JPH02503709A - transmission device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] transmission device The present invention relates to a transmission device that is unprecedented since the invention of gear type transmission devices, and is In the near future, the transmission device according to the present invention will be used in a wide range of technical fields as a gear type transmission device. It will replace it.

The object of the present invention is to solve the problem of the known harmonic-drive transmission (Harmonic-Drive). -Getriebe) and cyclo transmission (Cyclo -Getriebe) ) has a wider transmission range than conventional gear type transmissions, especially the deceleration range. It is an object of the present invention to provide a transmission device that is capable of transmitting a large amount of power.

The above object is achieved by a transmission according to claim 1 . Transmission according to the invention The main advantage of the device is that the transmission of power takes place by means of spheres, i.e. exclusively due to rolling friction. This means that power can be transmitted with high efficiency with almost no loss. 2 The transmission device according to the present invention provides an arbitrary speed increase ratio and speed reduction ratio, The lower reduction ratio can be obtained. Such a reduction ratio cannot be obtained with conventional reduction gears. It's something that didn't exist. Similarly, it is also possible to manufacture transmissions with fractional reduction ratios. It is. Manufacturing costs are low compared to those required to manufacture gear transmissions.

Embodiments and other advantages of the invention will now be described in detail with reference to the accompanying drawings.

Figure 1 is a front view of the transmission device according to the present invention, and Figure 2 is along the line ■-■ in Figure 1. Cross-sectional view.

Figure 3 is an end view of the driving part of the transmission device according to the invention, and Figure 4 is the casing. Figure 5 is a diagram of the flange fixed to the groove with various modifications of the spherical guide groove. A diagram showing the three driven parts partially divided, FIG. 6 is a sectional view of another embodiment of the transmission.

Figure 7 is a sectional view along the line ■-■ in Figure 6, and Figure 8 is a cross-sectional view along the line ■-■ in Figure 6. Cross-sectional view.

Fig. 9 is a sectional view of an embodiment of the transmission, Fig. 10 is a sectional view of a ■-type transmission, FIG. 11 is a diagram showing a transmission device with a modified example of the drive disk; Fig. 12 is a modification of the transmission shown in Fig. 11, in which the functional parts are based on kinematics. The figure which shows the modification example which is reversed when viewed from the perspective.

FIG. 13 is a diagram showing an embodiment of the wave-shaped groove of the transmission device illustrated in FIGS. 11 and 12. , Figure 14 is a diagram showing an example of a direct drive type thrust transmission device, Fig. 15 is an exploded view of the transmission device shown in Fig. 14, showing some functional parts in cross section. diagram, Figure 16 shows a transmission whose parts are kinematically reversed to those of Figure 15. exploded view, FIG. 17 shows a modification of the transmission device shown in FIG. 12.

Transmission device according to the invention illustrated in FIGS. 1, 6, 11 and 14 of the drawings In this embodiment, the driving rotation axis or the driven rotation axis 4 is aligned with the axis of the casing 1. (see especially Figures 1 and 2). Inside casing 1, A drive part having the shape of a ring-shaped disc 2 and a ring disc as well. A driven part having the shape of a hook 3 is supported. Drive disk 2 is a rotating shaft It has a circular guide groove 9 eccentric to the line (see especially Figures 3 to 5). , the driven disk 3 has an endless guide groove 14 on the end surface on the drive disk side. proposal The inner groove 14 guides the sphere 11 (see Figures 1 and 2) used for power transmission. and consists of a curved section centered on the axis of rotation.

A flange fixed to the casing is provided between the driving disk 2 and the driven disk 3. 6 is provided. The flange 6 compensates for the eccentricity of the spherical guide groove 9 of the drive disk 2. A compensating radial elongated hole guide portion 10 is provided. The quantity of the elongated hole guide part 10 is Basically, it is optional.

