EA041525B1 - BROADCAST - Google Patents

Description

The invention relates to a multi-stage transmission according to the restrictive part of formula 1, to a transmission according to the restrictive part of formula 14, and also to a multi-stage transmission according to the restrictive part of formula 20.

Cycloidal gears and planetary gears are forms of gears that have high operability, small space occupied in construction, and large gear ratio, and accordingly they are without self-locking.

The cycloidal gear includes a hollow wheel, at least one cycloidal disc with a central hole and at least one eccentric hole, as well as a central eccentric shaft with a number of cycloidal discs corresponding to the number of eccentric sections. On each eccentric section of the central eccentric shaft there is a cycloidal disc with its central hole rotatable. Most corresponding to the number of eccentric holes, the number of eccentric elements jointly located with the possibility of rotation around the axis of the central eccentric shaft converts the movements of one or more cycloidal disks during their running in the hollow wheel into the rotational movement of the shaft. As a rule, eccentric elements are part of the output body, which may be associated with the output shaft, may include it or be included in it.

For example, a planetary gear is a face or friction gear, which, in addition to fixed shafts, also has shafts that move in a circle around the circumference in the structure. The axes of the movable shafts can run parallel to the axes of the fixed shafts. On the movable shafts, planetary wheels surround a central sun wheel.

In this context, it is important to note that in this document, the term axis, in contrast to the term shaft, denotes a geometric axis, and not an element of the device.

A particularly high gear ratio can be obtained with a two-stage or multi-stage transmission which combines a cycloidal gear which forms the first gear stage and a planetary gear which forms the second gear stage. In this case, the designations of the first and second gears serve only for distinction and do not represent a specific sequence. This is due, among other things, to the fact that neither cycloidal nor planetary gears are self-locking. Thus, their input and output organs formed, for example, by shafts can be replaced in the sense that they are driven both from one shaft and from another without blocking.

A disadvantage of the combination of cycloidal and planetary gears in a multi-stage gear is the high installation costs. This, on the one hand, is due to the costs for docking bearing elements located on both sides of the hollow wheel with simultaneous placement of gear stages between these located elements. On the other hand, this is complicated by the overall density of the compact transmission space that must be built.

A multi-stage transmission with a planetary gear stage and a cycloidal gear stage is known (WO 2017/076506 A1).

The planetary gear stage is equipped with a sun gear and three planetary gears. The cycloidal gear stage is equipped with a hollow wheel, two running-in cycloidal disks offset by 180° to each other with at least three eccentric holes, a central eccentric shaft with two eccentric sections offset by 180° to each other, each of which has one of the cycloidal disks with the possibility of rotation, as well as the number of connected eccentric shafts corresponding to the number of planetary wheels without the possibility of rotation in each case with one planetary wheel, with the number of eccentric sections corresponding to the number of cycloidal disks, with which each eccentric shaft is located in the eccentric hole of the cycloidal disks with the possibility of rotation.

The eccentric shafts form the previously mentioned elements that convert the movements of the cycloidal discs into rotational movement as they run in the hollow wheel.

The same transmission is known (WO 2017/008874 A1), in which, to simplify installation, the cycloidal gear stage and the planetary gear stage have non-circular sections connecting at least parts of the input or output body of the cycloidal gear, forming eccentric shafts, on which the planetary gear of the planetary stage is placed. transmission. The transmission support includes bearing elements located on both sides of the hollow wheel.

Known transmission (DE 102017128635 A1) with a hollow wheel located in a housing with the axis of the hollow wheel and running in the hollow wheel cycloidal disk. The transmission also has a body of rotation rotatably located on one side of the hollow wheel, which is synchronized with the rotational or rotating component of the cycloidal disk.

The transmission has an outer ring, which is located either in the housing or in the body of rotation. In addition, it has an inner ring located on another of the parts - the body of rotation or the body.

- 1 041525

Tapered rollers as bearing elements are located between the outer and inner rings in the V-shaped grooves of the outer and inner rings, respectively.

The disadvantage is that for mounting, the bearing, consisting of the inner ring and the outer ring, as well as the tapered rollers, as a whole must be inserted into the housing and pressed onto the rotating body. In addition, through the necessary press fits, the axial forces affecting such a support along the axis of the hollow wheel and the moments along the axes extending vertically to the axis of the hollow wheel are set within narrow limits. Replacement of damaged or worn bearing elements, including the inner and outer rings, is possible only with a significant mechanical load on the overall gear structure. In this case, the press fits must be weakened by means of a force action on other, based and therefore sensitive elements of the transmission. It is also impossible to mount to the required accuracy, since high pressure forces must be used to make press fits on the rotating body and in the housing. Alternative mounting methods involve screwing the inner ring onto the rotating body and/or screwing the outer ring onto the body. According to the V-grooves as guides in the inner and outer rings, it is not possible to set the required clearance in all versions.

Known multi-stage transmission (JP 2015116072 A) with a planetary gear stage and a cycloidal gear stage. The planetary gear stage is equipped with a sun gear and a planetary gear.

The cycloidal gear stage is equipped with a hollow wheel with a hollow wheel axle, a running cycloidal disk with an eccentric hole located in it and a number corresponding to the number of planetary wheels of a hollow wheel with the possibility of rotation and connected eccentric shafts without the possibility of rotation in each case with one planetary wheel, with the number of eccentric sections corresponding to the number of cycloidal disks. Each of them is located in the eccentric hole of the cycloidal disc with the possibility of rotation. The transmission has its gear stages supported against the hollow wheel on one side of the hollow wheel.

One of the particularly significant disadvantages of the prior art is that no attention is paid to the fine adjustment of the planetary wheels in their position of rotation relative to the eccentric portions associated with the planetary wheels of the eccentric shafts without the possibility of rotation, no attention is paid. If fine adjustment is required for a particular form of execution, for example, a multi-stage transmission that includes a cycloidal and planetary gear stage, it must be carried out at a time-consuming cost during installation.

The object of the invention is to create a multi-stage transmission with simplified installation costs.

The problem is solved according to the signs of independent claims. Preferred forms of execution are reflected in the claims, drawings and the following description, including those belonging to the drawings.

The invention thus relates, for example, to a multi-stage gear with a planetary gear with a sun wheel and at least one planetary gear and a cycloidal gear with a hollow wheel, at least one cycloidal disk running in it with at least one eccentric bore, with a corresponding the number of planetary wheels by the number of rotatable hollow wheels located along the axis and connected eccentric shafts without the possibility of rotation in each case with one planetary wheel, with the number of eccentric sections corresponding to the number of cycloidal disks. With each of them one or more eccentric shafts are located in the corresponding eccentric hole of at least one cycloidal disk with the possibility of rotation.

The transmission may have a central eccentric shaft with a number of eccentric sections corresponding to the number of cycloidal discs. On each of these sections, a cycloidal disk is installed with the possibility of rotation.

The axis of the hollow wheel coincides with the axis of the central eccentric shaft. In other words, the hollow wheel is coaxial to the axis of the central eccentric shaft.

The transmission can also have through eccentric holes of one or more cycloidal discs through elements that convert the movements of the cycloidal discs into rotational movement when they are running in a hollow wheel.

The eccentric shafts can form said elements which convert the movements of the cycloidal discs into rotational movement as they run in the hollow wheel.

The transmission compares favorably with the support of its gear stages in comparison with, for example, a hollow wheel forming at least part of its frame, with bearing elements located exclusively on one side of the hollow wheel.

The frame of the device is the sum of all the bearing parts of the transmission, forming a complex element of the device. It carries, in particular, through the bearings, the moving parts of the device.

The transmission compares favorably with a one-sided support, in which there is a groove divided into two parts. The groove is divided into two parts between the first groove surface and the second groove surface. superficial

- 2 041525 Sti grooves form bearing surfaces or guides for bearing elements, such as one-sided support.

For example, the transmission may include an outer ring located on a hollow wheel.

The outer ring may be provided with, for example, a V-groove. The shoulders of the V-groove form guides for the rolling element on the outer ring.

The outer ring is itself divided into two parts to realize a divided groove. One shoulder, for example, of a V-groove is located on one part, the other is in the remaining part of the outer ring. Thus, both parts of the outer ring may have one of the said groove surfaces. The division of the outer ring into a bearing outlet ring having a shoulder and an outlet bearing body extends along the base of a groove, such as a V-groove.

An analogue in the form, approximately the same, for example, a V-shaped groove, can be made on the inner ring or directly on the rotating element located in the hollow wheel along the axis of the hollow wheel.

On each of the eccentric shafts, a first profile surface, also referred to as the profile surface of the eccentric shaft, can be formed. In the same way as on any of the planetary wheels, a second profile surface, also called the profile surface of the planetary wheel, can be formed conjugated with the profile surface of the eccentric shaft. Each planetary gear engages with its profile surface of the planetary gear into the profile surface of the eccentric shaft of the eccentric shaft intended for it. Thus, the planetary wheels are oriented equally against the eccentric shafts.

Alternatively or additionally, the transmission is distinguished by the fine adjustment of the planetary wheels against the eccentric shafts. It is produced by mating profile surfaces on eccentric shafts - preferably around their outer circumference - and on planetary wheels - preferably around their inner circumference, turned towards the eccentric shafts.

