WO2025238261A1

WO2025238261A1 - Transmission

Info

Publication number: WO2025238261A1
Application number: PCT/EP2025/063635
Authority: WO
Inventors: Bartolomej Janek
Original assignee: Individual
Current assignee: Individual
Priority date: 2024-05-16
Filing date: 2025-05-16
Publication date: 2025-11-20
Anticipated expiration: 2026-11-16

Abstract

The invention is characterized in high transmission ratio obtainable with a transmission having an output parts (20, 20') fixed to each other, with base body (10), with an input shaft (50) and two eccentrics (51) rotatably supporting external gears (40) with cycloidal toothing (41) engaging with the pin toothing (11) of the base body (10) and with transformation element (30) transforming the planetary motion of external gears (40) into a rotary motion of the output parts (20), (20´). The solution according to the invention enables to achieve up to twice the gear ratio on the co- engaging gears (11), (41) with the same pitch circle diameter D and with the same radius ri of the semicircular grooves of the internal pin toothing compared to the known cycloidal gear solution.

Description

TRANSMISSION

DESCRIPTION OF THE INVENTION

The present invention is directed to a transmission according to the patent claims. Transmission with a base body with internal pin toothing engaging with an external cycloidal toothing on a external planetary gear, its axis of which is displaced radially to the axis of the base body by an eccentric value of e.

Known cycloidal transmission solutions have a cycloidal profile of the external gear and an internal pin toothing that consists of internal grooves of semicircular crosssection with cylindrical longitudinal bodies-pins, with the outer cycloidal toothing generally having one tooth less than the internal toothing.

The gear ratio on a cycloidal gear depends on the spacing-pitch s of the semicircular grooves and their radius n, where the grooves spacing on the pitch circle diameter D is s = 2kn, where k is the spacing factor. In the state of the art, the spacing factor k is usually greater than 1.5 and less than 2, while the radius of the grooves n is usually greater or equal than 0.5 mm.

For small diameters D of the pitch circle, achieving a high transmission ratio is of high importance due to the low motor torques generally less than 1 Nm and high speed up to 8000rpm. The term small diameter refers specifically to a pitch circle diameter below 60 mm.

Existing limits of the state of the art do not allow the use of bodies with a diameter d equal to or less than 1 mm. With a diameter D of the pitch circle less than 60 mm and a diameter of d = 1 , achieving a gear ratio in the range of 100:1 is feasible only with significant compromises in profile accuracy and is associated with substantial manufacturing challenges. This state of the art implies/defines the fundamental problem that this invention solves.

It is clear that the invention is realized in any case if the gear of the type described (IPC= F16H1/32, with “partial circle,” Fig. 1 , 1A, 15, 16) has the following parameters:

- a base body (10) with an axis (40a) and grooves (18),

- a wheel (40) with an axis (40a)

-the wheel (40) has an outer cycloidal toothing (41) with teeth (44)

- the wheel (40) has an outer cycloidal toothing (41) with teeth (44), - rolling elements (14) have a radius (re) and are arranged between the grooves (18) and the teeth (44),

- the base body (10) has n (n = 2I, I > 4, I ~ N) semicircular grooves (18) with a radius (ri),

- re < ri,

- the parallel axes (10a, 40a) are arranged at a distance e, e > 0, from each other,

- the grooves (18) lie on a “partial circle” (16) with a radius (D),

- the profile (22) of the teeth (44) is defined by the contact circles (17) and the N semicircular arcs (15),

- the centers of the semicircular arcs (15) lie on the pitch circle (16), - the radius of the arcs (15) corresponds to the radii (ri) of the grooves (18),

- the circles (17) are in contact with the profiles (22) and with the semicircular arcs (15),

- the number N of the semicircular arcs (15) is twice as large as the number n of the grooves (18),

- the factor k of the distance between the arcs (15) is k<1 , k is a real number,

- the distance between the axes (10a, 40a) is e ~ re f/4,

- f is a number less than 1 ,

- the transmission ratio of the gear is i=N- 1 .

The invention may be characterized in high transmission ratio obtainable with a transmission having an output parts (20, 20‘) fixed to each other, with base body (10), with an input shaft (50) and two eccentrics (51) rotatably supporting external gears (40) with cycloidal toothing (41) engaging with the pin toothing (11) of the base body (10) and with transformation element (30) transforming the planetary motion of external gears (40) into a rotary motion of the output parts (20), (20'). The solution according to the invention enables to achieve up to twice the gear ratio on the coengaging gears (11), (41) with the same pitch circle diameter D and with the same radius n of the semicircular grooves of the internal pin toothing compared to the known cycloidal gear solution.

The transmission according to the invention is also characterized in that the number of contact circles N (17) is even, the ratio N/2 is also even, wherein the number N is at least twice the number n of bodies (14). With such a number N, the gear ratio of the gear is i = N-1 , and the value of the distance e of the axis (40a) of the wheel (40) from the axis (10a) of the body (10) is e ~r_e f/4, where f < 1 is a number less than 1 . The invention can also be descibed as follows: A transmission with a base body (10) with internal, semicircular grooves (18) of radius ri and number n, at n = 2I and I > 4, with a external gear (40) having external cycloidal toothing (41 ) with teeth (44) and an axis (40a) of a external gear (40) displaced in relation to the axis (10a) of the body (10) by the value of e, with rolling elements (14) of radius re < ri placed between the grooves (18) and teeth (44) while the grooves (18) are on a pitch circle (16) of diameter D characterized in that the profile (22) of the teeth (44) of the external cycloidal toothing (41) is formed by means of contact circles (17) and semicircular arcs (15), with the centers Si of the semicircular arcs (15) on the pitch circle (16) wherein their radius is identical to the radius of the ri grooves (18), the contact circles (17) have a radius identical to the radius re of the rolling elements (14) and are in contact with the profiles (22) and at the same time they are in contact with the semicircular arcs (15), the number N of the semicircular arcs (15) is double compared to the number n of grooves (18), wherein the grooves spacing on the pitch circle is s = 2kri and the spacing factor k of the arcs (15) is less than or equal to one wherein the distance of the axis (40a) of the external gear (40) to the axis (10a) of the body (10) is e ~ re f/4, where f is a number less than 1 and the gear ratio of the transmission is i=N-1.

Preferably the curve spacing factor k of the semicircular arcs (15) is greater than one and at the same time less than 1 ,2 .

Preferably, the contact circles (17) are in contact with the profile (22) of the teeth (44) at the points Ci and simultaneously in contact with the semicircular arcs (15) at the points Pi, both points are located on a common line that connects the center Si of the semicircular arc (15) with the rolling pole of the external wheel (40).

The drawing schematically illustrates an embodiment of the invention. It shows:

Fig. 1 3D explosion of a device according to the invention,

Fig. 2 Cross-section of the preferred device according to the invention, Fig. 3 3D detailed view of the drive shaft with rolling elements and their guides

Fig. 4, Fig. 4A, Fig. 4B Transformation member with marking of the guiding surfaces of the rolling element,

Fig. 5 3D view of the rolling elements on the eccentric parts of the drive shaft,

Fig. 6 Running space for rolling elements of different types,

Fig. 7 to Fig. 9 Transformation element with rolling elements,

Fig. 10 3D detailed view of flange parts with complementary contact profiles, working surfaces and third surfaces,

Fig. 11 3D view of the joined parts in the shape of flanges,

Fig. 12 Front view of the flange-shaped part (20) with the directional axes, normals (normal vectors) and their angles of inclination in Figure 12a, front view of the flange-shaped part (20') with the directional axes, normals (normal vectors) and their angles of inclination in Figure 12b

Fig. 13 View of the flange-shaped parts of the force-locking connection,

Fig. 14 Front view of the flange-shaped section (20'), with directional axes and complementary profiles of the locking force connection

Fig. 14a Front view of the flange-shaped part (20), with directional axes and complementary profiles of the force-locking connection,

Fig. 15 gearing with "pitch circle", Fig. 16 Frontal view of a gear wheel with pitch circle.

