Gear drive with wobble body

Description

TECHNICAL AREA

[0001] The invention relates to a gear transmission comprising a housing, a drive shaft rotatably mounted in the housing, and an output gear for connection to an output shaft, which is also rotatably mounted in the housing. The gear transmission includes a transmission mechanism that operatively couples the drive shaft and the output gear. The transmission mechanism includes a wobble element arranged between the drive shaft and the output gear, which is configured to perform a wobble motion when the drive shaft rotates, wherein the wobble element is coupled to the output gear such that the wobble motion of the wobble element is converted into a rotation of the output gear. BACKGROUND OF THE INVENTION

[0002] Gearboxes of the type mentioned above are characterized by the conversion of a wobbling motion of a driving element into a rotary drive motion, e.g., of an output shaft. Due to their compact design and efficient torque transmission, such gearboxes are universally applicable and are regularly used, for example, in automotive engineering. They are particularly suitable for driving components that require high torques and precise travel distances. Actuators and similar devices are just a few examples. A wide variety of requirements are placed on such gearboxes, including high efficiency, compact dimensions, a long service life, and the smoothest possible output.

[0003] From DE102008001491A1, a wobble gear transmission is defined as consisting of a drive member rotatable about a main axis, a transmission member rotatably arranged about a wobble axis, wherein the wobble axis intersects the main axis at a wobble angle (alpha) and rotates about the main axis together with the drive member, as well as a driven member and a support member. A first coupling means is arranged between the transmission member and the driven member, and a second coupling means is arranged between the transmission member and the support member, wherein at least one of the two coupling means is a gear pair, and wherein the teeth of the gear pair serving as coupling means are designed as spur gears.

[0004] From DE 822 460 B, a continuously variable transmission with a drive shaft and an output shaft, between which a freewheel clutch is arranged, is known. The driving member of the freewheel clutch is rigidly connected to a rocker arm. The rocker arm is mounted in the transmission housing by means of two pins and is guided in the edge groove of a swashplate by means of sliding blocks, so that it can perform oscillating movements in the axial direction of the drive and output shafts as the swashplate rotates. The driven member of the freewheel clutch is a bevel gear arranged parallel to the drive shaft, which is set into rotation in accordance with the oscillating movement of the rocker arm in the direction of the drive action of the freewheel clutch. The bevel gear is guided in a ball bearing fixed in the wall of the transmission housing and transmits its rotational motion to a gear rigidly connected to the output shaft.

[0005] From IT VI0020110190 A, a mechanical device for changing the speed and torque of vehicles is known. A carrier, which supports a bearing, is attached to a drive shaft by means of a pivot pin. The inner ring of the bearing is tiltable relative to the drive shaft. A carrier is coupled to the outer ring of the bearing. The carrier supports two free-running bevel pinions via two bearings. These pinions, in turn, drive two pinions mounted orthogonally and without rotation. The pinions interact with a bevel pinion. The bevel pinion is located on the output shaft, with a freewheel ensuring that the bevel pinion can only rotate in one direction.

[0006] The present invention aims to improve a gear transmission of the type mentioned above in such a way that it is characterized by a compact and as simple a design as possible and by a high efficiency. SUMMARY OF THE INVENTION

[0007] The problem underlying the invention is solved by a gear transmission with the features of claim 1. Advantageous embodiments of the invention are the subject of the dependent claims.

[0008] According to the invention, the gear transmission comprises a first gear and a second gear, each rotatably mounted in the housing and coupled to the output gear, for example, meshing with the output gear. The first and second gears are each coupled to at least one freewheel. The freewheels are each designed such that they are rotatable relative to the respective first and second gears in a freewheeling direction and are locked against rotation relative to the respective gear in a locking direction; that is, in the locking direction, the freewheel is rotationally fixed to the gear and can transmit a driving force to the gear.