Additional advantages, in addition to being aimed at the complete solution of the task, with respect to the state of the art, arise, for example, as follows.

Further, for ease of explanation of the principle, the term tooth is used, which will denote all possible forms of contact between a cycloidal disk and a hollow wheel.

The eccentric of the cycloidal gear drives a cycloidal disk with n teeth, which is rolled in a fixed housing with n + 1 teeth. In this case, the cycloidal disc is rolled over the teeth of the body. As the input shaft, and therefore the eccentric, rotates, the cycloidal disc and with it the output shaft moves one tooth further. Thus, a smaller number of revolutions occurs, contrary to the direction of rotation of the input shaft. The gear ratio i, for which i=n/((n+1)-n), corresponds to the number n of the teeth of the cycloidal disc. Gear ratio i corresponds to the ratio of the number of revolutions of the input shaft to the number of revolutions of the output shaft.

In order to obtain a high power density accompanied by a constantly uniform mass distribution, it is known to design cycloidal gears with two or more eccentrics always evenly distributed over the input shaft and a number of cycloidal discs corresponding to the number of eccentres. This also allows high rotational speed and high power transmission, and thus high productivity.

An even number of teeth in the fixed housing is required to ensure a consistently even distribution of mass over a full cycle of the cycloidal gear corresponding to the full rotation of the output shaft, by uniformly placing two or more cycloidal disks on the input shaft.

Single-stage cycloidal gears with two or more cycloidal discs evenly distributed over the input shaft have an odd gear ratio.

This allows the use of such cycloidal gears only in combination with, for example, actuators, in which an even gear ratio is preferable to obtain a unique ratio of input revolutions and output revolutions of the gear.

To obtain an even gear ratio, the invention combines a cycloidal gear stage with a planetary gear stage for a multi-stage gear. This, for example, two- or multi-stage transmission can have an even gear ratio.

In addition, a multi-stage transmission containing a combination of cycloidal and planetary gears may have a spur gear forming a third gear stage, preferably, for example, a gear in engagement with the sun wheel on the side of the planetary gear.

The transmission may alternatively or additionally have separate or a combination of several features included in the prior art and/or described in one or more documents referred to in the prior art and/or in the following description of the embodiments shown in the drawings.

In addition, a multi-stage transmission is possible with a gear stage of a cylindrical wheel with, for example, a wheel connected to and engaged with a central eccentric shaft

- 3 041525 gears and a cycloidal gear stage with a hollow wheel, at least one cycloidal disk running in it with at least one eccentric hole, one or more eccentric shafts located along the axis of the hollow wheel with the possibility of rotation with the number of eccentric sections corresponding to the number of cycloidal disks. With each of these sections, one or more eccentric shafts are respectively located in the eccentric hole of at least one cycloidal disc with the possibility of rotation. Such a transmission may alternatively or additionally have separate or a combination of several of the previous and described below features described in a multi-stage transmission with a planetary and cycloidal gear stage, and / or separate or a combination of several features associated with the prior art and / or described in one or more documents mentioned in the prior art, and / or in the following description of the examples shown in the drawings.

The following are additional advantages that exceed the complete solution of the task and/or the advantages mentioned in separate features relative to the prior art.

The following are examples of the invention, shown in the drawing. The ratio of the sizes of individual elements to each other in the figures does not always correspond to the real ratio of sizes, since some forms are simplified, while other forms are enlarged relative to other elements for a more visual representation. For identical or equally effective elements of the invention, identical positions are used. In addition, only the positions in the individual figures required to describe each figure are displayed for the overview. The embodiments shown are merely examples of how the invention may be carried out and are not intended to be limiting. The schematic representation shows:

fig. 1 is a first example of a transmission in longitudinal section along the line A-A in FIG. 2, fig. 2 is the transmission from FIG. 1 in a cross section along line B-B there, FIG. 3 is the transmission from FIG. 1 in a cross section along the line C-C there, FIG. 4 is the transmission from FIG. 1 in a cross section along line D-D there, FIG. 5 is the transmission from FIG. 1 in a cross section along the line E-E there, FIG. 6 is the transmission from FIG. 1 in a cross section along line F-F there, FIG. 7 is a detailed view of a second embodiment of the transmission in longitudinal section, FIG. 8 is a detailed view of a third embodiment of the transmission in longitudinal section, FIG. 9 shows a fourth example of a transmission in longitudinal section along the line A-A in FIG. 10, fig. 10 is the transmission from FIG. 9 in a cross section along line B-B there, FIG. 11 is the transmission from FIG. 9 in a cross section along the line C-C there, FIG. 12 is the transmission from FIG. 9 in a cross section along line D-D there, FIG. 13 is the transmission from FIG. 9 in a cross section along the line E-E there, FIG. 14 shows various shapes of parts, such as the transmission support, FIG. 15 is a fifth example of a transmission in longitudinal section along the line A-A in FIG. 16 with a detailed view of the two-block move solution of FIG. 15a in longitudinal section, FIG. 16 is the transmission from FIG. 15 in a cross section along line B-B there, FIG. 17 is the transmission from FIG. 15 in a cross section along the line C-C there, FIG. 18 is the transmission from FIG. 15 in a cross section along the line D-D there, FIG. 19 is the transmission from FIG. 15 in a cross section along the line E-E there, FIG. 20 is the transmission from FIG. 15 in a cross section along line F-F there, FIG. 21 is the transmission from FIG. 15 in a cross section along the line G-G there, FIG. 22 is the transmission from FIG. 15 in an exploded view, FIG. 23 is a first exploded view of FIG. 22 gears from FIG. 15, fig. 24 is a second exploded view of FIG. 22 gears from FIG. 15, fig. 25 is a detailed longitudinal sectional view of a sixth transmission example, FIG. 26 is a detailed longitudinal sectional view of the seventh transmission example, FIG. 27 is a longitudinal sectional view of the transmission along line A-A in FIG. 28, fig. 28 is the transmission from FIG. 27 in a cross section along line B-B there, FIG. 29 is a detailed view of the transmission in longitudinal section, FIG. 30 is a detailed view of the transmission in longitudinal section, and FIG. 31 - transmission in longitudinal section.

Shown in whole or in part in FIG. 1-26 multi-stage transmission 01, as well as shown in FIG. 31 gear 10 includes planetary and cycloidal gear stages.

The planetary gear stage is equipped with an 84 sun gear and at least one 08 planetary gear.

The cycloidal gear stage is equipped with a hollow wheel 02, elongated along the axis of the hollow wheel 20, located coaxially to it, with at least one cycloidal disk 05, 06 running in it and the number of eccentric shafts 03 corresponding to the number of planetary wheels 08.

Eccentric shafts 03 are located together along the axis of the hollow wheel 20 with the possibility of rotation.

- 4 041525

Each of the eccentric shafts 03 has a number of eccentric sections 31, 32 corresponding to the number of cycloidal disks 05, 06, with which the eccentric shafts 03 are respectively located in the eccentric hole of at least one cycloidal disk 05, 06 with the possibility of rotation.

Each cycloidal disc 05, 06 has a number of eccentric holes 52, 53 corresponding to at least the number of eccentric shafts 03 of gear 01.

At the same time, at least the number of eccentric holes 52 corresponding to the number of eccentric shafts 03 of the transmission 01 is provided for the rotating support of the eccentric shafts 03 with their eccentric sections 31, 32 in each cycloidal disk 05, 06.

Each of the eccentric shafts 03, corresponding to the number of planetary wheels 08, is connected respectively with the planetary wheel 08 without the possibility of rotation.

Thus, the invention relates to a multi-stage gear 01 with a planetary gear stage with a sun wheel 84 and at least one planetary gear 08 and a cycloidal gear stage with a hollow wheel 02 with a hollow wheel axle 20, at least one cycloidal disk 05 rolling in it, 06 with at least one eccentric hole and corresponding to the number of planetary wheels 08 the number of eccentric shafts 03 located together along the axis of the hollow wheel 20 with the possibility of rotation and respectively connected to the planetary wheel 08 without the possibility of rotation with the number of eccentric sections 31 corresponding to the number of cycloidal disks 05, 06 , 32, which are located respectively in the eccentric hole of at least one cycloidal disk 05, 06 with the possibility of rotation.

Gear 01 is distinguished by the support of its gear stages opposite the hollow wheel 02 designated as the carrier and/or designated, for example, forming at least part of its support, with bearing elements 26, 27 located exclusively on one side of the hollow wheel 02.

The eccentric shafts 03 can form elements that convert the movements of the cycloidal discs during their running in the hollow wheel 02 into a rotational movement, for example, the general rotational movement of themselves and/or, for example, the body of revolution along the axis of the hollow wheel 20.

The frame of the device is the totality of all bearing parts, forming a complex element of the transmission device 01. It carries, in particular, through bearings, the movable parts of the device. The axis of the hollow wheel 20 of the hollow wheel 02 runs parallel to the axes 30 of the eccentric shafts 03.

