EP2583001A1

EP2583001A1 - Harmonic gear mechanism

Info

Publication number: EP2583001A1
Application number: EP11738814.0A
Authority: EP
Inventors: Reinhard Müller
Original assignee: Clean Mobile AG
Current assignee: TQ Systems GmbH
Priority date: 2010-06-17
Filing date: 2011-06-17
Publication date: 2013-04-24
Also published as: WO2011158210A1

Abstract

The application discloses a gear mechanism (10) which contains a drive body (13) which can be rotated about a drive axis (8) and on which drive tracks (20) are made, and which gear mechanism contains one or more transmitter bodies (12), on the circumference of which transmission elements (18) are provided, and which gear mechanism contains an output body (11) which can be rotated about an output axis (9) and on which output tracks (14) are made. At least one of the transmission elements engages into one of the drive tracks and at least one of the transmission elements engages into one of the output tracks. The transmission elements can be moved on a circulating path (27) which is closed in itself. The circulating path which is closed in itself lies in a circulating plane and encloses the transmitter body.

Description

description

HARMONIC ORBIT TRANSMISSION The application relates to a torque transmission means

Transmission elements which engage with tracks of surface-co-operating bodies. These

Transmission type can be used in gearboxes of machines and

Mechanisms are used for broad purposes. In particular, the torque transmitting units with

In the form of spheres, transmission elements are characterized by high performance and high reliability. They are easier than gear transmission and in the

Dimensions smaller compared to equivalent ones

Loads and a same gear ratio.

In the prior art ball teeth with periodic tracks on the bodies are known. These ball gears can be classified into gears in which balls interact with periodic tracks of three or more bodies (US 5016487, US 4960003, RU 2179272) or with two bodies (US 4829851, US 4643047, RU 2179672). The

Spherical toothing with two bodies is used in transmissions in which a body performs a planetary motion (US 4829851, US 4643047), or in parallel shaft gearboxes (RU 21 79672).

It is an object of the application to provide an improved transmission that provides a toothing through

Having transmission elements that move on predetermined paths. The application discloses a transmission with a to a

Drive axle rotatable drive body on the

Drive tracks are introduced, for example drive tracks for balls. Furthermore, the transmission has one or more transmitter body, wherein on the circumference of

Transmitter body transmission elements, such as balls or pins, are provided and one to one

Output shaft rotatable output body on the

Output tracks are introduced. At least one of

Transmission elements engages in one of the drive tracks and at least one of the transmission elements engages in one of the driven tracks. The transmission elements are movable on a self-contained orbit,

for example, in an orbit in the form of a circle or other substantially smooth and convex path are movable. The circulation movement can be done by movement of the balls on the transmitter body, wherein the

Orbits are provided on the transmitter body or by a movement of the transmitter body, wherein the

Transmission elements firmly on the transmitter body

are attached. In a specific embodiment, the orbit is further characterized in that it lies in a plane of revolution, the drive axle and the

Includes output shaft, and in that the orbit enclosing the transmitter body. The orbital plane may be stationary relative to a housing or about an axis

rotate, in particular about an axis of the transmitter body.

Due to the movement of the drive body on an im

substantially smooth and convex orbit, which is self-contained, a higher efficiency of the transmission can be achieved than when the drive bodies move on a path on which the direction of movement abruptly changes. By a certain degree of inclination of the web can also according to the application a defined

Gear ratio can be achieved. The

Gear ratio can be set as desired in principle, as long as the friction losses and material and accuracy requirements remain within predetermined limits. This can according to the application in particular to

Achieving particularly high lower or translations at given transmission dimensions are exploited.

In a further embodiment, the output body and the drive body are arranged concentrically to each other, so that a compact gear is formed. Advantageously, the drive tracks and the

Output tracks are shaped so that a rotation of the

Drive body to the drive thing with a constant drive speed, a movement of the

Transfer elements on the self-contained

Orbits at a constant rotational speed causes and that the movement of the transmission elements with the constant rotational speed, a movement of the

Abtriebsköpers effected about the output shaft at a constant output speed. This can be achieved, for example, by a constant slope, for example

in that the drive tracks have a constant pitch relative to a plane containing the drive axle. Likewise, it can be effected by the

Abtriebsbahnen relative to a plane containing the output axis, have a constant slope.