[0009] The swashplate is operationally coupled to the drive shaft. For this purpose, a swashplate is provided on the drive shaft, which in turn is rotatably mounted in the swashplate; that is, the swashplate can rotate within the swashplate. A rolling bearing arrangement can serve as the mounting, in particular, whereby the inner ring of the rolling bearing arrangement can be located on the swashplate, e.g., on its outer circumference, and the outer ring of the rolling bearing arrangement can be located on an inner surface of the swashplate. The swashplate is rotationally fixed to the drive shaft in such a way that the swashplate rotates together with the drive shaft about a swashplate axis of rotation when the drive shaft is driven. The axis of rotation of the drive shaft coincides with the axis of rotation of the swashplate. However, the tilt angle of the swashplate relative to the swashplate axis of rotation is adjustable.The swashplate is pivotable about an axis transverse to the drive shaft relative to the drive shaft. When the swashplate is tilted relative to its axis of rotation, it wobbles around the swashplate's axis of rotation while the drive shaft is rotating. The wobble body is set into a wobbling motion by the positive guidance of the wobble element on the swashplate, i.e., via the bearing between the swashplate and the wobble element. The wobble element can, for example, due to necessary tolerances, perform slight pivoting or reciprocating movements around the swashplate's axis of rotation, but it does not rotate around the swashplate's axis of rotation like the swashplate itself. The wobble element is coupled to the freewheels in such a way that its wobbling motion is converted into a reciprocating rotary motion of the freewheels.Thus, a driving force introduced into the drive shaft is transmitted via the drive shaft, the swashplate, the swash body, the freewheels (when the freewheels are moving in the locking direction), and the first and second gears to the output gear. The gear drive also includes control means for changing the tilt angle of the swashplate relative to the swashplate's axis of rotation.

[0010] The gear ratio is adjustable by changing the tilt of the swashplate, and thus also the tilt of the wobble body. When the swashplate is tilted, rotates relative to the wobble body, and performs a wobbling motion, the wobble body is also set into its own wobble motion due to the swashplate's guidance within the wobble body—that is, due to the swashplate's rotatable bearing within the wobble body. In this wobble motion, the wobble body tilts back and forth around several axes. For example, the wobble body pivots back and forth around two axes, each perpendicular to the swashplate's axis of rotation and to each other. The more the swashplate, and thus the wobble body, is tilted relative to the swashplate's axis of rotation, the greater the degree of wobble of the wobble body and the greater the degree of the reciprocating motion of the freewheels.The rotational offset of the first and second gears per revolution of the swashplate. The gear ratio changes by altering the inclination or tilt of the swashplate or wobble body relative to the swashplate's axis of rotation.

[0011] According to a further embodiment of the invention, the control means are designed to set an inclination angle of the swashplate at which the swashplate does not perform any wobbling motion when the drive shaft is rotating. If the position of the swashplate and wobble body is adjusted so that they do not perform any wobbling motion when the drive shaft is rotating—that is, when the plane in which the swashplate rotates is perpendicular to the axis of rotation of the drive shaft—the freewheels are not engaged, and the first and second gears are not driven. The gear ratio is zero in this case. In this way, a transmission can be provided that can reduce the gear ratio to any desired low value in one direction of transmission, so that the driven shaft rotates while the driven shaft remains stationary. This eliminates the need for starting clutches and similar components in many applications.

[0012] The control means can act directly on the swashplate to adjust the tilt of the swashplate and swashplate. Alternatively, the control means can act directly on the swashplate. The control means can include mechanical, electrical, pneumatic drives, or combinations thereof, to change the tilt angle of the swashplate.

[0013] According to a further embodiment of the invention, the control means can be configured to continuously change the tilt angle of the swashplate. In this way, a continuously variable transmission (CVT) is provided.

[0014] According to the invention, the freewheels comprise gear freewheels. The first gear is coupled to a first gear freewheel and a second gear freewheel, the first and second gear freewheels each being designed such that they are rotatable relative to the first gear in the freewheeling direction and locked against rotation relative to the first gear in the locking direction. The second gear is coupled to a third gear freewheel and a fourth gear freewheel, the third and fourth gear freewheels each being designed such that they are rotatable relative to the second gear in the freewheeling direction and locked against rotation relative to the second gear in the locking direction. When the gear freewheels are moved in the locking direction, they can transmit a driving force from the wobble body to the respective first and second gears.The wobble body has a number of gear segments, each of which meshes with one of the gear freewheels of the first and second gears, so that the wobble motion of the wobble body is converted into a reciprocating rotary motion of the gear freewheels and a drive force introduced into the drive shaft is transmitted to the output gear.

[0015] According to a further embodiment of the invention, the freewheels can be arranged with respect to the swashplate such that the drive force is introduced into the output gear or into the first and second gears with a phase shift. In this configuration, the freewheels do not continuously drive the respective first or second gear during one revolution of the drive shaft. For each freewheel, the transmission of the drive force from the freewheel to the gear only occurs for a portion of a swashplate revolution. Furthermore, the freewheels do not transmit the drive force to the first and second gears simultaneously. When one freewheel transitions from the locked state to the unlocked state during a swashplate revolution, another freewheel is engaged and takes over the transmission of the drive force to the respective gear. Thus, each freewheel assumes a portion of the drive force transmission.In other words, this embodiment provides that the freewheels are arranged with respect to the wobble body such that the individual freewheels are switched into the locked state with a phase shift for each revolution of the drive shaft when the wobble body performs a wobbling motion while the drive shaft is rotating. A further embodiment of the invention provides that the first to fourth gear freewheels can be coupled to the wobble body in such a way that, for each revolution of the wobble disk, the first to fourth gear freewheels transmit the drive force to the output gear, or to the first and second gears, respectively, with a phase shift.In other words, in this embodiment, the freewheels are arranged with respect to the wobble body and the gear segments in such a way that the individual freewheels are switched into the locking state with a phase shift for each revolution of the drive shaft when the wobble body performs a wobble movement while the drive shaft is rotating.

