Electric drive components, torque measurement devices and flywheel assemblies

Abstract

A measuring device with a crankshaft and a load cell for determining radial forces acting on the crankshaft, the load cell having a receiving sleeve for receiving a bearing ring and a fastening ring for connecting the load cell in a transmission housing. An axial support region is provided on the fastening ring for axially supporting an outer ring of a first bearing. In addition, a measuring region is provided for receiving radial forces of the receiving sleeve, which connects the receiving sleeve to the fastening ring. Strain sensors are connected to at least two of the measuring regions. Evaluation electronics are connected to the strain sensors.

Description

Technical Field

[0001] The first aspect of this specification discloses a load cell for measuring the radial force acting on a crankshaft. Background Technology

[0002] U.S. Patent 2007 / 051187 discloses a load sensing bearing assembly that includes a flange assembly with a spring region for measuring radial force, thrust, and tilting moment on the outer ring of the bearing.

[0003] US 4,900,165 A discloses a bearing support system that receives the thrust load of a shaft bearing in a controllable manner by retaining the bearing with a slotted inner ring, which is supported by a radially separated outer ring by a plurality of circumferentially separated supports that are radially flexible and axially non-flexible.

[0004] US2011 / 187179 A1 discloses a wheel bearing component having a first element and a second element, the first element including a cylindrical portion supported by a bearing assembly and the first element including a radially extending flange portion, and the second element including flaps for centering the wheel rim. Summary of the Invention

[0005] The force-measuring element according to this specification includes a cylindrical receiving sleeve for receiving a bearing ring and a fastening ring for connecting the force-measuring element to a transmission housing. This ring may, in particular, be the outer ring of a rolling bearing. The fastening ring of the force-measuring element is connected to the receiving ring via a connection area or a measuring area. A measuring area is provided for receiving the radial force from the receiving sleeve, which is transmitted from the bearing ring to the measuring area.

[0006] Strain sensors are mounted in at least two measurement areas, such as glued strain gauges. Furthermore, the force-measuring element includes an axial support region, which is provided on the outer ring of a retaining ring for axial support of a bearing or for receiving axial forces. Here, the axial force is uniform in a direction parallel to the longitudinal direction of the receiving sleeve, and the radial force is perpendicular to the longitudinal direction of the receiving sleeve.

[0007] In particular, the force measuring element can be configured to receive a bearing located radially inside the receiving sleeve, wherein the outer ring of the bearing contacts the inner surface of the receiving sleeve and the measuring area and the axial support area can be radially connected inward to the fastening ring.

[0008] The axial support region is separated from the measurement region by radial slots, and the axial support region is separated from the receiving sleeve by circumferential slots.

[0009] In particular, the measuring region may include a measuring lug formed as an angle bracket, wherein the angle bracket may include a radial region and an axial region adjacent to the radial region. This shape is well-suited for producing controllable deformation under radial forces.

[0010] The radial region is connected to the fastening ring and the axial region is connected to the receiving sleeve. In particular, the radial region can be arranged at an angle of approximately 90 degrees to the axial region.

[0011] According to a further embodiment, the axial region is flush with the cylindrical inner surface of the receiving sleeve.

[0012] In particular, the axial support lugs can be arranged such that they extend radially inward beyond the inner surface of the receiving sleeve. As a result, the bearing can be led into the receiving sleeve such that the bearing ring (especially the outer ring) abuts against the extended area and the axial force acting on the bearing is transmitted to the force measuring element and through the fastening area.

[0013] According to a further embodiment, at least one strain sensor is arranged as a strain gauge. According to a further embodiment, the strain sensor is connected to each measurement region; in particular, the strain sensor may each be connected to a radial region of the measurement region.

[0014] According to a further embodiment, at least two measurement areas include lowered areas for connecting the strain sensor, so that the strain sensor can be easily placed and is protected from damage.

[0015] According to one specific implementation, the force-measuring element comprises four measuring zones arranged at 90-degree intervals. As a result, on the one hand, good support can be achieved for the bearing received within the force-measuring element, and on the other hand, it becomes possible to measure a defined radial force.

[0016] The torque acting on the crankshaft, which is supported by bearings, can be calculated based on measurements.

[0017] In particular, the fastening ring may include a fastening area in which a retaining hole is provided, which is adapted for tightening the fastening ring onto the housing.

[0018] Furthermore, the fastening ring may include a groove in which the measuring area is arranged. In this case, the measuring lug, the slot defining the measuring lug, and the axial support area may be specifically designed to be sized such that the angular range (including the measuring lug and the slot defining the measuring lug) substantially matches the angular range of the axial support area.

[0019] According to one implementation, the angular extent of the measurement area in the circumferential direction is less than or equal to 30 degrees. As a result, good deformability is achieved and the applied radial force conforms to a clearly defined direction.

[0020] In particular, the force-measuring element is made of a single piece of metal, which deforms elastically and provides good stability and shape stability. Here, "metal" refers to metallic materials and, in particular, includes metal alloys.

[0021] In a further aspect, this specification discloses a measuring device for measuring the force acting on a crankshaft. The measuring device includes a crankshaft having bearings arranged on it and a force-measuring element as described above. A receiving sleeve of the force-measuring element is arranged on the outer ring of the bearing, and the axial support region of the force-measuring element is supported on the outer ring of the bearing in the axial direction.

[0022] Furthermore, evaluation electronics are connected to the strain sensor of the force-measuring element, and these evaluation electronics are arranged to determine the force acting on the crankshaft based on the signal from the strain sensor. This crankshaft can be, in particular, a pedal shaft, but, for example, it could also be the crankshaft of a piston engine.

[0023] Furthermore, this specification discloses a transmission device having the aforementioned measuring apparatus. The transmission device includes a transmission housing and a crankshaft, wherein the crankshaft is mounted within the transmission housing via a first bearing and a second bearing.

[0024] The first bearing is received in the transmission housing by a force-measuring element of the measuring device. Conversely, the force-measuring element is received in the transmission housing by a fastening ring. The receiving sleeve receives the outer ring of the first bearing, and the axial support region is supported on the outer ring of the first bearing.

[0025] In the transmission, in particular, the crankshaft may include a first step and a second step for supporting bearings. The step may be formed, for example, because the crankshaft has a larger diameter in the middle than at its ends. Specifically, the inner ring of the first bearing of the measuring device may rest on the first step of the pedal shaft, and the inner ring of the second bearing may rest on the second step of the crankshaft, thus forming an X-shaped arrangement of the inclined bearings.

[0026] In an X-shaped arrangement of bearings on the crankshaft, the force acting on the crankshaft is transmitted outward through the bearings. Therefore, the force-measuring element can be positioned further away from the evaluation electronics. Additionally, the force acting on the output shaft, which is mounted on the output-side bearings, is also transmitted outward. Therefore, this output shaft can be kept at a distance from the rotor shaft, which is positioned on the drive side of the output shaft.

[0027] For receiving axial force, the first and second bearings of the measuring device can be specifically arranged as single-row angular contact ball bearings. According to one embodiment, the second bearing is supported by a wave spring on the second step of the pedal shaft or the housing.

[0028] According to another embodiment, the second bearing is supported on the second step of the pedal shaft or on the housing by a spacer disk.

[0029] In addition, this specification discloses a transmission device having the above-mentioned features, which also includes a motor and a reduction gear connected to the motor, and a hollow output shaft connected to the reduction gear.

[0030] In this transmission, the crankshaft is arranged as a pedal shaft, and the first and second bearings are respectively arranged as rolling bearings. The pedal shaft passes through a hollow output shaft, and a flywheel is placed between the pedal shaft and the hollow output shaft to separate the pedal shaft and the hollow output shaft.

[0031] Furthermore, this specification discloses an electric drive vehicle having the aforementioned transmission device. Here, the motor is arranged as an electric motor, and the battery of the electric drive vehicle is connected to the electric motor.

[0032] On the other hand, this specification discloses a harmonic pin ring transmission having an input shaft and an output shaft. In particular, the input shaft can be arranged as a central shaft, which is suitable for use as the rotor shaft of a motor, and the output shaft can be configured as a central shaft located in the force flow, behind the internal gear described below.

[0033] In this transmission device, the cam disk used to press the traction mechanism onto the external gear is integrated with the hollow drive shaft, which may be specifically formed as the rotor of an electric motor.

[0034] The transmission device includes a first external gear and an internal gear, the internal gear being co-centered with respect to the first external gear in a first axial plane. A second external gear is positioned in a second axial plane, and the traction mechanism extends between the first external gear and the internal gear. In other words, the axial region of the traction mechanism lies within the space formed between the external gear and the internal gear.

[0035] A revolving transmitter lifts the traction mechanism from the outer circumference of the internal gear and presses it onto the inner circumferences of the first and second external gears. The transmitter includes a hollow drive shaft and a cam disc. The cam disc and the pin retaining ring of the pin ring are arranged in a third axial plane located between the first and second axial planes. The cam disc is integral with the hollow drive shaft.

[0036] According to a preferred embodiment, the traction mechanism is arranged as a pin ring, wherein a pin or protrusion extends from two opposite sides of a central region, which is arranged in a third axial plane. In particular, the central region can be made flexible and correspond to a pin retainer. Additionally, the central region of the pin ring may include an inner bearing surface for applying pressure to the cam disc and an outer bearing surface for applying pressure to gear components (such as support rings).

[0037] During operation, the rotary transmitter lifts the pin from the outer circumference of the internal gear and presses the pin onto the inner circumference of the first external gear and the inner circumference of the second external gear.

[0038] According to another embodiment, the circumference of the cam disk is arranged in an elliptical shape, such as a circular shape formed by superimposed sine waves or ellipses. According to another embodiment, the circumference of the cam disk is circular and arranged eccentrically relative to the central axis of the transmission device.

[0039] Specifically, the rolling bearing can be arranged radially between the cam disk and the traction mechanism to avoid forces in the circumferential direction, wherein, for an elliptical cam disk, the rolling bearing is preferably deformable.

[0040] Specifically, the transmission can be made of lightweight aluminum and can be manufactured as a single unit with the central shaft that forms the rotor of the electric motor.

[0041] Specifically, if the transmission device includes an eccentric disc or an eccentrically arranged disc, the transmission device may include a ring connected to a hollow drive shaft via a connecting strut.

[0042] On the other hand, this specification discloses a harmonic pin ring drive device with a support ring.

[0043] The transmission device includes the following components: a first external gear, an internal gear co-centered with respect to the first external gear in a first axial plane, and a second external gear placed in a second axial plane.

[0044] In addition, the transmission device includes a traction mechanism and a rotary transmitter extending between the first external gear and the internal gear. The rotary transmitter lifts the traction mechanism from the outer circumference of the internal gear and presses it onto the inner circumference of the first external gear and the inner circumference of the second external gear.

[0045] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk and the pin retaining ring of the pin ring are arranged in a third axial plane located between a first axial plane and a second axial plane. Additionally, a first external gear is formed by a first outer ring, and a second external gear is formed by a second outer ring, wherein the first and second outer rings are inserted into a support ring. In particular, the second outer ring may be structurally identical to the first outer ring, and / or may be mirror-symmetrical.

[0046] Additionally, the first and second outer rings can be made from plastics such as PA 66 or polymethyl methacrylate (PMMA) through injection molding. In particular, forming a plastic external gear is feasible, resulting in a uniform load distribution when the pins of the pin rings abut all the teeth of the external gear toothing. By designing the pin size of the pin rings and appropriately selecting the tooth engagement, each pin can abut on either the internal toothing or the external toothing of the external gear.

[0047] In particular, the first outer ring and the second outer ring may each include radially outwardly extending journals distributed on the circumference of their respective outer rings, wherein the support ring includes matching recesses into which the journals are inserted.

[0048] According to another embodiment, grooves are formed in the first and second outer rings, respectively distributed on the circumferences of the first and second outer rings, and the support ring becomes part of the transmission housing, including a journal with engaging grooves. This embodiment is particularly suitable for geared motors.

[0049] The support ring for receiving the external gear can be made of lightweight aluminum, and in particular, it can be made by aluminum die casting.

[0050] According to a further embodiment, the support ring includes two sub-rings that are axially adjacent to each other. In this way, the housing parts support each other axially.

[0051] To facilitate easier connection to the transmission housing, the first outer ring, the second outer ring, and the support ring may have matching and aligned screw holes. In particular, the external gear or the outer ring and the support ring may be connected to the transmission housing by screws passing through the screw holes of the transmission cover and the matching screw holes of the first outer ring, the support ring, and the second outer ring, and being screwed into the threads of the transmission housing of the harmonic pin ring transmission.

[0052] In another aspect, this specification discloses harmonic drive devices with traction mechanisms, and in particular harmonic pin ring drive devices with pin rings including flywheel mechanisms.

[0053] The transmission device includes an input shaft for applying the driving force of the motor and an output shaft for transmitting the output force. Additionally, the transmission device includes a first external gear, an internal gear arranged cocentrically with respect to the first external gear in a first axial plane, a second external gear arranged in a second axial plane, and a traction mechanism extending between the first external gear and the internal gear.

[0054] In addition, the transmission device includes a rotary transmitter that lifts the traction mechanism from the outer circumference of the internal gear, presses it onto the inner circumference of the first external gear, and presses it onto the inner circumference of the second external gear.

[0055] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk and the traction mechanism are arranged in a third axial plane located between a first axial plane and a second axial plane. When a pin ring is used, the pin retaining ring of the pin ring or a portion of a one-piece pin ring (which is equivalent to the pin retaining ring) is arranged in the third axial plane.

[0056] Additionally, the transmission optionally includes a hollow output shaft supported in an internal gear via a motor flywheel, and a pedal shaft supported on the hollow output shaft via a pedal shaft flywheel. The pedal shaft is received within the transmission housing of the transmission. The pedal shaft includes a receiving area or interface for the motor flywheel on its outer circumference. On its inner circumference, opposite the outer circumference, the pedal shaft includes a receiving area for the pedal shaft flywheel.

[0057] In particular, the motor flywheel can be arranged as a clamp roller freewheel, and the pedal axle flywheel can be arranged as a pawl freewheel. According to a further exemplary embodiment, both the motor flywheel and the pedal axle flywheel are arranged as clamp roller freewheels.

[0058] The output shaft or hollow output shaft extends in the axial direction on the output side of the hollow drive shaft, wherein a ball bearing is arranged between the hollow output shaft and the pedal shaft, and wherein the hollow output shaft includes a fastening area for output components (such as gears or pulleys).

[0059] Furthermore, the present invention also discloses a flywheel assembly having an outer clamp roller freewheel and an inner pawl freewheel.

[0060] The flywheel assembly includes a hollow drive shaft, a hollow output shaft, and a pedal shaft. In this arrangement, the pedal shaft, hollow output shaft, and hollow drive shaft are arranged concentrically. The hollow output shaft is radially arranged inside the hollow drive shaft, and the pedal shaft is radially arranged inside the hollow output shaft.

[0061] In addition, the hollow output shaft includes a stair-shaped pawl engagement region on the inner circumference and a stair-shaped clamp roller rolling region on the outer circumference that is radially opposite to the inner circumference.

[0062] The pedal shaft includes a star-shaped receiving region for the pawl, wherein the star-shaped receiving region includes a pawl seat and a spring seat, the pawl seats being evenly distributed on the circumference for receiving the pawl, and the spring seat being arranged adjacent to the pawl seats for receiving the spring.

[0063] In this arrangement, the steps of the stepped pawl engagement area and the stepped clamping roller rolling area formed on the pedal shaft are aligned so that the driving direction of the outer clamp roller freewheel is consistent with the driving direction of the inner pawl freewheel.

[0064] The outer clamping roller flywheel, among other things, includes a stepped clamping roller rolling area with a hollow drive shaft and a hollow output shaft, and the inner pawl flywheel, among other things, includes a pedal shaft and a stepped pawl engagement area.

[0065] In this specification, "radially inward" in relation to the central shaft refers to the inner circumference or its imaginary extension. In this case, the component does not need to be completely located within the hollow shaft in the axial direction.

[0066] According to a further embodiment, the stair-shaped clamp body rolling region on the outer circumference of the hollow output shaft and the stair-shaped pawl engagement region on the inner circumference of the hollow output shaft are substantially located in the same axial plane. Therefore, tilting torque on the hollow output shaft can be avoided, and axial space can be saved.

[0067] According to a further embodiment, the hollow drive shaft of the flywheel assembly includes a disk-shaped region with external toothing provided on the outer circumference of the disk region. This disk-shaped region need not be formed as a solid disk, but can be formed, for example, as a perforated disk or a disk including other obstructions, or as a ring with struts. This disk-shaped region is used to receive output torque. For example, it can be arranged as an internal gear in a harmonic pin-ring drive.

[0068] According to a further embodiment, the hollow output shaft includes an annular thickening region at a first end and a fastening region for an output tool (particularly for a chainring adapter) at a second end opposite to the first end.

[0069] According to a further embodiment, the outer circumference of the hollow output shaft of the flywheel assembly includes a stepped bearing region for rolling bearings. Therefore, the inner circumference of the hollow output shaft may also include a stepped bearing region for rolling bearings.

[0070] According to a further embodiment, the hollow output shaft includes an internal thread on the output side end.

[0071] According to a further embodiment, the flywheel assembly includes a pawl rotatably mounted in a pawl seat and a spring element disposed in a spring seat and in contact with the pawl.

[0072] Additionally, the flywheel assembly includes a freewheel cage with webs and clamping rollers arranged between the webs, wherein the freewheel cage and clamping rollers are radially arranged between the clamping roller rolling area of ​​the hollow output shaft and the inner circumference of the hollow drive shaft.

[0073] According to a further implementation, the pawl seat is cylindrical in shape, with one end closed by a wall and the opposite end open.

[0074] According to a further embodiment, the stair-shaped clampbody rolling region and the flywheel support cage each include at least two receiving regions for a spring element (e.g., a coil spring), wherein in each case, the spring element is arranged between the receiving region of the clampbody rolling region and the receiving region of the flywheel cage.

[0075] Additionally, the pedal shaft may include a force sensor unit, wherein the force sensor unit includes a metal force measuring element and a drive-side pedal shaft ball bearing, and wherein the force measuring element is arranged on the pedal shaft ball bearing.

[0076] According to a further embodiment, the force-sensing element of the flywheel assembly includes an inner annular portion that is fastened to an outer annular portion by fastening lugs, particularly four fastening lugs arranged at 45° intervals. A pedal shaft ball bearing is inserted into the inner annular portion.

[0077] According to a further embodiment, the inner and outer portions of the force-measuring element are radially offset from each other, wherein the fastening lugs are defined by radial slots on their side boundaries, and wherein at least two of the fastening lugs include strain sensors. This fastening lug is adapted to receive radial forces and is also referred to as a measuring lug.

[0078] Additionally, the axial thickness of the outer ring can be reduced in the area of ​​the fastening lug, thereby setting the fastening lug to tilt backward relative to the annular fastening area used for fastening to the transmission housing.

[0079] Additionally, this application discloses a pedal shaft for a flywheel assembly, the pedal shaft including a first fastening region of a pedal crank at a first end and a second fastening region of a pedal crank at a second end opposite to the first end. Furthermore, the pedal shaft includes a star-shaped receiving region for a pawl near the first end.

[0080] According to one specific embodiment, the star-shaped receiving area includes a step, each step comprising a first side surface, a second side surface, a pawl support area, and a spring seat. The pawl support area is inclined at approximately 45° relative to the circumferential direction in a predetermined direction. Additionally, the step includes an upper surface that is generally parallel to the circumference of the axis.

[0081] Additionally, the step includes an end region with a ratchet seat, wherein the ratchet seat is at least partially cylindrical, axially upward, open on one side and closed on the opposite axial side. Specifically, there can be six steps.

[0082] On the other hand, this specification discloses harmonic drive devices, and in particular harmonic pin ring drive devices, having an output shaft including an integral interface for a flywheel.

[0083] The harmonic drive includes an input shaft and an output shaft, and also includes the following features.

[0084] A first external gear and an internal gear are positioned cocentrically relative to the first external gear in a first axial plane. A second external gear is arranged in a second axial plane. Additionally, a traction mechanism, such as a pin ring, is provided, extending between the first external gear and the internal gear.

[0085] A rotary transmitter is connected to the input shaft. During operation, the transmission lifts the traction mechanism from the outer circumference of the internal gear and presses it onto the inner circumference of the first external gear and the inner circumference of the second external gear.

[0086] The transmission device includes a hollow drive shaft and a cam disc, wherein the cam disc and the pin buckle of the pin ring (if the traction mechanism is arranged as a pin ring) are arranged in a third axial plane located between the first axial plane and the second axial plane.

[0087] Additionally, the harmonic drive includes a hollow output shaft supported in an internal gear via a motor flywheel and a pedal shaft supported in the hollow output shaft via a pedal shaft flywheel. The pedal shaft is housed within the transmission housing of the harmonic drive. Furthermore, the pedal shaft includes a receiving area or interface on the outer circumference of the motor flywheel and a receiving area on the inner circumference of the pedal shaft flywheel, radially opposite the outer circumference.

[0088] According to one implementation, the engine flywheel is arranged as a clamp rollerfreewheel, and the pedal shaft flywheel is arranged as a pawl flywheel.

[0089] The output shaft extends axially on the output side of the hollow drive shaft, wherein ball bearings are arranged between the hollow output shaft and the pedal shaft, and wherein the hollow output shaft includes a fastening area for output elements, particularly for output elements such as gears or pulleys connected to a traction mechanism.

[0090] On the other hand, this specification discloses a harmonic pin drive having an input shaft and an output shaft, the drive having the following components.

[0091] In this transmission device, a first external gear and an internal gear are provided, wherein the internal gear is arranged cocentrically with respect to the first external gear in a first axial plane. A second external gear is arranged in a second axial plane. A pin ring with a pin extends between the first external gear and the internal gear.

[0092] A rotary transmitter is arranged in the area of ​​the internal and external gears. During operation, the rotary transmitter lifts the pin of the pin ring from the outer circumference of the internal gear and presses the pin onto the inner circumference of the first and second external gears.

[0093] The transmitter includes a hollow drive shaft and a cam disk, wherein the central region of the cam disk and the pin ring is arranged in a third axial plane located between a first axial plane and a second axial plane.

[0094] The pin ring is made as a single piece. In particular, the pin ring can be made of metal. The pin of the pin ring will be formed by protrusions extending from two axially opposite sides of the central region of the pin ring, which includes a smooth cylindrical inner bearing surface and a smooth cylindrical outer surface, the inner bearing surface being used to apply pressure to the bearing.

[0095] According to a further embodiment, the protrusion is cylindrical on a first side of two opposite sides, and the protrusion is also partially cylindrical on a second side of two opposite sides, wherein the cylindrical region is located outside the pin ring in the radial direction.

[0096] According to a further embodiment, the protruding portion includes an inner rounded engagement region radially inside the pin ring on a first side of two opposite sides, and an outer rounded engagement region radially outside the pin ring. Additionally, the protruding portion includes an outer rounded engagement region on a second side of two opposite sides.

[0097] According to a further embodiment, a bearing (such as a rolling bearing, ball bearing, flexible rolling bearing, or flexible ball bearing) is arranged between the cam disc and the pin ring, wherein the pin ring includes an inner shoulder for supporting the bearing.

[0098] On the other hand, this specification discloses a one-piece pinring for a harmonic pinring drive, which is integrally formed and made of metal. The pinring includes a pin formed by protrusions extending from two axially opposite sides of the central region of the pinring.

[0099] In this case, the central region includes a smooth cylindrical inner bearing surface for applying pressure to the bearing, and a smooth cylindrical outer bearing surface for applying pressure to the supporting cylinder.

[0100] According to a further embodiment, the protruding portion is cylindrical on a first side of two opposite sides, and the protruding portion is also partially cylindrical on a second side of two opposite sides. The cylindrical region is located radially outside the pin ring.

[0101] According to a further embodiment, the protruding portion includes a radially inner circular engagement region on a first side inside the pin ring and a radially outer circular engagement region on the outside of the pin ring. Additionally, the protruding portion includes an outer circular engagement region on a second side on both opposite sides.

[0102] According to a further embodiment, in each case, on the first side of the two opposing sides, tangentially arranged webs are arranged between the protrusions, wherein the outer boundary line of the cross-section of the protrusions smoothly merges into the outer boundary line of the webs. Here, "smooth" can be understood as a continuous first derivative when the surface roughness is averaged.

[0103] According to a further embodiment, a bearing (such as a rolling bearing or ball bearing, or a flexible rolling bearing or flexible ball bearing) is arranged between the cam disc and the pin ring. In this case, the pin ring includes a shoulder on its inner side for supporting the bearing.

[0104] In another aspect, this specification discloses a harmonic drive device with an inclined bearing.

[0105] The transmission device includes a first external gear, an internal gear co-centered with respect to the first external gear in a first axial plane, and a second external gear placed in a second axial plane.

[0106] The traction mechanism extends between the first external gear and the internal gear. Additionally, a rotary transmitter is provided that lifts the traction mechanism from the outer circumference of the internal gear and presses it onto the inner circumference of the first external gear and the inner circumference of the second external gear.

[0107] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk and the pin retainer of the pin ring are arranged in a third axial plane located between a first axial plane and a second axial plane.

[0108] The pedal shaft is radially arranged inside the output shaft, and is mounted in the motor housing via a drive-side pedal shaft ball bearing and a force-measuring element made of metal or metal alloy.

[0109] According to a further embodiment, the force-measuring element includes an inner annular portion connected to an outer annular portion via fastening lugs, wherein a pedal shaft ball bearing is inserted into the inner annular portion. In particular, these fastening lugs can be four lugs spaced 45 degrees apart. The fastening lugs are also referred to as measuring lugs.

[0110] The outer annular portion is inserted into the cylindrical portion of the motor housing. The inner and outer portions are radially offset from each other. Additionally, the fastening lug is defined by radial slots at its side boundaries, and a material recess is provided radially on the outside of the measuring lug. Therefore, among other things, the thickness of the measuring lug is reduced, thereby improving its deformability.

[0111] Strain sensors (e.g., strain gauges) can be applied to at least two measuring zones on the surfaces of at least two measuring zones.

[0112] In addition, the wave spring can be arranged between the force measuring element and the drive-side rotor ball bearing, and in particular, the wave spring can also be used for tolerance compensation.

[0113] On the other hand, this specification discloses a harmonic pin ring drive having a crank gear formed as a planetary gear. This harmonic pin ring drive includes an input shaft and an output shaft, which are also referred to as a drive shaft and a driven shaft.

[0114] Furthermore, the transmission device includes a first external gear and an internal gear arranged co-centered with respect to the first external gear in a first axial plane, as well as a second external gear arranged in a second axial plane.

[0115] The traction mechanism extends between the first external gear and the internal gear. A rotary transmitter is provided for lifting the traction mechanism from the outer circumference of the internal gear and pressing it onto the inner circumference of the first external gear. The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk is arranged in a third axial plane located between a first axial plane and a second axial plane.

[0116] Furthermore, the pedal shaft is radially arranged within the output shaft, and the planetary gears and pedal shaft flywheel are arranged in the force flow between the pedal shaft and the output shaft.

[0117] According to one embodiment, the planet carrier of the planetary gear is connected to the pedal shaft, the ring gear of the planetary gear includes a connection area for connection to the transmission housing, and the sun gear of the planetary gear is mounted on the pedal shaft. A pedal shaft flywheel is positioned between the hollow shaft of the planetary gear and the output shaft, the hollow shaft of which is connected to the sun gear.

[0118] According to another embodiment, the pedal shaft flywheel is arranged between the crankshaft and the planetary carrier of the planetary gear, wherein the ring gear of the planetary gear is rotatably mounted in the harmonic drive, and wherein the sun gear of the planetary gear is adapted to be connected to the fixed housing portion of the harmonic drive.

[0119] Furthermore, this specification discloses a tension shaft transmission in which the tooth geometry can be specifically designed to ensure complete tooth engagement between the internal and external teeth. This occurs even if the transmitter contains an eccentric disk instead of an elliptical cam disk.

[0120] There are two main types of tension shaft transmissions: the first type has a design with a driven cup-shaped tensioning shaft, which includes a fastening area for the output shaft; and the second type has a design with a movable second external gear and a cylindrical tensioning shaft.

[0121] The tension shaft drive includes an external gear with internal meshing teeth and a tension adjusting shaft with external meshing teeth. The external gear includes a fastening area for connection to the drive housing. The tension adjusting shaft is positioned cocentrically with respect to the external gear in the axial plane.

[0122] A revolving transmitter is arranged to connect to a rotary input shaft and to press the tension adjusting shaft against the internal meshing teeth of an external gear during operation. For this purpose, the transmitter is placed inside the tension adjusting shaft, and the outer circumference of the transmitter is adapted to press the tension adjusting shaft.

[0123] The transmitter includes a hollow drive shaft and a cam disk, which preferably comprises a circular circumference eccentrically arranged relative to the central axis of the external gear or an elliptical or elliptical circumference co-centered relative to the central axis of the external gear, wherein ball bearings are arranged on the circumference of the cam disk. In the case of an elliptical or elliptical circumference, the ball bearings are preferably flexible ball bearings. However, the meshing teeth of the external gear specified below are particularly suitable for elliptical transmitters and result in particularly good meshing in this case.

[0124] The cross-section of the outer meshing tooth crown of the tension adjusting shaft is essentially equivalent to a segment of a circle. Therefore, the cross-section of the tooth crown is equivalent to a portion of the cross-section of a cylindrical pin, and preferably essentially equivalent to a semicircle.

[0125] Regarding the central axis of the external gear, the internal meshing teeth of the external gear are basically defined by the equidistant distance from the gear trajectory. This equidistant distance from the gear trajectory is given by the formulas x(t)=r1*cos(t)+r2*cos((n+1)*t)+r3*cos((n+3)*t) and y(t)=r1*sin(t)-r2*sin((n+1)*t)+r3*cos((n+3)*t).

[0126] The function r3*sin((n+3)*t) is defined, where n+1 is the number of teeth in the internal meshing gear of the external gear, and the radii rl, r2, and r3 are greater than zero, with the ratios r2>r3 and rl>r2+r3 applicable. Further conditions for the parameters n and t, as well as the radii, are given in the description below.

[0127] The coordinates x and y are related to the Cartesian coordinate system, which is arranged perpendicular to the central axis of the external gear, with its origin located in the central axis of the external gear or transmission device.

[0128] In particular, the tension adjustment shaft can be formed in a cup shape, with a fastening area at the bottom of the cup shape for securing the output shaft. This can also be achieved by making the tension adjustment shaft and the output shaft an integral part of each other.

[0129] Additionally, a central circular opening can be formed at the bottom of the cup shape, wherein the fastening area of ​​the tension adjusting shaft includes fastening holes arranged around the central circular opening. This embodiment may be particularly advantageous for geared motors.

[0130] According to an alternative embodiment, the tension adjusting shaft has a cylindrical shape, wherein the transmission includes a second rotatably arranged external gear, the external gear including a fastening area for fastening the output shaft, wherein the internal meshing teeth of the external gear are determined by the same structure or formula as the internal meshing teeth of the first external gear.

