WO2023174656A1

WO2023174656A1 - Drive comprising a transmission driven by an electric motor

Info

Publication number: WO2023174656A1
Application number: PCT/EP2023/054445
Authority: WO
Inventors: Markus Lutz; Ingo SCHÜTTERLE; Torsten Koker; Markus Wöppermann; Sascha HALLER
Original assignee: Sew-Eurodrive Gmbh & Co. Kg
Priority date: 2022-03-15
Filing date: 2023-02-22
Publication date: 2023-09-21
Also published as: DE102023000621A1

Abstract

The invention relates to a drive comprising a transmission driven by an electric motor, wherein a drive shaft of the transmission has multiple eccentric regions with differing widths in the axial direction, wherein the high points thereof are offset relative to one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disc region, in particular a housing part of the transmission, wherein respective rollers are accommodated in respective recesses of a cage and arranged with a radial degree of freedom, wherein the cage is rotationally fixed to the output shaft of the transmission, wherein the output shaft, along with the cage, is rotationally fixed both relative to the cam disc regions and relative to the drive shaft, wherein, during operation, the respective rollers are made to roll and/or slide on the respective cam disc region by the respective eccentric region, wherein the eccentric regions are arranged behind one another in the axial direction in such a way that the dynamic imbalance is minimised and/or eliminated.

Description

Drive, comprising a gear driven by an electric motor

Description:

The invention relates to a drive having a transmission driven by an electric motor.

It is well known that in an epicyclic gearbox, planet gears mesh with a sun gear and a ring gear.

From DE 39 06 053 A1 the closest prior art is a transmission in the manner of a voltage wave transmission.

A reduction bearing with an electric motor is known from US 2017/0 063 193 A1.

A control system for a vehicle is known from WO 2019/186 330 A1.

A transmission is known from DE 10 2013 011 799 A1.

The invention is therefore based on the object of designing a transmission with a high ratio, high transmitted torque and high torsional rigidity in a compact and stable manner.

According to the invention, the object is achieved in the drive according to the features specified in claim 1.

Important features of the invention in the drive are that the drive has a gear driven by an electric motor, a driving shaft, in particular a hollow shaft, of the gear having several eccentric regions of different widths in the axial direction, the high points of which are offset from one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disk region, in particular a housing part of the transmission, with respective rollers being accommodated in respective recesses of a cage and arranged with a radial degree of freedom, in particular being able to move back and forth radially, in particular wherein the respective recesses are radially continuous are formed by the cage and are evenly spaced apart from one another in the circumferential direction, in particular wherein the cage is connected in a rotationally fixed manner to the driving shaft, wherein the cage is connected in a rotationally fixed manner to the driving shaft of the transmission, in particular in one piece, in particular in one piece, wherein the driving The shaft together with the cage is rotatably mounted both relative to the cam disk areas and relative to the driving shaft, whereby during operation, in particular when the driving shaft rotates, the respective rollers are or are forced by the respective eccentric area to roll and/or slide on the respective cam disk area, in particular, the widths B_i of the eccentric areas and the circumferential angle positions a_i of the high points associated with the respective eccentric area are designed such that the sum of all products B_i * cos (a_i) disappears and that the sum of all products B_i * sin (a_i) disappears, where i is the Eccentric areas are numbered, in particular have values from 1 to N and N is the number of eccentric areas, the eccentric areas being arranged one behind the other in the axial direction in such a way that the dynamic unbalance is minimized and / or disappears.

The advantage here is that a high torque and a high gear ratio can be transmitted in a compact spatial area, with the drive being able to be designed to be stable and torsionally rigid. Because the cage is in one piece with the driving shaft, in particular one-piece, executable. The cage can also be equipped with a second row of rollers, i.e. second rollers. This means that a particularly stable transmission can be achieved, i.e. smooth running when transmitting torque.

By using several rows of rollers, the radial forces can be reduced when the driving shaft is balanced. In addition, rollers of different widths can be used and a symmetrical arrangement can therefore be achieved. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.

At least three eccentric regions are advantageously provided, at least two of which have an axial width that differs from one another. This enables rotation to be as uniform as possible and high transverse forces can be absorbed.

A statically and dynamically balanced design can be achieved when the sum of the products of the width and cosine or sine of the eccentric high point circumferential angle position disappears or at least becomes as small as possible in terms of magnitude.

Important features of the drive according to claim 2 are that the drive has a gear driven by an electric motor, a driving shaft, in particular a hollow shaft, of the gear having several eccentric regions of different widths in the axial direction, the high points of which are offset from one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disk region, in particular a housing part of the transmission, with rollers of different widths in the axial direction being accommodated in respective recesses of a cage in accordance with the different widths of the respective eccentric regions and with a radial degree of freedom, in particular radially back and forth movable, are arranged, in particular wherein the respective recesses are formed radially continuously through the cage, wherein the cage is rotatably connected to the driven shaft of the transmission, in particular in one piece, in particular in one piece, the driven shaft together with the cage being rotatably mounted both relative to the cam disk areas and relative to the driving shaft, during operation, in particular at Rotary movement of the driving shaft, the respective rollers are or are forced by the respective eccentric area to roll and / or slide on the respective cam area, in particular the widths C_i of the rollers forced to roll by the respective eccentric area, which has the width C_i, and the circumferential angle positions a_i of High points belonging to the respective eccentric area are designed in such a way that the sum of all products C_i * cos (a_i) disappears and that the sum of all products C_i * sin (a_i) disappears, where i numbers the eccentric areas, in particular has values from 1 to N and N is the number of eccentric regions, with the rollers and/or eccentric regions of different widths being arranged one behind the other in the axial direction in such a way that the dynamic unbalance is minimized and/or disappears, in particular wherein the cage is connected in a rotationally fixed manner to the driving shaft.

The advantage here is that a high torque and a high gear ratio can be transmitted in a compact spatial area, with the drive being able to be designed to be stable and torsionally rigid. This is because the cage can be made in one piece, in particular in one piece, with the driving shaft. The cage can also be equipped with a second row of rollers, i.e. second rollers. This means that a particularly stable transmission can be achieved, i.e. smooth running when transmitting torque.

By using several rows of rollers, the radial forces can be reduced when the driving shaft is balanced. In addition, rolls of different widths can be used thus a symmetrical arrangement can be realized. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.