With the transmission shown, power can be transmitted only by rolling friction and therefore without losses. This can be done via the sphere 11. In this case (especially from Figures 3 to 5) Reference) The individual spheres 11 guided in each elongated hole guide part 10 are the balls on the drive side. Since the body guide groove 9 is eccentric, it reciprocates in the elongated hole guide section 10 in the radial direction. child The movement is forcibly given by the cooperation of the radial elongated hole guide part 10 and the eccentric groove 9. Due to the return movement, the sphere 11 exerts a tangential force on the groove wall.

This tangential force causes the driven disk 3 to rotate in the opposite direction to the driving disk 2. . In this case, all the elongated hole guide parts 10 are not only covered by the eccentric groove 9 but also It is also covered by the groove 14 on the driven side. The groove 14 on the driven side is If so, the eccentric groove 9 and the oblique angle of the drive disk 2 can be adjusted at all cover points due to the waveform shape. has been completed. Similarly, all the elongated hole guide portions 10 form an oblique angle. the result, All the parts that are guided (sealed) at the intersection of the groove 9°14 and the elongated hole guide part 10 The spheres 11 are always engaged in a form-restricted manner, that is, the power transmission is performed over a large basic cross section. It is done on the surface. Therefore, the transmission device according to the present invention can be used, taking the transmission of equal torque as an example. If the It can be constructed much more compactly than conventional gear transmissions. In response to this Therefore, the transmission device according to the present invention (its installation and size is compared to the conventional transmission device) ) and extremely large (essentially unlimited) torque. Transmit. A power transmission line (spherical waveform track guided by eccentric grooves and slits) is required. The same driving or driven part, if not sufficient to transmit the required power. (in some cases, increase the size appropriately) other power transmission lines with the same pitch as 1 One or more may be arranged.

The production of the transmission according to the invention is simple. In high demand.

Therefore, by using highly cost-effective spheres, we can create ball guide grooves and slotted hole guides. Just mill the part.

Spherical guide grooves and slotted hole guides require special processing, unlike gear transmission teeth. I don't. Even if the ball guide track must be machined during operation, the ball can be easily compensated for by replacing it with a larger sphere suitable for machining. can. Therefore, the transmission according to the invention has a significantly longer service life than conventional transmissions. It can be made longer.

The transmission ratio of the transmission according to the invention can be selected arbitrarily as an integer ratio. transmission la The relationship between the number of spheres 11 provided in the inlet, the number of waveforms of the waveform grooves, and the transmission ratio is as follows: U=(W-K)/W Represented by Here, W is the number of waveforms in the guide groove 14 on the driven side, and According to recent research, it is the number of bodies or the number of radial guide slits, which is 1 and (w +1). All the spheres used in this way transmit power at all times. Even if only one sphere is used (the transmission occupies the dead center position) It is advantageous to use at least two spheres to prevent , the function as a transmission device is fully fulfilled. In this case, the value is negative from the above formula. (K is greater than W), the driven part is in the opposite direction to the driving part. In a transmission device where the force rotates to a positive value (K is smaller than W), the driven part The direction of rotation of the driving part and the rotation direction of the driving part are the same.

Based on this background, the transmission device according to the present invention is calculated as follows. deceleration story For a moving device, first, determine the length of the base circle and the length of the circle surrounding the wave groove 14 of the driven part 3. ) by the desired transmission ratio, the pitch, that is, the pitch of one waveform of the waveform groove 14 Calculate the length. The number of spheres 11 to be used can be obtained from this calculation result, and the number of spheres 11 to be used can be obtained. Thus, the pitch (w+i) of the slits 10 of the flange 6 is obtained. In contrast, For high speed transmissions (K is smaller than W), the respective speed increasing ratios should be taken as integer ratios. In this case, the increase ratio is a fraction (not a !1 number). We can also expect to manufacture high-speed transmission devices.