Preferred Solution Surfaces

The drawing shows a transmission with low friction in bearings on the input shaft (50), and low speed bearings (60) on the output body (20o) and in the gearing (41). The width of the transmission in the axial direction is minimal (Fig. 1 , Fig. 2). Input shaft (50) is mounted on rolling elements (55) in the outlet body (20o) by means of centric portions (57) and has eccentric portions (51) on which the planetary gears (40) are mounted by means of rolling elements (54). The outer gear (41 ) engages the inner gear (11) of the base body (10) or body for short. The output body (20o) comprises two flange-shaped parts (20, 20'), which are also referred to as flange parts, flange elements, flange-shaped parts, elements, components, members or flanges - abbreviated as parts - and may be rigidly connected to each other. The parts (20, 20') also have axially oriented projections (22a, 22'a), (22b, 22'b), (22c, 22'c), (22d, 22'd), which are referred to as longitudinal parts, pairs of lateral parts or longitudinal parts and may be rigidly connected to each other by means of fasteners (70). Axially arranged, interconnecting axially oriented projections are also referred to as pairs of longitudinal members or pairs of longitudinal members or also as pairs of axially arranged longitudinal members. Between the planet gear (40) and the adjacent portion (20, 20') is a transformation member (30) which performs an oscillating transverse movement relative to the axis (10a) and converts the rotational movement of the planet gear (40) into a rotational movement of the output body (20o) about the axis (10a).

Shaft

The input shaft (50) has a part (56) on which there are two mutually parallel axial guide surfaces (56a), each of which is connected to an eccentric part (51 ) - Fig. 3.2, Fig. 5. The cylindrical outer surface (50o) of the central portion (56) is coaxial with the axis(50a). The transformation body (30) has two parallel, guiding surfaces (30a), (30b). The guide surface (30a), which is also referred to as the front surface, is constrained by a circle (k1) in the central part of the member (30). The guide surface (30b), which is also referred to as the front surface or face, is constrained by a circle (k2) in the central part of the transformation member (30), FIG. 4. The circles (k1) and (k2) form an interface between the guiding surfaces (30a, 30b) and the depressions (35r, 35I) formed in the central portion transformation body (30). Cylindrical rolling element (54) with a radius (f) at its end is axially guided on the eccentric portions (51 ) on one side by guiding surfaces (56a). On the other side, the rolling elements (54) are axially guided by guide surfaces (30a) - Figs. 2, 4. Cylindrical rolling elements (55) with a radius (f) are axially guided on the centric portions (57) on one side by guide surfaces (21a, 21'a), which are also known as axial surfaces. From the other side they are axially guided by guide surfaces (30b) - Figs. 2 to 4. The radius of the circle (k1) is less than the sum of the radius value of the eccentric portion (51) and the diameter value of the planetary rolling element (54). This value is reduced by the eccentricity value (e) and the value of the end radius (f). The value of the radius of the circle (k2) is less than the sum of the values of the radius of the central part (57) and the diameter of the rolling element (55), reduced by the eccentricity size (e) and the size of the end radius (f) - Fig. 2- 3.

The size of the contact area between the surfaces of the rolling bodies (55) and the guiding surface (30b) of the transformation body (30) is cyclically varied in the radial direction with an amplitude, which is twice as large as the eccentricity (e). The size of the contact area between the surfaces of the rolling elements (54) and the guiding surface (30a) of the transformation body (30) also varies cyclically.

The hydrodynamic pressure of the lubricant in the cyclically varying space (35) between the cylindrical inner surface (33) of the component (30) and the central portion (57) of the shaft (50) significantly reduces friction on the face surfaces of the rolling elements (54) and the flanged rolling elements (55). The lubricant pressure is generated by the oscillating, radially directed motion of the component (30) and acts directly at the guiding point of the rolling element (54) on the guide surface (30a) and at the guiding point of the rolling element (55) on the guide surface (30b) . The diameters (k1 , k2) may be greater than or equal to the diameter of the inner surface (33) of the element (30). Friction is reduced for all rolling elements (54, 55) on the shaft (50).

Another advantage of guiding the rolling elements (54) and rolling elements (55) on the guide surfaces of the element (30) is that the total length of the transmission in the axial direction is reduced by approximately by the thickness of the central part (56) of the shaft (50).

Bearing

The transformation body (30) may have the shape of a cross, e.g. US 2009/0270215 A1 , or the shape of a disc EP 0 594 549 A1. The output body (20o) comprises at least one part (20, 20') and is rotatably arranged in an orbital space (90) formed between the base body (10) and the output body (20o) (FIGS. 1 , 2, 6).

An axial intermediate guide surface (27a) is formed on the outer circumference of at least one of the portions (20, 20') and a radial orbit (28) is formed perpendicular thereto - FIG. 6.2.

The base body (10) has at least one radial path (12) on the inner circumference which is coaxial with the radial path (28) formed on the part (20), (20') - Fig. 6.2. An orbital space (90) is formed between one of the parts (20), (20') and the base body (10)

. The orbital space (90) consists of a pair of mutually coaxial radial orbits (12, 28) and a pair of axially aligned, opposite orbits of circular profile (29, 81 ), Fig. 6.2.

Among the pairs of orbits, there are also cylindrical and spherical bearing bodies (91 , 92), which are referred to as rolling bodies, shaped bodies, spherical bodies, cylindrical bodies, cylindrical . Some of the bearing bodies (92) are cylindrical in shape, having an axis of rotation (92a) that is (approximately) parallel to the axis

The cylindrical rolling elements (92) are rolled on radial paths (12, 28) and are axially guided by a guide surface (27a) and an opposing guide surface (80a).

The spherical bodies roll along circular orbits (29, 81 ). The diameter of the spherical bodies (91) is greater than the length of the cylindrical bodies (92). At the same time, the diameter of the cylindrical body (92) is greater than the diameter of the spherical body (91 ). The axial distance between the guide surfaces (27a, 80a) is smaller than the diameter of the spherical body (91 ). The axial distance between the surfaces (27a, 80a) is greater than the length of the guide body (92) - FIG. 6.

The guide surface (80a) and the orbit of the circular profile (81) are formed on the axial ring (80). The ring 80 is positioned between the part (20, 20') and the base body (10).

This solution has the following advantages: i. In the axial part of the outlet body (20o), also known as the outlet sleeve of the rolling element, shear friction in the contact region between the rolling element and the orbit is avoided. This prevents surface fatigue, the release of abrasion particles and the generation of high frictional heat at the point of contact. This prevents acute local oxidation of the lubricant, contamination and premature ageing. i. For morphological reasons, the combination of balls and rollers in the bearing excludes the possibility of incorrect interchange of the sorting groups of the rolling elements in the radial and axial direction when mounting the bearing. i. The power transmission efficiency of the transmission increases by a doubledigit percentage compared to the solution according to US5954609, especially when the bearing clearance is set to zero in the axial direction of the rolling bearing (20o).

The second embodiment provides an orbital arrangement in which the orbital path for the spherical rolling elements (91) is arranged on the radial outer circumference of at least one flange-shaped portion (20, 20'), also referred to as a flange portion, flange or component, and on the inner circumference of the base body. The circulation paths for the cylindrical rolling elements (92) are arranged on the frontal side of the outer circumference of the at least one base body portion (10) and on the frontal side of the opposing annular portion. The two pairs are arranged coaxially with respect to each other.