Important features of the drive according to claim 3 are that the drive has a gear driven by an electric motor, wherein a driving shaft, in particular hollow shaft, of the gear has a first eccentric region, the first eccentric region being formed by a first cam disk region, in particular a housing part of the gear , is surrounded radially, wherein first rollers are accommodated in first recesses of a cage and are arranged with a radial degree of freedom, in particular radially reciprocating, in particular wherein the first recesses are formed radially continuously through the cage, the driving shaft, in particular hollow shaft, of the Gear has a second eccentric region, wherein the second eccentric region is radially surrounded by a second cam region, in particular of the housing part of the transmission, with second rollers being accommodated in second recesses of the cage and arranged with a radial degree of freedom, in particular radially reciprocating, in particular wherein the second recesses are radially continuous are formed by the cage, the driving shaft, in particular hollow shaft, of the transmission has a third eccentric region, the third eccentric region being radially surrounded by a third cam region, in particular a housing part of the transmission, with third rollers being accommodated in third recesses of the cage and with radial degree of freedom, in particular radially reciprocating, are arranged, in particular wherein the third recesses are formed radially continuously through the cage, the cage being connected in a rotationally fixed manner to the output shaft of the transmission, in particular being formed in one piece, in particular in one piece, the first eccentric region is arranged in the axial direction between the second and the third eccentric region, in particular wherein the axial direction is directed parallel to the axis of rotation of the driving shaft, the driving shaft together with the cage being rotatably mounted both relative to the cam disk regions and relative to the driving shaft, whereby during operation, in particular when the driving shaft rotates, the respective

Rollers are forced from the respective eccentric area to roll and/or slide on the respective cam area, in particular wherein the first rollers are forced from the first eccentric area to roll and/or slide on the first cam area and the second rollers are forced to roll and/or slide from the second eccentric area second cam area are forced and the third rollers are forced by the third eccentric area to roll and / or slide on the third cam area.

By using three rows of rollers, the radial forces can be reduced when the driving shaft is balanced. In addition, rollers of different widths can be used and a symmetrical arrangement can therefore be achieved. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.

In an advantageous embodiment, the sum of the axial width of the second eccentric region and the third eccentric region equals the axial width of the first eccentric area. The advantage is that the resulting radial force is minimized and the gear is statically and dynamically balanced.

In an advantageous embodiment, the inner radius of the first cam area, in particular the radial distance of the cam area relative to the axis of rotation of the driving shaft, depends periodically on the circumferential angle, in particular on the circumferential angle relative to the axis of rotation of the shaft, in particular is not constant, in particular where the first Cam disk area in the axial direction includes the area covered by the respective first roller in the axial direction. The advantage here is that the cam area can be manufactured easily and the gear ratio can be specified by the periodicity.

In an advantageous embodiment, the outer radius of the driving shaft in the respective eccentric region depends on the circumferential angle, in particular it is not constant, in particular the dependence of the outer radius has only a single maximum and a single minimum as a function of the circumferential angle. The advantage here is that simple production is possible. In addition, an eccentric area can be formed on the driving shaft and the subsequent fine machining can be carried out cost-effectively. The gear ratio can be varied or achieved by means of the eccentricity, the periodicity and the number of rollers or the diameter of the rollers.

In an advantageous embodiment, the axial region covered by the respective eccentric region at least overlaps with the axial region covered by the cam region, with the cam region touching the same roller as the respective eccentric region. The advantage here is that the roller transmits the highest possible forces, since it is in contact with the eccentric area and the driving shaft over its entire axial length.

In addition, the rollers can be arranged radially between the two areas and in the same axial area. In an advantageous embodiment, the driving shaft is rotatably connected to the rotor shaft of the electric motor or is driven by the rotor shaft of the electric motor via one or more gear stages, in particular wherein a first toothed part is rotatably connected to the rotor shaft and a second toothed part is rotatably connected to the driving shaft is. The advantage is that a higher torque can be transmitted.

In an advantageous embodiment, the cam disk areas are formed on the inside of the first housing part of the transmission, the first housing part being connected to a second housing part, with rolling elements of a bearing of the driving shaft being delimited by the first housing part, by the second housing part and by the driving shaft, in particular wherein the driving shaft has a running surface for the rolling bodies and the second housing part has a running surface for the rolling bodies, in particular wherein the driving shaft has a V-shaped, in the circumferential direction completely encircling, in particular uninterrupted, annular groove in which the rolling bodies are accommodated, in particular, wherein a further V-shaped, in particular uninterrupted, circumferentially circumferential recess, in which the rolling bodies are accommodated and which has an orientation opposite to the V-shaped annular groove, is formed by the first and second housing parts and/or is bordered. The advantage here is that a compact design is possible. The advantage here is that a compact design is possible. Because there is no need for a separate outer ring and inner ring for storage.

In an advantageous embodiment, a bearing, in particular an eccentric bearing, is attached to the first eccentric region, on which, in particular on its outer ring, the first rollers roll and/or slide directly or on which a ring is placed on which the first rollers roll and/or slide, in particular wherein the bearing is designed as a cylindrical roller bearing or as a barrel bearing. The advantage here is that it is easy to manufacture and no additional part is necessary.

In an advantageous embodiment, the inner radius of the respective cam area, in particular the radial distance of the respective cam area with respect to the axis of rotation of the shaft, depends on the circumferential angle, in particular on the circumferential angle related to the axis of rotation of the shaft, is periodic, in particular not constant. The advantage here is that simple production is possible.

In an advantageous embodiment, the outer radius of the shaft in the respective eccentric region depends on the circumferential angle, in particular it is not constant, in particular the dependence of the outer radius only has a single maximum and a single minimum as a function of the circumferential angle. The advantage here is that simple production is possible.

In an advantageous embodiment, the axial region covered by the respective eccentric region at least overlaps with the axial region covered by the respective associated cam region. The advantage here is that the widest possible axial contact is possible.

In an advantageous embodiment, a respective bearing, in particular a ball bearing, is attached to the respective eccentric region, on which, in particular on its outer ring, the first rollers roll and / or slide directly or on which a respective ring is attached, on which the first rollers roll and/or slide. The advantage here is that friction losses are as low as possible. In an advantageous embodiment, the cam areas are integrated into one or the first housing part, which is connected to one or the second housing part, in which the bearing is accommodated, which rotatably supports the driving shaft, in particular with the respective inner ring of this bearing on the driving shaft Shaft is accommodated and the respective outer ring of this bearing is accommodated in the second housing part. The advantage here is that the transmission is designed to be as compact as possible.

In an advantageous embodiment, a shaft sealing ring, in particular an inner shaft sealing ring, is accommodated in the driving shaft, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft, with a further shaft sealing ring, in particular an outer shaft sealing ring, being accommodated in the second housing part, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft or runs on a ring part attached to the driving shaft. The advantage is that a high degree of protection can be achieved.

