Drive device for a robot and robots with at least one such drive device

Abstract

Drive device (1) for a robot, comprising at least one magnetic hub motor (2a) and a magnetic flux shield (8) configured to at least partially accommodate the respective magnetic hub motor (2a), the respective magnetic hub motor (2a) comprising a stator (3a) and a rotor (4) rotatably arranged relative thereto, wherein the stator (3a) has a stator core (5) with several stator teeth (6) aligned parallel to a longitudinal direction of the stator core (5) and arranged at least partially circumferentially around the respective stator core (5), wherein the rotor (4) has a plurality of magnetic elements (7) arranged at least partially around the stator (3a), and wherein the magnetic flux shield (8) is partially open in the circumferential direction to allow interaction of the magnetic elements (7) with a magnetic surface, wherein the robot is configured toat least in the area of ​​the opening (18) of the magnetic flux shield (8) to adhere magnetically to the magnetic surface.

Description

[0001] The invention relates to a drive device for a robot. Furthermore, the invention relates to a robot with at least one such drive device.

[0002] For example, German patent DE 10 212 964 A1 discloses a climbing robot for movement on smooth surfaces, featuring a tracked drive suspended from a support frame. The tracked drive incorporates adhesive materials for adhesion to the surface on at least one continuous transport element guided by a front and a rear deflection element. The tracked drive is rotatably mounted in the support frame about an axis running at least approximately perpendicular to the surface and is rotatable by a rotary drive. This climbing robot allows for simple changes of direction on vertical, smooth surfaces without increasing the risk of the robot detaching from the surface during the change of direction.

[0003] US 2002 10 024 267 A1 describes a drive device for a robot, comprising at least one magnetic hub motor, the respective magnetic hub motor having a stator and a rotor rotatably arranged relative to it, wherein the stator has a stator core with several stator teeth aligned parallel to a longitudinal direction of the stator core and arranged at least partially circumferentially around the respective stator core, wherein the rotor has a plurality of magnetic elements arranged at least partially around the stator.

[0004] CN 2 09 737 599 U describes a drive device for a robot, comprising at least one magnetic hub motor and a magnetic flux shield in the form of a controllable magnetic coil, which is designed to at least partially accommodate the respective magnetic hub motor, the respective magnetic hub motor having a stator and a rotor rotatably arranged relative thereto, and a wheel with a permanent magnet element, wherein the magnetic flux shield is designed to control an interaction of the permanent magnet element with a magnetic surface, wherein the robot is configured to adhere magnetically to the magnetic surface.

[0005] WO 2019 / 137 271 A2 describes a drive device for a vehicle, comprising at least one magnetic hub motor, the respective magnetic hub motor having a stator and a rotor rotatably arranged relative to it, wherein the stator has a stator core with several stator teeth aligned parallel to a longitudinal direction of the stator core and arranged at least partially circumferentially around the respective stator core, wherein the rotor has a plurality of magnetic elements arranged at least partially around the stator.

[0006] The object of the present invention is to further develop a drive device for a robot in such a way as to improve the robot's adhesion while simultaneously achieving a resource-efficient design. This object is achieved by the subject matter of independent claim 1. Preferred embodiments are described in the dependent claims.

[0007] A drive device according to the invention for a robot comprises at least one magnetic hub motor and a magnetic flux shield configured to at least partially accommodate the respective magnetic hub motor, the respective magnetic hub motor comprising a stator and a rotor rotatably arranged relative thereto, wherein the stator has a stator core with several stator teeth aligned parallel to a longitudinal direction of the stator core and arranged at least partially circumferentially around the respective stator core, wherein the rotor has a plurality of magnetic elements arranged at least partially around the stator, and wherein the magnetic flux shield is partially open in the circumferential direction to allow interaction of the magnetic elements with a magnetic surface, wherein the robot adheres magnetically to the magnetic surface at least in the region of the opening of the magnetic flux shield.

[0008] The drive device is essentially designed as an external rotor brushless DC motor (BLDC). The rotor, with its magnetic elements arranged at least partially around the stator, fulfills several functions. Firstly, the interaction of the magnetic elements with a coil formed on the stator provides rotary drive for the rotor. Secondly, the opening in the magnetic flux shield allows for direct or, depending on the design and arrangement of the magnetic elements, indirect adhesion of the magnetic elements to the magnetic surface. In other words, the same set of magnetic elements enables both wall adhesion (magnetic adhesion) of the drive device to the magnetic surface and the propulsion of the robot. This significantly reduces the overall weight of the drive device.This reduces the number of required magnetic elements, thereby conserving resources, especially rare-earth magnets. Consequently, the drive system becomes more efficient and cost-effective. Furthermore, a low level of redundancy is achieved within the drive system.