Tetragon

The transformation body (30) has the shape of a plate with a tetragonal base and with linear guiding surfaces (34a) lateral to the vertices of the tetragonal base, mutually opposite, parallel and mutually spaced apart by a value w (Fig.7, Fig.8). On the guiding surfaces (34a) are rolling elements (31 ) of cylindrical shape. The body

(30) has a central opening which is bounded by an inner cylindrical surface (33). The ratio of the distance w to twice the diameter of the rolling element (31) is less than 1. The diameter of the rolling elements (31) is greater than the length of the guide raceways (34a), the guide raceways (34a) being terminated by profiled portions (37).

The transformation body (30) according to the invention is designed such that the shortest distance (b) between opposing profile portions (37) is less than or equal to the offset (w) of the opposite guide surfaces (34a). The rolling elements (31) may have a central circular bore (32), also referred to as a central circular bore or central bore, for the pins (36), also referred to as cylindrical pins or pins, wherein the diameter of the bore (32) and pin diameter (36) are (approximately) the same. Longitudinal depressions (26) (oval and rectangular in shape, respectively), also referred to as recesses, are provided between the guide surfaces (34a) and the guide surfaces (20b, 20'b) on at least one of the flange-shaped portion (20), (20') and the wheel (40) adjacent thereto. The pins (36) are slidably guided in the longitudinal recesses (26), and which are arranged such that the positional creep of the bodies

(31 ) oscillating linearly on the guiding surfaces (34a) is limited at the ends of the recesses (26). The sides of the tetragon (38) of the forming body (30) are straight about the length (W), or are curved - Fig.7, Fig.8)

One of the advantages of the transformation body is that the structural stiffness of the tetragonal plate-shaped transformation body (30) in the plane of the contact forces of the rolling elements (31) is significantly higher than that of the open cross-shaped structures.

This is due to the relative dimensional properties of the transformation body (30) according to the invention. The relative length of the guide path (34a) to the diameter of the circumscribed circle over the arms (34) of the element (30) is much shorter than in the prior art. The same applies to the size of the square sides and the size of the radius of the profile portion (37).

The axially oriented protrusions, which may be connected to each other and point towards each other, may be connected to each other in a shape or force manner. They have the characteristics of a one-piece and non-deformable component. The connection eliminates three degrees of freedom between the flange-shaped parts (20, 20'). One part (20, 20') is rigidly and immovably connected to the other by a fastener (70) in the working load and can rotate about an axis (10a). The purpose of this element is transmission of axial forces between the parts (20, 20').

The flange-shaped parts (20, 20') are connected to each other in a non-rotatable and non-movable manner (Figure 10-11). This connection is formed by axially oriented projections (22a, 22'a), (22b, 22'b), (22c, 22'c), (22d, 22'd) which face towards each other and are connectable to each other and pass through the circumferential openings (42) of the planet wheels (40) .

The transverse oscillatory motion of the transformation member (30) is directed by the axes (20a, 20'a). These axes are also the axes of linear guidance of the member (30) in the portions (20, 20'). The element (30) may have a cross shape, for example US 2009/0270215 A1 , or a disc shape EPO 594 549 A1. The portions (20, 20') comprise pairs of axially oriented projections (22a, 22'a), (22b, 22'b), (22c, 22'c), (22d, 22'd) which are arranged opposite each other on the flange-shaped portions (20, 20'). These pairs may be axially connected to each other. On the pairs of axially oriented projections (22a, 22'a), (22b, 22'b), (22c, 22'c), (22d, 22'd) there are, pairs of complementary contact profiles (24a, 24'a), (24b, 24'b), (24c, 24'c), (24d, 24'd).

Each complementary contact profile (24a, 24'a, 24b, 24'b, 24c, 24'c, 24d, 24'd) comprises at least one work surface (243a, 243b, 243c, 243d; 243'a, 243'b, 243'c, 243'd), a surface with holes (242a, 242b, 242c, 242d; 242'a, 242'b, 242'c, 242'd) for the fasteners (70) and a third surface (241a, 241 b, 241c, 241 d; 241'a, 241 'b, 242'c, 241'd).

The forces acting in the normal direction on the working surfaces (243a, 243b, 243c, 243d; 243'a, 243'b, 243'c, 'd) in the working load condition transfer a major portion of the torque from the flange-shaped part (20) to the flange-shaped part (20'). The pairs of working surfaces (243a, 243'a), (243b, 243'b), (243c, 243'c), (243d, 243'd) are in contact with each other. The surfaces with holes (242a, 242b, 242c, 242d; 242'a, 242'b, 242'c, 242'd) determine the relative axial position of the flange-shaped parts (20, 20') in the working load condition of the transmission and transfer a minor part of the torque from the part (20) to the part (20'). The transmission in the working load condition has the parts (20, 20') connected to each other by fasteners (70). The third surfaces (241 a, 241 b, 241c, 241 d; 241'a, 241 'b, 242'c, 241'd) may be non-contacting in the working load condition - Fig.10.

The orientations of the contact profiles of the part (20) may be defined by the directional axes (23a), (23b), (23c), (23d), while the contact profiles of the part (20') may be defined by the directional axes (23'a), (23'b), (23'c), (23'd). The directional axis preferably lie on contact surfaces whose normal forces act in the circumferential direction with respect to axis (10a) of the base body (10).- Fig.10 The directional axes are also preferably oriented transversely to the axis (10a) of the base body (10). When projected onto a plane perpendicular to the axis (10a), such the surface (25), the directional axes are (23'a), (23'c) of the opposite contact profiles (24'a, 24'c) are non- parallel and at the same time, when projected on the same plane, the direction axes (23'b, 23'd) of the opposite profiles (24'b) and (24'd) are also non-parallel - the angle ( 1) and the angle (02) are greater than 0. The nonparallelism of the contact profiles refers to the axis (20'a) of the flange part (20'). The same applies to the reciprocity of the contact profiles of the flange part (20). Fig. 12a, Fig. 12b

The advantage of this connection is that the parts (20), (20') are connected by pairs of complementary contact profiles (24a, 24'a), (24b, 24'b), (24c, 24‘c), (24d, 24'd) which are complementary to each other in shape. The force-free shape-contact coupling of the pairs of complementary contact profiles (24a, 24'a), (24b, 24'b), (24c, 24‘c) (24d, 24'd), removes three mutual degrees of freedom from the part (20) with respect to the part (20'): the parts (20, 20') cannot move freely relative to each other in the plane perpendicular to the axis (10a), and neither can they rotate about the axis (10a) relative to each other.

It has the following advantages: here is no radial displacement of the components (20, 20') as described above, which causes a change in the predetermined relative position of the components of the reduction gear. his prevents vibrations in the power transmission and asymmetric wear of the reduction gear components, leading to shorter service life and premature loss of power transmission parameters. uring assembly and reassembly of the parts (20, 20'), there is no axial displacement on the surfaces of the contact profiles and no undesirable permanent change in the predetermined axial distance of the bearings (60) which support the parts (20, 20') in the base body (10). When the connection of the parts (20, 20') is reasembled in accordance with the invention, all components of the reduction gear have a permanently unchanged predetermined position over time.

Another object of the invention is the force-locking interconnection of flange-shaped parts (20, 20') of an output body (20o) of a transmission, also referred to as an output part - Fig. 13. The condition for the mutual immobility of the force connection is a sufficiently large force action of the connecting elements (70).

The transmission has two transmission branches for transmitting external forces acting on the output body and for transmitting torque from the part (20) to the part (20'). The force-locking connection of the pairs of complementary contact profiles (24a, 24'a), (24b, 24'b), (24c, 24'c) (24d, 24'd), removes from the part (20) with respect to the part (20') three degrees of freedom from each other: the parts (20, 20') cannot move freely with respect to each other in the plane perpendicular to the axis (10a), nor can they rotate about the axis (10a) with respect to each other.