In an advantageous embodiment, a third housing part, in particular an adapter housing, is connected to the first housing part, in particular by means of connecting screws which are evenly spaced in the circumferential direction, the third housing part being connected to the housing of the electric motor, which drives a first gear wheel which is in engagement with one second gear, which is non-rotatably connected to the driving shaft, the third housing part at least partially surrounding the first and second gears to form a housing. The advantage here is that simple production is possible.

In an advantageous embodiment, the recesses of the cage are rectangular in shape, with relief notches being arranged in the corner regions of the rectangular recesses, wherein the distance between two relief notches decreases monotonically, in particular strictly monotonically, with increasing distance from the respective rectangle. The advantage here is that a long service life can be achieved and a high torque can be transmitted.

In another advantageous embodiment, the recesses of the cage are designed in the shape of a rectangular slot, in particular with the respective end region of the slot-shaped recess being rounded, with recesses projecting radially on a first spacing ring and delimiting the rollers axially, in particular

- each of the knobs protruding into a first recess and delimiting a first role,

- wherein a nub next to this respective first nub projects into a second recess and axially delimits the second roller accommodated in this second recess, in particular wherein the second recess is axially spaced from the first recess.

The advantage here is that highly resilient recesses can be used in the cage, which do not have any notches. A long service life for the gearbox can be achieved. The axial spacing of the rollers is dampened by the respective spacing ring made of plastic.

In an advantageous embodiment, the driving shaft is connected in a rotationally fixed manner to the rotor shaft of the electric motor or is driven by the rotor shaft of the electric motor via one or more gear stages, in particular wherein a first toothed part is connected in a rotationally fixed manner to the rotor shaft and a second toothed part is connected in a rotationally fixed manner to the driving shaft is. Is an advantage in that it is possible to drive the driving shaft directly or to drive the driving shaft indirectly via a gear stage. It is important that the gear stage can generate a higher torque or breakaway torque, i.e. when driven directly by the electric motor.

In an advantageous embodiment, the driving shaft is rotatably mounted relative to the cage with the driving shaft by means of a bearing, in particular a rolling bearing, in particular a ball bearing, in particular wherein the outer ring of the bearing is received by the driving shaft, in particular is positioned against a step of the driving shaft, and the inner ring of the bearing is attached to the driving shaft, in particular is positioned against a step of the driving shaft. The advantage here is that the relative speed of the bearing is lower than when the driving shaft is mounted towards the housing. This means lower losses can be achieved. In addition, an improvement in stability can be achieved since the relative alignment of the driving shaft towards the cage can be achieved with high precision using simple means.

In an advantageous embodiment, a bearing, in particular cylindrical roller bearings, barrel bearings or ball bearings, is attached to the respective first eccentric area, with the first rollers rolling and/or sliding directly on the first eccentric area or on which a ring is attached, on which the first rollers roll and/or slide. The advantage here is that a reduction in friction losses can be achieved and also improved smoothness.

In an advantageous embodiment, the driving shaft, in particular hollow shaft, of the transmission has a second eccentric region, which has an offset angle in the circumferential direction to the first eccentric region, in particular an offset angle of 180 ° or an offset angle of 3607P, where P is the number of eccentric regions of the driving shaft , wherein the second eccentric region is radially surrounded by a second cam region, wherein second rollers are also accommodated in the cage with a radial degree of freedom, in particular radially reciprocating, wherein during operation, in particular with a rotating, driving shaft, the second rollers are forced by the second eccentric region to roll and / or slide on the second cam disk region . The advantage is that greater stability and smooth running can be achieved by reducing the unbalance.

In an advantageous embodiment, the inner radius of the second cam area, in particular the radial distance of the second cam area relative to the axis of rotation of the driving shaft, depends periodically on the circumferential angle, in particular on the circumferential angle related to the axis of rotation of the driving shaft, in particular and is not constant. The advantage here is that the number of periods of the first cam area is equal to the number of periods of the first cam area and the transmission can therefore be operated, in particular with a reduction in the unbalance. An advantageous radial distribution of the eccentrics reduces the unbalance.

Advantageously, the numbers of periods of the curve areas are equal to one another, so that the transmission is ready for operation. The imbalance can be reduced by advantageously offsetting the eccentric areas in the circumferential direction. In particular, an offset angle in the circumferential direction of 360° divided by the number of eccentric regions is advantageous.

If the number of periods is chosen advantageously, on the one hand the eccentrics can be distributed in such a way that the unbalance is minimized, on the other hand the cam areas can be made congruent in the circumferential direction, so that the cam areas of all rows of rollers can be designed as a single long cam area in a cam component, within which the Rows of rollers are arranged axially offset from one another. The cam disk areas of all rows of rollers can therefore be represented in a single, in particular common, component, which enables economical manufacturability and simple assembly. In an advantageous embodiment, the outer radius of the driving shaft in the second eccentric region depends on the circumferential angle, in particular and is therefore not constant, in particular where the dependence of the outer radius only has a single maximum and a single minimum as a function of the circumferential angle. The advantage here is that simple and cost-effective production is possible and yet a high torque can be transmitted and a high gear ratio can be achieved.

In an advantageous embodiment, the axial region covered by the second eccentric region overlaps at least with the axial region covered by the second cam region. The advantage here is that the rollers can be arranged radially between the two areas and in the same axial area.

In an advantageous embodiment, a bearing, in particular a ball bearing, is attached to the first eccentric region, on which, in particular on its outer ring, the first rollers roll and/or slide directly or on which a ring is attached, on which the first rollers roll and/or or slide. The advantage here is that a reduction in friction losses can be achieved.

In an advantageous embodiment, a first and second cam region are integrated into a first housing part, which is connected to a second housing part, in which bearings are accommodated which rotatably support the driven shaft, in particular wherein the respective inner ring of these bearings is accommodated on the driven shaft is and the respective outer ring of these bearings are accommodated in the second housing part. The advantage here is that simple and robust production is possible. With the same number of periods in the first and second

In the cam area, these two cam areas can be implemented by a single cam area, which in the axial direction includes the axial area covered by the first and the second cam area, which enables particularly simple and cost-effective production, especially since only a single part can be used for all cam areas is. If necessary, more than two cam areas can be integrated into one housing part. If the number of periods is chosen advantageously, a cam disk area, in particular a sufficiently long one, can then be used for all rows of rollers, which increases the economic efficiency of production.

In an advantageous embodiment, a shaft sealing ring, in particular an inner shaft sealing ring, is accommodated in the driving shaft, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft, with a further shaft sealing ring being accommodated in the second housing part, which is towards the driving shaft seals, in particular its sealing lip that runs on the driving shaft or runs on a ring part plugged onto the driving shaft. The advantage here is that sealing against oil can be carried out radially inwards and radially outwards. This means that oil can be provided in the interior of the transmission.

