EP0356467A1

EP0356467A1 - Gearing

Info

Publication number: EP0356467A1
Application number: EP89900601A
Authority: EP
Inventors: Dieter Bollmann
Original assignee: Bollmann Hydraulik GmbH
Current assignee: Bollmann Hydraulik GmbH
Priority date: 1988-01-23
Filing date: 1988-11-24
Publication date: 1990-03-07
Also published as: PL277284A1; WO1989007214A1; DK440089D0; FI894468A; HU890477D0; HUT55513A; DK440089A; FI894468A0; YU238088A; BR8807551A; CN1036253A; JPH02503709A; AU2820789A; ZA888713B; KR900700796A

Abstract

Un engrenage comprend une partie plane motrice et une partie menée. La partie motrice (2) est pourvue d'une rainure de guidage (38) circulaire et excentrique par rapport à l'axe de rotation. La partie menée (21-25) est pourvue sur sa face frontale tournée vers la partie motrice d'une rainure sans fin de guidage (36) composée de sections centrées par rapport à l'axe de rotation et qui sert à guider des billes (11) de transmission de force. Une bride (6) fixée au boîtier et agencée entre la partie menée (21-25) et la partie motrice (2) est pourvue d'un nombre voulu de fentes allongées radiales (10) de guidage qui recouvrent l'excursion excentrique de la rainure (38) de guidage des billes ménagée dans la partie motrice (2), ces fentes servant à empêcher les billes (11) de tourner autour de l'axe de rotation de l'engrenage. Dans des engrenages à plusieurs vitesses, un nombre de disques de sortie (21-25) correspondant au nombre de vitesses sont traversés par un arbre creux (26) qui contient des cages à billes qui reçoivent les billes débrayables (21a-25a) de la partie menée correspondante et dans lequel des bourrelets (21b-24b) guident un poussoir à came (27) qui, lorsqu'il se déplace axialement, fixe un disque de sortie à l'arbre creux (26).A gear comprises a planar driving part and a driven part. The drive part (2) is provided with a guide groove (38) which is circular and eccentric with respect to the axis of rotation. The driven part (21-25) is provided on its front face turned towards the driving part with an endless guide groove (36) composed of sections centered with respect to the axis of rotation and which serves to guide balls ( 11) force transmission. A flange (6) fixed to the housing and arranged between the driven part (21-25) and the driving part (2) is provided with a desired number of elongated radial guide slots (10) which cover the eccentric excursion of the groove (38) for guiding the balls formed in the driving part (2), these slots serving to prevent the balls (11) from rotating around the axis of rotation of the gear. In multi-speed gears, a number of output discs (21-25) corresponding to the number of speeds are crossed by a hollow shaft (26) which contains ball cages which receive the disengageable balls (21a-25a) of the corresponding driven part and in which beads (21b-24b) guide a cam plunger (27) which, when it moves axially, fixes an output disc to the hollow shaft (26).

Description

Transmission.

The present invention has no role model since the invention of the gear transmission, which is likely to be displaced in the near future by the transmission according to the invention from wide areas of technology. It is based on the task of creating a transmission, which is compared to the conventional gear transmissions, including the b known harmonic drive gear and cyclo subsidence another Ov ^'and in particular the reduction area BEZW. the transmission of larger forces.

• __ This object is achieved by the gearbox characterized in claim 1, the main advantage of which is that the power transmission takes place by means of balls, ie with exclusively rolling friction and dam with high efficiency almost without loss. It can be produced with any transmission ratio and reduction ratio, whereby reductions of less than 9: 1 can be achieved, which cannot be achieved by means of conventional reduction gears. Likewise, it can be expected that the production of transmissions with a broken reduction ratio will be possible. The manufacturing effort is low compared to the effort required to manufacture a gear transmission. Further embodiments and advantages emerge from the following description, in which the invention is explained for example with reference to the enclosed drawing. Show it

1 shows a view of a transmission according to the invention. FIG. 2 shows a section according to II - II through FIG. 1

. Wiedergegebeπen divided partially - Fig. 3 is a view of the fixed to the housing flange of the gear unit 5 is a perspective views of three drive on the end face of the drive part of the Ge ^¬ Fig. 4 -

Output parts with different embodiments of ball guide grooves. FIG. 6 shows another embodiment of a manual transmission in section. FIG. 7 shows a section according to VII - VII through FIG. 6. FIG. 8 shows a section according to VIII - VIII through FIG. 6

