WO2001086170A1

WO2001086170A1 - Transmission with a rolling elimination device

Info

Publication number: WO2001086170A1
Application number: PCT/SK2001/000012
Authority: WO
Inventors: Martin GECÍK
Original assignee: Gecik Martin
Priority date: 2000-04-25
Filing date: 2001-04-24
Publication date: 2001-11-15
Also published as: SK284375B6; SK5952000A3; AU5694001A

Abstract

The transmission with a rolling elimination device, consists in the driving shaft (4) on which the satellite wheels (3.1) and (3.2) are revolving mounted on the axially adjustable - shifting elements (8). The satellite wheels (3.1) and (3.2) have a toothing formed on the face surface, which toothing is in engagement with the internal toothing of the basic wheel (2). On the slow-motion bearings (11) in the basic wheel (2) there is a slow-motion shaft (7) mounted in a rotating position, which is formed by connecting the left flange (7.1) and the right flange (7.2) by means of pins (5) into a fixed and rigid whole. Transmission of revolutions and the turning moment from the satellite wheels (3.1) and (3.2) onto the flanges (7.1) and (7.2) is achieved by means of a rolling elimination device (6). It consists in the first rolling path (6.2), the second rolling path (6.3) and the rolling element (6.1).

Description

Transmission with a rolling elimination device

Technical Field

The invention pertains to the transmission with a rolling elimination device. It solves the elimination of the eccentric motion of the satellite wheel and the transmission of the rotational movement and turning moment onto the output shaft or the transmission flange.

Background Art

One of the most frequently emerging requirements in standard engineering practice is the reduction of high revolutions and low turning moment of the driving device to low revolutions and high turning moment. This requirement is satisfied by transmissions of various types.

High transmission relations (1 :16 through 1 :250) may be most frequently found in the drives of industrial robots, in cutting tools, in air-conditioning and regulation devices, in aircraft industry etc. In the above fields, it is not appropriate or possible to employ the transmissions on the basis of traditional multi-gear transmissions, especially from the viewpoint of weight and size. This is why in the above field satellite-differential transmissions found their application.

In the transmission of the above type, the transmission emerges in such a way that along the internal toothing of the fixed wheel, a satellite wheel with spur gearing is rolled, which wheel is situated rotationwise in the middle on the eccentric part of the input crankshaft. The rotation axis of the crankshaft is identical with the fixed wheel axis. The turning of the input crankshaft causes the rolling of the satellite wheel along the internal toothing of the fixed wheel. After each turn of the input crankshaft by one whole turn the satellite wheel shall turn around its own axis by the tooth difference - the difference - between the satellite wheel and the fixed wheel. This turn is exactly the required effect of this transmission.

The biggest problem in this case, however, is the fact that the satellite wheel is mounted on the ex-centre, which is why its rotation axis is not identical with the input shaft axis, but keeps rotating along the circle with the radius of the eccentric stud eccentricity. Eccentricity in this way creates first a positive effect in the emergence of the transmission, and, at the same time, causes a negative effect in the transmission of the turnings and of the turning moment onto the output shaft or the flange. This is why it is needed to insert between the satellite wheel and the output shaft or the flange a device, which would eliminate such negative effect.

At present there exist several technological solutions, which in various manners eliminate the negative effect of eccentricity in the differential transmission.

The transmission according to SK patent file No. 277 969 consists in the fixed toothed wheel with internal toothing, along which several satellite wheels roll, the wheels being mounted on the eccentric pins of the central crankshaft. The central crankshaft is fit running in two flanges which are mutually fix and rigid connected and turn in slow-motion bearings, situated in the fixed wheel body. The inventor employed for the transmission of turnings and the turning moment from the satellites onto the output flanges several satellite crankshafts with eccentric pins, which are similar to the central crankshaft and are of equal values of eccentric positioning of eccentric pins as the central crankshaft. The satellite crankshafts are, in a way similar to the central crankshaft, situated in flanges and satellite wheels in regular distances and along the common pitch circle. In eliminating the negative effect of eccentricity, the inventor has thus employed an idea that if the problem is caused by eccentricity, it is eccentricity, which may solve it.