In an advantageous embodiment, a third housing part, in particular an adapter housing, is connected to the first and second housing parts, in particular by means of connecting screws which are evenly spaced in the circumferential direction, the third housing part being connected to the housing of the electric motor, the third housing part having at least the first and second gears partially surrounding it, forming a housing. The advantage here is that the housing parts are pressed towards each other by the connecting screws, thus creating a stable enclosure.

In an advantageous embodiment, the cage for receiving the first rollers has first recesses which are regularly, in particular uniformly, spaced apart from one another in the circumferential direction, in particular wherein the first recesses on the cage are arranged at the same radial and axial position. The advantage here is that the preferably rectangular recesses with relief notches made at the corners of the rectangle ensure that the running is as smooth as possible, especially with a large number of rollers. In an advantageous embodiment, the cage for receiving the second rollers has second recesses which are regularly, in particular uniformly, spaced apart from one another in the circumferential direction, in particular wherein the second recesses on the cage are arranged at the same radial and axial position. The advantage here is that improved smooth running and higher torque transmission can be achieved.

In an advantageous embodiment, the first recesses have an offset in the circumferential direction relative to the second recesses, the number N of the first recesses being the same as the number of second recesses, in particular the offset being 360°/N, where N is the number of first recesses. The advantage is that as the number increases, smoother running can be improved. In addition, the torque is then distributed over a larger number of rollers, so that a higher torque can be transmitted overall.

In this document, “driving” is always subsumed under “driving”.

Further advantages result from the subclaims. The invention is not limited to the combination of features of the claims. For the person skilled in the art, further sensible combination options of claims and/or individual claim features and/or features of the description and/or the figures arise, in particular from the task and/or the task posed by comparison with the prior art. The invention will now be explained in more detail using schematic illustrations:

In Figure 1, a drive is shown cut in an oblique view.

A corresponding partially cutaway representation of the drive is shown in FIG.

Figure 3 shows a corresponding, partially cut but differently cut representation of the drive.

4 shows a cage 4 in an oblique view, in which first rollers 3 and second rollers 4 are accommodated and roll and/or slide on the first housing part 2.

5 shows a cross section through the first housing part 2, with only the row formed by the first rollers 3 being visible.

6 shows a further cross section through the first housing part 2, with the row formed by the first rollers 3 and the row formed by the second rollers 4 being visible.

In Figure 7, the cage 4 is shown in an oblique view.

In Figure 8, another drive according to the invention is shown cut in an oblique view, with three rows of rollers being provided, which are partially removed.

9 shows an oblique view with existing rolling elements of the eccentric bearings.

In Figure 10, the rollers 3 of the drive are shown, with the cage connected to the driving shaft 10 being removed.

In contrast to Figure 10, the cage is visible in Figure 11.

A sectional view of the drive is shown in FIG. 12. 13 shows a head retraction and foot retraction in the contour of a cam of the drive.

The driving shaft 10 of the exemplary embodiment according to FIG. 8 is shown in FIG. 14.

15 shows a top view of an area of the cage.

A recess in the cage is shown enlarged in FIG. 16.

Another recess in the cage is shown enlarged in FIG. 17.

18 shows a sectional view of the bearing of the driving shaft 10 in more detail, with a ball 180 being used as a rolling element instead of a cylinder or a barrel.

An alternative cage 10 is shown in FIG.

In contrast to FIG. 19, the cage 10 is hidden in FIG. 20.

In Figure 21, a third spacing ring 190 is shown in an oblique view.

22 shows a first spacing ring 190 in an oblique view.

As shown in Figures 1 to 6, a first gear 12 is connected in a rotationally fixed manner to the rotor shaft of an electric motor 11 and drives a second gear 13, which is in engagement with the first gear.

The second gear 13 is connected in a rotationally fixed manner to the hollow shaft 1, which has a first

Eccentric region 8 and an axially spaced second eccentric region 9. In the respective eccentric area (8, 9), the outer radius is not constant as a function of the circumferential angle, but depends on the circumferential angle. In particular, the function has a single maximum and a single minimum.

The hollow shaft 1 functions as a driving shaft and can also be referred to as a driving shaft.

The circumferential angle associated with the maximum of the first eccentric region 8 is spaced in the circumferential direction from the circumferential angle associated with the maximum of the second eccentric region 9.

The outer circumference of the respective eccentric region (8, 9) is circular cylindrical, in particular circular. A first bearing 5 can therefore be placed on the first eccentric region 8 and a second bearing 7 can be placed on the second eccentric region 9.

The first bearing 5 can be designed as a ball bearing and the second bearing 7 can also be designed as a ball bearing.

First rollers are provided on the outer circumference of the first bearing 5, which either roll and/or slide directly on the outer ring of the first bearing 5 or on a ring pushed onto the outer ring of the first bearing 5.

These first rollers 3 are held in a cage 4 and are therefore spaced apart from one another in the circumferential direction. Because the cage 4 has a recess for each first roller 3 in which it is accommodated. The recesses are preferably shaped like one another, in particular identically, and/or arranged at the same radial distance and/or cover the same axial area.

Likewise, the second rollers 6 are held axially spaced from the first rollers 3 in a cage 4 and are therefore spaced apart from one another in the circumferential direction. Because the cage 4 has a second recess for every second roller 6, in which this second roller 6 is accommodated. The second recesses are preferably shaped like one another, in particular identically, and/or arranged at the same radial distance and/or cover the same axial region. Radially inwardly, each of the first and second rollers touches the respective eccentric area.

Towards the radial outside, the first rollers touch a first cam disk area formed on the inside of a first housing part 2 and roll on it.

This first cam area has an inner radius that periodically depends on the circumferential angle, in particular a sinusoidal shape. The cam area is formed in one piece with the housing part 2, i.e. in one piece.

The cam area has a discrete rotational symmetry, in particular the number of which is equal to the number of complete periods formed in the circumferential direction.

The associated axis of symmetry of the rotational symmetry is identical to the axis of rotation of the hollow shaft 1.

Towards the radial outside, the second rollers 6 touch a second cam disk area formed on the inside of the first housing part 2 and roll on it.

This second cam area has an inner radius that periodically depends on the circumferential angle, in particular a sinusoidal shape. The second cam area is formed in one piece with the housing part 2, i.e. in one piece.

The second cam region has a discrete rotational symmetry, in particular the number of which is equal to the number of complete periods of the second cam region formed in the circumferential direction.