9 shows another embodiment of a manual transmission in Schn. FIG. 10 shows a schematic illustration of an angular drive in Schn. FIG. 11 shows a transmission with a different design of the drive disk. FIG. 12 shows a further development of the transmission shown in FIG. 11 with simultaneous kinematic reversal of the Functional part Fig. 13 Examples of the formation of the shaft grooves of the embodiments of a gear shown in F 11 and 12. Fig. 14 shows another embodiment of an axial gear with a direct drive

15 is an exploded view of the transmission of FIG. 14 in 16 shows an exploded view corresponding to FIG. 15 of a transmission with a kinematically reversed arrangement of the parts. FIG. 17 shows a modification of the transmission shown in FIG. 12

The embodiments of a transmission according to the invention shown in FIGS. 1, 6, 11 and 14 of the drawing are transmissions with mutually aligned drive or Output rotation axes with - see in particular FIGS. 1 and 2 - a housing 1 in which d the drive part having the shape of an essentially annular disc 2 and the drive part also having the shape of an annular disc 3 are mounted. It is the drive pulley 2 - see in particular FIGS. 3 to 5 - with a circular eccentric to the axis of rotation guide groove 9 and the driven pulley 3 on the drive disk facing the A face with an endless guide groove 1 made of curve sections centered on the axis of rotation for guiding the (See FIGS. 1 and 2) the balls 11 used for power transmission, a housing-fixed flange 6 is provided between the drive plate 2 and the driven plate 3, which with a basically any number A radial, the eccentric deflection of the ball guide groove 9 d drive plate 2 overlapping slot guides 10 is provided, the help of which the balls 11 are secured against rotation about the central axis of the transmission.

With the help of the illustrated transmission, the force transmission takes place via the balls 11 due to exclusively rolling friction and there _ -

almost lossless, whereby - see in particular FIGS. 3 to 5 - balls 11 of the rotation of the drive pulley 2, each of which is guided in one of the slot guides 10, are moved radially back and forth in the slot guides due to the eccentric position of the drive-side ball guide groove 9. The balls 11 exert a tangential force on the groove wall due to this of the eccentric groove 9 in cooperation with the radial elongated hole guides on forced reciprocation, by means of which the driven disk 3 is set in a rotation counter to the drive disk. Here are all Langlo guides 10 in overlap not only with the eccentric groove 9 but a with the output-side groove 14, which - in static consideration - a due to its ripple with the eccentric groove 9 of the drive pulley 2 includes an oblique angle all overlap points, as well as all elongated hole guides 10, so that all balls 11, each of which is guided (included) in an egg crossing point between the grooves 9 and 14 and the elongated hole guide, are constantly in positive engagement, that is to say the power transmission takes place on a large load-bearing cross-section. The transmission can thus - based on the Transmission equal torques - can be built much smaller than the conventional gear transmission, in which the power transmission takes place via only a few teeth that are in mesh with each other. Accordingly, the gearboxes according to the invention - in comparison with conventional gearboxes of a comparable installation size - allow the transmission of substantially larger torques, which are basically unlimited. If a force transmission line (eccentric groove-slot-guided ball set shaft track) is not sufficient for the forces required for transmission, only the arrangement is required another power transmission line or several power transmission lines of the same division in the same - possibly correspondingly larger - drive or Output parts.

The gearbox is simple to manufacture, which is limited to the milling of the ball guide grooves and slot guides for Einsa commercially available and therefore inexpensive balls, which - unlike the toughness of gear drives - do not require any special machining. In Bet ^* "inevitable elaborations of the ball tracks can not Schwi culties be compensated by replacing the balls by balls a drafting m correspondingly larger diameter. The gearbox h also has a significantly longer service life than conventional gearboxes.

_ • _ • The gear ratio of the gearbox can be freely selected as an integer ratio. His relationship to the number of - in a transmission line - balls 11 used on the one hand and waves in the shaft groove on the other hand is determined by the equation

Ü = (W - K) / W

where W is the number of corrugations in the output-side guide groove 14 and K is the - according to current knowledge at least between 1 and (W + 1 - number of force-transmitting balls or radial guide slots. This results from the constant force-transmitting Intervention of all balls used resulting special feature - D -

of the transmission according to the invention that already with the use of a single ball - to avoid a dead center development of the gearbox, however, at least two balls are advantageously used - ball the full gearbox function is achieved, the output of gearboxes in which sic 5 from the above equation is negative Values (K greater than W) result in a direction of rotation opposite to the drive, while positive values (K less than W) drive and output have the same direction of rotation.