Despite the advantages, which this solution brings along, it also has several disadvantages. The biggest of the latter is the inevitability to produce, apart from the central crankshaft, also several pieces of satellite crankshafts for each of the transmissions. The production of such shafts is technically and economically very demanding and expensive. Since it is impossible to produce two absolutely identical parts, production deviations on the satellite crankshafts, especially the deviations from the mutual positions of the eccentric pins, bring undesirable tensions into the assembles transmissions, whereby causing irregular loading of the satellite crankshafts bearings. Another substantial disadvantage is the designing limitation of the diameter of the satellite crankshaft and the rolling elements to a limited, relatively small extent, and from this following decreased potential magnitude of the transmitted turning moment. The biggest disadvantage, however, is the impossibility to take up the space between the satellites and the output shafts.

Several other producers employ a solution for the elimination of the negative effect of eccentricity by employing roller pins and openings in the satellite wheels. Their transmission is basically identical with the above described transmission in that in consists of the fixed wheel with internal toothing, along which satellites roll, mounted on the eccentric pins of the central crankshaft. On one of the output flanges, along the common pitch circle, the roller pins are pressed in regular intervals with the pipe-like form bushes mounted. The satellite wheels have intermediate openings made, which are of the diameter corresponding to the diameter of the pipe-like pin bush and multiplied by a double of the eccentricity. The openings are formed on the same pitch circle and with identical pitch as the pins in the output flange.

In the assembled transmission, the external surface of the pin bush touches in a line contact the internal surface opening of the satellite wheel. With the eccentric movement of the satellite, the turning moment is being transmitted through contact surfaces between the bushes and the openings in the satellite wheels. The disadvantage of the given solution is especially the sliding friction between the bush and the pin and the problems related to lubricating. Since the bush must be turning on the pin, there must exist in this case between them at least a minimum of space, which is why this solution does not enable to take up the space between the satellites and the output flange.

The transmission according to SK patent file No. 278 966 is in substantial characteristics similar to the above mentioned transmission according to SK patent file No. 277 969, but it differs substantially in the way of transmitting the turnings and the turning moment from the satellite wheels on the flange output. For the sake of eliminating the negative effect of eccentricity, the inventor employed a device, which he entitled "A Cross-like Reduction Mechanism". This is basically a coupling in the form of an isosceles cross, formed of the central ring and four lobes in form of a rectangle, situated in regular pitches along the circumference of this ring. Side surfaces of the lobes create rolling paths, which through rolling elements of cylindrical form co-engage with rolling paths on the satellite wheel and the output flange in such a manner that the two opposite lobes co-engage with the rolling path on the satellite wheel and the remaining two opposite lobes co-engage with the path on the output flange. Two satellite wheels are situated in the transmission, thus also two cross reduction mechanisms.

Such designing solution, however, contains a lot of disadvantages. The employment of the cross reduction mechanism requires that a space be given in the transmission for its mounting, whereby the dimensions of the transmission increase. The opening in the reduction cross limits the path of the rolling paths for rolling elements, limiting in this way also the number and sizes of the rolling elements, through which the turning moment is being transmitted. The lobes for the formation of rolling paths on the satellite wheels and the output flanges are formed from one piece of material as a satellite wheel or an output flange. This is a useless waste of material and means an increased production price. The biggest disadvantage of the described solution is, however, a relatively heavy weight of the reduction crosses. At higher input revolutions, their inertia is manifested through an enormous increase loading of the central crankshaft bearings. The kinematics of the cyclical movement of the crosses will, in turn, cause excitation of the undesirable vibrations in the transmission, which may manifest themselves, for instance, by an amplitude movement of the arm of an industrial robot, in which such a transmission is employed. Moreover, the above described solution does not enable to take up spacing between the satellite wheels and the output flanges.

Description of the Invention

After a minute analysis of the existing technological solutions, the inventor has developed a transmission with a rolling elimination device, which eliminates the disadvantages of the existing solutions, and whose principle is an unconventional transmissions of revolutions and the turning moment from the satellite wheels onto the output slow-motion shaft.

The transmission consists in the basic wheel with internal toothing, in at least one satellite wheel with spur gearing, the driving crankshaft, several bearings, anchoring screws, and a rolling elimination device.

The basic wheel has an internal toothing made, along which at least one satellite wheel with spur gearing rolls. It is also possible to employ various kinds of toothing of this toothed couple. In the transmission body formed by the basic wheel, at least one slow-motion bearing is situated, which absorbs the loading forces and moments, which react to the output slow-motion shaft. Of course, there may exist an instance, when the loading forces and moments are transmitted by external bearings, which bearings are not part of the transmission, but that of the driven device.