The associated axis of symmetry of the rotational symmetry of the second cam area is identical to the axis of rotation of the hollow shaft 1.

The second cam area is arranged axially next to the first cam area. As shown in Figures 1 to 6, the second cam area is designed in the same way as the first cam area, so it has no offset in the circumferential direction. The sinusoidal dependence of the inner radius of the second cam area on the circumferential angle is therefore identical to the sinusoidal dependence of the inner radius of the first cam area on the circumferential angle.

In further exemplary embodiments according to the invention, however, the second cam region is offset in the circumferential direction by half a period length to the first cam region. In particular, the offset is 180° / M, where M is the number of periods of the cam area in the circumferential direction. Alternatively, an offset of 180° can also be carried out, in particular in which case the offset is then the

Eccentric areas in relation to each other may, but do not have to, be omitted. In further exemplary embodiments, further rows of rollers are provided axially spaced from the first and second, which then also roll or slide on the cam area, the associated eccentric areas having an offset of 360 ° / N, where N is the number of rows of rollers.

As shown in Figures 1 to 6, the second cam area is designed in the same way as the first cam area and the entire cam area can therefore be produced easily and cost-effectively.

The number of periods and also the eccentricity enable a high gear ratio with high torque.

As shown in Figures 1 to 6, the cage 4 surrounds the shaft 1. For this purpose, at every axial position, the smallest radial distance of the cage 4 is greater than the largest radial distance of the shaft 1 in the axial area covered by the cage 4.

At each axial position, the radial spacing region covered by the cage 4 is radially spaced from the radial spacing region covered by the shaft 1 and/or is arranged radially spaced and/or further outward. The axial direction is aligned parallel to the axis of rotation of the shaft 1. The radial distances mentioned here are always related to the axial axis. Likewise, the circumferential direction and the circumferential angles are related to this axial direction.

The cage 4 is made in one piece with the driving shaft 10, i.e. in one piece.

Thus, in a first axial region of this part, the cage 4 is formed and, on the output side, axially adjacent to the cage 4, the driven shaft 10 is formed, which has axial bores on its axial end face, which are designed as threaded bores. Thus, a device to be driven with its rotatably mounted element can be screw-connected to the shaft 1.

The driving wave 10 can also be referred to as a driving wave.

The driving shaft 10 is mounted towards the shaft 1 by means of a further bearing 16 and is rotatably mounted towards the housing, in particular towards a second housing part 17 connected to the first housing part 2, by means of two bearings (14), which are preferably designed as angular contact bearings.

In this way, the cage 4 together with the driving shaft 10 is forced to rotate as smoothly as possible.

To reduce imbalance and further improve smooth running, the first and second eccentric regions 8 and 9 are designed to be similar but offset from one another by 180° in the circumferential direction. If additional eccentric areas and correspondingly assigned rows of rollers are used, an offset of 360° / N in the circumferential direction between two next adjacent rows of rollers is possible, whereby the number of rows of rollers is equal to the number of eccentric regions.

Furthermore, a shaft sealing ring 15 is provided towards the shaft 1, in particular radially inwards, and a further shaft sealing ring 18 is provided towards the housing, in particular radially outwards towards the housing. The shaft seal 15 is received by the driving shaft 10 and its sealing lip runs on a finely machined area of the shaft 1.

The shaft sealing ring 18 is accommodated in the second housing part 17 and its sealing lip runs on the driving shaft 10 or on a ring plugged onto the driving shaft 10.

The bearings of the bearing 14, which are preferably designed as angular contact bearings, are accommodated with their outer ring in the second housing part 17 and are plugged onto the driving shaft 10 with their inner ring.

The inner ring of the further bearing 16, in particular rolling bearings, in particular ball bearings, is plugged onto the shaft 1. The outer ring of the further bearing 16 is accommodated in the driving shaft 10.

The inner ring of the first bearing 5 is attached to the first eccentric region 8.

The inner ring of the second bearing 7 is attached to the second eccentric region 9.

The outer ring of the first bearing 5 or a ring part attached to this outer ring acts as a rolling surface for the first rollers 3.

The outer ring of the second bearing 7 or a ring part attached to this outer ring acts as a rolling surface for the second rollers 6.

A third housing part 19 at least partially surrounds the spur gear stage formed from the first and second gears (12, 13). The third housing part 19 is connected to the housing of the electric motor driving the first gear 12.

The first housing part 2 and the second housing part 10 are arranged on the side of the third housing part 19 facing away from the electric motor 11. The first housing part 2 is arranged between the second housing part 10 and the third housing part 19. The first, second and third housing parts (19, 2, 10) are connected by means of connecting screws 20 passing through these three housing parts (19, 2, 10). As can be seen in Figures 1 to 7, in particular in Figures 4 and 7, the first rollers 3 and also the recesses of the cage 4 accommodating the first rollers 3 form a first row in the circumferential direction.

Likewise, the second rollers 6 and also the recesses in the cage 4 accommodating the second rollers 6 form a second row in the circumferential direction.

The first rollers 3 are evenly, in particular regularly, spaced apart from one another in the circumferential direction. Likewise, the second rollers 6 are spaced apart from one another evenly, in particular regularly, in the circumferential direction.

The rollers (3, 6) of each row of rollers are all on a circle or the axes of the rollers (3, 6) are on an imaginary cylinder. The center of this circle lies on the axis of the associated eccentric area or the axis of this respective cylinder is concentric with the associated eccentric area. Accordingly, the cylinder axes are arranged parallel but radially offset from one another. The first rollers 3 rest on the first eccentric region 8 and the second rollers 6 rest on the second eccentric region 9. The two rows are therefore not aligned coaxially with one another. In addition, the cylinder which contains the axes of rotational symmetry of the first rollers 3 is axially spaced from the cylinder which contains the axes of rotational symmetry of the second rollers 6.

In the circumferential direction, the first row is offset from the second row by half a period length of the first rollers 3 within the first row.

Every second roller 6 therefore has an offset angle of 180 ° / N to a respective first roller 3, where N is the number of first rollers 3 arranged in the first row.

In this way, lower torque ripple is achieved.

In further exemplary embodiments according to the invention, further rows with further rollers and associated cam disk arrangements are provided. As an example, another drive is shown in FIG. 8, in which three rows of rollers are provided.

As shown in Figure 8, the driving hollow shaft 1 has a first eccentric region 80, which is arranged axially between a second and a third eccentric region (81, 82).

The high point of the first eccentric region 80 is offset by 180° in the circumferential direction to the high points of the second and third eccentric regions (81, 82), which are each arranged at the same circumferential position.

In the axial direction, the first eccentric region 80 is wider than the second eccentric region 81.