[0009] The magnetic elements are preferably designed as permanent magnets. The magnetic elements can be completely magnetic. Alternatively, they can be made of a magnetic alloy. Furthermore, the magnetic elements are preferably arranged substantially parallel to the stator teeth. An angled arrangement relative to the stator teeth is also conceivable, depending on the design of the drive device.

[0010] The magnetic surface that interacts with the magnetic elements is, for example, a magnetic wall with a substantially smooth surface that is partially inclined or substantially vertical. Alternatively, the magnetic surface could be a magnetic coating or similar arrangement on a substantially non-magnetic wall. The wall is, in particular, made of an iron-containing metal.

[0011] The magnetic flux shield is preferably fixed to the stator core and allows unimpeded rotation of the rotor around the stator. A bolt or screw connection can be provided between the magnetic flux shield and the stator core for this purpose. The opening of the magnetic flux shield is preferably located on the side where the magnetic surface is present. Furthermore, the opening is large enough that at least one, preferably several, magnetic elements adhere to the magnetic surface, at least indirectly. Having several magnetic elements adhere to the magnetic surface increases the operational reliability of the drive device and thus of the robot. The magnetic flux shield is designed to prevent unwanted escape of magnetic flux from its interior.Only in the area of ​​the opening is a protrusion desired in order to ensure an interaction of the magnetic elements with the magnetic surface and thus a sufficient adhesive effect of the drive device.

[0012] The stator, consisting at least of the stator core and the stator teeth molded onto it, has at least one magnet coil with turns or windings or components suitable for generating a magnetic field. The coil is energized, thereby generating the magnetic field as a result of alternating electromagnetic flux, causing the rotor to move relative to the stator due to the interacting magnetic elements. The stator core also acts as a frame on which the components of the drive device are arranged.

[0013] The rotor is preferably rotatably mounted relative to the respective stator core by means of at least one bearing element. Furthermore, the rotor is preferably rotatably mounted relative to the respective stator core by means of at least two bearing elements to ensure smoother running and more even power distribution.

[0014] Furthermore, the drive device preferably comprises at least one mounting bolt that passes through the stator core and is designed to attach the respective magnetic hub motor to the robot. In other words, the stator core is attached to the robot, particularly to the robot's chassis, by means of at least one mounting bolt that axially penetrates the stator core. For this purpose, the respective mounting bolt can have a screw thread that can be screwed into a complementary thread on the robot's chassis. The mounting bolt is specifically designed to support the robot's own weight as well as any payloads.

[0015] In one embodiment, the rotor comprises a first motor bell and a second motor bell, with the magnetic elements arranged axially between the two motor bells. The motor bells define the installation space of the drive device axially in the direction of the respective magnetic hub motor. Furthermore, the motor bells are part of the rotor and are rotationally fixed to the rotor components, with at least one bearing element preferably arranged on each motor bell to mount the rotor concentrically to the stator for rotation. The motor bells also hold the rotor's magnetic elements in their axial and radial positions, parallel to the longitudinal axis of the respective magnetic hub motor.

[0016] Preferably, the first motor bell has a substantially radial radial section and a substantially axial axial section, the axial section being arranged radially between the magnetic elements and the magnetic flux shield. Thus, the magnetic elements are arranged axially between the radial section of the first motor bell and the substantially radial second motor bell. The outer radial surfaces of the magnetic elements bear at least partially against the axial section of the first motor bell. The axial section is preferably made of a thin-walled, non-magnetic sheet to allow magnetic flux from the magnetic elements to the outside. Furthermore, at least the first motor bell can be made of a wear-resistant material. In this case, the magnetic elements do not come into direct contact with the magnetic surface.Rather, the first motor bell is pressed against the magnetic surface by the magnetic elements located radially inside the first motor bell.

[0017] A circumferential gap is formed radially between the magnetic flux shield and the axial section of the first motor bell so that the rotor can rotate freely relative to the stator and the magnetic flux shield.