For the above reasons, the slope of the flank of the corrugated groove 14 is determined in each case by the transmission. It can be arbitrarily selected from a wide range depending on the requirements. As a result, the slit 10 and the drive section The eccentricity of the 2-minute groove can be obtained naturally, and other parameters, especially the sphere of the corrugated groove 14 Guidance can be obtained indirectly through simple mathematical relationships. Other paras There is no need to consider the meter. Other parameters are, for example, conventional gear transmission The relationship between the driving part and the driven part is limited to a partial circle as in the case of a transmission device, and the structure of the transmission device is This is a parameter that takes away the arbitrariness in determining the structure. Therefore , which could not be achieved with conventional reduction gears. Transmission with reduction ratio from 9=1 or less to 2:1 Even dynamic devices can be manufactured without difficulty. This leads to other important advantages of the invention. becomes clear. That is, when the transmission device according to the present invention is used, a drive with a small shaft rotation speed can be achieved. The same rotational speed as the transmission shaft of a conventional transmission can be obtained using the transmission.

Figures 5A through 5C illustrate examples of usable waveforms. Fifth Figure A shows a zigzag shape 14a made of a straight line and a waveform 14b with a crushed tip, FIG. 5B illustrates a guide groove with regular waveforms 14c and 14d of different wave numbers. It is something that If the wave numbers of waveforms 14c and 14d are made smaller, the result shown in Fig. 5C is obtained. As shown in FIG. When further deformed, it becomes an ellipse.

The transmission according to the invention can be used as a single-stage transmission or as a multi-stage transmission. , or (in various fundamentally different embodiments) as a multi-stage transmission. can do. This type of multi-speed transmission shown in Figures 6 to 8 In this case, a number of driven parts corresponding to the number of stages are prevented from rotating relative to each other by one sphere 11. It is formed from coupled driven discs 21.22, 23, 24.25. Drive The driven disks 21, 2 are smaller than the preceding driven disk in the dynamic coupling. 2, 23, 24, and 25 each have one corrugated groove, and the corrugated groove has a desired reduction ratio. Equipped with wave number 2 corresponding to The hollow shaft passes through the circular hole of the driven disk and flange 6. 26 is extended. The hollow shaft 26 is in the plane of the driven disk (see especially FIG. 7). ), a set of spheres 21a, 2 which retract into the driven part in the radial direction and release the connection. 2a.

23a, 24a, 25a, and the hollow shaft A sliding cam 27 as a transmission member is guided within 26. The sliding cam 27 is cam ridges 21b, 22b, 23b, 24b which are stepped around the periphery; There is. By sliding the sliding cam 27 in the axial direction, one of the driven discs becomes hollow. In the illustrated example, a driven disc 25 and a cam are connected to the shaft 26 so as not to rotate relative to each other. ridge 24b), so that the sphere 25a is inserted into the sphere retaining hole 24c of the driven disc 24. It is press-fitted and held here. On the other hand, the other spheres 21a, 22a, 23a, 24a are In the example in Figure 1, where everything is in a free state, the driven disc is installed inside the casing 1. It is supported by a support member 28. The support member 28 is a transmission device that transmits large power. It is only necessary for transmissions that transmit small amounts of power.

The transmission device configured in this way has a simple structure, and the sliding cam can be moved by hand or by a push-pull. Shifting can be done simply by adjusting the position in a linear manner using program control, making shifting operations easy. An example of use for which the transmission according to the invention is particularly suitable is a vertically elongated This is the case in situations where only a transmission device can be installed. Driven disk in stages Moreover, since the direction of rotation changes when switching continuously, the transmission device according to the present invention can be used in the opposite direction. It can be constructed as a multi-stage transmission with any number of stages for transmitting power in the direction.

For this purpose, a guide slit is provided to guide the power transmission sphere in the radial direction. Any number of driven discs can be connected to each other via flanges fixed to the casing. It is sufficient to connect the eight driven disks so that they cannot rotate relative to each other. It has one eccentric groove on the end face on the driving side and one corrugated groove on the end face on the driven side. Ru.