Against this background, the transmission is calculated in such a way that - for reduction gears - first by multiplying the length of the base circle - this is the length of the circle circumscribing the shaft groove 14 of the output part 3 - with the desired transmission ratio, the gear division, i.e. the length of a corrugation in the groove 1

15 calculated. This immediately results in the number of K gels 11 to be used and thus the division of the slot 10 in the flange 6 with (W + 1). In contrast, for gearboxes (K less than W), each gear ratio can be determined directly as an integer ratio, with the possibility of production of gears also m

20 broken (non-integer) gear ratio can be expected.

On this basis, the steepness of the flanks of the shaft groove 14 has wide limits in accordance with the respective gearbox

25 requirements freely selectable, from which the length of the slots and the eccentricity of the groove 9 of the drive part 2 are derived directly and d further parameters, in particular the curvature of the shaft groove 14, result indirectly on the basis of simple mathematical relationships. Other parameters, such as the free design of the known gear transmission be restrictive to specified bezw. Coordinated pitch circle relationships between drive and output do not need to be taken into account, so that not only gearboxes with reduction ratios of less than 9: down to a reduction ratio of 2: 1 can be produced without any problems, ie cannot be achieved with any known reduction gearbox. From this follows the further essential advantage that - compared to the known *. Gearboxes - when using the gearbox according to the invention to achieve the same speeds on the gearbox, drive units with a lower shaft speed can be used.

5 are some examples of usable waveforms

5, a straight-line zigzag shape 14a and a sharp-breaking wave shape 14b. In Fig. 5B - preferred - guide grooves with regular waveforms 14c and 14d of different ripple speed are shown, which, with a further reduction in ripple i, the shape shown in Fig. 5C of a polygon 15a, 15b, 15c from three circular sections centered on the central axis or - go further - turns into an ellipse.

The transmission can be designed as a single-stage or simply as a multi-stage transmission or - in different, fundamentally different embodiments - as a multi-speed manual transmission. In an embodiment shown in FIGS. 6 to 8, a - o -

Such a manual gearbox, for example, is the output of a number of gearboxes corresponding to the number of gearboxes of output disks 21, 22, 23, 24, 25 g which are rotationally coupled to one another by means of the balls, each of which, in relation to the output disk above in the drive assembly, has a shaft groove with a desired amount Have a reduction ratio of coordinated wavenumber. A hollow shaft 26 extends through the inner bores d driven disks and flanges 6, which cages for the planes of the driven disks - see in particular FIG. 7 - as a ball for receiving one Sat7.es each radially disengageable balls 21a, 22a, 23a into the ^* assigned A drive part , 24a, 25a is formed in which, as a switching element, a cam slide 27 with cam beads 21b, 22b, 23b, 24b extending all around in stepped spacing is guided by the axial displacement of one of the driven disks - example case of the bead 24b with the output disk acting as a reverse gear 25 - is connected in a rotationally fixed manner to the hollow shaft 26 in such a way that d balls of the relevant ball set 25a are released into ball sockets 24c of the associated driven pulley 24 and released in this position and the balls of all other ball sets 21a, 22a, 23a, 24a are released. The A drive pulleys are supported in the example shown by a support bearing 28 in the housing 1, which is only required for transmissions to transmit larger forces, but can be dispensed with only a small force transmission bearing.

A gear designed in this way is simple in construction allows a simple circuit by simply linear adjustment of a cam spool by hand or by program control. It e is particularly suitable for use in application cases in which the external conditions permit the installation of only an elongated, small-diameter gear. After the output disc from Stuie YΛ \ level .-. In Drehriclil-img.swech.sel for the rear-inancing circuit, the gearbox can be designed as a multi-stage gearbox with any number of opposing direction force-transmitting gearboxes. The direct rotationally fixed coupling of any one is sufficient for this Number of output disks with each other with the interposition of a go fixed with radial guide slots for power transmission balls v see flange, the output disks each having an eccentric groove on their drive-side end face and a Wcllennut on their drive-side end face.