[0018] According to a further embodiment, two axially parallel magnetic hub motors with two stators and a common rotor are provided, wherein each magnetic element is received in a chain shoe, wherein a plurality of chain shoes, each receiving a magnetic element, are connected to form a closed rotor chain which is guided around the two stators of the magnetic hub motors, wherein the rotor chain is in engagement with at least one pinion rotatably mounted on the stator core via the respective bearing element.

[0019] In this case, the drive device is designed as a motorized track assembly of a brushless DC motor configured as an external rotor. The rotor chain is designed as a continuous chain and runs as an extended rotor around the two stators. The operation of the rotor chain essentially corresponds to the operation of the rotor according to the previously described embodiment, whereby the two stators, or rather the magnetic coils arranged on each stator, can generate a higher drive torque according to this embodiment. A corresponding magnetic field is generated at each stator, which sets the rotor chain into rotation.

[0020] Since the magnetic elements are arranged in the chain shoes, which in turn are articulated to form the rotor chain, the motor bells for axially securing the magnetic elements are unnecessary. Consequently, during operation, the radially outer walls of the chain shoes are pressed against the magnetic surface by the magnetic elements arranged within the chain shoes.

[0021] The respective pinion ensures that the rotor chain is guided evenly around the stator and that a uniform rotational speed of the rotor chain around the stator is achieved. Preferably, at least two pinions are provided on each stator core to achieve an even load distribution. Alternatively, the rotor chain can be designed as a closed band, with the magnetic elements attached to the band, at least indirectly, to interact with the stator. Furthermore, the rotor chain can alternatively be designed as a type of wrap-around drive or traction drive. The traction element is, for example, a toothed belt that is positively connected to the respective pinion. In both alternative embodiments, the respective pinion is designed to ensure reliable and uniform guidance of the rotor chain around the stator.In particular, the pinion is positively and / or frictionally connected to the respective belt or traction element.

[0022] Preferably, at least one retaining ring is provided that axially secures the respective pinion relative to the stator core. With only one pinion, a retaining ring is provided that holds the pinion in its axial position relative to the stator core. If two or more pinions are provided, each pinion is axially secured by a respective retaining ring or similar locking element. The retaining ring can be seated in a groove on the pinion.

[0023] In a further embodiment, at least one guide roller is arranged axially parallel to the two stators to deflect the rotor chain in such a way as to increase the winding of the respective pinion. Preferably, two guide rollers are arranged axially parallel to the two stators to deflect the rotor chain in such a way that each pinion of the respective stator engages with the rotor chain by at least two-thirds of its circumference. In other words, the guide roller(s) is / are arranged spatially between and parallel to the two stators and deflects the rotor chain. In this case, the rotor chain is longer than in the embodiment without a guide roller(s). The respective guide roller can be rotatably mounted on the robot's chassis.Furthermore, the respective track support roller can be fixedly arranged on the robot's chassis and may include rotatably arranged roller or sliding elements on it, by which the rotor chain is guided or deflected.

[0024] Without the guide roller(s), the rotor chain only engages about half of the respective pinion, meaning that each stator is also surrounded by the rotor chain by approximately half its circumference. The guide roller(s) extend the rotor chain over a larger circumference, specifically at least two-thirds of the circumference of the respective stator or pinion, thereby generating greater drive power.

[0025] To reduce the weight and cost while simultaneously increasing the efficiency of the drive device, the stator teeth are arranged on a section of the stator core where the rotor chain engages with the respective pinion. In other words, in the embodiment without guide rollers, approximately half the circumference of each stator core is fitted with stator teeth, while the other half of the circumference of each stator core is therefore free of stator teeth. In the embodiment with at least one guide roller, approximately two-thirds, preferably three-quarters, of the circumference of each stator core is fitted with stator teeth, while approximately one-third, preferably one-quarter, of the circumference of each stator core is free of stator teeth. In other words, the circumferential regions of each stator core do not have stator teeth with magnetic coils or windings.Windings where the rotor chain does not interact with the stator.

[0026] A robot according to the invention comprises at least one drive device of the type described above. This allows the robot to be configured, in particular, as a climbing robot that can be moved along substantially vertical and substantially smooth magnetic surfaces by means of the respective drive device. The robot can have one or more drive devices, wherein the drive device(s) can be arranged arbitrarily on the robot's chassis by means of the respective mounting bolt(s). The greater the number of drive devices on the robot, the more stable and secure the robot's movement along the magnetic surface. Furthermore, the adhesive effect is increased by increasing the number of drive devices.By means of the drive device, the robot is thus able to move along an inclined, in particular essentially vertical, magnetic wall, since the robot adheres to the wall or the magnetic surface via the drive device or, if several drive devices are provided on the robot, via the several drive devices.