On the other hand, in a preferred embodiment of this type of transmission, the successive transmission ratios are different. In front of the driven disks 2.1, 22, 23゜24, there is a are each provided with a reversible disk 3o (see also FIG. 8). reversible dis The ring disc 30 has one concentric spherical guide groove 32 on each end face. an eccentric support formed by a ball ring 31 and guided between ball rings 33 and 34; Supported by wood. On the other hand, the reversible disk 30 has a flange located behind it. 6, the driven disk 22 has a concentric spherical guide groove 36 on the drive side end face. At the same time, the driven side end surface is indirectly engaged with the ball 11 to transmit power. Through the driven disk 21 and the other sphere group 37, which are provided with a concentric sphere guide groove 38, and engage to transmit power.

Reversible disks do not directly reduce the power for driving purposes, but the rotation of the driven disk Reverse the direction in a 1:1 ratio.

The sliding cam 27 is formed as a shaft rotatably supported within the hollow shaft 26 and is rotated. The one-turn support member 42 connected to the switching slider 41 by the support member 42 is , a group of links guided axially in the hollow shaft 26 [[43] are fixed. this In this case, the hollow shaft 26 is provided with a radially extending elongated hole guide 44, and the linkage 43 is A guide pin 45 protruding into the elongated hole guide portion 44 is provided.

In the position shown in FIG. 24b.

By moving the operating lever 41 in the axial direction from this state, the sliding cam is 27 to the left in the axial direction, the first stage (first gear) of the transmission alignment position if) is turned on. As a result, the cam protrusion 24b first prevents the cam from being driven. In this state, it is removed from the area of the sphere 25a, and then reaches the area of the sphere 24a. child As a result, the sphere 24a is locked in the sphere holding hole 24c. In this way, the driven data The disc 24 and the hollow shaft 26 are rotationally coupled. At this time, the hollow shaft 26 is It is driven at a rotational speed given by the driven disk 24. At this time, sliding cam 2 7 rotates together with the guide pin 45, but there is no reaction due to the connection via the rotation support member 42. The action is not transmitted to the switching slider 41, and the switching slider 41 is further If you move it in the direction, you can advance the gear stage (meshing position) further. Wear. As a result, the next spherical connecting portion can be opened while the spherical connecting portions 24a and 24b are released. 23a, 23b can be connected in the same manner, and the hollow shaft 26 is connected to the driven disk. is driven at a deceleration speed given by . The driven disk 25 is the driven disk 2 1 to 24 is that a reversible disk for commuting is installed in front of the driven disk 25. This is something that has not been ignored.

Other embodiments suitable for use cases where the mounting width is relatively large and the mounting length is short. (See FIG. 9), the drive disks 50 include a plurality of drive disks 50 extending to intersect with each other. The flange 54 is provided with eccentric spherical guide grooves 51, 52, 53. The number of radial slits 55, 56, 57 corresponds to the number of guide grooves 51, 52, 53. It is equipped with The radial slits 55, 56, 56, 57 are respectively spherical 58, It is for guiding 59°60. Each sphere 58, 59°60 is independent from each other 0 individual driven links meshing with driven discs 61, 62, 63 which are rotatable to The drives have different reduction ratios for a common drive, and the driven devices and known For example, an embodiment corresponding to the driven device shown in FIG. It can be connected using a magnetic clutch, etc. This example shows how much space is required for installation. The width of the gap, speed increase range, and power transmission are so excellent that they can hardly be evaluated. It is a moving device.

In a modification of the above embodiment, the driving disk 50 also has driven parts 61, 62, 63. It can be divided in the same way.

The resulting drive ring disc is driven by an electromagnetically controlled sliding cam, for example. It can be connected to a motor. This variant is suitable for example for automatic transmissions. Only one ring disc rotates at any given time on both the drive and driven sides. The advantage is that there is no need to connect the clutch in series. Furthermore, normal shaking A dynamic disc can be used as the drive disc of this transmission.

