Voltage wave gearbox

Abstract

The invention relates to a tension wave drive comprising a wave generator, a flex spline, a circular spline, and a rolling bearing device by means of which the circular spline or a component non-rotatably connected to the circular spline is rotatably mounted relative to the flex spline or relative to a component non-rotatably connected to the flex spline. The tension wave drive is characterized in that the rolling bearing device has a first roller bearing and a second roller bearing, each with the axes of rotation of the rollers oriented radially or at an angle to the radial direction of less than 20 degrees, and that the rolling bearing device has a third roller bearing with axially oriented axes of rotation of the rollers.

Description

[0001] The invention relates to a stress wave transmission comprising a wave generator, a flexspline and a circular spline and a rolling bearing device by means of which the circular spline or a component connected in a rotationally fixed manner to the circular spline is rotatably mounted relative to the flexspline or relative to a component connected in a rotationally fixed manner to the flexspline.

[0002] A stress wave transmission is often constructed with a rigid, internally toothed outer ring (circular spline) and a flexible, externally toothed inner ring (cup-shaped or cap-shaped flex spline). A wave generator, which usually has an elliptical drive core, is usually arranged in the space surrounded by the flex spline. The drive core is rotatably mounted relative to the flex spline by means of a flexible rolling bearing. The elliptical drive core bends the rolling bearing and the flex spline into an elliptical shape. This engages the teeth of the flex spline at each end of the ellipse's vertical axis with the teeth of the circular spline. The circular spline and the flex spline can be rotatably mounted relative to each other by means of a rolling bearing device.The stress wave gear can, for example, be used in a device having two supports rotatable relative to one another about a rotational axis, in such a way that the circular spline is arranged in a rotationally fixed manner on one support and the flex spline is arranged in a rotationally fixed manner on the other support, with the wave generator acting as the drive for the stress wave gear, which is driven to rotate by a motor attached to one of the supports. Forces and moments occurring during operation of the device, in particular tilting moments acting perpendicular to the rotational axis, must be supported by the rolling bearing device. The rolling bearing devices used in the prior art, such as crossed roller bearings or four-point contact bearings, are disadvantageously very complex to manufacture and therefore expensive, and sometimes still have to be designed very large to achieve sufficient rigidity.Crossed roller bearings in particular are usually very difficult to manufacture because the crossing rollers have to be inserted by hand through an opening in the rolling channel and / or because multi-part inner or outer rings have to be used.

[0003] It is therefore the object of the present invention to provide a stress wave transmission of the type mentioned at the outset which has a high rigidity while being easy to manufacture.

[0004] The object is achieved by a stress wave transmission, which is characterized in that the rolling bearing device has a first roller bearing and a second roller bearing, each with axes of rotation of the rolling rollers aligned radially or at an angle to the radial direction which is less than 20 degrees, and in that the rolling bearing device has a third roller bearing with axially aligned axes of rotation of the rolling rollers.

[0005] The stress wave transmission according to the invention has the very special advantage that, with a comparatively simple design, both radially acting and axially acting forces are supported, wherein the rolling bearing device of the stress wave transmission according to the invention particularly advantageously includes a comparatively simple and cost-effectively manufactured arrangement of roller bearings. With regard to ease of manufacture, the roller bearings can be realized in particular using machine-prefabricated components, each of which has a rolling element cage in which the rollers are held. During manufacture of the stress wave transmission according to the invention, these prefabricated components can be easily positioned, in particular by machine, between the components providing the respective running surfaces of the roller bearings; preferably such that they are ultimately arranged coaxially to one another.

[0006] The stress wave gear according to the invention has the very special advantage that even large tilting moments acting perpendicular to the center axis of the stress wave gear are safely and reliably supported, thereby achieving a high positioning accuracy of the components rotatably connected to one another via the stress wave gear according to the invention, largely independent of external forces and moments. The rotatably connected components can be, for example, two segments of a robot arm.