[0027] The robot can be detached from the respective magnetic surface by moving the respective drive device up onto at least one wedge-shaped, non-magnetic ramp, so that the distance between the magnetic elements of the rotor and the magnetic surface is continuously increased, thereby reducing the adhesive effect and allowing the robot to be removed from the magnetic surface.

[0028] Further measures improving the invention are described in more detail below, together with a description of three preferred embodiments of the invention, with reference to the figures, wherein identical or similar components are provided with the same reference numeral. Fig. 1 a schematic perspective view of a drive device according to the invention for a robot according to a first embodiment, Fig. 2 a schematic perspective view of a rotor of the drive device according to the invention Fig. 1, Fig. 3 a schematic perspective view of a stator of the drive device according to the invention Fig. 1, Fig. 4 a schematic longitudinal sectional view of the drive device according to the invention Fig. 1, Fig. 5 a schematic perspective view of the drive device according to the invention in a second embodiment, Fig. 6 a schematic perspective view of a rotor assembly of the drive device according to the invention Fig. 5, Fig. 7 a schematic perspective view of a stator assembly of the drive device according to the invention Fig. 5, Fig. 8 a schematic longitudinal sectional view of the drive device according to the invention Fig. 5, Fig. 9 a schematic perspective view of the drive device according to the invention in a third embodiment, and Fig. 10 a schematic perspective view of a stator assembly of the drive device according to the invention Fig. 9.

[0029] The Fig. Figures 1 to 4 show a drive device 1 for a robot - not shown here - according to a first embodiment. Fig. 1 and Fig. Figure 4 shows the drive device 1 in an assembled state. Fig. Figure 2 shows a stator assembly 21, which comprises exclusively those components that are fixedly arranged on a chassis of the robot (not shown here). Fig. Figure 3 shows a rotor assembly 20, comprising those components that can move relative to the stator assembly 21. The drive device 1 comprises a magnetic hub motor 2a and a magnetic flux shield 8, wherein the magnetic flux shield 8 spatially confines the magnetic hub motor 2a and prevents the escape of magnetic flux. Thus, the magnetic flux shield 8 accommodates the magnetic hub motor 2a. The magnetic hub motor 2a has, as shown in particular in Fig. Figure 4 shows a stator 3a and a rotor 4 rotatably arranged relative to it, the stator 3a having a stator core 5 with several stator teeth 6. The stator teeth 6 are aligned parallel to the longitudinal axis of the stator core 5 and arranged in a star shape around the circumference of the stator core 5. In other words, the stator teeth 6 are spaced apart from each other and distributed over the entire circumference of the stator core 5. This is particularly evident in Fig. 2 clearly visible.

[0030] After Fig. 3 and Fig. The rotor 4 has a plurality of permanent magnets arranged around the stator 3a and aligned parallel to the stator teeth 6. The magnets 7 are arranged axially between a radial section 10a of a first motor bell 10 and a second motor bell 11. In the radial direction, the magnets 7 are arranged on a thin-walled axial section 10b of the first motor bell 10, which is integrally connected to the radial section 10a, such that the magnets 7 are received by the motor bells 10 and 11 on both axial sides and on the radially outer side. A circumferential gap is provided radially within the magnets 7 between the magnets 7 and the stator teeth 6, so that the rotor 4, in this example comprising the magnets 7 and the motor bells 10 and 11, can rotate relative to the stator 3a.The first motor bell 10 is rotatably mounted relative to a mounting bolt 14 via a first bearing element 9a. This bolt extends axially through the stator core 5 and is designed to attach the respective magnetic hub motor 2a to the robot. The second motor bell 11 is rotatably mounted relative to the stator core 5 via a second bearing element 9b. The bearing elements 9a and 9b are axially secured by a second locking element 22, which is partially radially received and axially supported in a respective circumferential second groove 23 on the stator core 5.