In the axial direction, the first eccentric region 80 is wider than the third eccentric region 82.

Preferably, the sum of the axial widths of the second and third eccentric regions (81, 82) is equal to the axial width of the first eccentric region 80.

This results in a particularly well-balanced solution.

A rolling bearing is pushed onto each of the eccentric regions (80, 81, 82), which are referred to below as eccentric bearings.

A first eccentric bearing is pushed onto the first eccentric region, the rolling elements 16 of which are designed as cylindrical rollers or barrels. The rolling elements (83, 87) of the second and third eccentric bearings are also designed as cylindrical rollers or barrels.

The output shaft 10 has a flange block interface on the output side, i.e. an interface that is advantageous for robot applications. There are axial bores on the driving shaft 10 that are spaced apart from one another in the circumferential view and are designed as threaded bores.

The driving shaft 10 has, at its end region axially remote from the flange block interface, a tube region which is designed as a cage and radially surrounds the eccentric bearings (80, 81, 82). The respective rollers (16, 88, 89) are accommodated in recesses (141, 142, 143) of the cage and are arranged to be movable in the radial direction relative to the cage. Thus, the range of motion of the rollers (16, 88, 89) is limited radially inwards by the respective outer ring of the respective eccentric bearing and radially outwards by a respective cam contour which is formed on the inside of the first housing part 2. The first of the cam contours is in turn offset 180° in the circumferential direction from the other two cam contours, which are similar to each other, i.e. without an offset.

The first rollers 16 therefore roll on the first cam contour and the second rollers 88 roll on the second cam contour. The third rollers 89 roll on the third cam contour.

In the axial direction, the first cam contour is arranged between the second and the third cam contour.

A second housing part 17 is connected to the first housing part 2 and surrounds the flange support interface of the driving shaft 10.

The second and third rollers (88, 89), which have different widths than the first roller 16, are arranged in such a way that the dynamic unbalance is minimized or disappears.

To support the driving shaft 10 together with the cage, cylindrical or barrel-shaped rolling bodies 14 are provided, the cylinder axis of which intersects with the axis of rotation of the driving shaft 10, in particular where it has an angle between 10 ° and 80 ° to the axis of rotation of the driving shaft 10.

The running surface of the rolling element 14 is formed on the one hand on the second housing part 17 and on the other hand on the driving shaft 10.

In particular, the driving shaft 10 forms an inner ring and the second housing part forms the outer ring of the bearing of the driving shaft 10. In addition, the first housing part 2 delimits the rolling body 14, in particular in the direction of the cylinder axis of the rolling body 14.

Thus, the rolling body 14 is delimited by the first housing part 2, the second housing part 17 and the driving shaft 10.

To accommodate the rolling element 14, the driving shaft 10 has a V-shaped annular groove, in particular the ring axis of which is aligned coaxially with the axis of rotation of the driving shaft 10.

As shown in Figure 18, instead of the cylindrical or barrel-shaped rolling body 14, a rolling body 180 designed as a ball can be used.

13, on the respective cam contour there is a head recess 131 on the radially inwardly projecting head areas of a target profile 130, in particular a target contour, of the cam and a foot retraction 132 on the foot areas of this target profile 130. The foot areas are the furthest radially the area of the desired course 130 located away from the axis of rotation of the driving shaft 10.

The driving shaft 1 is aligned coaxially with the driving shaft 10.

The driving shaft 10, in particular its cage, has a stiffening ring 90 which runs continuously in the circumferential direction at its axial end region, in particular at its axial end region facing away from the flange block interface. The stiffening ring 90 preferably projects radially outwards on the cage.

In this way, the thin-walled cage is stiffened and achieves greater resilience and load-bearing capacity. The radial wall thickness of the cage is smaller than the radial wall thickness in the remaining area of the driving shaft 10, in particular in that axial area which is covered by the rolling elements 14.

Corresponding to the rows of rollers, the cage has three rows of recesses (141, 142, 143). In the circumferential direction, the recesses (141, 142, 143) of the respective row are evenly spaced from one another and in the same axial position.

The first row of recesses 141 is arranged axially between the second row of recesses 142 and the third row of recesses 143. In particular, the row of second recesses 142 has an offset in the circumferential direction from the row of first recesses 141. The row of second recesses 142 has no offset in the circumferential direction from the row of third recesses 141.

As shown in Figures 15 to 17, the recesses (141, 142, 143) have relief notches in their four corner regions in particular. The edges of the first recesses 141, which are arranged axially on both sides, are therefore dovetail-shaped.

Two of the relief notches are curved. In particular, the relief notches of a respective such pair are curved in such a way that they are directed toward one another.

Each first recess 141 has a rectangular area, the corner areas of which are adjoined by relief notches which, on the one hand, i.e. on a first side of the rectangular area, protrude in the axial direction, the distance between the two relief notches on the first side increasing as the axial position increases. in particular in the axial direction, decreases more and more, monotonically, in particular strictly monotonically, and on the other hand, i.e. on the other side of the rectangular area, protrudes against the axial direction, the distance between the two relief notches on this other side decreasing as the axial position, in particular, counter to the axial direction, decreases more and more, monotonically, in particular strictly monotonically.

The curved shape is preferably composed of radii R.

The first rollers 3 are delimited in the axial direction by the respective first and the respective other sides of the rectangular area. In contrast to the first recesses 141, in the second recesses 142 only a single pair of relief notches is directed towards one another. The other respective pair, which on the side of the second recesses 142 facing away from the first recesses, has relief notches that are aligned substantially parallel to one another.

As shown in Figures 19 to 22, the cage can also be designed with rounded rectangular slot-shaped recesses. The axial limitation of the first rollers 3 is achieved by a first spacing ring 191, the radially projecting knobs of which protrude into the respective first roundings of the rectangular slot-shaped recesses and thereby axially delimit the respective roller 3, with a further spacing ring protruding with its knobs into the other rounding .

The nub of the spacing ring that is closest to a nub of the first spacing ring protruding into the rounding of the first recess projects into the rounding of a respective third recess to limit a respective third roller 89.

The nub of the further spacing ring that is closest to a nub of the further spacing ring which protrudes into the second rounding of the first recess projects into the rounding of a respective second recess to limit a respective second roller 88.

A second spacing ring 190 projects with its radially protruding knobs into a rounding of the second recess and axially delimits the respective second roller 88.

A third spacing ring 190 projects with its radially protruding knobs into a rounding of the third recess in the cage and axially delimits the respective third roller 89.

