Transmission comprising a torque measuring device

Abstract

The invention relates to a transmission having a transmission base, in particular a transmission chassis or a transmission housing, an output component which is rotatably mounted relative to the transmission base by means of an output bearing, and a torque measuring device. The transmission is characterized in that the output bearing is mounted in such a way that the output bearing decouples the torque measuring device from transverse forces and tilting moments introduced at the output component and conducts transverse forces and tilting moments introduced at the output component to the transmission base via the output bearing and past the torque measuring device.

Description

[0001] Gearbox with a torque measuring device

[0002] The invention relates to a transmission with a transmission base, in particular a transmission chassis or a transmission housing, and with an output component mounted rotatably relative to the transmission base by means of an output bearing and with a torque measuring device.

[0003] Gearboxes come in a variety of designs and are used to change motion quantities, often involving rotational movement. One possible design is a stress wave gear.

[0004] A stress wave transmission usually has a rigid, circular-section, internally toothed gear, called a circular spline, and a flexible, externally toothed gear, called a flexspline, which is arranged in the space surrounded by a rigid, internally toothed gear. A usually oval wave generator is rotatably arranged within the flexspline, the outer circumference of which has a bearing seat for a radially flexible rolling bearing. The wave generator is in contact with the radially flexible, externally toothed gear via the radially flexible rolling bearing. The radially flexible rolling bearing enables the wave generator to rotate relative to the radially flexible, externally toothed gear. The wave generator bends the rolling bearing and the flexspline into an oval shape in order to mesh the teeth of the circular spline and the flexspline along the vertical axis of the oval wave generator.

[0005] The flexspline has fewer teeth than the circular spline. When the wave generator rotates, the outer side of the flexspline rolls against the inner side of the circular spline, with the teeth of the flexspline circumferentially engaging and disengaging from the teeth of the circular spline on opposite sides. Due to the difference in the number of teeth, the flexspline rotates relative to the circular spline when the wave generator rotates and the flexspline is held in place, for example, relative to the gearbox housing. The wave generator is usually elliptical. However, any shape deviating from the circular shape is possible, resulting in the described engagement of the teeth of the flexible, externally toothed gear with the teeth of the rigid, internally toothed gear.It is also possible to design the wave generator in such a way that the teeth of the flexspline engage with the teeth of the circular spline at three or more points.

[0006] In the ring design of a stress wave gear, two internally toothed, rigid ring gears (circular spline and dynamic spline) with different numbers of teeth are present. Their teeth mesh with the external teeth of the radially flexible, externally toothed sleeve (flexspline). One of the internally toothed ring gears has the same number of teeth as the flexspline, while the other internally toothed ring gear has more teeth than the flexspline.

[0007] WO 2010 142318 A1 discloses a device for measuring the torque transmitted to an output shaft of a stress wave transmission. The device comprises a housing, a circular spline mounted in the housing, and a flex spline mounted on the output shaft. The device also includes sensors arranged between the circular spline and the housing for measuring forces, as well as a computing unit that receives measurement signals from the sensors and calculates the transmitted torque based on them.

[0008] European patent application EP 4 257 848 A1 discloses a transmission system comprising a torque-supporting element and a three-shaft transmission. The three-shaft transmission has at least one, in particular annular, gearwheel. The gearwheel is designed as a flange or has a flange. The gearwheel is secured to the torque-supporting element by means of an elastically deformable coupling component having a counterflange that is rotationally connected to the flange.

[0009] A reduction gear with an electric motor is known from US 2020003256 A1. The reduction gear has a hollow shaft and a housing attached to the hollow shaft. The reduction gear also has a fixed part that is relatively stationary with respect to the housing, a speed reduction mechanism, an output part, and a torque sensor connected to the housing and the fixed part. The torque sensor has an elastically deformable strain body that has an annular outer ring and an annular inner ring, as well as a plurality of strain sensors. The outer ring and the inner ring are each located at an end portion on the radially outer side and the radially inner side of the torque sensor and are connected either to the housing or to the fixed part. Each of the plurality of strain sensors is arranged at least partially in a radial direction between the outer ring and the inner ring.

[0010] It is therefore the object of the present invention to provide a transmission with a torque measuring device which enables particularly precise torque measurement and can nevertheless be designed to be particularly tilt-resistant.