The flange-shaped portions (20, 20') are functionally and rigidly connected by an axial force of the fasteners (70), also known as connecting elements, by axially arranged pairs of projections (22a, 22'a), (22b, 22'b), (22c, 22'c), (22d, 22'd). These pairs pass through the circumferential openings (42) of the external gears (40). The complementary contact profiles of the part (20) are determined by the directional axes (23a), (23b), (23c), (23d), while the complementary contact profiles of the part (20') are determined by the axes (23'a), (23'b), (23'c), (23'd). The directional axes lie on the contact surfaces whose normal forces act in the circumferential direction to the axis (10a) of the base body (10). The directional axes are also oriented transversely to the axis (10a) of the base body (10). In a projection onto a plane perpendicular to the axis (10a), for example onto the surface (25), the directional axes (23'a), (23'c) of the opposing contact profiles (24'a), 24'c) are non-parallel, and at the same time, in a projection onto the same plane, the directional axes (23'b, 23'd) of the opposing profiles (24'b) and (24'd) are also non-parallel. The antiparallelism of the contact profiles refers to the axis (20'a) of the part (20'). The same applies to the reciprocity of the contact profiles of the part (20).

Similar to the shape connection of the parts (20, 20'), there is no radial positional movement of the parts (20, 20') as described above that would otherwise result in a change in the relative position of the components of the reduction gear. As a result, there is no power transmission vibration and no asymmetric wear of the reduction gear components leading to shortened life and premature loss of power transmission parameters.

Special features of the shaft

The transformation element (30) has an axial guide surface (30b) on the side adjacent the portions (20, 20'). The guide surface (30b) is parallel to the guide surface (30a). The rolling elements (54) are axially guided on the eccentric portions (51 ) of the shaft (50) by the guide surfaces (56a) on one side and by the guide surfaces (30a) of the transformation body (30) on the other side. The rolling elements (55) are on the centric parts (57) of the shaft

(50) axially guided on one side by the guiding surface (30b) of the transformation element

(30) and on the other side by the guide surfaces (21a, 21'a) of the parts (20, 20'). The guide surface (30a) of the transformation body (30) is constrained on the inner side by a circle (k1) which forms an interface between the guide surface (30a) and the recess (35r). The guide surface (30b) of the transformation body (30) is constrined on the inner side by a circle (k2). The circle (k2) forms an interface between the guide surface (30b) and the recess (35I). The recess is formed in the central part of the transformation body (30) - Fig. 4. The rolling elements (54) are rounded and have an end radius (f) - Fig. 5a. The radius of the circle (k1) is less than the sum of the radius value of the eccentric portion (51 ) and the diameter value of the planetary rolling element (54). This value is reduced by the eccentricity value (e) and the value of the end radius (f). The value of the radius of the circle (k2) is less than the sum of the values of the radius of the central part (57) and the diameter of the rolling element (55), reduced by the eccentricity size (e) and the size of the end radius (f) - Fig. 2- 3.

Special bearing features

The outlet body (20o) comprises at least one flanged portion (20, 20') and is pivotally mounted in the orbital space (90). This space is formed between the base body (10) and the portions (20, 20') and is defined by a pair of coaxial orbits (12), (28) arranged relative to each other. In these orbits, cylindrical rolling elements (92) are mounted. Coaxially arranged circular orbits (29, 81) having a circular profile define a space in which spherical rolling elements (91) are mounted. The diameter of this body (91 ) is greater than the length of the cylindrical body (92). The diameter of the cylindrical body (92) is greater than the diameter of the spherical body (91). The outlet body (20o) comprises at least one flange-shaped portion (20, 20') and defines an orbital space (90). The orbital space (90) is located between the base body (10) and the portions (20, 20') and forms coaxial radial paths (12, 28) in which the cylindrical bodies (92) roll off. A pair of opposing axial paths (29, 81) having a circular profile form a path for rolling out the spherical bodies (91). The diameter of the bodies (91 ) is greater than the length of the bodies (92). The diameter of the cylindrical body (92) is greater than the diameter of the spherical body (91)

Circular path (28) on the outer circumference of the part (20, 20') and coaxial radial path

(12) are formed on the inner circumference of the base body (10). An axially oriented circular path of the circular profile (29) is formed on the outer circumference of the part (20, 20') and a second circular path of the circular profile (81) is formed on the axial ring (80).

An axial guide surface (27a) is formed on the outer circumference of the part (20, 20'). An axial guiding surface (80a) for the rolling elements (92) is formed on the face of the axial ring (80). Rolling elements (92) in a cylindrical shape are arranged between the guiding surfaces (27a, 80a), wherein the axial distance between the guiding surfaces (27a, 80a) is smaller than the diameter of the spherical elements (91 ) and greater than the length of the rolling elements (92). The input shaft (50) is rotatable in the output body (20o), which is also referred to as the output body, and has eccentric portions (51). On the eccentric portions (51) are mounted gears (40) with external gearing (41) which engage the internal gearing (11 ) of the base body (10). The output body (20o) comprises two parts (20, 20') which can be connected to each other in a form or force manner. Between the gear (40) and the parts (20, 20') at least one transformation body (30) is arranged.

Special characteristics of the transformation element

The transformation element (30) has the shape of a plate with a tetragonal base and with linear guide surfaces (34a) lateral to the vertices of the tetragonal base, mutually opposite, parallel and mutually spaced apart by the value of w (Fig.7, Fig.8). On the guide surfaces (34a) there are rolling elements (31 ) of cylindrical shape. The diameter of the transformation rolling elements (31) is greater than the length of the guide paths (34a), wherein the guide paths (34a) are terminated by profiled portions (37). The ratio of the distance w to twice the diameter of the rolling element (31 ) is less than 1. - Fig. 7, Fig. 8 The transformation body (30) according to the invention is designed such that the shortest distance (b) between the opposing profile portions (37) is less than or equal to the distance (w) of the opposing guideways (34a). The rolling elements (31) have a central circular opening (32) for the pivots (36), The diameter of the opening (32) and the diameter of the pivots (36) are (approximately) the same. Between the guide surfaces (34a) and the guide surfaces (20b, 20'b) on at least one of the flange-shaped parts (20), (20') and the wheel (40) adjacent thereto, there are longitudinal recesses (26) (oval and rectangular in shape, respectively), also referred to as depressions. The pins (36) are slidably guided in the longitudinal recesses (26), and which are arranged such that the positional creep of the bodies 31 oscillating linearly on the guide surfaces (34a) is limited at the ends of the recesses (26).

Special surface properties

There are two parts (20, 20') with axially oriented projections (22a, 22b, 22c, 22d) and (22' a, 22' b, 22' c, 22' d) that pass through the peripheral holes (42) of the gears (40). The connection of parts (20, 20') is formed by pairs of complementary contact profiles (24a, 24'a), (24b, 24'b), (24c,24'c), (24d,24'd). The directional axes are characterized by complementary contact profiles (24a, 24'a); (24b, 24'b), (24c, 24'c); (24d, 24'd) of the connection of the flange-shaped parts (20, 20'). The directional axes (23a, 23'a), (23b, 23'b), 23c, 23'c), (23d, 23'd) intersect the axis (10a) perpendicularly. In a projection onto a plane perpendicular to the axis (10a), for example onto the surface (25) - Fig.10, the directional axes (23'a), (23'c) of the opposite complementary contact profiles (24'a), 24'c) are non-parallel and at the same time in the projection into the same plane the directional axes (23'b) and (23'd) of the opposite complementary contact profiles (24'b) and (24'd) are also non-parallel - the angle 1 and the angle 02 are larger as 0 and different from 180 degrees. The opposite position of the contact profiles refers to the axis (20'a) of the flange part (20'). The same is the case for the opposite position of the complementary contact profiles of the flange part (20).