[0007] The axial direction is understood (unless otherwise stated in individual cases) to be a direction parallel to the transmission center axis of the stress wave transmission. The transmission center axis can, in particular, be the axis about which a drive core of the wave generator is rotatably mounted. Accordingly, for example, an axially aligned axis of rotation of a rolling roller is a rotation axis that is aligned parallel to the transmission center axis. The radial direction is understood to be any direction perpendicular to the transmission center axis. Accordingly, for example, a radially aligned axis of rotation of a rolling roller is a rotation axis that is aligned perpendicular to the transmission center axis.

[0008] In a particularly tilt-resistant design of the stress wave transmission according to the invention, the first roller bearing and the second roller bearing are arranged axially offset from one another. In particular, the first and second roller bearings can be of identical design. At least, it can advantageously be provided that the first and second roller bearings have the same diameter and / or identical rollers and / or identical rolling element cages.

[0009] However, it is not excluded that the first roller bearing and the second roller bearing differ from each other. For example, the rolling rollers of the first roller bearing may have a different length and / or diameter than the rolling rollers of the second roller bearing. Alternatively or additionally, the first roller bearing and the second roller bearing may differ from each other in terms of their diameter.

[0010] In a design that can be made particularly radially tilt-resistant, the third roller bearing is arranged axially at least partially between the first roller bearing and the second roller bearing. In this case, the rolling rollers and / or the axes of rotation of the third roller bearing can be arranged radially offset from the first roller bearing and / or the second roller bearing, which can be achieved by the third roller bearing having a different diameter than the first and the second roller bearing. In a design that can be made particularly radially compact, the rolling rollers and / or the axes of rotation of the third roller bearing are not arranged radially offset from the first roller bearing and / or the second roller bearing, which can be achieved in particular by the third roller bearing having the same diameter as the first and / or the second roller bearing.In particular, the third roller bearing can be arranged axially completely between the first roller bearing and the second roller bearing.

[0011] In a particularly stable design, the rolling rollers and / or the rotation axes of the third roller bearing are arranged radially offset from the first roller bearing and / or the second roller bearing. This can be achieved by the third roller bearing having a different, in particular smaller, diameter than the first and second roller bearings. For example, the rolling rollers and / or the rotation axes of the third roller bearing can advantageously be arranged radially further inward than the rolling rollers and / or the rotation axes of the first roller bearing and / or the second roller bearing.

[0012] Particularly high stability in the radial direction is achieved in a design in which the third roller bearing has a length in the axial direction that is greater than the axial distance between the first and the second roller bearing. Alternatively or additionally, it can advantageously be provided that the third roller bearing has a length in the axial direction that is greater than the axial distance between a running surface of the first roller bearing facing the second roller bearing and a running surface of the second roller bearing facing the first roller bearing. The term distance in this context refers to the length of the shortest axial connecting line between the aforementioned components. In particular, in such designs, the rolling rollers of the third roller bearing can advantageously be longer and / or have a larger diameter than the rolling rollers of the first and / or the second roller bearing.

[0013] The first roller bearing and / or the second roller bearing can have cylindrical rolling rollers. Alternatively, the rolling rollers of the first roller bearing and / or the second roller bearing can be frustoconical in shape to prevent slippage. The reason for this is that the radially outer end of a rolling roller has to cover a longer rolling distance when rolling than the radially inner end of the rolling roller. Slippage can be avoided by a frustoconical shape of the rolling rollers, with the required cone angle of the rolling rollers resulting, among other things, from their length in the direction of their axis of rotation and the length of the aforementioned, radially spaced rolling paths. In such rolling rollers, the outer diameter differs perpendicular to their axis of rotation, with the end radially outer in the roller bearing having the largest outer diameter and the end radially inner having the smallest outer diameter.

[0014] Each roller has a rolling section whose outer surface rolls on a raceway. Adjacent to the rolling section of each roller can be at least one section that does not roll on one of the raceways and therefore does not belong to the rolling section. For example, the ends of each roller can be rounded, in particular hemispherical, or conical or truncated cone-shaped and / or have a chamfer. It is also possible for the ends of the rollers to be pointed.