The transmission device according to the invention is a type transmission device (νinke1getriebe). It can also be implemented. For this reason (see Figure 10) the driven part is rotatably supported. at least one endless sphere having at least one driven pin 72 held therein; It is formed from a ball head 75 equipped with a guide groove 73, while the drive disk is It is formed from a ring disc 76. The circular hole of the ring disc 76 is the surface of the sphere. It corresponds to the contour of the surface. The ring disc 76 serves as a spherical guide for the ball head 75. Sphere holding hole 77 for holding at least one sphere 78 guided in groove 73 In the example shown in FIG. drives extending concentrically around the center of the At minute 76.76a, a corresponding number of spheres 78 are guided. Driven angle is right angle A ball that extends eccentrically on the surface of the ball head in order to adjust the transmission gear that is different from the A body guide groove can also be provided.

The guide groove 9 is similar to the embodiment shown in FIGS. It can be formed directly on the screen 2. This is especially true for slow drives. On the other hand, it has a great effect when used in high-speed drive machinery. In the embodiment (see FIG. 11), the guide groove for guiding the sphere 11 is formed by the compensating ring It is set in. The compensation ring 16 of the drive disk 2 It is supported by a spherical retainer 17 that supports it in the axial direction. If you configure it like this , the motion in the radial direction of the sphere involved in power transmission is equivalent to the rotational speed of the drive part. - Drives the rotation of the force compensation ring 16, that is, the rotation of the guide groove 9 itself. It becomes possible to reduce the rotation speed of the driven part on the side.

Due to the rotational reaction transmitted from the driven disk 3 to the compensation ring 16 via the sphere 11, Therefore, the rotation of the sphere of the sphere holder 17 is relatively slowed down by the number of rotations of the driven part. Become. Correspondingly, therefore, the frictional forces and shocks caused by the high-speed drive discs are The impact force is reduced and therefore wear is reduced, and the working efficiency of the transmission is even greater. Become. Almost the same effect as this can be achieved by creating an eccentric groove on the drive disk and designing one sphere 11. A guide groove 9 to be inserted into the compensation ring is provided (concentrically on both sides), and the compensation ring The compensation ring is radially supported in the eccentric groove of the drive disk 2. An embodiment in which the ball is supported by a spherical holder is obtained.

To further reduce wear, especially to ensure smooth operation of the transmission The embodiment shown in FIG. 12, which is an improvement over the embodiment shown in FIG. 11, is advantageous. this In the embodiment, the compensation ring 91 is spherically supported on the drive part 2.

Instead of a circular guide groove, a wave-shaped groove 9 is used to guide the sphere 11 that transmits power. It has 2. The waves of the corrugated groove 92 are as follows.

height corresponding to the height of the waveform trajectory 94 provided on the opposing functional part) and the waveform It has a wave number (pitch) different from that of the orbit 94, in this case, from a kinematic perspective. 11, the functional part with the corrugated groove 94 is attached to the casing. It is formed by a fixed flange 93, has an elongated hole guide part 1o on the other hand, and has a compensating ring. The ring flange engaged between the ring 91 and the flange 93 fixed to the casing The flange 6 is provided on the driven part 95. With this example (of course the central (This is the case when large passageways are not provided).

The follower can be configured radially. In the embodiment of FIG. 11, the compensation ring 16 can have the same configuration as ring 91 of FIG. 12, i.e. instead of a circular groove. In addition, a corrugated groove can be provided for guiding the sphere 11.

Two corrugated grooves are illustrated in FIG. These wavy grooves are shown in Figures 11 and 11. 12 shows a diagram that can be used in combination in the transmission shown in Figure 12. In the example.

The wave-shaped groove 96 of the compensation ring 91 and the wave-shaped groove 97 of the flange 95 transition to each other at an acute angle. It has waves. The wavy grooves 96 are concavely curved, and the wavy grooves 97 are convexly curved. There is. However, the shape of both wave-shaped grooves may be curved concavely corresponding to the wave-shaped groove 96. .

