Surface type transmission device

Abstract

The invention relates to a planar transmission (2) in the form of a corrugated transmission, comprising a circular spline (6) with internal toothing (20), a dynamic spline (8) axially adjacent thereto with internal toothing (24), and a flexible spline (4) arranged within the circular spline (6) and the dynamic spline (8) and having at least one external toothing (16), and a wave generator (10) which is arranged in the flexible spline (4) and deforms the flexible spline (4) in the radial direction, and which establishes a 24-shaped torque-transmitting connection between the circular spline (6) and the flexible spline (4) in two opposite positions of the flexible spline (4) and between the flexible spline (4) and the dynamic spline (8) in four positions on both sides of contact with the circular spline (8), an axial course (40) of a radial position of an end face tooth profile of at least one external toothing (16) of the flexible spline (4) has a region (44) that decreases radially towards a central axis (30) of the surface gear (2).

Description

Technical Field

[0001] The present invention relates to a surface transmission in the form of a corrugated transmission, which has a circular spline with an internal toothing, a dynamic spline with an internal toothing and adjacent to the circular spline in the axial direction, and a flexible flexspline arranged inside the circular spline and the dynamic spline and having at least one external toothing, and a wave generator arranged inside the flexible spline so as to deform the flexible spline in the radial direction. Due to the deformation of the flexible spline, a positive locking connection for torque transmission is established between the circular spline and the flexible spline at two opposite positions of the flexible spline and between the flexible spline and the dynamic spline at four positions on both sides of the contact with the circular spline. Therefore, the surface transmission here includes four main components, namely the wave generator, the flexible spline, the dynamic spline and the circular spline. Background Art

[0002] During the deceleration operation of the corrugated drive, that is to say at a reduced speed, the elliptically shaped wave generator is used as a drive element. The wave generator deforms the flexible spline (FS) via a particularly thin-ring rolling bearing, which is in meshing with the hollow gear, the circular spline (CS) and the dynamic spline (DS) of the internal tooth coupling. As the wave generator (WG) rotates, the large ellipse axis moves and at the same time the tooth meshing area moves. Since the flexible spline has fewer teeth than the circular spline, in particular two fewer teeth, during a half-turn of the wave generator, the flexible spline rotates relative to the circular spline, in particular by the angle of the tooth pitch, and during a full turn, the flexible spline rotates relative to the circular spline by the angle of two tooth pitches. With the circular spline in a fixed position, the flexible spline rotates in the opposite direction to the direction of rotation of the wave generator.

[0003] The wave generator usually consists of an elliptical steel disk and a thin-ring rolling bearing engaged thereon. This component is used as a drive element during deceleration operation. The circular spline is a hollow gear with internal tooth coupling, the tooth section of which is in meshing state with the outer tooth section of the flexible spline in the area of ​​the large elliptical axis of the wave generator. The circular spline usually has two more teeth than the flexible spline. The embodiment of the flexible spline allows large elastic deformations in the radial direction. It produces an elliptical shape due to the wave generator. In the area of ​​the large elliptical axis, the outer tooth section of the flexible spline is in meshing state not only with the inner tooth section of the circular spline but also with the inner tooth section of the dynamic spline.

[0004] A dynamic spline is an internally toothed hollow gear having the same number of teeth as a flexspline. The component rotates in the same direction of rotation and at the same speed as the flexspline and is used either as a driven element or as a base during reduced speed operation. This type of surface drive can be advantageously used in various technical fields, in particular in service robots.

[0005] A surface transmission of the type described above is described, for example, in DE 10 2020 107 674 B3.

[0006] EP 3 690 280 A1 discloses a dual-shaft transmission with externally toothed gearwheels having two external toothings with different numbers of teeth, wherein gaps are formed between the teeth as cutting gaps for a gear milling cutter.

[0007] DE 11 2012 005 159 B4 describes a transmission device of a flexible staggered connection type, the transmission device comprises a wave generator and a tubular externally toothed coupled gear, the gear is flexible and arranged on the outer circumference of the shaft generator. It also comprises two internally toothed coupled gears, the gears being staggeredly connected with the externally toothed coupled gears.

