Hat-shaped flexspline for a stress wave transmission

Abstract

Hat-shaped flexspline for a stress wave transmission comprising: a. a cylinder section with external teeth, b. a rim having a connecting portion, a diaphragm portion, and a first transition portion having at least one curved outer surface and connecting the connecting portion to the diaphragm portion, c. a second transition section having at least one curved outer surface and connecting the cylinder section to the rim, characterized in that d. the diaphragm section has a first diaphragm end section which is directly adjacent to the first transition section and a second diaphragm end section which is directly adjacent to the second transition section, wherein a diaphragm middle section is arranged between the first diaphragma end section and the second diaphragma end section, which middle section has a greater axial thickness than the first diaphragma end section and / or the second diaphragma end section.

Description

[0001] The invention relates to a hat-shaped flexspline for a stress wave transmission comprising: a. a cylinder section with external teeth, b. a rim having a connecting portion, a diaphragm portion, and a first transition portion having at least one curved outer surface and connecting the connecting portion to the diaphragm portion, c. a second transition portion having at least one curved outer surface and connecting the cylinder portion to the rim.

[0002] From CN 218408404 U a hat-shaped flexspline is known which has several relief grooves in the brim and in the cylinder section.

[0003] US 11 668 384 B2 discloses a stress wave transmission with a hat-shaped flexspline. In the hat-shaped flexspline, the ratio of the axial length of the cylindrical section to the radial width of the diaphragm section is in the range of 1 to 5, and the ratio of the axial thickness of the radially inner end of the diaphragm section to the axial thickness of the radially outer end of the diaphragm section is in the range of 0.83 to 0.98.

[0004] EP 3 550 178 B1 discloses a stress wave transmission with a hat-shaped flexspline. In the hat-shaped flexspline, the axial thickness of the radially inner end of the diaphragm section is greater than the axial thickness of the radially outer end of the diaphragm section. Furthermore, the axial thickness of the radially outer end of the diaphragm section is greater than the axial thickness of the diaphragm section at its center. Furthermore, the radial thickness of the cylindrical section is thinner than the axial thickness of the diaphragm section at its center.

[0005] It is therefore the object of the present invention to provide a hat-shaped flexspline which is particularly resilient and enables precise production.

[0006] The object is achieved by a hat-shaped flexspline, which is characterized in that the diaphragm section has a first diaphragm end section, which is directly adjacent to the first transition section, and a second diaphragm end section, which is directly adjacent to the second transition section, wherein a diaphragm middle section is arranged between the first diaphragma end section and the second diaphragma end section, which middle section has a greater axial thickness than the first diaphragma end section and / or the second diaphragma end section.

[0007] The invention achieves improved elastic deformability of the flexspline during operation. The special design of the diaphragm section, in particular with a diaphragm center section that has a greater axial thickness than the adjacent end sections, achieves a targeted stiffness distribution. This enables improved elastic deformation of the flexspline with regard to the deformation geometry during operation of the stress wave drive and reduces locally occurring stresses at the transitions, which are typically susceptible to material fatigue. Overall, the special geometry leads to improved load capacity and service life of the flexspline, especially in highly dynamic applications, such as those often encountered with stress wave drives. This improves the performance of the entire stress wave drive in terms of torque transmission, efficiency, and operational reliability.At the same time, the end sections ensure structural integrity in the areas adjacent to the transition sections. This also contributes to a longer service life of the flexspline and reduces the risk of material fatigue. The invention provides an easy-to-manufacture, functionally reliable, and durable flexspline design that is particularly suitable for dynamically loaded transmission applications.

[0008] The connecting section can advantageously be designed, for example, as a fastening flange.

[0009] A particularly advantageous embodiment is one in which the first diaphragm end section and / or the second diaphragm end section have mutually parallel outer surfaces. In particular, it can advantageously be provided that the first diaphragm end section and / or the second diaphragm end section have mutually parallel, flat outer surfaces. This measure results in a material accumulation in these sections compared to the designs known from the prior art. In contrast to the designs known from the prior art, this achieves an advantageous stress distribution in the flexspline material that is not constant along the course of the diaphragm end sections. In the areas of material accumulation, it is thus possible to absorb further stresses, in particular due to torsion, which can occur during operation of a stress wave gear.Due to the design of the flexspline according to the invention and due to the described material accumulations, the stresses occurring in the transition areas during operation can be specifically reduced and absorbed by the diaphragm section.