[0031] After Fig. 2 and Fig. In Figure 4, the magnetic flux shield 8 has a partially circumferential opening 18 to allow the magnetic elements 7 to interact with a magnetic surface (not shown here). The axial section 10b, which radially accommodates the magnetic elements 7, is made of a material that does not, or only minimally, affect the interaction of the magnetic elements 7 with the magnetic surface. Due to this interaction, the drive device 1 can magnetically adhere to the magnetic surface, enabling the robot, as a climbing robot, to traverse both inclined and essentially vertical, smooth magnetic surfaces. Furthermore, both the adhesive effect of the drive device on the magnetic surface and the drive of the robot are realized using the same set of magnetic elements 7. These advantages apply equally to all embodiments.

[0032] The Fig. Figures 5 to 8 show a second embodiment of the drive device 1, wherein the Fig. 5 and Fig. 8. Show the drive device 1 in its assembled state. Fig. Figure 6 shows a stator assembly 21, which comprises only those components that are fixedly mounted on the robot's chassis. Fig. Figure 7 shows a rotor assembly 20, comprising those components that can move relative to the stator assembly 21. Fig. Figure 8 shows the first magnetic hub motor 2a. The drive device 1 comprises two magnetic hub motors 2a, 2b, whose longitudinal axes are arranged parallel and spaced apart from each other. The two magnetic hub motors 2a, 2b are arranged in a common magnetic flux shield 8. Each magnetic hub motor 2a, 2b has a stator 3a, 3b, the stators 3a, 3b being operatively connected to a rotor 4 designed as a closed rotor chain 13.

[0033] The rotor chain 13 has a plurality of chain shoes 12 articulatedly coupled to one another, each chain shoe 12 receiving a respective magnetic element 7, such that the magnetic elements 7 are arranged at a distance from one another. The rotor chain 13 is thus guided around the two stators 3a, 3b of the magnetic hub motors 2a, 2b.

[0034] In place of the engine bells 10, 11 according to the Fig. 1 to 4 each motor arrangement 2a, 2b of the drive device 1 according to the Fig. 5 to 8 two pinions 16 which mesh with the rotor chain 13. Each pinion 16 is rotatably mounted relative to the stator core 5 via a respective bearing element 9a, 9b, so that the rotor chain 13 is guided uniformly around the two stators 3a, 3b at a constant speed by the pinions 16. The pinions 16 are secured in their axial position relative to the stator core 5 by a respective first retaining ring 15, the first retaining rings 15 being radially received in a circumferential first groove 19 on the pinion 16 and axially supported.

[0035] To reduce the weight and redundancy while simultaneously increasing the efficiency of the drive device 1, the stator teeth 6 of the respective stators 3a, 3b are arranged on a circumferential region of the stator core 5 where the rotor chain 13 engages with the respective pinion 16. In other words, the rotor chain 13 is only engaged with the respective pinion 16 over approximately half of its circumference. Fig. Figure 6 clearly shows this: the stator teeth 6 of the first stator 3a are arranged on the circumferential half of the respective stator core 5 facing away from the second magnet hub motor 2b. The other circumferential half is not equipped with stator teeth 6, as no interaction between the stator teeth 6 and the magnetic elements 7 of the rotor chain 13 is possible there. In contrast, the stator teeth 6 of the second stator 3b are arranged on the circumferential half of the respective stator core 5 facing away from the first magnet hub motor 2a. This increases the motorized torque, the efficiency, and the performance of the drive device 1.

[0036] In this embodiment, the magnetic flux shield 8 also has an opening 18 that extends substantially along one of the longitudinal sides of the magnetic flux shield 8 to allow interaction of the magnetic elements 7 of the rotor chain 13 with a magnetic surface (not shown here). The chain shoes 12 are made of a material that does not, or only minimally, affect the interaction of the magnetic elements 7 with the magnetic surface.

[0037] The drive device 1 according to the Fig. 9 and Fig. 10 is essentially identical to the second embodiment according to the Fig. 5 to 8. The differences consist essentially in the fact that two guide rollers 17a, 17b are arranged axially parallel to each other and to the motor assemblies 2a, 2b between the two stators 3a, 3b. Each guide roller 17a, 17b is arranged such that the rotor chain 13 is deflected in such a way that a winding of the respective pinion 16 and thus of the stator core 5 is achieved, in comparison to the embodiment according to the Fig. 5 to 8 is enlarged.