In an advantageous variant of such a manual gearbox i, however, the driven output disks 21, 22, 23, 24 u different transmission ratios - see also Fig. 8 - upstream of a reversing disk, each of which concentrates a ring disk 31, each with a concentr, to determine a direction of rotation Ball guide groove 32 formed in its two end faces and one side by means of an eccentric bearing from an eccentric disk 35 guided between ball rings 33, in the housing 1 and, on the other hand, means of the balls 11 via the flange 6 downstream of it, indirectly with d on its drive-side end face, a concentric ball guides 36 having subordinate driven pulley 22 and via a further ball set 37 directly with the upstream, on the output side gene end face with a concentric ball guide groove 38 Output disk 21 are engaged in power transmission. The Reversie disc does not allow direct power to be used for drive purposes, however, it enables a reversal of the direction of rotation of the above driven disc in a ratio of 1: 1

The cam slide 27 is designed as a shaft which is rotatably mounted in the hollow shaft 26 and is connected to a slide switch 41 by means of a rotary bearing which is fastened on a link axially guided in the hollow shaft. Here, the hollow shaft 26 is provided with radially overlapping slot guides 44 and the link 43 is provided with a guide pin 45 projecting through the slot guide.

In the position shown in FIG. 6, the coupling of the driven disk 25 by means of the balls 25a engages with the hollow shaft 26 through the cam bead 24b. From this position there is d engagement of the first gear by axially moving the actuating lever 41 and thus the cam slide 27 to the left, whereby the dome 24b initially disengages from the area of the spherical ring 25a while releasing the reverse gear and then enters the area of the ball set 24a , which thereby engages the ball sockets 24c. In this way, a fixed rotary connection between the driven disk 24 is made with the hollow shaft 26, which is accordingly driven at the speed provided by the driven disk 24. The cam slide 27 rotates due to the connection with the guide pin _{n in the} same way, without this having a reaction to the slide switch 41 in view of the connection via the rotary bearing 42 The further gears are engaged by simply further axially shifting the slide switch 41, whereby, with simultaneous release of the ball power coupling 24a, 24b, the next ball power coupling 23a, 2 is engaged in the same manner as described, whereupon the shaft is driven with the reduction ratio specified by the driven pulley 23 becomes. The driven pulley 25 differs from the driven log. 21 to 24 only in that - as a reverse gear - no reversing disk is connected upstream.

In another, preferably for use in applications that allow a larger installation width but only a small installation length, suitable embodiments are according to the invention - see FIG. 9 - the drive disk 50 with a plurality of eccentrically extending ones

Kugelführungsnuteπ 51, 52, 53 and the flange 54 with a corresponding "_" number of with the ball guide grooves 51, 52, 53 corresponding Radia slots 55, 56, 57 for guiding a set of balls 58, 59, 60 ve see, each with one of the other independently rotatable output disk 61, 62, 63 are engaged. The individual output rings have a different reduction ratio compared to the common drive and can be coupled in a known manner to the driven unit, for example in a manner corresponding to the output according to FIG. 6, by means of a magnetic coupling or the like Regarding space requirements, gear ratio and power transmission around a gearbox of hard to estimate performance.

In a further variant of this embodiment of a transmission ka also the drive pulley 50 can be divided analogously to the driven parts 61, 62, 63, the resulting drive washers can be connected to the motor, for example, via an electromagnetically controlled cam slider. This embodiment is suitable for example for the production of automatic transmissions and has the further advantages that both the drive and the output side are always only one of the ring disks i circulation and the need for the connection of a clutch is eliminated, with the usual flywheel simultaneously being the on drive pulley of the transmission can be used. lü

The gearbox according to the invention also allows the embodiment as an angle drive, for which purpose - see FIG. 10 - the output part from a ball head 75 having at least one rotatably mounted output pin 72 and with at least one endless ball guide groove 73 and di • ___ »15 drive disc from an annular disc 76 is formed, the inner opening of which corresponds to the contour of the spherical surface and ball sockets 77 for receiving at least one ball 78 guided in the ball guide groove 73 of the ball head 75. In the example, two ball guide grooves 73, 73a extend concentrically around the center of the ball head 75, 20 two synchronously coupled drive parts 76, 76a leading a corresponding number of balls 78. A ball guide groove extending eccentrically in the surface of the ball head can also be provided to create gearboxes with an output angle that deviates from a right angle.