In the embodiments shown in FIGS. 14 to 17, the axis of the driving part and the axis of the driven part are aligned (see Figures 14 and 15), and the driven part is shaped by the shaft 81. The drive part is formed by a sleeve 83 surrounding the shaft 81. Ru. The sleeve 83 has an endless guide on the surface on the shaft 81 side that extends diagonally around the circumference. The shaft 81 has a groove 82, and the shaft 81 has an endless guide groove 84 consisting of a curved portion. guidance The groove 84 is for guiding a sphere 85 that transmits power. sleeve 83 A sleeve 86 is provided between the shaft 81 and the shaft 81 and is fixed to the casing. vinegar Reeve 86.

An arbitrary number of spherical guide grooves 82 of the sleeve 83 whose working heights in the axial direction coincide with each other. It has an elongated hole guide portion 87. The elongated hole guide portion 87 has a sphere 85 that is connected to the rotation axis of the transmission device. Prevents rotation around the line. This embodiment is directly driven by the motor shaft. This is a particularly simple and space-saving embodiment of a transmission device, for example a motor. When firmly fixing the flange sleeve 86 to the case, the sleeve 83 can be flange-bonded to the motor shaft. This way, the motor cable The rotation speed of the driven shaft 81 protruding from the motor is higher than that of the shaft end of the motor.

The embodiment shown in FIG. 16 is different from the embodiment shown in FIGS. 14 and 15 in terms of kinematics. is reversed, and the shaft portion 81a forms a drive portion with an oblique guide groove 82. , the sleeve 83a forms a driven part with a corrugated groove 84.

FIG. 17 is a modification of the embodiment shown in FIG. 13.

In this variant, in order to double the cross section of the power transmitting sphere, two power A transmission line is provided. The power transmission line consists of two diagonally extending grooves 82. Two corrugated grooves 84, each with two spheres 85. and a slit row 87 with the same pitch. It consists of. The number of power transmission lines can be increased appropriately.

The operation of the above modification corresponds to the operation of the embodiment illustrated in FIGS. 1 to 5. There is. In certain applications, by directly relating the shaft as a drive part, , a compact configuration can be obtained. In addition, the figures from Fig. 11 to Fig. 17 are The embodiments shown also apply the requirements described in connection with the embodiments of FIGS. 6 through 9. Accordingly, it can be appropriately constructed as a transmission.

q) international search report ''ll*'IA18mla*11m, PCT/EP 88101071-2 -1Tn+ml"a"""-""'"=PCT/EP8!1101071

Claims (1)