[0131] For example, the expression "basically," especially concerning meshing teeth, can refer to the instruction manual. Figure 117 , 118 The mentioned distance has a maximum deviation of 5% or 10%.

[0132] Alternatively, the shape of the meshing teeth of the external gear can be specified by explicitly defining the circumferential structure, according to which the tooth surface of the internal meshing teeth of the external gear is determined by the radial distance from the central axis of the internal gear as a function of the cycle angle. In this case, the radial distance from the central axis is, in turn, determined by the inner equidistant distance to the gear trajectory, where the position on the gear trajectory is, in each case, determined by the vector sum of the cycle vector, the first epicycle vector, and the second epicycle vector.

[0133] In addition, the tail of the circular vector is located on the central axis, the tail of the first circular vector is located at the end of the circular vector, and the tail of the second circular vector is located at the end of the first circular vector.

[0134] In addition, the rotation angle of the first rotating circular vector is n+1 times the rotation angle of the circulation loop, and the rotation angle of the second rotating circular vector is n+3 times the rotation angle of the circulation loop, where n is the number of pins in the harmonic pin ring drive device, which is at least 4.

[0135] In addition, the length of the loop vector is greater than the sum of the lengths of the first and second loop vectors, and the length of the first loop vector is greater than the length of the second loop vector.

[0136] In addition, this specification discloses a two-stage reduction gear, which includes an external gear having a first internal meshing tooth fixedly fixed to the transmission housing, wherein the external gear includes a fastening area for connection with the transmission housing.

[0137] The external gear, which is rotatably mounted on the transmission housing, is provided with a second internal meshing tooth, wherein the external gear includes a fastening area for connection to the output shaft.

[0138] A two-part or two-section, but still integral, pin ring is arranged concentrically relative to the external gear, wherein the two-part integral pin ring includes a first external meshing tooth and a second external meshing tooth. The first external meshing tooth of the two-part integral pin ring engages with the internal meshing tooth of the stationary external gear. The second external meshing tooth of the two-part integral pin ring engages with the internal meshing tooth of the rotatable external gear.

[0139] The rotary conveyor is arranged to press a single integral pin ring of two parts onto the internal meshing teeth of the stationary external gear and the internal meshing teeth of the rotatable external gear. Ball bearings are arranged on the circumference of the rotary conveyor.

[0140] In particular, in order to achieve high deceleration, the number of teeth of the internal meshing teeth of the stationary external gear can be greater than the number of teeth of the first external meshing teeth, and the number of teeth of the internal meshing teeth of the rotatable external gear can be greater than the number of teeth of the second external meshing teeth. Further, the number of teeth of the stationary external gear is greater than the number of teeth of the rotatable external gear, and the number of teeth of the first external meshing teeth is greater than the number of teeth of the second external meshing teeth.

[0141] Alternatively, the transmitter may include an eccentrically arranged ring on a shaft relative to a fixed external gear. Eccentric drives offer a particularly simple and robust design that eliminates the need for deformable bearings.

[0142] In particular, the cross-section of the crown of the first external meshing tooth and the cross-section of the crown of the second external meshing tooth can be substantially equivalent to a segment of a circle, preferably a semicircle. Therefore, the geometry of the meshing teeth corresponds to a cylindrical pin, which is particularly advantageous in eccentric transmission devices.

[0143] Furthermore, the cross-sections of the crowns of the first and second external meshing teeth can essentially correspond to the inner equidistant distances to the gear trajectory, specifically the distance to the pin radius, defined by the formulas x(t) = r1*cos(t) + r2*cos(nt) and y(t) = r1*sin(t) + r2*sin(nt), where the following applies to the radius, r2: rl>0, r2>0, and rl>r2. In particular, the meshing teeth can correspond to this shape along the entire circumference, not just in the crown region.

[0144] This also applies to the meshing teeth of the pin ring. Therefore, the cross-section of the crown of the first external meshing tooth and the cross-section of the crown of the second external meshing tooth can be substantially equivalent to the distance to the outer equidistant from the gear trajectory, especially the distance to the pin radius, defined by the formulas x(t) = r1*cos(t) + r2*cos(nt) and y(t) = r1*sin(t) - r2*sin(nt), where the following applies to radii rl, r2: rl>0, r2>0, and rl>r2, and where for external gear meshing teeth, rl, r2, and n have the same value. In particular, this meshing tooth shape can be applied along the entire circumference of the meshing teeth, not just the crown region.

[0145] In addition, this specification discloses a force measuring element for measuring the radial force acting on a crankshaft, the force measuring element having a receiving sleeve for receiving a bearing ring, a fastening ring for connecting the force measuring element to a transmission housing, and an axial support area provided on the fastening ring for axially supporting the bearing.

[0146] Additionally, a measuring area is provided for receiving the radial force of the receiving sleeve, which connects the receiving sleeve to the fastening ring, wherein strain sensors are connected to at least two measuring areas.

[0147] Additionally, this specification discloses a flywheel assembly having an external drive flywheel and an internal pedal shaft flywheel. This flywheel assembly includes a hollow drive shaft, a hollow output shaft, and a pedal shaft. The pedal shaft, hollow output shaft, and hollow drive shaft are arranged concentrically with each other.

[0148] Furthermore, a hollow output shaft is radially positioned within a hollow drive shaft, and a pedal shaft is radially positioned within a hollow output shaft, with a pedal shaft flywheel arranged between the pedal shaft and the hollow output shaft. A drive flywheel is arranged on the hollow output shaft opposite to the pedal shaft flywheel. The hollow output shaft includes adapted areas on the inner and outer sides of the respective flywheel regions.

[0149] Therefore, the paired flywheels are integrated into the drive unit in a space-saving manner within the pedal axle area, eliminating the need for separate outer or inner rings. In this case, the outer flywheel can be a clamping roller flywheel, and the inner flywheel can be a ratchet flywheel. However, all flywheels can also be clamping roller flywheels. Other combinations are also feasible.

[0150] In addition, this specification discloses an integral pin ring, which is preferably used in conjunction with an eccentric transmission device.

[0151] According to the first embodiment, the integral pin ring is made of metal, wherein the pin retaining ring and the pin assembly (which extends axially on two opposite sides of the pin retaining ring) are integrally manufactured.

[0152] In particular, the pins can be connected to each other in the circumferential direction, which provides additional stability and enables more efficient production.

[0153] Alternatively, the pin can be formed as half pins (suitable for engaging internal meshing teeth) on the first side of two opposite sides, and the pin can be formed as whole pins (suitable for engaging internal meshing teeth and for engaging external meshing teeth opposite to the internal meshing teeth) on the second side of the opposite sides. Therefore, weight and material can be saved.

[0154] In a further embodiment, an integral snap ring includes a smooth inner circumference on the inner side and a circular protrusion on the outer side, the protrusion being integrally formed with the snap ring. This embodiment is suitable, for example, for a two-stage reduction gear with an eccentric device.

[0155] Additionally, at least one of the circular protrusions may have a semi-circular cross-section at its end. Therefore, the same meshing teeth can be used, which are also suitable for pin rings with cylindrical pins.

[0156] Additionally, this specification discloses a support ring assembly for a reduction gear including a support ring having a first external gear and a second external gear, the first external gear having a first internal meshing tooth and the second external gear having a second internal meshing tooth, wherein the first external gear and the second external gear are inserted into support rings on opposite sides, and wherein the support ring includes a fastening region (e.g., an axial hole) for connection to a transmission housing.

[0157] In particular, the first and second external gears can be made of plastic. Furthermore, the first and second external gears can be connected to the support wheel via pin groove connections, facilitating easy assembly.

[0158] Additionally, this specification discloses a one-piece rotor-transmitter element for a reduction gear, comprising a hollow shaft including a fastening region on a first side for fastening a rotor package and a cam disk on a second side opposite to the first side, wherein the outer circumference of the cam disk is configured as a receiving region for a ball bearing.

[0159] In particular, the integral rotor transmission element can be made of aluminum. Furthermore, the central shaft of the integral rotor-transmission element can be designed to allow the pedal shaft to pass through a hollow shaft.

[0160] In a further embodiment, the cam disk includes a circular circumference eccentrically arranged relative to the central axis of the hollow shaft. In an alternative embodiment, the cam disk includes an elliptical circumference relative to the central axis of the hollow shaft.

[0161] Additionally, this specification discloses a crank gear providing acceleration transmission. According to a first embodiment, the crank gear includes a drive shaft, particularly a crankshaft or pedal shaft having planetary gears arranged on the drive shaft, wherein the planet carriers of the planetary gears are fixedly connected to the drive shaft, the ring gears of the planetary gears include a fastening area for connection to a transmission housing and a receiving area for a torque sensor, and the sun gear of the planetary gears is configured as a ring gear co-centered relative to the drive shaft, wherein the sun gear is connected to a hollow output shaft of the planetary gears, which is rotatably mounted on the drive shaft.

[0162] According to the second embodiment, the crank gear includes a drive shaft, particularly a crankshaft or pedal shaft, wherein planetary gears are arranged on the drive shaft, wherein the planet carriers of the planetary gears are mounted on the drive shaft via a flywheel, the sun gear of the planetary gears includes a fastening area for connection to the transmission housing and a receiving area for a torque sensor, and the ring gear of the planetary gears includes a receiving area for support on a ball bearing in the transmission housing.

[0163] According to a third embodiment, the crank gear includes a drive shaft, particularly a crankshaft or pedal shaft, wherein planetary gears are arranged on the drive shaft, wherein the planet carriers of the planetary gears include fastening areas for connection to a transmission housing, wherein the hollow shafts of the planetary gears are fixedly connected to the drive shaft, and wherein the sun gear of the planetary gears is configured as a hollow shaft, which is arranged cocentrically relative to the drive shaft and rotatably mounted on the drive shaft.

[0164] In addition, this specification discloses a cycloidal gear, which includes the following components: a transmission housing, an external gear having internal meshing teeth fixed on the transmission housing, and an input shaft arranged co-centered with the external gear, wherein the input shaft includes a drive-side eccentric disk and an output-side eccentric disk, a first ball bearing is arranged on the drive-side eccentric disk, and a second ball bearing is arranged on the output-side eccentric disk.

[0165] A drive-side internal gear with external meshing teeth is mounted on a first ball bearing, and an output-side internal gear with external meshing teeth is mounted on a second ball bearing. The drive-side internal gear and the output-side internal gear are placed inside an external gear, and the external meshing teeth of the drive-side internal gear and the output-side external gear respectively engage with the internal meshing teeth of the external gear.

[0166] In particular, the cycloidal gear may include a crankshaft mounted in the input shaft and a force-measuring element as described above mounted on the crankshaft on the drive side.

[0167] Alternatively, the input shaft can be configured as an integral rotor transmission element as described above.

[0168] According to another embodiment, the cycloidal gear includes a crankshaft mounted within an input shaft, and wherein the crankshaft includes one of the aforementioned planetary gears, wherein the crankshaft constitutes the drive shaft of the planetary gear.

[0169] According to a further embodiment, a third ball bearing is placed on the input shaft on the output side of the output-side eccentric disc, wherein a driven pulley is arranged on the third ball bearing, wherein the driven pulley includes a carrier pin that engages in an axially continuous opening of the drive-side internal gear and the output-side internal gear, wherein the output shaft is radially formed inside the driven pulley.

[0170] In this configuration, the output shaft is radially formed inside the driven pulley, with a third ball bearing arranged on the inner shoulder of the output shaft. Additionally, an internal gear ball bearing is arranged axially, obliquely to the third ball bearing relative to the bearing's center, on the outer shoulder of the output shaft, with the internal gear ball bearing supported on the housing of the transmission unit.

[0171] According to another alternative embodiment, at least one internal gear includes a first meshing tooth and a second external meshing tooth. The cycloidal gear also includes a rotatable external gear with internal meshing teeth, wherein the second external meshing teeth engage the internal meshing teeth of the rotatable external gear, and wherein the rotatable external gear includes a fastening region for mounting the output shaft. Thus, two-stage reduction can be provided.

[0172] In addition, the internal meshing teeth can be formed from the inner surface of the external gear or from a stationary pin device, on which rollers are arranged. BRIEF DESCRIPTION OF THE DRAWINGS

[0173] Referring to the diagram below, the subject matter of this instruction manual will be explained in more detail below.

[0174] in

[0175] Figure 1 This is a cross-sectional view of the harmonic pin ring drive device.

[0176] Figure 2 Showing Figure 1 The exploded view of the drive side portion of the transmission device.

[0177] Figure 3 Showing Figure 1 The output side portion of the exploded view of the transmission device. Figure 4 yes Figure 1 An exploded view of the internal components of the transmission device.

[0178] Figure 5 Showing Figure 1 A perspective view of the transmission components of the transmission device.

[0179] Figure 6 Showing Figure 1 The bottom bracket bearing assembly of the transmission device.

[0180] Figure 7 yes Figure 6 The cross-sectional view of the base bearing assembly shown in the image.

[0181] Figure 8 Showing Figure 1 A perspective view of the drive side of the transmission device in its assembled state.

[0182] Figure 9 Showing Figure 1 A perspective view of the transmission device in its assembled state on the output side.

[0183] Figure 10 Showing according to Figures 1 to 9 The installation concept of the transmission device transmits axial force to the housing.

[0184] Figure 11 A cross-sectional view of a harmonic pin ring drive device with an eccentric disc.

[0185] Figure 12 yes Figure 11 An exploded view of the transmission device.

[0186] Figure 13 yes Figure 11 A side view of the components of the transmission device.

[0187] Figure 14 yes Figure 13 A cross-sectional view of the component.

[0188] Figure 15 Showing Figure 11 Output side plan view of the pin ring of the transmission device.

[0189] Figure 16 Showing Figure 15 The cross-section of the pin ring,

[0190] Figure 17 Showing Figure 15 A partial view of the pin ring.

[0191] Figure 18 show Figure 15 The output side plan view of the pin ring, and

[0192] Figure 19 Showing Figure 11 Output side plan view of the transmission device.

[0193] Figure 20 Showing Figure 11 The torque curve in the transmission device.

[0194] Figure 21 This shows a perspective view of the force-measuring element from the drive side.

[0195] Figure 22 This is a plan view of the force-measuring element from the drive side.

[0196] Figure 23 This is a plan view of the force-measuring element from the output side.

[0197] Figure 24 The force measuring element is along Figure 22 The section view of section line AA, Figure 25 A side view of the force-measuring element is shown.

[0198] Figure 26 This is a perspective view of the force-measuring element from the output side.

[0199] Figure 27 This shows a plan view of the force measuring element from the output side.

[0200] Figure 28 It is along Figure 27 Cross-sectional view of the middle intersecting line AA.

[0201] Figure 29 It is along Figure 27 Cross-sectional view of the middle cross line BB.

[0202] Figure 30 Displayed with Figure 21 The harmonic pin ring transmission device of the force measuring element in the middle.

[0203] Figure 31 Showing Figure 30 Part of the pin-ring drive mechanism

[0204] Figure 32 The diagram shows a cross-sectional view of an obliquely mounted bearing with a force-measuring element.

[0205] Figure 33 The first cross-sectional view of the inclined-mounted bearing with a force-measuring element is shown.

[0206] Figure 34 Another cross-sectional view of a tilted bearing with a force-measuring element is shown.

[0207] Figure 35 The first implementation of the torque sensor is shown.

[0208] Figure 36 A second implementation of the torque sensor is shown.

[0209] Figure 37 A third implementation of the torque sensor is shown.

[0210] Figure 38A fourth implementation of the torque sensor is shown.

[0211] Figure 39 A fifth embodiment of a torque sensor with two pairs of opposing strain gauges spaced 90 degrees apart is shown.

[0212] Figure 40 A fifth embodiment of a torque sensor with two adjacent pairs of opposing strain gauges is shown.

[0213] Figure 41 Showing according to Figure 38 A series of measured values ​​from the force measuring device,

[0214] Figure 42 This shows a comparison with direct torque measurement in deformable elements, based on Figure 37 Another series of measurements from the force measuring device, Figure 43 It is similar to having a force-measuring element. Figure 29 A cross-sectional view of another HPD drive unit. Figure 44 Shown in Figure 43 The image shows a magnified view of the HPD drive unit in the force-measuring element area.

[0215] Figure 45 This is an exploded view of the flywheel assembly.

[0216] Figure 46 Showing Figure 44 Output side view of the flywheel assembly (with side cover removed).

[0217] Figure 47 yes Figure 45 A cross-sectional view of the flywheel assembly, pedal shaft, and gears within the transmission mechanism.

[0218] Figure 48 Showing Figure 45 A perspective view of the flywheel assembly (without the side cover) from the output side.

[0219] Figure 49 Showing Figure 45 A drive-side perspective view of the flywheel assembly (with side shields removed).

[0220] Figure 50 yes Figure 45 Side view of the pedal crank of the flywheel assembly.

[0221] Figure 51 It has an output shaft. Figure 45 Side view of the flywheel assembly.

[0222] Figure 52 The top view of the pedal shaft in the axial direction is shown.

[0223] Figure 53 The output side top view of the output shaft is shown.

[0224] Figure 54 A top view of the drive side of the output shaft is shown.

[0225] Figure 55 The flywheel support cage of the transmission flywheel is shown.

[0226] Figure 56 The clamping body ring of the drive flywheel is shown.

[0227] Figure 57 A side view of the flywheel assembly with its output shaft and sensor unit is shown.

[0228] Figure 58 Showing the flywheel assembly along Figure 57 Another cross-sectional view of section line DD.

[0229] Figure 59 This shows the view from the output side. Figure 57 Cross-sectional view of the flywheel assembly.

[0230] Figure 60 It is the cross-section of a harmonic pin ring drive device with a clamping roller flywheel.

[0231] Figure 61 It is along Figure 61 A cross-sectional view of a gear-driven motor with a harmonic pin ring transmission device obtained by the intersecting lines in the diagram.

[0232] Figure 62 The image shows a side view of the geared motor on the output side.

[0233] Figure 63 Showing Figure 60 An exploded view of the drive side portion of a geared motor.

[0234] Figure 64 Showing Figure 60 The output side portion of an exploded view of a geared motor.

[0235] Figure 65 This shows the view from the output side. Figure 60 A perspective view of a geared motor.

[0236] Figure 66 This shows the view from the output side. Figure 60 A perspective view of a geared motor.

[0237] Figure 67 This illustrates a harmonic pin-ring drive with planetary gears arranged on the pedal shaft, wherein the output is via a planetary carrier. Figure 68Showing Figure 67 A perspective view of the planetary gear assembly.

[0238] Figure 69 Showing Figure 68 Side view of the planetary gear assembly.

[0239] Figure 70 Showing along Figure 69 The cross section of the intersecting line CC,

[0240] Figure 71 Showing along Figure 69 The cross section of the intersecting line BB.

[0241] Figure 72 This illustrates a harmonic pin-ring drive with planetary gears configured on the pedal shaft, wherein the output is achieved via a ring gear.

[0242] Figure 73 Showing Figure 67 A perspective view of the planetary gear assembly.

[0243] Figure 74 Showing Figure 68 Side view of the planetary gear assembly.

[0244] Figure 75 Showing along Figure 74 The cross section of the middle crossing line CC, and

[0245] Figure 76 Showing along Figure 74 The cross section of the middle crossing line BB.

[0246] Figure 77 This is a cross-sectional view of the motor gear set used in an electric bicycle with a cycloidal gear.

[0247] Figure 78 yes Figure 77 Exploded view of the motor gear set.

[0248] Figure 79 It is on the output side. Figure 77 Side view of a cycloidal gear.

[0249] Figure 80 Showing Figure 77 The cycloidal gear shown in the image moves along... Figure 79 The cross section of the middle intersecting line AA,

[0250] Figure 81 yes Figure 79 The side view, in which Figure 79 Hidden components are indicated by dashed lines.

[0251] Figure 82The cross-section of a motor gear set with a tension shaft drive is shown.

[0252] Figure 83 Showing Figure 82 An exploded view of the tension shaft drive device.

[0253] Figure 84 Showing Figure 82 Side view of the drive side of the tension shaft transmission device.

[0254] Figure 85 Showing along Figure 84 The section of the middle section line AA,

[0255] Figure 86 Showing along Figure 84 The cross section of the mid-section line BB.

[0256] Figure 87 Showing Figure 84 A magnified view of the detail of the "C" in the middle.

[0257] Figure 88 This shows a perspective view of the drive side of the tension shaft drive in its assembled state.

[0258] Figure 89 A side view of a two-stage transmission gearing with two-part pin rings is shown.

[0259] Figure 90 It is along Figure 89 A cross-sectional view of the two-stage reduction gear obtained from the mid-section line AA.

[0260] Figure 91 yes Figure 89 The side view, in which Figure 89 Hidden components in the view are indicated by dashed lines.

[0261] Figure 92 It is the output side. Figure 82 Three-quarters of the cross-section of the two-stage reduction gear,

[0262] Figure 93 Showing Figure 92 Output side perspective view at three-quarters section.

[0263] Figure 94 The HPD-F drive with an elliptical cam disk is shown.

[0264] Figure 95 The HPD-E drive with a single eccentric disk is shown.

[0265] Figure 96The epicyclic construction of the internal gear meshing teeth for the HPD-E drivetrain is shown.

[0266] Figure 97 The circumferential structure of the external gear meshing teeth for the HPD-E drive is shown.

[0267] Figure 98 The circumferential structure of the internal gear meshing teeth for the HPD-F drive is shown.

[0268] Figure 99 The circumferential structure of the external gear meshing teeth for the HPD-F drive is shown.

[0269] Figure 100 Showing Figure 98 The application of the circular structure at the first corner position,

[0270] Figure 101 Showing Figure 100 The circular structure at the second corner position,

[0271] Figure 102 Showing Figure 100 The circular structure at the triangular position,

[0272] Figure 103 Showing Figure 100 The circular structure at the fourth corner,

[0273] Figure 104 Showing Figure 97 The application of the circular structure at the first corner position,

[0274] Figure 105 Showing Figure 11 The circular structure at the second corner.

[0275] Figure 106 Showing Figure 11 The circular structure at the triangular position.

[0276] Figure 107 Showing Figure 11 The circular structure at the fourth corner,

[0277] Figure 108 Showing according to Figure 3 and Figure 4 The structure, Figure 2 The gear geometry of the transmission device,

[0278] Figure 109 yes Figure 95 A top view of the transmission device on the output side.

[0279] Figure 110 Showing Figure 2 A cross-sectional view of the transmission device.

[0280] Figure 111 yes Figure 95 A top view of the transmission device on the drive side.

[0281] Figure 112 Showing according to Figure 96 and Figure 97 The structure, for the meshing gear geometry and associated gear trajectory of another HPD-E drive with 55 pins,

[0282] Figure 113 Showing according to Figure 98 and Figure 99 The structure, for the meshing gear geometry of an HPD-F drive with 150 pins,

[0283] Figure 114 Showing Figure 113 The meshing tooth geometry and related gear trajectory of the internal gear meshing teeth.

[0284] Figure 115 Showing according to Figure 94 The worn meshing teeth of the transmission device, and the corresponding suitable tooth geometry,

[0285] Figure 116 It shows that it has the following characteristics: Figure 98 and 99 The image shows details of the HPD-F drive mechanism, including the meshing teeth of the circumferential circular structure and the integrally formed pin ring.

[0286] Figure 117 This shows the tolerance range of the tooth profile defined by the envelope curve, and

[0287] Figure 118 This shows the tolerance range of the tooth profile defined by the profile shift.

[0288] Figure 119 A schematic diagram of the first driver is shown.

[0289] Figure 120 A schematic diagram of yet another driver is shown.

[0290] Figure 121 A schematic diagram of a strain wave actuator is shown.

[0291] Figure 122 A schematic diagram of a harmonic pin-ring driver is shown.

[0292] Figure 123 A schematic diagram of an eccentric actuator is shown.

[0293] Figure 124 A gear with strain wave pattern (similar to) is shown. Figure 83 Drive side view of the motor gear set (strain waveform gear),

[0294] Figure 125 It is along Figure 124 AA-cutting of the middle cross line Figure 124 A perspective cross-sectional view of the motor gear set, and

[0295] Figure 126 Showing along Figure 124 The cross section of the middle intersecting line AA. Detailed Implementation

[0296] In the following description, details are provided to illustrate the embodiments described in the specification. However, it will be apparent to those skilled in the art that the embodiments can be implemented without these details.

[0297] Figure 1 A cross-sectional view of the harmonic pin ring gear 10 is shown. Figure 1 The midsection plane AA is marked in Figure 9 In. Figure 1 In the middle, the left side corresponds to the drive side, and the right side corresponds to the output side of the harmonic pin ring gear 10. According to the conventional arrangement of the drive on the right side, Figure 10 The viewing direction is towards the direction of travel.

[0298] The stator 20 of the stator assembly of the harmonic pin ring gear 10 is housed within the motor housing 22. The stator 20 includes three individual coils 21 for connection to the three phases of a three-phase inverter. The three coils of the stator 20 are connected to the three-phase inverter via three terminals 25, one of which is shown... Figure 1 middle.

[0299] The three-phase inverter is configured with power electronic components arranged on a printed circuit board 23, which is housed within a cooling shroud 24 mounted on the motor housing 22 on the drive side. The printed circuit board 23 is configured as an annular disk located outside the cylindrical protrusions of the motor housing and the cooling shroud, thus sealing the motor electronic components on the cooling shroud and protecting them from grease.

[0300] The pedal shaft 35, extending centrally through the motor housing 22, is stepped on the output side and includes three steps, with the diameter of each step increasing from the outside in. Each step houses a shaft seal 50, an output-side pedal shaft ball bearing 46, and a pedal shaft flywheel 149. The pedal shaft 35 is also stepped on the drive side and includes two steps. A shaft seal and a sensor ring 68 are arranged on the outer step, and a ball bearing 45 is arranged on the inner step. The stepped pedal shaft is also shown... Figure 4 In the perspective view.

[0301] An outer rotor shaft 26 equipped with permanent magnets is radially positioned inside the stator 20. This outer rotor shaft is also referred to as a "rotor package". The outer rotor shaft 26 includes an inner elastic region that is inserted into the inner rotor shaft 27. On the inner rotor shaft 27, an eccentrically arranged elliptical cam disk 28 is formed on the output side, which is shown in more detail. Figure 3 middle.

[0302] The inner rotor shaft 27 is supported outward from the drive side by the drive-side rotor ball bearing 29 within the motor housing 22. That is, the outer ring of the drive-side rotor ball bearing 29 is placed within a cylindrical groove in the motor housing 22.

[0303] Furthermore, the inner rotor shaft 27 is mounted within the output-side rotor ball bearing 30 on the output side, and the output-side rotor ball bearing 30 is located radially outward on the inner gear 7. The hollow shaft of the inner gear 7 is integrally connected to the annular portion of the inner gear 7 on the output side, and the annular portion of the inner gear 7 includes external meshing teeth 5.

[0304] The hollow shaft of the internal gear 7 is mounted radially outward on the housing cover 32 via the internal gear ball bearing 31, and the housing cover 32 is screwed onto the motor housing by screws 33. The internal gear ball bearing 31 is axially offset from the output-side rotor ball bearing 30 towards the output side and radially offset outward. In addition, the internal gear ball bearing 31 overlaps with the output-side rotor ball bearing 30 in the axial direction.

[0305] On the cam disk 28 of the inner rotor shaft 27, a flexible ball bearing or thin-plate ball bearing 33 is clamped, wherein the inner and outer rings are deformable. A pin retainer 103 with a pin 101 applies pressure to the flexible ball bearing 33, wherein the pin 101 is held in a cylindrical groove on the inner side of the pin retainer. Figure 1 In this embodiment, pins 101 are connected to each other. Pins 101 of pin ring 103 cause the flexible ball bearing 33 and pin retainer 103 to extend axially on both sides. For simplicity, the pin ring assembly including pin retainer 103 and pins 101 will also be referred to below as pin ring 102.

[0306] The cam disc 28 and the flexible ball bearing 33 together form a transmitter arrangement that converts torque into radial force. Wire-race bearings or flexible ball bearings without an outer ring, or different types of flexible ball bearings, can be used instead of flexible ball bearings with flexible inner and outer rings.

[0307] The housing cover 32 is screwed onto the motor housing on the output side using fastening screws 34. Furthermore, the drive-side external gear 8' and the output-side external gear 8 are inserted into the support ring 36 and screwed onto the support ring 36 using screws 34. The support ring 36 is axially divided into two mutually mirror-symmetrical halves, which together form the raceway 67 of the pin retaining ring 103.

[0308] The drive-side external gear 8' and the output-side external gear 8 are axially arranged outside the cam disk 28 and the flexible ball bearing 33. Radially, the drive-side external gear 8' faces the region of the pin 101, which allows the pin retainer 103 to extend axially on the drive side. Radially, the output-side external gear 8 faces the region of the pin 101, which allows the pin retainer 103 to extend axially on the output side.

[0309] On the drive side, a drive-side shim disc 37 is arranged within the motor housing 22 such that it faces the drive-side end face of the pin 101 in the axial direction. Similarly, on the output side, an output-side shim disc 38 is arranged within the motor housing 22 such that it faces the output-side end face of the pin 101 in the axial direction.

[0310] Output shaft 39 is radially positioned inside the hollow shaft of internal gear 7, with drive flywheel 40 positioned between the hollow shaft of internal gear 7 and output shaft 39. Output shaft 39 is radially outwardly mounted within output ball bearing 41, which is inserted into a cylindrical recess or shoulder of housing 32. The output-side region of output shaft 39 causes housing 32 to extend axially. Gear adapter 43 is mounted on output shaft 39 and held in place by a round output nut 44 screwed into the internal thread of output shaft 39.

[0311] A portion of the pedal shaft 35 is housed inside the rotor shaft 27, and a portion is housed inside the output shaft 39, and is co-centered with both the rotor shaft 27 and the output shaft 39. The pedal shaft 35 is radially outwardly mounted within the force-measuring element 47 via a drive-side pedal shaft ball bearing 45, and the pedal shaft 35 is then inserted into the motor housing 22. A printed circuit board 48, also known as a "PCB force sensor," is fixed to the force-measuring element 47 along with the evaluation electronics, and the connector of the printed circuit board 48 is radially outwardly guided via a ribbon cable 63 and connected to the electronics on the printed circuit board 23.

[0312] The force-measuring element 47 includes a strain gauge that generates an electrical signal corresponding to the deformation of the force-measuring element 47. This deformation causes the ball bearing of the drive-side pedal shaft to pause. The force-measuring element 47 includes four ribs arranged at 45-degree intervals in the circumferential direction and connected to a ring in which the outer ring of the output-side base frame ball bearing is inserted. In each case, a strain gauge electrically connected to the annular printed circuit board 22 is applied to each of these ribs.

[0313] On the drive side of the output pedal shaft ball bearing 46, the pedal shaft flywheel 49 is arranged between the pedal shaft 35 and the output shaft 39. The drive flywheel 40, the hollow shaft of the internal gear 7, and the internal gear ball bearing 31 follow a radially outward orientation. Instead of a single pedal shaft flywheel 49, two adjacent flywheels or a single flywheel and an adjacent rolling bearing (such as a needle roller bearing) can be installed.