25

The guide groove 9 can - as in the case of that in FIGS. 1 to 9 again given embodiments - be worked directly into the drive pulley 2, which leads to excellent results, particularly for slow-speed drives. In a particularly advantageously used in connection with high-speed drive machines, however, the guide groove for the ball 11 is advantageously arranged in a compensating ring 16, which is in the drive disk 2 on a compensating ring 16 in the axial direction, supporting it - see FIG. 11 Ball cage 17 is mounted. It is achieved in this way that although the radial movement of the balls i responsible for the power transmission takes place at a frequency corresponding to the speed of the drive, the rotation of the compensating ring 16 and thus the groove 9 itself is reduced on the drive side to the speed of the output. Due to the reaction of the rotation of the driven pulley 3 via the ball 11 to the compensating ring 16, the rotation of the ball becomes in a relative view. of the ball cage 17 is further reduced by the output speed. The friction and impact forces caused by the high-speed drive pulley and thus the wear are thus decisively reduced and the efficiency of the transmission is further increased. The essentially the same result is achieved with an embodiment of the transmission, in which an eccentric groove is provided in the drive pulley and the guide groove for the balls 11 is arranged concentrically on both sides in a compensating ring, which in the eccentric groove of the drive pulley 2 also has the compensating ring is supported in the radial direction supporting ball cage ge.

Another significant reduction in wear and especially The improvement in the smooth running of the gear mechanism is achieved with the development of the gear unit shown in FIG. 11, in which the compensating ring which is ball-bearing in the drive part 2 has a shaft groove 92 instead of a circular guide groove for guiding d the balls 11 which cause the power transmission Waves ad height of the wave path 94 in the opposite functional part corresponding height (amplitude) and a different number (Te ment). Here, in a kinematic reversal of the implementation ^• form of Fig. 11 is formed, the functional part of the shaft groove 94 containing of a housing-fixed flange 93, while the long-hole guides containing, between the compensating ring 91 and the housing-fixed flans 93 einragende annular flange is arranged on the driven part 95 6 . The embodiment also allows the radial design of the output, provided the large central passage is abandoned. In an analogous modification, the compensating ring 16 in the embodiment shown in FIG. 11 can also have a shape similar to the ring 91 in FIG. 12, ie it may be provided with a shaft for guiding the force-transmitting balls 11 instead of a circular groove.

13 shows two shaft grooves which can be used in combination with one another in the gearboxes according to FIGS. 11 and 12. In the example shown, the corrugations have both the shaft groove 96 of the compensating ring 91 and the shaft groove 97 of the flange having a pointed shape, the shaft groove 96 being curved and the shaft groove 97 being convex. However, a both shaft grooves have a concavely curved Fo corresponding to the shaft groove 96.

In the embodiments shown in FIGS. 14 to 17, a transmission with mutually aligned drive or. Is output axes see Figures 14 and 15, -. The output part of a wool 81 and ■ ^* .. driving part of a shaft 81 comprising sleeve 83 formed wobe the sleeve 83 on the shaft 81 facing surface with an endless obliquely across their The circumferentially extending guide groove 82 and the di shaft 81 are provided with an endless guide groove 84 made of curved sections for guiding the balls 85 used for power transmission and between the sleeve 83 and the shaft 81 a sleeve 86 is provided which is fixed to the housing and which can have any number of axially parallel, the axial stroke height of the Ku gelführungsnut 82 of the sleeve 81 covering Lan hole guides 87 provide »_-, with the help of which the balls 85 are secured against rotation about the axis of rotation of the gearbox. It is a particularly simple and space-saving embodiment of a transmission according to the invention with a direct drive from a motor shaft to which the sleeve 83 can be flange-mounted immediately by creating a fixed connection between the flange sleeve 86 and the motor housing, so that the output shaft emerging from the motor housing 81 already compared to the V / ellenstump of the engine a translated speed on ice.

In the exploded view of the kinematic reversal of the transmission shown in FIGS. 14 and 15 forms in FIG Shaft part 81a, the drive part containing the oblique guide groove 82 and the sleeve 83a, the shaft part 84, the axial end drive part.

FIG. 17 shows a modification of the guide guide according to FIG. 13, in which case two force transmission lines consisting of two oblique grooves 82, two shaft grooves and two sets of balls 85 with rows of slots 87 with the same part are provided to double the force-transmitting spherical cross section. In a corresponding manner, the number of power transmission lines can be increased as desired.