The simplest design of working surfaces can be defined geometrically:

- On the axial projections (22a, 22b, 22c, 22d, 22'a, 22'b, 22'c, 22'd) there are shape complementary contact profiles (24a, 24b, 24c, 24d; 24'a, 24'b, 24'c, 24'd) on which there are working surfaces (243a, 243b, 243c, 243d; 243'a, 243'b, 243'c, 243'd), surfaces with holes (242a, 242b, 242c, 242d; 242'a, 242'b, 242'c, 242'd) and third surfaces (241 a, 241 b, 241 c, 241 d; 241 'a, 241 'b, 241 'c, ’d) - Fig. 10, Fig. 1 1 . The third surfaces (241 a, 241 b, 241 c, 241 d; 241 'a, 241 'b, 242'c, 241 'd) are noncontacting in the working load condition - Fig. 11 . - On the shape-complementary contact profiles are planar working surfaces (243a, 243'a); (243b, 243'b); (243c, 243'c); (243d, 243'd), whose normal vectors (na, n'a), (nb, n'b), (nc, n'c), (nd, n'd), point perpendicular/transverse to the axis (10a) (Fig. 12a, Fig. 12b). The magnitude of the angle a1 enclosed by the normal vectors (n'a, n'c)-(Fig12a) when projected onto the plane perpendicular to the axis (10a) is different from zero and different from 180°, respectively. Similarly, the magnitude of the angle a2 enclosed by the normal vectors (n'b, n'd), in the projection perpendicular to the axis (10a) is different from zero, or is different from 180°. The same applies for the angles enclosed by the vectors (na, nc) and the vectors (nb, nd) on the flangeshaped part (20)- (Fig.12b).

- The pairs of surfaces with holes (242a, 242'a); (242b, 242'b); (242c, 242'c); 242d, 242'd) for the coupling elements (70), are in contact in the working load condition of the transmission and determine the mutual axial position of the flange-shaped parts (20, 20').

According to the invention, it follows that the transmission according to the invention has a base body (10) with an axle (10a) having at least one gear (40,) which engages the internal gearing (11) of the base body (10), with an input shaft (50) having an eccentric (51 ,) with an input shaft (50) having a ring gear (56) with raceways (58) for the rolling elements (54,) with an output body (20o) having flanged portions (20, 20') with axially oriented projections (22a, 22b, 22c, 22d, 22'a, 22'b, 22'c, 22'd) wherein the axially oriented projections (22a, 22b, 22c, 22d) of one portion (20) may be to the axially oriented projections (22'a, 22'b, 22'c, 22'd) of the other portion (20'), with at least one transformation element (30) cooperating with external gear (40) and parts (20, 20'), arms (34) and guideways (34a), wherein the transformation body (30) cooperates with the part (20, 20') by means of the transformation rolling bodies (31 ) and with at least one coaxially arranged ring (80) which is arranged on the part (20, 20') by means of the spherical and cylindrical bearing bodies 91 , 92). The transmission is characterized in that the rolling elements (54) are arranged without spacing between the mutually opposing guide surfaces (30a, 56a) of the transformation body (30) and the eccentric part (51 ) - Fig 3.1 .

The rolling elements (54) are guided between the transformation element (30) and the shaft part (56) of the shaft (50) without any spacing - Fig 3.1. On the transformation body (30), guiding surfaces (30a) are formed, which are in contact with the rolling elements (54). On the shaft (50) of the part (56) guide surfaces (56a) are formed which are in contact with the rolling elements (54).

The guiding surfaces (30a, 56a), which are supported by the end faces (54-1), (54-2) of the rolling bodies (54), provide a very compact structure of the transmission in the axial direction of its axis (10a).

The planetary rolling elements (54) can therefore advantageously be arranged without a cage between the bearing raceways in the space between the eccentrics (51 ) of the drive shaft (50) and the wheels (40, 40') in the transmission.

The first transmission solution is characterized in that the axially arranged rolling elements (55) are guided between the body (30) and the flange part (20, 20') without spacing (Figure 1).

Guiding surfaces (30b) may be formed on the body (30), which contact the end faces of the cylindrical bodies (55) facing the body (30).

A particular feature of the present object of the invention is that the guiding surfaces (30b) are formed on a part of the transmission which is not part of the bearing with respect to the respective rolling elements (55). In other words, the guide surfaces (30b) are formed neither on the input shaft (50) nor on the flange portions (20, 20'), and thus on a component that is not part of the bearing arrangement comprising the rolling elements (55). Advantageously, during full rotation of the planetary gears (40) in the base body (10), the guide surfaces (30b) on the transformation body (30) project outside the paths on which the rolling elements (55) are rolled off from a view perpendicular to the axis (10a) by not more than 75 % of the diameter of the rolling elements (55). Particularly advantageously, the guiding surfaces (30b) on the body (30) extend beyond the paths on which the rolling elements (55) roll when viewed in the direction of the axis (10a) by at least 12,5 % of the diameter of the rolling elements (55) during full rotation of the wheels (40) in the base body (10). Guide surfaces (21a, 21 'a) may be formed on the flanged part (20, 20') which are by the end faces of the rollers (55) facing the part (20, 20'). The guiding surfaces (21a, 21'a) on the component (20, 20') extend beyond the paths on which the flanged rolling elements (55) are rolled preferably by a maximum of , more preferably by a maximum of 12.5% and particularly preferably by a maximum of 6.25% of the diameter of the rolling elements (55) when viewed in the direction of the axis (10a).

The guide surfaces (30b, 21a, 21 'a) additionally contribute to the extremely compact structure of the transmission in the axial direction of its axis (10a), some of which are also formed on transmission elements which are not part of the bearing arrangement with respect to the respective rolling elements (55) and which contact the rolling of the flange (55) on the front side. This is achieved by dispensing with the specific bearing design of the guide surfaces on the transmission component involved in the mutual bearing arrangement involving the rolling elements (55) : on the input shaft (50) and the flange portions (20, 20') - at least partially, for example on one side. Instead, guiding surfaces (30b) are formed on the transformation body (30), whereby the body (30) is not supported by the rolling elements (55) the rolling elements (55) can therefore advantageously be arranged without a cage between the bearing raceways in the bearing gaps between the drive shaft (50) and the flanged parts (20, 20') in the transmission.

It is important to emphasize that in this document, the term raceway or guide surface refers to the surfaces over which the rolling elements roll in rolling motion, while the term guide surface refers to the surfaces that guide the rolling elements rolling along the guide raceways in an axial direction to the side of the guide raceways so that they do not deviate from their guide raceway.

It is obvious, that this purpose of the invention may be realized by having the planetary rolling elements (54) supported by the guide surfaces (30a) on one of the face surfaces of the transformation bodies (30) (FIGS. 1 to 5) and/or by having the flanged rolling elements (55) supported by the face surfaces of the guide surfaces (30b) on the other face surface of the transformation bodies (30) (FIGS. 1 to 5). The advantage of the described features is the reduction of friction on the front faces of the rolling bodies (54) and the rolling bodies (55) in the region of the front faces. The reduction of viscous friction on the face surfaces of the rolling elements (54) and rolling elements (55) is achieved by applying hydraulic oil pressure directly to the faces of the guide surfaces (30a), (30b) of the transformation body (30). A further advantage achieved by the present object of the invention is the shortening of the axial lengths of the transmission.

