted in the supporting parts 24, 26. The two pinions 32 engage together in an output gear 36 which is rotatably mounted in the support parts 24, 26 and is provided with means (not shown in the drawing) for connecting to a robot arm which can be pivoted with respect to the support parts 24, 26.
Die Achsen 38 (Fig. 2) der beiden Zahnritzel 32 sind achsparallel um etwa den gleichen Abstand a wie die Achsen 40 der Antriebswellen 22 zueinander versetzt in einer Ebene 42 angeordnet, die den Umfang des Abtriebszahnrades 36 in etwa tangiert. Der Zahnriemen 12 ist durch eine erste Spannrolle 44 gestrafft, die zwischen dem Antriebsmotor 10 und dem Vorgelege 20 angeordnet ist. Zum Spannen des Zahnriemens 12 ist noch eine zweite Spannrolle 46 vorgesehen, die drehbar an ei¬ nem Bolzen 48 gelagert ist, der seinerseits verschiebbar in einem mit den Tragteilen 24, 26 verbundenen Wandsteg 50 gelagert ist. Die Spannrolle 46 ist durch eine Feder 52 gegen den Zahnriemen 12 ge¬ drückt, welche auf dem Bolzen 48 sitzt und sich am Wandsteg 50, so¬ wie an einem Bund 54 des Bolzens 48 abstützt. Der Spannweg der Spannrolle 46 ist durch den Wandsteg 50 und einen zweiten Bund 56 des Bolzens 48 begrenzt. Die Spannrolle 46 ist symmetrisch zwischen den beiden Vorgelegen 18, 20 angeordnet und nimmt zu den beiden Zahnriemenscheiben 14, 16 den gleichen Abstand ein. Durch die von der Spannrolle 46 hervorgerufene Riemenspannung werden die Vorgelege 18, 20 gegeneinander verdreht und die Zahnritzel 32 in Ruhestellung des Getriebes an entgegenge¬ setzte Zahnflanken des λbtriebszahnrades 36 spiellos und vorgespannt angelegt. Auf diese Weise wird das Zahnspiel des gesamten Antriebes ausgeschaltet. Durch die federnde Andrückung wird die Spannrolle 46 abhängig vom Antriebsmoment angestellt. Bei Stillstand und bei klei¬ nen Antriebsmomenten wird durch den Federdruck das Getriebespiel völlig eliminiert. Bei höheren Belastungen wird eine Verspannung bzw. Verklemmung der Zahnräder vermieden, wodurch sich ein guter Wirkungsgrad ergibt. The axes 38 (FIG. 2) of the two pinions 32 are arranged axially parallel by approximately the same distance a as the axes 40 of the drive shafts 22, offset from one another in a plane 42 which approximately affects the circumference of the driven gear 36. The toothed belt 12 is tightened by a first tensioning roller 44, which is arranged between the drive motor 10 and the countershaft 20. For tensioning the toothed belt 12, a second tensioning roller 46 is also provided, which is rotatably mounted on a pin 48, which in turn is slidably mounted in a wall web 50 connected to the supporting parts 24, 26. The tensioning roller 46 is pressed against the toothed belt 12 by a spring 52, which sits on the bolt 48 and is supported on the wall web 50 and on a collar 54 of the bolt 48. The tensioning path of the tensioning roller 46 is limited by the wall web 50 and a second collar 56 of the bolt 48. The tensioning roller 46 is arranged symmetrically between the two rests 18, 20 and is at the same distance from the two toothed belt pulleys 14, 16. Due to the belt tension caused by the tensioning pulley 46, the countershaft gears 18, 20 are rotated relative to one another and the toothed pinions 32 are applied to the opposite tooth flanks of the drive gear 36 without play and pretensioned in the rest position of the transmission. In this way, the tooth play of the entire drive is switched off. Due to the resilient pressure, the tensioning roller 46 is set depending on the drive torque. At standstill and with small drive torques, the gear play is completely eliminated by the spring pressure. At higher loads, tensioning or jamming of the gears is avoided, which results in good efficiency.

