# US 11,298,817 B2 · Planetary gearing for a robot gearing arrangement > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,298,817 B2 - Document ID: US11298817B2 - Status: Granted - Kind: B2 - Application number: 17/299,539 - Filed: 2019-12-05 - Published: 2022-01-27 - Granted: 2022-04-12 - Earliest claimed: 2018-12-10 - Assignees: Schaeffler Technologies AG & Co. KG - Applicants: Schaeffler Technologies AG & Co. KG - Inventors: Jochen Damerau - Web page: https://patentgrep.com/patent/US11298817B2 ## CPC - B25J 9/103: {with backlash-preventing means} - F16H 1/2836: {by allowing limited movement of the planet gears relative to the planet carrier or by using free floating planet gears} - F16H 1/2863: {Arrangements for adjusting or for taking-up backlash} - F16H 57/08: of gearings with members having orbital motion - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - F16H: GEARING ## Abstract A planetary gearing for a robot gearing arrangement includes a sun gear, a ring gear, and a planet carrier with at least three planetary gears rotatably mounted thereon. The planetary gears are arranged on planet pins arranged perpendicular to the planet carrier and are in meshing engagement with the sun gear and the ring gear. At least one first planetary gear is biased in a first circumferential direction and/or at least one second planetary gear is biased in a second circumferential direction. A first planet pin of the first planetary gear is at least partially elastically deformable in the second circumferential direction and/or the second planet pin of the second planetary gear is at least partially elastically deformable in the first circumferential direction. ## Claims ### Claim 1 A planetary gearing for a robot gearing arrangement, comprising a sun gear, a ring gear, and a planet carrier with at least three planetary gears rotatably mounted thereon, each planetary gear arranged on respective planet pins arranged perpendicularly to the planet carrier, each planetary gear in meshing engagement with the sun gear and the ring gear, wherein at least one first planetary gear of the at least three planetary gears is biased in a first circumferential direction wherein a planet pin of the first planetary gear is at least partially elastically deformable in a second circumferential direction, and wherein the first and second circumferential directions are arranged opposite one another. ### Claim 2 (depends on 1) The planetary gearing according to claim 1, wherein the planet pins are at least partially received in a respective recess of the planet carrier. ### Claim 3 (depends on 1) The planetary gearing according to claim 1, wherein the planet pins are fixed in place on the planet carrier. ### Claim 4 (depends on 1) The planetary gearing according to claim 1, wherein each of the planetary gears have an at least partially cup-shaped carrier, wherein the elastically deformable planet pins at a first free end are connected with the carrier of the respective planetary gear, and with the planet carrier at a second free end. ### Claim 5 (depends on 4) The planetary gearing according to claim 4, wherein the carrier of each planetary gear is configured to receive a gear on its outer circumferential surfaces. ### Claim 6 (depends on 1) The planetary gearing of claim 1 wherein at least one second planetary gear of the at least three planetary gears is biased in the second circumferential direction and a planet pin of the second planetary gear is at least partially elastically deformable in the first circumferential direction. ### Claim 7 (depends on 6) The planetary gearing according to claim 6, wherein at least one third planetary gear is provided which is not biased. ### Claim 8 (depends on 6) The planetary gearing according to claim 6, wherein each of the planetary gears is biased in either the first circumferential direction or in the second circumferential direction. ### Claim 9 (depends on 1) A robot gearing arrangement, comprising a planetary gearing according to claim 1. ### Claim 10 A planetary gearing, comprising: a sun gear; a ring gear; a planet carrier; and first, second, and third planet gears rotatably mounted on planet pins fixed to the planet carrier, each of the first, second, and third planet gears meshing with the sun gear and the ring gear; wherein the planet pins are unequally spaced circumferentially and the planet pin supporting the first planet gear is deformable such that the first planet gear is biased in a first circumferential direction to reduce lash between the planet gears and the sun and ring gears. ### Claim 11 (depends on 10) The planetary gearing of claim 10 wherein the planet pin supporting the second planet gear is deformable and is circumferentially spaced such that the second planet gear is biased in a second circumferential direction opposite the first circumferential direction. ### Claim 12 (depends on 11) The planetary gearing of claim 11 wherein the third planet gear is not biased. ### Claim 13 (depends on 12) The planetary gearing of claim 12 further comprising: a fourth planet gear radially opposite the first planetary gear and biased in the first circumferential direction; a fifth planet gear radially opposite the second planetary gear and biased in the second circumferential direction; and a sixth planet gear radially opposite the third planetary gear and not biased. ### Claim 14 (depends on 11) The planetary gearing of claim 11 further comprising fourth, fifth, and sixth planet gears wherein the third and fifth planet gears are biased in the first direction and the fourth and sixth planet gears are biased on the second direction. ### Claim 15 (depends on 10) The planetary gearing according to claim 10, wherein the first planet gear has a cup-shaped carrier connected with the elastically deformable planet pins at a first end, and wherein the elastically deformable planet pin is connected to the planet carrier at a second end. ### Claim 16 (depends on 15) The planetary gearing according to claim 15, wherein the cup-shaped carrier receives a gear on its outer circumferential surface. ### Claim 17 (depends on 15) The planetary gearing according to claim 15, wherein the cup-shaped carrier is integrally formed with the first planet gear.