As can be seen in Figures 19 to 22, with three rows of rollers there are four

Spacer rings are necessary, each of which is preferably manufactured as a plastic injection molded part are. The knobs of the respective spacing ring (190, 191) are regularly spaced apart from one another in the circumferential direction.

The knobs are flat on their side that axially delimits the respective roller and are rounded off in accordance with the rounding on the side facing away from the roller that is axially limited by the knob. In this way, the end face of the respective cylindrical or barrel-shaped roller touches the flat area of the respective knob.

In further exemplary embodiments according to the invention, the rollers (16, 88, 89) are of different widths in the axial direction and are arranged one behind the other in such a way that the dynamic unbalance is reduced or disappears.

When using N rows of rollers, the widths C_i of the rollers are selected such that the sum of the products from the respective width C_i and the cosine value of the circumferential position of the high point assigned to the respective eccentric area disappears, as does the sum of the products from the respective width C_i and the Sine value of the circumferential position of the high point assigned to the respective eccentric area.

It is permitted, for example, for two of the rows of rollers to have the same width as each other and for the eccentric regions assigned to the two rows of rollers to have the identical circumferential angular position of their high points. A different position may then have a high point of a further eccentric area, which is assigned to a third row of rollers.

The rollers of rows of rollers whose assigned eccentric region have the same circumferential angular position of their high point have in total the same axial width as the sum of the axial width of other rollers of other rows of rollers whose assigned eccentric region have a different circumferential angular position of their high point.

In the circumferential direction, the high points of the eccentric regions are arranged in such a way that the radial forces resulting from the rolling contacts of the rollers during operation cancel each other out. In the axial direction, the high points of the eccentric areas are arranged in such a way that the moments of the radial forces resulting from the rolling contacts of the rollers during operation cancel each other out. In the embodiment shown in Figure 8, the rollers of the different rows of rollers are of unequal width in the axial direction, in particular of different widths. The axial width of the first, i.e. middle, roller is equal to the sum of the axial widths of the rollers of the other two rows of rollers. The high points of the axially outer eccentric regions are arranged at the same circumferential angular position.

Reference symbol list

1 hollow shaft with eccentric areas

2 first housing part

3 first role

4 cage for first rolls 1 and second rolls 6

5 first bearing, in particular rolling bearings, in particular ball bearings

6 second role

7 second bearing, in particular rolling bearings, in particular ball bearings

8 first eccentric area of the hollow shaft 1

9 second eccentric area of the hollow shaft 1

10 drifting shaft

11 electric motor

12 first gear

13 second gear

14 Storage, especially barrel-shaped rolling elements

15 inner shaft seal

16 further bearings, in particular rolling bearings, in particular ball bearings

17 second housing part

18 outer shaft seal

19 third housing part

20 connecting screws

80 first eccentric area

81 second eccentric area

82 third eccentric area

83 third role

84 Bearing ring of the third eccentric bearing

85 bearing ring of the second eccentric bearing

86 bearing ring, especially inner ring, of the first eccentric bearing

87 rolling elements of the second eccentric bearing

88 second role 89 third role

90 stiffening ring

130 Target course of the cam

131 Head withdrawal 132 Foot withdrawal

141 recess to accommodate the first roll 6

142 recess to accommodate the second roll 88

143 recess to accommodate the third roll 89

144 Running surface for rolling elements 87 of the second eccentric bearing 145 Notch, in particular shaped pocket end

180 ball as rolling element of the second eccentric bearing

190 third spacing ring with knobs

191 first spacer ring with knobs

192 second spacing ring with knobs

Claims

Patent claims:

1. Drive, comprising a gear driven by an electric motor, characterized in that a driving shaft, in particular hollow shaft, of the gear has a plurality of eccentric regions of different widths in the axial direction, the high points of which are offset from one another in the circumferential direction, the respective eccentric region being of one respective cam disk area, in particular a housing part of the transmission, is radially surrounded, with respective rollers being accommodated in respective recesses of a cage and arranged with a radial degree of freedom, in particular radially reciprocating, in particular with the respective recesses being formed radially continuously through the cage and are evenly spaced apart from one another in the circumferential direction, in particular wherein the cage is connected in a rotationally fixed manner to the driven shaft, wherein the cage is connected in a rotationally fixed manner to the driven shaft of the transmission, in particular in one piece, in particular in one piece, the driven shaft together with the cage both relative to is rotatably mounted in the cam areas as well as relative to the driving shaft, wherein during operation, in particular when the driving shaft rotates, the respective rollers are or are forced by the respective eccentric area to roll and / or slide on the respective cam area, in particular, the widths B_i of the eccentric areas and the circumferential angle positions a_i of the high points associated with the respective eccentric area are designed such that the sum of all products B_i * cos (a_i) disappears and that the sum of all products B_i * sin (a_i) disappears, where i is the Eccentric areas are numbered, in particular have values from 1 to N and N is the number of eccentric areas, the eccentric areas being arranged one behind the other in the axial direction in such a way that the dynamic unbalance is minimized and / or disappears.

2. Drive, in particular according to claim 1, having a gear driven by an electric motor, characterized in that a driving shaft, in particular hollow shaft, of the gear has a plurality of eccentric regions of different widths in the axial direction, the high points of which have an offset from one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disk region, in particular a housing part of the transmission, wherein rollers of different widths in the axial direction are accommodated in respective recesses of a cage in accordance with the different widths of the respective eccentric regions and can be moved back and forth with a radial degree of freedom, in particular radially , are arranged, in particular wherein the respective recesses are formed radially continuously through the cage, the cage being connected in a rotationally fixed manner to the output shaft of the transmission, in particular in one piece, in particular in one piece, the output shaft together with the cage both relative to the cam disk areas as well as being rotatably mounted relative to the driving shaft, wherein during operation, in particular when the driving shaft is rotating, the respective rollers are or are forced by the respective eccentric region to roll and/or slide on the respective cam disk region, in particular, the widths C_i of the rollers forced to roll by the respective eccentric region, which has the width C_i, and the circumferential angle positions a_i of the high points associated with the respective eccentric region are designed such that the sum of all products C_i * cos (a_i) disappears and that the sum of all products C_i * sin( a_i ) disappears, where i numbers the eccentric areas, in particular has values from 1 to N and N is the number of eccentric areas, with the rollers and/or eccentric areas of different widths being arranged one behind the other in the axial direction in such a way that the dynamic unbalance is minimized and/or disappears, in particular where the cage is connected to the driving shaft in a rotationally fixed manner.