[0010] A further advantage of parallel outer surfaces of the first diaphragm end section and / or the second diaphragm end section is that reliable and process-safe measurement of the axial thickness is possible. Process reliability means that tolerances can be restricted and the desired axial thickness can be achieved more precisely. This increase in process stability increases the assurance that the manufactured flexsplines correspond to the target geometry within limited tolerances and, accordingly, that the stress distribution in the flexspline material is achieved as desired. Precise measurement of the axial thickness is reliably possible during production thanks to the parallel outer surfaces, so that targeted reworking can be carried out if necessary until the desired dimension is achieved.

[0011] Preferably, at least the cylinder section including its external toothing, the diaphragm section, the transition sections, and at least a portion of the connecting section are manufactured in one piece from the same piece of raw material. The transition sections each end at the point where the curvature of at least one of their outer surfaces ends. If both outer surfaces have a curvature, the transition section ends at the point where the curvature extending further toward the respective adjacent section ends.

[0012] In an advantageous embodiment, it is advantageously provided that the second transition section has a radial width ÜB2 and an axial length ÜL2 and that the cylinder section has an axial length ZL and that the diaphragm section has a radial width DB, where: 1.25 < (ÜB2 + DB) / (ÜL2 + ZL) < 3. By limiting the ratio to a range between 1.25 and 3, a balanced ratio between radial expansion and axial length is achieved. This contributes to improved mechanical load-bearing capacity and a more favorable stress distribution during operation of the stress wave gear. A ratio that is too low could lead to excessive axial expansion, which would negatively impact the flexibility and service life of the flexspline. Conversely, a ratio that is too high could lead to insufficient rigidity.

[0013] Alternatively or additionally, it can advantageously be provided that the second transition section has an axial length ÜL2 and that the cylinder section has an axial length ZL and that the external toothing has a tip circle diameter KD, where: 0.25 < (ÜL2 + ZL) / KD < 0.7. Further alternatively or additionally, it can advantageously be provided that the second transition section has a radial width ÜB2 and that the diaphragm section has a radial width DB and that the external toothing has a tip circle diameter KD, where: 0.1 < (ÜB2 + DB) / KD < 0.25. These geometric boundary conditions ensure that the flexspline remains sufficiently elastically deformable to fulfill the desired function in the stress wave transmission, and is also sufficiently rigid and resistant to the loads occurring during operation.

[0014] A particularly advantageous design is one in which the diaphragm center section has at least one convexly curved outer surface. Alternatively or additionally, the diaphragm center section can advantageously have at least one concavely curved outer surface. It is also particularly possible for the diaphragm center section to have a curved profile overall. This design further improves the elastic deformability of the diaphragm center section and simultaneously achieves a more even stress distribution. The curved outer surfaces or the curved diaphragm center section support the absorption and transmission of forces during operation of the stress wave drive, which reduces local stress peaks and increases component service life. Depending on the application, the respective curvature can be adapted to the prevailing loading and deformation conditions.Overall, the curved design of the diaphragm center section contributes to improved functionality, higher fatigue strength and optimized mechanical performance of the Flexspline.

[0015] In an advantageous embodiment, the diaphragm center section has mirror-symmetrical outer surfaces relative to a plane perpendicular to the axial center axis of the hat-shaped flexspline. This symmetrical design leads to uniform deformation of the diaphragm center section under axial and radial loads, thus avoiding asymmetric stress distributions and reducing undesirable bending loads. The symmetry also promotes advantageous elastic behavior of the component during operation, thereby improving the functional reliability and precision of the stress wave gear.

[0016] A particularly advantageous design of the hat-shaped flexspline is one in which the diaphragm's central section extends partially outside a plane perpendicular to the axial center axis of the hat-shaped flexspline, which intersects the first transition section and / or the second transition section and / or the first diaphragm end section and / or the second diaphragm end section. This asymmetrical arrangement of the diaphragm's central section achieves differentiated elastic characteristics, allowing the deformation properties of the flexspline to be specifically influenced in specific areas, thus enabling optimized kinematics during operation.