[0011] The object is achieved by a transmission which is characterized in that the output bearing is arranged in such a way that it decouples the torque measuring device from transverse forces and tilting moments introduced at the output component and guides transverse forces and tilting moments introduced at the output component via the output bearing and past the torque measuring device to the transmission base.

[0012] According to the invention, it was recognized that in the transmissions known from the prior art, transverse forces and tilting moments acting on the output component adversely influence the torque measurement, which ultimately leads to inaccurate torque measurements. In particular, it was recognized that a key aspect here is that in the transmissions known from the prior art, the force flow of the transverse forces and tilting moments introduced at the output component runs entirely via the torque measuring device to the transmission base. Furthermore, in the transmissions known from the prior art, the torque measuring device is connected in series with the output bearing, so that the overall stiffness of the transmission is even greater than the greater of the individual stiffnesses of these series-connected components.The transverse forces and tilting moments therefore not only have a detrimental effect on the measuring principle, but in the case of gearboxes known from the state of the art they also have a reducing effect on the tilting stiffness of the entire gearbox.

[0013] The transmission according to the invention has the very special advantage that the output bearing prevents the influence of transverse forces and tilting moments on the torque measuring device, or at least prevents them to such an extent that they no longer have a detrimental effect on torque measurement. In the transmission according to the invention, transverse forces and tilting moments introduced via the output component are guided via the output bearing past the torque measuring device to the transmission base. Since this does not restrict the rotatability of the rotatably mounted transmission components in any way and simultaneously keeps the torque measuring device free from disruptive forces, precise torque measurement is possible.The transmission according to the invention also has a high tilting stiffness because the output bearing, for example in the form of a crossed roller bearing, can be designed to be very tilting stiff and the torque measuring device mechanically short-circuited via the output bearing has no relevant influence on the tilting stiffness.

[0014] In particular, it can advantageously be provided that the torque measuring device is mechanically connected in parallel to the output bearing with respect to the force flow of the transverse forces and tilting moments transmitted via the output component to the transmission base.

[0015] The output bearing can advantageously be designed as a rolling bearing. The use of a crossed roller bearing as the output bearing is particularly advantageous because a crossed roller bearing has particularly high tilting stiffness. In particular, the output bearing can also be a cylindrical roller bearing, a four-point contact bearing, a multi-row rolling bearing, or a multi-row ball bearing. An output bearing designed as a plain bearing is also possible.

[0016] In a particularly advantageous embodiment, the transmission is designed as a three-shaft transmission, in which a rotatably mounted first shaft acts as the transmission input, a second shaft acts as the output component and a third shaft is rotatably attached to the transmission base or is manufactured together in one piece with the transmission base.

[0017] In a transmission designed as a stress wave transmission, for example, a wave generator insert mounted so that it can rotate relative to a flexspline can act as the transmission drive and a circular spline as the output component, while a flexspline fastened to the transmission base acts as the fixed shaft. Alternatively, it is also possible for a transmission designed as a stress wave transmission to have a wave generator insert mounted so that it can rotate relative to a flexspline as the transmission drive and a flexspline as the output component, while a circular spline fastened to the transmission base acts as the fixed shaft.

[0018] In general, the transmission can be a stress wave transmission, as already mentioned. In this case, it can advantageously be provided that the output component is a circular spline, a dynamic spline, or a flex spline. Alternatively, the output component can also be a transmission component that is torsionally and rigidly connected to a circular spline, a dynamic spline, or a flex spline, for example, by screwing, bonding, or welding.

[0019] Due to the described avoidance of the effect of transverse forces and tilting moments on the torque measuring device, a stress wave transmission according to the invention is even able to determine the rotational position and / or the speed and / or the direction of rotation of the wave generator insert relative to the transmission base from the measurement signals of the torque measuring device (apart from the torque), since even those periodic deformations can be measured that are not caused by the torque, but by the (for example oval) shape and the rotation of the wave generator.

[0020] In a transmission designed as a stress wave transmission, a drive component of the transmission can be formed by a shaft generator insert of a shaft generator that is mounted so as to be rotatable relative to a flexspline.

[0021] The stress wave gear can be designed, for example, as a pot gear or a hat gear. In a design designed as a hat gear, the flexspline has a rim with a flange arranged on its outer circumference. The flange can be designed for coupling to the gear base, for example, a gear chassis or a gear housing, or for coupling to a shaft. In a design designed as a pot gear, the flexspline has a pot base, which can have a flange for coupling to the gear base, for example, a gear chassis or a gear housing, or for coupling to a shaft.