Claims

Ansprüche Expectations
1. Zahnradgetriebe, insbesondere für Drehgelenke von Industrierobo¬ tern, mit zwei gleichsinnig angetriebenen und mit gleicher Umfangs¬ geschwindigkeit umlaufenden Antriebszahnrädern, die gemeinsam mit einem Abtriebszahnrad kämmen und durch Einstellmittel, vorzugsweise Spannmittel, um ein das Zahnspiel reduzierendes bzw. beseitigendes Winkelmaß gegeneinander torsionselastisch verdreht gehalten sind, dadurch gekennzeichnet, daß die beiden Antriebszahnräder (32) achs¬ parallel versetzt zueinander angeordnet und in bekannter Weise über einen Riementrieb (10, 12), vorzugsweise Zahnriementrieb, gemeinsam angetrieben sind, und daß zur Reduzierung bzw. Beseitigung des Zahn¬ spiels eine Spannrolle (46) vorgesehen ist, die zwischen den beiden Angriffsstellen des Riementriebs (10, 12) an den Antriebszahnrädern (32) bzw. an mit diesen in Eingriff stehenden Vorgelegen (18, 20) gegen den Treibriemen (12) drückt.1. Gear transmission, in particular for swivel joints of industrial robots, with two drive gears driven in the same direction and rotating at the same peripheral speed, which mesh together with an output gear and are twisted with respect to one another by torsion-elastic by adjusting means, preferably clamping means, by an angular dimension that reduces or eliminates the backlash are held, characterized in that the two drive gearwheels (32) are arranged offset axially parallel to one another and are jointly driven in a known manner via a belt drive (10, 12), preferably toothed belt drive, and in order to reduce or eliminate tooth play a tensioning roller (46) is provided, which presses against the drive belt (12) between the two points of application of the belt drive (10, 12) on the drive gearwheels (32) or on gears (18, 20) which are in engagement therewith.
2. Zahnradgetriebe nach Anspruch 1, dadurch gekennzeichnet, daß die Spannrolle (46) in Spannrichtung beweglich gelagert und durch Feder¬ kraft gegen den Treibriemen (12) gedrückt ist. 2. Gear transmission according to claim 1, characterized in that the tensioning roller (46) is movably mounted in the tensioning direction and is pressed by Feder¬ force against the drive belt (12).
3. Zahnradgetriebe nach Anspruch 2, dadurch gekennzeichnet, daß der Federweg der Spannrolle (46) auf ein einstellbares Maß begrenzt ist.3. Gear transmission according to claim 2, characterized in that the spring travel of the tensioning roller (46) is limited to an adjustable dimension.
4. Zahnradgetrieb nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Achsen (38) der beiden gleich großen und mit der gleichen Drehzahl angetriebenen Antriebszahnräder (32) in einer das Abtriebszahnrad (36) mindestens annähernd tangierenden Ebene (42) liegen und daß die Spannrolle (46) etwa den gleichen Abstand zu den Antriebszahnr dern (32) bzw. zu den Antriebswellen (22) der Vor¬ gelege (18, 20) hat. 4. Gear transmission according to one of the preceding claims, characterized in that the axes (38) of the two drive gears (32) of the same size and driven at the same speed lie in a plane (42) at least approximately tangent to the output gear (36) and that Tensioner roller (46) has approximately the same distance from the drive toothed wheels (32) or from the drive shafts (22) of the gears (18, 20).
PCT/DE1989/000453 1988-07-23 1989-07-08 Gear drive, in particular for rotating joints of industrial robots WO1990000958A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19883825136 DE3825136A1 (en) 1988-07-23 1988-07-23 GEARBOX GEARBOXES, IN PARTICULAR FOR ROTATING JOINTS OF INDUSTRIAL ROBOTS
DEP3825136.1 1988-07-23

Publications (1)

Publication Number Publication Date
WO1990000958A1 true WO1990000958A1 (en) 1990-02-08

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ID=6359442

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1989/000453 WO1990000958A1 (en) 1988-07-23 1989-07-08 Gear drive, in particular for rotating joints of industrial robots

Country Status (3)

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DE (2) DE8816637U1 (en)
ES (1) ES2014819A6 (en)
WO (1) WO1990000958A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2717762A1 (en) * 1994-03-24 1995-09-29 Ecia Equip Composants Ind Auto Adjustable automobile steering column

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Publication number Priority date Publication date Assignee Title
US8041456B1 (en) 2008-10-22 2011-10-18 Anybots, Inc. Self-balancing robot including an ultracapacitor power source
US8160747B1 (en) 2008-10-24 2012-04-17 Anybots, Inc. Remotely controlled self-balancing robot including kinematic image stabilization
US8788096B1 (en) 2010-05-17 2014-07-22 Anybots 2.0, Inc. Self-balancing robot having a shaft-mounted head
GB201305878D0 (en) * 2013-04-01 2013-05-15 Giessler Michael P A Geared motorised drives

Citations (5)

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Publication number Priority date Publication date Assignee Title
US2895342A (en) * 1955-07-29 1959-07-21 Thomas S Hayhurst Gearing
FR1246295A (en) * 1959-10-07 1960-11-18 Commissariat Energie Atomique Improvements to automatic handling gripper control devices
US3151494A (en) * 1962-12-03 1964-10-06 Kearney & Trecker Corp Backlash eliminator
GB2135230A (en) * 1983-01-26 1984-08-30 Mitsubishi Electric Corp Apparatus for rotationally driving an arc welding robot
US4714388A (en) * 1986-10-14 1987-12-22 Dayton Machine Tool Company Dual pinion anti-backlash carriage drive for a machine tool

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2895342A (en) * 1955-07-29 1959-07-21 Thomas S Hayhurst Gearing
FR1246295A (en) * 1959-10-07 1960-11-18 Commissariat Energie Atomique Improvements to automatic handling gripper control devices
US3151494A (en) * 1962-12-03 1964-10-06 Kearney & Trecker Corp Backlash eliminator
GB2135230A (en) * 1983-01-26 1984-08-30 Mitsubishi Electric Corp Apparatus for rotationally driving an arc welding robot
US4714388A (en) * 1986-10-14 1987-12-22 Dayton Machine Tool Company Dual pinion anti-backlash carriage drive for a machine tool

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2717762A1 (en) * 1994-03-24 1995-09-29 Ecia Equip Composants Ind Auto Adjustable automobile steering column

Also Published As

Publication number Publication date
DE3825136A1 (en) 1990-01-25
DE8816637U1 (en) 1990-01-18
ES2014819A6 (en) 1990-07-16

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