[0314] On the output side of the output pedal shaft ball bearing 46, an inner shaft seal ring 50 is inserted between the pedal shaft 35 and the output shaft 39 opposite to the output pedal shaft ball bearing 46. Furthermore, an outer shaft seal ring 51 is placed between the output shaft 39 and the housing shroud 32 opposite to the output side ball bearing 46. Another shaft seal ring 52 is arranged on the drive side between the cooling shroud 24 and the pedal shaft 35. An O-ring 42 is inserted radially outward between the output side external gear 8 and the housing shroud 32.

[0315] During operation, the input torque is transmitted via stator 20 to outer rotor shaft 26 through electromagnetic force, and from outer rotor shaft 26 to rotor shaft 27. The input torque is converted into radial force via cam disc 28 and flexible ball bearing 33. This radial force is converted into output torque on the tooth surfaces of the internal meshing teeth 6, 6' of external gears 8, 8' and the external meshing teeth 5 of internal gear 7, where internal gear 7 is driven and external gears 8, 8' are fixed to the housing. The output torque is greater than the input torque through a reduction gear ratio.

[0316] The internal meshing teeth formed by the external meshing teeth 5 of the internal gear 7 are located opposite the internal meshing teeth 6 of the output side external gear 8, thereby providing output torque, especially through those pins 101 that are adjacent to both the external meshing teeth 5 and the internal meshing teeth 6, 6'.

[0317] Figure 2 Showing Figure 1 An exploded view of the transmission device, viewed from the drive side to the output side, shows the drive side ball bearing 29, inner rotor shaft 27, cam disk 28, output side rotor ball bearing 30, second external gear 8', flexible ball bearing 33, pin retainer 103 with pin 101, support ring 36, first external gear 8, inner gear 7 with inner gear hollow shaft and inner gear sub-ball bearing 31.

[0318] Each of the external gears 8 and 8' includes journals 53 that extend radially outward from their respective gears and are distributed at regular intervals on the circumference of the gears 8 and 8'. The support ring 36 includes radial slots 54 on two opposite radial faces, corresponding to the journals 53 and distributed on the circumference. Additionally, threaded holes 55 are provided for tightening the external gears. Figure 2 In one embodiment, the screw hole is located partly in the external gear 8,8' and partly in the support ring 36.

[0319] A wave spring 61 is arranged on the drive side of the drive-side rotor ball bearing 29 between the drive-side rotor ball bearing 29 and the motor housing 22, and a washer ring 62 is arranged on the output side of the drive-side rotor ball bearing 29 between the drive-side rotor ball bearing 29 and the outer rotor shaft 26.

[0320] Specifically, the support ring 36 can be made of aluminum, and the external gears 8,8' can be made of plastic, such as polyamide 66 (PA66). The support ring 36 can be made by die casting of aluminum, and the external gears can be made by injection molding of plastic. In addition, the inner rotor shaft 27 can be made of aluminum.

[0321] like Figure 1 As shown, screw 34 extends through transmission cover 32, first external gear 8, second external gear 8' and support ring 36 into the motor housing 22 in the assembled state.

[0322] Figure 3 Showing Figure 1 An exploded view of the drive-side components of the transmission device, showing, from the drive side, a cooling shroud 24, a printed circuit board 23, a motor housing 22 having a stator 20 and a coil 21 or having a coil 21, a printed circuit board 48, a force-measuring element 47, a wave spring 61, a drive-side gasket disc 37, a second external gear 8' having internal meshing teeth 6', a drive-side rotor ball bearing 29, a gasket ring 62, a portion of an outer rotor shaft 26 and an inner rotor shaft 27.

[0323] Figure 3 Showing Figure 1 An exploded view of the output side components of the transmission device, shown from the drive side, includes an inner rotor shaft 27 with a cam disc 28, an output rotor ball bearing 30, a pin ring 102 with a pin retainer 103 and a pin 101, a support ring 36, an output external gear 8, an internal gear 7 with external meshing teeth 5, an output shaft 37, a transmission flywheel 40, an O-ring, an output side gasket disc 38, an internal gear ball bearing 31, a housing cover 32 with a tightening screw 34, and a shaft sealing ring 50.

[0324] like Figure 3 As shown, the drive flywheel 40 includes a helical spring cylindrical roller 64 arranged within a clamping body support cage 65. A helical spring 66 is provided in the clamping body support cage 65 to press the cylindrical roller 64.

[0325] Figure 4 Showing Figure 1 An exploded view of the internal components of the transmission mechanism, particularly the pedal shaft flywheel 49. Viewed from the drive side. Figure 4 The sensor ring 68, drive-side pedal shaft ball bearing 45, pedal shaft 35, pedal shaft flywheel 49, output-side pedal shaft ball bearing 46, gasket 69, gear adapter 43, wave spring 70, inner shaft seal 50, O-ring 76, and output nut 44 are shown in detail.

[0326] like Figure 4 As shown, the pedal axle flywheel 49 includes a toothed step 71 formed on the pedal axle 35. A pawl 73 and a coil spring 72 are arranged between the step 71. Tightening areas 74 and 75 of the pedal crank are arranged at both ends of the pedal axle, as shown in the cross-section. Figure 1 As shown.

[0327] Figure 5 The assembly status is displayed. Figure 1 A perspective view of the internal components of the transmission device. For clarity, the internal gear 7 and the flexible ball bearing 33 are shown. Figure 5 The middle part has been omitted.

[0328] Figure 6 Showing Figure 1 The transmission device 10 has a pedal shaft assembly 80 or pedal shaft unit 80, with the drive side on the right and the output end on the left. The pedal shaft assembly 80 includes a flywheel assembly 81 and a sensor assembly 82. Figure 6 The view is viewed in the opposite direction to the drive direction in the installation state.

[0329] Figure 7 It shows the intersection line DD. Figure 6 A cross-section of the flywheel assembly 81, viewed from the output side, is shown, in which the flat cable 63 belonging to the sensor assembly 82 is visible in the background. Furthermore, on the right side of the force-measuring element 47, the screw head is visible, by which the annular printed circuit board 23 is screwed onto the force-measuring element 47.

[0330] The flywheel assembly 81 includes a pedal axle flywheel 49 and a drive flywheel 40, wherein the output shaft 39 is further configured as the outer ring of the pedal axle flywheel 49 and the inner ring of the drive flywheel 40. Figure 7As shown, the pedal shaft flywheel 49 is configured as a pawl flywheel, while the drive flywheel 40 is configured as a clamping roller flywheel with cylindrical clamping rollers 64. The inner circumference of the output shaft 39 forms a serrated step, the steps of which form the limit of the pawl 73, which is pressed against the inner circumference of the output shaft 39 by the coil spring 72.

[0331] Similarly, the outer circumference of the output shaft 39 forms a sawtooth-shaped step, also known as a "star shape," and its steps form a limiter for the cylindrical rollers 64 of the drive flywheel 40. The flywheel support cage 65 and the cylindrical rollers 64 are thus pressed against the outer circumference of the drive shaft 39 by the helical spring 66, which is arranged between the outer circumference of the output shaft 39 and the flywheel support cage 65.

[0332] The step of the drive shaft 39 is arranged such that the free rotation direction of the pedal shaft flywheel 49 and the free rotation direction of the transmission flywheel 40 are... Figure 7 The rotation proceeds counterclockwise in the view. In each case, this free rotation direction is opposite to the respective drive or locking direction.

[0333] Therefore, the pedal shaft 35 can drive the output shaft 39 clockwise as long as the movement of the output shaft 39 is not faster than that of the pedal shaft 35, and the outer ring of the transmission flywheel 40 can drive the output shaft 39 clockwise as long as the movement of the output shaft 39 is not faster than that of the outer ring. The outer ring of the transmission flywheel 40 is formed by the internal portion of the internal gear 5. In each case, the driving and locking directions of the flywheels 39 and 40 are indicated by arrows. Figure 7 middle.

[0334] Figure 10 It is a simplified cross-sectional view illustrating the use of Figure 1 The transmission device uses a force-measuring element 47 and an obliquely mounted bearing. For simplicity, the electric motor and its drive mechanism are omitted in this description, so the pedal shaft 35 is directly mounted on the housing 32'.

[0335] according to Figure 10 The drive-side pedal shaft ball bearing 45 and the output-side pedal shaft ball bearing 46 are each configured as angular contact ball bearings, which can receive axial forces to a certain extent. Other types of bearings (such as tapered roller bearings) that can also receive axial forces in addition to radial forces can be provided instead of ball bearings. However, this is generally more expensive than using ball bearings.

[0336] A force-measuring element 47 is mounted on the pedal shaft 35 via a bearing 45. This force-measuring element includes a support lug 91 and a measuring lug 90. The support lug 91 is axially supported on the outer ring of the ball bearing, and the measuring lug 90 is radially supported on the outer ring. A strain gauge is attached (connected) to at least two measuring lugs 90. The inner ring of the ball bearing 45 rests against a shoulder or step of the pedal shaft 35 towards the center of the pedal shaft 35.

[0337] The inner ring of the ball bearing 46 is held against the shoulder of the pedal shaft 35 by a wave spring 70, facing the center of the pedal shaft 35. The inner ring of the ball bearing 46 is held against the transmission cover 44' by a gasket disc.

[0338] During operation, the rider transmits radial forces to the pedal shaft 35 via the pedal crank. These radial forces are received by the measuring lug 90 and cause deformation of the measuring lug 90, which is measured by a strain gauge. In contrast, the axial force on the outer ring of the ball bearing 45 does not cause deformation of the second lug. Instead, this axial force is absorbed by the support lug 91 of the force-measuring element 47, thereby holding the ball bearing 45 laterally.

[0339] Compared to the rider's force on the force-measuring element, any existing torque applied via auxiliary drive will not cause, or will only slightly cause, deformation of the second lug. Therefore, the rider's contribution can be determined independently. Additionally, an angular position sensor can be provided, by which the position of the pedal crank can be determined, thereby determining the pedal lever arm. The torque provided by the rider can be reconstructed from the measured radial force using an appropriate computational model (implemented via a stored program and / or circuitry).

[0340] Figure 10 according to Figures 1 to 9 The installation concept of the transmission device illustrates the transmission of axial force within the housing.

[0341] like Figure 10 As shown in the lower right corner, the axial force on the output side of the pedal shaft 35 is transmitted into the housing 22 through the shoulder of the pedal shaft 35, the output side pedal shaft ball bearing 46, the wave spring 70, the output nut 44, the internal thread of the output hollow shaft 39, the output hollow shaft 39, the step of the output hollow shaft 39, the output ball bearing 41, the housing cover 32, the screw 34 and the thread 60.

[0342] The axial force on the drive side of the pedal shaft 35 is transmitted into the housing 22 through the drive side step 123 of the pedal shaft 35, the drive side pedal shaft ball bearing 45, the axial support lug of the force measuring element 47, and the mounting ring of the force measuring element 47.

[0343] like Figure 10As shown in the upper right, the axial force on the output side of the rotor shaft 28 is transmitted into the housing via the output-side rotor ball bearing 30, the internal gear 7, and the internal gear ball bearing 31. From there, the axial force is transmitted into the housing 22 via the screw 34, as... Figure 10 As shown in the bottom right corner.

[0344] The axial force on the drive side of the rotor shaft 27 is transmitted into the housing 22 through the shoulder of the rotor shaft 27, the outer rotor shaft 26, the gasket ring 62, the drive side ball bearing 29, and the wave spring 61.

[0345] Furthermore, the axial force on the ball bearing 33 mounted on the cam disk is transmitted into the transmission housing 22 via the internal gear 7 and the ball bearing 31. Its reaction force is transmitted into the rotor shaft 27 via the step 9 of the cam disk 28, and from there into the housing 22 via the path described in the diagram.

[0346] The outer circumference of the internal gear 7 gradually tapers radially inward, so that only the outer ring of the ball bearing 33 is in close contact with the internal gear 7. The outer ring of the ball bearing 33 moves substantially synchronously with the pin ring 101 and the internal gear 7, but not synchronously with the inner ring of the ball bearing 33. The inner ring of the ball bearing 33 rotates much faster than the internal gear 7. The width of the wave spring 70 can be adjusted so that the gear adapter 43 is not in close contact with the housing cover 32.

[0347] Figures 11 to 20 A harmonic pin ring drive with an eccentric cam disk is shown, wherein the eccentric cam disk is an eccentrically arranged disk.

[0348] Figure 11 A cross-sectional view of the harmonic pin ring drive device 10 is shown. Figure 11 The cross-sectional plane AA is indicated in Figure 19 In the middle, the left side corresponds to the drive side, and the right side corresponds to the output side of the harmonic pin ring gear 10.

[0349] The stator 20 of the stator assembly of the harmonic pin drive 10 is housed within the motor housing 22. The stator 20 includes three independent coils 21 for connecting to the three phases of a three-phase inverter. The three-phase inverter is configured with electro-electronic components arranged on a printed circuit board 23, which is housed within a cooling shroud 24 mounted on the motor housing 22 on the drive side. The three coils of the stator 20 are connected to the three-phase inverter via three terminals 25, one of which is shown... Figure 11 middle.

[0350] Each of the motor housing 22 and the cooling shroud 24 has a cylindrical protrusion surrounding the pedal shaft 35, which extends centrally through the motor housing 22 around the pedal shaft 35. A printed circuit board 23 is formed as a perforated disc, located outside the protrusion, so that the electronic components thereon are sealed to prevent grease from the transmission.

[0351] An outer rotor shaft 26 equipped with permanent magnets is radially positioned inside the stator 20. This outer rotor shaft 26 is also referred to as a "rotor package". The outer rotor shaft 26 includes an elastic region on its inner side, which is inserted into the inner rotor shaft 27. On the inner rotor shaft 27, an eccentrically arranged circular eccentric disk 28' is formed on the output side, and the circular eccentric disk 28' is shown in more detail. Figure 12 middle.

[0352] On the drive side, the inner rotor shaft 17 is supported outward within the motor housing 22 by a drive-side rotor ball bearing 29. That is, the outer ring of the drive-side rotor ball bearing 29 is placed in a cylindrical groove in the motor housing 22.

[0353] Furthermore, the inner rotor shaft 27 is mounted on the output side within the output side rotor ball bearing 30, which is located radially outward within the inner gear 7. The hollow shaft of the inner gear 7 is integrally connected to the annular portion of the inner gear 7 on the output side, and the inner gear 7 includes external meshing teeth 5.

[0354] The hollow shaft of the internal gear 7 is mounted radially outward on the housing cover 32 via the internal gear ball bearing 31. The housing cover 32 is screwed onto the motor housing 22 by screws 34. The internal gear ball bearing 31 is axially offset from the output-side rotor ball bearing 30 towards the output side and radially offset outward. Furthermore, the internal gear ball bearing 31 overlaps with the output-side rotor ball bearing 30 axially.

[0355] The ball bearing 33 is clamped on the eccentric disk 28 of the inner rotor shaft 27. A pin retainer 103 with a pin 101 applies pressure to the ball bearing 33, wherein the pin 101 is held in a cylindrical groove on the inner side of the pin retainer.

[0356] The pin ring assembly of pin 101 and pin retainer 103 is shown in more detail. Figures 15 to 17 According to Figures 15 to 17 The implementation plan, pin ring 103 (and Figures 1 to 10 (Different implementations) are integrally formed and include areas corresponding to pin 101 and pin retainer 103. The integral pin retainer 103 is particularly suitable for transmission devices in which the pin retainer is not deformed or only slightly deformed. This is, for example, in a transmission device with an eccentrically arranged disc, as shown in... Figures 11 to 20In 61 to 66, 67 and 72. The pin 101 of the pin ring 103 causes the flexible ball bearing 33 and the pin ring 103 to extend axially on both sides.

[0357] The eccentric disc 28' and the ball bearing 33 together form a transmission assembly that converts rotational motion into radial motion. This radial motion is transmitted to the pin 101 via the ball bearing 33 and the pin ring 103, and then converted into rotational motion through the engagement of the pin 101 in the external gears 8, 8'.

[0358] The housing cover 32 is screwed onto the motor housing on the output side using fastening screws 34. Furthermore, the drive-side external gear 8' and the output-side external gear 8' are inserted into the support ring 36 and screwed onto the support ring 36. An O-ring 42 is inserted radially outward between the output-side external gear 8 and the housing cover.

[0359] The drive-side external gear 8' and the output-side external gear 8 are axially arranged outside the eccentric disk 28' and the ball bearing 33. Radially, the drive-side external gear 8' is opposite to the area of ​​the pin 101 that causes the retaining ring 103 to extend axially on the drive side. Radially, the output-side external gear 8 is opposite to the area of ​​the pin 101 that causes the retaining ring 103 to extend axially on the output side.

[0360] On the drive side, a drive-side shim disc 37 is arranged within the motor housing 22 such that it faces the drive-side end face of the pin 101 in the axial direction. Similarly, on the output side, an output-side shim disc 38 is arranged within the motor housing 22 such that it faces the output-side end face of the pin 101 in the axial direction.

[0361] Output shaft 39 is radially positioned within the hollow shaft of internal gear 7, with drive flywheel 40 positioned between the hollow shaft of internal gear 7 and output shaft 39. Output shaft 39 is radially outwardly mounted within output-side ball bearing 41, and is inserted into a cylindrical recess or shoulder of housing 32. The output-side region of output shaft 39 causes housing 32 to extend axially. Gear adapter 43 is mounted on output shaft 39 and held in place by drive housing 44, which is screwed into the internal thread of output shaft 39.

[0362] The pedal shaft 35 described above is partially housed inside the rotor shaft 27 and partially housed inside the output shaft 39, and is co-centered with both the rotor shaft 27 and the output shaft 39. The pedal shaft 35 is radially outwardly mounted within the force-measuring element 47 via a drive-side pedal shaft ball bearing 45, and the pedal shaft 35 is, in turn, inserted into the motor housing 22. A printed circuit board 48 with a force sensor is secured to the force-measuring element 47, and the connector of the printed circuit board 48 is radially outwardly guided via a ribbon cable 63 and connected to electronic components on the printed circuit board 23.

[0363] On the drive side of the output pedal shaft ball bearing 46, the pedal shaft flywheel 49 is arranged between the pedal shaft 35 and the output shaft 39. The drive flywheel 40, the hollow shaft of the internal gear 7, and the internal gear ball bearing 31 follow a radially outward orientation. Instead of a single pedal shaft flywheel 49, two adjacent flywheels or a single flywheel and an adjacent rolling bearing (such as a needle roller bearing) can be installed.

[0364] On the output side of the output pedal shaft ball bearing 46, an inner shaft sealing ring 50 is inserted between the pedal shaft 35 and the output shaft 39, opposite to the output pedal shaft ball bearing 46. Furthermore, an outer shaft sealing ring 51, opposite to the output side ball bearing 46, is placed between the output shaft 39 and the housing shroud 32. Another shaft sealing ring 52 is arranged on the drive side between the cooling shroud 24 and the pedal shaft 35.

[0365] During operation, the input torque is transmitted via stator 20 to outer rotor shaft 26 through electromagnetic force, and from there to inner rotor shaft 27. This input torque is converted into radial force via eccentric disc 28' and ball bearing 33. This radial force is converted into output torque at the tooth surfaces of the internal meshing teeth 6, 6' of external gears 8, 8' and the external meshing teeth 5 of internal gear 7, where internal gear 7 is driven and external gears 8, 8' are fixed to the housing. The output torque, through the reduction gears, is greater than the input torque.

[0366] The internal meshing teeth formed by the external meshing teeth 5 of the internal gear 7 are located opposite the internal meshing teeth 6 of the output side external gear 8, thereby providing output torque, in particular, through those pins 101 that are close to both the external meshing teeth 5 and the internal meshing teeth 6, 6'.

[0367] Figure 12 Showing Figure 11 An exploded view of the transmission device is shown. Viewed from the drive side to the output side, it shows the drive side ball bearing 29, inner rotor shaft 27, eccentric disk 28', output side rotor ball bearing 30, second external gear 8', ball bearing 33, pin retainer 103 with pin 101, support ring 36, first external gear 8, internal gear 7 with internal gear hollow shaft, and internal gear ball bearing 31.

[0368] Each of the external gears 8 and 8' includes a journal 53 extending radially outward from its respective external gear 8 or 8', and these journals are distributed at regular intervals on the circumference of the external gear 8 or 8'. The support ring 36 includes radial slots 54 located on radially opposite sides, corresponding to the journals 53 and distributed on the circumference. Additionally, screw holes 55 are provided for fastening the external gears. Figure 11 In the implementation scheme, the screw hole 55 is partially located in the external gears 8 and 8' and partially located in the support ring 36.

[0369] A wave spring 61 is arranged on the drive side of the drive-side rotor ball bearing 29 between the drive-side rotor ball bearing 29 and the motor housing 22, and a washer ring 62 is arranged on the output side of the drive-side rotor ball bearing 29 between the drive-side rotor ball bearing 29 and the outer rotor shaft 26.

[0370] Specifically, the support ring 36 can be made of aluminum and the external gears 8 and 8' can be made of plastic, such as polyamide 66 (PA66), wherein the support ring 36 can be made by die casting of aluminum and the external gears can be made by injection molding of plastic. In addition, the inner rotor shaft 27 can be made of aluminum.

[0371] like Figure 11 As shown, screw 34 extends through transmission cover 32, first external gear 8, second external gear 8', and support ring 36 into the motor housing 22 in the assembled state.

[0372] Figure 13 This shows a side view of the assembly of the inner rotor shaft 27, internal gear 7, pin 101, and external gear 8, viewed from the output side. Figure 13 As can be seen, in the predetermined position of the eccentric disc 28', in the first position, the pin 101 is completely close to the outer inner meshing tooth 6, and in the second position opposite to the first position, the pin 101 is completely close to the inner outer meshing tooth 5.

[0373] Figure 14 It shows the intersection line E–E, Figure 13 A cross-sectional view of the device. For example... Figure 14 As shown in the cross-sectional view, the eccentric disk 28' includes a step 11 on the drive side, through which the inner ring of the ball bearing 33 is held from the drive side.

[0374] Figure 15 Showing the use of Figure 11 Output side view of the pin ring 102 of the transmission device. Figure 16 and 17 Showing Figure 15 Detailed view of pin ring 102, and Figure 18 Showing Figure 15 Drive side view of pin ring 102.

[0375] The pin ring 102 includes a retaining ring 103 and a pin 101. The pin ring 102 is integrally formed, wherein the retaining ring 103 and the pin 101 are each formed as a part of the pin ring 102, and the pin ring 102 forms a whole. The pins 101 are formed on the output side and the opposite drive side, respectively.

[0376] That is, the pin on the output side of pin ring 102 (where pin 101 engages both the internal gear 7 and the external gear 8) is lens-shaped, wherein each of the two radially opposite regions includes a circular segment shaped boundary and two peripherally opposite tapered regions taper. This is in Figure 17 It is most clearly seen in the side view, where it is... Figure 15 In Chinese, it is represented by "G".

[0377] On the other hand, on the drive side (where pin 101 only engages the second external gear 8'), pin 101 is formed as a "half-pin," and the half-pins respectively form comb teeth extending along the circumference of the pin ring 102, such as Figure 16 cross-sectional view and Figure 18 As shown in the view.

[0378] exist Figure 17 In the side view, the first region 255 of pin 101 is shown, which transmits torque to the internal gear 7, and the second radially opposite region 56 transmits torque to the external gear 8. As the regions of pin 101 gradually taper along the circumferential direction, a tangential transition occurs between pins 101. As a result, on the one hand, an economical CNC product of pin 101 can be provided, and on the other hand, pins 101 with higher tangential stiffness can be achieved.

[0379] According to another manufacturing method, the pin ring is made by transfer molding. In this method, a hollow ring is first manufactured, and then the pin 101 is formed from the hollow ring by cutting or milling. In milling, a rotary milling machine that moves along a circular line can be used, where the pin is formed radially first from the inside and then from the outside.

[0380] For example, transfer molding is further defined by standards DIN 8582 and DIN 8583. According to one specific method, the workpiece to be formed is first applied to a mandrel. Then, the workpiece is deformed from the outside by transfer molding wheels, which are controlled by a moving drive system, extruding the workpiece and controlling the thinning of the material.

[0381] Furthermore, on the output side of pin 101, step 57 is formed radially inward. (As can be seen...) Figure 11 As seen in the image, this step 57 applies pressure to the outer ring of the ball bearing 33 on the output side with the pin ring 102 installed.

[0382] like Figure 8As shown in the drive side view of the pin ring 102, a comb with a circular groove 58 and an intermediate platform 59 is formed on the drive side of the pin ring 102. The intermediate platform 59 is formed... Figure 17 The extension of pin 101 shown in detail can therefore be regarded as the drive side region of pin 101.

[0383] Figure 19 Showing Figure 11 The output side view of the combined transmission device, wherein Figure 11 The cross-sectional plane is marked as "A".

[0384] Figure 20 Explained according to Figures 11 to 19 The installation concept of the transmission device is the transmission of axial force to the housing.

[0385] like Figure 20 As shown in the lower right corner, the axial force on the output side of the pedal shaft 35 is transmitted into the housing 22 through the shoulder of the pedal shaft 35, the output side pedal shaft ball bearing 46, the wave spring 70, the output nut 44, the internal thread of the output hollow shaft 39, the output hollow shaft 39, the step of the output hollow shaft 39, the output ball bearing 41, the housing cover 32, the screw 34 and the thread 69.

[0386] The axial force on the drive side of the pedal shaft 35 is transmitted into the housing 22 through the drive side step 123 of the pedal shaft 35, the drive side pedal shaft ball bearing 45, the shaft support lug of the force measuring element 47, and the mounting ring of the force measuring element 47.

[0387] like Figure 10 As shown in the upper right corner, the axial force on the output side of the rotor shaft 27 is transmitted into the housing via the output-side rotor ball bearing 30, the internal gear 7, and the internal gear ball bearing 31. From there, the axial force is transmitted into the housing 22 via the screw 34, as shown in the upper right corner. Figure 20 As shown in the bottom right corner.

[0388] The axial force on the drive side of the rotor shaft 27 is transmitted into the housing 22 through the drive side step of the rotor shaft 27, the outer rotor shaft 26, the gasket ring 62, the drive side rotor ball bearing 29 and the wave spring 61.

[0389] Furthermore, the axial force is transmitted to the ball bearing 33 via the shoulder 9 of the cam disc 28, and then into the transmission housing 22 via the shoulder 10 of the pin ring 100, the internal gear 7, and the ball bearing 31. The reaction force there is transmitted into the rotor shaft 28 via the step 9 of the cam disc 28, and from there into the housing 22 via the path described above.

[0390] The outer circumference of the internal gear 7 gradually tapers radially inward, so that only the outer ring of the ball bearing 33 is in close contact with the internal gear 7. The outer ring of the ball bearing 33 moves substantially synchronously with the pin ring 101 and the internal gear 7, but not synchronously with the inner ring of the ball bearing 33. The inner ring of the ball bearing 33 rotates much faster than the internal gear 7. The width of the wave spring 70 can be adjusted so that the gear adapter 43 is not in close contact with the housing cover 32.

[0391] Figures 21 to 44 The implementation of the invention discloses an apparatus and method for measuring the torque applied to the pedal axle of a bicycle assisted by an electric drive.

[0392] The support of the electric motor of an electric bicycle can be adjusted by measuring the torque on the pedal axle. Various methods are known for this purpose. For example, the torque can be determined without contact by magnetically measuring the torque on the pedal axle. Another method measures the mechanical deformation of the frame ball bearing suspension. For example, a corresponding device is disclosed in patent application DE102013220871 A1. According to this device, a single electromagnetic or mechanical sensor is used to measure the horizontal deflection or deformation of the frame ball bearing suspension.

[0393] This specification discloses a force-measuring element for measuring radial forces acting on a crankshaft, the crankshaft having a receiving sleeve for receiving a bearing ring and a fastening ring for attaching the force-measuring element in a transmission housing. An axial support region is provided on the fastening ring for axially supporting the outer ring of a first bearing. A measuring region is provided for connecting the receiving sleeve to the fastening ring to receive the radial force of the receiving sleeve.

[0394] The strain sensor is attached to at least two measurement areas. The strain sensor can be specifically configured as a strain gauge, wherein the strain gauge can be adhered to the surface of the measurement area.

[0395] The axial support area and measuring area can be specifically configured as lugs or fingers. Furthermore, the measuring area can be configured as an angular lug. The radial force acting on the crankshaft is indirectly determined by the radial force acting on the receiving sleeve, which in turn is transmitted from the crankshaft to the receiving sleeve via bearings. The crankshaft can particularly be a pedal shaft.

[0396] Force-measuring elements are particularly useful in electric bicycles for adjusting motor mounts, where the pedal shaft is axially supported by the force-measuring element. More broadly, force-measuring elements can be used anywhere on a shaft where radial force is converted into rotational motion, especially in bicycle pedal shafts or pistons driven by internal combustion engines or other drives. In this case, measuring the radial force with the force-measuring element allows for the calculation of the torque applied to the shaft. However, radial force can also be used to generate control signals without the intermediate step of torque calculation.

[0397] Even in the absence of a radial force transformation, such as in gear drives, the force-measuring element described herein can also be used to determine imbalances on a shaft. This force-measuring element is particularly advantageous in the case of mechanical drives (such as pedal shafts), because in this case, the applied torque cannot be easily determined from the motor power, which is readily achievable, for example, using an electric motor.

[0398] In the force-measuring element according to this specification, the radial and axial forces are decoupled by the axial force being received by the axial support area or lug and the radial force being received by the measuring area or lug. Therefore, this force-measuring element can be used in inclined bearings, such as in O-type or X-type arrangements. Furthermore, decoupling the radial and axial forces allows for more accurate measurement of the radial force component, thereby more accurately determining the torque applied to the shaft.

[0399] The force-measuring element according to this specification is very simple, requiring only a small space during transmission, especially in the axial direction. The total width of the force-measuring element is essentially determined by the width of the bearing and the width of the adjacent axial fastening area. Therefore, the force-measuring element can be manufactured quite narrow in the axial direction; for example, it can only be about twice the width of a rolling bearing or less.

[0400] The absorption of axial force by the force-measuring element preferably occurs on the stationary outer ring of the ball bearing, rather than on the movable inner ring or shaft, where relative movement would lead to frictional losses. Therefore, the axial support region preferably contacts only the outer ring of the bearing. The supporting function of the axial support region can be achieved, especially when the axial support region or lug extends radially inward beyond the inner surface of the receiving sleeve, provided that the axial support region only extends inward, as it corresponds to the width of the bearing ring. The axial support region may also have a profile aligned with the bearing ring.

[0401] The measuring lug is conveniently configured as an angle bracket, wherein the axial region of the angle bracket, connected to the receiving sleeve, extends axially, and the radial region of the angle bracket, connected to the fastening region, extends radially. Similarly, this angle bracket forms a lever arm that causes the radial portion of the measuring lug to bend relative to the radial direction. Due to the bending, the surface of the measuring lug is stretched or compressed, and the surfaces on opposite axes are compressed or stretched. This compression or tension is detected by a strain gauge applied to one of the two surfaces in the radial region.