A second advantageous embodiment of the invention is characterized in that on the axially oriented projections (22a, 22c), there are working surfaces (243a, 243c) whose normals (normal vectors) - (na, nc) lie in a common plane and likewise on the projections (22b, 22d) there are working surfaces (243b, 243d) whose normals (normal vectors) - (nb, nd) lie in a common plane - FIG. 12b, FIG. 10. Similarly, on the axially oriented protrusions (22'a, 22'c), there are working surfaces (243'a, 243'c) whose normals (normal vectors) - (n'a, n'c) lie in a common plane, and similarly, on the protrusions (22'b, 22'd), there are working surfaces (243'b, 243'd) whose normals (normal vectors) - (n'b, n'd) lie in a common plane - Figs. 12a, Fig. 10.

In the plane to which the (10a) axis is perpendicular, in/on the work surface (243a, 243'a, 243b, 243'b, 243c, 243'c, 243d, 243'd) lies the directional axis (23a, 23'a, 23b, 23'b, 23c, 23'c, 23d, 23'd) that intersects the (10a) axis or points transversely to this axis.

The forces normal to the working surface (243a, 243'a, 243b, 243'b, 243c, 243'c, 243d, 'd) preferably act in a circumferential direction to the axis (10a) of the base body (10).

The normals (vectors) (na, nc) of the working surfaces (243a, 243c) enclose an angle a1 greater than 0° and less than 180°, preferably an angle between 10° and 170°, in a plane perpendicular to the axis (10a). The normals (vectors) (nb, nd) of the working surfaces (243b, 243d) enclose an angle a2 greater than 0° and less than 180°, preferably an angle between 10° and 170°, in a plane perpendicular to the axis (10a). -> Fig. 12b.

Similarly, the normals (vectors) (n'a, n'c) of the working surfaces (243'a, 243'c) enclose an angle a1 greater than 0° and less than 180°, preferably an angle between 10° and 170°, in a plane perpendicular to the axis (10a). The normals (vectors) (n'b, n'd) of the working surfaces (243'b, 243'd) enclose an angle a2 greater than 0° and less than 180°, preferably an angle between 10° and 170°, in a plane perpendicular to the axis (10a). -> Fig. 12a

Pairs of working surfaces (243a, 243c), (243b, 243d) whose normals (normal vectors (na, nc), nb, nd) enclose in the plane perpendicular to the axis (10a) an angle a1 , a2 different from zero or different from 180° preferably from 10° to 170°, respectively, remove three mutual degrees of freedom from the parts (20, 20') in the plane perpendicular to the axis (10a): the parts (20, 20') cannot move relative to each other in a direction perpendicular to the axis (10a) nor can they rotate about this axis. The removal of the three degrees of freedom in this case does not presuppose the presence of fasteners (70) in the connection of the parts (20, 20'). The present object of the invention form a complementary shape connection of the parts (20, 20'), preventing/blocking the radial movement of the parts (20, 20') relative to each other or preventing the parts (20, 20') from rotating relative to each other about the axis (10a).

This is achieved by having working surfaces (243a, 243b, 243c, 243d, 243'a, 243'b, 243'c, 243'd), surfaces (242a, 242b, 242c, 242d, 242'a, 242'b, 242'c, 242'd) and third surfaces (241a, 241 b, 241c, 241 d, 241 'a, 241 'b, 241 'c, 241 'd) on the axial projections (22a, 22b, 22c, 22d, 22'a, 22'b, 22'c, 22'd) form shape complementary contact profiles (24a, 24'a), (24b, 24'b), (24c, 24'c), (24d, 24'd). -> Fig. 10.

In the plane to which the (10a) axis is perpendicular, in/on the work surface (243a, 243'a, 243b, 243'b, 243c, 243'c, 243d, 243'd) lies the directional axis (23a, 23'a, 23b, 23'b, 23c, 23'c, 23d, 23'd) that intersects the (10a) axis or points transversely to this axis. The angle 1 of the directional axes (23a, 23c) in a plane perpendicular to the axis (10a) is greater than 0° and less than 180°, preferably an angle between 10° and 170°. Similarly, the angle 02 of the direction axes (23b, 23d) in the plane perpendicular to the axis (10a) is greater than 0° and less than 180°, preferably an angle between 10° and 170°. -> Fig.12b

The same applies for the angle 01 of the directional axes (23'a, 23'c) in the plane perpendicular to the axis (10a) being greater than 0° and less than 180°, preferably an angle between 10° and 170°. Similarly, the angle 02 of the direction axes (23'b, 23'd) in a plane perpendicular to the axis (10a) is greater than 0° and less than 180°, preferably an angle between 10° and 170°. -> Fig.12a

Patent document DE 102004062334 describes a mutually immovable and force- lockable connection of the flange portions (50), (50') of the output member of a transmission. The contact surfaces (53), (53') on the longitudinal parts (52), (52') are shaped in the form of wave profiles, identically oriented in the direction of the axes (53a), 53'). The direction of these axes is determined by the direction of the surface lines (Flachenlinie) on the contact surfaces. The directional axes (53'a) on the opposite longitudinal parts (52') are parallel, as are the directional axes (53a) on the opposite longitudinal parts (52). The contact surfaces (53), (53') are complementary in shape. The force-locking connection removes only two degrees of freedom from the mutual movement of the flange parts (50), (50') in the plane perpendicular to the axis (40a) of the body (40), so that one of the flange parts (50), (50') cannot rotate relative to the other about the axis (40a), nor can one of the parts (50), (50') move relative to the other in the direction perpendicular to the directional axes (53a), (53'a). A condition for the mutual immobility of the flange parts (50), (50') is a sufficiently large force action in the connecting elements (60). The relative movement of the flange parts (50), (50') in the direction of the axes (53a, 53'a)) is limited exclusively by the axial forces in the coupling elements (60) and the coefficient of friction between the contact surfaces.

The first deficiency of the connection according to DE 102004062334 is the mutual radial positional creep in the direction of the axes (53a), (53'a). The positional creep is a small, mutual cumulative displacement of the flange portions (50), (50')), which arises when the fasteners (60) are insufficiently prestressed. Positional creep of the flange parts (50), (50') is an undesirable phenomenon leading to a change in the prescribed position of the transmission components and causing vibration and asymmetric wear of the components. The second drawback is axial positional creep (small mutual axial cumulative displacement) of the contact surfaces (53), (53'). It arises when the fasteners (60) are re-tightened and loosened, for example when the flange parts (50), (50') are assembled and re-assembled and disassembled. The consequence is an undesirable permanent change in the axial distance of the flange parts (50), (50') implying numerous deviations in the mounting tolerances of the transmission.

Document DE202021101820 describes a force-locking connection of flange portions (20), (30) of a transmission with axially oriented projections (21 ), (31) on which radially oriented recesses (23), (231) are formed, which longitudinal bodies (40) of cylindrical shape are formed. The essential problem of the solution according to the above cited document is that the connection using the cylindrical shape of the body (40) is unreliable, since there is no prevention of its loosening. The unreliability has its origin in non-self-assembly of the connection on the basis of the cylindrical body (40). The remedy would be a conical shape of the body (40) allowing self-locking connection, but such a shape in the case of the connection according to DE202021101820 is not applicable for obvious reasons. The second problem is that the connection of the flange portions (20), (30) according to the above cited document exhausts the force capacity of the connection of the flange portions (20), (30).

The remedy for the above-mentioned deficiencies of the state of the art is provided by the solution according to the present invention.

A third advantageous further development of the transmission is characterized in that the ring (80) is arranged on the part (20, 20') by means of spherical and cylindrical bearing bodies (91 , 92) which are arranged alternately in a circumferential direction with respect to the axis (10a), in the annular space (90) formed between the surfaces 12, 28 and the paths 27a, 80a, 29, 81), also called the working space.

The guideway (29) or for the spherical bearing bodies (91) on the component (20 , 20') may be inserted into the raceway or guideway (27a) of the cylindrical roller bodies (92) on the component (20 , 20').

Alternatively or additionally, the guide path (81) or for the spherical bearing bodies (91 ) on the ring (80) may be inserted into the path (80a) of the cylindrical rolling elements (92) on the ring (80).