The mode of operation of this embodiment corresponds to the mode of operation of the embodiment according to FIGS. 1 to 5, with the direct attraction of the shaft as a drive part for certain applications making it possible to achieve an even more compact design. Incidentally, can be produced in a corresponding manner to the embodiments described in FIGS. 11 to 17 - with analog application of the features described in connection with FIGS.

Claims

. - 1st gear, consisting of a drive part and an output part which are rotatably mounted in a housing about a central axis, characterized in that the drive part (2, 76, 81) with a umlau fenden groove (9, 77, 82) and that The output part (3, 75, 83) is provided with a groove (14, 15, 73, 84) which is also endless and runs at an angle to the groove of the output part, in which the power transmission ball (11, 78, 85) is dome-shaped that they perform a rotation different from the angle of rotation of the driven part.

2. Gear according to claim 1, dadurcli characterized in that for forming a gear with mutually aligned drive or. Output axis, the drive part and the output part are each formed by a disc (2, 3), of which the drive disc (2) with a circular guide groove (9) eccentrically to the axis of rotation and the output disc (3) on the drive disc (2) end face facing with an endless guide groove (14, 15) made of curve sections centered on the axis of rotation for guiding the balls (11) serving for power transmission and between the drive pulley (2) and the driven pulley (3) - 1 3 -

a housing-fixed flange (6) is provided, which is provided with an arbitrary number of radial slots (10) covering the eccentric deflection of the ball guide groove (9) d of the drive part (2), with the aid of which the balls (11) prevent rotation about the Axis of rotation of the gearbox are secured.

3. Transmission according to claim 1, characterized in that for forming a transmission with mutually aligned drives. Abtriebsachs das- driven part from a shaft (81) and the drive part from a d shaft comprising sleeve (83). vice versa the drive part of a. Shaft (81a) and the driven part from a sleeve (83a) surrounding the shaft (81a), the drive part on the surface facing the driven part with an endless, obliquely extending over its circumference

Guide groove (82) and the driven part with an endless guide groove (8

»_. from curve sections for guiding the force-transmitting cones (85) and between the sleeve (81) and the shaft (83) is provided a sleeve (86) fixed to the housing, which with any number of axially parallel, the axial stroke height of the ball guide groove (82 ) the sleeve (81) covering elongated hole guides (87) is provided, with the help of which the balls (85) are secured against rotation about the axis of rotation of the transmission.

4. Transmission according to claim 2 or 3, characterized in that d guide groove of the driven part (3, 83) is formed by a shaft groove (14) which is a with the length of the radial slot guides (10, 8th has a covering deflection (wave height) and a number of corrugations that deviate from the number of ball guides in the slot guides (10, 87).

5. A transmission according to claim 2, characterized in that the guide groove of the driven part (3) is formed by a polygon groove from three on the rotary axis (8, 9) centered circular sections (15a, 15b, 15c) or by an elliptical groove.

- - 6. Transmission according to one of claims 2 to 5, characterized in that the guide groove (9) for the balls (11) is arranged in a compensating ring ^ '^' in the drive disc (2) on a ball bearing, preferably before the compensation ring (16) is supported in the axial direction supporting ball bearings (17).

7. A transmission according to claim 6, characterized in that the arranged in the compensating ring (16) groove is designed as a shaft groove, the waves one of the height of the shaft groove (14) of the driven part (3) corre sponding height (amplitude) and one of it has a differentiating number (division).

8. Transmission according to one of claims 4 to 7, characterized in that in kinematic reversal with the shaft groove (92) in the compensating ring (91) of the drive part (2) cooperating shaft groove (94) in a housing-fixed flange (93) and the Slotted hole guides (10) containing a projecting ring flange (6) are arranged on the driven part (95) between the compensating ring (91) and the flange (93) fixed to the housing.

9. Transmission according to claim 7 or 8, characterized in that di corrugations of the shaft grooves (96, 97) of the compensating ring (91) and the Fla cal (95) respectively. Power take-off (2) have a shape that merges into one another, whereby either one of the shaft grooves (96) is concave and the other shaft groove (97) is convex or both corrugations are concave (corresponding to shaft groove 96).

10. Transmission according to one of claims 1 to 9, characterized gekennzeichne d.ass that the drive and driven parts (2, 3, 81, 83) and the housing flange (6) with several concentrically into each other. parallel ball guide grooves (9, 82) respectively. Wave grooves (14, 84) or Bundles of radial elongated hole guides (10, 87) are provided for a corresponding Za γon ball sets.