First profile surfaces 33 can be formed on the eccentric shafts 03, which are mounted opposite the eccentric sections 31 and 32 formed by the eccentric surfaces of the eccentric shafts 03 (FIGS. 1, 18, 19, 22, 24).

On the eccentric shafts 03 are mounted planetary wheels 08 with gearing 81. Preferably, the planetary wheels 08 are meshed along the shortly named second profile surfaces 82 on the planetary wheels 08 into the first profile surfaces 33 on the eccentric shafts 03. In this way, their same orientation against the eccentric areas 31 is ensured. and 32 eccentric shafts 03 (Fig. 18, 19, 22, 24).

Mounting planetary wheels 08 on eccentric shafts 03 is greatly simplified. The measurement of the axis or determination of the position of rotation of the planetary wheels 08 relative to the eccentric shafts 03 with their eccentric sections 31, 32 occurs during installation itself by interpenetration of the eccentric shaft 03 and the planetary wheel 08 under the interpenetration of the first and second profile surfaces 33, 82.

Subsequent locking against separation in the axial direction can be carried out using simple fastening means, for example, screws 97.

Thus, conditions are provided for preparing a fine adjustment of the planetary wheels 08 in their position of rotation opposite the eccentric sections 31, 32 associated with the planetary wheels 08 of the eccentric shafts 03 without the possibility of rotation, in which, for example, it is possible to produce a multi-stage transmission, including a cycloidal gear stage and a planetary gear stage with justified installation costs.

For example, such a multi-stage transmission due to the fine adjustment of the planetary wheels 08 in their rotation position opposite the eccentric sections 31, 32 associated with the planetary wheels 08 of the eccentric shaft 03 without the possibility of rotation, at reasonable installation costs, can be equipped with a central eccentric shaft 300 with the corresponding number cycloidal disks 05, 06 by the number of eccentric sections 301, 302, each of which has a rotatable cycloidal disk 05, 06. Without fine adjustment, there is a risk that the simultaneous drive of the eccentric shafts 03 and the central eccentric shaft 300 will lead to jamming and, accordingly, blocking of the transmission if the movements of the middle and eccentric shafts 03, 300 are not precisely coordinated. Appropriate coordination is ensured by precise adjustment of the relative rotation positions of the planetary wheels 08 and eccentric shafts 03 through the first and second profile surfaces 33, 82.

Precise adjustment also helps to avoid such jamming as described in the described gears, which, in addition, are equipped with a wheel 84, which is associated with a central eccentric

- 5 041525 shaft 300 without the possibility of rotation.

Gear 01 can have rolling elements 94 located in the hollow wheel 02, with which the cycloidal disks 05, 06 running in it are engaged along the outer perimeter. The rolling elements 94 can be fixed as shown in FIG. 1, 9, 15, 22, 24, 27 in the direction parallel to the axis of the hollow wheel 20, at least one ring 95, 96.

Here we are talking, for example, about the first closed ring 95, which affects the rolling elements 94, and the second ring 96, which protects this ring 95 from falling out, which can be formed mainly as a spring ring entering the groove. Such an arrangement, first of a completely closed circular first ring 95, in contact with the rolling elements 94, and the spring ring, which is especially preferably included along the inner perimeter of the surface of the hollow wheel 02 in the built-in groove of the Seger ring, makes it possible to obtain reliable protection of the rolling elements 94 from falling out in the direction of the axis of the hollow wheel 20, while at the same time particularly easy installation.

Here, it is especially important to note that the ring or rings 95, 96, by means of an appropriate dimensioning, in particular the rings 95, can simultaneously fix the cycloidal disks 05, 06 in the hollow wheel 02, which further simplifies assembly.

Transmission 01 may have, as illustrated in the example of transmission 1000 in FIG. 27, 28, 29, 30, a central eccentric shaft 300 with a number of eccentric sections 301, 302 corresponding to the number of cycloidal disks 05, 06. A cycloidal disk 05, 06 is installed on each of these sections, for example, with a central hole 501, 601 provided here with possibility of rotation.

The axis of the hollow wheel 20 of the hollow wheel 02 coincides here with the axis 003 of the central eccentric shaft 300. In other words, the hollow wheel 02 is aligned with the axis 003 of the central eccentric shaft 300.

Gear 01 may have a wheel 84 which is connected to an optionally provided central eccentric shaft 300 without being able to rotate. Through this wheel 84, gear 01 can be driven (FIG. 29).

For clarification, it should be mentioned that the transmission 01, 1000 can also be driven directly through the central eccentric shaft 300.

Alternatively or additionally, the transmission 01 may have hollow wheels 20 co-located along the axis, passing through the eccentric holes 53 of at least one cycloidal disk 05, 06 through elements 42.

Elements 42 can serve to strengthen the fastening of the flange 07 associated with the body of rotation 04, without the possibility of rotation, to the body of rotation 04 and to increase the strength of this connection.

In addition, the elements 42 can themselves or, for example, in addition to the extensions 43, on which the eccentric shafts are located, serve to convert the movements of at least one cycloidal disk 05, 06 during their running in the hollow wheel 02 into a rotational movement, for example connected with the elements 42 of the body of revolution 04 along the axis of the hollow wheel 20 of the hollow wheel 02.

Preferably formed, for example, bearing elements 26, 27 support, with which gear stages 01 are located exclusively on one side opposite the hollow wheel 02, is located on the opposite side of the planetary gear stage of the hollow wheel 02. In the case formed by bearing elements 26, 27 bearing elements of the bearing 26, 27, with which gear stages 01 are located exclusively on the same side opposite the hollow wheel 02, are located on the side of the hollow wheel 02 opposite to the planetary gear stage.

Gear 01 may have an additional gear stage as shown in FIG. 1, 7, 8, 15, 22, 25, 26 and 31 for gear 10.

An additional gear stage may have a gear 88 standing in engagement with the sun wheel 84 of the planetary gear stage or with an associated non-rotatable wheel (FIGS. 1, 7, 8, 15, 22, 25, 26, 31).

Therefore, the multi-stage gear 01 combining cycloidal and planetary gears can have a spur gear, forming a third gear stage, advantageously, for example, gear 88 meshing with the sun wheel 84 on the side of the planetary gear or with a spur gear associated with the sun gear 84 without rotation possibilities.

Alternatively, the sun wheel 84 of gear 01 can be formed directly by the gear 88 of the shaft 20 extending coaxially to the axis of the hollow wheel 20 (FIG. 9).

Gear 01 may have a central through hole 09 extending along the axis of the hollow wheel 20 of the hollow wheel 02.

The eccentric shafts 03 of the cycloidal gear stage 01 can be rotatably located on the rotation body 04 already mentioned. The body of rotation 04 itself is located along the axis of the hollow wheel 20 with the possibility of rotation on the hollow wheel 02.

In this case, the rotational body 04 of the transmission 01 provided can have the already mentioned flange 07 associated with it without the possibility of rotation. The body of revolution 04 is formed of at least two parts and includes, in addition to, for example, the base body forming the inlet flange, the quality

- 6 041525 additionally flange 07, which forms the outlet flange. Thus, the base rolling element and the flange 07 are parts of the body of rotation 04 located on the hollow wheel 02 along the axis of the hollow wheel 20 with the possibility of rotation.

It is important to note here that gear 01, as shown in FIG. 15, or gear 1000 or gear 10 can provide a systematic connection of the flange 07 with the body of rotation 04. This systematic connection once again simplifies the installation of gear 01.

At the same time, it is provided that on the flange 07 projections 07a are formed and on the elements 42 of the body of revolution 04 projections 42a associated with the projections 07a. This allows the flange 07 to be used when engaging the protrusions 07a and the protrusions 42a on the elements 42 on the body of rotation and then screwing all the elements 42 and extensions 43 with screws 98. The protrusions 42a are preferably formed here only on the elements 42.

For example, eccentric shafts 03 can be located using bearing elements 45, 46 (Fig. 26) on the rotation body 04, including rolling elements placed in separators 47b with the possibility of rotation (Fig. 15, 22, 24, 25, 26, 28, 30).

For example, the rolling elements 45b and 46b can be used directly on the eccentric shafts 03, which are installed in the cages 44b and 47b.

In this case, the eccentric shafts 03 are installed in integrated rolling bearings. The bearing guides for the rolling elements 45b and 46b of the bearing elements 45, 46 are thus formed directly on the eccentric shafts 03, such as, for example, on the flange 07 associated with the rotational body 04, and on the rotational element 04 itself or on its basic rolling element.

As rolling elements, the bearing elements 45, 46 may have, for example, tapered rollers (Fig. 15). Alternatively, the bearing elements 45, 46 may, for example, be provided with cylindrical rollers 45a, 46a (FIG. 26).

These bearing elements 45 and 46 can also be formed in such a way that, for example, cylindrical rollers 45a, 46a inserted in cages can be used between integrated bearing surfaces, which are formed on extensions 43 and eccentric shafts 03 (Fig. 27, 28, 30, 31).

In addition, roller bearings 45d are possible (FIG. 30).