[0402] The two regions of the angled frame formed by the measuring lug can also be slightly inclined relative to the axial or radial direction, for example, to allow for greater deformation. Preferably, the measuring lug is thin enough in the axial direction to allow for good deformation. In this case, the second region can be made thinner than the first region. Furthermore, the second region near the top of the angled frame can be reinforced to prevent deformation near the top of the angled frame.

[0403] The axial region of the measuring lug is preferably configured such that it does not protrude beyond the surface of the receiving sleeve, which rests on a rolling bearing. This prevents the ring of the rolling bearing (on which the receiving sleeve rests) from being in close contact with the measuring lug, and prevents axial force from being transmitted through the measuring lug. Specifically, the axial region can be flush with the surface of the receiving sleeve, which is the cylindrical inner surface of the receiving sleeve.

[0404] According to one exemplary embodiment, the measuring region includes a measuring lug formed as an angled bracket or configured in an angular shape. According to a further exemplary embodiment, the measuring lug includes a radial region and an axial region adjacent to the radial region. In this case, the radial region is connected to a fastening ring, and the axial region is connected to a receiving sleeve, wherein the radial region is arranged at an angle of approximately 90 degrees to the axial region.

[0405] According to a preferred embodiment, four measuring areas or measuring lugs are provided so that the shaft can be supported in four directions. Specifically, the measuring lugs can be arranged at 90-degree intervals so that their directions are perpendicular to each other. The measuring lugs also serve as radial support lugs. The term "measuring lug" refers to the fact that the deformation of the measuring lug can be used to measure the radial force acting on the receiving sleeve.

[0406] According to a further embodiment, in order to detect forces in a specified direction and enable good deformation, the angular range of the measuring lug in the circumferential direction can be appropriately selected. For example, the angular range of the measuring lug in the circumferential direction can be limited to 30 degrees or less, or 25 degrees or less, where 90 degrees corresponds to a right angle.

[0407] According to one embodiment, the force-measuring element comprises four measuring regions arranged at 90-degree intervals. Therefore, when all four measuring regions or measuring lugs are equipped with strain sensors, the radial force can be measured in four mutually perpendicular directions.

[0408] In this case, at least one, several, or all of the strain sensors can be formed as strain gauges, which are inexpensive and robust, especially compared to optical strain measurements.

[0409] Specifically, strain sensors can be attached to each measuring range or measuring lug to measure radial forces in multiple directions. To facilitate the attachment of strain gauges, the surface of the measuring range to which the strain gauge is attached can have recessed areas or pockets for attaching the strain sensor or strain gauge.

[0410] Strain gauges can be placed near fastening areas, for example, to keep the conductive connections to the printed circuit board attached to the housing of the transmission as short as possible, or because of the presence of large deformations.

[0411] According to a further embodiment, the axial support region or lug is separated from the measuring area by a radial slot. Furthermore, the axial support region or lug is separated from the receiving sleeve by a circumferential groove. Moreover, the axial support region and the measuring area can therefore be easily formed from the workpiece. However, the force-measuring element can also be cast in this form. The radial slot and the circumferential groove are preferably straight grooves in the radial and circumferential directions, respectively. However, the shape can also differ from a straight line.

[0412] For example, the direction of the radial slot can be deviated from the radial direction to allow the measuring lug to taper inward to a greater extent. For example, the direction of the radial slot can be tilted inward by up to 5 degrees or up to 10 degrees relative to the radial direction.

[0413] For accessories to the transmission housing, according to one embodiment, the fastening ring includes a fastening region in which a fastening hole is provided. The fastening region may be a part of the fastening ring or an extension extending from the fastening ring.

[0414] Preferably, the attachment fixes the force-measuring element both axially and counter-circumferentially, allowing the attachment to be mechanically released again. According to another embodiment, this is achieved through a rigid connection, such as a plug engagement or snap-fit.

[0415] Connections that are not easily disassembled, such as riveted or welded joints, are also feasible. However, they are less suitable for repair purposes.

[0416] According to a further embodiment, the fastening ring includes a groove in which a measuring area is disposed, wherein the groove can be formed radially and axially. Therefore, it avoids, for example, the measuring lug directly abutting the transmission housing, or the thickness of the fastening ring can be adjusted independently of the thickness of the measuring lug.

[0417] According to a further implementation scheme, the angular range of the measuring lug and the angular range of the slit defining the measuring lug are approximately equal to the angular range of the axial support region.

[0418] According to a further implementation scheme, the angular range of the lug in the circumferential direction is less than or equal to 30 degrees, so that the force can be measured in a specified direction.

[0419] According to this specification, the force measuring element is designed to be particularly suitable for manufacturing the force measuring element from a single piece of metal, for example by casting from a mold and mechanical post-processing steps.

[0420] In another aspect, this specification discloses a measuring device for measuring forces acting on a crankshaft, particularly a pedal shaft. The measuring device includes a crankshaft having bearings arranged on it and a force-measuring element according to one of the foregoing embodiments. In this device, a receiving sleeve of the force-measuring element is arranged on the outer ring of the bearing, wherein the axial support region of the force-measuring element is axially supported on the outer ring of the bearing. Furthermore, evaluation electronics are connected to a strain sensor of the force-measuring element.

[0421] Furthermore, this specification discloses a transmission device having the aforementioned measuring apparatus. The transmission device includes a transmission housing and a crankshaft, particularly a pedal shaft. The crankshaft is received or housed within the transmission housing directly or indirectly via a first drive-side bearing and a second output-side bearing. The bearings can be provided, in particular, as rolling bearings.

[0422] Furthermore, the crankshaft can be connected via a hollow output shaft, wherein, in particular, to decouple the pedal shaft from the hollow drive shaft, a flywheel can be arranged between the pedal shaft and the hollow drive shaft.

[0423] The first bearing is received within the transmission housing by a force-measuring element, which is either received within the transmission housing or fastened to the transmission housing by a retaining ring. The receiving sleeve receives the outer ring of the first bearing, wherein an axial support region is supported on the outer ring of the first bearing.

[0424] According to a further exemplary embodiment, the crankshaft of the transmission includes an intermediate diameter larger than the diameters of its two ends. As a result, a first step and a second step are formed on the crankshaft. The inner ring of the first bearing of the measuring device is close to the first step of the pedal shaft, and the inner ring of the second bearing is close to the second step of the pedal shaft. Consequently, an X-shaped arrangement of tilted bearings is formed, and the force-measuring element occupies a portion of the force of the tilted bearings.

[0425] According to a further embodiment, the first and second bearings of the measuring device are each configured as single-row angular contact ball bearings. According to a further embodiment, the first and second bearings of the measuring device are each configured as inclined cylindrical roller bearings.

[0426] According to a further embodiment, the second bearing is supported by a wave spring located on a second step on the pedal shaft, or on the housing, or on a component connected to the housing.

[0427] According to a further embodiment, the second rolling bearing is further supported by a shim disc on a second step of the pedal shaft, or on the housing, or on a component connected to the housing.

[0428] Furthermore, this specification discloses a transmission device that further includes the following features:

[0429] A motor, a reduction gear connected to the motor, and a hollow output shaft connected to the reduction gear. In this transmission suitable for an electric bicycle, a crankshaft is configured as a pedal shaft, a first bearing and a second bearing are each configured as rolling bearings, the pedal shaft passes through the hollow output shaft, and a flywheel is provided between the pedal shaft and the hollow output shaft to decouple the pedal shaft from the hollow output shaft.

[0430] Furthermore, this specification discloses an electric vehicle, particularly an electric bicycle having the transmission device described above, wherein the motor is configured as an electric motor, and wherein the battery of the electric vehicle is connected to the electric motor.

[0431] Further detailed descriptions are provided below to illustrate exemplary embodiments. It will be apparent to those skilled in the art that these embodiments can be implemented without these detailed descriptions.

[0432] Figure 21 The diagram shows a perspective view of the force-measuring element 47 from the drive side. The force-measuring element 47 includes four axial support lugs 91 on which the outer ring of a ball bearing 45 is axially supported, and four measuring lugs 90 are arranged between the axial support lugs 91, with a strain gauge 92 applied to each support lug 91. To facilitate the placement of the strain gauge 92, the surface of the measuring lug 90 may be recessed.

[0433] The axial support lug 91 includes an outer portion 93 and an inner portion 94 that rest on the outer ring of the ball bearing. Figure 9 The cross-sectional view shows in detail the area where the outer ring of the ball bearing is located.

[0434] The measuring lug 90 and the axial support lug 91 are each laterally separated by milled radial slots 95. On the output side, the measuring lug 90 transitions into a receiving sleeve 96, which receives the outer ring of the ball bearing 45. This receiving sleeve 96... Figure 26 The middle one is the clearest.

[0435] On the drive side, lugs 90, 91 transition into outer ring 97. Each of the outer ring 97 region facing the measuring lug 90 and each radial slot 95 includes a circumferential slot 105 in the radial direction, the circumferential slot 105 having approximately half the radial length of the measuring lug 90. The first radial slot 95, the circumferential slot 105, and the second radial slot 95 together form a confining slot that extends in an angled U-shape and separates the axial support lug 91 from the receiving sleeve 96 and from the adjacent measuring lug.

[0436] The outer ring 97 includes four fastening holes 98, through which the force-measuring element 47 can be fixed to the transmission housing (not shown). Figure 1 In the middle, the outer ring 97 rests against the housing of the transmission device. The force measuring element 47 is attached to the housing of the transmission device as follows: Figures 12 to 14 As shown.

[0437] Figure 22 The diagram shows a plan view of the force measuring element 47 from the drive side, with the ball bearing 45 arranged within the force measuring element 47.

[0438] Figure 23 The diagram shows a plan view of the force-measuring element 47 from the output side, with the ball bearing 45 arranged within it. Figure 23 As shown, the measuring lug 90 includes a portion 99 that is slightly recessed relative to the output side end face of the outer ring 97. As a result, the thickness of the measuring lug can be reduced, leading to greater deformation.

[0439] Figure 24 Showing along Figure 22 A cross-sectional view of the force measuring element 47, with the recessed area 99, sleeve 96 and outer ring 97 visible.

[0440] Figure 25 A side view of the force-measuring element 47 is shown, in which the groove 104 is visible, located opposite the support lug 91, which is separated from the sleeve 96 by the groove 104.

[0441] Figure 26 The image shows a perspective view of the force measuring element 47 from the output side.

[0442] Figure 27 The top view of the force measuring element 47 as seen from the output side is shown.

[0443] Figure 28 Showing along Figure 26The cross-sectional view of the force measuring element 47 obtained by the intersecting line AA.

[0444] Figure 29 Showing along Figure 26 The cross-sectional view obtained by the cross line BB.

[0445] Figure 30 The harmonic pin ring drive device is shown. Figure 21 The force-measuring element 47 is included therein, as described in detail below. Figure 30 In the middle, the left side corresponds to the drive side, and the right side corresponds to the output side of the harmonic pin ring gear 10. According to the general arrangement of the right-side drive, Figure 10 The viewing direction points to the direction of travel.

[0446] The stator 20 of the stator assembly of the harmonic ring gear 10 is housed within the motor housing 22. The stator 20 includes three individual coils 21 for connecting to the three phases of a three-phase inverter. The three coils of the stator 20 are connected to the three-phase inverter via three terminals 25, one of which is shown below. Figure 30 middle.

[0447] The three-phase inverter is configured with power electronic components arranged on a printed circuit board 23, which is housed within a cooling shroud 24 mounted on the motor housing 22 on the drive side. The printed circuit board 23 is configured as an annular disk located outside the cylindrical protrusions of the motor housing and cooling shroud, thus sealing the motor electronic components thereon and protecting them from grease.

[0448] The pedal shaft 35, extending through the motor housing 22 at the center, is stepped on the output side and includes three steps, with the diameter of the three steps increasing from the outside to the inside. Each step is equipped with a shaft seal 50, an output-side pedal shaft ball bearing 46, and a pedal shaft flywheel 49. The pedal shaft 35 is also stepped on the drive side and includes two steps, with a shaft seal and sensor ring 68 arranged on the outer step, and a ball bearing 45 arranged on the inner step.

[0449] An outer rotor shaft 26 equipped with permanent magnets is radially positioned inside the stator 20. This outer rotor shaft is also referred to as a "rotor package". The outer rotor shaft 26 includes a resilient region on its inner side, which is inserted into the inner rotor shaft 27. On the inner rotor shaft 27, an eccentrically arranged elliptical cam disk 28 is formed at the output end.

[0450] The inner rotor shaft 27 is supported outward on the drive side by a drive-side rotor ball bearing 29 within the motor housing 22. That is, the outer ring of the drive-side rotor ball bearing 29 is placed within a cylindrical groove in the motor housing 22.

[0451] Furthermore, the inner rotor shaft 27 is mounted on the output side within the output side rotor ball bearing 30, which is located radially outward within the inner gear 7. The hollow shaft of the inner gear 7 is integrally connected to the annular portion of the inner gear 7 on the output side, and the annular portion of the inner gear 7 includes external meshing teeth 5.

[0452] The hollow shaft of the internal gear 7 is mounted radially outward on the housing cover 32 via the internal gear ball bearing 31, and the housing cover 32 is screwed onto the motor housing 22 by screws 33. The internal gear ball bearing 31 is axially offset from the output-side rotor ball bearing 30 towards the output side and radially offset outward. In addition, the internal gear ball bearing 31 axially overlaps with the output-side rotor ball bearing 30.

[0453] On the cam disk 28 of the inner rotor shaft 27, a flexible ball bearing or thin-plate ball bearing 33 is clamped, wherein the inner ring and the outer ring are deformable.

[0454] A pin retaining ring 103 with pin 101 applies pressure to the flexible ball bearing 33, wherein pin 101 is held within a cylindrical groove inside the pin retaining ring. Figure 30 In this embodiment, pins 101 are connected to each other. Pins 101 of pin ring 103 cause the flexible ball bearing 33 and pin retainer 103 to extend axially on both sides. For simplicity, the pin ring assembly including pin retainer 103 and pins 101 is also referred to below as pin ring 102.

[0455] The cam disc 28 and the flexible ball bearing 33 together form a transmission device that converts torque into radial force. Wire-race bearings or flexible ball bearings without an outer ring, or different types of flexible ball bearings, can be used instead of flexible ball bearings with flexible inner and outer rings.

[0456] The housing cover 32 is screwed onto the motor housing on the output side using fastening screws 34. Furthermore, the drive-side external gear 8' and the output-side external gear 8 are inserted into the support ring 36 and screwed onto the support ring 36 using screws 34. The support ring 36 is axially divided into two mutually mirror-symmetrical halves, which together form the track 67 of the pin retainer 103.

[0457] The drive-side external gear 8' and the output-side external gear 8 are axially arranged outside the cam disk 28 and the flexible ball bearing 33. Radially, the drive-side external gear 8' is opposite to the area of ​​the pin 101 that causes the retaining ring 103 to extend axially on the drive side. Radially, the output-side external gear 8 is opposite to the area of ​​the pin 101 that causes the retaining ring 103 to extend axially on the output side.

[0458] On the drive side, a drive-side shim disc 37 is arranged within the motor housing 22 such that it faces the drive-side end face of the pin 101 in the axial direction. Similarly, on the output side, an output-side shim disc 38 is arranged within the motor housing 22 such that it faces the output-side end face of the pin 101 in the axial direction.

[0459] The output shaft 39 is radially positioned within the hollow shaft of the internal gear 7, with the drive flywheel 40 positioned between the hollow shaft of the internal gear 7 and the output shaft 39. The output shaft 39 is radially outwardly mounted within an output-side ball bearing 41, which is inserted into a cylindrical recess or shoulder of the housing shroud 32. The output-side region of the output shaft 39 causes the housing shroud 32 to extend axially. The gear adapter 43 is mounted on the output shaft 39 and held in place by a round output nut 44 screwed into the internal thread of the output shaft 39.

[0460] The motor housing 22 is sealed toward the transmission cover 32 by an O-ring 42, and toward the cooling cover 24 by a further O-ring 77.

[0461] Figure 21 Showing Figure 19 Details of the pin-ring drive mechanism in area 47 of the force-measuring element. (See image for reference.) Figure 11 As shown, the sensor ring 68 is placed on the pedal shaft 35. In use, the sensor ring 68 can be used to determine the position or speed of the pedal shaft 35.

[0462] For simplicity, it is assumed below that the force-measuring element is oriented such that the measuring lugs are arranged either perpendicular to or parallel to the road surface, i.e., parallel to and perpendicular to the rider's pedal movement. Other orientations are also possible.

[0463] The force-measuring element described above can be specifically used in the transmission of electric bicycles to determine the force applied to the pedal axle, thus requiring motor assistance. This force-measuring element requires no moving parts and occupies very little space, especially axially, allowing for better utilization of available space. Space is limited in electric bicycles, so using this force-measuring element there can be particularly advantageous. In particular, axial space is severely limited by a predetermined optimal pedal crank distance.

[0464] During operation, the cyclist applies force to the pedals, especially the lower pedal. As a result, a downward force acts on the pedal axle on the side of the pedal being kicked. Additionally, a forward force acts on the pedal axle on the same side. Due to the lever arms on the bearings of the pedal axles, respective reaction forces act on the opposite sides of the pedal axles.

[0465] When the pedals are pressed, the left and right pedals are kicked alternately. Therefore, using a uniform rhythm, a periodic alternating force appears in both the vertical and horizontal directions. The magnitude of this force is related to the torque applied to the pedal shaft. When the measuring lugs are arranged vertically and horizontally respectively, the vertical force on the pedal shaft is detected by strain gauges on a pair of vertically aligned measuring lugs, and the horizontal force on the pedal shaft is detected by strain gauges on a pair of horizontally aligned measuring lugs.

[0466] The electrical signal of the strain gauge is approximately the same as, but opposite to, the electrical signal of the radially opposite strain gauge. Therefore, by using a set of radially opposite strain gauges, the measurement magnitude can be doubled. This can be achieved by subtracting and superimposing the signals, which can be done using analog electronic components or by digitizing the signals.

[0467] The strain gauge signals are transmitted via connecting wires to an evaluation electronics component arranged on a printed circuit board, which is mounted on the transmission housing. According to a simple evaluation, the average torque is determined based on the temporarily adjacent maximum deformation of the signals from one or more strain gauges that correspond to a calibration curve stored in the permanent memory of the evaluation electronics component, and an output signal is generated thereby, for example, through a proportional relationship, which is correlated in a simple manner with the torque applied to the pedal shaft.

[0468] According to a more detailed evaluation, further temporal development of the signal is also included in the electronic evaluation, and the output signal is generated using data previously stored in memory, such as calibration curves and parameters. Furthermore, the current angular position and / or rotational speed of the pedal shaft can be determined and included in the electronic evaluation.

[0469] The output signal can then be relayed to a further component of the evaluation electronics, which determines the motor assistance required for the electric motor of the electric bicycle and generates a corresponding motor control signal. This motor control signal, in turn, depends on other parameters, such as the vehicle's lean angle, current speed, battery status, and even certain driving conditions derived from these parameters, such as riding on a curb, starting from a standstill, or starting on a slope.

[0470] On one hand, calibration can be performed by directly calculating calibration curves and other calibration parameters from component performance and storing them in memory. On the other hand, calibration can also be performed by attaching a further sensor that measures the actual deformation of the pedal shaft and thus the torque applied to it, while periodic pedal forces are applied to the pedal shaft via a testing device.

[0471] The calibration parameters are determined based on the correlation between the applied pedal force and the actual torque. These calibration parameters can then be stored in the memory of the evaluation electronics for all identical e-bike models. It is also possible to store calibration parameters for different models in the same memory, where another stored information indicates the model of the e-bike currently in use.

[0472] For calibration purposes, the torque applied to the pedal shaft can also be measured without a sensor being directly mounted on the pedal shaft, since the torque is measured at the output shaft or at the downstream transmission element.

[0473] Figures 32 to 34 This illustrates that radial and axial forces are absorbed by two pedal shaft ball bearings and a force measuring element 47, which are mounted on the pedal shaft in an X-shaped arrangement. Figures 21 to 24 The viewing direction is the direction of travel.

[0474] according to Figure 32 The force-measuring element 47 is fixed by screws under tensile load. However, the force-measuring element can also be attached to the opposite side of the transmission housing, such as... Figure 30 and Figure 31 As shown. In this case, the axially outward force is directly received by the transmission housing.

[0475] Figure 32 The diagram shows a transmission device with a force-measuring element 47 according to a first embodiment, wherein the force-measuring element 47 is supported on a drive-side ball bearing 45 of an inclined-mounted bearing.

[0476] The tilt-mounted bearing includes a pedal shaft 35 having a center diameter larger than its end diameters, thereby forming a drive-side step 106 and an output-side step 107. The inner ring of the drive-side ball bearing 45 is axially supported on the drive-side step 106, and the inner ring of the output-side ball bearing 46 is axially supported on the output-side step 107 of the pedal shaft 35.

[0477] The inward bearing arrangement of ball bearings 45 and 46 on the shaft is also called an "X-type arrangement". The ball bearings 45 and 46 of the inclined bearing are configured as single-row angular contact ball bearings, with the higher side of their respective inner rings pointing towards the center of the pedal shaft 35.

[0478] The support lug of the force measuring element 47 shown in the cross section is axially supported on the output side step of the pedal shaft 35. The measuring lug 90 of the attached strain gauge 92 located behind it is radially supported on the outer ring of the drive-side ball bearing 45.

[0479] Figure 33 and Figure 34 Showing similar Figure 32 The apparatus, wherein the radial portions of the measuring lug 90 and the supporting lug 91 are located in the same plane. For clarity, Figure 13 The cross section extends through the support lug 91, and Figure 34 The cross-section extends through the measuring lug 90 of the force measuring element 47. For example... Figure 34 As shown, the axial section of the measuring lug 90 in the strain gauge 92 region is narrower than the axial section of the supporting lug 91.

[0480] As a result, large deformations can be achieved in the strain gauge region 92. For example, cross-sectional thinning can be achieved through milling.

[0481] Figures 35 to 52 A further embodiment of a force measuring sensor for a pedal axle is shown. This force measuring sensor can be used to determine the radial force on the pedal axle suspension. This can be indirectly used to determine the torque applied to the pedal axle by the rider. The corresponding device for measuring the radial force is also referred to below as a torque measuring device for this reason.

[0482] Figure 35 A further embodiment of a torque measuring device 110 arranged in a base bearing 109 is shown. The base bearing 190 includes a pedal shaft 111 having a fastening area for the pedal crank (not shown here).

[0483] A cup-shaped sleeve 114 is placed on a base bearing 111 between a first rolling bearing 112 and a second rolling bearing 113. The cup-shaped sleeve 114 is fixed to the pedal shaft 111 at an end face 115. At the end opposite to this end face, the cup-shaped sleeve 114 includes a torque transmission portion 116.

[0484] The first strain gauge 117 is placed between the sleeve 114 on the pedal shaft 111 and the first rolling bearing 112. The second strain gauge 118 is placed inside the sleeve 114 on the pedal shaft 111, and the third strain gauge 119 is placed on the outer surface 120 of the sleeve 114.

[0485] Strain gauges 117, 118, and 19 are each electrically connected to a slip ring 121 mounted outside the pedal shaft 111. The torque from the pedal shaft 111 flows through the sleeve 114... Figure 15 The middle part is indicated by an arrow.

[0486] Figure 36 A second embodiment of the torque measuring device 110' is shown. Unlike the first embodiment, a slip ring 121 is placed on the outer surface 120 of the sleeve 114, and the slip ring 121 is connected to the strain gauge 119 on the outer surface 120 of the sleeve 114.

[0487] Figure 37A third embodiment of the torque measuring device 110" is shown. Compared to the previous... Figure 35 and Figure 36 The implementation schemes differ, with strain gauges 117, 118, and 119 connected to the transmission device 122.

[0488] Figure 38 A fourth embodiment of the torque measuring device 110"' is shown. According to this embodiment, the strain gauge 124 is placed on the outer ring of the right ball bearing 112. Alternatively, the strain gauge may also be arranged on the intermediate ring.

[0489] Figure 39 and Figure 40 Another embodiment of the torque measuring device 130 is shown, in which deformation on the transmission housing is measured.

[0490] In the torque measuring device 130, a first pair of radially opposite strain gauges 131 and 132 are arranged on the housing 135, and a second pair of radially opposite strain gauges 133 and 134 are arranged on the housing 135 and offset from the first pair of strain gauges 131 and 132 by 90 degrees.

[0491] Furthermore, a printed circuit board 136 is arranged on the housing 35, providing evaluation logic elements for the signals from strain gauges 31, 32, 33, and 34. The device can be mounted in any orientation or angular position by shifting individual strain gauges by 90 degrees. This does not preclude the existence of preferred orientations that are more suitable than others.

[0492] Figure 40 Showing with Figure 39 Another embodiment of the torque measuring device 130' is similar to the implementation scheme. (The last part is incomplete and likely refers to a different implementation scheme.) Figure 39 The implementation scheme is different; the second pair of strain gauges is only slightly offset from the first pair of strain gauges, for example, by about 10 degrees.

[0493] Figure 41 Showing according to Figure 39 The first series of measurements from the torque sensor.

[0494] Figure 42 Showing according to Figure 39 This is another series of measurements from the torque sensor. In this case, the range of the measurement signal, in millivolts, is plotted on the right-hand shaft, while the range of the force derived from that measurement signal (in Newton-meters) is plotted on the left-hand shaft.

[0495] Figure 43 The cross-section of another HCD drive 10' with force measuring element 47 is shown, and... Figure 30 The transmission device 10 is similar.

[0496] and Figure 40 Unlike other transmission devices, the magnetic transmission ring 137 is integrated into the side cover of the ball bearing 45, which is connected to the inner ring of the ball bearing 45. A speed sensor 138, located axially opposite the transmission ring 137, records the changes in the magnetic field caused by the rotation of the transmission ring 137. Specifically, the transmission ring 137 can be magnetized so that its south and north poles alternate, thus generating a periodically changing magnetic field at the position of the speed sensor 138 during rotational motion.

[0497] Furthermore, the pedal shaft 35 is configured as a hollow shaft, which includes a circumference that expands only in the region near the step. The outer rotor shaft 26 is screwed onto the thread 140 of the inner rotor shaft 27. The inner rotor shaft 27 includes a drive-side step 141, on which ball bearings 29 are supported. The cam disk 28 includes an annular protrusion 139, through which the cam disk 28 is axially supported on the drive side of the outer rotor shaft 26.

[0498] Therefore, the axial position of the outer rotor shaft 26 is supported downward in the output direction by the thread 140 of the inner rotor shaft 27, and also supported in the output direction by the protruding portion 139 of the cam disk 28. The first drive-side power flow passes through the outer rotor shaft 26 and the thread 140 from the cam disk 28 into the output region of the pedal shaft 35. The second drive-side power flow enters the transmission housing 22 from the drive-side step 141 of the inner rotor shaft 27 via the ball bearing 29 and the wave spring 61.

[0499] and Figure 30 The transmission mechanism is different; the pedal axle flywheel 49' is... Figure 43 In this implementation, the clamping roller flywheel is configured to be similar to the motor flywheel 40. The clamping roller buckle of the clamping roller flywheel 49' is placed on the step of the pedal shaft 35 and supported by the O-ring 142.

[0500] Figure 44 Showing Figure 43 The magnified area of ​​force measuring element 47.

[0501] While the above description contains numerous details, these details should not be construed as limiting the scope of the embodiments, but rather as illustrations of contemplated embodiments. In particular, the advantages of the embodiments mentioned above should not be construed as limiting the scope of the embodiments, but rather as illustrations of the possible effects when the described embodiments are implemented. Therefore, the scope of the embodiments should be determined by this application and its equivalents, and not by the described examples.

[0502] Figure 45 Figure 60 shows a pedal shaft assembly and a harmonic pin ring drive having such a pedal shaft assembly.

[0503] The subject matter of this instruction manual will be further referenced in the accompanying drawings.

[0504] The following description refers to details used to describe embodiments of this specification, such as the shape and number of flywheel components. It should be obvious to those skilled in the art in every case that these embodiments would be implemented without these details in practice.

[0505] Figure 45 An exploded view of the pedal shaft assembly 80 is shown, which, from the drive side to the output side, shows the internal gear 7, the external helical spring 66 or the drive flywheel 40, the cylindrical clamping roller 64 of the drive flywheel 40, the pedal shaft 35, the internal helical spring 72 or the pedal shaft flywheel 49, the pawl 73 of the pedal shaft flywheel 49, the output shaft 39, and the flywheel support cage 65 of the drive flywheel 49.

[0506] The output side of the pedal shaft assembly 80 is understood here as the side where the receiving area 220 of the output shaft 39 for output is located. Therefore, the drive side is the opposite side to the output side.

[0507] The radius of the pedal shaft 35 is stepped, so that two steps 222 and 223 are formed on the drive side, and three steps 224, 225, and 226 are formed on the output side. Figure 3 The steps 222, 223, 224, 225, and 226, which are most clearly visible, constitute the receiving area for further transmission elements. These further transmission elements are not shown. Figure 45 In addition, a star-shaped device 227 with a tip 71 is formed on the third step on the output side.

[0508] The drive flywheel 40, also known as the "motor flywheel", is useful for differentiation when the pedal shaft 35 is connected to the output shaft 39 via an intermediate gear (such as a planetary gear).

[0509] The outer surface of the output shaft 39 includes a stepped rolling area 228 for clamping the roller 64 and a groove for the helical spring 66 on the drive side. The inner surface of the output shaft 39 or the hollow output shaft 39 includes a stepped limiting portion 229 for the pawl 73, which is radially opposite to the stepped rolling area 128.

[0510] In addition, output shaft 39 includes an output tool (not shown) on the output side. Figure 45 The receiving area 220 of the output tool (which may specifically mean "gear adapter") includes a cover for fixing the transmission device (not shown). Figure 45 The internal thread of the output tool is radially opposite to the receiving area of ​​the output tool.

[0511] Figure 46 A side view of the pedal shaft assembly 80 is shown from the output side, with the flywheel side cover removed for easier illustration of the drive flywheel 40 and pedal shaft flywheel 49. In this view, looking from the inside out, the pedal crank (not shown) is shown. Figure 46 The output-side receiving area 75, the star-shaped device 227 with a pawl 73 and a coil spring 66, the stepped limiting portion 229 of the pedal shaft flywheel 49, the receiving area for the output tool, the flywheel support cage 65 of the drive flywheel 40, the pinch roller 64 of the drive flywheel, the outer ring 65 of the drive flywheel 40, and the inner gear 7 of the harmonic pin ring gear (not shown) Figure 46 middle).

[0512] Figure 47 Showing Figure 45 The pedal shaft assembly 80 along Figure 46 The cross-sectional view obtained by the shown cross-sectional lines. For example... Figure 3 As shown, the inner radius of the output shaft 39, configured as a hollow shaft, is stepped, forming three steps 233, 231, and 232. The outermost step of the output shaft 39 includes an internal thread 233. The second outermost step of the output shaft 39, opposite to the second outermost step of the pedal shaft 35, is used to receive a ball bearing and is not shown. Figure 47 middle.