[0015] In a design in which the rolling rollers of the first roller bearing are frustoconical, one of the running surfaces of the first roller bearing can nevertheless be arranged in a plane perpendicular to the center axis of the stress wave transmission. Alternatively or additionally, in a design in which the rolling rollers of the second roller bearing are frustoconical, one of the running surfaces of the second roller bearing can be arranged in a plane perpendicular to the center axis of the stress wave transmission.

[0016] With a view to the advantageous use of identical parts, the stress wave transmission can be designed such that at least two of the roller bearings have identical rollers. These can be, for example, the rollers of the first and second roller bearings. It is also possible, in particular, for all roller bearings to have identical rollers.

[0017] In particular, it is also possible for the rollers of one of the roller bearings to be designed differently from the rollers of another of the roller bearings. For example, as already mentioned, it can advantageously be provided that the rollers of the third roller bearing differ from the rollers of the first and second roller bearings. In particular, the rollers of one of the roller bearings can differ from the rollers of another of the roller bearings in terms of their length and / or diameter and / or material.

[0018] As already mentioned, it can be particularly advantageous for at least one of the rolling bearings to have a rolling element cage. The rolling element cage can advantageously be designed in such a way that it keeps the rolling rollers at a distance from one another, so that they always remain evenly distributed and cannot rub against one another. Furthermore, the rolling element cage can advantageously be designed to secure the rolling rollers against falling out, thus forming, together with the rolling rollers, a structural unit that is easy to handle, particularly by machine.

[0019] The rolling element cage can advantageously be manufactured in one piece, for example, as a plastic injection-molded part. In particular, such a rolling element cage can be designed to accommodate the rolling rollers in a locking manner. Alternatively, it is also possible for the rolling element cage to be composed of several rolling element cage parts, whereby it can be particularly advantageous for the rolling element cage parts to be locked together.

[0020] In a particular embodiment, at least one of the roller bearings has at least one bearing ring, which has a running surface on which the rolling rollers of this roller bearing roll. The running surface is preferably ground and / or surface-hardened. In particular, several bearing rings can be provided, which provide the running surfaces on which the rolling rollers of the roller bearings roll. In particular, there can be one bearing ring that provides several running surfaces, on each of which the rolling rollers of different roller bearings roll.

[0021] In a special design, the bearing ring is made of a homogeneous material, particularly steel. Preferably, the bearing ring or several bearing rings have the same material hardness throughout.

[0022] The running surfaces of all roller bearings are preferably ground and / or surface hardened.

[0023] In a special design featuring multiple bearing rings, at least one bearing ring is made of a different material than another. This design has the distinct advantage that the roller bearing running surfaces subject to particularly high loads can be made of a particularly resilient material.

[0024] The stress wave transmission according to the invention can be particularly advantageously designed such that the rolling bearing device, apart from the rolling elements and optionally present rolling element cages and optionally present connecting means, consists exclusively of bearing rings. Such a design is particularly easy to assemble.

[0025] In general, the component connected to the circular spline in a rotationally fixed manner can also be configured to be a functional component of an assembly to which the stress wave transmission is or can be coupled. Alternatively or additionally, the component connected to the flex spline in a rotationally fixed manner can also be configured to be a functional component of an assembly to which the stress wave transmission is or can be coupled.

[0026] The component that is non-rotatably connected to the circular spline can be, for example, a housing or a housing component. For example, it can be the housing of an arm segment of a robot arm. A drive motor can also be arranged in the housing, for example, whose output shaft drives the drive core of the wave generator of the stress wave gear unit to rotate.

[0027] Alternatively, the component connected to the flexspline for rotation can be a housing or a housing component. For example, it could be the housing of an arm segment of a robot arm. A drive motor, for example, can also be arranged in the housing, whose output shaft drives the drive core of the wave generator of the stress wave gear unit to rotate.

[0028] It is also possible for the component non-rotatably connected to the circular spline to be a first housing or a first housing component, and for the component non-rotatably connected to the flex spline to be a second housing or a second housing component. For example, the component non-rotatably connected to the circular spline can be a first housing or a first housing component of a first arm segment of a robot arm, while the component non-rotatably connected to the flex spline can be a second housing or a second housing component of a second arm segment of the robot arm.