[0022] The stress wave gear unit can be designed as a ring gear unit and have a ring-shaped flexspline. In such a design, for example, a wave generator insert mounted for rotation relative to the flexspline can act as the gear unit drive, and a circular spline (preferably designed as an internally toothed ring gear) can act as the output component, while a dynamic spline (preferably designed as an internally toothed ring gear) that is rotationally fixed to the gear unit base acts as the fixed shaft.

[0023] The gear can alternatively be a planetary gear or a cycloidal gear.

[0024] Preferably, the output bearing has a higher, in particular a much higher, rigidity than the torque measuring device. This allows the transmission to be designed to be particularly tilt-resistant, while simultaneously allowing elastic deformability of at least one deformation body of the torque measuring device for precise torque measurement.

[0025] In a particularly advantageous embodiment, the ratio of the stiffnesses of the output bearing and the torque measuring device is selected such that the influence of the measuring signals of the sensor at the maximum permissible tilting moment is smaller than the measuring accuracy of the torque measuring device.

[0026] The torque measuring device preferably comprises at least one deformation body and at least one deformation measuring sensor, which is designed and arranged to detect the deformation (in particular bending, shearing, compression, and / or elongation) of the deformation body caused by the application of torque. The deformation measuring sensor can, for example, comprise at least one strain gauge. However, alternatively or in addition to at least one strain gauge, other measuring means, for example a piezo-based length measuring sensor, can also be present to detect the deformation of the deformation body. The deformation body can, for example, be designed as a bending beam. Alternatively, the deformation body can, for example, be designed as a tension or compression rod.

[0027] Preferably, the torque measuring device comprises a plurality of deformation bodies, each with at least one deformation measuring sensor.

[0028] In a particular embodiment, the torque measuring device has two, in particular annular, gear component elements which are elastically movably connected to one another by means of a plurality of deformation bodies, wherein it can be provided in particular that at least one deformation measuring sensor is arranged on each of the deformation bodies.

[0029] An actuator which has a drive motor and a transmission according to the invention which is connected downstream of the drive motor is particularly advantageous.

[0030] In particular, the actuator may have an evaluation device that receives sensor signals from the torque measuring device.

[0031] In a particularly advantageous embodiment, the evaluation device is designed to control or regulate the drive motor depending on the sensor signals. In particular, the evaluation device can be designed to throttle and / or stop the drive motor if a predefined or predeterminable sensor measurement value is exceeded, if a predefined or predeterminable sensor measurement value is undershot, or if a predefined or predeterminable sensor measurement range is exceeded. In this way, overloading of the transmission can be avoided.

[0032] A robot, in particular an industrial robot, that includes at least one gear mechanism or actuator according to the invention is particularly advantageous. In particular, the gear mechanism according to the invention can be used in a robot joint. The robot joint is particularly tilt-resistant and can be used and monitored in a particularly versatile manner thanks to the use of the gear mechanism according to the invention.

[0033] Of particular advantage is a chassis, in particular an active chassis, for a motor vehicle that has at least one transmission or actuator according to the invention. A particular advantage is that the transmission is particularly rigid and tilt-resistant, and that reliable monitoring of the transmission is easy to implement, thus increasing driving safety. A steering system, in particular a car steering system or a truck steering system, that has at least one transmission according to the invention is of particular advantage. The steering system can, in particular, be a power steering system and / or a superimposed steering system.

[0034] The subject matter of the invention is illustrated schematically and by way of example in the drawing and is described below with reference to the figures, wherein identical or similarly acting elements are generally provided with the same reference numerals even in different embodiments. In the drawings:

[0035] Fig. 1 shows a first embodiment of a transmission according to the invention,

[0036] Fig. 2 shows a second embodiment of a transmission according to the invention,

[0037] Fig. 3 shows a transmission not according to the invention according to the prior art, and

[0038] Fig. 4 shows another transmission according to the prior art, not according to the invention.

[0039] Fig. 1 shows a first embodiment of a transmission according to the invention, which is designed as a stress wave transmission, in a cross-sectional view along the rotation axis 1 of the wave generator insert 2.

[0040] The transmission has a transmission base 3, which can be, for example, a transmission chassis or a transmission housing, and an output component 5, which is rotatably mounted relative to the transmission base 3 by means of an output bearing 4 and is formed by a circular spline 6. The transmission also has a torque measuring device 7, which is designed and arranged to detect the torque acting on the output component 5 during operation of the stress wave transmission.