On the slow-motion bearings, an output slow-motion shaft is situated opposite the basic body of the transmission. The output shaft is formed by two similar flanges. The flanges have, as a matter of rule, a passing circular opening formed in the middle, for mounting the driving crankshaft, further, they have at equal pitch diameter and within equal pitches spacing pitches formed, directed to the inside of the transmission. Through the flanges in the place of the spacing lobes, fit openings are provided for fit screws and bolts. By tightening the anchoring screws, the surfaces of the spacing lobes bear against each other, and a fixed and rigid slow-motion output shaft emerges from the flanges.

The satellite wheel or the wheels are situated in the space between the flanges in such a manner that they roll along the inner toothing of the basic wheel and are turning-like situated on the eccentric pins of the driving crankshaft by means of crank bearings. Apart from the central openings, the satellite wheels have also continuous openings formed, which have the identical pitch and the identical pitch circle as the distance lobes on the flanges, and their form enables a satellite motion of the wheels without touching or striking the surface of the distance lobes going through them.

The driving crankshaft has shafts formed on its body - eccentric pins of a circular cross section, which are in relation to the main axis of the shaft eccentrically mounted as to the axis by the value of the eccentricity. The value of eccentricity equals to the axis distance of the toothed couple employed. The number of the eccenters employed corresponds to the number of the satellite wheels employed. It is suitable that with the number of two or several more of the eccentric pins employed, these be turned against each other in such a way that they eliminate an unbalanced influence of the moving satellite wheels and other matters. The eccentric pins are, as a matter of rule, turned by 180° with two satellite wheels, by 120° with three-satellite wheels etc.

The elimination rolling device serves the purpose of transmitting the revolutions and the turning moment from the satellite wheels onto the output flanges of the slow-motion shaft. In the transmission it is required to employ at least one elimination rolling device. The device is very simple and consists of one rolling body, one rotational rolling path situated on the satellite wheel, and one rotational rolling path situated on the output flange. The rolling body is being rolled in the transmission along the rolling path, which situated on the satellite wheel, and at the same time it is being rolled along the identical rolling path situated on the output flange in such a way that in every moment the rolling body touches in at least one place of its rolling path the rolling path on the satellite wheel and, at the same time, in the opposite spot or in the places of its rolling path touches the rolling path on the output flange.

The most suitable form of the rolling element is the form of a ball. However, other rotational forms may also be employed, for instance the form of a ring or a disk, which has on its front surface a rolling path formed with a curve-like profile or the profile consisting of several curves and/or straight segments. The profile of the rolling path, borne by the flange and the satellite wheel, has a form corresponding to the form of the rolling element. In designing the profile of rolling paths, it is suitable to employ modifications of the rolling paths profiles, known from the design of rolling bearings due to the reason of reaching optimal rolling and lubrication.

The rolling paths belonging to each other on the satellite wheel and on the output shaft are situated in the equal level on the equal pitch circle. After assembling the transmission, there exists then between the axes of the rotation of the rolling paths an axis distance equalling the value of eccentricity of the given transmission. The rolling paths may be created directly in the satellite wheel body and the flange, or they may be advantageously formed on independent parts, which are mounted into the prepared openings during the assembly in the satellite wheels and the flanges. Independent parts, along with a single rolling element, may thus create a special rolling bearing, which only has one rolling element and two external rings.

The motion of the satellite wheel in the radial level consists in this type of the transmission of two basic motions - the eccentric motion along the circle having the diameter of eccentricity and a simple rotational motion of the satellite wheel around its own axis. The eccentric motion of the satellite wheel is produced by turning the driving crankshaft and the rotation of the satellite wheel around its own axis causes its rolling along the internal toothing of the basic wheel. At turning of the input crankshaft, the rolling element begins to turn simultaneously along both of the rolling paths and does not prevent in any manner the eccentric motion of the satellite wheel, One may thus say that the influence of the eccentric motion of the satellite wheel is not being transmitted onto the output flange and the negative influence of the eccentricity is being successfully eliminated. In rolling the satellite wheel along the internal toothing there emerges a turning of the satellite wheel in relation to the basic wheel. Its manifestation is the fact that the axis of the rolling path on the satellite wheel attempts to depart from the axis of the rolling path on the flange. It is the rolling element, however, which prevent the mutual shift of their respective axes, supported against both of the rolling paths. The result of their mutual action is the fact that the force impact emerging on the rolling path of the satellite wheel is being transmitted directly onto the rolling path on the output flange and the output flange is being turned in every case by equal angle value as the satellite wheel.