[0029] In particular, it is also possible for the component non-rotatably connected to the circular spline to be a housing of an arm segment of a robot arm, while the component non-rotatably connected to the flex spline to be a housing of another arm segment of the robot arm. The stress wave gear is part of an actuator with which the arm segments can be moved relative to each other. The drive motor of the actuator, which is connected upstream of the stress wave gear, can be arranged in one of the housings of the arm segments.

[0030] For example, it is generally also possible that the component that is non-rotatably connected to the circular spline is a support of an arm segment of a robot arm, while the component that is non-rotatably connected to the flex spline is another support of another arm segment of the robot arm, wherein the stress wave gear is part of an actuator with which the arm segments can be moved relative to each other.

[0031] The stress wave gear can be designed as a pot gear or as a hat gear.

[0032] In a special design, the stress wave gear is designed as a ring gear. In this case, it can advantageously be provided that the component connected to the flexspline in a rotationally fixed manner is a dynamic spline, which is connected to the flexspline in a rotationally fixed manner by its toothing, which has the same number of teeth as the toothing of the flexspline, meshing with the flexspline.

[0033] The stress wave transmission according to the invention can particularly advantageously be designed in a size in which the circular spline toothing has a tip diameter that is less than 200 mm, in particular less than 150 mm.

[0034] An actuator comprising a drive motor and a stress wave transmission according to the invention is particularly advantageous. In particular, the stress wave transmission can be connected downstream of the drive motor.

[0035] A robot, in particular an industrial robot, that includes at least one stress wave transmission according to the invention is particularly advantageous. In particular, the stress wave transmission according to the invention can be used in a robot joint. By using the stress wave transmission according to the invention, the robot joint can be designed for high loads, in particular tilting loads, whereby a long overall service life of the robot and a low failure rate of the robot are achieved due to the high wear resistance of the stress wave transmission according to the invention.

[0036] A chassis, in particular an active chassis, for a motor vehicle that has at least one stress wave transmission according to the invention is particularly advantageous. A particularly advantageous feature is that it enables effective and secure mounting of even highly stressed components while requiring minimal installation space. In particular, due to the high wear resistance of the stress wave transmission according to the invention, the maintenance costs of a vehicle can be significantly reduced.

[0037] A steering system, in particular a car steering system or a truck steering system, which has at least one stress wave transmission according to the invention is particularly advantageous. The steering system can, in particular, be a power steering system and / or a superimposed steering system.

[0038] The subject matter of the invention is illustrated schematically and by way of example in the drawing and is described below with reference to the figures, wherein identical or similarly acting elements are generally provided with the same reference numerals even in different embodiments. In the drawings: Fig. 1 a first embodiment of a stress wave transmission according to the invention, Fig. 2 a second embodiment of a stress wave transmission according to the invention, Fig. 3 a third embodiment of a stress wave transmission according to the invention, Fig. 4 a fourth embodiment of a stress wave transmission according to the invention, Fig. 5 a detailed view of a robot joint which includes an actuator with a stress wave transmission according to the invention according to the third embodiment, and Fig. 6 a fifth embodiment of a stress wave transmission according to the invention.

[0039] Fig. 1 shows a first embodiment of a stress wave transmission 1 according to the invention. The stress wave transmission 1 has a wave generator 2, a flexspline 3 and a circular spline 4 as well as a rolling bearing device 5, by means of which the circular spline 4 is rotatably mounted relative to the flexspline 3 via a component 6 which is connected in a rotationally fixed manner to the circular spline 4 and via a component 7 which is connected in a rotationally fixed manner to the flexspline 3.

[0040] The stress wave transmission 1 has a rigid, internally toothed outer ring, the circular spline 4, and a flexible, externally toothed inner ring, the flex spline 3, in a pot design. The wave generator 2, which has an oval drive core 8, is usually arranged in the space surrounded by the flex spline. The drive core 8 is rotatably mounted relative to the flex spline 3 by means of a flexible roller bearing 9. The oval drive core 8 bends the roller bearing 9 and the flex spline 3 into an oval shape. This engages the flex spline toothing 10 of the flex spline 3 at each end of the ellipse's vertical axis with the circular spline toothing 11 of the circular spline 4. The roller bearing device 5 mounts the circular spline 4 and the flex spline 3 so that they can rotate relative to one another in such a way that both radially acting and axially acting forces are supported.