[0008] JP 2009-133414 A discloses a corrugated reduction gear having a flexible external gear which is partially in meshing engagement with a rigid internal gear and a semi-rigid internal gear.

[0009] A disadvantage of compact surface gears in the form of corrugated gears is that flexible splines are used without modification of the toothing in the lateral direction and increased stresses occur there, which lead to reduced performance of the surface gear. Summary of the invention

[0010] The invention is therefore based on the object of providing a surface transmission of the type mentioned in the introduction which has an optimized load distribution and improved performance.

[0011] This object is achieved according to the invention by the features of claim 1 .

[0012] Therefore, the outer toothing is axially retreated from the plane between the circular spline and the dynamic spline in the radial direction toward the transmission axis. That is, the axial direction of the radial position of the end face tooth shape of the outer toothing of the flexible spline has a radially reduced (retracted) area in the axial direction.

[0013] Advantageous embodiments of the invention are the subject matter of the dependent claims.

[0014] The invention is based on the following finding: It has been found from evaluations of actual tests and finite element calculations that in surface gearings increased stresses occur on tooth-coupled components in the vicinity of the plane between the circular spline and the dynamic spline.

[0015] As has been recognized by now, the increased stresses in the plane between the circular spline and the dynamic spline can be reduced by providing a flexspline with a toothing in the lateral direction which has a (profile-shifted) toothing in a specific area. In the case of low loads, the toothing should be loaded more strongly in the direction of the end side of the flexspline. In the case of increased loads, due to the deformation of the flexspline, the load-carrying area increases and the load is distributed more evenly on the tooth flanks (than in conventional surface transmissions).

[0016] The region of the axial direction of the radial position of the face tooth profile of the external toothing of the flexible spline, which is reduced in the radial direction or offset according to the invention, can extend axially from the position between the circular spline and the dynamic spline to the corresponding end side of the flexible spline. Preferably, it is largest in the plane between the circular spline and the dynamic spline or in the area around this plane and becomes smaller in the direction of the end side. The offset of the direction is a radial offset of the face tooth profile of the flexible spline toothing in the direction of the central axis of the transmission, which results in a radially reduced extension of the external toothing.

[0017] Advantageously, the maximum radial offset of the radially decreasing region in the direction of the center axis is located in the region of the plane between the circular spline and the dynamic spline. In this way, the increased loads on the tooth flanks of the flexible spline near the plane between the circular spline and the dynamic spline under load due to deformation can be compensated.

[0018] The radially tapering region can be designed symmetrically or asymmetrically with respect to the axial center of the external toothing. The two hollow gears (circular splines and dynamic splines) are preferably designed with the same width.

[0019] In the case where the circular spline and the dynamic spline do not have the same axial extension, the radially reduced area is asymmetrical about the center of the outer toothing of the flexible spline. Due to geometric constraints or different loads on the hollow gears, it can be advantageous to implement the hollow gears with different widths. Hollow gears of different widths require an asymmetrical configuration. Further, for specific embodiments, depending on the specific meshing ratio, an asymmetrical configuration can be more optimized for hollow gears of the same width. The offset in the radially reduced area of ​​the toothing improves the load on the edge and improves the load distribution on the gear.

[0020] Advantageously, the radial offset of the face tooth shape of the external toothing of the flexible spline in the direction of the center axis decreases linearly (ie, toward the end sides) on both sides from the area of ​​the most intense radial decrease in the axial direction toward the end sides, and the radial extension of the external toothing becomes larger in each case.

[0021] Advantageously, the axial course of the radially offset face toothing of the external toothing of the flexspline has a constant value in the region of one or both face faces.

[0022] The radially offset axial course of the face toothing of the external toothing of the flexspline advantageously has a convex or concave shape in the radially decreasing region (seen in the axial direction). The convex axial course enables the local high contact stresses to be further reduced.

[0023] Preferably, the face toothing of the external toothing of the flexspline is shifted in the region of one or both end faces in the direction of the central axis.

[0024] In a preferred embodiment, the flexspline comprises two external toothings which are separated from one another, in particular completely separated, by a groove.