Mutual force action of the rolling element and the rolling paths provokes an axial component of the force, acting in the direction of the transmission. This axial component of the force is trying to push away from itself the rolling element and the rolling path in the flange, and equally so the rolling element and the rolling path on the satellite wheel. The result of its action is mutual pushing away of the flange and the satellite wheel. If two flanges are employed in the transmission, two satellite wheels and the rolling elimination device between each of the flanges and the satellite wheel, there emerge in the transmission on each of its sides axial forces, which are of equal size, but are contrary- wise oriented. The contrary- wise oriented axial forces cause holding down of the internal sides of the satellite wheels together. It is convenient to capture those axial forces in such a manner that the satellite wheels do not block each other and the transmission is allowed to work. The inventor has employed for capturing thereof crank bearings on the driving crankshaft, which are capable of capturing, apart from the axial loading, also the radial loading. Tapered roller bearings are one such suitable example, The axial force of one orientation is being transmitted through an external ring of the tapered roller bearing by means of rolling elements - tapered rollers - onto the internal ring of the tapered roller bearing. The internal rings of the tapered roller bearings touch each other on the faces of big collars, eliminating in this way the effects of the axial forces from the rolling elimination devices on both sides of the transmission.

The inventor made use of the existence of the force elements in the axial direction for creating another positive effect in the transmission. By shifting the rolling paths of the rolling elimination device in the axial direction, it is possible to very effectively space the output spacing between the satellite wheel and the output flange. In increasing the load of the transmission, elastic deformation increase in the places of contacts in the elimination rolling devices, whereby increasing the spacing - mutual turning away of the satellite wheel and of the output flange. This phenomenon has been removed by the inventor by creating a pre- stress in the contact surfaces of the rolling elimination devices. Pre-stress emerges in such a manner that after taking up the spacing between the satellite wheel and the output flange in a non-loaded sate of the transmission, the rolling paths of the elimination device are further exposed to a certain force in the axial direction in the non-loaded condition of the transmission. The most convenient way of reaching the pre-stress if the formation of a space between the contacting surfaces of the distance lobes of both of the flanges, After tightening firm the anchoring screws or pins, there emerges from both of the flanges a fixed and rigid whole and, simultaneously, there emerges in the rolling elimination devices the required pre- stress. Another possibility of reaching the pre-stress is separate shifting of the flange ring of the elimination device in a single flange by means of an axially adjustable element, e.g. a screw. The pre-stress formed in this way shall find its positive manifestation in the increase of rigidity of the slow-motion shaft and the entire transmission. The positive influence of the pre-stress shall be manifested also in crank bearings, in which it shall take up any eventual spacing between the satellite wheel and the driving crankshaft.

The life of the differential transmission is greatly influenced by the ability of all of the bearings on the driving crankshaft to transmit the radial forces both from the external loading of the transmission and the inertia forces from the moving matter - the satellite wheels and parts of the reduction mechanism. It is especially at high input revolutions of the driving crankshaft, when the radial acceleration achieves multiple of the gravitational acceleration. With increasing revolutions the radial element is rising of the inertia force from the weight of the satellite wheels and other moving matter. It is mainly the crank bearing which must transmit this radial inertia force. However, in the solutions existing so far in the differential transmissions, the dimensions and the loading capacity of crank bearings have been greatly limited by the designing solution of the mechanism for the transmission of the turning moment and the revolutions. In an endeavour to preserve a life long enough of the crank bearings, and the entire transmission, the other producers eliminate the input revolutions into the transmission and pre-gear one more single-gear transmission before the differential transmission. In the transmission, as per the described technological solution, the lack of space demands of the rolling elimination device, provides space enough for the use of high- quality, sufficiently sized and long-lastingly dimensioned bearings on the driving crankshaft.

The above-described concept of the transmission enables to transmit big moment and force loading. The transmissions constructed according to this concept may be smaller and lighter at equal or better parameters of action than the designs existing so far. Simplicity and easy-to-construct character of individual parts of the elimination device considerably increases the production costs of the entire transmission. The rolling principle of the elimination device increases the total effectiveness of the transmission and provides for a silent operation in the entire range of its working revolutions. Its dominant advantage is its ability to work smoothly and without any vibrations even at very high input revolutions.