[0041] The rolling bearing device 5 has a first roller bearing 12 and a second roller bearing 13, whose rolling rollers 14, 15 have radially aligned (perpendicular to the transmission center axis 31) rotational axes 16, 17. The rolling bearing device 5 also has a third roller bearing 18, whose rolling rollers 19 have axially aligned (parallel to the transmission center axis 31) rotational axes 20.

[0042] The first roller bearing 12 and the second roller bearing 13 are arranged axially offset from one another. The third roller bearing 18 is arranged axially between the first roller bearing 12 and the second roller bearing 13.

[0043] The component 6, which is connected in a rotationally fixed manner to the circular spline 4, is ring-shaped and has a plurality of running surfaces 21 of the roller bearings 12, 13, 18, while other running surfaces 30 of the roller bearings 12, 13, 18 are formed on the component 7 connected to the flex spline 3.

[0044] Fig. 2 shows a second embodiment of a stress wave transmission 1 according to the invention.

[0045] In this embodiment, the rolling rollers 19 and the rotation axes 20 of the third roller bearing 18 are arranged radially inwardly offset from the rolling rollers 14, 15 and the rotation axes 16, 17 of the first roller bearing 12 and the second roller bearing 13. The third roller bearing 18 is axially only partially arranged between the first roller bearing 12 and the second roller bearing 13.

[0046] In addition, the rolling rollers 19 of the third roller bearing 18 are longer than the rolling rollers 14, 15 of the first roller bearing 12 and the second roller bearing 13.

[0047] Fig. 3 shows a third embodiment of a stress wave transmission 1 according to the invention.

[0048] In this embodiment, the rollers 19 and the rotation axes 20 of the third roller bearing 18 are arranged radially inwardly offset from the rollers 14, 15 and the rotation axes 16, 17 of the rollers 14, 15 of the first roller bearing 12 and the second roller bearing 13. The third roller bearing 18 is axially only partially arranged between the first roller bearing 12 and the second roller bearing 13. Furthermore, the rollers 19 of the third roller bearing 18 are longer than the rollers 14, 15 of the first roller bearing 12 and the second roller bearing 13.

[0049] The component 6, which is connected in a rotationally fixed manner to the circular spline 4, is ring-shaped and has a T-shaped section in cross section, which has a plurality of running surfaces 21 of the roller bearings 12, 13, 18, while other running surfaces 30 of the roller bearings 12, 13, 18 are formed on the component 7 connected to the flex spline 3.

[0050] Fig. 4 shows a fourth embodiment of a stress wave transmission 1 according to the invention.

[0051] In this embodiment, the rolling rollers 14, 15 of the first roller bearing 12 and the second roller bearing 13 are frustoconical.

[0052] The component 6, which is connected to the circular spline 4 in a rotationally fixed manner, is also ring-shaped in this embodiment and has a T-shaped section in cross section, which has a plurality of running surfaces 21 of the roller bearings 12, 13, 18, while other running surfaces 30 of the roller bearings 12, 13, 18 are formed on the component 7 connected to the flex spline 3.

[0053] One of the running surfaces 21 of the first roller bearing 12 is arranged in a plane perpendicular to the gear center axis 31 of the stress wave gear 1. Likewise, one of the running surfaces 21 of the second roller bearing 13 is arranged in a plane perpendicular to the gear center axis 31 of the stress wave gear 1.

[0054] Fig. 5 shows a detailed view of a robot joint that includes an actuator 22 with a stress wave transmission 1 according to the invention according to the third embodiment.

[0055] A housing 23 (only partially shown) is connected to the circular spline 4 by means of screws 26. This housing is the housing of an arm segment of a robot arm. A drive motor 24 is arranged in the housing 23, the output shaft 25 of which drives the drive core 8 of the wave generator 2 of the stress wave transmission 1 to rotate. In particular, it can advantageously be provided that a stator of the drive motor 24 is supported on the housing 23, while the rotor is connected in a rotationally fixed manner to the output shaft 25.