As an alternative to the rotating support of the eccentric shafts 03 in the body of rotation 04 (Fig. 1, 7, 8, 9), extending extensions 43 can be located eccentrically in the body of rotation 04 parallel to the axis of the hollow wheel 20, around which the eccentric shafts 03 with their eccentric sections 31 are located. , 32 with the possibility of rotation (Fig. 15, 22, 24, 25, 26, 27, 30, 31).

In this case, said extensions 43 can be formed by pins inserted into the body of revolution 04 (Fig. 25), which facilitates precise machining of the surfaces of the bearing and serial production compared to, for example, extensions 43 singly installed from the body of revolution 04.

Extensions 43 can serve as an alternative or in addition to the rotating support of the eccentric shafts 03 to convert the movements of one or more cycloidal disks 05, 06 during their running in the hollow wheel 02 into the rotational movement of the body of revolution 04, and also, if necessary, with the flange 07 associated with it.

Gear 01 can be driven or be driven by the sun wheel 84.

At least one or more parts of the invention may be practiced by means of the configuration shown in FIG. 27, 28, 29, 30 transmissions 1000.

Here, for example, we can talk about a multi-stage transmission 1000 with a gear stage of a cylindrical wheel and with a cycloidal gear stage (Fig. 29).

The gear stage of the spur gear can be equipped with a gear 08a connected without the possibility of rotation, for example, with a central eccentric shaft and, for example, a gear in engagement with it (Fig. 29).

The cycloidal gear stage can be equipped, as described above, with a hollow wheel 02, at least one cycloidal disk 05, 06 running in it with at least one eccentric hole, one or more eccentric shafts 03, 03a located along the axis of the hollow wheel 20 of the hollow wheel 02 with the possibility of rotation, with the number of eccentric sections 31, 32, 31a, 32a corresponding to the number of cycloidal discs 05, 06 (Fig. 27, 28, 29, 30). With each of these sections, one or more eccentric shafts 03, 03a are installed in each eccentric hole of at least one cycloid disk 05, 06 with the possibility of rotation.

It can be particularly advantageous to have, for example, formed by the one shown in FIG. 27, 28, 29, 30 with a cycloidal gear stage, or for example, containing the one shown in FIG. 27, 28, 29, 30 cycloidal gear stage;

in the composition shown in Fig. 27, 28, 29, 30 of the cycloidal gear stage 1000 and/or shown in FIG. 1, 7, 8, 9, 14d), 14e), 14f), 15, 22, 23, 25, 26 multi-stage transmission 01, preferably having a first groove surface 23 and a second groove surface 25, divided into two parts between the first groove surface 23 and the second surface of the groove 25, for example

- 7 041525 measures, V-groove, whose groove surfaces 23, 25 form, on the side of the hollow wheel, bearing surfaces for bearing elements 26, 27, for example, rolling elements, preferably one-sided support.

Here, it may include an outer ring divided into two parts, with a first groove surface 23 and a second groove surface 25, which together form, for example, a V-shaped groove. In this case, the division of the outer ring into two parts passes between the first surface of the groove 23 and the second surface of the groove 25.

The two surfaces of the groove 23, 25 form bearing bearing surfaces on the side of the hollow wheel, short guides for bearing elements 26, 27, for example, rolling elements of a one-sided support.

The gear 01 or gear 1000 is advantageously characterized by a one-sided bearing, with the first slot surface 23 and the second slot surface 25, a two-part V-groove between the first slot surface 23 and the second slot surface 25, whose slot surfaces 23, 25 form bearing surfaces on the side of the hollow wheel for the bearing elements 26, 27, for example, the rolling elements of a one-sided support.

The one-sided bearing can, for example, have an outer ring located on the hollow wheel 02, divided into two parts, which is equipped with a groove 23, 25 formed by two surfaces, for example a V-shaped groove. Seen in longitudinal section through the gear 01 along the axis of the hollow wheel 20, the two surfaces of the groove 23, 25 form separable shoulders, for example of a V-groove.

In this case, other cross-sectional geometries are possible, if they - like the molding of cast products - can be divided into two parts into two groove surfaces in such a way that when one part is removed, the groove is freely accessible for accommodating the bearing elements in a direction parallel to the axis here of the axis of the hollow wheel 20 - along which the groove is placed with the possibility of rotation.

For example, the two-piece outer ring includes a first ring, also referred to as a bearing outlet ring 22, having a first groove surface 23, and a second ring 24 having a second groove surface 25.

The separation surface between the rings 22, 24 extends between the groove surfaces 23, 25.

An analog in the form of, for example, also a V-shaped groove can be made, for example, on the inner ring (Fig. 14d), 14e)) or directly on the rotation element located in the hollow wheel 02 along the axis of the hollow wheel (Fig. 14a), 14b ), 14c)) with the possibility of rotation. The inner ring can be divided into two parts (Fig. 14d)), accompanied by the same advantages for the inner ring as for the outer ring.

Part of the outer ring can be formed by the hollow wheel 02 itself (FIGS. 14h), 14i)).

In other words, gear 01, 1000 has a two-piece outer ring with a first groove surface 23 and a second groove surface 25, divided into two parts between the first groove surface 23 and the second groove surface 25. At least part of the outer ring is located on the floor wheel 02. The rest of the outer ring can be formed by the hollow wheel 02 itself or also located on the hollow wheel 02.

The two-piece outer ring greatly simplifies assembly and disassembly, for example for inspection purposes, transmission 01 or transmission 1000. For assembly, the ring 22 is first placed in or on the hollow wheel 02 if the hollow wheel 02 does not itself have a first groove surface 23 , or - if this is the case - there are not two respectively formed, for example, V-shaped grooves of the bearing rows (Fig. 14b). This indicates that the first groove surface 23, viewed from the left, of the first bearing ring on the hollow wheel 02 and the second groove surface 25 of the first bearing ring, as well as the first groove surface 23 of the second bearing ring on the ring 22 and the second surface of the groove 25 of the second bearing ring on the ring 24. By means of the first groove surface 23 there is half of the bearing surfaces on the side of the hollow wheel, and thus about a quarter of the total bearing surfaces for bearing gear stages 01 or 1000 or on the hollow wheel 02.

Transmission elements along the axis of the hollow wheel 20 are also used, which form gear stages that must be mounted on bearings, or which include them or are part of them. These transmission elements are equipped with bearing surfaces of anti-bearings on the side of the gear stage of one-sided support. Thus, there are about three-quarters of the bearing surfaces, with one-sided support accessible in the direction of the axis of the hollow wheel 20. Then the bearing elements are placed in the still open, accessible along the axis of the hollow wheel 20, three-quarters of the bearing. Finally, the one-sided support is completed by the fact that the ring 24 provided with the second groove surface 25 is applied along the axis of the hollow wheel 20 and is fixed or clamped against the ring 22.

A noteworthy additional advantage of the V-groove divided into two parts between the surfaces of the grooves 23, 25 is that the clearance of one-sided support can be set here with simple means by the fact that the elements bearing both surfaces of the groove 23, 25 are moved against each other or against each other. from friend. This can be done particularly easily from the outside,

- 8 041525, for example, by means of screw connections acting from the outside on both elements, or clamping one element against the other. In this way, the bearing elements can be used over time, which in the prior art entails the complicated and costly replacement of the bearing as a set, by simply adjusting the clamping of both bearing surfaces of the element grooves 23, 25.

Fig. 1, 2, 3, 4, 5, 6, 7 and 8 show examples of the transmission 01 with a through hole 09 extending along the axis of the hollow wheel 20 through the transmission 01.

The through hole 09 has, in addition, shown in FIG. 15, 16, 17, 18, 19, 20, 21 gear 01 and shown in FIG. 25, 26, 27, 28, 29, 30 gear 1000.

Gears 01 in FIG. 1, 2, 3, 4, 5, 6, 7 and 8 are made with an output bearing having bearing elements 26, 27 placed exclusively on one side of gear 01.

Gear 01 has eccentric shafts 03, which are installed in the body of rotation 04 and in the flange 07 associated with the body of rotation 04 and/or existing in the body of rotation 04 with the possibility of rotation.

The eccentric shafts 03 are connected to the planetary wheels 08 without the possibility of rotation.

The gear 01 is driven by the sun wheel 84, whose gearing, formed as an external gear, meshes with the gears 81 of the planetary wheels 08, formed in the same way as the external gears.

The sun wheel 84 is connected to a meshed wheel formed, for example, in the same way as an external gearing 86, or contains such a wheel or is present in such a wheel.

Gear 88 with gearing 89 is engaged with gearing 86. Gear 88 drives the sun wheel 84.

Transmission 01 with an additional transmission stage can be performed as shown in FIG. 15a), with a two-block bias release. This makes it possible to manufacture wheels with external gearing 86 independently of the sun wheel 84. In this case, it is provided to install the adjusting ring 104 between the rotating part 84a with the external gearing 85 serving as the sun wheel 84 and put on or put on the rotating part 84b with external gearing 86.

The adjusting ring 104 clamps both rotating parts 84a and 84b to each other without being able to rotate. As long as the adjusting ring 104 is not installed between the two rotating parts 84a and 84b, they can advantageously move freely relative to each other and rotate. This two-block bias release further simplifies the installation of gear 01 with an additional gear stage.