[0017] In a special design, the diaphragm center section has a radial width ranging from 0.6 to 0.9 times the radial width of the entire diaphragm section. This design of the center section contributes to an optimal balance between flexibility and stability. This allows for even stress distribution throughout the entire diaphragm section while avoiding local overloads. Overall, this feature leads to improved mechanical performance, increased service life, and increased functional reliability of the Flexspline.

[0018] In an advantageous embodiment, the diaphragm center section has its greatest axial thickness midway between the first diaphragm end section and the second diaphragm end section. This targeted shaping results in a particularly balanced stress distribution in the diaphragm section. The maximum material thickness in the center area allows the bending stresses that occur to be absorbed more efficiently and diverted to adjacent areas, thus avoiding critical stress maxima at the transitions. This increases both the efficiency and service life of the entire stress wave drive. The invention thus contributes to optimizing the mechanical resilience and functionality of the flexspline under real operating conditions.

[0019] In an advantageous embodiment, the diaphragm section has only a single thickness increase, which is preferably located in the area of the diaphragm's central section. This concentrated thickness increase contributes to precisely controlling the elastic deformation of the flexspline and mechanically stabilizing it without unnecessarily using additional material. Limiting the thickness increase to a single thickness increase enables a clear load path, which leads to a more even stress distribution and thus to increased fatigue strength. The design also promotes predictable deformation behavior, which further improves the performance and precision of the stress wave drive. Overall, this design ensures a robust, material-saving, and functionally optimized design of the flexspline.

[0020] The thickness increase advantageously leads to a clearly defined, targeted strengthening of the component in a specific area, enabling precisely controllable elastic deformation. Limiting the thickness increase to a single thickness increase simplifies the component geometry and reduces the complexity of the loading conditions, which facilitates both structural design and computational simulation. Furthermore, the simple geometry reduces the risk of unwanted stress peaks that could occur with multiple thickness changes.

[0021] In particular, it can be advantageous for the diaphragm section to have no corrugated outer surfaces. Avoiding wave-like structures achieves a more even stress distribution and reduces the risk of local material fatigue or crack initiation at wave crests and troughs. At the same time, a uniform outer contour facilitates manufacturing and improves the reproducibility of component properties.

[0022] However, in the manner according to the invention, it is not excluded that the diaphragm section has several thickness increases or that the diaphragm section has at least one corrugated outer surface.

[0023] In an advantageous embodiment, the first diaphragm end section has a radial width in the range of 0.05 to 0.2 times the radial width of the entire diaphragm section (DB). Alternatively or additionally, it can advantageously be provided that the second diaphragm end section also has a radial width in this range. This radial width of the end sections prevents excessive stiffness in the transition zones, which contributes to more uniform deformation of the entire diaphragm section and reduces local stress peaks. At the same time, this enables precise control of the bending characteristics of the flexspline, which has a positive effect on the functional stability and service life of the component.

[0024] In a particularly advantageous design, the outer surfaces of the first transition section transition seamlessly into the outer surfaces of the first diaphragm end section. Such a smooth transition—i.e., without abrupt changes in curvature or thickness—leads to a harmonious stress distribution in the area of the geometric transitions, effectively reducing stress concentrations and the associated risks of material fatigue or cracking. This not only improves the service life of the flexspline but also contributes to smoother, more uniform elastic deformation, which has a positive effect on the operating behavior of the stress wave drive.

[0025] Analogously, alternatively or additionally, it can advantageously be provided that the outer surfaces of the first diaphragm end section transition seamlessly into the outer surfaces of the diaphragm middle section. This also results in the advantage of a continuous stress and strain distribution along the diaphragm section. The smooth transition between the functional areas avoids abrupt changes in shape that could act as weak points. This results in an overall more robust, durable, and reliable component.

[0026] With analogous advantages, it can advantageously be provided that the outer surfaces of the second transition section continuously transition into the outer surfaces of the second diaphragm end section and / or that the outer surfaces of the second diaphragm end section continuously transition into the outer surfaces of the diaphragm middle section.

[0027] The hat-shaped flexspline according to the invention is preferably made of steel. However, other materials are certainly possible.

[0028] A stress wave transmission that incorporates a hat-shaped flexspline according to the invention is particularly advantageous. Such a stress wave transmission has a high torque load capacity.

[0029] An actuator which has a drive motor and a stress wave transmission according to the invention, which is connected downstream of the drive motor, is particularly advantageous.