[0513] On the internal gear 7, a hollow shaft 234 is formed on the output side, and the hollow shaft 234 also forms the outer ring of the transmission flywheel 40. In addition, the internal gear 7 includes a disc-shaped region 235 on the drive side, and the disc-shaped region 235 has external meshing teeth 5.

[0514] On the drive side, an annular thickening is formed on the side of the output shaft 39, which is inserted into the hollow shaft 134 of the internal gear 7 via this annular thickening. The outer radius of the output shaft 39 is also stepped, with the outermost radial step adapted to receive the flywheel support cage 65 radially. Further steps on the outer side of the output shaft 39 are configured to receive a ball bearing (not shown here) including a shaft seal and to receive an output tool (not shown here).

[0515] Figure 48 This shows the view from the output side. Figure 45 A perspective view of the pedal shaft assembly 80, wherein the side cover is removed and the limiting area of ​​the pedal shaft flywheel 49, the flywheel support cage 65 and the clamping roller 64 are partially visible.

[0516] Figure 49 Further, the view from the driver side is shown. Figure 45A perspective view of the transmission components, in particular the inner stepped portion 229, pawl 73, pedal shaft flywheel 49 and the coil spring 72 of clamping roller 64, and the outer stepped portion 228, flywheel support cage 65 and the coil spring 66 of transmission flywheel 40 can be seen.

[0517] Figure 50 Showing Figure 45 A side view of the pedal shaft 35 of the pedal shaft assembly 80, showing in particular the crankshaft receiving areas 74, 75, the stepped circumference of the pedal shaft 35, and the star-shaped assembly 227.

[0518] like Figure 50 and Figure 52 As shown, the four tips 71 of the star-shaped component 227 are in Figure 50 As can be seen, each tip includes a rolling area 243, a tail 244, and a pawl receiving area 245. Each tip 71 includes a receiving coil spring 72 (not shown). Figure 50 Hole 236 (in the middle) is aligned perpendicularly to the rolling area 233. Hole 236 is slightly offset from the center of the rolling area 243 toward the pawl receiving area 245.

[0519] Figure 51 A side view of the output shaft 35 is shown, with particular attention to the section for the coil spring 72 (not shown). Figure 7 The receiving area 233 of the middle receiving area, the step 228 of the outer circumference and the receiving area 220 for the output tool.

[0520] Figure 52 A side view of the pedal shaft 35, seen along its central axis, is shown from the drive side, specifically showing the receiving area 75 for the pedal crank, the stepped outer diameter of the output side of the pedal shaft 35, and the star-shaped device 227. The tail portion 234 of the tip 71 includes a chamfer 237 on one side.

[0521] During operation, the helical spring 72 presses the pawl 73 outward against the stepped portion 229 inside the output shaft 39 so that when the pedal shaft 35 moves faster in the drive direction than the drive shaft 39, the tip of the pawl 73 engages the opposite step, which is given by the direction of the pawl 73 and the direction of the step.

[0522] If the pedal shaft 35 moves slower than the drive shaft 39 in the drive direction or even in the opposite direction, the pawl 73 slides along the step and is pressed inward against the spring force of the coil spring 72 until it reaches the next step. In the transition zone between the two steps, the pawl 73 jumps outward by the action of the coil spring 72 and in this way causes a distinctive knocking sound.

[0523] The tapping of the pedal axle flywheel 49 enables a warning function, drawing the attention of pedestrians to the relatively quiet operation of the e-bike, unlike motorized bicycles or motorcycles. Furthermore, it allows for noise-induced function controls and can meet the expectations of customers accustomed to idling noise.

[0524] Figure 53 The output side view of output shaft 39 is shown. The drive direction is predetermined by the direction of the step heel and... Figure 53 In the view, it points clockwise. In this case, the less inclined step portion of the interior 229 forms a step heel, and the more inclined step heel forms a step limiter.

[0525] These steps are aligned such that when output is provided on the right side in the direction of travel in the conventional manner, the drive direction corresponds to the direction of travel. However, output can also be provided on the left side in the direction of travel, in the opposite direction. This is particularly feasible in the case of three-wheeled or four-wheeled vehicles. In this case, in order to allow drive in the direction of travel, the orientation of the steps must be opposite to the direction of travel. Figure 9 The arrangement is the opposite.

[0526] In the case of three or four wheels, a switchable flywheel may also be appropriate, or, for example, an additional drive connection (such as a switchable clutch that allows the reverse drive motor) to be used for rearward drive up a slope, especially if the vehicle is equipped to withstand loads.

[0527] Figure 54 The equivalent of the drive side was displayed. Figure 53 Plan view on output shaft 35.

[0528] Figure 11 A side view of the flywheel support cage 65 is shown, with the viewing direction perpendicular to the central axis of the pedal shaft 35. Figure 12 A side view of the drive flywheel 40 is shown, in which the clamping roller 64 and the flywheel support cage 65 are partially shown.

[0529] The flywheel support cage 65 includes ribs 150 evenly distributed on the circumference and two opposing receiving areas 251, 252 for the helical coil 66, the receiving areas 251, 252 being aligned with the groove of the output shaft 39.

[0530] Figure 57 A side view of the pedal shaft assembly 80 is shown, which includes... Figure 1 The internal parts of the flywheel assembly 81 shown and those not shown Figure 1 Sensor components in the system.

[0531] Figure 58 It is along Figure 13 The cross-sectional view obtained by the cross-section line DD shown.

[0532] Figure 59 Is with Figure 14 A cross-sectional view similar to the one shown, but in which the viewing direction is from the drive side. In this case, it is not displayed. Figure 58 The hollow shaft portion 235 of the internal gear 7 is shown separately, which forms the outer ring of the transmission flywheel 40.

[0533] The pawl 73 of the pedal axle flywheel 49 includes a cylindrical hinge portion 246 on one side, which engages a matching circular hinge portion 247 of the stepped portion. Furthermore, the pawl includes a plate-shaped portion 248, which is incorporated into the hinge portion 247 at one end and has a sharp edge 246 cut off at the opposite end.

[0534] During the assembly or maintenance of the pedal axle flywheel 49, the pawl 73 can be easily inserted from the output side into the circular hinge portion 247, which is formed by the pedal axle 35, without the need for further components, such as axles, to form the necessary hinge.

[0535] The two springs 66 of the drive flywheel 40 push all the clamping rollers 64, which are almost in the end or traction position, via the flywheel support cage 65. Figure 59 As shown. As a result, the clamping roller 64 contacts the outer ring formed by the hollow shaft portion 234 of the internal gear 7, and can be moved to that end position by the relative movement of the outer ring. In this case, the individual ribs of the cage 65 can be elastically formed to compensate for the uneven contact pressure on the individual clamping roller 64.

[0536] However, if the outer ring of the drive flywheel 40 moves slower in the driving direction than the output shaft 39, the clamping roller 64 rolls toward the bottom of the step and is thus lifted from the outer ring, thereby eliminating the frictional connection with the internal gear 7.

[0537] Figure 60 The cross-section of the harmonic pin ring gear 10' is shown, wherein the pedal shaft flywheel 49' is configured as a clamping roller flywheel. Therefore, in this embodiment, there is no stepped engagement area for the pawl inside the output shaft.

[0538] The clamping roller buckle of the clamping roller flywheel 49' is placed on the step of the pedal shaft 35 and supported by the O-ring 262.

[0539] Figures 61 to 66 A gear motor with a harmonic pin drive mechanism is shown, which has an eccentric disc.

[0540] Figure 61 A cross-sectional view of the harmonic pin ring drive device 10 is shown. Figure 61 The cross-sectional plane AA is indicated in Figure 62 In. Figure 61 In the middle, the left side corresponds to the drive side, and the right side corresponds to the output side of the harmonic pin ring gear 10.

[0541] The stator 20 of the stator assembly of the harmonic pin ring drive 10 is housed within the motor housing 22. The stator 20 includes stator coils 21 (not shown) for connection to a power source. Figure 61 middle).

[0542] An outer rotor shaft 26 equipped with permanent magnets is radially positioned within a stator 20 on an inner rotor shaft 27. On the inner rotor shaft 27, an eccentrically arranged circular eccentric disk 28' or eccentric disc 28' is formed on the output side; the eccentrically arranged circular eccentric disk 28' or eccentric disc 28' is shown in more detail below. Figure 64 middle.

[0543] On the drive side, the inner rotor shaft 27 is supported outwardly within the motor housing 22 by a drive-side rotor ball bearing 29. The outer ring of the drive-side rotor ball bearing 29 is arranged within a cylindrical groove in the motor housing 22. On the drive side, a sensor ring 68 is placed on the inner rotor shaft 27, which is axially adjacent to the outer rotor shaft 26, and this sensor ring is opposite to the Hall sensor 353 placed within the motor housing 22.

[0544] On the output side, the inner rotor shaft 27 is supported within the output side rotor ball bearing 30, and the inner gear 7 is radially outward. The hollow shaft of the inner gear 7 is integrally connected to the annular portion of the inner gear 7 on the output side, and the annular portion of the inner gear 7 includes external meshing teeth 5.

[0545] On the output side, the outer casing 32 is screwed onto the motor housing 22 by screws 34. On the opposite drive side, the inner casing 346 is screwed onto the motor housing 22 by screws 347. The inner casing includes a support cylinder 348.

[0546] The hollow shaft 52 of the internal gear 7 is, in turn, mounted radially outward on the housing shroud 32 via the internal gear ball bearing 31. The internal gear ball bearing 31 is axially offset from the output-side rotor ball bearing 30 towards the output side and radially offset outward relative to the output-side rotor ball bearing 30. Furthermore, the internal gear ball bearing 31 coincides axially with the output-side rotor ball bearing 30.

[0547] A transmission ball bearing 33 is disposed on an eccentric disk 28 of the inner rotor shaft 27. The eccentric disk 28' and the transmission ball bearing 33 together form a transmission device that converts torque into radial force. A pin retainer 103 with a pin 101 is mounted on the transmission ball bearing 33, wherein the pin 101 is held in a cylindrical groove inside the pin retainer 103. The pin 101 of the pin retainer 103 causes the ball bearing 33 and the pin retainer 103 to extend axially to both sides. For simplicity, the pin retainer 103 and the pin 101 pin retainer assembly are also referred to below as pin retainer 102.

[0548] The drive-side external gear 8' and the output-side external gear 8 are inserted into the rib 349 of the motor housing 22. The rib 349 of the motor housing 22 is shown. Figure 63 In the exploded view, an O-ring 42 is placed radially outward on the output side between the motor housing 22 and the housing cover 32. Another O-ring 343 is placed on the drive side between the step of the inner rotor shaft 27 and the drive-side rotor ball bearing 29.

[0549] The drive-side external gear 8' and the output-side external gear 8 are axially arranged outside the eccentric disk 28' and the transmission ball bearing 33. Radially, the drive-side external gear 8' is opposite to the area of ​​the pin 101 that causes the retaining ring 103 to extend axially on the drive side. Radially, the output-side external gear 8 is opposite to the area of ​​the pin 101 that causes the retaining ring 103 to extend axially on the output side.

[0550] On the drive side, a drive-side shim disc 22 is arranged within the motor housing 22 such that it faces the drive-side end face of the pin 101 in the axial direction. Similarly, on the output side, an output-side shim disc 38 is arranged within the motor housing 22 such that it faces the output-side end face of the pin 101 in the axial direction. The hollow shaft 352 of the internal gear 7 includes a threaded hole (not shown) for connecting the output. Figure 61 middle).

[0551] An inner shaft seal 50 is inserted between the inner cylinder 348 of the inner housing 46 and the housing cover 32. In addition, an outer shaft seal 51 is placed opposite the ball bearing 46 of the output side pedal shaft between the hollow shaft of the internal gear 7 and the housing cover 32.

[0552] During operation, the input torque is transmitted to the outer rotor shaft 26 via the stator 20 through electromagnetic force, and from the outer rotor shaft 26 to the inner rotor shaft 27. The input torque is converted into radial force through the eccentric disk 28' and the flexible ball bearing 33. This radial force is converted into output torque on the tooth surfaces of the internal meshing teeth 6, 6' of the outer gears 8, 8' and the external meshing teeth 5 of the inner gear 7, where the inner gear 7 is driven and the outer gears 8, 8' are fixed to the housing. The output torque is achieved through a reduction gear ratio greater than the input torque.

[0553] The internal meshing teeth formed by the external meshing teeth 5 of the internal gear 7 are opposite to the internal meshing teeth 6 of the output side external gear 8, thereby providing output torque, especially through those pins 101 that are adjacent to both the external meshing teeth 5 and the internal meshing teeth 6, 6'.

[0554] Figure 63 Showing Figure 61 The exploded view of the drive-side components of the transmission device, viewed from the drive side to the output side, shows the inner housing 346 with an inner cylinder 348, the drive-side rotor ball bearing 29, the circular wave spring 44, the motor housing 22 with a drive-side gasket disc 37, the sensor ring 68, and the rotor shaft 26.

[0555] Figure 64 Showing Figure 61 The exploded view of the output side components of the transmission device, viewed from the drive side to the output side, shows a rotor shaft 26 with an eccentric disc 28', a second external gear 8', a pin ring 102 with a pin 101 and a pin retainer 103, a transmission ball bearing 34, an output side rotor ball bearing 30, a first external gear 8, a shaft seal 50, an internal gear with an internal gear hollow shaft, a drive side shim disc 38, an internal gear ball bearing 31, a transmission device cover 32, and a shaft seal 51.

[0556] Each of the external gears 8 and 8' includes a slot 354 that points radially inward from the circumference of the respective external gear 8 or 8' and is distributed at regular intervals on the circumference of the respective external gear 8 or 8'. The motor housing 2 includes journals 355 spaced apart on the circumference, the journals 355 corresponding to the slots 354.

[0557] like Figure 61 As shown, in the assembled state, screw 34 extends through transmission cover 32, first external gear 8, second external gear 8' and support ring 36 into motor housing 22.

[0558] Figures 67 to 76 A harmonic pin-ring drive with a crank gear is shown. This crank gear is a planetary gear, which is arranged on the pedal shaft and transmits the rider's rhythm as fast. The planetary gears can also be switchable, especially if they include further gear stages (not in...). Figures 67 to 76 (As shown in the diagram), for example, this is the case in the planetary gears of Ravigneaux or Lepelletier.

[0559] In its simplest form, gear shifting allows selection between 1-to-1 transmission and acceleration transmission. Crankshaft gear shifting can be performed manually or automatically via an operating element. In the case of automatic shifting, the shift occurs based on measurements from a torque sensor.

[0560] and Figures 1 to 40 Compared to the previous implementation, the chassis bearing sensor unit is replaced by a crankshaft gear. By transmitting power rapidly via planetary gears, the secondary drive mechanism for the rear wheels can be made smaller. This, in turn, makes it possible for the output shaft to rotate faster, allowing the motor and / or reduction gears to be made smaller or to deliver more power within the same size.

[0561] In addition, planetary gears can be used to measure torque on pedal shafts or pedal cranks by measuring the supporting force of components fixed to the planetary gear housing, for example, by using glued strain gauges.

[0562] If the sun gear is fixed to the housing and the ring gear is driven, such as Figures 72 to 76 As shown in the implementation scheme, for example, an acceleration ratio of 1.59:1 can be provided, which in turn allows for a 0.63-fold reduction in output motor power. If the ring gear is fixed to the housing and the sun gear is driven, as... Figures 67 to 71 As shown in the implementation scheme, for example, a 3:1 acceleration transmission ratio can be provided. Therefore, the motor's output torque can even be reduced by 0.33 times.

[0563] For example, planetary gear drives can be used to increase power density; however, this drive can also increase motor speed, thereby increasing motor noise. Furthermore, the planetary gear can be used as the basis for a motor with an integral transmission gear. In this case, the size of the transmission gear can be reduced accordingly, or the necessary space can be provided for the transmission gear due to the increased power density of the motor.

[0564] Figures 67 to 71 A harmonic pin ring drive with planetary gears arranged on the pedal shaft is shown, wherein the drive occurs via a planetary carrier rigidly connected to the pedal shaft, and wherein the output occurs via a sun gear.

[0565] Figures 72 to 76 A harmonic pin-ring drive with planetary gears arranged on a pedal shaft is shown, wherein drive is generated by a planetary carrier rotatably mounted on the pedal shaft, and wherein output is generated by a ring gear rotatably mounted within a drive housing.

[0566] The transmission mechanism including the eccentric disc is similar to Figure 11 The harmonic pin ring drive device. However, Figures 67 to 76 The crank gear can also be combined with other reduction gears. In particular, Figures 67 to 76 The crank gear can be combined with a harmonic pin ring drive, which is similar to... Figure 1 The transmission device includes an elliptical cam disc and flexible ball bearings.

[0567] For the sake of clarity, it is not Figure 1 or Figure 11 All the components already shown in the image are now back in... Figures 69 to 76 The accompanying diagrams are labeled.

[0568] Figure 68 Showing Figure 67 A perspective view of the planetary gear assembly 400, in which the ring gear 401, the mounting sleeve 402 of the ring gear 401, and the output shaft 39 are visible. Figure 69 Showing Figure 68 Side view of planetary gear assembly 400.

[0569] Figure 70 Showing along Figure 69 The cross section of the planetary gear assembly 400 is obtained by the intersecting line CC. The sun gear 403 is configured as a hollow shaft and is separated from the pedal shaft 35 by a gap 404, so that the sun gear 403 can rotate relative to the pedal shaft 35. Planetary gears 405 are respectively placed on planetary shafts 406, wherein rolling bearings or sliding bearings formed by sliding films are arranged between the planetary gears 405.

[0570] Figure 71 Showing along Figure 69 The cross-section of the planetary gear assembly 400 is obtained by the intersecting line BB. In this cross-sectional view, the planetary shaft 406 is further shown to be arranged in the planet carrier 407, which is rigidly connected to the pedal shaft 35.

[0571] The sun gear 403 is integrally connected to another hollow shaft 410, which has a diameter slightly larger than that of the sun gear 403. This diameter is such that rolling bearings 408 can be arranged between the hollow shaft 410 and the pedal shaft 35. The rolling bearings 408 include two... Figure 71 The needle roller bearing is used in the implementation scheme. A foot pedal axle flywheel 49 is arranged on the second hollow shaft 410.

[0572] The torque flow from pedal shaft 35 to output shaft is Figure 71 The middle is indicated by an arrow. For example... Figure 67 As shown, the fastening flange 402 of the ring gear is fixed to the transmission box 22. The stationary ring gear absorbs the opposing force caused by the rider's pedal movement.

[0573] According to a further embodiment, a deformation sensor (such as a strain gauge) connected to the evaluation electronics is mounted on a ring gear 401. For more accurate measurements, a portion of the ring gear on which the deformation sensor is mounted can be made thinner.

[0574] Figure 72A harmonic pin ring drive with planetary gears arranged on pedal shaft 35 is shown, wherein the output is generated via the ring gear.

[0575] Figure 73 yes Figure 67 Perspective view of planetary gear assembly 400'. Figure 74 Showing Figure 68 Side view of planetary gear assembly 400'.

[0576] Figure 75 Showing along Figure 74 The cross section of the intersecting line CC. The sun gear 403' is separated from the pedal shaft by clearance 404. (As...) Figure 72 As shown, the sun gear 403' is connected to the gearbox 22 via a fastening area. In particular, this fastening area can be configured as a force-measuring element. The planet gear 405 is rotatably mounted on the planet shaft 406 housed within the planet carrier 405.

[0577] Figure 76 Showing along Figure 74 The cross section obtained at intersection point BB. For example... Figure 76 As shown, a portion of the planetary carrier 405 is formed as a hollow shaft 409, which is placed on the pedal shaft 35 via the pedal shaft flywheel 49'.

[0578] According to a further embodiment (not shown here), the hollow shaft of the planetary gears arranged on the pedal shaft is fixed to the housing on the drive side. The hollow shaft of the planetary gears is fixedly connected to the pedal shaft, and the sun gear is connected to the output shaft via the pedal shaft flywheel. For this purpose, the hollow shaft attachment can be guided from the drive side around the planetary gears. Here, and in other crank gears, the pedal shaft can generally also be a crankshaft, such as the crankshaft of an internal combustion engine, or the drive shaft of a drive unit. Like the two crank gears mentioned above, this crank gear also provides acceleration transmission.

[0579] Furthermore, the reversal of the rotation direction can be advantageous in situations where, unlike electric bicycles without a reversing gear, the load's rotation direction is set in the opposite direction to the rotation direction of the crankshaft or crankshaft gear drive shaft, thus eliminating the need for further reversal of the rotation direction.

[0580] Figure 77-81 This invention illustrates a cycloidal gear and a motor gear set having a cycloidal gear, according to this specification.

[0581] Figure 77 This is a cross-sectional view of the motor gear set of an electric bicycle, in which a cycloidal gear is used as a reduction gear.

[0582] In the first few pictures (especially) Figures 1 to 3 and Figures 10 to 14 Components already explained in the description will not be repeated here. Like... Figure 1 and 10 Similar to the transmission shown, the cycloidal gear includes a three-bearing assembly (where the output element forms a single unit with a hollow output shaft) and is supported inwardly on two diagonally opposite bearings and outwardly on an inner hollow shaft within the housing. Therefore, only three bearings are needed to support the rotor shaft, the output element, and the hollow output shaft.

[0583] In a three-bearing assembly, the outer bearing of the rotor shaft can be further separated. This is especially true in motor gear sets used in electric bicycles, where limited axial space can be better utilized with fewer bearings. Therefore, the lever effect of the outward tilting torque on the bearings and rotor shaft is smaller, and the rotor shaft can be constructed as a thin cylinder. Many such motor gear sets are like this.

[0584] exist Figure 77 In a cycloidal gear, the output element is formed by an output pulley, on which a hollow output shaft is formed. The output pulley has a support pin and a support roller arranged thereon. Figure 1 and Figure 10 The motor gear set shown is formed by an internal output gear, on which a hollow output shaft is formed.

[0585] The inner rotor shaft 27' of the cycloidal gear is formed by a drive shaft 426 and a rotor shaft 427 mounted on the drive shaft 426. The drive shaft 426 includes a drive-side eccentric disk 428, an output-side eccentric disk 429, and a central disk 430, which are formed on the drive shaft 426 and arranged adjacent to each other. The output-side eccentric disk 429 is offset by 180 degrees from the drive-side eccentric disk 428.

[0586] A first ball bearing 423 is arranged on the drive-side eccentric disk 428, and a drive-side internal gear 433 is mounted on the first ball bearing 423. An output-side internal gear 434 is mounted on an output-side eccentric disk 429 via a second ball bearing 424. The drive-side internal gear 433 and the output-side internal gear 434 are structurally identical, and each includes external meshing teeth 435, 436, which in each case engage the internal teeth of the opposing external gear 439, which is fixedly connected to the housing.

[0587] The output disc 440 is mounted on a third ball bearing 425 via a ring 441 placed on a central disc 430. The output pulley 440 includes a support pin 442 arranged at regular intervals on the output pulley 441, which engages with a circular opening 444 in one of the two internal gears 433, 434. The support pin 442 has rollers 443 rotatably mounted on it.

[0588] The drive shaft 426 of the inner rotor shaft 27' serves as the hollow drive shaft 426 of the cycloidal reduction gear.

[0589] A pressure plate 451 and a thread 450 opposite to the pressure plate are formed on the rotor shaft 427 of the inner rotor shaft 27'. (As from...) Figure 80 As can be seen in the cross-sectional view, the pressure ring 452 is screwed onto the thread, thus clamping the rotor housing 26 or the outer rotor shaft 26 between the pressure ring and the retaining ring. This is equivalent to Figure 30 The device and with Figure 1 The device differs in that the rotor package is held between a shim arranged on the inner rotor shaft and a shoulder of the inner rotor shaft.

[0590] The drive-side internal gear 433 and the output-side internal gear 434 are also referred to as "cam discs". A stationary pin ring may also be provided instead of the internal meshing teeth 437 of the external gear 439, such as... Figure 79 As shown. This stationary pin ring can have rollers, so that friction and shear forces are reduced and rolling motion is possible.

[0591] View from left to right, Figure 78 The exploded view shows an external gear 439 with internal meshing teeth 437, an output-side internal gear 433, a first ball bearing 423, an inner rotor shaft 27' (on which are arranged a transmission-side eccentric disk 428, an output-side eccentric disk 429, and a central disk 430), a second ball bearing 424, an output-side internal gear 434, a washer 445, a ring 441, a third ball bearing 425, a load-bearing roller 443 and a load-bearing pin 442 arranged on an output pulley 440, and the output pulley 440.

[0592] also, Figure 78 The ridge 446 provided between the drive side 428 and the output side eccentric disk 429 is shown.

[0593] Looking from the inside out, Figure 79 The side view shows ring 441, third ball bearing 425, output pulley 440, output-side internal gear 434 with external meshing teeth 436, external meshing teeth 435 of drive-side internal gear 433, and internal meshing teeth 437 of external gear 439. A stationary pin 447 is indicated in two positions that could provide this stationary pin, instead of the internal meshing teeth of external gear 439.

[0594] Figure 80 The cross-sectional view shows through Figure 77 The cross-section of the cycloidal gear of the motor gear set shows the inner rotor shaft 27' (which has a drive-side eccentric disk 428 and a drive-side internal gear 433 mounted thereon, an output-side eccentric disk 429 and an output-side internal gear 434 mounted thereon, a central disk 430 and an output disk 440 mounted thereon with a support pin 442 and a support roller 443), and an external gear 439 with internal meshing teeth 437.

[0595] exist Figure 80 The lower part shows the fastening opening 448 of the external gear 439. (As shown) Figure 77 As shown in the cross-sectional view, the external gear 439 is fixed to the gearbox by a fastening bolt that passes through the fastening opening 448.

[0596] Figure 81 Showing Figure 77 A side view showing details of the cycloidal gear, revealing hidden components. Figure 81 In the view, it can be seen that all the teeth of the two internal gears are engaged or in contact with the internal meshing teeth of the stationary external gear. Furthermore, Figure 81 Another embodiment is also shown, in which instead of internal meshing teeth, external gears include an arrangement of stationary pins or bolts, with rollers arranged on the arrangement.

[0597] Below, we will refer to the previous... Figure 77-81 The assembly of the cycloidal actuator is described by way of an embodiment.

[0598] Components on the drive side of the rotor shaft 427 in the motor housing 22 are inserted into or attached to the motor housing 22. In other aspects, the drive-side rotor ball bearing 29, the force-measuring element 47, the drive-side pedal shaft ball bearing 45, and the motor stator assembly are inserted into the motor housing 22. The external gear 439 is screwed onto the motor housing 22.

[0599] The rotor shaft 427 is attached to the output shaft 426 on the drive side. The drive-side internal gear 433 and the first ball bearing 423 are placed on the drive-side eccentric disk 428 from the drive side. The rotor housing is placed on the inner rotor shaft 27' from the drive side, and the pressure ring 452 is screwed onto the rotor housing. Then, the assembly of the rotor shaft 427 and the output shaft 426 is inserted into the motor gear set from the output side, with the output shaft 426 having components mounted thereon.

[0600] The second ball bearing 242 and the output-side internal gear 434 are placed on the output-side eccentric disk 429 from the output side. The ring 441 is placed on the central disk 430 and the third ball bearing 425 is placed on the ring 441.

[0601] The carrying roller 443 is placed on the carrying pin 442 of the output ring 440, and the output ring 440 is placed on the third ball bearing 425 such that the inner shoulder of the output ring 440 rests on the outer ring of the third ball bearing 425. In this case, the carrying pin 442 and the carrying roller 443 are guided through the circular openings 444 of the output-side internal gear 433 and the drive-side internal gear 434. The ball bearing 31 is mounted on the shoulder of the output pulley, and the transmission cover is screwed onto the motor housing 22 together with the external gear, wherein the fastening opening of the transmission cover overlaps with the external gear.

[0602] The rotor housing 26 and the inner rotor shaft 27' are rotated by energizing the setter 22. This rotation is transmitted to the eccentric disks 428 and 429. The eccentric disks 428 and 429, in turn, cause the eccentric circular motion of the inner gears 433 and 434 placed thereon, so that the meshing teeth of the inner gears 433 and 434 are moved over the meshing teeth of the stationary outer gear 439. As a result, the inner meshing teeth 437 of the outer gear 439 exert a reaction force on the inner gears 433 and 434. By the reaction force of the outer gear 439, the inner gears 433 and 434 are set to rotate about their own axes of rotation. This rotation is utilized by the bearing pin 442 and transmitted to the output pulley, thereby converting the motion of the inner gears 433 and 434 into a central circular motion. This rotation is transmitted directly from there to the load device, such as in a geared motor, or, as in the case of an electric bicycle, initially to the output shaft 39 via the flywheel 40.

[0603] Figure 82 –88 shows, according to this specification, a tension shaft drive and a motor gear set having a tension shaft drive.

[0604] Figure 82 This diagram shows a cross-section of a motor gear set with a tension shaft or flexure drive according to this specification. Components not shown here are... Figure 1 The corresponding components.

[0605] The tension adjusting shaft 453 has external meshing teeth 5" arranged between a cam disc 455' with flexible ball bearings 33 and an external gear 457 with internal meshing teeth 6", and is screwed onto the motor housing 22. The tension adjusting shaft is fastened to the output shaft 458 by a fastening area with rivets, and the output shaft 458 is mounted on opposite ball bearings 31 and 30.

[0606] Figure 83 Showing Figure 82An exploded view of a tension shaft or flexible gear drive, wherein the stationary external gear 8" has meshing teeth, which are mentioned below as meshing teeth for the HPD-F drive. As a result, a particularly good engagement of the two meshing teeth can be achieved.

[0607] Subsequently, the internal meshing teeth of the external gear are essentially equidistant from the gear trajectory and are defined as follows:

[0608] x(t)=r1*cos(t)+r2*cos((n+1)*t)+r3*cos((n+3)*t) and

[0609] y(t)=r1*sin(t)-r2*sin((n+1)*t)+r3*sin((n+3)*t), where t is between 0 and 2, which are pi / Z_outer or 360° / Z_outer respectively, and where, for example, the distance from the equidistant point to the gear trajectory has the pin radius.

[0610] The relative external meshing teeth of the tension adjusting shaft originate from the geometry of a pin ring with cylindrical pins. Therefore, the cross-section of the tooth tip in a plane perpendicular to the axial direction corresponds to a circular sector, preferably a semicircle. This is in Figure 87 As you can see.

[0611] View from left to right or from the output side to the driver side, respectively. Figure 83 The exploded view shows a stationary external gear 8" or outer ring 8", a cup-shaped tension adjusting shaft 453 with internal meshing teeth 6" and a fastening area 454, a flexible ball bearing 33, and a drive cylinder 455 with an elliptical circumference and a fastening flange 456. For example, Figure 83 The drive cylinder is suitable for gear-driven motors and from Figure 82 The cam disk 455' is offset, and the cam disk 455' is arranged on the inner rotor shaft.