[Claims] 1. Each is supported within the casing so that it can rotate around its central axis. In a transmission device having a driving part and a driven part, the driving part (2, 76, 81 ) is provided with a circumferential groove (9, 77, 82), and a driven part (3, 75, 83) is a driven part. an endless groove (14, 15, 73, 84) extending across the circumferential groove; In these grooves, the spheres (11, 78, 85) that transmit power are rotated by the driven part. Transmission characterized by being guided in a spherical manner so as to perform a rotation different from an angular one. Device. 2. In order to configure the transmission so that the drive axis and the driven axis are aligned, the drive part and the driven part are each formed from one disk (2, 3), the driving disk (2) is provided with a circular guide groove (9) extending eccentrically with respect to the rotation axis, and the driven part (3) is a curved portion aligned with the axis of rotation on the end face of the drive disk (2). comprising guide grooves (14, 15) for guiding the sphere (11) made of , a flange fixed to the casing between the driving part (2) and the driven part (3) (6), which flange (6) is located in the spherical guide groove (9) of the drive part (2). Equipped with an arbitrary number of radial elongated hole guides (10) overlapping the eccentricity, The hole guide (10) prevents the sphere (11) from rotating around the axis of rotation of the transmission. 2. The transmission device according to claim 1, wherein 3. The transmission is configured so that the drive axis and driven axis are aligned, so the driven part a sleeve formed by a shaft (81) and whose driving part surrounds said shaft (81); (83), or conversely the drive part is formed by the shaft (81a). and the driven part is shaped by a sleeve (83a) surrounding the shaft (81a). In this case, the driving part has an endless section on the surface of the driven part that extends diagonally in the circumferential direction. A guide groove (82) is provided, and the driven part guides the sphere (85) that transmits power. It is equipped with an endless guide groove (84) consisting of a curved part to allow the sleeve (83) A sleeve (86) fixed to the casing is provided between the shaft (81) and the sleeve (86). The sleeve (86) is arranged in the axial direction of the spherical guide groove (82) of the sleeve (81). Equipped with an arbitrary number of elongated hole guides (87) parallel to the axis that coincide with the working height, The sphere (85) is rotated around the rotation axis of the transmission by the elongated hole guide (87). The transmission device according to claim 1, characterized in that the transmission device is configured such that the transmission device does not rotate. 4. The guide groove of the driven part (3, 83) is formed by a corrugated groove (14), and the waveform The groove (14) has an amplitude (wavelength) that corresponds to the length of the elongated hole guide (10, 87) in the radial direction. high) and a number of waves different from the number of elongated hole guides (10, 87) guiding the sphere. The transmission device according to claim 2 or 3, characterized in that it has a. 5. Three guide grooves of the driven part (3) are aligned with the rotation axis (8, 9). by a polygonal groove or an elliptical groove consisting of circular parts (15a, 15b, 15c). Transmission device according to claim 2, characterized in that it is formed. 6. A guide groove (9) for guiding the sphere (11) is provided in the compensation ring (16). and the compensation ring (16) is a ball bearing of the drive part (2), advantageously comprising a compensation ring (16). The ball bearing (17) supports the rod (16) in the axial direction. Transmission device according to any one of claims 2 to 5, characterized in that: 7. The groove provided in the compensation ring (16) is formed as a corrugated groove, The height (amplitude) of the wave of the wave groove corresponds to the height of the wave groove (14) of the driven part (3) and a wave number (pitch) different from that of the wave groove (14). , a transmission device according to claim 6. 8. From a kinematic point of view, it has the opposite configuration, i.e. the compensation ring of the drive part (2). A corrugated groove (94) cooperating with a corrugated groove (92) provided in (91) is fixed to the casing. The compensating ring is arranged on a fixed flange (93) and has an elongated hole guide (10). The rib that protrudes between the ring (91) and the flange (93) fixed to the casing. flange (6) is arranged on the driven part (95). Transmission device according to any one of claims 1 to 4. 9. Compensating ring (91) and flange (95) or corrugated groove ( 96, 97) have a shape that transitions to each other at an acute angle, in this case one of the wave grooves (96) is curved concavely and the other waveform groove (97) is curved convexly, or both waveforms Claim 7 characterized in that the groove (corresponding to the corrugated groove 96) is concavely curved. or the transmission device according to 8. 10. Fixed to the driving part and driven part (2, 3, 81, 83) and the casing The flange (6) is connected to a spherical guide groove (9, 82) extending concentrically or in parallel, or corrugated grooves (14, 84) or corresponding number of radial slots for guiding spheres; Claims 1 to 9 include a plurality of guide parts (10, 87). The transmission device according to any one of . 