[0030] A particularly advantageous robot, in particular an industrial robot, includes at least one stress wave gear according to the invention or one actuator according to the invention. In particular, the gear according to the invention can be used in a robot joint. A particularly advantageous feature is that the stress wave gear is particularly resilient, which increases the robot's performance.

[0031] Of particular advantage is a chassis, in particular an active chassis, for a motor vehicle that comprises at least one stress wave transmission or actuator according to the invention. A particular advantage here is that the stress wave transmission is particularly resilient, which increases driving safety. A steering system, in particular a car steering system or a truck steering system, that comprises at least one transmission according to the invention is of particular advantage. The steering system can, in particular, be a power steering system and / or a superimposed steering system.

[0032] 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 hat-shaped flexspline according to the invention, Fig. 2 a detailed view of the first embodiment of a hat-shaped flexspline according to the invention, Fig. 3 a detailed view of a second embodiment of a hat-shaped flexspline according to the invention, Fig. 4 a detailed view of a third embodiment of a hat-shaped flexspline according to the invention, Fig. 5 a detailed view of a fourth embodiment of a hat-shaped flexspline according to the invention, Fig. 6 a detailed view of a fifth embodiment of a hat-shaped flexspline according to the invention.

[0033] The Fig. Figure 1 shows a first embodiment of a hat-shaped flexspline according to the invention for a stress wave transmission. The hat-shaped flexspline has a cylindrical section 1 with external teeth 2 and a flange 3. The flange 3 has a connecting section 4, designed, for example, as a mounting flange. The hat-shaped flexspline is rotationally symmetrical with respect to its axial center axis 5, with only the upper half of the sectional plane being shown in the figures.

[0034] The Fig. Figure 2 shows a detailed view of the first embodiment of a hat-shaped flexspline according to the invention. In addition to the connecting section 5, the rim 3 has a diaphragm section 6 and a first transition section 7, which has at least one curved outer surface and connects the connecting section 5 to the diaphragm section 6. The hat-shaped flexspline also has a second transition section 8, which has at least one curved outer surface and connects the cylindrical section 1 to the rim 3.

[0035] The diaphragm section 6 has a first diaphragm end section 9, which directly adjoins the first transition section 7, and a second diaphragm end section 10, which directly adjoins the second transition section 8, wherein a diaphragm middle section 11 is arranged between the first diaphragma end section 9 and the second diaphragma end section 10, which middle section has a greater axial thickness than the first diaphragma end section 9 and the second diaphragma end section 10.

[0036] In this design, both outer surfaces of the diaphragm center section 11 are curved.

[0037] The first diaphragm end section 9 and the second diaphragm end section 10 each have flat outer surfaces running parallel to one another.

[0038] The Fig. Figure 3 shows a detailed view of the second embodiment of a hat-shaped flexspline according to the invention. In addition to the connecting section 5, the rim 3 has a diaphragm section 6 and a first transition section 7, which has at least one curved outer surface and connects the connecting section 5 to the diaphragm section 6. The hat-shaped flexspline also has a second transition section 8, which has at least one curved outer surface and connects the cylindrical section 1 to the rim 3.

[0039] The diaphragm section 6 has a first diaphragm end section 9, which directly adjoins the first transition section 7, and a second diaphragm end section 10, which directly adjoins the second transition section 8, wherein a diaphragm middle section 11 is arranged between the first diaphragma end section 9 and the second diaphragma end section 10, which middle section has a greater axial thickness than the first diaphragma end section 9 and the second diaphragma end section 10.

[0040] In this embodiment, the outer side of the diaphragm central section 11 facing away from the external toothing 2 is curved.

[0041] The first diaphragm end section 9 and the second diaphragm end section 10 each have flat outer surfaces running parallel to one another.

[0042] The Fig. Figure 4 shows a detailed view of the third embodiment of a hat-shaped flexspline according to the invention. In addition to the connecting section 5, the rim 3 has a diaphragm section 6 and a first transition section 7, which has at least one curved outer surface and connects the connecting section 5 to the diaphragm section 6. The hat-shaped flexspline also has a second transition section 8, which has at least one curved outer surface and connects the cylindrical section 1 to the rim 3.