In a special training are the

Transmission elements formed as balls, so that a Orientation of the transmission element needs to be ignored and a low-friction power transmission is made possible. Furthermore, the transmission elements could be interconnected, so that a defined distance between the transmission elements can be more easily maintained.

Specifically, the transmission can be designed so that

engage at least two transmission elements in each case one of the drive tracks and at least two

Transmission elements in each case engage one of the driven tracks, wherein between each two transmission elements in each case a first number of drive tracks is located and between each two transmission elements in each case a second number of output tracks and wherein the

Transmission elements on the self-contained orbit have substantially the same distance.

The self-contained orbit may be formed according to the application as a circular orbit, so that a particularly uniform movement of the transfer body is made possible.

In a further embodiment, the one or more

Transmitter body are connected to a transmitter carrier which is fixed to a transmission housing. As a result, the transmitter body can be kept stationary while the transfer body rotate on the transmitter body.

In one embodiment according to the application, the

Output body has the outer shape of a cylinder from which an intersection of the cylinder is omitted with a torus. Viewed vividly, this shape corresponds approximately to the shape of an apple gnome and allows a round Orbit of the circulating transfer body. To guide the transmission body may also serve a part of this form, for example, only the upper or only the lower half. This shape is especially true for circular

Orbits advantageous.

In a further embodiment, the drive body is designed as a hollow cylinder and the output body as

Solid cylinder formed.

In a further embodiment, the drive tracks and the output tracks are each formed as Coriolis spirals. Furthermore, discloses the engine-transmission unit with a transmission according to the application and a vehicle with a motor-gear unit according to the application.

Further details and embodiments according to the

The present application can be seen from the following description and the figures.

Figure 1 shows a perspective view of a harmony

Orbit transmission according to a first embodiment,

Figure 2 shows a perspective view of

Output body of the Harmony Orbit transmission of FIG. 1,

FIG. 3 shows a perspective sectional drawing of FIG

Harmony orbit gearbox of Fig. 1,

FIG. 4 shows a sectional view through the harmony orbit

Transmission of Fig. 1,

Figure 5 shows a partial sectional view of the

Transmitter carrier of the Harmony orbit transmission from

Fig. 1, FIG. 6 is a plan view of the harmony orbit transmission of FIG. 1;

Figure 7 shows a Schnittzeichnung by a harmony

Orbit transmission according to another

embodiment,

Figure 8 shows a sectional drawing by a harmony

Orbit transmission according to another

embodiment,

Figure 9 shows a plan view of a drive pulley of

Harmony orbit gearbox of Fig. 8,

FIG. 10 shows a plan view of an output disk of the

Harmony orbit gear from Fig. 8, and Figure 11 shows a plan view of a transmitter carrier with

Transmitter bodies of the Harmony Orbit transmission of FIG. 8.

Fig. 1 shows a view of a transmission 10, which in

hereinafter referred to as harmony orbit transmission 10 or as a harmonic epicyclic gear 10. Of the

For clarity, in this view, parts of the

Harmony Orbit Transmission 10 omitted. The harmony orbit transmission 10 includes an output body 11, a plurality

Transmitter body 12 and a drive body 13, which is indicated by dashed lines in Fig. 1.

On an outer side of the output body 13 tracks 14 are embedded with a semicircular profile 15. Of the

Output body 11 is connected to an output shaft 9, which is arranged on the axis of symmetry of the output body 11. The output body 11 is shaped so that he

symmetric with respect to rotations by a multiple of

360 / N_a degree about its axis 8 is when N_a is the number of lanes 14. The output body 11 has the outer shape a cylinder from which the intersection of a torus with the cylinder is omitted.

In the transmitter body 12 each have a circular path 16 is embedded with a semicircular profile 17. In the circular path are balls 18, which have a slightly smaller radius than the radius of the

semicircular profile of the web 16. The balls 18 are interconnected by a ball cage, which is not shown in Fig. 1. The transmitter bodies 12 are formed as discs having a radius corresponding to the largest radius of the circular path 16 and having a thickness which is slightly larger than the diameter of the balls 18.

On an inner side of the drive body 13 tracks 20 are embedded with a semi-circular profile 21, which are delimited by guide ridges 22, which are shown in dashed lines in Fig. 1. The tracks 20 are particularly well visible in Fig. 3. The radii of the semicircular profiles 15, 17, 21 of the tracks of the output body 11, the transmitter body 12 and the drive body 13 are substantially in agreement

match. The drive body 13 is connected to a drive shaft, which is arranged on an axis of symmetry of the drive body 13. The drive body 13 is arranged so that its axis of symmetry with the symmetry axis 8 of the

Output body 11 matches.