11. Transmission according to one of claims 1 to 10, characterized in that to form a gearbox, the output of a number corresponding to the number d gear gears by means of the balls (11) rotatably mi coupled output disks (21, 22, 23, 24, 25th ) with Wellenba nen different number of shafts and a through the output disks-penetrating hollow shaft (26) is formed, which in the planes of the Abtriebst ^' as a ball cage for receiving a set radially into the assigned

The driven part of disengageable balls (21a, 22a, 23a, 24a, 25a) is formed i and in which a cam slide (27) is guided as a switching element with cam beads (21b, 22b, 23b, 24b, 25) that extend around it at a stepped distance, due to its axial displacement one of the output disks (25) is connected to the hollow shaft (26) in a rotationally fixed manner, d the balls of the respective set of balls (25a) with the release of the ball of all other sets of balls (21a, 22a, 23a, 24a) from the associated cam bulges (25b) in ball sockets of the associated driven pulley (25) and keeps them in this position.

12. Transmission according to claim 11, characterized in that a reversing disc (30) is connected upstream of the driven pulleys (21, 22, 23, 24) in order to achieve a similar direction of rotation.

13. Gearbox according to claim 1 and 12, characterized in that d driven disks with the interposition of a housing m radial guide slots for power transmission balls provided Fla cales are coupled directly rotatably with each other, the Abtriebssche ben each on their drive-side end face an eccentric groove u on their output-side end face have a wave groove.

14. Transmission according to claim 11 and 12, characterized in that d reversing disc (30) of an annular disc (31) each with a con tric ball guide groove (32) in its two end faces is formed on the one hand by means of an eccentric bearing from a between spherical ring (33 , 34) guided eccentric disc (35) in the housing (1) and, on the other hand, indirectly by means of the balls (11) via the flanges (6) downstream of them, with a concentric ball guide groove (36) on their drive-side end face (22) as well as via another set of balls (37) directly with the previous one, on the output end face with an eccentric ball guide groove (38) provided driven pulley (21) are in force-transmitting engagement.

15. Transmission according to one of claims 11 to 14, characterized in that the cam slide (27) as in the hollow shaft (26) rotary bearing

Shaft formed with a slide switch (41) by means of a rotational position

(42) is connected, which is guided axially on a in the hollow shaft (26)

Backdrop (43) is attached.

16. Transmission according to claim 15, characterized in that the hollow shaft (26) with radially overlapping slot guides (44) and d link (43) with a slot guide (44) projecting guide pin (45) is provided.

17. Transmission according to one of claims 1 to 10, characterized in that the drive part (50) with a plurality of mutually extending eccentric ball guide grooves (51, 5 53) and the flange (54) with a corresponding number of with the ball to form a manual transmission guide grooves (51, 52, 53) corresponding radial slots (55, 56, for guiding a respective set of balls (58, 59, 60) are provided, ^Λ each with one of the other independently rotatable driven pulley (62, 63) in engagement.

18. Transmission according to claim 17, characterized in that the drive pulley (50) is divided analogously to the driven parts (61, 62, 63) and the drive parts are connected to the motor via an electromagnetically controlled cam slide.

19. Transmission according to claim 1, characterized in that for forming an angular drive, the output part from an at least one rotationally driven output pin (72) and with at least one endless ball guide groove (73) provided ball head (75) and the drive part of an annular disc ( 76) is formed, the inner opening of which corresponds to the contour of the spherical surface and ball sockets for receiving at least one ball (77) guided in the ball guide groove (73) of the ball head (75).

20. Transmission according to claim 19, characterized in that di ball guide groove (73) extends concentrically around the center of the ball head (75).

21. Transmission according to claim 19, characterized in that several .sich intersecting in two common intersection ball guide grooves (73, 74) concentrically around the center of the ball head (75) and in the drive part (76) a corresponding number of balls (78 are led.

22. Transmission according to claim 21, characterized in that a further with the first drive part (76) rotatably coupled drive part (76 a is provided, in the further with one of the two ball guides grooves (73, 73 a) in force-transmitting engagement ball (78) are gel gert.

23. Transmission according to claim 21, characterized in that d 5 endless ball guide groove e eccentrically in the surface of the ball head.

D

5

0

5