Fig. 7 shows the details of an alternative embodiment of such a transmission 01 with a through hole 09, whereby rolling elements 45b and 46b are used on the eccentric shafts 03, which can be located in cages 44b and 47b.

Eccentric shafts 03 are mounted in integrated rolling bearings. Thus, the bearing guides for the rolling elements 45b and 46b of the rolling supports are formed directly on the eccentric shafts 03, as well as on the body of rotation 04 and on the flange 07.

Fig. 8 shows the details of another alternative design of such a transmission 01 with a through hole 09, while the rolling bearings 45c and 46c are located as a unit for supporting the shafts, as well as the rolling elements 34, 36 for supporting the cycloidal disks 05, 06 on the eccentric sections 31, 32 of the eccentric shafts 03.

Fig. 9, 10, 11, 12 and 13 show gear 01 with an output bearing having bearing elements 26, 27 located exclusively on one side of gear 01.

The eccentric shafts 03 of the gear 01 shown in FIG. 9, 10, 11, 12 and 13 are located in the body of rotation 04 and in the flange 07 with the possibility of rotation.

Gear 01 is driven by means of planetary wheels 08 connected to eccentric shafts 03 without the possibility of rotation. The planetary gears 08 are driven by a pinion 88b which, like a sun gear, is coaxial to the axis of the hollow gear 20. The pinion 88b serving as the driving wheel has a gearing 89b, which is designed as an external gearing, which meshes with the gearings of the planetary gears 08 , formed in the same way as external gears.

Fig. 14 shows different versions and constructions of an output bearing having bearing elements 27 located exclusively on one side of the hollow wheel 02 or formed in this way. The output bearing is located on one side only, preferably on the output side of gear 01. The choice of a specific output bearing design depends on the required characteristics, data such as design data regarding installation space, load and / or tension, as well as combinations including - no claim to completeness.

Fig. 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25 and 26 show examples of gear 01 with an output bearing formed by bearing elements 26, 27 and c located exclusively on one side of the hollow wheel 02 passing along the axis of the hollow wheel 20 through the transmission 01 through hole 09.

Extensions 43 are provided on the body of rotation 04 of gear 01. Extensions 43 can be converted

- 9 041525 are called, for example, pins 43a inserted into the body of rotation 04 (Fig. 25).

Eccentric shafts 03, having eccentric sections 31, 32, are mounted on extensions 43 by means of rolling bearings with the possibility of rotation.

The extensions 43 additionally convert the movements of one or more cycloidal disks 05, 06 during their running in the hollow wheel 02 into the rotational movement of the rotation body 04 and, if necessary, the associated flange 07.

Planetary wheels 08 are connected with eccentric shafts 03 without the possibility of rotation.

The transmission is driven by the planetary gears 08. To do this, the planetary gears 08 are engaged with their gears 81 formed as external gears with the gears 85 of the sun wheel 84 formed as external gears.

The sun wheel 84, for example, integrally (Fig. 15, 22, 25, 26) is connected to another wheel with gearing 86 without the possibility of rotation.

Pinion 88, which serves as a drive wheel, is provided with gearing 89 which meshes with gearing 86.

The one shown in Fig. 25 of gear 01, pins 43a are inserted into the body of rotation 04 as extensions 43, which are machined as, for example, protrusions, including bearing guides or having running surfaces of the rolling element.

The one shown in Fig. 26 of gear 01, cylinder roller bearings 45a and 46a are used to support the eccentric shafts 03 instead of tapered roller bearings 45 and 46 in the gear shown in FIG. 15 of gear 01. These cylindrical roller bearings 45a and 46a can also be formed in such a way that, for example, cylindrical rollers located in cages can be used between integrated bearing surfaces formed on machined extensions 43 in the form of projections and on eccentric shafts 03 (not shown). ).

Fig. 27, 28 show an example of a transmission 1000 with an output bearing formed by bearing elements 26, 27 located exclusively on one side of the hollow wheel 02.

The transmission 1000 can be equipped with extensions 43 on the body of rotation 04, which are formed to the ledges with running surfaces for the bearing elements 45, 46. Eccentric shafts 03 having eccentric sections 31, 32 are located on the running surfaces by means of rolling bearings with the possibility of rotation.

Extensions 43 with eccentric shafts 03 located on them additionally convert the movements of one or more cycloidal disks 05, 06 during their running in the hollow wheel 02 into the rotational movement of the rotation body 04 and, if necessary, the flange 07 associated with it.

The transmission 1000 has a central eccentric shaft 300 extending along an axis 003 coinciding with the axis of the hollow wheel 20. It can be used as a drive shaft and has a number of eccentric sections 301, 302 corresponding to the number of cycloidal discs 05, 06. On the eccentric sections 301, 302 are cycloidal disks 05, 06 with a central hole with the possibility of rotation.

Partially shown in Fig. 29 of the transmission 1000, in addition, a wheel 08a is fixed on the central eccentric shaft 300, by means of which the transmission is then driven or driven.

Shown in part in Fig. 30, the gear 1000 with the output bearing formed by the bearing elements 26, 27 located exclusively on one side of the hollow wheel 02 has only one cycloidal disc 06. In addition, this gear 1000 uses roller bearings.

On the rotating body 04 of the transmission 1000 are extensions 43, on which are located the eccentric shafts 03 a, respectively, having an eccentric section 31, with the help of roller bearings 45d with the possibility of rotation.

Shown in FIG. 31, gear 10 has bearing elements 201, 202 located on both sides of the hollow wheel 02.

Gear 10 has two cycloidal discs 05, 06 running in the hollow wheel 02 and passing through the hole 09 along the axis of the hollow wheel 20 through the gear 10.

On the body of rotation 04 transmission 10 are extensions 43, which are eccentric shafts 03A, respectively, having an eccentric section 31, with the help of bearing elements 45, 46 with the possibility of rotation.

It is important to emphasize that gear 01 and gear 1000 are equipped with an output bearing on the gear side, formed exclusively on one side of the hollow wheel 02 bearing elements 26, 27 or having bearing elements 26, 27 located exclusively on one side of the hollow wheel 02. rollers 27 and 26 are integrated between the bearing body 02, the ring 22 and 24 and the outlet flange 04.

Next, Fig. 14a)-14i) show other versions and designs of the output bearing located only on the output side of gear 01.

- 10 041525

On the ring 22 is the surface 23, and on the ring 24 - the surface 25, forming the outer groove V of the original bearing with bearing elements 27, including, for example, cruciform rollers. The outer groove V of the output cruciform roller bearing is formed by surfaces 41 in the body of rotation 04 of gear 01, 1000.

The seal on the output side of the transmission 01, 1000 ensures that a seal 91 is provided between, for example, a bearing body or a hollow wheel 02 having it, and the ring 24. This seal 91 can be made either in the form of an O-ring or in the form of a sealing mass, as some possible forms of execution.

Between the ring 24 and the rotating body 04, an outlet seal can be installed.

The advantages over the prior art, in particular, are as follows:

For example, the hollow wheel 02, made as a carrier body, can be made of a more economical material. Alternatively, a material with specific properties can be used. In addition, the hollow wheel 02 can be produced using cheaper technologies such as casting, for example, injection molding, precisely due to the design with rings 22 and 24. Thus, it is not necessary that the hollow wheel 02 be made of high quality bearing material, and there is no need for technological procedures for processing the bearing material, such as curing.

High bearing parameters - radial, axial and rolling stiffness. The high and uniform stiffness of this bearing around the entire perimeter of the rotational body 04, in contrast to the prior art, in which the rolling stiffness is variable, because the rigidity and/or the shape of the interlocking component of the flange 07 and the rotational body 04 is variable, through which the rolling stiffness of the output bearings is transmitted.

Easier transfer operation because the output bearing is only on the output side and the output bearing gap smoothing is only directly in the area for the cruciform rollers. In the prior art, smoothing the gap in a pair of output bearings along the entire chain, consisting of a hollow wheel 02, a pair of bearings and connecting the flange 07 with the rotation body 04 using screws 98 and pins 98b.

While gear 01, 1000 is practically open on the input side, better access to the lubricant, better heat dissipation and better mounting conditions are provided in contrast to the prior art.

For gears 01, 10, 1000, the hollow wheel 02 can be provided with an internal gearing that engages the cycloidal discs 05, 06 with an external gearing. In this case, the internal gearing can have an even or odd number of teeth. The internal gearing on the hollow wheel 02 can be formed by semicircular grooves 21, in which the rolling elements 94 are located. In this case, only some teeth of the internal gearing in the hollow wheel 02, formed by the grooves 21, in which the rolling elements 94 are located, can be formed. the fact that for the cycloidal gear to work properly, the cycloidal gear does not have to have all the teeth provided by the design. For example, every second tooth of the internal gearing of the hollow wheel 02 may be missing, without limiting the operation of the cycloidal gear or cycloidal gear stage.