A survey of figures in the drawings

Fig. 1 shows the essential arrangement of the transmission with a rolling device in the cross-cut plane, led through the transmission axis, through the axis of the rolling elimination device, and the pin axis.

Fig. 2 shows the cross-cut through the transmission with a rolling elimination device from Fig. 1, going through the right satellite wheel and perpendicular to the transmission axis.

Fig. 3 shows the transmission with the rolling elimination device in an illustrative disassembled axonometric view.

Fig. 4 shows a variant of the transmission, in which the rolling paths of the rolling elimination device are formed directly in the satellite wheel bodies and in the slow-motion bodies flanges.

Fig. 5 shows a variant of the transmission, in which a version of the elimination device is employed with a rolling element of a disk-like shape.

Fig. 6 shows the essential shape of the rolling elimination device.

Figs. 7 through 10 show some other variants of the rolling elimination device.

Fig. 11 shows the formation of spacing between the contact surfaces of the distance lobes of both of the flanges, required for making the spacing and formation of the pre-stress in the rolling elimination devices.

Fig. 12 shows another variant of the formation of spacing required for making the spacing and formation of pre-stress in the rolling elimination devices between the face of the distance pipe and the inner surface of a single flange.

Fig. 13 shows another way of specifying the spacing and formation of pre-stress in the rolling elimination devices by means of a double pin.

Fig. 14 shows making the spacing and formation of pre-stress in each of the rolling elimination devices independently by means of a spacing screw.

Fig. 15 shows a way of catching the axial forces by means of sliding surfaces on the satellite wheels.

Fig. 16 shows a variant of the transmission, in which the rolling elimination devices are also mounted between the satellite wheels.

Examples

The driving crankshaft 4 is equipped with a pair of eccentric pins of cylindrical shape, axially ex-centred by the value of eccentricity "e" and mutually turnable by 180°.On the eccentric pins internal rings of two taper roller bearings 8.1 are pulled on in such a manner that they touch each other on the heads of the big collars. On the external rings of the taper roller bearings 8.1 satellite wheels 3.1 and 3.2 are mounted. The satellite wheels have on their heads epicycloidal toothing formed. The essential wheel 2 has in its inner space internal toothing formed, created by axial grooves of a roughly half-round cross section. Into the grooves the replaceable engaging elements of cylindrical shape 13 are mounted, fulfilling the role of teeth of the basic wheel. Engagement elements are secured from each side against axial shifting by a big distance ring 12, by means of which spacing is made in the slow- motion bearings 11. The number of engagement elements 13 is by one piece more than the number of teeth on each of the satellite wheels 3.1 and 3.2. The slow-motion bearings 11 are of a taper roller type and their external rings are mounted in the openings of the basic wheel 2. On the slow-motion bearings 11 a slow-motion shaft 7 is revolvingly mounted. This consists in the left flange 7.1 and the right flange 7.2, which are inter-connected into a single whole by anchoring pins 5, going through the fitted openings in both of the flanges. On both of the flanges 7.1 and 7.2 distance pins 7.3 and 7.4 of a circular cross section are created, which with a spacing pass through the openings in both of the satellite wheels 3.1 and 3.2. On the inner sides of each of the flanges 7.1 and 7.2 cylindrical openings are formed, serving the purpose of mounting six rings 6.5 of the rolling elimination device 6. Equally so, on each of the satellite wheels 3.1 and 3.2 roller beds are formed for mounting six rings 6.4 of the rolling elimination device 6. Between the head of each of the rings 6.5 and the bottom of the bed in the flange 7.1 and 7.2 a spacing element 9 is situated. Between each of the respective pair of the rolling paths 6.2 and 6.3 of the rolling elimination device 6, a rolling element 6.1 in form of a ball is mounted. The driving crankshaft 4 is situated in the left flange of the slow-motion shaft 7.1 and in the right flange of the slow-motion shaft 7.2 by means of roller bearings 10. Between each of the roller bearings 10 and the taper roller bearings 8.1 there is a distance ring 14. The transmission is sealed by a sealing ring 15 and a cover 16 against the penetration of dirt and leakage of the lubricating medium from the transmission.