[0041] The output bearing 4 is arranged such that it decouples the torque measuring device 7 from the transverse forces 8 and tilting moments introduced at the output component 5 and directs the transverse forces 8 and tilting moments introduced at the output component via the output bearing 4 and past the torque measuring device 7 to the transmission base 3. In Figure 1, the force flow 9 of the exemplary transverse forces 8 and tilting moments is shown schematically by a dashed arrow line.

[0042] The stress wave transmission has a wave generator 10 with a wave generator insert 2 that is mounted for rotation about a rotation axis 1 relative to a hat-shaped flexspline 11 by means of a radially flexible roller bearing 12. The flexspline 11 has an external toothing 13. The circular spline 6, which forms the output component 5 in this embodiment, has an internal toothing 14. The internal toothing 14 engages the external toothing 13 of the flexspline 11 at two opposite points.

[0043] A flange 15 is arranged on the brim of the hat-shaped flexspline 11, which is screwed by means of several fastening screws 19 to a first annular gear component element 16, which is part of the torque measuring device 7. The first annular gear component element 16 is elastically movably connected to a second annular gear component element 18 by means of several spoke-like deformation bodies 17. The second annular gear component element 18 is fastened by means of fastening screws 19 to the outer ring 20 of the output bearing 4, which is designed as a crossed roller bearing. The outer ring 20 of the output bearing 4 is torsionally and rigidly fastened to the gear base 3. In this way, the flexspline 11 is supported on the gear base 3 via the torque measuring device 7.

[0044] An inner ring 21 of the output bearing 4, designed as a crossed roller bearing, is rotationally and rigidly fastened to the circular spline 6 by means of fastening screws 19.

[0045] At least one deformation sensor 23, for example in the form of a strain gauge, is attached to each deformation body 17 of the torque measuring device 7. The deformation sensor 23 is designed and arranged to detect the deformation of the deformation body 17 caused by the application of a torque. The deformation sensors 23 are connected to an electronic evaluation device (not shown), which receives the measurement signals from the deformation sensors 23 and calculates the currently acting torque therefrom.

[0046] In this embodiment, the wave generator insert 2 acts as the gear drive and the circular spline 6 as the output component, while the flex spline 1 1 attached to the gear base 3 via the torque measuring device 7 acts as a fixed shaft of the gear.

[0047] In the stress wave transmission, due to the avoidance of the influence of disturbing forces, it is even possible for the evaluation device (not shown) to determine the rotational position and / or the speed and / or the direction of rotation of the wave generator insert 12 relative to the transmission base 3 from the measurement signals, since even those periodic (relatively small) deformations can be measured which are not caused by the torque, but by the (for example oval) shape and the rotation of the wave generator.

[0048] Fig. 2 shows a second embodiment of a transmission according to the invention, which is designed as a stress wave transmission, in a cross-sectional view along the rotation axis 1 of the wave generator insert 2.

[0049] The transmission has a transmission base 3, which can be, for example, a transmission chassis or a transmission housing, and an output component 5, which is rotatably mounted relative to the transmission base 3 by means of an output bearing 4 and is formed by a flexspline 11. The transmission also has a torque measuring device 7, which is designed and arranged to detect the torque acting on the output component 5 during operation of the stress wave transmission.

[0050] The output bearing 4 is arranged such that it decouples the torque measuring device 7 from the transverse forces 8 and tilting moments introduced at the output component 5 and directs the transverse forces 8 and tilting moments introduced at the output component via the output bearing 4 and past the torque measuring device 7 to the transmission base 3. In Figure 2, the force flow 9 of the exemplary transverse forces 8 and tilting moments is schematically shown by a dashed arrow line.

[0051] The stress wave transmission has a wave generator 10 with a wave generator insert 2 that is mounted for rotation about a rotation axis 1 relative to a hat-shaped flexspline 11 by means of a radially flexible roller bearing 12. The flexspline 11 has an external toothing 13. The circular spline 6 has an internal toothing 14. The internal toothing 14 engages the external toothing 13 of the flexspline 11 at two opposite points.