In the case of transmission 01, 10, 1000, the body of rotation 04 can be integrally connected to the flange 07, or the body of rotation 04 and the flange 07 can be connected to each other, for example, by connecting elements such as pins 98b and screws 98. Gear 01, 10, 1000 has at least one cycloidal disk 05, 06 with a gearing 51, 61 made as an external gearing. The cycloidal disks 05, 06 are engaged by gearing 51, 61 into an internal gearing on the hollow wheel 02, formed from rolling elements 94 in the grooves 21 of the internal gearing in the hollow wheel 02. Gears 01, 10, 1000 have at least two eccentric shafts 03 , each of which has at least one eccentric section 31, 32.

The drawings show with the exception of FIG. 30 two eccentric surfaces 31 and 32, which are mutually rotated by about 180° and are simultaneously offset relative to the central axis of the shaft 30 of the eccentric shaft 03 by an eccentricity e and on which, for example, according to FIG. 1, rolling elements 34 and 36 are located, which can be caught in separators 35 and 37, or, according to FIG. 8, rolling bearings 38 and 39 are arranged. In these eccentric bearings thus formed, cycloidal discs 05 and 06 are arranged rotatably over eccentric holes 52 (FIG. 24).

The eccentric shafts 03 are located on two central bearings 45 and 46 both in the body of revolution 04 and in the flange 07 connected to the body of revolution 04 by means of fastening elements formed by pins 98b and screws 98. To support the eccentric shafts 03 in the flange 07 and the body rotation 04, a pair of tapered roller bearings can be used as shown in FIG. 1.

The rolling elements 45b, 46b, which can be caught in the cages 44b and 47b, can be run on running surfaces built directly on the eccentric shafts 03, as shown in FIG. 7. Alternatively, the eccentric shafts 03 can be positioned using bearings 45c and

- 11 041525

46c in the body of rotation 04 and in the flange 07 for rotation, as shown in FIG. 8.

Fig. 14 shows several embodiments and constructions of an output bearing, which only has bearing elements 26, 27 located on one side of the hollow wheel 02. On the one side, on which bearing elements 26, 27 are provided, this is preferably the output side of the transmission.

Fig. 14a): an example of a gear unit with a hollow wheel output bearing 02, consisting of one part, and in which the outer groove V of the cross roller bearing 27 is directly integrated.

Fig. 14b): an example of a transmission with an output bearing with two rows of cross rollers 27, or with more than one row of rolling elements to increase the load bearing capacity of the output bearing from the gear.

Fig. 14c): an example of the transmission, in which the outer ring of the output bearing consists of a hollow wheel 02 and a ring 24, between which a groove V of the bearing with cross-shaped rollers 27 is formed.

Fig. 14d): an example of the transmission, in which the outer ring of the output bearing consists of rings 22 and 24 attached to the hollow wheel 02. The inner ring of the output bearing consists of rings 04a and 04b attached to the rotation body 04 with screws 99. This is actually a fastening output bearing using fasteners - holes, in rings 22, 24, 04a, 04b to the gear.

Fig. 14e): an example of a transmission in which an output bearing 100 without connection holes is attached to the transmission. Requires the use of rings 22 and 24 and an additional flange 04c, which is attached to the gear output flange with screws 101. The connection includes seals 102 and 103.

Fig. 14f): an embodiment of a transmission with an output bearing, in which the rolling elements are cruciform tapered rollers 27a.

Fig. 14g): an example of the transmission with the original ball bearing 27b. Suitable for applications that require less friction in the output bearing.

Fig. 14h): an example of a transmission with an output bearing, in which the rolling elements 27c are made alternately as radial and axial cylindrical rollers separated by cages, and the rolling elements 26c are made as axial cylindrical rollers separated by axial cages.

Fig. 14i): an example of a transmission with an original bearing, in which the rolling elements 26d are formed as two rows of cylindrical rollers separated by axial cages, and the rolling elements 27d form a radial cylindrical roller bearing.

The ones shown in FIG. 15-24 gears 01 on the body of rotation 04, at least two extensions 43 are provided. For example, extensions 43 can have 43 cylindrical surfaces, on which a pair of tapered roller bearings 45 and 46 are inserted using inner rings. Smoothing the gap in the tapered roller bearings 45 and 46, inserted in extensions 43 of rotation body 04, is limited by safety nut 48. It, in turn, is fixed by safety washers 47.

On the eccentric sections 31, 32 are preferably located rolling bearings formed from rolling elements 35 and 37, which can be located in the separators 34 and 36. On the eccentric sections 31, 32 formed in this way, cycloidal disks 05 and 06 are located with their provided eccentric through holes 52 .

In the one shown in FIG. 15, 16, 17, 18, 19, 20, 21, 22, 23, 24 gear 01 with a through hole 09, planetary gears 08 are meshed by gearing 81 into gearing 85 of the sun wheel 84. It is connected with the gear wheel 86 without the possibility rotation. The gearing 89 of the pinion 88b serving as the drive wheel meshes with the gearing 86 of the wheel associated with the sun wheel 84 without being able to rotate.

In the one shown in FIG. 9, 10, 11, 12, 13 in the version of gear 01, the planetary gears 08 are meshed by their gears 81 directly into the gearing 89b of gear 88b arranged as a sun wheel.

In addition, one or more elements, for example, three elements 42, can be formed and/or located on the rotation body 04.

Flange 07 can be connected to body of revolution 04 by means of elements 42. For example, flange 07 can be inserted into elements 42. Flange 07 can be attached to body of revolution 04 by means of elements 42 and extensions 43 and/or be associated with it. For example, the flange can be attached to the elements 42 and/or extensions 43 by means of screws 98 and thus connected to the rotation body 04. The elements 42 mainly serve to strengthen the fastening of the flange 07 to the rotation body 04 and increase the rigidity of this connection.

In the one shown in Fig. 26 gear 01 instead of the tapered roller bearings 45 and 46 of FIG. 15, cylindrical roller bearings 45a and 46a are provided to support the eccentric shafts 03. These

- 12 041525 Cylindrical roller bearings 45a and 46a can also be formed in such a way that between the integrated bearing surfaces formed on the extensions 43 and the eccentric shafts 03, inserted cylinders (not shown) are used in the cages.

Shown in FIG. 27, 28, gear 1000 is driven by a central eccentric shaft 300. The central eccentric shaft 300 is centrally located in the rolling bearing. Fig. 27, 28 show the bearing formed by the rolling elements 307, which can run in the cage 308 on the running surface placed on the flange 07. In FIG. 27 also shows the bearing formed by the rolling elements 309.

The central eccentric shaft 300 has at least one eccentric portion 301, 302. FIG. 27 shows a central eccentric shaft 300 with two eccentric sections 301, 302, which are mutually rotated by about 180 degrees and are simultaneously offset relative to the axis of the hollow wheel 20 of the hollow wheel 02 or relative to the axis 003 of the shaft by an eccentricity e.

The cycloidal disk 05, 06 is located, respectively, the eccentric section 301, 302 along the surface 501 and 601 on one of the eccentric sections 301 and 302 of the central eccentric shaft 300 along the eccentric bearings or rolling elements 303 and 305 in the separators 304 and 306.

In contrast to that shown in Fig. 15 to FIG. 24 gear 01 in gear 1000 there are no planetary wheels 08.

In the one shown in Fig. 29, the gear 1000 is attached to the central eccentric shaft 300 with a drive wheel 08b with gearing 81b, by which the gear 1000 can be driven. Shown in FIG. 29, gear 1000 is equipped with only one cycloidal disc 06 driven by a central eccentric shaft 300.

The central eccentric shaft 300 has an eccentric portion 301 offset relative to the central axis 003 of the central eccentric shaft 300 by an eccentricity e. The central eccentric shaft 300 is centrally placed for rotation against the flange 07 by means of a bearing or rolling elements 307, which can be located in the cage 308 Opposite the rotating body 04 is a central eccentric shaft 300 rotatable by means of a bearing or, for example, by means of rolling elements 309 located in the cage 310.

Gear 1000 has at least two eccentric shafts 03a. The eccentric shafts 03a are centered above the bearings 45d on at least two extensions 43 of the body of revolution 04.

A cycloidal disc 06 with an area 501 formed by a central through hole is rotatably located on the eccentric portion 301 of the central eccentric shaft 300.

For the rotating bearing on the eccentric section 301 of the central eccentric shaft 300, rolling elements 305a are provided, located in the cage 306a.

Each of the at least two eccentric shafts 03a with its eccentric portion 31a is rotatably located in an eccentric hole 52 in the cycloidal disc 06. For the rotating support of the eccentric shafts 03a with their eccentric sections 31a, rolling elements 35 can be provided in the eccentric holes 52 of the cycloidal disk 06, which can be held in separators 34.

The transmission stages shown in Fig. 31, gears 10 are located on both sides of the hollow wheel 02. In this case, the rotation body 04 is located along the bearing 201 on one side on the hollow wheel 02, and the flange 04 associated with the rotation body 07 is located along the bearing 202 on the other side on the hollow wheel 02.

The transmission 10 is equipped with at least two extensions 43 on the rotating body 04, at least two eccentric shafts 03 having at least one eccentric section 31, and at least one cycloidal disc 05, 06.