[0038] In this case, the stator teeth 6 of the respective stator 3a, 3b are arranged on such a circumferential region of the stator core 5 where the rotor chain 13 engages with the respective pinion 16. Due to the deflection of the rotor chain 13, it is in tooth engagement with the respective pinion 16 for approximately three-quarters of its circumference. Fig. Figure 10 clearly shows this. Only in that area of ​​the circumference of the respective stator 3a, 3b, where there is no interaction between the stator 3a, 3b and the rotor 4 or the rotor chain 13, are no stator teeth 6 arranged on the stator core 5. This un-equipped circumferential area therefore corresponds to approximately one quarter of the total circumference of the stator core 5. Such a design of the drive device 1 has the advantage that the motorized torque, the efficiency, and the performance of the drive device 1 are significantly improved compared to the embodiment according to the Fig. 5 to 8 are additionally increased. Furthermore, the shape of the magnetic flux shield 8 is adapted to the shape of the deflected rotor chain 13 in order to further save installation space. Reference symbol list 1 Drive device 2a, 2b Magnetic hub motor 3a, 3b Stator 4 Rotor 5 Stator core 6 Stator tooth 7 Magnetic element 8 Magnetic flux shielding 9a, 9b Bearing element 10 First engine bell 10a Radial section 10b Axial section 11 Second engine bell 12 chain shoe 13 Rotor chain 14 fastening bolts 15 First retaining ring 16 sprockets 17a, 17b Track support roller 18 Opening the magnetic flux shield 19 First groove on the pinion 20 Rotor assembly 21 Stator assembly 22 Second retaining ring 23 Second slot on the stator core

Claims

[1] Drive device (1) for a robot, comprising at least one magnetic hub motor (2a) and a magnetic flux shield (8) configured to at least partially accommodate the respective magnetic hub motor (2a), the respective magnetic hub motor (2a) comprising a stator (3a) and a rotor (4) rotatably arranged relative thereto, wherein the stator (3a) has a stator core (5) with several stator teeth (6) aligned parallel to a longitudinal direction of the stator core (5) and arranged at least partially circumferentially around the respective stator core (5), wherein the rotor (4) has a plurality of magnetic elements (7) arranged at least partially around the stator (3a), and wherein the magnetic flux shield (8) is partially open in the circumferential direction to allow interaction of the magnetic elements (7) with a magnetic surface, wherein the robot is configured toat least in the area of ​​the opening (18) of the magnetic flux shield (8) to adhere magnetically to the magnetic surface. [2] Drive device (1) according to claim 1, characterized by , that the rotor (4) is rotatably mounted relative to the respective stator core (5) by means of at least one bearing element (9a). [3] Drive device (1) according to one of the preceding claims, characterized by at least one fastening bolt (14) which passes through the stator core (5) and is designed to fasten the respective magnetic hub motor (2a) to the robot. [4] Drive device (1) according to one of the preceding claims, characterized by , that the rotor (4) further comprises a first motor bell (10) and a second motor bell (11), wherein the magnetic elements (7) are arranged in the axial direction of the rotor (4) between the two motor bells (10, 11). [5] Drive device (1) according to claim 4 characterized by, that the first motor bell (10) has a substantially radial radial section (10a) and a substantially axial axial section (10b), wherein the axial section (10a) is arranged in a radial direction between the magnetic elements (7) and the magnetic flux shield (8). [6] Drive device (1) according to one of claims 1 to 3, characterized by two axially parallel magnetic hub motors (2a, 2b) with two stators (3a, 3b) and a common rotor (4), wherein each magnetic element (7) is received in a chain shoe (12), wherein a plurality of chain shoes (12) each receiving a magnetic element (7) are connected to form a closed rotor chain (13) which is guided around the two stators (3a, 3b) of the magnetic hub motors (2a, 2b), wherein the rotor chain (13) is in engagement with at least one pinion (16) rotatably mounted on the stator core (5) via the respective bearing element (9a). [7] Drive device (1) according to claim 6, characterized by at least one retaining ring (15) which axially secures the respective pinion (16) relative to the stator core (5). [8] Drive device (1) according to one of claims 6 or 7, characterized by , that at least one guide support roller (17a) is arranged axially parallel to the two stators (3a, 3b) in order to deflect the rotor chain (13) in such a way that one winding of the respective pinion (16) is increased. [9] Drive device (1) according to any one of claims 6 to 8, characterized by , that the stator teeth (6) are arranged on a shell area of ​​the stator core (5) where the rotor chain (12) engages with the respective pinion (16). [10] Robot comprising at least one drive device (1) according to any one of claims 1 to 9.

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