The axial length (h) of the cylinders (92) is preferably smaller than the diameter (d1) of the balls (91 ). Alternatively or additionally, the diameter (d2) of the cylinders (92) may be greater than the diameter (d1) of the balls (91 ) (Figure 6).

In the present object of the invention, the partly spherical and partly cylindrical bearing bodies 91 , 92 are arranged in the annular space 90, also called the working space, of the slow-running bearing 60. The diameter of the spherical bearing bodies 91 , also abbreviated as spheres, is greater than the axial length of the cylindrical bearing bodies 92, also abbreviated as cylinders, when viewed along their respective axis of rotation (92a) and also along their common axis of rotation about the axis (10a). At the same time, the diameter of the spherical bodies 91 is smaller than the diameter of the cylindrical bodies of the bearing bodies 92 (FIG. 1 , FIG. 2, FIG. 6).

The present subject invention creates:

- Reducing friction in low-speed 60 spherical roller bearings

(91 ) and cylindrical rolling elements (92).

- Reduction of wear of axial bearing orbits 60.

- Minimizing abrasion and thermal disturbances that can be caused by lubricant oxidation.

- Reducing storage hysteresis.

The bearing 60 can rotate in the opposite .

ADVANTAGES achieved by the subject invention consist in reducing friction in the contact region of the rolling element and the orbit 29,81 in the axial region of the rolling element bearing body 20 and in preventing surface fatigue and the formation of abrasion particles in the orbits.

Tetragon

Further advantages of the transmission are characterized in that the rolling elements (31 ) are rolling on the guideways (34a).

At least the rollers (31), by which the transformation body (30), acts on the external gear (40), may be arranged on the gear (40) by means of pins (36).

A cylindrical pin (36), by means of which the forming body (30) cooperates with the toothed wheel (40), may be provided on each cylindrical body (31), wherein parallel guide grooves are provided on the toothed wheel (40) and each pin (36) of the cylindrical body (31) moves in the guide groove.

Alternatively or additionally, at least the rollers (31) through which the transformation body (30) interacts with the part (20, 20') may be positioned on the part (20, 20') by means of pins (36).

A cylindrical pin (36) may be arranged on each cylindrical element (31 ) through which the transformation body (30) interacts with the part (20, 20'), wherein parallel guide grooves are arranged on the part (20, 20') and each pin (36) of the cylindrical element (31 ) protrudes into the guide groove.

Advantageously, these are cylindrical elements (31), each pin (36) being arranged coaxially to a respective axis of the cylinder.

The cylindrical elements (31 ) may have a central circular hole (32) for the pins (36).

The ratio of the distance w to twice the diameter of the rolling element (31 ) is less than 1.

The diameter of the transformation rolling elements (31) is preferably greater than the length of the guideways (34a) which terminate at the profile portions (37), also known as profile portions.

Preferably, the number of rolling elements (31) on the guide surfaces (34a) is equal to one.

The shortest distance (b) between the profiles (37) is preferably less than or equal to the vertical distance (w) between the guide rails (34a).

The transformation element (30) may be in the form of a plate with a preferably square, tetragonal base (38), in particular preferably a tetragonal plate, and a central opening with a cylindrical inner surface (33). The linear guides (34a) may be arranged transversally, preferably in radial extension from the centre of the central opening to the vertices of the sides of the square base surface (38), also abbreviated as tetragonal (38).

The sides of the tetragonal (38) may be straight or curved (Figure 7). Thus, the sides can be straight or curved.

It will be seen that according to the present object of the invention, longitudinal recesses (26) are arranged between the guideways (34a) on at least one of the flange portions (20), (20'), also called flanges, and the adjacent planetary gear (40). The pins (36) are slidably guided in the longitudinal recesses (26) and arranged so as to limit the creeping movement of the position of the transformation rolling bodies (31 ), so that the transformation rolling bodies (31) are arranged linearly oscillatingly on the guide paths (34a) and at the ends of the longitudinal recesses (26).

According to the present object of the invention, a reduction in the planar bending compliance of the transformation body (30) is achieved as compared to the prior art.

Similarly, according to the present object of the invention, it is achieved to limit the creeping position of the rolling transformation elements (31) during their oscillating movement along the guideways (34a) in the longitudinal direction of the arms (34) of the transformation element (30).

In other words:

- a significant increase in the in-plane bending stiffness of the transformation body (30) in the form of a square plate compared to the state of the art,

- limitation of the creeping position of the transformation rolling bodies (31) during their oscillating motion in the direction of the transformation body (30). Benefits

The advantages achieved or attainable by the subject invention are achieved by, among other things, the following features:

- The transformation body (30) has the shape of a square plate with a tetragonal (38) as a base, the side length of which is W.

- Advantageously, the ratio of the distance/offset w of the linear guide surfaces (34a) to twice the diameter of the rolling element (31 ) is less than 1 .

- Preferably, the number of rolling elements (31) on the guide surfaces (34a) is equal to one.

- The diameter of the transformation rolling elements (31) of the linear guide of the transformation body (30) is greater than the length of the guide surface (34a) on the transformation body (30).

- The transformation rolling elements (31) have a central circular hole (32) for accommodating the pin (36), which is located at the rear.

- Longitudinal recesses (26) on the flange portions (20, 20') limit the positional displacement of the transformation roller elements (31).

- The shortest distance (b) of the profile portion (37) is less than the distance (w) of the guide paths (34a).

Gearing

Figures 1A, 15, 16 show a transmission with a base body with internal gearing that mesh with the external cycloidal gearing on a planetary gear. The axis of the gear is radially offset from the axis of the base body by an eccentricity value "e".

Known solutions of transmissiones with cycloidal gearing have external gearing with cycloidal profile and internal gearing. The internal gearing consists of internal grooves with a semicircular cross-section and longitudinal cylindrical bodies. The outer gearing usually has one (1 ) less tooth than the inner gearing.

CN103993184 describes a profile which, however, makes no reference to the internal profile of the grooves in the base body. From the content point of view this does not relates to the problem solved by the present invention of cycloidal toothing.

The transmission ratio of the cycloidal gear depends on the distance "S" between the semicircular grooves and their radius "n". The spacing of the grooves on the pitch circle is s = 2kn , where "k" is the pitch coefficient. In the prior art, the pitch factor "k" is generally greater than 1 ,5 and less than 2. The radius of the grooves "n" is generally greater than 0,5 mm. The technology that the gear ratio "i" on the transmission be as high as possible, at least i > 100:1. For small pitch circle "D" diameters, a high gear ratio is all the more important because the torques of the motors are low. They are usually less than 1 Nm and the speed is high, reaching values up to 8 000 rpm. Small diameters come into consideration, which are< 60 mm.

The existing technological limits of the state of the art do not allow the use of rolling elements with a diameter 'd' equal to or less than 1 mm. With a pitch circle diameter of less than 60 mm and a diameter of d = 1 , a gear ratio 'i' of approximately 100:1 can be achieved only at the cost of profile inaccuracies and many manufacturing difficulties. This state of the art implies/defines a fundamental problem, the solution to which is provided by the present invention.

Task

At least twice the gear ratio for cycloidal gears with the same pitch circle diameter "D" and the same radius "ri" of the semicircular grooves of the internal gearing.

Solution

The solution is a cycloid profile consisting of semicircular arcs (15) and contact circles (17) whose number "N" is at least twice the number "n" of grooves (18) with longitudinal bodies (cylinders) (14) at a distance "s" of the semicircular arcs (15). The pitch circle is s = 2kri and K < 1 , is less than or equal to one - Fig. 15.