[0025] Preferably, for the maximum deviation of the radial position of the face tooth profile of the external toothing of the flexible spline in the axial direction in the direction of the central axis, with respect to the ratio of the pitch circle to the number of teeth of the flexible spline (module), a value between 0 and 0.2 is selected. The maximum deviation is the difference between the maximum and minimum radial position of the face tooth profile of the toothing of the flexible spline (profile deviation).

[0026] Preferably, the face toothing of the external toothing of the flexspline in the region of one or both end faces can be shifted in the direction of the center axis. By such an offset of the toothing on the end faces, the increased contact stresses due to edge loads can be reduced.

[0027] The rolling element bearing with rolling element surface gearing preferably comprises balls, rollers or needles as rolling elements.

[0028] The invention has the advantage that, due to the axial offset of the radial position of the face toothing of the external toothing of the flexspline, typical loads on the toothing in a face gear are taken into account, thereby increasing the load capacity and service life of the gearing, in particular by at least 25%. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Embodiments of the invention are explained in more detail with reference to the drawings. All described and / or illustrated features constitute the subject matter of the invention in their own right or in any meaningful combination, regardless of their generalization in the claims or their reference relationships. A highly schematic diagram shows:

[0030] Figure 1 A surface transmission in a preferred embodiment in a front view,

[0031] Figure 2 Basis in side view Figure 1 The cross section of the surface transmission,

[0032] Figure 3 Based on the side view Figure 1 A cross section of a variant of a surface transmission with WG bearings,

[0033] Figure 4 Based on the side view Figure 1 Cross-sections of variants of face gears with hollow gears of different widths (circular splines and dynamic splines),

[0034] Figure 5 The axial direction of the radial position of the face tooth profile of the external toothing of the flexspline of the flexspline tooth coupling in the preferred first embodiment,

[0035] Figure 6 The axial direction of the radial position of the face tooth profile of the external toothing of the flexspline of the flexspline tooth coupling in the preferred second embodiment,

[0036] Figure 7 The axial direction of the radial position of the face tooth profile of the external toothing of the flexspline of the flexspline tooth coupling in the preferred third embodiment,

[0037] Figure 8 The axial direction of the radial position of the face tooth profile of the external toothing of the flexspline of the flexspline tooth coupling in the preferred fourth embodiment,

[0038] Fig. 9 The axial direction of the radial position of the face tooth profile of the external toothing of the flexspline of the flexspline tooth coupling in the preferred fifth embodiment,

[0039] Fig.10 The axial direction of the radial position of the face tooth profile of the external toothing of the flexspline of the flexspline tooth coupling in the preferred sixth embodiment,

[0040] Fig.11 The axial direction of the radial position of the face tooth profile of the external toothing of the flexspline of the flexspline tooth coupling in the preferred seventh embodiment,

[0041] Fig.12 Another preferred surface transmission in the side view, and

[0042] Fig.13 Another preferred surface transmission is shown in the side view. DETAILED DESCRIPTION

[0043] In all the figures, identical parts are provided with the same reference numerals.

[0044] exist Figure 1 and Figure 2The surface transmission device 2 shown in the figure is constructed as a corrugated transmission device and includes a flexible spline 4, a circular spline 6 arranged coaxially therewith, a dynamic spline 8 and a wave generator 10. The circular spline 6 and the dynamic spline 8 are constructed as internally meshing, cylindrical hollow gears. The flexible spline 4 has the shape of a thin-walled hollow cylinder with an external toothing 16. The wave generator 10 is located inside the flexible spline 4 and is composed of a disk 28 arranged in the center, the so-called plug, the external cross-section of which has an ellipse-like shape and two rolling bearings 12 mounted on the outer cover surface of the plug 28. The cylindrical thin-walled ring of the rolling bearing 12 and the flexible spline 4 is elastically deformed in an ellipse-like cross-section due to the plug. Due to the deformation, the external toothing 16 of the flexible spline 4 is embedded in the internal toothing 20 and 24 of the circular spline 6 and the dynamic spline 8 in two areas on both sides of the large ellipse axis.