Two or more eccentric sections 31 and 32 have them evenly distributed over one turn. For example, two eccentric sections are mutually rotated by approximately 180 degrees and are offset relative to the respective central axes 30 of the eccentric shafts 03 by eccentricity e. The eccentric shafts 03 are located centrally above the bearings 45 and 46 on extensions 43 of the rotation body 04.

The number of cycloidal disks 05, 06 corresponds to the number of eccentric sections of the eccentric shafts 03. The cycloidal disks 05, 06 are rotatably located with their eccentric holes 52 along the rolling elements 35 and 37, which are introduced in the cages 34 and 36, on the eccentric sections 31 and 32 of the eccentric shafts 03.

In addition, the invention covers shown in whole or in part in Fig. 27, fig. 28, fig. 29, fig. 30 gear 1000 with hollow wheel 02 with hollow wheel axle 20, at least one cycloidal disk 05, 06 running in it with at least one eccentric hole, rotation body 04 located on one side of hollow wheel 02 with the possibility of rotation and one or several eccentric shafts 03, located together along the axis of the hollow wheel 20 with the possibility of rotation and associated with the body of rotation 04, located opposite it, with the number

- 13 041525 cycloidal discs 05, 06, corresponding to the number of eccentric sections 31, 32, with which the eccentric shafts 03 are located in each eccentric hole of at least one cycloidal disc 05, 06 with the possibility of rotation.

One or more extensions 43 can be located on the rotation body 04. An eccentric shaft 03 can be located on each of the extensions with the possibility of rotation. The extension or extensions 43 can convert the rolling movements of one or more cycloidal disks 05, 06 along the eccentric shafts 03 and their bearings on them into rotational movements of the body of revolution 04 and, if necessary, the flange 07 associated with it. The flange 07 can be connected to the body of revolution 04 by the number of extensions 43 corresponding to the number of eccentric shafts 03, each of which has an eccentric shaft 03 rotatably mounted. The extension or extensions 43 are located eccentrically on the rotation body 04 and on the flange 07. For example, extensions 43 can be formed in one piece on the rotation body 04 and/or on the flange 07. They can be connected to the opposite part by fasteners. Alternatively, they can be inserted into one or both of the opposite parts (body of revolution 04 - flange 07), for example in the form of pins 43 a described. Alternatively or additionally, they can be attached to the opposite parts or to one of them by means of fasteners, such as screws.

In order to ensure the rigidity of the connection between the body of revolution 04 and the flange 07, elements 42 can be provided, passing through eccentric through holes in the cycloidal disks 05, 06. These elements 42 can be provided advantageously in this way, alternatively or additionally, to convert the rolling movements of one or more cycloidal disks 05, 06 into rotational movements of the body of rotation 04.

In addition, shown in Fig. 31 multi-stage transmission 10 is the subject of the invention. It includes a planetary gear stage with a sun wheel 84 and at least one planetary gear 08, as well as a cycloidal gear stage with a hollow wheel 02 with a hollow wheel axle 20, at least one cycloidal disk 05, 06 running in it with at least one eccentric hole and corresponding to the number of planetary wheels 08 the number of eccentric shafts 03 located together along the axis of the hollow wheel 20 and connected, respectively, with the planetary wheel 08 without the possibility of rotation, with the number of eccentric sections 31, 32 corresponding to the number of cycloidal disks 05, 06 , with which the eccentric shafts 03 are located in the corresponding eccentric hole of at least one cycloidal disk 05, 06 with the possibility of rotation.

The transmission 10 also includes a body of rotation 04, which is located on one side of the hollow wheel 02 along the axis of the hollow wheel 20 with the possibility of rotation. In addition, the transmission 10 includes a flange 07, which is connected to the body of rotation 04 without the possibility of rotation. The sun wheel 84 of the transmission 10 is preferably located on the flange 07 in a rotatable manner. The flange 07 is located on the side where the body of rotation 04 is located on the hollow wheel 02 with the possibility of rotation.

On the rotating body 04 and/or on the flange 07 there are one or more extensions 43, with which the rotating body 04 and the flange 07 can be connected to each other. The number of extensions 43 corresponds in this case to the number of eccentric shafts 03. Each extension 43 has a rotatable eccentric shaft 03.

In addition, the transmission 10 may have, in order to stabilize the connection of the flange 07 with the rotation body 04, one or more elements 42, which connect the flange 07 with the rotation body 04 through eccentric holes, at least on one cycloidal disk 05, 06. The flange 07 and the rotation body 04 form one or more elements 42 connected to each other without the possibility of rotation of the opposite parts. For example, the element or elements 42 may be integrally formed on one of the opposite portions. It is also possible, for example, to separate the elements 42 in the middle at about half the distance between the flange 07 and the body of revolution 04. In this regard, it turned out to be preferable that the surfaces with which the sections of the elements 42 are attached to each other should not be made flat, but conjugated with each other. with a friend or wavy. This allows self-centering during assembly. In principle, this is also possible in the context without separating the elements 42. For several elements 42, in particular with an even number, one element can be arranged alternately on the body of revolution 04 and one on the flange 07, for example, integrally connected to the corresponding opposite part. Fastening means, such as screws, can be provided on the remaining opposite part to make a rigid connection. In principle, the elements 42 can be attached to both opposite parts using fasteners such as screws.

By appropriate implementation of the contact between the elements 42 and the walls of the eccentric through holes in the cycloidal disks 05, 06, through which the elements 42 pass, the elements 42 can serve to convert the rolling movements of the cycloidal disks 05, 06 in the hollow wheel 02 into the rotational movement of the body of rotation 04 and associated with him flange 07 or contribute to such a conversion.

Particularly advantageously, the flange 07 covers the eccentric shafts 03 and the non-rotating planetary wheels 08 associated with them.

- 14 041525 and at least one planetary gear 08 of the gear 10 is located between the body of rotation 04 and the flange 07. This leads to a particularly stable performance of the gear 10. It is important to note that this design can also be chosen for the gear 01 in order to increase its stability.

Between the body of revolution 04 and the flange 07 are located mainly, in sequence, looking from the body of revolution 04, cycloidal disks 05, 06, as well as planetary wheels 08 connected without the possibility of rotation with eccentric shafts 03.

Advantages in relation to the prior art, which exceed the complete solution of the task at hand due to significant simplifications in the manufacture and installation of the gear 01, 10, 1000, is that the described measures create compact gears 01, 10, 1000 with integrated forward gears. All gears 01, 10, 1000 have improved attachment possibilities compared to the state of the art for sealing caps on the inlet side by internal mounting in or on the hollow wheel 02, so that the corresponding gear 01, 10, 1000 can be integrated and mounted in a machine such as like an industrial robot.

The load capacity of an integrated one-sided support is less in the prior art, since a bearing with a smaller cross section and thus lower performance has to be installed in a given installation space. In contrast, in the transmission 01, 10, 1000 according to the invention, more installation space is created, since the bearing is directly integrated in the grooves 23, 25.

The transmission 01, 10, 1000 may alternatively or additionally have separate or a combination of several features introductory to the prior art and/or mentioned in one or more of the documents referred to in the prior art and/or in the following description.

The invention is not limited to the description based on examples. Rather, the invention includes every new feature, as well as any combination of features, which, in particular, contains each combination of features in the claims, even if this feature or this combination itself is not explicitly indicated in the claims or examples.

The invention is commercially applicable, in particular in the field of gear manufacturing, for example for actuators.

The invention has been described with reference to preferred embodiments. However, for a specialist it is obvious that modifications or changes to the invention can be made without going beyond the protection of the following claims.

List of symbols gear hollow wheel eccentric shaft

03a eccentric shaft (fig. 30, fig. 31) body of revolution

04a output bearing ring (fig. 14 d))

04b output bearing ring (fig. 14 d))

04c additional flange to flange 07 (Fig. 14e) cycloidal disc cycloidal disc flange

07a protrusion planetary wheel

08a wheel (fig. 29) through hole (fig. 1 to 8) axis of the hollow wheel groove of the hollow wheel 20 ring groove surface V on the ring 22 ring groove surface V on the ring 24 bearing element (row of cruciform rollers (fig. 23))

- 15 041525

26c rolling elements 26c arranged as axial rollers (separated e.g. by axial separators)

26d, the rolling elements 26d are arranged as two rows of axial rollers (separated, for example, by axial separators (Fig. 14i)) bearing element (row of cruciform rollers (Fig. 23))

27a cruciform tapered rollers (tapered roller bearings) (Fig. 14f))

27b bearing with tapered rolling elements (fig. 14g))

27c the rolling elements are arranged as a row of axial rollers (Fig. 14h))

27d the rolling elements are arranged as a row of radial rollers (Fig. 14i)) a row of separators (Fig. 22, Fig. 23) a row of separators (Fig. 22, Fig. 23) shaft axis of the eccentric shaft 03 eccentric section of the eccentric shaft 03 eccentric section of the eccentric shaft 03

31a eccentric section of the eccentric shaft 03a (Fig. 30, Fig. 31)

32a eccentric section of the eccentric shaft 03a (Fig. 30, Fig. 31) molded surface on the eccentric shaft 03 rolling element separator for the rolling element 34 rolling element separator for the rolling element 36 rolling bearing rolling bearing axis of rotation body 04