[0052] A flange 15 is arranged on the brim of the hat-shaped flex spline 1, which is screwed to an annular connecting component 22 by means of several fastening screws 19. The annular connecting component 22 is connected in a torsionally and rigid manner to the inner ring 21 of the output bearing 4, designed as a crossed roller bearing, by means of fastening screws 19. The outer ring 20 of the output bearing 4 is screwed in a torsionally and rigid manner by means of further fastening screws 19 to a first annular gear component element 16, which is part of the torque measuring device 7. The first annular gear component element 16 is elastically movably connected to a second annular gear component element 18 by means of several spoke-like deformation bodies 17. The second annular gear component element 18 is fastened to the circular spline 6 by means of fastening screws 19.The first annular gear component element 16 is torsionally and rigidly attached to the gear base 3. In this way, the circular spline 6 is supported on the gear base 3 via the torque measuring device 7.

[0053] At least one deformation sensor 23, for example in the form of a strain gauge, is attached to each deformation body 17 of the torque measuring device 7. The deformation sensor 23 is designed and arranged to detect the deformation of the deformation body 17 caused by the application of torque. The deformation sensors 23 are connected to an electronic evaluation device (not shown) that receives the measurement signals from the deformation sensors 23 and calculates the currently acting torque therefrom.

[0054] In this embodiment, the wave generator insert 2 acts as the gear drive and the flexspline 11 acts as the output component, while the circular spline 6 attached to the gear base 3 via the torque measuring device 7 acts as the fixed shaft of the gear.

[0055] In the stress wave transmission, due to the avoidance of the influence of disturbing forces, it is even possible for the evaluation device (not shown) to determine the rotational position and / or the speed and / or the direction of rotation of the wave generator insert 12 relative to the transmission base 3 from the measurement signals, since even those periodic (relatively small) deformations can be measured which are not caused by the torque, but by the (for example oval) shape and the rotation of the wave generator.

[0056] Fig. 3 shows a prior art transmission not according to the invention, which is designed as a stress wave transmission. In this stress wave transmission, a wave generator insert 2, which is mounted rotatably relative to a flexspline 11, acts as the transmission drive, and a flexspline 11 acts as the output component 5, while a circular spline 6, which is fastened to the transmission base via the torque measuring device 7, acts as the fixed shaft.

[0057] In this stress wave transmission, the force flow 9 of transverse forces 8 and tilting moments introduced at the output component 5 is not decoupled from the torque measuring device 7, but runs completely via the torque measuring device 7 to the transmission base 3.

[0058] Fig. 4 shows another transmission according to the prior art, not according to the invention.

[0059] In this stress wave transmission, a wave generator insert 2, which is mounted so as to be rotatable relative to a flexspline 1 1, acts as the transmission drive and a second transmission component element 18 of a torque measuring device 7, which is connected in series downstream of a flexspline 1 1 in terms of drive technology, acts as the output component 5, while a circular spline 6, which is fastened to the transmission base in a rotationally fixed manner, acts as the fixed shaft.

[0060] In this stress wave transmission, too, the force flow 9 of transverse forces 8 and tilting moments introduced at the output component 5 is not decoupled from the torque measuring device 7, but runs completely via the torque measuring device 7 to the transmission base 3.

[0061]

[0062] 1 rotation axis

[0063] 2 shaft generator insert

[0064] 3 Gearbox base

[0065] 4 output bearings

[0066] 5 Output component

[0067] 6 Circular splines

[0068] 7 Torque measuring device

[0069] 8 Shear forces

[0070] 9 Power flow

[0071] 10 wave generator

[0072] 1 1 Flexspline

[0073] 12 radially flexible rolling bearings

[0074] 13 External gearing

[0075] 14 Internal gearing

[0076] 15 Flange

[0077] 16 first transmission component element

[0078] 17 deformation bodies

[0079] 18 second transmission component element

[0080] 19 Fixing screw

[0081] 20 outer ring

[0082] 21 inner ring

[0083] 22 Connecting component

[0084] 23 Deformation measuring sensor

Claims

Patent claims 1. A transmission with a transmission base (3), in particular a transmission chassis or a transmission housing, and with an output component (5) mounted so as to be rotatable relative to the transmission base (3) by means of an output bearing (4), and with a torque measuring device (7), characterized in that the output bearing (4) is arranged such that it decouples the torque measuring device (7) from transverse forces (8) and tilting moments introduced at the output component (5) and guides the transverse forces (8) and tilting moments introduced at the output component (5) via the output bearing (4) and past the torque measuring device (7) to the transmission base (3).