[0612] In this specification, "ellipse" preferably refers to an ellipse having two mutually perpendicular mirror symmetry or principal axes, such as an ellipse or a circular shape with superimposed sine waves. However, it can also refer to, for example, an ellipse with three axes of symmetry, where the distance between the axes is the greatest, in order to create three engagement regions instead of two engagement regions with complete tooth engagement.

[0613] The fastening area 454 of the tension adjustment shaft is suitable for fastening the output shaft. Additionally, the stationary external gear 8" includes a fastening area 457 for attaching to the transmission housing, and the drive cylinder 455 includes a flange 456 for fastening the drive axle. In embodiments of the tension shaft transmission in electric bicycles, the drive cylinder 455 can also be formed as part of the inner rotor shaft, in which case the fastening flange 456 is not required.

[0614] Figure 84The drive side shows the assembly process. Figure 82 A side view of the tension shaft drive device, showing, from the inside out, the fastening area of ​​the tension adjusting shaft, the drive cylinder, the flexible ball bearing, the external meshing teeth of the tension adjusting shaft, the internal meshing teeth of the external gear, and the external gear.

[0615] Figure 85 Showing along Figure 84 The section of the cross-section AA, which advances along the short half-axis of the drive cylinder 455, in Figure 85 In the cross-sectional view, it can be seen that the tension adjustment shaft 453 is biased inward so that it rests against the outer ring of the flexible ball bearing 33 in the short half-shaft region of the drive cylinder 455.

[0616] Figure 86 Showing along Figure 84 The section of the cross-section line BB extends along the semi-major axis of the drive cylinder 455. For example... Figure 85 and Figure 86 As shown in the cross-sectional view, each of the external gear 8" and the tension adjusting shaft 453 includes a smooth cylindrical hole or opening, while the drive cylinder 455 includes a threaded hole.

[0617] Figure 87 The previous one was shown Figure 84 The enlarged view marked "C" shows the shape of the eccentric meshing teeth.

[0618] Figure 88 It shows the assembly state. Figure 82 Tension shaft transmission device.

[0619] Figures 89-93 The diagram shows a two-stage reduction gear system, which consists of a two-part integral pin ring 102' and two external gears 8"' and 8". (4) The pin ring 102', which consists of two parts, is mounted on the eccentric plate.

[0620] The two-part integral pin ring 102 includes a first external meshing tooth 5"' on the first part and a second external meshing tooth 5"' on the part immediately adjacent to the first part. (4) 5th external meshing tooth (4) The first external meshing tooth 5"' is arranged immediately adjacent to the first external meshing tooth 5"'. The first external meshing tooth 5"' of the pin ring 102' is arranged opposite the first internal meshing tooth 6"' of the rotatably mounted external gear 8"', and the second external meshing tooth 5"' of the pin ring 102' is arranged opposite to the first internal meshing tooth 6"'. (4) Arranged on stationary external gear 8 (4) Second internal meshing tooth 6 (4) On the opposite side.

[0621] The number of teeth in the first external meshing tooth 5"' is less than the number of teeth in the internal meshing tooth 6"', and the number of teeth in the second external meshing tooth 5"' is less than the number of teeth in the internal meshing tooth 6"'.(4) The number of teeth is less than 6 for internal meshing teeth. (4) The number of teeth. In an exemplary embodiment of the high-reduction gear, the number of teeth of the first external meshing tooth 5"' is equal to 28 and the number of teeth of the internal meshing tooth 6"' of the movable external gear 8"' is equal to 29, and the number of teeth of the second external meshing tooth is equal to 29 and the number of teeth of the internal meshing tooth 6"' of the stationary external gear is equal to 29. (4) The number of teeth is 30.

[0622] Therefore, in this embodiment, the reduction speed of the first gear stage on the drive side is greater than that of the second gear stage on the output side, and the number of teeth on each external gear is greater than the number of teeth on each radially opposite meshing tooth of the pin ring. As a result, the inner external meshing teeth move in the reference coordinate system of the opposing outer inner meshing teeth for driving. Thus, the inner meshing teeth of the movable external gear move in the driving direction and reduce the reduction speed of the first gear stage. In general, the number of teeth on the opposite meshing teeth can be different.

[0623] When using an eccentric disc, the difference in the number of teeth must be at least one. Furthermore, the ball bearings and the transmission elements (such as pin rings) arranged thereon do not need to be deformed. In an alternative embodiment, instead of an eccentric disc, an elliptical disc and flexible ball bearings arranged on it are used, with the difference in the number of teeth of the relatively meshing teeth being a multiple of two.

[0624] In an embodiment where no transmission tool is arranged between the internal and external gears, the transmission tool simultaneously acts as the internal gear with external meshing teeth, for example in... Figure 83 In the tension shaft transmission device or Figure 89 In a two-stage eccentric gear, the difference in the number of teeth refers to the meshing teeth of the transmission tool and the relative meshing teeth of the transmission tool.

[0625] Figure 89 A side view of the two-stage reduction gear is shown from the output side.

[0626] Figure 90 Shown in Figure 89 In the specified viewing direction, along Figure 89 The cross section of section line AA in the diagram. Therefore, Figure 90 The upper part shows the actual cross-section, while Figure 90 The lower half shows a side view.

[0627] Figure 91 Showing Figure 82 A side view of a two-stage reduction gear, with hidden components indicated by dashed lines to illustrate the engagement of the opposing meshing teeth.

[0628] Figure 92 This can be viewed from the output side or from the side of the movable external gear 8”'. Figure 82 A perspective view of a partial cross-section of a two-stage reduction gear.

[0629] Figure 93 It is from the drive side or from the stationary external gear 8 respectively. (4) Viewed from the side, Figure 82 A perspective view of a partial cross-section of a two-stage reduction gear. Stationary external gear 8 (4) Including a fastening area for attaching to the transmission housing, which is not shown Figures 89 to 93 Similarly, the movable external gear 8"' includes a fastening area for securing the output shaft, which is not shown in the diagram. Figures 89 to 93 middle.

[0630] Figures 89-93 The two pin rings of the two-stage pin ring drive differ from the externally toothed tension shafts of the prior art (especially by means of meshing teeth). The meshing teeth of the two meshing tooth pin rings are essentially equidistant from the gear track. For the gear track of the harmonic pin ring drive with an eccentric disc, the equidistant from the gear track is determined by the formula (1) given below, wherein the equidistant is preferably a distance (1) from the pin radius of the gear track.

[0631] The harmonic pin ring drive is also known as the HPD-E drive. Formula (1) describes the non-reverse circular trajectory with one circumferential circle.

[0632] Correspondingly, stationary external gear 8 (4) The meshing teeth of the movable external gear 8"' are equidistant from the gear trajectory as shown in formula (1), preferably at a distance equal to the pin radius. The number of teeth is determined by the parameter "n" in formula (1), and the external meshing teeth and internal meshing teeth are satisfied as long as the tooth head is determined by formula (1).

[0633] Preferably, Figure 89 The meshing teeth of the two-stage transmission in the -93 are configured to form a high-speed gear transmission, wherein the reduction in speed of the first gear stage is further reduced by the second gear stage because the second angular velocity generated by the second gear stage is in the opposite direction to the first angular velocity generated by the first gear stage. Furthermore, the second angular velocity is twice as small as the first angular velocity, so that the magnitude of the final angular velocity at the output of the transmission is smaller than the magnitude of the angular velocity of the first gear stage.

[0634] The second angular velocity can also be greater than the first, resulting in a reversal of the rotational direction, so that the output now occurs in the same direction as the drive. This reversal of rotational direction can be advantageous, for example, in generator mode of a hybrid vehicle, or otherwise, by superimposing the rotational motions of the drive and output.

[0635] During operation, the eccentric disc is rotated by a motor (e.g., an electric motor). This rotational motion is converted into the eccentric motion of the two pin rings via ball bearings. As a result, the teeth of the two pin rings are guided over or drawn into the external meshing teeth of the two external gears.

[0636] This results in the pin ring rotating relative to the stationary external gear and the movable external gear rotating relative to the moving pin ring, which overlap in terms of the output rotational motion.

[0637] The two-stage reduction gear can also be configured with an elliptical transmitter, deformable ball bearings, and a deformable two-part pin ring. In this case, it is preferable to use another type of internal meshing gear instead of... Figures 89-93 As shown. For example, it can be used Figures 83-87 The diagram shows the meshing gear geometry of the tension shaft drive device.

[0638] In particular, two-stage reduction gears can also be operated in opposite directions and used to accelerate transmissions. For example, a high gear ratio can be useful for ultra-fast scanning cameras with rotating mirrors (which can have thousands of revolutions per second).

[0639] Two-stage transmission gears with an output external gear can also be used in cycloidal gears. In this case, the output pulley with the bearing pin is eliminated. Instead, at least one internal gear is configured as a combined internal gear with two different meshing teeth, wherein the internal meshing teeth of the rotatable external gear are arranged opposite to the second type of meshing teeth.

[0640] The following Figure 94-118 The description discloses meshing teeth of internal and external gears, which can be used to cooperate with the transmission devices of this specification, particularly with harmonic pin ring transmission devices.

[0641] Specifically, this specification discloses a harmonic pin-ring drive with an eccentric disc, also known as an "HPD-E drive". The HPD-E drive includes a first gear with a first meshing tooth, a second gear with a second meshing tooth, and a pin ring with a circular engagement area.

[0642] The pin ring can be formed from a flexible pin retainer having a cylindrical pin inserted therein. It can also be made as a single unit, wherein a single pin ring includes an annular portion from which a pin-like extension extends axially toward the side.

[0643] Specifically, when the third gear is provided as a support gear and when the pin or pin-shaped extension is non-rotatably connected to the annular portion or flexible pin buckle, the pin or pin-shaped extension on the side of the support gear can be configured as a circular engagement area on only one side.

[0644] For example, in a configuration with an external gear and an internal gear, a second external gear can be provided as a support gear co-centered with the first external gear, wherein the radius and meshing teeth of the second external gear match those of the first external gear and the meshing teeth of the second external gear are aligned with the meshing teeth of the first external gear, such that the teeth are one after another in the axial direction.

[0645] According to a further embodiment, the pin ring is integrally formed and has internal and external meshing teeth with rounded tips.

[0646] The circular engagement area of ​​the pin ring includes a circular cross-section and is generally formed by the pin of the pin ring, a pin-shaped extension of the pin ring, or a circular tooth of the pin ring. This circular cross-section preferably remains constant along the axial direction of the transmission device. Specifically, this circular cross-section can be in the form of a semi-circle or a full circle.

[0647] Furthermore, the HPD-E drive includes a rotary transmitter for pulling the engagement area of ​​the pin ring into the first meshing tooth of the first gear and the second meshing tooth of the second gear. In this configuration, the first gear, the transmitter, and the second gear are arranged concentrically with each other, and the transmitter is radially positioned within the pin ring.

[0648] A pin ring is arranged between the first gear and the second gear. This is typically the arrangement of internal and external gears when the first gear and the second gear are in the same axial plane. The arrangement between the first gear and the second gear should be understood as a circular contact area, with the pin or pin-like extension arranged at least partially in the radial direction between the first gear and the second gear.

[0649] When the first gear and the second gear are on different axial planes, the arrangement of two external gears is usually like this, where one external gear is driven and the other external gear is stationary connected to the housing. The arrangement between the first gear and the second gear should be understood as a pin ring or a part of a pin ring equivalent to a pin ring being arranged axially between the first gear and the second gear.

[0650] The transmitter includes a transmission disc or cam disc eccentrically arranged relative to the central axis of the transmission, wherein the disc may be specifically configured as a circular disc. Here, annular structures, such as rings attached to the transmitter's shaft by struts, are also considered discs. During operation, the transmitter deforms the pin rings, causing the external and internal gears to rotate relative to each other.

[0651] The first meshing tooth of the first gear and the second meshing tooth of the second gear are respectively formed according to a planetary structure, which will be explained in more detail below regarding internal or external gears based on the planetary structure.

[0652] According to the planetary structure, the positions of the first and second meshing teeth on their respective tooth surfaces are determined by the radial distance from the central axis of the transmission device, which is a function of the cycle angle.

[0653] The radial distance is, in turn, determined by the equidistant distance to the gear track, where the positions on the gear track are each determined by the vector sum of the cycle vector and the epicycle vector. In this case, the tail of the cycle vector is located on the central axis of the transmission, and the tail of the epicycle vector is located at the end of the cycle vector.

[0654] Furthermore, the epicycle angle of the epicycle vector is n times the cycle angle, and the length of the cycle vector is greater than the length of the epicycle vector, where n is the number of circular engagement areas of the harmonic pin ring drive, which is at least 3.

[0655] This outline shape can also be summarized by the following formula, where the plus sign represents the meshing teeth of the internal gear and the minus sign represents the meshing teeth of the external gear.

[0656]

[0657] According to the design of the pin ring, the circular engagement area specified above refers to the round tooth head of the pin, pin extension, or the meshing teeth of the pin ring.

[0658] According to one embodiment, the first gear is an internal gear with external meshing teeth, and the second gear is an external gear with internal meshing teeth. Therefore, the first meshing teeth are the external meshing teeth of the internal gear, and the second meshing teeth are the internal meshing teeth of the external gear. In this embodiment, the internal gear is radially positioned inside the external gear.

[0659] In the external meshing teeth of an internal gear, the turning circle angle is measured in the same direction as the circulating circle angle, and the equidistant distance is called the inner equidistant distance. Conversely, in the internal meshing teeth of an external gear, the turning circle angle is measured in the opposite direction to the circulating circle angle, and the equidistant distance is called the outer equidistant distance. This configuration of meshing teeth will be explained in more detail below regarding internal and external gears respectively.

[0660] According to a further exemplary embodiment of the HPD-E drive, the first gear and the second gear each have an external gear with internal meshing teeth. Therefore, the first meshing tooth is formed by the internal meshing teeth of the first external gear and the second meshing tooth is formed by the internal meshing teeth of the second external gear.

[0661] In the internal meshing teeth of two external gears, the rotation circle angle is measured in the opposite direction to the circulation circle angle, and the equidistant distance is the outer equidistant distance.

[0662] Specifically, the equidistant distance between the first or second meshing teeth can be the equidistant distance between the radius of the circular engagement area and the correction value, which depends on the backlash. For a cylindrical pin, the radius of the circular engagement area is equal to the pin radius. For an approximately cylindrical pin, its radius is equivalent to the radius of the pin's circular engagement area. The correction value is greater than or equal to zero, and in particular, it can also be equal to zero. If the correction value is greater than zero, the correction factor is equivalent to a small fraction of the radius of the circular engagement area, such as 5% or 10%.

[0663] According to one embodiment, the harmonic pin ring drive may include a rolling bearing resting on a conveyor disk, wherein the radius of the ring is equal to half the diameter of the rolling bearing. According to another embodiment, the circular engagement area of ​​the pin ring rests directly on the conveyor disk, and the radius of the ring is equal to half the diameter of the conveyor disk. In this case, the conveyor disk can be rotatably mounted on the inside.

[0664] Specifically, the radius of the circumference circle can be equal to half the eccentric offset of the conveyor disc relative to the central axis of the transmission device.

[0665] Different drive and output combinations are feasible for HPD-E drives. These options are available for both HPD-E and HPD-F drives. The drive shaft can be specifically configured as the rotor of an electric motor.

[0666] Specifically, the drive shaft can be connected to the transmitter. In this case, the output shaft can be connected to the first gear, the second gear, or the pin ring. When the output shaft is connected to the first or second gear, the other gears are generally fixed to the housing or connected to the transmission housing.

[0667] When the output torque is received from the pin, this can be achieved, for example, by including a can-shaped component with an opening for inserting the pin. This can-shaped or cylindrical component can, in turn, be mounted on the transmission housing for stabilization. In this case, typically either an external or internal gear moves with the pin ring, while another gear is fixed to the transmission housing. In this case, it is also possible to omit the wheel that moves only with the pin ring.

[0668] Furthermore, this specification discloses an internal gear for an "HPD-E transmission" having a single eccentricity and including a pin ring with a circular engagement area. The internal gear includes external meshing teeth, wherein the geometric positions on the tooth surfaces of the external meshing teeth are each determined by a radial distance from the central axis of the internal gear as a function of the circulation angle α (= symbol α).

[0669] The radial distance is, in turn, determined by the inner equidistant distance to the gear trajectory. The geometric positions on the gear trajectory are each determined by the vector sum of the circulating vector and the circumferential vector. In this case, the tail of the circulating vector lies on the central axis of the external gear, and the tail of the circumferential vector lies at the end of the circulating vector. Furthermore, the circulating vector and the circumferential vector, or multiple circumferential vectors, lie on a common plane perpendicular to the central axis.

[0670] The circulation circle angle and the rotation circle angle of the rotation circle vector are determined relative to a reference line that is perpendicular to and extends through the central axis of the internal gear. This also applies to the circulation circle angle and rotation circle angle mentioned below, which are determined relative to a reference line perpendicular to and extending through the central axis of their respective gears. In the mounted state of the gear, internal gear, or external gear, this central axis coincides with the central axis of the transmission.

[0671] The rotational circle angle of the rotational circle vector is n times the circulation circle angle, where the rotational circle angle is measured in the same direction as the circulation circle angle, and where n is the number of pins in the harmonic pin ring drive, which is greater than two. The number of teeth of the internal gear Z_internal is at least two and preferably one less than the number of pins. Therefore, based on the number of teeth of the internal gear, the rotational circle angle is (Z_internal + 1) times the circulation circle angle, and Z_internal is at least two.

[0672] The length of the loop vector is greater than the length of the circumferential circle vector. In particular, the length of the radius or sum vectors can be chosen such that the gear trajectory is non-retrograde, that is, without self-intersection.

[0673] The profile shape of the meshing teeth of an internal gear can also be summarized by the following formula:

[0674]

[0675] Furthermore, this specification discloses an external gear for a harmonic pin-ring drive with single eccentricity, wherein the pin preferably has a circular cross-section. The external gear includes internal meshing teeth, wherein the geometric positions of the tooth surfaces of the internal meshing teeth are each determined by a radial distance from the central axis of the external gear as a function of the circulation angle α.

[0676] The radial distance is, in turn, defined by the outer equidistant distance to the gear track. The terms “inner equidistant distance” and “outer equidistant distance” are understood to refer to the distance from the respective gear central axis.

[0677] The geometric positions on the gear trajectory are each determined by the vector sum of the cyclic vector and the circumferential vector, where the tail of the cyclic vector is located on the central axis of the external gear, and the tail of the circumferential vector is located at the end of the cyclic vector.

[0678] Furthermore, the rotation circle angle of the rotation circle vector is n times the circulation circle angle, and the rotation circle angle is measured in the opposite direction to the circulation circle angle, where n is the number of pins in the harmonic pin ring drive, which is greater than two. The number of teeth on the external gear, Z_outer, is preferably one more than the number of pins. Therefore, based on the number of teeth on the external gear, Z_outer, the rotation circle angle is (Z_outer – 1) times the circulation circle angle, and Z_outer is at least four.

[0679] The length of the loop vector is greater than the length of the circumferential circle vector. In particular, the vector lengths or the ratio of the vector lengths can be chosen such that the gear trajectory does not have self-intersection.

[0680] In a planetary structure, the length of the circulation vector determines the average distance between the meshing teeth and the central axis, i.e., the pitch circle, while the length of the rotational vector or multiple rotational vectors determines the tooth height.

[0681] Preferably, the tooth geometry, i.e., the radial distance from the gear's central axis, is independent of its axial position on the central axis. If a pin is provided, its cross-section is preferably independent of its position on the pin's longitudinal axis. The pin's cross-section is preferably circular, but it may not be circular. For example, the pin may include a pin ring whose circumferential diameter is slightly larger than that perpendicular to the circumferential direction. Therefore, the cross-section of the circular engagement region is preferably independent of its axial position.

[0682] The profile shape of the meshing teeth of an external gear can also be summarized by the following formula:

[0683]

[0684] On the other hand, this specification discloses an internal gear for a harmonic pin-ring drive with an elliptical transmitter or double eccentricity, wherein elliptical also refers to an elliptical design, such as having an elliptical shape. This drive is also known as an "HPD-F drive".

[0685] The internal gear includes external meshing teeth, the tooth surface of which is determined by the radial distance from the central axis of the external gear, which is a function of the circulation angle α. The radial distance from the central axis is, in turn, determined by the inner equidistant distance to the gear trajectory.

[0686] The geometric position on the gear trajectory is determined by the vector sum of the circulating loop vector, the first revolution circle vector, and the second revolution circle vector. The tail of the circulating loop vector is located on the central axis of the internal gear, the tail of the first revolution circle vector is located at the end of the circulating loop vector, and the tail of the second revolution circle vector is located at the end of the first revolution circle vector.

[0687] In a double-circle design, the first-circle vector is also called the first-order circle vector, and the second-circle vector is also called the second-order circle vector. Therefore, the relevant circles are respectively called first-order or second-order circles. Thus, in a design with only one circle, only the first-order circle exists.

[0688] Furthermore, the rotation angle of the first rotational circular vector is (n-1) times the rotation angle of the circulation loop, and the rotation angle of the second rotational circular vector is (n-3) times the rotation angle of the circulation loop. Here, n is the number of pins in the harmonic pin ring drive, which is greater than two, so at least three. The first rotational circular angle is measured in the same direction as the rotation angle, and the second rotational circular angle is measured in the opposite direction to the rotation angle. The internal gear includes at least two teeth and preferably includes two fewer teeth than the number of pins.

[0689] Therefore, based on the number of teeth Z_internal of the internal gear, the first rotation circle angle is (Z_internal+2-1) = (Z_internal+1) times the rotation circle angle, and the second rotation circle angle is (Z_internal+2-3) = (Z_internal-1) times the rotation circle angle, where Z_internal is at least two.

[0690] Here, the length of the loop vector is greater than the sum of the lengths of the first and second revolutions, and the length of the first revolution is greater than the length of the second revolution. Specifically, the ratio of the length or radius should be chosen such that the gear trajectory does not self-intersect.

[0691] Furthermore, this specification discloses an external gear for a harmonic pin ring drive or HPD-F drive with elliptical eccentricity or double eccentricity. The external gear includes internal meshing teeth, wherein the geometric positions of the tooth surfaces of the internal meshing teeth are each determined by a radial distance from the central axis of the external gear as a function of the circulation angle α.

[0692] The radial distance is conversely defined by the outer equidistant distance to the gear track, where the geometric position on the gear track is determined, in its respective case, by the vector sum of the loop vector, the first revolution circle vector, and the second revolution circle vector.

[0693] The tail of the circular vector is located on the central axis, the tail of the first circular vector is located at the end of the circular vector, and the tail of the second circular vector is located at the end of the first circular vector.

[0694] Furthermore, the rotation angle of the first rotating circular vector is (n+1) times the rotation angle of the loop, and the rotation angle of the second rotating circular vector is (n+3) times the rotation angle of the loop. Here, n is the number of pins in the harmonic pin ring drive, which is greater than three, meaning at least four.

[0695] Preferably, the number of teeth on the external gear, Z_outer, is two times greater than the number of pins. Therefore, based on the number of teeth on the external gear, Z_outer, the first rotational circle angle is (Z_outer - 2 + 1) = (Z_outer - 1) times the rotational circle angle, and the second rotational circle angle is (Z_outer - 2 + 3) = Z_outer + 1 times the rotational circle angle, where, in order to express this relationship with the smallest possible number, Z_outer is at least 2 + 2 + 2 = 6.

[0696] The first rotation angle is measured in the opposite direction to the circulation angle, and the second rotation angle is measured in the same direction as the circulation angle. Furthermore, the length of the circulation vector is greater than the sum of the lengths of the first and second rotation vectors, and the length of the first rotation vector is greater than the length of the second rotation vector. Preferably, the length ratio or radius ratio is chosen such that the gear trajectory does not self-intersect.

[0697] Furthermore, this specification discloses a harmonic pin ring drive having an internal gear and an external gear, the internal gear having external meshing teeth previously described for HPD-F drives, and the external gear having internal meshing teeth previously described for HPD-F drives.

[0698] Furthermore, the transmission device includes a pin ring with a circular engagement region. Specifically, the circular engagement region may be formed by a pin or a pin-shaped extension, which preferably includes a circular cross-section. A rotary transmitter is provided for pulling the circular engagement region of the pin ring into the internal meshing teeth of an external gear and the external meshing teeth of an internal gear. The internal gear, the transmitter, and the external gear are arranged concentrically with each other, and the transmitter is radially arranged within the pin ring.

[0699] The pin ring, either a circular engagement area or a pin-like extension of the pin ring, is radially arranged between the internal and external gears. The transmitter includes an elliptical cam disk or a double eccentric mechanism. During operation, the cam disk or double eccentric mechanism deforms the pin ring, causing the external and internal gears to rotate relative to each other.

[0700] In a configuration with a pair of internal and external gears, the internal and external gears are arranged in a first axial plane. A portion of the pin ring, corresponding to the retaining ring and contacting the transmitter, is arranged in a second axial plane. Conveniently, a further external gear is provided in a third axial plane to support the pin ring, wherein the second external gear has substantially the same dimensions and tooth shape as the first external gear, and wherein the meshing teeth are aligned with the meshing teeth of the first external gear. The second axial plane lies between the first and third axial planes. These designs are suitable for HPD-E and HPD-F drives.

[0701] In another embodiment, this specification discloses a harmonic pin ring drive having a first external gear with internal meshing teeth according to the previously described internal meshing teeth for HPD-F and a second external gear with internal meshing teeth according to the previously described internal meshing teeth for HPD-F.

[0702] In addition, the harmonic pin ring transmission device includes a pin ring and a rotary transmitter. The pin ring has a circular engagement area, and the rotary transmitter is used to pull the circular engagement area of ​​the pin ring into the internal meshing teeth of the first external gear and the internal meshing teeth of the second external gear.

[0703] In this transmission device, the transmitter, the first external gear, and the second external gear are arranged concentrically with each other, and the transmitter is radially arranged within the pin ring. Apart from the pair of internal and external gears described above, the first internal gear and the second external gear are located in different axial planes, and the pin ring, or the middle portion of a pin ring equivalent to a snap ring, is axially arranged between the first and second external gears.

[0704] Like the HPD-E drivetrain, the HPD-F drivetrain also offers a variety of options for connecting the drive shaft and the output shaft.

[0705] Among other things, the drive shaft can be connected to the transmitter. In this case, the output shaft can be connected to the pin ring. Furthermore, in a configuration with a pair of internal and external gears, the output shaft can be connected to either the internal or external gear.

[0706] Similar to the HPD-E drive described above, the previously described HPD-F drive connecting the drive shaft and the output shaft also has various possibilities, where the drive shaft can be specifically configured as the rotor of an electric motor.

[0707] In a configuration with two external gears, one of the external gears can be driven while the other is fixed to the housing. For this purpose, the output shaft can be connected to the output outer gear. In this configuration, it is not necessary for the internal gear to be radially opposite the external gear. Each non-driving gear is conveniently connected to or fixed to the housing.

[0708] In a configuration with two external gears, the second external gear receives rotational motion from the pin ring. In this case, the number of teeth on the second external gear corresponds to the number of circular engagement areas on the pin ring to ensure better engagement. In this situation, the pin ring is slightly twisted because the number of teeth on the first external gear is greater than the number of pins or the number of circular engagement areas on the pin ring.

[0709] In devices with two external gears and devices with a pair of internal and external gears and further external gears, it is advantageous to use a pin ring including a central region, wherein the pin, pin-like extension, or circular engagement area extends axially on two opposite sides. In particular, if the pin ring is made of a single piece, then, however, the circular engagement area can also extend continuously from one side to the other.

[0710] The equidistant distances of the planetary structures can be the sum of the radii of the circular engagement regions and the correction value, which is determined by the tooth gap. In this case, the circular engagement regions can be specifically formed by pins or pin-shaped extensions.

[0711] According to one embodiment, the transmitter of the previously described harmonic pin-ring drive includes an elliptical cam disk and a flexible rolling bearing, wherein the elliptical shape particularly includes an elliptical pattern. For example, the elliptical pattern shape is a circular shape obtained by the Taylor expansion of the elliptic equation, consisting of a superposition of sines.

[0712] The flexible rolling bearing rests on an elliptical cam disk. The radius of the circulating ring of each planetary structure with toothed shape is equal to half the diameter of the flexible rolling bearing plus a correction factor. The diameter of the flexible rolling bearing is equivalent to the reference circle diameter of the pin ring or the pin assembly formed by the pin ring in its undeformed state.

[0713] According to a further embodiment, the harmonic pin-ring drive includes a first disk eccentrically arranged relative to the central axis of the drive and a second disk eccentrically arranged relative to the central axis of the drive. In this drive, the radius of the loop is equal to the sum of the average radius of the envelopes of the two eccentrically arranged disks and a correction factor. The envelope is a curve formed by the inner circumference of the traction mechanism (such as a pin-ring) when it is clamped onto the disk.

[0714] According to another embodiment, the radius of the first revolution circle is less than or equal to half the pin ring travel and the sum of a second correction factor, which is less than or equal to zero. The pin travel is determined by the difference between the maximum and minimum radii of the flexible rolling bearing in its deformed state. Specifically, the radius of the first revolution circle may be greater than 1 / 4 of the pin ring travel, and specifically equal to 3 / 8 of the pin ring travel.

[0715] The pin ring stroke is the travel distance of the circular engagement area of ​​the pin ring, that is, the distance the circular engagement area moves radially when the pin ring is deformed by the conveyor.

[0716] According to a further implementation scheme, the length of the second rotational circular vector is approximately one-third of the length of the first rotational circular vector, where "approximately" may specifically refer to an increase or decrease of 10% or 5%.

[0717] The tolerances of the transmission devices in this specification are equivalent to the usual technical tolerances for length and angle dimensions (such as DIN 7168T1 or T2) or the toothing accuracy between pins and teeth (such as DIN 3961 or DIN 3976).

[0718] The tolerance values ​​calculated according to predetermined standards can be used specifically to determine whether a given meshing tooth matches a meshing tooth within the tolerance specified in this specification. For this purpose, standardized photographic views of the gear profile can be used, or a gear measuring machine, such as a flank testing device that mechanically or optically scans the gear surface, can be used.

[0719] Tolerances can be specifically related to tooth thickness or center distance. The corresponding fit system is also called a "unit center distance" or "unit tooth thickness" fit system. For example, if the distance from the tooth surface does not exceed 5% or 1% of the predetermined tooth thickness, then the measured tooth profile can be considered to be consistent with the predetermined tooth profile according to this specification.

[0720] Distances can be measured, for example, perpendicular to the tooth surface or in a direction like the central axis of a gear. Tolerance compliance also applies to statistical significance, for example, a probability of 90% if a standard probability distribution (such as a Gaussian curve) is used. Model independence can also be considered, since only a predetermined percentage (e.g., 90%) of the measurement points needs to be within tolerance limits. Therefore, to approximate the tooth profile, it is assumed that a sufficient number of measurement points are evenly distributed on the tooth surface.