Another implementation of the transmission with a rolling elimination device is shown in Fig, 4. On both of the flanges 7.1 and 7.2 and both of the satellite wheels 3.1 and 3.2 no beds are formed for mounting the rings, but the rolling paths 6.2 are formed directly on the left flange 7.1 and the right flange 7.2 and the rolling paths 6.3 are formed directly on the satellite wheels 3.1 and 3.2.

The possibilities of the designing solution of the rolling elimination device are shown in Fig. 6 through Fig. 10. Each of the rolling elimination devices 6 consists in the first rolling path 6.2, the second rolling path 6.3 and the rolling element 6.1. The rolling paths 6.2 and 6.3 may be formed directly in the flanges of the slow-motion shaft 7 and/or in the satellite wheels 3.1 and 3.2. A more frequent instance shall be the creation of rolling paths 6.2 and 6.3 on the independent parts in form of rings 6.4 and 6.5, which shall be mounted in the beds formed in the slow-motion shaft 7 and/or the satellite wheels 3.1 and 3.2. Fig. 6 shows the rolling elimination device 6 with a rolling element 6.1 in form of a ball. The rolling element 6.1, shown in Fig. 7, has a form of a disk with a circular profile of its rolling path. To avoid turning over the rolling element by the effect of axial forces, the middle part of the profile of its rolling path must not lay on its axis of rotation. The rolling element 6.1 shown in Fig. 8 has the profile of its path dented in direction to its rotation axis. The rolling elimination device 6, shown in Fig. 9, differs from previous solutions in that apart from the rolling paths

6.2 and 6.3 the rings 6.4 and 6.5 have also support paths 6.6 and 6.7, against which the support path 6.8 of the rolling element 6.1 is leaning. The support paths prevent the rolling element 6.1 from turning over and keep it in the suitable working position. The rolling elimination device 6 as per Fig. 10 is characterised by the fact that the first rolling path 6.2 and the second rolling path 6.3 have their profiles created of two independent sections.

The transmission, in which the rolling elimination device with a rolling element in the shape of a disk is employed, is shown in Fig. 5. All of its remaining parts are identical with the transmission shown in Figs. 1 through 3. Taking up the spacing between the slow-motion shaft 7 and the satellite wheels 3.1 and 3.2 and formation of pre-stress in the rolling elimination devices 6 is made by tightening of the screws 5.2 and the bolt 5.1, which form the pin 5. Between the contact surface 7.4 of the distance pin 7.3 and the contact surface 7.6 of the distance pin 7.5 the spacing "d" is provided. This is formed in such a manner that after tightening the pin, the contact surfaces 7.4 and 7.6 sit firmly on each other and in the place of contact of the rolling paths 6.2 and the rolling paths 6.3 and the rolling elements 6.1 there emerges pre-stress. The space "d", the thickness of the distance rings 12 and the thickness of spacing elements 9 is suitably selected in such a manner as to achieve the required pre-stress only in the rolling elimination devices 6 and that in the slow-motion bearings 11 pre-stress is achieved and does not exceed the value prescribed for this type of bearings.

Another of the possible ways of connecting the flanges 7.1 and 7.2 of the slow-motion shaft 7 in a fixed and rigid whole, and at the same time a way of taking up the spacing and achieving pre-stress in the rolling elimination devices 6 is shown in Fig. 12. The flanges have no distance pins 7.3 and 7.5 created, but their role is fulfilled by the distance tube 17. We shall acquire the required state of affairs by tightening the pin 5 in such a manner that the value "d" shall equal 0. The third possible way of connecting the flanges 7.1 and 7.2 of the slow-motion shaft 7 into a fixed and rigid whole, and at the same time a way of taking up the spacing and achieving pre-stress in the rolling elimination devices 6 is shown in Fig. 13. A massive pin 5 formed by the pin body 5.4 and the pin head 5.3 fulfils the role of the distance pins 7.3 and 7.5 or the distance tube 17.

With the requirement of a separate taking up the spacing in each of the rolling elimination devices separately it seems suitable to employ the manner shown in Fig. 14. In one of the flanges 7.1 or 7.2, in the place for the ring of the rolling elimination device 6.4 threaded openings are provided, in which spacing screws 18 are screwed in. By tightening the spacing screws 18 we create axial force exerting its effect onto the rolling elimination device 6.