[0045] In the embodiment selected here, the outer toothing 16 of the flexible spline 4 has two fewer teeth than the inner toothing 20 of the circular spline 6 and has the same number of teeth as the inner toothing 24 of the dynamic spline 8. When the plug 28 is rotated about the transmission axis, the tooth engagement area of ​​the large elliptical axis is subsequently displaced in the circumferential direction. Due to the different number of teeth of the flexible spline 4 and the circular spline 6, during one rotation of the plug 28, the components are rotated relative to each other by an angle of two tooth pitches. Since the dynamic spline 8 occupies the same angular position as the flexible spline 4 due to the equal number of teeth, the circular spline 6 and the dynamic spline 8 rotate relative to each other. If the plug 28 is used as a drive element and the circular spline 6 and the dynamic spline 8 are used as driven elements or bases, respectively, a transmission with high degradation is obtained in one stage.

[0046] exist Figure 3 An alternative and preferred surface transmission 2 is shown in FIG. 1 , in which only one rolling bearing 12 is provided. In a variant with a rolling bearing, the rolling bearing is realized in the same manner as in FIG. Figure 1 and Figure 2 The two rolling bearings 12 and 14 in the transmission have the same function. The rolling bearing 12 comprises a row of rolling bodies 14, which are designed as balls here. A transmission with only one rolling bearing is less loaded, but is more cost-effective.

[0047] The two hollow gears (CS and DS) are preferably designed with equal width. Due to geometrical constraints or different loads on the hollow gears, it can be advantageous to design the hollow gears with different widths.

[0048] In accordance with Figure 2, 3 and 4, in the known face gear 4, each face tooth profile of the teeth of the external toothing 16 of the flexible spline 4 is located at the same radial position with respect to the gear axis or the center axis 30. The profile offset of the toothing of the flexible spline has the same value over the entire width.

[0049] In the vicinity of the plane 34 between the circular spline 6 and the dynamic spline 8, the load on the toothing or the external toothing is greater than in the adjacent lateral region. As a result, excessive wear or damage to the teeth of the flexible spline occurs here, thereby reducing the performance and load capacity of the surface transmission. In order to counteract this effect, the invention proposes that the external toothing 16 is axially set back from the plane between the circular spline and the dynamic spline 34 in the radial direction of the transmission axis.

[0050] The radially decreasing axial progression 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 distributes the load better on the tooth flanks. The pressure peaks near the plane 34 between the circular spline and the dynamic spline (i.e., at the edges of the teeth of the circular spline and the dynamic spline directly adjacent to this plane 34) are reduced and the performance of the surface transmission is thereby improved.

[0051] Advantageous embodiments for the axial progression 40 of the radial position of the face toothing of the external toothing 16 of the flexspline 4 are shown in the following figures.

[0052] exist Figure 5 4 shows the axial progression 40 of the radial position of the face toothing of the external toothing 16 of the flexspline 4 in a preferred first embodiment.

[0053] The deviation of the axial direction of the radial position of the face tooth profile of the external toothing of the flexspline describes the radial deviation of the face tooth profile of the external toothing 16 from the radial design position in the direction of the center axis 30 of the face gear 2. The face tooth profile is formed in a known manner by a cutting curve between the toothing and any plane arranged parallel to the face. If the radial position of the cutting curve is correlated with the axial position of the cutting plane, a course is produced.

[0054] The axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 of the external toothing 16 (radial offset of the face toothing) is formed symmetrically with respect to the plane 34 between the circular spline 6 and the dynamic spline 8. The offset of the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 in the direction of the center axis 30 has a maximum amount symmetrically with respect to the plane between the circular spline and the dynamic spline 34 in the radially reduced region 44 (that is, the region radially offset radially in the direction of the center axis 30). Subsequently, in addition to the designed face toothing of the external toothing 16, the axial direction 40 of the radial position of the face toothing of the external toothing 14 of the flexible spline 6 increases on both sides, linearly and symmetrically with respect to the plane 34 between the circular spline and the dynamic spline in the sections or regions 64 and 68.

[0055] In the further course in the sections 48 and 52 , the face toothing of the external toothing 16 remains in the designed position with a constant profile offset in the radial direction. The spacing 60 is the maximum amount of the radial offset of the face toothing of the external toothing 16 of the flexspline 4 .