[0721] Please refer to the following: Figure 94-118 A more detailed explanation of the meshing teeth.

[0722] Figure 94 and Figure 95 Two types of harmonic pin-ring drives are illustrated through examples, wherein the corresponding tooth geometry is disclosed in this specification.

[0723] Figure 94A harmonic pin ring drive (HPRD-F) 510 with a cam disk and deformable bearings resting on the cam disk is shown. The HPRD 510 includes a rotor 513 supported on a drive housing by ball bearings (not shown). An outer ring or external gear 508, co-centered outside the rotor 513, includes internal meshing teeth or external meshing teeth 506 formed on a first side surface, meshing with a first external gear.

[0724] The outer ring 508 is attached to the cylindrical housing component 509. If the outer ring is driven, the housing component is rotatably mounted on the transmission housing. A second external gear meshing tooth or external meshing tooth 506', which is formed as an internal meshing tooth, is formed on the second outer ring 508', which is inserted into the cylindrical housing component 509 on the side opposite to the first side.

[0725] The first internal gear meshing tooth or internal meshing tooth 505, which is formed as an external meshing tooth, is formed on the periphery of the inner ring or internal gear 507 and is arranged concentrically within the first external meshing tooth 506. Similarly, the second internal gear meshing tooth or internal meshing tooth 505', which is formed as an external meshing tooth, is formed on the periphery of the second inner ring 507' and is arranged concentrically within the second external meshing tooth 506'.

[0726] The internal meshing teeth 505, 505' and the external meshing teeth 506, 506' are arranged cocentrically relative to the central axis of the transmission, wherein the internal meshing teeth 505, 505' are rotatable about the central axis of the transmission. In other embodiments, the external meshing teeth 506, 506' or both external and internal meshing teeth may be rotatable about the central axis of the transmission, or the internal meshing teeth may be attached to the transmission housing, depending on which meshing teeth are used for output or drive.

[0727] Flexible thin-plate ball bearings 502 are mounted on a flange 504 of a specific shape on the rotor shaft 513. The flange 504 forms a conveyor and can be formed, for example, elliptical, elliptical-shaped, or sinusoidally superimposed circular shape. Instead of the flange 504 formed on the rotor shaft 513, a disc or ring of a corresponding shape can be provided.

[0728] exist Figure 94 In some transmission types, instead of a cam disc and a flexible bearing applied to it, the transmitter can also have a so-called double eccentricity, consisting of two discs eccentrically arranged relative to the central axis of the transmission. The discs can be rotatably mounted about their respective axes of symmetry, with pin rings mounted on them. Alternatively, the discs can be attached to a rotary transmitter, and flexible rolling bearings can be mounted on them, with pin rings resting on roller bearings.

[0729] A flexible pin retainer 503 is positioned between the flexible sheet ball bearing 502 and the external meshing teeth 506, 506'. On its inner side, the flexible pin retainer 503 includes slots for receiving pins 501, the slots being arranged at regular intervals on the pin retainer 503. The pin is cylindrical and has a circular cross-section.

[0730] The retaining ring 503 is made flexible so that it can deform according to the angular position of the flange 504. Due to its rigidity, the pin ring formed by the retaining ring 503 and the pin 501 acts as both a traction tool for driving the output drive component and a pressure tool for pushing the output drive component.

[0731] Figure 94 The diagram shows a three-row arrangement, in which the first pair of internal and external gears 507 and 508 are located in the first axial plane, the second pair of internal and external gears 507 and 508' are located in the second axial plane, and the transmitter is located in the third axial plane, which is located between the first and second axial planes.

[0732] Similarly, a two-and-a-half-row arrangement with a pair of internal and external gears and another external gear is feasible. This is advantageous, especially in the case of the driven internal gear, because the output of the second internal gear is usually not directed outwards. In this case, in a three-row arrangement, the second internal gear only operates to support the pin.

[0733] For stability reasons, it is highly advantageous if the pin ring is supported both inward and outward. However, for HPD-F and HPD-E transmissions, an arrangement with only two external gears or only two internal gears (two external gears or two internal gears arranged cocentrically with the transmission's central axis) is also feasible, with one gear fixed to the transmission housing and the other rotatable. In these arrangements, the pin ring is axially positioned between the two internal gears or between the two external gears, and the pin engages with the respective internal or external gear.

[0734] Figure 95 An exploded view of the harmonic pin ring drive 510' with a single eccentric disc, also simply referred to as the "HPD-E" drive, is shown. Figure 94 Components similar to those have the same reference numerals or reference numerals with an apostrophe "'". Figure 95 The HPD-E ring drive 510' has a particularly simple design, in which the internal gear has only 2 teeth and the external gear has 4 teeth. Generally, in this type of drive, the external gear always has two more teeth than the internal gear.

[0735] exist Figure 95In the transmission mechanism, a two-tooth internal gear 505 is placed cocentrically within a first four-tooth external gear 506' and is cocentrically aligned with the central shaft 515 of the transmission mechanism in a first axial plane. A second external gear 506, substantially identical to the first external gear 506', is arranged cocentrically with the central shaft 515 of the transmission mechanism in a second axial plane. In a third axial plane located between the first and second axial planes, a disc 514 and a pin retainer 503 are arranged eccentrically on the central shaft of the transmission mechanism. The eccentrically arranged disc 514 is positioned on a shaft that may be, for example, the rotor shaft of a motor (not shown here).

[0736] The retaining ring 503 includes three semi-circular grooves 516, which are distributed at regular intervals on the inner circumference of the retaining ring 503. Three pins 501 are placed in the semi-circular grooves 516 such that they extend axially from the retaining ring 503 on two opposite sides and enter the first and second axial planes to engage the external gear meshing teeth 506, 506' and the internal gear meshing teeth.

[0737] In a harmonic pin drive with single eccentricity, the external gear has two more teeth than the internal gear, and the number of pins is the arithmetic mean of the number of teeth. In the simplest case, this results in a drive with 2 internal gear teeth, 3, and 4 external gear teeth, such as... Figure 95 As shown. In principle, the difference in the number of teeth can also be a multiple of 2, but the smaller the difference in the number of teeth, the greater the deceleration and the better the torque support.

[0738] A harmonic pin drive with a single eccentricity, where the pin ring is pressed only at one tooth position on the meshing teeth of the external gear, is also known as an "HPD-E drive". In its extended form, this term also refers to a harmonic pin drive with multiple external gears, where each external gear has only one such tooth position available. Specifically, this is the case when providing a common eccentricity for two or more external gears, as in... Figure 2 The implementation plan.

[0739] Figures 3 to 6 The planetary structure used to generate the tooth geometry according to this specification is shown, wherein Figure 96 This refers to the internal gear meshing teeth of the HPD-E drive system. Figure 97 This refers to the external gear meshing teeth of the HPD-E drive unit. Figure 98 This refers to the internal gear meshing teeth of the HPD-F drive unit, and Figure 99 This refers to the external gear meshing teeth of the HPD-F drivetrain. These planetary structures will be explained in more detail below.

[0740] exist Figures 96 to 99In the diagram, the cross-section of the pin is represented by circle 520, and the position vector of the gear trajectory is represented by reference numeral 521. The circular pin cross-section has its center, which is the position vector 521. When the circular loop vector and the circumferential circle vector, or the ring vector and two circumferential circle vectors, are combined according to... Figures 95 to 99 When the angle α indicated by the angle rotates, the pin section 520 specifies two envelopes that define the inner and outer equidistant points of the gear trajectory and determine the respective meshing teeth of the internal and external gears of the transmission. In the angle indication, "n" represents the number of pins.

[0741] According to this specification, the gear trajectory is generated by the planetary structure, and the gear geometry of the HPD-E transmission is obtained from this gear trajectory, which is either the envelope of the circular pin or the equidistant structure.

[0742] The gear trajectory of the internal gear meshing teeth in the HPD-E transmission is caused by the fact that the radius of the revolving circle rotates 360 degrees around the transmission shaft, and the radius of the revolving circle rotates 360 degrees in the same direction relative to the reference system of the transmission shaft, where n is the number of pins. On the other hand, the radius of the revolving circle rotates (n-1)*360 degrees relative to the line connecting the origin to the center of the revolving circle, where n-1 is the number of teeth of the internal gear. The n-1 revolutions of the revolving circle radius result in n-1 maximum and n-1 minimum values ​​of the total radius, which corresponds to the teeth and grooves or the middle tooth root surface.

[0743] Here, the radius r_1 of the revolute is equal to the bearing radius plus the pin radius, with the pin resting on the bearing. This radius is also called the "first-order radius". The radius r_2 of the revolute is equal to half the pin radius. The end of the revolute describes the pin trajectory. The inner roll curve is the result of an equidistant distance to the pin trajectory, which is the distance produced by the sum of the pin radius and the bearing clearance. This inner roll curve is equal to the tooth geometry of the meshing teeth of the internal gear.

[0744] The tooth shape of the external gear meshing in the HPD-E transmission is caused by a similar structure, whereby the radius of the circulating circle rotates 360 degrees around the transmission shaft, while the radius of the revolution circle rotates n*360 degrees in the opposite direction. On the other hand, relative to the line connecting the origin to the center of the revolution circle, the radius of the revolution circle rotates (n+1)*360 degrees, where n+1 is the number of teeth on the internal gear. The n+1 revolutions of the revolution circle radius result in n+1 maximum and n+1 minimum values ​​for the total radius, corresponding to the tooth root surface between the teeth and grooves.

[0745] The gear trajectory of the HPD-E drive system, as expressed in the formula, is described by the following equation:

[0746]

[0747]

[0748] The plus sign refers to the meshing teeth of the internal gear, and the minus sign refers to the meshing teeth of the external gear.

[0749]

[0750] This is parameter α representing the gear trajectory. Since the normal to the trajectory is perpendicular to the tangent, the equidistant distance d can be obtained by the parameters of the following equations (2a) and (2b):

[0751]

[0752] When the angle travels counterclockwise, the superscript applies to the gear trajectory of external meshing teeth, and the subscript applies to the gear trajectory of internal meshing teeth. Here, the symbols x' or y' represent the respective derivatives of the angles.

[0753] In the specific case of the HPD-E drivetrain, this results in:

[0754]

[0755]

[0756] The following boundary conditions apply to HPD-E drive systems:

[0757] n*d Pin <h(D1;r1)

[0758] 0 < d Pin <r1,

[0759] Where h(D1,r1) is the circumference of the pin ring.

[0760] For example, for the HPD-E drive system, the following values ​​in Table 1 can be given specifically.

[0761] variable quantity unit Meaning / Purpose n 58 1 Number of sales tkpin 103 mm Reference circle diameter of the pin device dpin 3 mm pin diameter Exver 0.75 mm Eccentricity deviation of pin device Bzinner 3 mm internal width of the gear Bzouter 3 mm outer width of the gear Lpin 3 mm Length of pin Gsi 0.0 mm Additional internal backlash between the pin and the gear. Gsa 0.0 mm Additional external backlash between pin and gear

[0762] Based on the first four values ​​n, tkpin, dpin, and Exver, the following derived values ​​in Table 2 result in:

[0763] variable quantity unit Mode Meaning / Purpose r1i 51.5 mm tkpin / 2 radius of the loop r1a 51.5 mm tkpin / 2 radius of the loop r3 0.75 mm Exver radius of the circumference tpin 5.579 mm tkpin*π / n Pin pitch (tangent) Z_inner 148 1 n–1 Number of internal teeth Z_outer 152 1 n+1 Number of external teeth i1 37 1 Z_inner / 2 Transmission device with fixed external gear i2 38 1 Z_outer / 2 Transmission device with fixed internal gear

[0764] Similar to the HPD drive with an eccentric disc described above, the tooth geometry for an HPD drive with an elliptical cam disc and deformable bearings can be obtained using a planetary configuration, but by utilizing first- and second-order circumferential circles. For simplicity, such a drive is also referred to as an "HPD-F" drive.

[0765] For the internal meshing teeth of the HPD-F transmission, the gear trajectory is the result of the superposition of a circular loop with radius r_1, a first-order circular loop with radius r_2, and a second-order circular loop with radius r_3. Here, the first-order circular loop has a rotational speed (n-1) times that of the circular loop in the same direction as the circular loop, and the second-order circular loop has a rotational speed (n-3) times that of the circular loop in the opposite direction.

[0766]

[0767]

[0768]

[0769] As a superposition of these three motions, the gear trajectory of the internal meshing teeth in the HPD-F drive results in:

[0770]

[0771] therefore

[0772]

[0773] In the simplest case with 2 internal teeth, 4 pins, and 6 external teeth, the gear trajectory of the internal meshing teeth results in:

[0774]

[0775] For the values ​​of r_1, r_2, and r_3, the following values ​​can be used specifically: r_1 can be equivalent to half the diameter or half the diameter of the reference circle of the undeformed pin device, r_2 can be equivalent to three-eighths of the pin travel, and r_3 is equivalent to one-third of the radius r_2. The pin travel is again given by the difference between the maximum and minimum radii of the cam disc.

[0776] According to other implementations, a correction term determined by parameters a and b is inserted. Based on this correction, radius r_1 is replaced by effective radius r_1 + (a + b) / 2, and radius r_2 is replaced by effective radius r_2 - (ba) / 2. Considering this correction results in:

[0777]

[0778] Where r 1，eff =r1+(a+b) / 2 and r 2，eff =r2-(ba) / 2.

[0779] Similar to the HPD-E drive mentioned above, the tooth geometry is the result of an equidistant distance from the gear trajectory, which is the distance of the pin radius. Taking backlash into account, a positive correction factor can be added to it.

[0780] Therefore, the external meshing teeth are the result of the superposition of a circular loop of radius r_1, a first-order circular loop of radius r_2, and a second-order circular loop of radius r_3. Here, in the direction opposite to the circular loop, the first-order circular loop has a rotational speed that is (n+1) times that of the circular loop, and in the same direction as the circular loop, the second-order circular loop has a rotational speed that is (n+3) times that of the circular loop.

[0781] Therefore, the following formula is the result of the gear trajectory of the external meshing teeth in the HPD-F drive:

[0782]

[0783] Therefore, the above correction terms also apply to the gear trajectory of external meshing teeth, so the following formula leads to:

[0784]

[0785] The following conditions apply to the ratio of the radius of the circumference circle to the pin radius, and the ratio of the circumference circle trajectory of a first-order circumference circle to the pin radius:

[0786] 0 < r Pin <2*r2

[0787] n*d Pin <f(r1;r2;α;β)

[0788] Therefore, r_2 is always greater than half the pin radius and f is always greater than n times the pin diameter, which is the lower limit of the pin ring circumference.

[0789] For example, the following values ​​in Table 3 can be given specifically for the HPD-F drive unit.

[0790]

[0791]

[0792] Based on the first five values ​​n, tkPnom, dpin, Hub, and aedFl in the table above, the following derived values ​​in Table 4 are the results for the HPD-F drive unit.

[0793] variable quantity unit Mode Meaning / Purpose daLnom 110.1 mm tkPnom-dPin Flexible bearing with outer diameter (reference, undeformed) diLnom 85.1 mm daLnom–2aedfl Inner diameter flexible bearing (reference, undeformed) KSA 86.39 mm diLnom+Stroke Cam disc, long shaft "A" KSa 83.81 mm diLnom-Stroke Cam disc, short shaft "a" r1 55.75 mm tkPnom / 2 Loop radius r2 0.484 mm Hub*3 / 8 radius of a first-order circumference r3 0.161 mm r2 / 3 radius of a second-order circumference tpin 2.335 mm tkPnom*π / n Pin pitch (tangent) Zinner 148 1 n-2 Number of internal teeth Zouter 152 1 n+2 Number of external teeth i1 37 1 Zinner / 4 Transmission device with fixed external gear i2 38 1 Zouter / 4 Transmission device with fixed internal gear

[0794] The trajectory formed by the pin center of the HPD-F drive unit originates from a circle formed by superimposed sine waves, which is composed of the following two vectors.

[0795]

[0796]

[0797] The trajectory of the pin center point is obtained by adding two vectors:

[0798]

[0799] For the HPD-E drivetrain, the trajectory of the pin center point is a circle with radius r1, which is offset from the drive transmitter's central shaft 515 by half the pin travel or by an eccentric offset. The individual pin center point trajectories are rotated by the drive transmitter at the speed of the input shaft around the drivetrain's central shaft 515. This also results in the trajectory of a single pin, which rotates around this rotational trajectory with the angular velocity of the output drive section.

[0800] Figure 7 –10 shows the generation of the gear trajectory of the internal gear meshing teeth in an HPD-E drive with 2 internal gear teeth and 4 external gear teeth, and the equidistant distance to that gear trajectory. Similarly, Figure 11-14 The diagram shows the generation of the gear trajectory of the external gear meshing teeth in the HPD-E drive and the equidistant distance to that gear trajectory.

[0801] The tooth surfaces of the internal gear meshing teeth are generated by an equal distance 519 to the gear trajectory 518, which is half the pin radius. Figure 100-103 In this context, the cross-section of the pin is represented by circle 520. Here, equidistant means equidistant from the inner axis 515 of the transmission device.

[0802] The position 21 on gear trajectory 518 is given, and so on. Figure 96 What is shown is the sum or superposition of the loop vector and the circumferential circle vector.

[0803] The tooth surface of the external meshing teeth is generated by an equal distance 519 to the gear trajectory 518, which is half the pin radius. Figures 104-107 In this context, the cross-section of the pin is represented by circle 520. Here, equidistant means further away from the outer equidistant of the transmission device's central shaft 515.

[0804] Figure 108 The following parameters from Table 5 are shown, illustrating the tooth geometry of the internal and external gears in a three-pin HPD-E drive.

[0805] variable quantity mean dbearing 50mm The diameter of the bearing dpin 20mm pin diameter Exver 5mm Eccentric offset Stroke 10mm Sales trip (=Exver x 2) Tkpin 70mm Pin pitch circle

[0806] The radius of the loop is set to 0.5*(dbearing+dpin)=35mm and the radius of the circumference circle is set to be equal to the eccentric offset Exver 5mm.

[0807] Figure 16-18 Showing Figure 95 The exploded view shows various views of the HPD-E drive unit 510' with 3 pins.

[0808] Figure 109 A top view of the HPD-E drive unit 510' is shown from the eccentric 514 side.

[0809] Figure 107 Showing along Figure 16 The section line AA shown is a cross-sectional view of the HPD-E drive unit 510'.

[0810] Figure 111 A top view of the HPD-E transmission 510' is shown from the side of the internal gear 507.

[0811] Figure 112 Another tooth geometry is shown, which is a result of the HPE-E transmission with 58 pins having the parameters given above. Here, the meshing teeth of the internal gear are generated by the equidistant distance 529 from the gear trajectory 528′ to the internal gear and by the equidistant distance 529′ from the gear trajectory 528′ to the external gear.

[0812] Figure 113 Another tooth geometry is shown, which is a result of an HPD-F drive with 150 pins having the parameters given above. Here, for clarity, the relevant gear tracks are not shown; only the equidistant 529, 529's defining the tooth geometry are shown.

[0813] To illustrate, two of the 58 pins are pin 1. Figure 112 As shown, three out of a total of 150 pins are pin 1. Figure 113 The center points of pins 1 are shown in the diagram. The center points of each pin are located near the intersection of the gear trajectory 528 of the internal gear and the gear trajectory 528' of the external gear, as can be seen in the diagram. Figure 112 What I saw in the video.

[0814] Figure 114 Showing Figure 113 The gear trajectory 528 and the related equidistant distance 529 of the internal gear of the transmission device.

[0815] Figure 115 The diagram shows the zero profile 525 of the meshing teeth manufactured according to an uncorrected planetary structure, the worn meshing teeth 527 after 147 hours of operation, and the corrected meshing teeth 526, where the effects of shrinkage have been taken into account. During the operation of the transmission, torque is transmitted in only one direction, thus wear primarily occurs on the right-hand tooth surface. For better illustration, Figure 115 Includes additional auxiliary lines, such as the root circle or the axis of symmetry of the zero profile 525.

[0816] This specification can take into account, for example, the correction factors a and b given above for HPD-F drivetrains. This correction is particularly important for the meshing teeth of HPD-F drivetrains because it results in a sharper tooth profile, a change in tooth profile that is more due to rounding wear during operation than the rounded tooth profile of HPD-E drivetrains.

[0817] Unilateral stress on the tooth surface, such as in Figure 22 In embodiments, this is typically given in vehicle drives. If unilateral stress exists, applying asymmetric correction may be useful. In planetary structures, this can be considered as the radius of a revolution circle or revolution circles (multiple) varying with angle, wherein the radius of the revolution circle is chosen such that a smaller radius is obtained for the internal gear meshing teeth and a larger radius is obtained for the external gear meshing teeth when the starting angle is reached, wherein the starting angle is located in front of the tooth center in the selected rotational direction.

[0818] This radius then continuously approaches the radius of the zero profile 525 until it reaches an endpoint angle, which can be specifically given by the angular position at the bottom of the tooth. For example, the difference between the radii of the rotation circles of the zero curve and the correction curve can be reduced to zero, based on a linear function, polynomial, Gaussian curve, exponential function, or angular function.

[0819] In a two-and-a-half-row transmission device with two external gears and only one internal gear, such as Figure 95 As shown, a larger force is delivered to the internal gear, rather than the external gear. Consequently, more wear occurs on the internal gear. For this reason, it may be useful to provide correction only to the meshing teeth of the internal gear. Furthermore, it may be useful to manufacture the internal gear from a harder material, rather than both external gears; for example, the internal gear could be made of steel, and the external gears or multiple external gears could be made of plastic. Suitable materials include, for example, chromium-molybdenum steel and polyamide. Figure 116 It shows that it has the following characteristics: Figure 98 and Figure 99 Details of the HPD-F transmission with its planetary meshing teeth and integrally formed pin ring 530 are shown. (Compared to...) Figure 113 In a different implementation, the traction mechanism is not formed by a cylindrical pin 501 inserted into an elastic pin retainer 503, but by an integrally formed pin ring 530. The integrally formed pin ring 530 includes internal meshing teeth and external meshing teeth, wherein the tooth tips are circular in the force transmission area.

[0820] The integrally formed pin ring 530, rather than pin 501, includes internal meshing teeth and external meshing teeth, wherein each of the internal meshing teeth and external meshing teeth includes a small circular outer region or tooth 531 and a small circular inner region or tooth bottom 532, which are connected to each other through a transition region.

[0821] The tooth base 532 of the external meshing tooth of the pin ring 530 is opposite to the tooth 531 of the internal meshing tooth in every case, and the tooth 531 of the internal meshing tooth is opposite to the tooth base 532 of the external meshing tooth in every case. The number of teeth 531 of the external and internal meshing teeth is equivalent to... Figure 113 The number of pins in the implementation scheme. Therefore, the meshing teeth of the pin ring 530 each include two more teeth than the internal gear and two fewer teeth than the external gear.

[0822] The integral pin ring 530 is made of an elastic material, such as rubber, plastic, metal, or a composite elastic material. In particular, it can be milled from a ring element. The pin ring 530 can also be used in HPD-E transmissions, where the number of teeth is one more than that of an internal gear and one less than that of an external gear.

[0823] Figure 117 The tolerance range 535 defined by the inner and outer envelope curves 533 of the predetermined tooth profile 536 is shown. According to the first measurement method, the tooth profile 537 to be measured is considered to be consistent with the predetermined tooth profile 536 if it is located within the envelopes 536 and 537, and the distance of the envelopes 536 and 537 from the predetermined tooth profile 536 is Δ(δ).

[0824] For example, the distance Δ can be a fraction of the tooth width s, a fraction of the tooth pitch p, a fraction of the distance r from the central axis of the gear, or it can be absolutely predetermined. For example, in this case, the tooth width s can be measured at the midpoint between the tooth root and the tooth tip, or at the level of the inflection point of the profile curve 536. Depending on the size of the meshing teeth, the numerical value Δ can be, for example, 0.5 mm, 0.2 mm, or 0.08 mm, or it can be, for example, 5%, 1%, 0.5%, or 0.2% of the tooth width s.

[0825] According to a further comparison method, the comparison value is determined by the average of the distances to predetermined measurement points of a given profile, for example, as an arithmetic mean or quadratic mean. For example, based on the size of the meshing teeth, comparison values ​​of <= 0.5 mm, <= 0.2 mm, or <= 0.08 mm can be considered a good match with the predetermined profile 536. Distances can be measured, especially perpendicular to the predetermined profile curve 536. Further comparison methods can be adopted from the industry standards given above.

[0826] In particular, the predetermined tooth profile 536 can be a tooth profile given in this specification, which is predefined by, for example, equations (1), (3), or (5) given above. Equations (1), (3), and (5) describe a series of profile curves by which a profile curve is selected, wherein, under given boundary conditions, the comparison value between the meshing tooth to be measured and the selected profile curve is minimized. For example, the boundary conditions determined by the meshing tooth to be measured can already specify the sum of radii and the number n in the parameters of the trigonometric functions.

[0827] In this method, further deviations of the meshing teeth, such as flank line deviations, pitch deviations, and runout, are not considered compared to the predetermined meshing teeth. In particular, this can be achieved by comparing only individual teeth in a given side view or by including such deviations in the measurement deviations.

[0828] Figure 118 The tolerance range 535' of the tooth profile defined by profile displacement is shown. The outer curve 536' is provided by profile 536 shifted radially outward by a distance Δ, and the inner curve 535' is provided by profile 536 shifted radially inward by a distance Δ.

[0829] As Figure 117 For example, if the tooth profile to be measured is within the tolerance range defined by the outer curve 536' and the inner curve 535' at all measurement points or statistically, for example, 95% of all measurement points are within the range of the given profile, then the tooth profile to be measured can be considered to be consistent with the given profile.

[0830] According to the bearing concept in this specification (particularly relating to the rotor shaft bearing, the output element, and the output shaft connected to the output element), three bearings are provided, according to which the aforementioned components are mounted within a housing. In particular, the output element and the output shaft are configured such that they are supported by two obliquely opposed bearings that are axially inward relative to the rotor shaft and outward relative to the housing.

[0831] Furthermore, if there is a pedal shaft supported by two additional bearings on the rotor shaft, the three-bearing arrangement is expanded to a five-bearing arrangement. In this case, the hollow output shaft connected to the output element forms an outer hollow output shaft, which is connected to the other hollow output shaft via an outer flywheel. Additionally, the pedal shaft is connected to the hollow output shaft via an inner flywheel, where the acceleration transmission (e.g., via...) Figures 67 to 76 The planetary gears shown can be switched between the pedal shaft and the output shaft.

[0832] Preferably, the internal gear and the output shaft can be integrally formed by two interconnected central shafts, wherein the hollow output shaft has a diameter smaller than that of the internal gear. The inner bearing can then be placed on the inner shoulder of the hollow output shaft, and a counter-rotating outer bearing can be placed on the outer shoulder of the hollow output shaft, wherein the outer shoulder is located in the connection area between the internal gear and the hollow output shaft.

[0833] In this specification, ball bearings are also commonly used as rolling bearings. Roller bearings are particularly suitable for use as supporting bearings. For bearings of reduction gears arranged on cam discs or eccentric discs, ball bearings with balls are preferred, but roller bearings can also be used.

[0834] Figure 119 A schematic diagram of the first driver is shown.

[0835] In this type of drive, the driving torque is transmitted from the motor to the reduction gear, and from there to the output shaft, wherein the reduction gear is of the type of transmission described in this specification, as illustrated. Figures 121-124 As shown.

[0836] In particular, the motor can be an electric motor, such as a three-phase external rotor motor. All reduction gears mentioned in this specification can also be installed in motor gear sets without a crankshaft, such as... Figure 119 As shown, for example, in a geared motor. In this case, the components that were arranged on the pedal shaft are removed. For example, this design is suitable for a robotic arm.

[0837] Figure 120 A schematic diagram of another drive is shown.

[0838] In this type of drive, the driving torque is transmitted from the motor to the reduction gear, and from there to the outer flywheel of the double flywheel and then to the output shaft.

[0839] Another driving torque is transmitted from the pedal shaft to the inner flywheel of the dual flywheels and then to the output shaft. An alternative crankshaft may also be provided, or a drive shaft may be provided instead of the pedal shaft. Typically, the inner drive shaft may also be driven by another motor or another mechanical drive (such as wind or water power).

[0840] Figure 121 A schematic diagram of a flexspline or tension adjusting shaft drive according to this specification is shown. In the flexspline drive, motor torque is transmitted to the transmitter and from there to the flexspline. The flexspline is rotatably mounted on the transmitter, for example, via deformable ball bearings.

[0841] The flexible gear is supported by a stationary external gear fixed to the housing. This support is indicated by a double arrow. The external gear and housing thus absorb the reaction force of the output element.

[0842] Figure 122 A schematic diagram of a harmonic pin ring drive according to this specification is shown. Motor power is transmitted to the transmitter and from there to the pin ring. The pin ring is rotatably mounted on the transmitter, for example, via a deformable ball bearing.

[0843] The output torque is transmitted from the pin ring to the rotatably mounted internal gear, and from there to the output shaft. The pin ring is supported on a stationary external gear fixed to the housing, as indicated by the double arrows. The external gear and housing thus absorb the reaction force of the output element.

[0844] Figure 123 A schematic diagram of the eccentric drive according to this specification is shown. Motor torque is transmitted to one or more eccentric discs, and from there to one or more internal gears. The internal gears are rotatably supported by bearings on the eccentric discs. Torque is transmitted to the output plate via a mechanism of bearings and journals.

[0845] The bearing and journal assembly represents a 1:1 centering device or centering transmission. In particular, two eccentric discs offset from each other by 180° can be provided.

[0846] Figures 124 to 126 This shows another motor drive with a tension-adjustable shaft drive. (Compared to...) Figure 82 In a different implementation, the tension adjusting shaft 453' is formed on the external output shaft 458, rather than the tension adjusting shaft 453 being riveted to the external output shaft 458. The external output shaft 458, with tension adjusting shaft 435, is supported on offset ball bearings 30 and 31. This is equivalent to a three-bearing arrangement with ball bearings 30, 31, and 29, or a five-bearing arrangement with ball bearings 30, 31, 29, 45, and 46. Like the external output shaft 458, the output shaft 39 is also mounted on only two ball bearings 46 and 41 in a space-saving manner, these two ball bearings 46 and 41 being offset from each other at an offset angle.

[0847] Components that have been previously described, such as those related to Figure 1 This will not be described further here, and for clarity, separate reference numerals are generally not provided for accompanying drawings.

[0848] Figure 94-123Features of the embodiments are also disclosed in the following list of features, which can be combined with other features described. In particular, the geometry of the aforementioned meshing teeth can be combined with all transmission devices of this specification, wherein meshing teeth based on a planetary gear trajectory having two revolutions are preferably used in the transmission device of an elliptical transmitter, and wherein meshing teeth based on a gear trajectory having one revolution are preferably used in an eccentric transmission device.