[0056] The component 7, which is connected to the flexspline 3 in a rotationally fixed manner by means of screws 26, is a further housing 27, which is the housing 27 of a further arm segment of the robot arm.

[0057] By means of the actuator 22, the arm segments, which are connected to each other by means of the robot joint, can be moved relative to each other.

[0058] Fig. 6 shows a fifth embodiment of a stress wave transmission 1 according to the invention.

[0059] In this design, the stress wave gear 1 is designed as a ring gear. The component that is non-rotatably connected to the Flexspline 3 is a Dynamicspline 28, which is non-rotatably connected to the Flexspline 3 by its Dynamicspline toothing 29, which has the same number of teeth as the Flexspline toothing 10 of the Flexspline 3, meshing with the Flexspline 3.

[0060] In this embodiment, the rolling bearing device 5 is designed in the same way as in the third embodiment, although other designs of the rolling bearing device 5 are also possible. List of reference symbols: 1 stress wave gear 2 wave generators 3 Flexsplines 4 Circular splines 5 Rolling bearing device 6 component connected to the circular spline 4 7 component connected to the Flexspline 3 8 drive core 9 Flexible rolling bearing 10 Flexspline gearing 11 Circular spline gearing 12 First roller bearing 13 Second roller bearing 14 Rolling roller of the first roller bearing 15 Roller of the second roller bearing 16 rotation axes of the rolling rollers of the first roller bearing 17 rotation axes of the rolling rollers of the second roller bearing 18 Third roller bearing 19 Rolling roller of the third roller bearing 20 rotation axes of the rolling rollers of the third roller bearing 21 Tread 22 Actuator 23 housings 24 drive motor 25 Output shaft 26 Screw 27 Further housing 28 Dynamicspline 29 Dynamicspline gearing 30 Other tread 31 Gearbox center axis