The transmitter body 12 are connected to a not shown in Figure 1 Transmitterträger 6, which between the

Output body 11 and the drive body 13 is passed. The transmitter carrier 6 is anchored stationary, For example, on a housing of the Harmony Orbit transmission 10th

FIG. 2 shows the output body 11 of the harmony orbit

Getriebes 10. The output shaft 9 is not in Fig. 2

shown. The tracks 14 on the outside of the driven body are shaped such that a ball 18, which is located in a track 14 of the driven body 11 and which is restricted in its movement on a plane, the axis of the

Output body 11 contains, with a predetermined

Angular velocity on the circular path 16 moves when the output body 11 with another predetermined

Angular velocity is rotated about its axis 8. By the ratio of the angular velocity on the circular path 16 to the further angular velocity of the output body 11 is a driven-side gear ratio and

at the same time determines the shape of a web 14.

The webs 14 also have a constant pitch relative to a plane containing the axis 8. Here, the slope is determined at a point of the web 14 by the

Slope of the path tangent at this point of the track to the plane containing the axis 8 passing through this point of the path.

A gradient of, for example, 40 percent corresponds to a drive-side gear ratio of 10: 4.

This shaping of the webs of the output body 11 can also be used for producing a master mold for the driven body 11, in which a milling cutter milling a web into a blank is moved on a circular path and the blank is simultaneously rotated about its axis of symmetry. In turn, permanent or lost molds can be created from the master mold. Figure 3 shows a cross-sectional view of the Harmony Orbit Transmission 10. Here is the part of the Harmony Orbit

Transmission 10 omitted, which is above a plane of symmetry. The symmetry plane is arranged to be

is perpendicular to the axis 8 of the output body 11 and the output body 11 divides into two symmetrical halves.

FIG. 3 also shows a cross section of a part of a connecting ring 24 which is connected to the transmitter carrier 6 and which connects the transmitter bodies 12 to one another.

The tracks 20 of the drive body 13 are shaped so that they have a constant slope with respect to a plane which is perpendicular to the axis 8 of the output body 13. The tracks 14 of the output body 11 and the drive body 13 are further determined by lying on the inside of a torus. The track inclinations of the tracks 14 of the output body 11 and the tracks 20 of the drive body 13 are in the embodiment of FIG. 1 in a certain ratio, so that at a constant distance of the balls 18 with each other on the drive side between each ball 18 is a web 20 and on the output side, the balls 18 circulate in adjacent tracks 14.

The drive-side gear ratio results from the inclination of the tracks 20. If, for example, the inclination of the tracks 20 has a pitch of 10 percent, this results in a drive-side gear ratio of 10 to 1. The gear ratio of the Harmony Orbit

Transmission 10 results from the product of the drive-side gear ratios with the output side Ratio. With gear ratios of 10: 1 and 10: 4, a 25-fold reduction can already be achieved. In particular, the inclination of the drive-side tracks 20 can be chosen very small. For example, a 1 degree bank pitch gives a drive side

Transmission ratio of tan (1 °) ~ 57.3: 1, ie 143: 1 at a driven side gear ratio of 10: 4. Thus, with the Harmony Orbit transmission 10 are similar

Gear ratios as in a harmonic gear possible.

The operation of the Harmony Drive transmission 10 can be seen in FIG. In the following description, the terms "up" and "down" refer to the drawn x-axis, which is parallel to the axis 8 of the driven body.

When the drive body 13 by a drive shaft in

Counterclockwise is moved, as indicated by the arrows 26, then move the webs 20 of

Drive body on the stationary transmitter body 12 over. As a result, the drive body is a deeper

Track section of the same web 20 opposite. A ball 18 circulating in the web 20 will travel along the web 16 of the web

Transmitter body 12 moves downward until it reaches the lower end of the drive body 13. The orbital movement of the balls 18 in the web 16 is indicated by the arrow 27.