11. To form a transmission, the driven part consists of a number of balls corresponding to the number of switching stages. Driven disks (21, 22, 23, 24, 25), and the driven disk has a waveform trajectory with different wave numbers. a hollow shaft (26) passing through the driven disc; In the plane of the moving part, a set of spheres (21a) retractable radially into the driven part. , 22a, 23a, 24a, 25a). and a sliding cam (27) as a switching member is guided within the hollow shaft (26). , the sliding cam (27) has cam protuberances (27) extending at stepped intervals around the periphery thereof. 1b, 22b, 23b, 24b, 25b), and moves the cam protrusion in the axial direction. By rotating one of the driven disks (25) to the hollow shaft (26), the relative rotation is fixed. The corresponding sphere (25a) is connected to all other spheres (21a, 22a). , 23a, 24a) is attached to the sphere (25a) in a state where the cams are free. It is locked in the spherical hole of the driven disk (25) by the raised part (25b), and in this position Any one of claims 1 to 10, characterized in that: Transmission device described in. 12. The driven disks (21, 22, 23, 24) arranged one after the other are A reversible disk is installed in front of the driven disk (21, 22, 23, 24) to rotate the 12. Transmission device according to claim 11, characterized in that a gearbox (30) is provided. . 13. A case equipped with a guide slit to guide the sphere that transmits power in the radial direction. The driven discs are prevented from rotating relative to each other through a flange fixed to the The driven discs each have an eccentric groove on the driving side end surface, and the driven disc has an eccentric groove on the driving side end surface. The transmission device according to claim 1 or 12, characterized in that the transmission device has a wave-shaped groove on the surface. Place. 14. The reversible disk (30) has one concentric spherical guide groove (3) on each end face. formed by a ring disc (31) with a ring disc (31) having a 1) is an eccentric disc (35) guided between ball rings (33) and (34). ), and the flange (6) located behind it is supported by an eccentric support member consisting of The driven disk (2) has a concentric spherical guide groove (36) on the drive side end surface. 2) and the sphere (11) to transmit power, and at the same time, A driven disk (21) with a concentric spherical guide groove (38) on the driving side end surface and other A claim characterized in that power is transmitted through engagement through a group of spheres (37). The transmission device according to item 11 or 12. 15. The sliding cam (27) is rotatably supported within the hollow shaft (26) as a shaft. colored and connected to the switching sliding body (41) by the rotation support member (42). , the rotary support member (42) is a linkage device guided axially within the hollow shaft (26). Any one of claims 11 to 14, characterized in that it is fixed to (43). The transmission device according to any one of the above. 16. The hollow shaft (26) is provided with a joint elongated hole guide (44) in the radial direction, and the link The device (43) includes a guide pin (45) passing through the elongated hole guide (44). 16. Transmission device according to claim 15, characterized in that: 17. The drive parts (50) extend in communication with each other to form a transmission. It is equipped with a plurality of eccentric spherical guide grooves (51, 52, 53), and has a flange (5). 4) is the sphere (58, 59, 6) that overlaps the sphere guide groove (51, 52, 53). 0) Connect the guide radial slits (55, 56, 57) to the spherical guide grooves (51, 52, 53), and each sphere (58, 59, 60) can rotate independently of each other. Claim 1 characterized in that it is engaged in a driven disc (61, 62, 63). 10. The transmission device according to any one of 10 to 10. 18. The driving disk (50) is divided corresponding to the driven parts (61, 62, 63). The driving part is connected to the motor via an electromagnetically controlled sliding cam. Transmission device according to claim 17, characterized in that. 19. For the formation of a V-type transmission, the driven part is at least rotatably supported. also has one driven pin (72) and at least one endless spherical guide groove (73). ) with a ball head (75), and the driving part is a ring disc. The inner hole of the ring disk (76) has a spherical contour. , and is guided by the spherical guide groove (73) of the ball head (75). It is characterized by having a sphere holding hole for holding at least one sphere (77). The transmission device according to claim 1. 20. A sphere guide groove (73) extends concentrically around the center of the ball head (75). 20. Transmission device according to claim 19, characterized in that the transmission device is extended. 21. A plurality of spherical guide grooves (73, 74) intersect at two common intersections, The spherical guide groove (73, 74) extends concentrically around the center of the spherical head (75). A corresponding number of spheres (78) are guided within the drive part (76). 20. Transmission device according to claim 19, characterized in that: 22. The other drive part (76) is connected to the first drive part (76) in a relatively non-rotatable manner. a) is provided, and both spherical guide grooves (73, 73a) are provided in the other drive part (76a). ) is supported in power transmitting engagement with one of the spheres (78). Transmission device according to claim 21, characterized in that: 23. It is characterized by an endless spherical guide groove extending eccentrically on the surface of the ball head. The transmission device according to claim 21.