V grooves of the bearing with cross-shaped rollers in the body of rotation 04 element

42a protrusion extension

43a pin (in the body of rotation 04 inserted as an extension 43; Fig. 25) washer

44b cage (fig. 7) bearing element (tapered roller bearing on output side of transmission)

45a cylindrical roller bearing (Fig. 26)

45b rolling element (Fig. 7)

45s rolling bearing

45d rolling bearing (fig. 30) bearing element (tapered roller bearing on the transmission input side)

46a cylindrical roller bearing (Fig. 26)

46b rolling element (Fig. 7)

46c rolling bearing safety washer (fig. 15)

47b cage for the rolling element 45b (fig. 7) safety nut (fig. 15) axis of the cycloid disc 05 gearing of the cycloid disc 05 eccentric hole (in the cycloid disc for the eccentric shaft 03)

- 16 041525 of item 42) cycloidal disk axle 06 cycloidal disk gearing 06 planetary gearing 08

81a wheel gearing 08a (fig. 29) profile surface of the planetary wheel 08 bearing to support the sun wheel 84 on the flange 07 sun wheel

84a rotating part

84b rotating part gearing (for gearing 81 planetary gears 08) gearing (for gearing 89 gears 88) sun wheel support 84 pinion

88b pinion (fig. 9) gearing of the wheel 88

89b gearing (for gearing 81 planetary gears 08); fig. 9) seal (O-ring between hollow wheel 02 and wheel 24) screw (fastening hollow wheel 02 - ring 24 or ring 22, 24 (Fig. 14d)) outlet seal rolling element (in grooves 21 of hollow wheel 02) safety washer wheel screw (mounting wheel 08a - flange 07; Fig. 29) screw (connection body of rotation 04 - flange 07)

98b pin (tapered; in connection with the body of revolution 04 and flange 07) screw (fixing ring 04a, 04b on flange 07; fig. 14d))

100 output bearing (as a unit; Fig. 14e))

101 screws (mounting an additional flange 04c on the body of rotation 04; Fig.

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Claims (20)

14e)) 102 seal (O-ring/seal compound additional flange 04c - body of revolution 04; fig. 14e)) 103 seal (O-ring / sealing mass additional flange 04c - rotation body 04; fig. 14e)) 104 adjusting ring 201 bearing element (Fig. 31) 202 bearing element (Fig. 31) 300 central eccentric shaft (Fig. 27) 003 axis of the central eccentric shaft (Fig. 27) 301 eccentric section of the central eccentric shaft 300 302 eccentric section of the central eccentric shaft 300 303 rolling element on the eccentric section 301 of the central eccentric shaft 300 304 cage for rolling elements 303 305 rolling element on the eccentric section 302 of the central eccentric shaft 300 305a the rolling element on the eccentric section 301 (Fig. 30) 306 cage for rolling elements 305 306a separator for rolling elements 305a (Fig. 30) 307 rolling element 308 cage for rolling elements 307 309 rolling element 310 cage for rolling elements 309 311 seal 501 Central hole of the cycloidal disk 05 for the eccentric section 302 of the eccentric shaft 300 502 Central hole of cycloidal disc 05 for eccentric section 302 of eccentric shaft 300 CLAIM 1. Gear (01, 10, 1000) containing a hollow wheel (02) with a hollow wheel axle (20), at least one cycloidal disk (05, 06) running in it with at least one eccentric hole, a body of revolution ( 04) located on one side of the hollow wheel (02) with the possibility of rotation, and one or more eccentric shafts (03) located together along the axis of the hollow wheel (20) with the possibility of rotation and located opposite the body of rotation (04) with the possibility of rotation with corresponding to the number of cycloidal discs (05, 06) by the number of eccentric sections (31, 32), with which the eccentric shafts (03) are located in the corresponding eccentric hole of at least one cycloidal disc (05, 06) with the possibility of rotation, characterized in that it contains a groove having a first groove surface (23) and a second groove surface (25), divided into two parts between the first groove surface (23) and the second groove surface (25), whose surfaces (23, 25) form the bearing e bearing surfaces on the side of the hollow wheel for bearing elements (26, 27) of one-sided support, and on the body of rotation (04) are located parallel to the axis of the hollow wheel (20) extending extensions (43), around which are located eccentric shafts (03) with their eccentric sections (31, 32) with the possibility of rotation. 2. The transmission according to claim 1, which additionally contains a planetary gear stage with a sun wheel (84) and at least one planetary wheel (08) and the number of eccentric shafts (03) corresponding to the number of planetary wheels (08) located together along the axis of the hollow wheels (20) with the possibility of rotation and connected, respectively, with the planetary wheel (08) without the possibility of rotation, which are located on the body of rotation (04) with the possibility of rotation, located on the hollow wheel (02) along the axis of the hollow wheel (20) with the possibility of rotation, and also with the support of its gear stages opposite the hollow wheel (02) on one side of the hollow wheel (02), and the first profile surfaces (33) are formed on the eccentric shafts (03), and the second ones are formed on the planetary wheels (08). - 18 041525 profile surfaces (82) with which the planetary wheels (08) are engaged in the first profile surfaces (33) on the eccentric shafts (03). 3. The transmission according to claim 2 includes rolling elements (94) located in the hollow wheel (02), with which the cycloidal disk (05, 06) running in it is engaged along the outer perimeter, while the rolling elements are fixed at least one ring (95, 96) in a direction parallel to the axis of the hollow wheel (20). 4. The transmission according to claim 2 or 3 contains a central eccentric shaft (300) with the number of eccentric sections (301, 302) corresponding to the number of cycloidal disks (05, 06), each of which has a cycloidal disk (05, 06) with the possibility of rotation . 5. The transmission according to claim 4, in which the wheel (84) is connected with the central eccentric shaft (300) without the possibility of rotation. 6. Transmission according to one of claims 2-5, which has through eccentric holes of at least one cycloidal disk (05, 06) through means (42, 43), which convert the movements of at least one cycloidal disk (05, 06) when they running in the hollow wheel (02) into rotational motion. 7. Gear according to one of claims 2 to 6, in which the support (26, 27) is located on the side of the hollow wheel (02) opposite to the planetary gear stage. 8. Transmission according to one of claims 2-7, containing an additional gear stage. 9. The transmission according to claim 8, in which the additional gear stage has a gear (88) standing in engagement with the sun wheel (84) of the planetary gear stage or with its associated gear without the possibility of rotation. 10. Transmission according to claim 9, wherein the sun wheel (84) has a first rotating part (84a) with external gearing (85) and a second rotating part (84b) with external gearing (86), which are connected to each other located between them with an adjusting ring (104) without the possibility of rotation. 11. Transmission according to one of claims 2 to 10, comprising a central through hole (09). 12. Transmission according to claim 1, containing a central eccentric shaft (300) with a number of eccentric sections (301, 302) corresponding to the number of cycloidal disks (05, 06), each of which has a cycloidal disk (05, 06) with the possibility of rotation. 13. Gear according to claim 4 or 12, which is driven by a central eccentric shaft (300). 14. Transmission according to one of claims 1 to 13, comprising a flange (07) connected to a body of revolution (04) without the possibility of rotation. 15. The transmission according to claim 1, which has a planetary gear stage with a sun wheel (84) and at least one planetary wheel (08), and with a number of eccentric shafts (03) corresponding to the number of planetary wheels (08), located together along the axis of the hollow wheel (20) with the possibility of rotation and associated with the corresponding planetary wheel (08) without the possibility of rotation, and the rotation body (04) is located on the side of the hollow wheel (02) along the axis of the hollow wheel (20) with the possibility of rotation, and it also has flange (07), which is connected to the body of rotation (04) without the possibility of rotation and is mounted on the opposite side on the hollow wheel (02) with the possibility of rotation, and on the body of rotation (04) and / or on the flange (07) there are extensions ( 43), moreover, the number of extensions (43) corresponds to the number of eccentric shafts (03) and on each extension (43) there is an eccentric shaft (03) with the possibility of rotation. 16. Transmission according to one of the previous paragraphs, wherein the extensions (43) are formed by pins inserted into the rotation body (04). 17. Transmission according to one of the previous claims, in which the flange (07) covers the eccentric shafts (03) and planetary wheels (08) associated with them without the possibility of rotation in such a way that at least one cycloidal disk (05, 06) and at least at least one planetary wheel (08) is located between the rotating body (04) and the flange (07). 18. Transmission according to claim 2 or 15, in which on the flange (07) protrusions (07a) are formed, and on the body of rotation (04) - protrusions (42a) associated with the protrusions (07a), which interlock during assembly. 19. A transmission according to claim 1 or 15, wherein the extensions (43) and the eccentric shafts (03) are provided with integrated bearing surfaces for the bearing elements (45, 46). 20. The transmission according to claims 1 to 14, which comprises an outer ring divided into two parts, with a first groove surface (23) and a second groove surface (25), which together form a groove, and the division into two parts of the outer ring passes between the first groove surface (23) and the second groove surface (25). -