[0043] The diaphragm section 6 has a first diaphragm end section 9, which directly adjoins the first transition section 7, and a second diaphragm end section 10, which directly adjoins the second transition section 8, wherein a diaphragm middle section 11 is arranged between the first diaphragma end section 9 and the second diaphragma end section 10, which middle section has a greater axial thickness than the first diaphragma end section 9 and the second diaphragma end section 10.

[0044] In this embodiment, both outer surfaces of the diaphragm center section 11 are curved away from the external toothing 2. In this embodiment, the diaphragm center section extends partially outside a plane 12 perpendicular to the axial center axis of the hat-shaped flexspline, which intersects the first transition section 7 and the second transition section 8 and the first diaphragm end section 9 and the second diaphragm end section 10.

[0045] The first diaphragm end section 9 and the second diaphragm end section 10 each have flat outer surfaces running parallel to one another.

[0046] The Fig. Figure 5 shows a detailed view of the third embodiment of a hat-shaped flexspline according to the invention. In addition to the connecting section 5, the rim 3 has a diaphragm section 6 and a first transition section 7, which has at least one curved outer surface and connects the connecting section 5 to the diaphragm section 6. The hat-shaped flexspline also has a second transition section 8, which has at least one curved outer surface and connects the cylindrical section 1 to the rim 3.

[0047] The diaphragm section 6 has a first diaphragm end section 9, which directly adjoins the first transition section 7, and a second diaphragm end section 10, which directly adjoins the second transition section 8, wherein a diaphragm middle section 11 is arranged between the first diaphragma end section 9 and the second diaphragma end section 10, which middle section has a greater axial thickness than the first diaphragma end section 9 and the second diaphragma end section 10.

[0048] In this embodiment, the outer surface of the diaphragm central section 11 facing away from the external toothing 2 is curved away from the external toothing 2, while the outer surface of the diaphragm central section 11 facing the external toothing 2 is curved towards the external toothing 2.

[0049] The first diaphragm end section 9 and the second diaphragm end section 10 each have flat outer surfaces running parallel to one another.

[0050] The Fig. Figure 6 shows a detailed view of a fifth embodiment of a hat-shaped flexspline according to the invention, with the forces occurring during operation of the stress wave transmission schematically indicated by arrows. Compared to the flexsplines known from the prior art, the second diaphragm end section 10 has a type of additional advantageous material accumulation 13. List of reference symbols: 1 cylinder section 2 external gearing 3 brim 4 Connection section 5 Connection section 6 Diaphragm section 7 first transition section 8 second transition section 9 first diaphragm end section 10 second diaphragm end section 11 Diaphragm middle section 12 levels 13 Material accumulation QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CN 218408404 U

[0002] US 11 668 384 B2

[0003] EP 3 550 178 B1

[0004]

Claims

[1] Hat-shaped flexspline for a stress wave transmission comprising: a. a cylinder section with external teeth, b. a rim having a connecting portion, a diaphragm portion, and a first transition portion having at least one curved outer surface and connecting the connecting portion to the diaphragm portion, c. a second transition section having at least one curved outer surface and connecting the cylinder section to the rim, characterized by , that d. the diaphragm section has a first diaphragm end section which is directly adjacent to the first transition section and a second diaphragm end section which is directly adjacent to the second transition section, wherein a diaphragm middle section is arranged between the first diaphragma end section and the second diaphragma end section, which middle section has a greater axial thickness than the first diaphragma end section and / or the second diaphragma end section. [2] Hat-shaped flexspline according to claim 1, characterized by that the connecting section is designed as a mounting flange. [3] Hat-shaped flexspline according to claim 1 or 2, characterized by that the first diaphragm end section has outer surfaces that run parallel to one another. [4] Hat-shaped flexspline according to claim 1 or 2, characterized by that the first diaphragm end section has flat outer surfaces that run parallel to one another. [5] Hat-shaped flexspline according to one of claims 1 to 4, characterized by that the second diaphragm end section has outer surfaces that run parallel to one another. [6] Hat-shaped flexspline according to one of claims 1 to 5, characterized by that the second diaphragm end section has flat outer surfaces that run parallel to one another. [7] Hat-shaped flexspline according to one of claims 1 to 6, characterized by that the second transition section has a radial width ÜB2 and an axial length ÜL2 and that the cylinder section has an axial length ZL and that the diaphragm section has a radial width DB, where: 1.25<(U¨B2+DB) / (U¨L2+ZL)<3. [8] Hat-shaped flexspline according to one of claims 1 to 7, characterized bythat the second transition section has an axial length ÜL2 and that the cylinder section has an axial length ZL and that the external toothing has a tip diameter KD, where: 0.25<(U¨L2+ZL) / KD<0.