[0056] exist Figure 6 , a preferred second embodiment of the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 is shown. In this second embodiment, two regions 64, 68 are located on both sides immediately in the region of the plane 34 between the circular spline 6 and the dynamic spline 8, in which the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 has a radially minimum amount, and in the two regions 64, 68, in addition to the designed face toothing on the end side of the flexible spline 6, the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 increases radially. The preferred embodiment depends on other salient features of the flexible spline 64, such as the number of teeth, the profile shape of the toothing and the wall thickness, and must be determined for a specific sample on the basis of the load on the tooth side.

[0057] exist Figure 7 FIG. 4 shows a preferred third embodiment of the axial direction 40 of the radial position of the end face tooth shape of the external toothing 16 of the flexible spline 4. Figure 5 The trend is similar to that shown in . Figure 5 Specifically, this embodiment has an asymmetrical position of the plane 34 between the circular spline 6 and the dynamic spline 8 and an asymmetrical course of the axial course 40 at the radial position of the face toothing of the external toothing 16 of the flexspline 4 .

[0058] In this third embodiment, the two regions 64, 68 are located in the region of the plane between the circular spline 6 and the dynamic spline 8, and are immediately followed on both sides by a radially reduced region 44, in which the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 has a radially minimum amount, and in which the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 increases in the radial direction. In this case, in the region 64, the direction 40 has a greater inclination than in the region 68, so that the corresponding region 68 has a greater width.

[0059] In the regions 48, 62 adjacent to 64, 68, the axial progression 40 of the radial position of the face toothing of the external toothing 16 of the flexspline 4 is again constant. Due to different loads, the circular splines 6 and the dynamic splines 8 can be designed with different widths. The asymmetric embodiment allows for this possibility.

[0060] exist Figure 8 FIG. 4 shows a preferred fourth embodiment of the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4. Figure 5 In the embodiment shown in FIG. 4 , the axial course 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 runs nonlinearly in the axial direction in regions 64, 68 adjacent to the constant, radially decreasing region 44. The convex axial course 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 allows the local contact stresses on the tooth flanks to be further reduced. A convex course is more difficult to produce.

[0061] exist Fig. 9 FIG. 4 shows a preferred fifth embodiment of the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4. Figure 8 In the direction shown in the figure, this embodiment has additional setbacks (reduction of radial extension) on the end faces 70, 72 of the flexible spline 6. Due to these additional reduced areas, the increased stresses on the edges of the end faces of the teeth of the circular spline, dynamic spline and flexible spline can be reduced.

[0062] exist Fig.10 FIG. 4 shows a preferred fifth embodiment of the axial direction 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4. Figure 5In the embodiment shown in FIG. 4 , the axial direction 40 of the radial position of the face tooth shape of the external toothing 16 of the flexible spline 4 extends nonlinearly in the axial direction. The direction is concavely curved in the region 44 that decreases radially in the center. The concave direction of the axial direction of the radial position of the face tooth shape of the external toothing 16 of the flexible spline 4 can be produced more easily, but it is different from the convex embodiment ( Fig. 9 ) may result in more unfavorable local contact stresses on the tooth flanks.

[0063] The load on the tooth flanks is also more favorable in this embodiment than with the known axial course of the radial position of the face toothing of the external toothing 16 of the flexspline 4. Adjacent to the region 44, two regions 48, 52 are designed with a constant course of the axial course of the radial face toothing.

[0064] exist Fig.11 , a preferred sixth embodiment of the axial progression 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4 is shown. In this embodiment, the external toothing 16 is completely interrupted by the groove 62 in the central radially reduced region 44, thereby forming a first external toothing 82 and a second external toothing 84, which form the common external toothing 16 of the flexible spline 4. In the radially reduced region 44, the axial progression 40 of the radial position of the face toothing of the external toothing 16 of the flexible spline 4, which is interrupted by the groove 62 in the region of the center plane 34, is designed to be radially reduced.

[0065] exist Fig.12 2 shows a surface gear 2 in another preferred embodiment. The surface gear 2 has two rolling bearings 12, in which rolling bodies 14 are arranged respectively, and in the present embodiment, the rolling bodies are designed as rollers. Compared with balls, rollers are subject to higher loads.