Subsequently, the ball 18 through the - not here

shown - ball cage further moved so that it engages in a web 14 of the output body. By the power of

Ball cages on the ball 18, the ball 18 is moved further in the path 16 of the transmitter body 12 upwards. By the force of the ball 18 on the walls of the web 14 of the Abtriebsköpers 11, the output body 11 in the same

Direction of rotation as the drive body about its axis 8

turned further. The output body 11 transmits his

Rotational movement on an output shaft 9. The

Rotational movement of the output body is indicated by an arrow 28.

The ball 18 moves up the track 14 of the output body 11 until it reaches the end of the track 14. From there it is through the ball cage of the transmitter body 12 in an upper end of a web 20 of the drive body 13th

advanced. Subsequently, the ball 18 is moved by the force of the walls 22 of the web 20 of the drive body 13 on the ball 18 back down and the process described above is repeated from the front. The balls 18 thus describe a periodic circular motion in the web 16 of the

Transmitter body 12, which may also be referred to as a harmonic orbit. 4 shows a cross-sectional view of the harmony orbit

Transmission 10 of FIG. 1, wherein the cross-sectional plane through the axis 8 of the output body is placed. One

Transmitter carrier 6 is for clarity in a

Side view shown. The shape of the transmitter carrier 6 is particularly well visible in Fig. 5.

On a drive side of the Harmony Orbit gear 10, a drive shaft 30 is connected via a drive carrier 31 to the drive body 13. The drive shaft 30 is designed as a hollow shaft which is supported on a ball bearing 34. Within the drive shaft 30, a support shaft 32 is mounted concentrically by means of a rolling bearing 33. The Support shaft 32 is connected to the output body 11 on the axis 8 of the output body.

A transmitter-side end of the transmitter carrier. 6

engages an upper part of a transmitter 12 in the form of a fork 35 and is mounted on the connecting ring 24.

Above the transmitter end is the end

Transmitter carrier 6 guided between the drive body 13 and the driven body 12. An upper part of the fork 35 is connected to a support bar 36 which is fixed to a bracket 37 at one end. The support rods 37 are connected to a ring 38 which holds the support rods 37

connects and which is shown in Fig. 4 from the side. On an output side of the Harmony Orbit transmission 10, the output shaft 8 is connected to the output body 11 on the axis 8 of the output body 11. The output shaft is mounted in a ball bearing 39. Fig. 5 shows a cross-sectional view of the fork 35 of the

Transmitter carrier 6 and the transmitter 12 along the cross-sectional line A-A of Fig. 4. A cross section of the web 16 of the transmitter 12 is indicated by dashed lines. 6 shows a front view of the drive body 13, the output body 11, the transmitter carrier 6 and the

Output shaft 8 from the side of the output shaft 8 ago.

In Fig. 6, the transmitter bodies 12 located within the Harmony Orbit Transmission 10 are dashed

indicated. The ring 38, which comprises the output shaft 8, is fully shown in FIG. Fig. 6 also shows the support rods 36, the ring 38 and the transmitter body 12th hold. For clarity, only two

Transmitter body 12 shown in Fig. 6. However, there may be any number of transmitter bodies 12, wherein at least two support rods 36 are required.

Fig. 7 shows a cross-sectional view of another

Embodiment of a harmony orbit transmission 10 '. Here, a drive body 13 'is formed as a hollow cylinder, on the inside of webs 20' are introduced. One

Drive body 11 'is formed as a spindle on the outside of webs 14' are introduced. Relative to a plane which is perpendicular to the axis 8 of the output body 11 ', the tracks 13' of the drive body have a pitch less than 45 degrees and the tracks 14 'of the output body 11' have a pitch greater than 45 degrees.

Between the drive body 13 'and the output body 11' is a transmitter body 12 '. Of the

Transmitter body 12 'is formed as a disc having a cross section of a rounded rectangle. On the narrow side of the transmitter body 12 ', a circumferential path 16' is introduced. In the circulating track 16 'are balls 18, which are interconnected by a flexible

Ball carrier, such as a rope, a chain or a crawler are connected. The ball carrier that the

Ball cage of the first embodiment corresponds, is not shown in Fig. 7.

For simplicity, in Fig. 7, only one of

Transmitter body 12 'shown. Similar to the first

Embodiment, the transmitter body 12 'are connected to a transmitter carrier which is stationary, for example, anchored to a housing. In a variant of this Embodiment, both the drive body and the driven body are designed as a spindle.