In implementing the technical solution as shown in Fig. 15, the satellite wheels 3.1 and 3.2 are mounted on the crankshaft 4 by means of the roller bearings 8.2, which do not transmit axial forces. Axial forces are in this case taken by the sliding surfaces 3.3 and 3.4, created on the satellite wheels 3.1 and 3.2, which slide on each other.

In implementing the invention as shown in Fig. 16, there is another group of the rolling elimination devices 19 inserted between the satellite wheels 3.1 and 3.2. They differ from the rolling elimination devices 6 merely by the dimensions, which take into account the double value of eccentricity between the axes of both satellite wheels.

Industrial Applicability

The field of employment of the transmission with the rolling elimination devices is very broad and includes the fields of robotics, construction of CNC machines, aircraft industry, air-conditioning and regulation devices, land transportation machines, lifts, and many other fields, in which transformation is required of high revolutions and the low turning moment to low revolutions and high turning moment at minimal weight of the transmission device and high kinematics precision.

Claims

1. The transmission with a rolling elimination device, consisting in the driving crankshaft, on at least one eccentric pin of which in a rotation-like manner at least one satellite wheel is mounted with external toothing in engagement with the internal toothing of the basic wheel, in which a rotation-like slow-motion shaft is mounted, against which the driving crankshaft is turning-like mounted, characterised by the fact that the slow-motion shaft (7) bears at least one of the first rolling paths (6.2) and the satellite wheel (3) bears at least one of the second rolling paths (6.3), between which a rolling element (6.1) is inserted.

2. Transmission with a rolling elimination device according to the claim 1, characterised by the fact that the satellite wheel (3) is turning-like mounted on the eccentric pin of the driving crankshaft (4) by means of the axially adjustable - shifting element (8).

3. Transmission with the rolling elimination device according to the claim 1, characterised by the fact that the first path (6.2) and/or the second path (6.3) is adjustable in axial direction.

4. Transmission with the rolling elimination device according to the claims 1 through 4, characterised by the fact that the left flange (7.1 ) and the right flange (7.2) of the slow- motion shaft (7) are interconnected by axially adjustable pins (5).

5. The method of taking up the spacing of the transmission with a rolling elimination device according to the claims 1 through 4 characterised by the fact that axial force is exerted onto the first path (6.3) and/or the second path (6.2).

6. The method of talcing up the spacing of the transmission with a rolling elimination device according to the claims 1 through 5 characterised by the fact that force is applied against the direction onto the left flange (7.1) and the right flange (7.2).

7. The method of taking up the spacing of the transmission with a rolling elimination device according to the claims 1 through 6 characterised by the fact that the axial force forms a pre-stress in the place of contact of the first rolling path (6.2) with the rolling element (6.1) and in the place of the contact of the second rolling path (6.3) and the rolling element (6.1).

8. Transmission with a rolling elimination device according to the claims 1 through 7 characterised by the fact that the axial force is taken by the contact of the sliding surface (3.3) created on the satellite wheel (3.1) and the sliding surface (3.4), created on the satellite wheel (3.2).

9. Transmission with a rolling elimination device according to the claims 1 through 7 characterised by the fact that the axial force is taken between the satellite rolling elimination device (19).

10. Transmission with a rolling elimination device according to the claims 1 through 7 characterised by the fact that between the slow-motion shaft (7) and the first rolling path (6.2) a spacing element (9) is inserted and/or between the satellite wheel (3) and the second rolling path (6.3) a spacing element (9) is inserted.

AMENDED CLAIMS

[received by the International Bureau on 25 September 2001 (25.09.01); original claims 1-10 replaced by new claims 1-11 (2 pages)]

1. The transmission, consisting of the basic wheel with internal toothing (2), the slow-running shaft (7) consisting in several flanges (7.1, 7.2) and turning-like situated against the basic toothed wheel (2) and at least one, in relation to the slow-running shaft (7), turn-like placed moving crank shaft (4), onto which at least two satellite toothed wheels and rotation-like are placed (3.1, 3.3), engaging into the internal toothing of the basic toothed wheel (2), characterised by the fact that each of both of the flanges of the slow-running shaft (7.1 or 7.2) carries at least one rotational rolling path (6.2) and, simultaneously, every toothed satellite wheel (3) on the side adjacent to the flange of the slow-running shaft (7.1 or 7.2) carries at least one rotational rolling path (6.2), whereas between each of the rotational rolling paths (6.2) carried by the flanges of the slow-running shaft (7.1, 7.2) and each of the opposite rotational rolling paths (6.3) carried by the toothed satellite wheels (3.1, 3.2) one rotational body of a rolling form is inserted (6.1) in such a manner that it touches at least in one place the rotational rolling path (6.2), carried by the flange of the slow-running shaft (7.1 or 7.2) and in the opposite place of its surface it touches at least in one place the rotational rolling path (6.3), carried by the toothed satellite wheel (3.1 or 3.2).