Description of gearing

A transmission with a base body (10) with internal gearing (11) engages the cycloidal external gearing (41) of the wheel (40). The axis (40a) of the wheel (40) is offset from the axis (10a) of the base body (10) by a value "e". The inner gearing (11) consists of grooves (18), of number „n“, with a semicircular cross-section and radius „n“ , the centres of which lie on the pitch circle (16). The circle (16) has a diameter „D“ and its centre lies on the axis (10a). For the number "n" of grooves (18): n = 2I, I > 4, i.e. "n" is an even number.

Roller elements (14) with a radius r_e which is smaller than the radius n of the grooves (18) are mounted in the grooves (18) of the base body (10) - Fig. 16.

The profile (22) of the teeth 44) of the outer toothing (41) is defined by contact circles

(17) number „N" and semicircular arches (15). The centres of the arcs (15) lie on the pitch circle (16). The radius of the arcs (15) is the same as the radius of the n grooves

(18). Circles(17) have a radius identical to the radius r_e of the rolling bodies (14).

The circles (17) are in contact with the profile (22) of the teeth (44) at the points Ciand are also in contact with the semi-circular arches 15 at the points Pi. Both points lie at the junction of the centre of the semi-circular arc (15) and the turning pole of the wheel (40) The turning pole of the wheel (40) is a point on the wheel (40) whose instantaneous velocity of motion relative to the body (10) is zero (0). The points Ci are the defining points of the profile (22), i.e. they define the profile. The tooth (44) is formed by mirroring the profile (22) with respect to the axis (44a), which connects the last point of the profile Ct to the center of the wheel (40). The profile (22') is the right side of the tooth (44). The number of N semicircular arcs (15) is greater than the number of n grooves (18). The value of the factor k of the spacing s of the arcs (15) is less than or equal to one (1) - Fig. 15. The value of the k factor of the 's' arc spacing (15) may be greater than 1 but close to 1 .

List of reference symbols

10 Basic body, body

10a Axis

11 Internal gearing

12, 28 Radial path, radial path, coaxial radial track, track

20,20' Flange parts, part, flanges, flange profile, body

20o Output housing, rolling bearing

20a, 20'a Axis of the transformation member 30 in 20, 20'

21a, 21'a Inner guiding surface on members 20, 20'

22a, 22b; 22c, 22d, 22'a, 'b, 22'd, 'c Axially oriented lugs on 20,20' members

23a, 23b, 23c, 23d, 23'a, 23'b, 23'c, 'd Directional axes of shape complementary profiles

24a, 24'a, 24b, 24'b, 24c, 24'c, 24d, 24'd Couples Shape complementary contact profiles

243a, 243b, 243c, 243d, 243'a, 243'b, Work surfaces

243'c,

243'd

242a, 242b, 242c, 242d, 242'a, 242'b, 'c, Surfaces with holes for fasteners (70)

242'd

241a, 241 b, 241c, 241 d, 241 'a, 241 'b, Third surfaces

241 'c,

241'd

25, 25' Surface area of member (20), (20')

26 Longitudinal recessing, longitudinal recessing a Guiding surface, axial distance of surface, path, guideway

Orbit, radial orbit , 81 Guiding area circular profile, the path of the circular profile, track circular profile, circular track, runway, guideway Transformation body, transformation element

Transformation arm (30) a, 30b Transformation body guiding surfaces

(30) a Shaft guide (50)

Body transformation, rolling transformation bodies

Inner cylindrical surface, cylindrical surface, inner cylindrical surface, central hole, cylindrical part a Linear guiding area of the transformation member

(30)

Variable space

r, 351 Recesses on the transformation member (30)

Pins

Profile parts of transformation member (30)

Sides of the tetragonal base of a member (30)

Gear wheel a Gear axle (40)

External gearing

Peripheral wheel opening Shaft a Central axis of shaft (50) o Outer cylindrical surface

Eccentric parts of the input shaft,55 Rolling elements on shaft (50) Centric part between eccentricsa Rolling body axis -21 , 54-22 Cylinder faces (54)

54 Rolling elements of the eccentric part (51)

57 Shaft centre section (50)

55 Rolling elements on the centric part (57)

Slow-speed bearing

70 Connecting member

80 Bearing ring (60)

80a Rolling Body Guideway (92)

81 Bearing track for ball body (91 )

90 Slow-moving bearing envelope (60)

91 ,92 Slow Rolling Bearing Rolling Bodies

(60) b Shortest distance of profiles (37) and member (30) w Distance of the guiding surfaces (34a)

W of the member (30) Size of the side of the tetragonal base of the member (30) e Eccentricity

(na, nb, nc, nd, n'a, n'b, Normal vector work surfaces n'c, n'd) 01 , 02 Angles of directional axes of contact profiles a1 , a2 Angles of normal vectors

Claims

1. Transmission with a base body (10) with an axis (40a) and grooves (18), a wheel (40) with an axis (40a), wherein the wheel (40) has an outer cycloidal toothing (41 ) with teeth (44), and with rolling elements (14) with a radius (re), which are arranged between the grooves (18) and the teeth (44), characterized by the following features:

• the base body (10) comprises n (n = 2I, I > 4, I ~ N) semicircular grooves (18) with a radius (ri),» re<ri,

• the parallel axes (10a, 40a) are arranged at a distance e, e>0, from each other,

• the grooves (18) lie on a “pitch circle” (16) with a radius (D),

• the profile (22) of the teeth (44) is defined by contact circles (17) and the N semicircular arcs (15),

• the centers of the semicircular arcs (15) lie on the pitch circle (16),

• the radius of the arcs (15) is equal to the radii (ri) of the grooves (18),

• the circles (17) are in contact with the profiles (22) and with the semicircular arcs (15),

• the number N of the semicircular arcs (15) is twice as large as the number n of the grooves (18) e,

• the factor k of the distance between the circular arcs (15) is k<1 , k is a real number.

2. Transmission according to claim 1 , characterized in that the distance e between the axes (10a, 40a) is e ~ re f/4, and that f , f<1 , is a number less than 1.

3. Transmission according to claim 1 or 2, characterized in that the transmission ratio i of the gear is i=N-1.

4. A transmission with a base body (10) with internal, semicircular grooves (18) of radius h and number n, at n = 2I and I > 4, with a external gear (40) having external cycloidal toothing (41) with teeth (44) and an axis (40a) of a external gear (40) displaced in relation to the axis (10a) of the body (10) by the value of e, with rolling elements (14) of radius r_e < n placed between the grooves (18) and teeth (44) while the grooves (18) are on a pitch circle (16) of diameter D characterized in that the profile (22) of the teeth (44) of the external cycloidal toothing (41) is formed by means of contact circles (17) and semicircular arcs (15), with the centers Si of the semicircular arcs (15) on the pitch circle (16) wherein their radius is identical to the radius of the h grooves (18), the contact circles (17) have a radius identical to the radius r_e of the rolling elements (14) and are in contact with the profiles (22) and at the same time they are in contact with the semicircular arcs (15), the number N of the semicircular arcs (15) is double compared to the number n of grooves (18), wherein the grooves spacing on the pitch circle is s = 2kh and the spacing factor k of the arcs (15) is less than or equal to 1 wherein the distance of the axis (40a) of the external gear (40) to the axis (10a) of the body (10) is e ~ re f/4, where f is a number less than 1 and the gear ratio of the transmission is i= N-1 .

5. Transmission according to claim 4 characterized in that the curve spacing factor k of the semicircular arcs (15) is greater than one and at the same time less than 1 ,2.

6. A transmission according to claim 4 or 5 characterised in that the contact circles (17) are in contact with the profile (22) of the teeth (44) at the points Ci and simultaneously in contact with the semicircular arcs (15) at the points Pi, both points are located on a common line that connects the center Si of the semicircular arc (15) with the rolling pole of the external wheel (40).