In a variant of the first embodiment, the drive body 13 is designed in a double cone-like shape, similar to the output body 11, but with flat tracks. This makes it especially easy, one

Fix the transmitter carrier. It can only be one

Transmitter body 12 can be used. With multiple

Transmitter bodies 12 can then but several

Output body 13 are driven at the same time.

Fig. 8 shows a cross-sectional view through another embodiment of a harmony orbit gear 10 ''. Here, the drive body 13 'and the output body 11' are each designed as shafts with end plates, which are referred to below as the drive pulley and driven pulley. The tracks of the drive pulley and the driven pulley are in the form of Coriolis spirals. This means that for a point of a path with the distance r from the axis of rotation and an angle φ: r - r_0 = k- (φ- φ_0), or in rectangular coordinates (x, y) = k- (φ - φ_0 ) (cos (φ-φ_0), sin (φ-φ_0)), where r_0 is a reference radius and φ_0 is a reference angle. The constant k enters

Transmission ratio: If the drive pulley is rotated at the angular velocity ω, then the balls are reversed with v = k-ω. If the corresponding constant of the output disk k ', the result is a rotational speed v of an angular velocity of ω' = v / k '. Thus one obtains the gear ratio of the harmonic orbit gear 10 '' to ω: ω '= v / k: v / k' = k ': k. For a high Gear ratio so on the drive side flat tracks with small k and on the output side steep tracks with large k 'needed. This shaping of the webs can be seen particularly well in FIGS. 9 and 10.

In the arrangement of Figure 8 ball bearings are shown on de nen the drive body is mounted. Part of the

Drive body 13 '' may be formed as a rotor of an internal rotor motor.

Figure 9 shows a plan view of the drive pulley of the drive body 13 ''. The tracks 20 '' of the drive body 13 '' are formed as flat Coriolis spirals. FIG. 10 shows a plan view of the driven pulley of FIG

Output body 11 ''. The tracks 14 '' of the output body 11 'are formed as steep Coriolis spirals.

The semicircular cross-section of the tracks 20 "and 14" is not shown in FIGS. 9 and 10.

FIG. 11 shows a plan view of a transmitter holder for four transmitter bodies 12 ". In Fig. 11 is also shown that the balls 18, which on the circumference of a

Transmitter body 12 '' circulate, are connected by a chain. The distance of the webs 20 '' from each other or the webs 14 '' with each other and the distance between the balls 18 with each other is adjusted so that in every n-th track 20 '' of the drive pulley and on every n'-th track 14 ''the driven pulley is a ball, where n, n' are greater than or equal to 1. Characterized in that the balls according to the application on a self-contained circular path of a transmitter body

revolve, no reversal of motion of the balls is necessary. This advantage also applies when the balls are on the

Transmitter body perform another convex path, which lies in a plane, especially in smooth tracks, which resemble an oval or a circle or a rounded polygon.

As the movement of the balls according to the application does not reverse, the movement of the balls is even, so that a harmony orbit improved transmission

Has synchronous characteristics. In addition, the

Friction losses and wear are lower and the transmission can be operated at a higher speed.

With the Harmony Orbit transmission according to the application, similar transmission ratios as with a Harmony Drive transmission can be achieved. With a small space requirement, a high reduction can be achieved. However, the Harmony Orbit transmission has the opposite of a Harmony Drive transmission

Advantage that the direction of rotation from drive to output can be selected in the same direction or in opposite directions by the shape of the webs. Similar to a gear transmission but unlike a Harmony Drive transmission, the elements of the Harmony Orbit transmission are only slightly deformable, so that a reaction of a torque on the gear shape is also low. However, for a given reduction ratio, the Harmony Orbit transmission requires less space compared to a gear transmission that is equivalent to one

Load is designed. It is advantageous if the transmitter body a

has circular circumference, since the balls are then particularly easy to move around the circumference. In addition, then the transmitter body can be moved around its own axis, rather than that the balls rotate around the transmitter body.

Details are given in the present application to describe the various embodiments. However, it is obvious to a person skilled in the art that a transmission according to the application can be realized without such details.

For example, the tracks of the drive body and the output body with respect to a predetermined orientation can be performed in each case as left or right-hand thread. The drive body and the output body of the first

Embodiment need not completely around the

Transmit transmitter body but they can,

for example, to the transmitter carrier easier

to be able to pass even halfway or partially around the transmitter body. For example, the

Drive body be designed as a half-shell.