2. The transmission according to the Claim 1, characterised by the fact that at least one rotational rolling path (6.2), carried by the flanges of the slow-running shaft (7.1 or 7.2) and/or at least one rotational rolling path (6.3) carried by the toothed satellite wheels (3.1, 3.2) is created on a separate part (6.4, 6.5), conveniently of rotational form, which is inserted and in the axial direction shiftable in the body of at least one of the flanges of the slow-running shaft (7.1, 7.2) and/or in the body of at least one toothed satellite wheel (3.1, 3.2).

3. The transmission according to the Claims 1 and 2, characterised by the fact that the slow-running shaft (7) is created of two flanges (7.1, 7.2), interconnected by means of axially effective anchoring pins (5) for shortening or extending the distance between the rotational rolling paths (6.2, 6.3) carried by both of the flanges (7.1, 7.2).

4. The transmission according to the Claims 1 through 3, characterised by the fact that the spacing element (9) is inserted between the slow-running shaft (7) and at least one rotational rolling path (6.3).

5. The transmission according to any of the Claims 1 through 4, characterised by the fact that each of the toothed satellite wheel (3) is turn-like placed by means of a radial-axial crank bearing (8.1) on one of the eccentric pins of the driving crank shaft (4), whereas the internal ring of the radial-axial bearing (8.1) is shiftable against the driving crank shaft (4) in the axial direction and touches by its front another, equally so placed radial-axial crank bearing (8.1), on which another toothed satellite wheel (3) is placed.

6. The transmission according to any of the Claims 1 through 4, characterised by the fact that each of the toothed satellite wheels (3) is turn-like placed by means of a radial-axial crank bearing (8.1) on one of the eccentric pins of the driving crank shaft (4), whereas the internal ring of the radial-axial bearing (8.1) forms an integral part of the driving crank shaft (4).

7. The transmission according to any of the Claims 1 through 4, characterised by the fact that each of the toothed satellite wheels (3) is turn-like placed by means of a radial bearing (8.2) on one of the eccentric pins of the driving crank shaft (4) and, simultaneously, on each of its sides, adjacent to another toothed satellite wheels (3) carries at least one rotational rolling path (6.3), whereas between each of the rotational rolling paths (6.3) carried by one toothed satellite wheel (3) and each opposite rotational rolling path (6.3) carried to the other toothed satellite wheels (3) one rolling element of the rotational form is inserted in such a manner that it touches at least in one place of its surface the rotational rolling path (6.3), carried by one toothed satellite wheel (3) and in the opposite place of its surface it touches at least in one place the rotational rolling path )6.2), carried by the other toothed satellite wheel (3).

8. The transmission according to any of the Claims 1 through 4, characterised by the fact that each of the toothed satellite wheels (3) is turn-like placed by means of a radial bearing (8.2) on one of the eccentric pins of the driving crank shaft (4) and, simultaneously, on each of its sides, adjacent to another toothed satellite wheels (3.1, 3.2) sliding surfaces (3.3, 3.4) are created, which touch each other.

9. The manner of making the spacing between the slow-running shaft (7) and the satellite wheels (3) of the transmission according to any of the Claims 1 through 8, characterised by the fact that in the places of contact of the rotational rolling paths (6.2 and 6.3) and the rotational rolling elements (6.1) pre-stress is formed by means of the additional axial force.

10. The manner of making the spacing between the slow-running shaft (7) and the satellite wheels (3) of the transmission according to any of the Claims 1 through 9, characterised by the fact that additional axial force is created by means of anchoring pins (5), axially effecting the flanges (7.1, 7.2) of the slow-running shaft (7).

11. The manner of making the spacing between the slow-running shaft (7) and the satellite wheels (3) of the transmission according to any of the Claims 1 through 9, characterised by the fact that additional axial force is created by means of spacing screws (18), situated in the body of at least of the flanges (7.1, 7.2) of the slow-running shaft (7) and axially effecting the rotational rolling paths (6.2), created on separate parts (6.4).