[0066] Fig.13 Another flat transmission 2 is shown in a preferred embodiment. Fig.13 The surface gearing has a common ball rolling bearing 12 for the circular spline 6 and the dynamic spline 8 , wherein the common rolling elements 14 are designed as needle rollers.

[0067] Reference numerals list

[0068] 2-sided transmission

[0069] 4 Flexible splines

[0070] 6 Circular splines

[0071] 8 Dynamic splines

[0072] 10 wave generator

[0073] 12 Rolling bearings

[0074] 14 rolling elements

[0075] 16 External teeth

[0076] 20Inner teeth

[0077] 24 Internal teeth

[0078] 28 stoppers

[0079] 30 Central axis, transmission axis

[0080] 34 Flat surface between circular spline and dynamic spline

[0081] 40 The axial direction of the radial position of the end face tooth profile of the external tooth part of the flexible spline

[0082] 44 radially reduced area

[0083] 48, 52 area on the end side

[0084] 60 Pitch

[0085] 62 slots

[0086] Area 64, 68

[0087] 70, 72 side

[0088] 82 first external tooth portion

[0089] 84 second outer tooth

Claims

1. A surface transmission (2) in the form of a corrugated transmission, comprising a circular spline (6) with an internal toothing (20), a dynamic spline (8) with an internal toothing (24) axially adjacent to the circular spline, and a flexible flexspline (4) arranged inside the circular spline (6) and the dynamic spline (8) and having an external toothing (16), and a wave generator (10) arranged inside the flexspline (4) to deform the flexspline (4) in a radial direction, wherein: A positive locking connection for torque transmission is established between the circular spline (6) and the flexible spline (4) at two opposite positions of the flexible spline (4) and between the flexible spline (4) and the dynamic spline (8) at four positions on both sides of the contact with the circular spline (8). The invention is characterized in that the axial progression (40) of the radial position of the face toothing of the external toothing (16) of the flexspline (4) has a region (44) which is radially offset when viewed in the direction of the center axis (30) of the face gear (2).

2. The surface transmission device (2) according to claim 1, characterized in that: The maximum radial deviation of the radially decreasing region (44) in the direction of the center axis (30) is located in the region of the plane (34) between the circular spline (6) and the dynamic spline (8).

3. The surface transmission device (2) according to claim 1 or 2, characterized in that: The radially tapering region (44) is designed symmetrically or asymmetrically with respect to a plane between the circular spline and the dynamic spline (34).

4. The surface transmission device (2) according to any one of claims 1 to 3, characterized in that: The offset of the face toothing of the external toothing (16) of the flexspline (4) in the direction of the center axis (30) decreases linearly radially in the axial direction on both sides starting from the radially decreasing region (44) in the direction of the end side.

5. The surface transmission device (2) according to any one of claims 1 to 3, characterized in that: The axial course of the radially offset face toothing of the external toothing (16) of the flexspline (4) has a constant value in the region (48, 52) of one or both face sides (70, 72).

6. The surface transmission device (2) according to claim 1 and 2, characterized in that The radially offset axial course (40) of the face toothing of the external toothing (16) of the flexspline (4) has a convex shape in the radially decreasing region (44).

7. The surface transmission device (2) according to claim 1 and 2, characterized in that The radially offset axial course (40) of the face toothing of the external toothing (16) of the flexspline (4) has a concave shape in the radially decreasing region (44).

8. The surface transmission device (2) according to claim 1 and 2, characterized in that The face toothing of the external toothing (16) of the flexspline (4) is shifted in the direction of the center axis (30) in the region of one or both face sides (70, 72).

9. The surface transmission device (2) according to claim 1 or 2, characterized in that: The flexible spline (4) comprises two external tooth portions (82, 84) which are separated from each other by a groove (62).

10. The surface transmission device (2) according to any one of claims 1 to 9, comprising a rolling bearing (12) arranged radially inside the flexible spline (4), wherein: The rolling elements (14) of the rolling bearing (12) are designed as balls.

11. The surface transmission device (2) according to any one of claims 1 to 9, comprising a rolling bearing (12) arranged radially inside the flexible spline (4), wherein: The rolling elements (14) of the rolling bearing (12) are designed as rollers or needles.

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