2. Gearbox according to claim 1, characterized in that the torque measuring device (7) is mechanically connected in parallel to the output bearing (4) with respect to a force flow (9) of the transverse forces (8) and tilting moments conducted via the output component (5) to the gearbox base (3).

3. Gearbox according to claim 1 or 2, characterized in that the output bearing (4) is designed as a rolling bearing, in particular a crossed roller bearing or a cylindrical roller bearing or a four-point bearing or a multi-row rolling bearing or a multi-row ball bearing.

4. Gearbox according to one of claims 1 to 3, characterized in that the gearbox is designed as a three-shaft gearbox, in which a rotatably mounted first shaft serves as the gear drive, a second shaft serves as the output component (5) and a third shaft is rotatably attached to the gearbox base (3). or is manufactured in one piece with the gear base (3).

5. Transmission according to one of claims 1 to 4, characterized in that the transmission is a stress wave transmission.

6. Transmission according to claim 5, characterized in that the output component (5) is a circular spline (6) or a dynamic spline or a flex spline (1 1 ) or that the output component (5) is a transmission component which is torsionally and rigidly connected to a circular spline (6) or a dynamic spline or a flex spline (1 1 ).

7. Transmission according to claim 5 or 6, characterized in that a drive component is a shaft generator insert (2) of a shaft generator (10).

8. Gearbox according to one of claims 5 to 7, characterized in that the stress wave gear is designed as a pot gear or as a hat gear.

9. Gear according to one of claims 5 to 7, characterized in that the stress wave gear is designed as a ring gear.

10. Transmission according to one of claims 1 to 4, characterized in that the transmission is a planetary transmission or a cycloidal transmission. 1 1. Transmission according to one of claims 1 to 10, characterized in that the output bearing (4) is designed and arranged such that it isolates the torque measuring device (7) from transverse forces (8) and tilting moments acting on the transmission output.

12. Transmission according to one of claims 1 to 11, characterized in that the output bearing (4) has a higher rigidity than the torque measuring device (7).

13. Transmission according to one of claims 1 to 12, characterized in that the ratio of the stiffnesses of the output bearing (4) and the torque measuring device (7) is selected such that an influence on the measuring signals at the maximum permissible tilting moment is smaller than the measuring accuracy of the torque measuring device (7).

14. Transmission according to one of claims 1 to 13, characterized in that the torque measuring device (7) has at least one deformation body (17) and at least one deformation measuring sensor (23).

15. Transmission according to claim 14, characterized in that the deformation measuring sensor (23) has at least one strain gauge.

16. Transmission according to claim 14 or 15, characterized in that the torque measuring device (7) has two, in particular annular, transmission component elements (16, 18) which are elastically movably connected to one another by means of a plurality of deformation bodies (17).

17. Transmission according to one of claims 14 to 16, characterized in that the deformation body (17) is designed as a bending beam or that the deformation bodies (17) are designed as bending beams.

18. Transmission according to one of claims 14 to 17, characterized in that the deformation body (17) is designed as a tension or compression rod or that the deformation bodies (17) are designed as tension or compression rods.

19. Actuator comprising a drive motor and a transmission according to one of claims 1 to 18, which is connected downstream of the drive motor.

20. Actuator according to claim 19, characterized in that an evaluation device is provided which receives sensor signals from the torque measuring device (7).

21. Actuator according to claim 20, characterized in that the evaluation device is designed to control or regulate the drive motor in dependence on the sensor signals.

22. Actuator according to claim 20 or 21, characterized in that the evaluation device is designed to throttle and / or stop the drive motor when a predetermined or predeterminable sensor measured value is exceeded or when a predetermined or predeterminable sensor measured value is undershot or when a predetermined or predeterminable sensor measured value range is left.

23. Robot joint comprising at least one gear mechanism according to one of claims 1 to 18 and / or an actuator according to one of claims 19 to 22.

24. A robot comprising at least one gear mechanism according to one of claims 1 to 18 and / or an actuator according to one of claims 19 to 22.

25. Chassis, in particular active chassis for a motor vehicle, which has at least one transmission according to one of claims 1 to 18 and / or an actuator according to one of claims 19 to 22.

26. Steering system, in particular car steering system or truck steering system, which has at least one transmission according to one of claims 1 to 18 and / or an actuator according to one of claims 19 to 22.

27. Steering system according to claim 26, characterized in that the steering system is a power steering system and / or a superposition steering system.

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