Claims

[1] Stress wave transmission (1) comprising a wave generator (2), a flexspline (3) and a circular spline (4) and a rolling bearing device (5), by means of which the circular spline (4) or a component (7) connected in a rotationally fixed manner to the circular spline (4) is rotatably mounted relative to the flexspline (3) or relative to a component (6) connected in a rotationally fixed manner to the flexspline (3), characterized by that the rolling bearing device (5) has a first roller bearing (12) and a second roller bearing (13), each with axes of rotation (16, 17) of the rolling rollers (14, 15) aligned radially or at an angle to the radial direction which is less than 20 degrees, and that the rolling bearing device (5) has a third roller bearing (18) with axially aligned axes of rotation (20) of the rolling rollers (19). [2] Stress wave transmission (1) according to claim 1, characterized by , that a. the first roller bearing (12) and the second roller bearing (13) are arranged axially offset from one another, and / or that b. the third roller bearing (18) is arranged at least partially, in particular completely, axially between the first roller bearing (12) and the second roller bearing (13), and / or that c. the rollers and / or the rotation axes of the third roller bearing (18) are arranged radially offset from the first roller bearing (12) and / or the second roller bearing (13), and / or that d. the third roller bearing (18) has a length in the axial direction which is greater than the axial distance between the first and the second roller bearing (13) and / or the third roller bearing (18) has a length in the axial direction which is greater than the axial distance between a running surface of the first roller bearing (13) facing the second roller bearing (13) and a running surface of the second roller bearing (13) facing the first roller bearing (12), and / or that e. the first roller bearing (12) and / or the second roller bearing (13) have cylindrical rollers or frustoconical rollers, and / or that f. the third roller bearing (18) has cylindrical rollers, and / or that g. at least two of the roller bearings (12, 13, 18) have identical roller rollers, and / or that h. the rollers of one of the roller bearings (12, 13, 18) are designed differently from the rollers of another of the roller bearings (12, 13, 18), and / or that i. the rolling rollers of one of the roller bearings (12, 13, 18) have a different diameter than the rolling rollers of another of the roller bearings (12, 13, 18). [3] Stress wave transmission (1) according to claim 1 or 2, characterized by , that a. at least one of the rolling bearings (12, 13, 18) has a rolling element cage, or that b. at least one of the rolling bearings (12, 13, 18) has a rolling element cage, wherein the rolling rollers are held in the rolling element cage in a manner secured against falling out, or that c. at least one of the rolling bearings (12, 13, 18) has a rolling element cage which is manufactured in one piece, or that d. at least one of the rolling bearings (12, 13, 18) has a rolling element cage which is composed of several rolling element cage parts, or that e. at least one of the rolling bearings (12, 13, 18) has a rolling element cage which is composed of several rolling element cage parts which are locked together. [4] Stress wave transmission (1) according to one of claims 1 to 3, characterized by , that a. at least one, preferably each, of the roller bearings (12, 13, 18) has at least one bearing ring which has a running surface on which the rollers roll, or that b. at least one, preferably each, of the roller bearings (12, 13, 18) has at least one bearing ring which has a running surface on which the rollers roll, wherein the running surface (21) is ground and / or surface-hardened, or that c. at least one, preferably each, of the roller bearings (12, 13, 18) has at least one bearing ring which has a running surface on which the rollers roll, wherein the bearing ring is made of a homogeneous material, in particular of steel, or that d. at least one, preferably each, of the roller bearings (12, 13, 18) has at least one bearing ring which has a running surface on which the rollers roll, wherein the bearing ring has the same material hardness throughout and / or that several bearing rings have the same material hardness, or that e. at least one, preferably each, of the roller bearings (12, 13, 18) has at least one bearing ring which has a running surface on which the rolling rollers roll, wherein at least one bearing ring is made of a different material than another bearing ring. [5] Stress wave transmission (1) according to one of claims 1 to 4, characterized by , that a. the component connected to the circular spline (4) in a rotationally fixed manner is a housing or a housing component, or that the component connected to the flex spline (3) in a rotationally fixed manner is a housing or a housing component, or that b. the component connected in a rotationally fixed manner to the circular spline (4) is a first housing or a first housing component and that the component connected in a rotationally fixed manner to the flex spline (3) is a second housing or a second housing component. [6] Stress wave transmission (1) according to one of claims 1 to 5, characterized by , that a. the component connected to the circular spline (4) in a rotationally fixed manner is designed to additionally be a functional component of an assembly to which the stress wave transmission (1) is coupled or can be coupled and / or that the component connected to the flex spline (3) in a rotationally fixed manner is designed to additionally be a functional component of an assembly to which the stress wave transmission (1) is coupled or can be coupled, and / or that b. the circular spline toothing (11) has a tip diameter which is less than 200 mm, in particular less than 150 mm, and / or that c. the rolling bearing device (5) consists exclusively of the bearing rings apart from the rolling elements and optionally present rolling element cages and optionally present connecting means. [7] Stress wave transmission (1) according to one of claims 1 to 6, characterized by , that a. the stress wave gear (1) is designed as a pot gear or as a hat gear, or that b. the stress wave gear (1) is designed as a ring gear and that the component connected in a rotationally fixed manner to the flexspline (3) is a dynamicspline (28) with a dynamicspline toothing (29), which is connected in a rotationally fixed manner to the flexspline (3) in that the dynamicspline toothing (29) is in tooth engagement with the flexspline (3). [8] Actuator (22) comprising a drive motor and a stress wave transmission (1) according to one of claims 1 to 7, wherein the stress wave transmission (1) is preferably connected downstream of the drive motor (24) in terms of drive technology. [9] Robot joint comprising at least one stress wave transmission (1) according to one of claims 1 to 7 or an actuator (22) according to claim 8, or robot comprising at least one stress wave transmission (1) according to one of claims 1 to 7 or an actuator (22) according to claim 8. [10] Chassis, in particular active chassis for a motor vehicle, which has at least one stress wave transmission (1) according to one of claims 1 to 7 or an actuator (22) according to claim 8, or steering, in particular car steering or truck steering, which has at least one stress wave transmission (1) according to one of claims 1 to 7 or an actuator (22) according to claim 8, wherein the steering can be designed in particular as a power steering and / or as a superposition steering.

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