[0849] According to this specification, the relative meshing tooth sizes and intermediate transmission tools (if present) can be selected, in particular, to ensure complete tooth engagement in the pin ring drive and tension shaft drive or cycloidal gear, wherein the pin ring drive and tension shaft drive can be constructed as a design employing an eccentric transmitter or an elliptical transmitter.

[0850] 1. A harmonic pin-ring drive device, comprising:

[0851] - The first gear with the first meshing tooth and

[0852] - A second gear with a second meshing tooth

[0853] - Pin ring with a circular engagement area

[0854] - A rotary conveyor for pulling the engagement area of ​​the pin ring into the first meshing tooth of the first gear and the second meshing tooth of the second gear;

[0855] The first gear, the transmitter, and the second gear are arranged concentrically, and the transmitter is radially arranged within the pin ring, wherein the pin ring is placed between the first gear and the second gear, wherein the transmitter includes a transmission disc eccentrically positioned relative to the central axis of the transmission device, wherein the shape of the first meshing tooth of the first gear and the second meshing tooth of the second gear is designed according to a planetary structure.

[0856] Wherein, the positions of the first meshing tooth and the second meshing tooth on their respective tooth surfaces are each determined by the radial distance from the central axis of the transmission device as a function of the loop angle;

[0857] The radial distance is, in turn, determined by the equal distance to the gear trajectory.

[0858] The positions on the gear trajectory are determined by the vector sum of the circulating loop vector and the circumferential circle vector. The tail of the circulating loop vector is located on the central shaft of the transmission device, and the tail of the circumferential circle vector is located at the end of the circulating loop vector. The circumferential circle angle of the circumferential circle vector is n times the circulating loop angle, and the length of the circulating loop angle is greater than the length of the circumferential circle angle.

[0859] Where n is the number of circular joints in the harmonic pin ring drive, which is at least three.

[0860] 2. The harmonic pin ring transmission device according to claim 1, wherein the first gear is an internal gear with external meshing teeth, and the second gear is an external gear with internal meshing teeth, wherein for the external meshing teeth of the internal gear, the circumferential angle is measured in the same direction as the circumferential angle, and the equidistant distance is an internal equidistant distance.

[0861] Furthermore, for the internal meshing teeth of the external gear, the rotation circle angle is measured in the opposite direction to the circulation circle angle, and the equidistant distance is the external equidistant distance.

[0862] 3. The harmonic pin ring transmission device according to item 1, wherein the first gear and the second gear are each an external gear with internal meshing teeth.

[0863] For the internal meshing teeth of the two external gears, the rotation circle angle is measured in the opposite direction to the circulation circle angle, and the equidistant distance is the external equidistant distance.

[0864] 4. The harmonic pin ring drive device according to item 3, wherein the respective equidistant distances are equidistant distances of the sum of the radius of the circular engagement area and the correction value, wherein the correction value depends on the tooth backlash.

[0865] 5. The harmonic pin ring drive device according to claim 3 or 4, wherein the harmonic pin ring drive device includes a rolling bearing resting on a conveyor plate, wherein the radius of the recirculation ring is equal to half the diameter of the rolling bearing.

[0866] 6. The harmonic pin ring drive device according to item 3 or 4, wherein the radius of the loop is equal to half the diameter of the transmission disc.

[0867] 7. A harmonic pin ring transmission device according to any one of items 3 to 6, wherein the radius of the circumferential circle is equal to half of the eccentric offset of the transmission disc from the central axis of the transmission device.

[0868] 8. The harmonic pin ring drive according to any of items 3 to 7, wherein the drive shaft is connected to the transmitter.

[0869] 9. The harmonic pin ring drive according to item 8, wherein the output shaft is connected to the first gear.

[0870] 10. The harmonic pin ring drive according to item 8, wherein the output shaft is connected to the second gear.

[0871] 11. The harmonic pin ring drive device according to item 8, wherein the output shaft is connected to the pin ring.

[0872] 12. An internal gear for a harmonic pin-ring drive with external meshing teeth, wherein the tooth surface of the external meshing teeth is determined by a radial distance from the central axis of the internal gear as a function of the circulation angle.

[0873] The radial distance from the central axis is, in turn, determined by the inner equidistant distance from the gear trajectory.

[0874] The position on the gear trajectory is determined by the vector sum of the circulating loop vector, the first circular loop vector, and the second circular loop vector. The tail of the circulating loop vector is located on the central axis, the tail of the first circular loop vector is located at the end of the circulating loop vector, and the tail of the second circular loop vector is located at the end of the first circular loop vector.

[0875] Furthermore, the rotation angle of the first rotating circular vector is n-1 times the circulation angle, and the rotation angle of the second rotating circular vector is n-3 times the circulation angle, where n is the number of pins in the harmonic pin ring transmission device, which is at least four. The first rotating circular angle is measured in the same direction as the circulation angle, and the second rotating circular angle is measured in the opposite direction to the circulation angle. The length of the circulation vector is greater than the sum of the lengths of the first rotating circular vector and the second rotating circular vector, and the length of the first rotating circular vector is greater than the length of the second rotating circular vector.

[0876] 13. An external gear for a harmonic pin-ring drive with internal meshing teeth, wherein the positions of the tooth surfaces of the internal meshing teeth are each determined by a radial distance from the central axis of the external gear as a function of the circulation angle.

[0877] The radial distance mentioned above is, in turn, defined by the outer equidistant distance to the gear trajectory.

[0878] The positions on the gear trajectory are each determined by the sum of the circulating loop vector, the first circular loop vector, and the second circular loop vector. The tail of the circulating loop vector is located on the central axis, the tail of the first circular loop vector is located at the end of the circulating loop vector, and the tail of the second circular loop vector is located at the end of the first circular loop vector.

[0879] Furthermore, the rotation angle of the first rotating circular vector is n+1 times the circulation angle, and the rotation angle of the second rotating circular vector is n+3 times the circulation angle; where n is the number of pins in the harmonic pin ring drive device, which is at least four; the first rotating circular angle is measured in the opposite direction to the circulation angle, and the second rotating circular angle is measured in the same direction as the circulation angle; and the length of the circulation vector is greater than the sum of the lengths of the first and second rotating circular vectors, and the length of the first rotating circular vector is greater than the length of the second rotating circular vector.

[0880] 14. A harmonic pin-ring drive device, comprising:

[0881] -According to item 12, the internal gear and

[0882] -The external gear as described in item 13,

[0883] - Pin ring with a circular engagement area

[0884] - A rotary conveyor for pulling the engagement area of ​​the pin ring into the internal meshing teeth of the external gear and the external meshing teeth of the internal gear;

[0885] The internal gear, the transmitter, and the external gear are arranged concentrically with each other, the transmitter is arranged radially within a pin ring, and the pin ring is placed between the internal gear and the external gear.

[0886] 15. A harmonic pin-ring drive device, comprising:

[0887] -The first external gear as described in item 13 and

[0888] -The second external gear as described in item 13,

[0889] - Pin ring with a circular engagement area

[0890] - A rotary conveyor for pulling the engagement area of ​​the pin rings in the internal meshing teeth of the first external gear and the internal meshing teeth of the second external gear.

[0891] The transmitter, the first external gear, and the second external gear are placed concentrically, the transmitter is arranged radially within a pin ring, and the pin ring is arranged axially between the first external gear and the second external gear.

[0892] 16. The harmonic pin ring drive according to claim 14 or 15, wherein the drive shaft is connected to the transmitter.

[0893] 17. The harmonic pin ring drive according to claim 16, wherein the output shaft is connected to the pin ring.

[0894] 18. The harmonic pin-ring drive device according to item 14, wherein...

[0895] The drive shaft is connected to the transmitter and the output shaft is connected to the internal gear.

[0896] 19. The harmonic pin-ring drive device according to item 14, wherein...

[0897] The drive shaft is connected to the transmitter and the output shaft is connected to the external gear.

[0898] 20. The harmonic pin-ring drive device according to item 15, wherein

[0899] The drive shaft is connected to the transmitter, and the output shaft is connected to one of the two external gears.

[0900] 21. The harmonic pin ring drive device according to any one of claims 14 to 20, wherein the respective equidistant distances are equidistant distances of the sum of the radius of the circular engagement area and a correction value, wherein the correction value is determined by the tooth backlash.

[0901] 22. The harmonic pin ring drive device according to any one of claims 14 to 21, wherein the transmitter comprises an elliptical cam disk and a flexible rolling bearing resting on the elliptical cam disk, wherein the radius of the loop is equal to half the diameter of the flexible rolling bearing and a correction value.

[0902] 23. The harmonic pin ring drive device according to any one of claims 14 to 21, wherein the transmitter comprises a first disk eccentrically arranged relative to the central axis of the drive device and a second disk eccentrically arranged relative to the central axis of the drive device, wherein the radius of the loop is equal to the sum of the average radius of the envelope of the two eccentrically arranged disks and a correction value.

[0903] 24. A harmonic pin ring drive according to any one of items 14 to 23, wherein the radius of the first rotation circle is less than or equal to half the pin ring stroke and the sum of a second correction value, wherein the second correction value is less than or equal to 0.

[0904] 25. The harmonic pin ring drive device according to any one of claims 14 to 24, wherein the length of the second circumferential vector is one-third of the length of the first circumferential vector.

[0905] Figure 1-92 The features of the implementation scheme are also disclosed in the following list of features, which may be combined with all other features of the specification.

[0906] 1. A harmonic pin ring transmission device having an input shaft and an output shaft, the transmission device comprising:

[0907] - The first external gear and the internal gear are placed cocentrically relative to the first external gear in the first axial plane.

[0908] The second external gear is arranged in the second axial plane.

[0909] A traction mechanism that extends between the first external gear and the internal gear.

[0910] A rotary conveyor that lifts the traction mechanism from the outer circumference of the internal gear and presses it onto the inner circumference of the first external gear;

[0911] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk is positioned within a third axial plane located between the first axial plane and the second axial plane; and

[0912] The cam disk and the hollow drive shaft are integrated into one unit.

[0913] 2. The harmonic pin ring transmission device according to claim 1, wherein the traction mechanism is formed as a pin ring, wherein a pin extends from a middle portion on opposite sides, wherein the middle portion is placed in the third axial plane, and wherein the rotary transmitter lifts the pin from the outer circumference of the internal gear and presses them onto the inner circumference of the first external gear.

[0914] 3. The harmonic pin ring drive device according to claim 1 or 2, wherein the circumference of the cam disk has an elliptical shape.

[0915] 4. The harmonic pin ring transmission device according to item 1 or 2, wherein the circumference of the cam disk has a circular shape and is eccentrically arranged relative to the central axis of the transmission device.

[0916] 5. The harmonic pin ring drive according to any one of claims 1 to 4, wherein a rolling bearing is arranged between the cam disc and the traction mechanism.

[0917] 6. The harmonic pin ring drive according to any one of claims 1 to 5, wherein the transmitter is substantially made of aluminum.

[0918] 7. The harmonic pin ring drive device according to any one of claims 1 to 6, wherein the transmitter includes a ring connected to the hollow drive shaft via a connecting strut.

[0919] 8. A harmonic pin ring transmission device having an input shaft and an output shaft, the transmission device comprising:

[0920] - The first external gear and the internal gear are placed concentrically relative to the first external gear in the first axial plane.

[0921] The second external gear is arranged in the second axial plane.

[0922] A traction mechanism that extends between the first external gear and the internal gear.

[0923] A rotary conveyor that lifts the traction mechanism from the outer circumference of the internal gear and presses it onto the inner circumference of the first external gear;

[0924] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk is placed in a third axial plane located between the first axial plane and the second axial plane; and wherein the first external gear is formed by a first outer ring and the second external gear is formed by a second outer ring, wherein the first outer ring and the second outer ring are inserted into a support ring.

[0925] 9. The harmonic pin ring drive device according to item 8, wherein the first outer ring and the second outer ring are each made of plastic.

[0926] 10. The harmonic pin ring drive device according to claim 8 or 9, wherein the first outer ring and the second outer ring each include radially outwardly extending journals distributed on the circumference of their respective outer rings, and wherein the support ring includes a matching groove into which the journals are inserted.

[0927] 11. The harmonic pin ring drive device according to any one of claims 8 to 10, wherein the support ring is made of aluminum.

[0928] 12. The harmonic pin ring drive according to any one of claims 8 to 11, wherein the support ring comprises two axially adjacent ring portions.

[0929] 13. The harmonic pin ring drive device according to any one of claims 8 to 12, wherein the first outer ring, the second outer ring and the support ring each include mutually mating screw holes.

[0930] 14. The harmonic pin ring drive device according to claim 13, wherein the screw passes through the screw hole of the drive device cover and the mating screw holes of the first outer ring, the support ring and the second outer ring, and is screwed into the thread of the drive device housing of the harmonic pin ring drive device.

[0931] 15. A harmonic pin ring transmission device having an input shaft and an output shaft, the transmission device comprising:

[0932] - The first external gear and the internal gear are placed cocentrically relative to the first external gear in the first axial plane.

[0933] The second external gear is arranged in the second axial plane.

[0934] A traction mechanism that extends between the first external gear and the internal gear.

[0935] A rotary conveyor that lifts the traction mechanism from the outer circumference of the internal gear and presses it onto the inner circumference of the first external gear;

[0936] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk is positioned within a third axial plane located between a first axial plane and a second axial plane.

[0937] It includes a hollow output shaft and a pedal shaft. The hollow output shaft is mounted in an internal gear via a motor flywheel, and the pedal shaft is mounted in the hollow output shaft via a pedal shaft flywheel. The pedal shaft includes a receiving area for the motor flywheel on its outer circumference and a receiving area for the pedal shaft flywheel on its inner circumference.

[0938] 16. The harmonic pin ring drive according to claim 15, wherein the motor flywheel is configured as a clamping roller flywheel and the pedal shaft flywheel is configured as a ratchet flywheel.

[0939] 17. The harmonic pin ring drive according to claim 15 or 16, wherein the output shaft extends axially on the output side of the hollow drive shaft, wherein a ball bearing is arranged between the hollow output shaft and the pedal shaft, and wherein the hollow output shaft includes a fastening area for the output element.

[0940] 18. A flywheel assembly having an external clamping roller flywheel and an internal ratchet flywheel, comprising:

[0941] - Hollow drive shaft

[0942] - Hollow output shaft

[0943] - Pedal shaft, wherein the pedal shaft, the hollow output shaft and the hollow drive shaft are arranged concentrically with each other, the hollow output shaft is radially arranged within the hollow drive shaft, and the pedal shaft is radially arranged within the hollow output shaft;

[0944] The hollow output shaft includes a stepped pawl engagement area on the inner circumference and a stepped clamping roller rolling area on the outer circumference.

[0945] The pedal shaft includes a star-shaped receiving area for the pawl, wherein the star-shaped receiving area includes a pawl seat and a spring seat arranged adjacent to the pawl seat.

[0946] 19. The flywheel assembly according to claim 18, wherein the stepped clamping body rolling area on the outer circumference of the hollow output shaft and the stepped pawl engagement area on the inner circumference of the hollow output shaft are substantially located in the same axial plane.

[0947] 20. The flywheel assembly according to claim 18 or 19, wherein the hollow drive shaft includes a disc-shaped region having external meshing teeth provided on the outer circumference of the disc-shaped region.

[0948] 21. The flywheel assembly according to any one of claims 18 to 20, wherein the hollow output shaft includes an annular thickening at a first end and a fastening region for an output tool at a second end opposite to the first end.

[0949] 22. The flywheel assembly according to any one of claims 18 to 21, wherein the outer circumference of the hollow output shaft includes a bearing region for a ball bearing.

[0950] 23. The flywheel assembly according to any one of claims 18 to 22, wherein the inner circumference of the hollow output shaft includes a bearing region for a ball bearing.

[0951] 24. The flywheel assembly according to any one of claims 18 to 23, wherein the inner circumference of the hollow output shaft includes an internal thread at one end.

[0952] 25. The flywheel assembly according to any one of claims 18 to 24 above, further comprising:

[0953] A pawl and a spring element, wherein the pawl is rotatably mounted in a pawl seat, and the spring element is arranged in a spring seat and connected to the pawl.

[0954] A flywheel support cage with ribs and clamping rollers arranged between the ribs, wherein the flywheel support cage and the clamping rollers are radially arranged between the clamping roller rolling area of ​​the hollow output shaft and the inner circumference of the hollow drive shaft.

[0955] 26. The flywheel assembly according to any one of claims 18 to 25, wherein the pawl seat is cylindrical in shape, closed at one end by a wall and open at the opposite end.

[0956] 27. The flywheel assembly according to any one of claims 18 to 26, wherein the stepped clamping body rolling region and the flywheel support cage each include at least two receiving regions for a spring element, and wherein in each case, the spring element is arranged between the receiving regions of the clamping body rolling region and the receiving regions of the flywheel support cage.

[0957] 28. The flywheel assembly according to any one of 18 to 27, wherein the pedal shaft includes a force sensor unit, wherein the force sensor unit includes a force measuring element and a pedal shaft ball bearing, wherein the force measuring element is disposed on the pedal shaft ball bearing.

[0958] 29. The flywheel assembly according to claim 28, wherein the force-measuring element includes an inner annular portion connected to an outer annular portion by a fastening lug, wherein the pedal shaft ball bearing is inserted into the inner annular portion.

[0959] 30. The flywheel assembly according to claim 29, wherein the inner and outer portions of the force-measuring element are radially offset from each other, wherein the fastening lugs are defined by radial slots defining lateral boundaries, and wherein at least two fastening lugs include strain gauges.

[0960] 31. The flywheel assembly according to claim 29 or 30, wherein the axial thickness of the outer ring is reduced in the region of the fastening lug.

[0961] 32. A pedal shaft for a flywheel assembly, wherein the pedal shaft includes a first fastening region for a pedal crank at a first end and a second fastening region for a pedal crank at a second end opposite to the first end;

[0962] And the pedal shaft includes a star-shaped receiving area for the pawl near the first end.

[0963] 33. The pedal shaft according to claim 32, wherein the star-shaped receiving area includes steps, each of the steps including a first side surface, a second side surface, a pawl support area inclined in a predetermined direction relative to the circumferential direction and including a spring seat, an upper surface substantially parallel to the circumference, and an end region having a pawl seat, wherein the pawl seat is cylindrical in shape, one side is axially open, and the opposite side is closed.

[0964] 34. A harmonic pin ring transmission device having an input shaft and an output shaft, the transmission device comprising:

[0965] - The first external gear and the internal gear are placed concentrically relative to the first external gear in the first axial plane.

[0966] The second external gear is arranged in the second axial plane.

[0967] A traction mechanism that extends between the first external gear and the internal gear.

[0968] A rotary conveyor that lifts the traction mechanism from the outer circumference of the internal gear and presses it onto the inner circumference of the first external gear;

[0969] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk is positioned within a third axial plane located between a first axial plane and a second axial plane.

[0970] It includes a hollow output shaft and a pedal shaft. The hollow output shaft is mounted inside an internal gear via a motor flywheel, and the pedal shaft is mounted inside the hollow output shaft via a pedal shaft flywheel. The pedal shaft includes a receiving area for the motor flywheel on its outer circumference and a receiving area for the pedal shaft flywheel on its inner circumference.

[0971] 35. The harmonic pin ring drive according to claim 34, wherein the motor flywheel is configured as a clamping roller flywheel and the pedal shaft flywheel is configured as a pawl flywheel.

[0972] 36. The harmonic pin ring drive according to claim 34 or 35, wherein the output shaft extends axially on the output side of the hollow drive shaft, wherein a ball bearing is arranged between the hollow output shaft and the pedal shaft, and wherein the hollow output shaft includes a fastening area for the output element.

[0973] 37. A harmonic pin ring transmission device having an input shaft and an output shaft, the transmission device comprising:

[0974] - The first external gear and the internal gear are placed concentrically relative to the first external gear in the first axial plane.

[0975] The second external gear is arranged in the second axial plane.

[0976] A pin ring with a pin extends between the first external gear and the internal gear.

[0977] A rotary conveyor that lifts the pins of the pin rings from the outer circumference of the internal gear and presses them onto the inner circumference of the first external gear.

[0978] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk is positioned within a third axial plane located between a first axial plane and a second axial plane.

[0979] Furthermore, the pin ring is integrally molded and made of metal, and the pin is formed by protrusions extending from two opposite sides of the central region of the pin ring, wherein the central region includes an inner bearing surface for resting on a bearing.

[0980] 38. The harmonic pin ring drive according to claim 37, wherein the protruding portion is cylindrical on a first side of two opposite sides, and wherein the protruding portion is partially cylindrical on a second side of two opposite sides, wherein the cylindrical region is located radially outside the pin ring.

[0981] 39. The harmonic pin ring drive device according to claim 37, wherein the protruding portion includes an inner circular engagement region and an outer circular engagement region on a first side of two opposite sides.

[0982] Furthermore, the protruding portion includes an outer circular engagement area on the second side of the two opposite sides.

[0983] 40. A harmonic pin ring drive according to any one of claims 37 to 39, wherein a bearing is arranged between a cam disc and a pin ring, and wherein the pin ring includes an inner shoulder for supporting the bearing.

[0984] 41. A pin ring for a harmonic pin ring drive, the pin ring being integrally formed and made of metal, wherein the pin ring includes a pin formed by protrusions extending from two opposite sides of a central region of the pin ring, wherein the central region includes an inner bearing surface for resting on an outer bearing surface of a bearing.

[0985] 42. The pin ring according to claim 41, wherein the protruding portion is cylindrical on a first side of two opposite sides, and wherein the protruding portion is partially cylindrical on a second side of two opposite sides, wherein the cylindrical region is located radially outside the pin ring.

[0986] 43. The pin ring according to claim 41, wherein the protruding portion includes an inner circular engagement region and an outer circular engagement region on a first side of two opposite sides.

[0987] Furthermore, the protruding portion includes an outer circular engagement area on the second side of the two opposite sides.

[0988] 44. The pin ring according to claim 41, wherein, in each case, the rib is located between the protrusions on the first side of two opposing sides, wherein the outer boundary line of the protrusions smoothly merges into the outer boundary line of the rib.

[0989] 45. A harmonic pin ring drive according to any one of claims 41 to 44, wherein a bearing is arranged between a cam disc and a pin ring, and wherein the pin ring includes a shoulder on its inner side for supporting the bearing.

[0990] 46. ​​A harmonic pin ring transmission device having an input shaft and an output shaft, the transmission device comprising:

[0991] - The first external gear and the internal gear are placed cocentrically relative to the first external gear in the first axial plane.

[0992] The second external gear is arranged in the second axial plane.

[0993] A traction mechanism that extends between the first external gear and the internal gear.

[0994] A rotary conveyor that lifts the traction mechanism from the outer circumference of the internal gear and presses it against the inner circumference of the first external gear;

[0995] The transmitter includes a hollow drive shaft and a cam disk, wherein the cam disk is positioned within a third axial plane located between a first axial plane and a second axial plane.

[0996] The pedal shaft is radially placed inside the output shaft, and the pedal shaft is mounted inside the motor housing via a drive-side pedal shaft ball bearing and a force-measuring element.

[0997] 47. The harmonic pin ring drive device according to claim 46, wherein the force measuring element includes an inner annular portion connected to an outer annular portion by a fastening lug, wherein ...

Claims

1. A measuring device for determining the forces acting on a crankshaft, comprising: - a crankshaft having a bearing arranged on said crankshaft, - a force measuring element for measuring the radial force acting on the crankshaft, the force measuring element comprising: a receiving sleeve for receiving a ring of a bearing, - a fastening ring, which is used to connect the force-measuring element in the transmission housing, an axial support region provided on the fastening ring for axially supporting a ring of the bearing, a measuring region for receiving radial forces of the receiving sleeve and connecting the receiving sleeve with the fastening ring, wherein strain sensors are connected to at least two of the measuring regions, - wherein the receiving sleeve of the force-measuring element is arranged on the outer ring of the bearing, and wherein the axial support region of the force-measuring element is supported axially on the outer ring of the bearing, - Evaluation electronics which are connected to the strain sensor of the force-measuring cell. 2 . The measuring device according to claim 1 , wherein the axial support region is separated from the measuring region by a radial slot and wherein the axial support region is separated from the receiving sleeve by a circumferential slot.

3. The measuring device according to claim 1, wherein the measuring area comprises a measuring lug formed as an angle bracket.

4. The measuring device according to claim 3, wherein the measuring lug comprises a radial region and an axial region adjoining the radial region, in, The radial region is connected to the fastening ring, wherein the axial region is connected to the receiving sleeve, and wherein the radial region is arranged at an angle of 90 degrees to the axial region. 5 . The measuring device according to claim 4 , wherein the axial region is flush with the cylindrical inner surface of the receiving sleeve. 6 . The measuring device according to claim 1 , wherein the axial support region projects radially inwardly beyond the inner surface of the receiving sleeve. 7 .

7. The measuring device according to any one of claims 1 to 5, wherein at least one of the strain sensors is configured as a strain gauge.

8. The measuring device according to any one of claims 1 to 5, wherein a strain sensor is connected to each of the measuring regions.

9. The measuring device according to any one of claims 1 to 5, wherein at least two of the measuring regions comprise a lowered region for connecting the strain sensors. 10 . The measuring device according to claim 1 , wherein the force measuring cell comprises four measuring areas which are arranged at 90 degree intervals.

11. The measuring device according to any one of claims 1 to 5, wherein the fastening ring comprises a fastening region in which fixing holes are provided. 12 . The measuring device according to claim 1 , wherein the fastening ring comprises a groove, and wherein the measuring area is arranged in the groove.

13. The measuring device according to claim 2, wherein the angular extent of the measuring lug and of the slot delimiting the measuring lug corresponds to the angular extent of the axial support area.

14. The measuring device according to claim 1, wherein an angular range of the measuring area in a circumferential direction is less than or equal to 30 degrees.

15. The measuring device according to claim 1, wherein the force measuring element is made entirely of metal.

16. A transmission having a measuring device according to any one of claims 1 to 15, the transmission having a transmission housing and a crankshaft, wherein the crankshaft is mounted in the transmission housing via a first bearing and a second bearing, in, The first bearing is received in the transmission housing via the force-measuring element of the measuring device, wherein the force-measuring element is received in the transmission housing via the fastening ring, wherein the receiving sleeve receives an outer ring of the first bearing, and wherein the axial support region is supported on the outer ring of the first bearing.

17. A transmission device according to claim 16, wherein the crankshaft includes a first step and a second step and wherein the inner ring of the first bearing of the measuring device rests on the first step of the pedal shaft, and wherein the inner ring of the second bearing rests on the second step of the crankshaft so as to form an X-type arrangement of the first bearing and the second bearing installed obliquely.

18. The transmission device according to claim 16, wherein the first bearing of the measuring device and the second bearing of the measuring device are each configured as a single row angular contact ball bearing.

19. The transmission according to claim 17, wherein the second bearing is supported on the second step of the pedal shaft or on the transmission housing by a wave spring.

20. The transmission according to claim 19, wherein the second bearing is further supported by a shim plate on the second step of the pedal shaft or on the transmission housing.

21. The transmission device according to any one of claims 17 to 20, further comprising: a motor, a reduction gear connected to the motor, and a hollow output shaft connected to the reduction gear, wherein the crankshaft is configured as a pedal shaft, wherein the first bearing and the second bearing are each configured as a rolling bearing, wherein the pedal shaft passes through the hollow output shaft, and wherein a flywheel is provided between the pedal shaft and the hollow output shaft for decoupling the pedal shaft from the hollow output shaft.

22. An electrically driven vehicle having a transmission according to claim 21, wherein the motor is configured as an electric motor, and wherein a battery of the electrically driven vehicle is connected to the electric motor.

23. A force measuring element for measuring a radial force acting on a crankshaft, the force measuring element comprising: a receiving sleeve for receiving a ring of a bearing, - a fastening ring, which is used to connect the force-measuring element in the transmission housing, an axial support region provided on the fastening ring for axially supporting a ring of the bearing, a measuring region for receiving radial forces of the receiving sleeve and connecting the receiving sleeve with the fastening ring, wherein strain sensors are connected to at least two of the measuring regions, The measuring region comprises a measuring lug formed as an angle bracket, wherein the measuring lug comprises a radial region and an axial region adjoining the radial region.

24. The force measuring cell according to claim 23, wherein The radial region is connected to the fastening ring, wherein the axial region is connected to the receiving sleeve, and wherein the radial region is arranged at an angle of 90 degrees to the axial region.

25. The force measuring cell according to claim 24, wherein the axial region is flush with the cylindrical inner surface of the receiving sleeve.

26. A force measuring element for measuring a radial force acting on a crankshaft, the force measuring element comprising: a receiving sleeve for receiving a ring of a bearing, - a fastening ring, which is used to connect the force-measuring element in the transmission housing, an axial support region provided on the fastening ring for axially supporting a ring of the bearing, a measuring region for receiving radial forces of the receiving sleeve and connecting the receiving sleeve with the fastening ring, wherein strain sensors are connected to at least two of the measuring regions, wherein at least two of the measuring regions comprise a lowered region for connecting the strain sensor, wherein the axial support region is separated from the measuring region by a radial slot, and wherein the axial support region is separated from the receiving sleeve by a circumferential slot.

27. A force measuring element for measuring a radial force acting on a crankshaft, the force measuring element comprising: a receiving sleeve for receiving a ring of a bearing, - a fastening ring, which is used to connect the force-measuring element in the transmission housing, an axial support region provided on the fastening ring for axially supporting a ring of the bearing, a measuring region for receiving radial forces of the receiving sleeve and connecting the receiving sleeve with the fastening ring, wherein strain sensors are connected to at least two of the measuring regions, wherein the fastening ring comprises a groove, and wherein the measuring area is arranged in the groove, wherein the axial support region is separated from the measuring region by a radial slot, and wherein the axial support region is separated from the receiving sleeve by a circumferential slot.

28. The force measuring cell according to any one of claims 23 to 27, wherein the axial support region projects radially inwardly beyond the inner surface of the receiving sleeve.

29. The force measuring cell according to any one of claims 23 to 27, wherein at least one of the strain sensors is configured as a strain gauge.

30. A force measuring cell according to any one of claims 23 to 27, wherein a strain sensor is connected to each of the measuring regions.

31. The force measuring cell according to any one of claims 23 to 25 and 27, wherein at least two of the measuring regions comprise a lowered region for connecting the strain sensors.

32. The force measuring cell according to any one of claims 23 to 27, wherein the force measuring cell comprises four measuring areas which are arranged at 90 degree intervals.

33. The force measuring cell according to any one of claims 23 to 27, wherein the fastening ring comprises a fastening region in which fixing holes are provided.

34. The force measuring cell according to any one of claims 23 to 26, wherein the fastening ring comprises a groove, and wherein the measuring region is arranged in the groove.

35. The force measuring cell according to any one of claims 23 to 25, wherein the angular extent of the measuring lug and of the slot delimiting the measuring lug corresponds to the angular extent of the axial support area.

36. The force measuring cell according to any one of claims 23 to 27, wherein the angular extent of the measuring region in the circumferential direction is less than or equal to 30 degrees.

37. The force measuring cell according to any one of claims 23 to 27, wherein the force measuring cell is made entirely of metal.

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