7. [9] Hat-shaped flexspline according to one of claims 1 to 8, characterized by that the second transition section has a radial width ÜB2 and that the diaphragm section has a radial width DB and that the external toothing has a tip diameter KD, where: 0.1<(U¨B2+DB) / KD<0.

25. [10] Hat-shaped flexspline according to one of claims 1 to 9, characterized by that the diaphragm central section has at least one convexly curved outer surface. [11] Hat-shaped flexspline according to one of claims 1 to 10, characterized by that the diaphragm central section has at least one concavely curved outer surface. [12] Hat-shaped flexspline according to one of claims 1 to 11, characterized by that the diaphragm central section has outer surfaces that are mirror-symmetrical to one another with respect to a plane perpendicular to the axial central axis of the hat-shaped flexspline. [13] Hat-shaped flexspline according to one of claims 1 to 12, characterized by that the middle section of the diaphragm has a curved shape. [14] Hat-shaped flexspline according to one of claims 1 to 13, characterized by that the diaphragm central section extends partially outside a plane perpendicular to the axial central axis of the hat-shaped flexspline, which plane intersects the first transition section and / or the second transition section and / or the first diaphragm end section and / or the second diaphragm end section. [15] Hat-shaped flexspline according to one of claims 1 to 14, characterized bythat the diaphragm central section has a radial width which is in the range of 0.6 to 0.9 times the radial width DB of the diaphragm section. [16] Hat-shaped flexspline according to one of claims 1 to 15, characterized by that the diaphragm central section has its greatest axial thickness midway between the first diaphragm end section and the second diaphragm end section. [17] Hat-shaped flexspline according to one of claims 1 to 16, characterized by that the diaphragm section has only a single axial thickness increase. [18] Hat-shaped flexspline according to one of claims 1 to 17, characterized by that the diaphragm section has no corrugated outer surfaces. [19] Hat-shaped flexspline according to one of claims 1 to 18, characterized by that the diaphragm section has several axial thickness increases. [20] Hat-shaped flexspline according to one of claims 1 to 19, characterized bythat the diaphragm portion has at least one corrugated outer surface. [21] Hat-shaped flexspline according to one of claims 1 to 20, characterized by that the first diaphragm end section has a radial width which is in the range of 0.05 times to 0.2 times the radial width DB of the diaphragm section. [22] Hat-shaped flexspline according to one of claims 1 to 21, characterized by that the second diaphragm end section has a radial width which is in the range of 0.05 times to 0.2 times the radial width DB of the diaphragm section. [23] Hat-shaped flexspline according to one of claims 1 to 22, characterized by that the outer surfaces of the first transition section merge continuously into the outer surfaces of the first diaphragm end section. [24] Hat-shaped flexspline according to one of claims 1 to 23, characterized bythat the outer surfaces of the first diaphragm end section merge continuously into the outer surfaces of the diaphragm middle section. [25] Hat-shaped flexspline according to one of claims 1 to 24, characterized by that the outer surfaces of the second transition section merge continuously into the outer surfaces of the second diaphragm end section. [26] Hat-shaped flexspline according to one of claims 1 to 25, characterized by that the outer surfaces of the second diaphragm end section merge continuously into the outer surfaces of the diaphragm middle section. [27] A stress wave transmission comprising a hat-shaped flexspline according to any one of claims 1 to 26. [28] Actuator comprising a drive motor and a stress wave transmission connected downstream of the drive motor according to claim 27. [29] Robot joint comprising at least one gear according to claim 27 or one actuator according to claim 28. [30] A robot comprising at least one gear according to claim 27 or one actuator according to claim 28. [31] Chassis, in particular active chassis for a motor vehicle, which has at least one transmission according to claim 27 or one actuator according to claim 28. [32] Steering system, in particular car steering system or truck steering system, which has at least one transmission according to claim 27 or one actuator according to claim 28. [33] Steering according to claim 32, characterized by that the steering is a power steering and / or a superimposed steering system.

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