3. Drive, in particular according to claim 1 or 2, having a gear driven by an electric motor, characterized in that a driving shaft, in particular hollow shaft, of the gear has a first eccentric region, the first eccentric region being dependent on a first cam disk region, in particular a housing part of the Transmission, is surrounded radially, with first rollers accommodated in first recesses of a cage and arranged with a radial degree of freedom, in particular radially reciprocating, in particular with the first recesses being formed radially continuously through the cage, the driving shaft, in particular hollow shaft, of the gearbox has a second eccentric region, the second eccentric region being radially surrounded by a second cam disk region, in particular the housing part of the gearbox, with second rollers being accommodated in second recesses in the cage and arranged with a radial degree of freedom, in particular being able to be moved back and forth radially, in particular, the second recesses being formed radially continuously through the cage, the driving shaft, in particular hollow shaft, of the transmission has a third eccentric region, the third eccentric region being radially surrounded by a third cam region, in particular a housing part of the transmission, third rollers being accommodated in third recesses of the cage and with a radial degree of freedom, in particular radially - and are arranged to be movable, in particular wherein the third recesses are formed radially continuously through the cage, the cage being connected in a rotationally fixed manner to the driving shaft of the transmission, in particular in one piece, in particular in one piece, with the first eccentric region in the axial direction between the second and the third eccentric region is arranged, in particular wherein the axial direction is directed parallel to the axis of rotation of the driving shaft, the driving shaft together with the cage being rotatably mounted both relative to the cam disk regions and relative to the driving shaft, during operation, in particular When the driving shaft rotates, the respective rollers are forced by the respective eccentric region to roll and/or slide on the respective cam region, in particular the first rollers are forced by the first eccentric region to roll and/or slide on the first cam region and the second rollers are forced by the second Eccentric area is forced to roll and/or slide on the second cam area and the third rollers are forced by the third eccentric area to roll and/or slide on the third cam area.

4. Drive according to claim 3, characterized in that the sum of the axial width of the second eccentric region and the third eccentric region equals the axial width of the first eccentric region.

5. Drive according to one of the preceding claims, characterized in that the inner radius of the first cam area, in particular the radial distance of the cam area based on the axis of rotation of the driving shaft, depends periodically on the circumferential angle, in particular on the circumferential angle related to the axis of rotation of the shaft, in particular is not constant, in particular wherein the first cam area in the axial direction comprises the area covered by the respective first roller in the axial direction, and / or that in the respective eccentric area the outer radius of the driving shaft depends on the circumferential angle, in particular is not constant, in particular where the Dependence of the outer radius only has a single maximum and a single minimum as a function of the circumferential angle.

6. Drive according to one of the preceding claims, characterized in that the axial area covered by the respective eccentric area at least overlaps with the axial area covered by the cam area, the cam area touching the same roller as the respective eccentric area.

7. Drive according to one of the preceding claims, characterized in that the driving shaft is rotatably connected to the rotor shaft of the electric motor or is driven by the rotor shaft of the electric motor via one or more gear stages, in particular wherein a first toothed part is rotatably connected to the rotor shaft and a second toothed part is connected in a rotationally fixed manner to the driving shaft.

8. Drive according to one of the preceding claims, characterized in that the cam disk areas are formed on the inside of the first housing part of the transmission, the first housing part being connected to a second housing part, with rolling elements (14) supporting the driving shaft from the first housing part , are delimited by the second housing part and by the driving shaft, in particular wherein the driving shaft has a running surface for the rolling bodies (14) and the second housing part has a running surface for the rolling bodies (14), in particular wherein the driving shaft has a V-shaped, has a completely circumferential, in particular uninterrupted, annular groove in the circumferential direction, in which the rolling elements are accommodated, in particular wherein a further V-shaped, in particular uninterrupted, circumferentially completely circumferential recess in which the rolling elements are accommodated and which forms a V-shaped annular groove has reverse orientation, is formed by the first and second housing parts and / or is bordered.

9. Drive according to one of the preceding claims, characterized in that a bearing, in particular an eccentric bearing, is attached to the first eccentric region, on which, in particular on its outer ring, the first rollers roll and / or slide directly or on which a ring is attached , on which the first rollers roll and / or slide, in particular the bearing is designed as a cylindrical roller bearing or as a barrel bearing.

10. Drive according to one of the preceding claims, characterized in that the inner radius of the respective cam area, in particular the radial distance of the respective cam area based on the axis of rotation of the shaft, depends periodically on the circumferential angle, in particular on the circumferential angle related to the axis of rotation of the shaft, in particular is not constant, and / or that in the respective eccentric region the outer radius of the shaft depends on the circumferential angle, in particular is not constant, in particular where the dependence of the outer radius only has a single maximum and a single minimum as a function of the circumferential angle, and / or that the the axial region covered by the respective eccentric region at least overlaps with the axial region covered by the respective associated cam region, and/or that A respective bearing, in particular a ball bearing, is attached to the respective eccentric region, on which, in particular on its outer ring, the first rollers roll and/or slide directly or on which a respective ring is attached, on which the first rollers roll and/or slide .

11. Drive according to one of the preceding claims, characterized in that the cam disk areas are integrated in one or the first housing part, which is connected to one or the second housing part, in which the bearing is accommodated, which rotatably supports the driven shaft, in particular wherein the respective inner ring of this bearing is received on the driving shaft and the respective outer ring of this bearing is received in the second housing part.

12. Drive according to one of the preceding claims, characterized in that a shaft sealing ring, in particular an inner shaft sealing ring, is accommodated in the driving shaft, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft, with a further shaft sealing ring, in particular outer shaft sealing ring, is accommodated in the second housing part, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft or runs on a ring part plugged onto the driving shaft.

13. Drive according to one of the preceding claims, characterized in that a third housing part, in particular an adapter housing, is connected to the first housing part, in particular by means of evenly spaced ones in the circumferential direction

Connecting screws, wherein the third housing part is connected to the housing of the electric motor, which drives a first gear which is in engagement with a second gear which is non-rotatably connected to the driving shaft, wherein the third housing part at least partially forms the housing of the first and second gears surrounds.

14. Drive according to one of the preceding claims, characterized in that the recesses of the cage are rectangular in shape, with relief notches being arranged in the corner regions of the rectangular recesses, the distance between two relief notches becoming monotonous, in particular strict, with increasing distance from the respective rectangle monotonously, decreases, or that the recesses of the cage are designed in the shape of a rectangular slot, in particular with the respective end region of the slot-shaped recess being rounded, with outstanding knobs recesses protruding radially on a first spacing ring (191) and axially delimiting the rollers, in particular - each of the knobs protruding into a first recess and delimiting a first role,

- whereby a nub closest to this respective first nub projects into a second recess and the second one received in this second recess

Roller axially limited, in particular with the second recess being axially spaced from the first recess.