It may also be provided more transmitter body than shown. The transmitter body can be rigid to the

Transmitter carrier be attached or be rotatable about its own axis. Furthermore, the transmitter body can be interconnected by a ring or be held solely by the transmitter carrier. If the transmitter bodies are rotatable about their own axis, the balls may also be fixedly mounted on the transmitter body. It is also possible to provide instead of balls pins, each in the tracks of the drive body and the Engage output body. For better encapsulation of the

Harmony orbit gearbox may be provided a transmission housing through which a drive and an output shaft

passed through.

Drive and take-off can be realized in different ways. Instead of the drive body with a shaft

To drive the drive body can also be connected directly to a rotor of an internal rotor motor. It can also be the inner body used as a drive body and the outer body as a driven body. In this case, the flat tracks are provided on the inner body and the steep tracks are provided on the outer body. "Flat" and "steep" are meant herein with respect to a plane perpendicular to the axis of the output shaft and each refer to an angle less than 45 degrees or greater than 45 degrees. If the outer body serves as a driven body, the output can be done instead of a shaft and the fact that the output body is externally connected to a rim flange.

Reference sign list

8 axis

9 output shaft

10 harmony orbit gears

10 'harmony orbit gear

10 ¹ 'Harmony Orbit Transmission

11 output body

11 'output body

11 '' output body

12 transmitter body

12 'transmitter body

12 '' transmitter body

13 drive body

13 'drive body

13 '' drive body

14 train, trains

14 'train, trains

14 '' train, trains

15 profile

16 train, trains

16 'train, trains

16 ^{1 1} train, trains

18 ball, balls

20 train, trains

20 'train, trains

20 '' train, trains

21 profile

21 ¹ profile

22 leading edge

24 connecting ring

26 Rotation of the drive body

27 orbital motion of the balls Rotation of the output body

drive shaft

support shaft

roller bearing

ball-bearing

Handrail

bracket

ring

ball-bearing

Claims

claims

1st gear with

a drive body rotatable about a drive axis are introduced on the drive tracks,

- One or more transmitter body on the circumference transmission elements are provided and

are introduced on the output tracks, a driven body rotatable about an output shaft,

wherein at least one of the transmission elements engages in one of the drive tracks and wherein at least one of the transmission elements engages in one of the output tracks, wherein

the transmission elements are movable on a self-contained orbit, and wherein the orbit is in a circumferential plane and surrounds the transmitter body.

2. Transmission according to claim 1,

being the orbital plane

contains the drive axle and the output shaft.

3. Transmission according to one of the preceding claims,

characterized in that

the output body and the drive body are arranged concentrically with each other.

4. Transmission according to one of the preceding claims,

characterized in that

the drive tracks and the output tracks are shaped so that a rotation of the drive body to the

Drive thing with a constant

Drive speed a movement of Causes transmission elements on the self-contained orbits at a constant rotational speed and that the movement of the transmission elements with the constant rotational speed causes a movement of the driven body about the output shaft at a constant output speed.

Transmission according to one of the preceding claims, characterized in that the drive tracks have a constant pitch relative to a plane containing the drive axle.

Transmission according to one of the preceding claims, characterized in that the output tracks have a constant pitch relative to a plane containing the output axis.

Transmission according to one of the preceding claims, characterized in that

the transmission elements are designed as balls.

Transmission according to claim 4,

characterized in that

the transmission elements interconnected

Transmission according to one of the preceding claims, characterized in that

engage at least two transmission elements in each of the drive tracks and at least two transmission elements in each one of the

Engage driven tracks, wherein between each two transmission elements each have a first number of drive tracks and between two each Transmission elements each have a second number of output tracks and wherein the transmission elements have on the self-contained closed orbit at substantially the same distance.

10. Transmission according to one of the preceding claims,

characterized in that

the self-contained orbit as one

circular orbit is formed.

11. Transmission according to one of the preceding claims,

characterized in that

the transmitter body are connected to a transmitter carrier which is fixed to a transmission housing.

12. Transmission according to one of the preceding claims,

characterized in that

the drive body is designed as a hollow cylinder and the output body is designed as a solid cylinder.

13. Transmission according to one of the preceding claims,

characterized in that the drive tracks and the output tracks are each formed as Coriolis spirals.

14. Engine transmission unit with a transmission according to one of the preceding claims. 15. Vehicle with a motor-gear unit according to claim 14. 24