[0016] According to a further embodiment of the invention, the wobble body can have four gear segments that are fixedly attached to the wobble body or integrally formed, i.e., in one piece, with the wobble body. A first gear segment on the wobble body meshes with the first freewheel on the first gear, a second gear segment on the wobble body meshes with the second freewheel on the first gear, a third gear segment on the wobble body meshes with the third freewheel on the second gear, and a fourth gear segment on the wobble body meshes with the fourth freewheel on the second gear. The first and third gear segments are provided at a first end of the wobble body, and the second and fourth gear segments are arranged at a second end, opposite the first end, of the wobble body.The first and second ends of the wobble body refer to ends of the wobble body perpendicular to the swashplate axis of rotation. This means that the gear segments are arranged on opposite sides of the wobble body perpendicular to the swashplate axis of rotation. This allows for a compact design, as the freewheels can also be arranged accordingly, requiring little space for their installation on the first and second gears. The arrangement of the segments at opposite ends of the wobble body specifically follows the wobble motion of the wobble body around multiple axes and ensures that the freewheels are actuated sequentially via the gear segments. This means that the individual drive forces transmitted via the freewheels are introduced into the output gear with a phase shift.The wobbling motion of the wobble body causes the individual gear freewheels to be periodically rotated in the locking direction and in the freewheel direction, so that the wobbling motion of the wobble body is transferred into a rotary motion of the first and second gears.

[0017] According to a further embodiment of the invention, two gear segments can each be formed in one piece. The two gear segments can, for example, be formed on a component that is attached to the wobble body. Such a component can, for example, be a gear or part of a gear.

[0018] In another embodiment, the axes of rotation of the first and second gears are arranged transversely to the swashplate axis of rotation. This guarantees a compact design and contributes to the staggered transmission of the drive force via the freewheels.

[0019] According to a further embodiment of the invention, the control means can comprise one or more linear actuating units with an axially movable actuator. Preferably, the linear actuating units comprise one or more spindle drive units. A spindle drive comprises a spindle with an external thread and an actuator arranged thereon with an internal thread that engages with the external thread of the spindle, wherein relative rotation of the spindle within the actuator results in a displacement of the actuator along the spindle.

[0020] According to a further embodiment of the invention, one or more linear actuators can be arranged at least partially within the drive shaft. Thus, one or more spindles can extend through the drive shaft, which has a corresponding recess. Several linear actuators, preferably arranged on opposite sides of the swashplate along the axis of rotation or the axis of rotation of the drive shaft, can share a common spindle. The spindle can, in particular, have two opposing threaded sections, one with a right-hand thread and one with a left-hand thread, so that by rotating the spindle in one direction, two actuators arranged on the differently configured threaded sections are moved in opposite directions. The spindle can be driven through the drive shaft.For example, the spindle drive can include an electric drive, which may be at least partially installed inside the drive shaft.

[0021] According to a further embodiment of the invention, the actuator or actuators of one or more linear actuators can be guided on or in the drive shaft in a rotationally fixed manner relative to the drive shaft, but axially movable along the axis of rotation of the drive shaft. For this purpose, the drive shaft can have a guide section that prevents rotational movement of the actuator relative to the drive shaft, but allows axial displacement of the actuator along the axis of rotation of the drive shaft. The spindle can extend through the drive shaft, which has a corresponding opening for the spindle. During operation, the spindle and the actuator are rotated together with the drive shaft and the swashplate about the swashplate's axis of rotation. Relative rotation of the spindle and drive shaft occurs only to adjust the inclination of the swashplate.

[0022] According to a further embodiment of the invention, the one or more linear actuators can each comprise one or more articulated arms that connect the actuator and the swashplate for adjusting the tilt of the swashplate. Articulated arms are connections between the actuator and the swashplate. They can be characterized by an additional articulated section that connects two parts of the articulated arm.

[0023] According to a further embodiment of the invention, several actuators can be arranged along the swashplate axis of rotation on opposite sides of the swashplate, wherein the actuators and the associated articulated arms are arranged symmetrically on opposite sides of the swashplate with respect to the pivot center of the swashplate.

[0024] This means that the articulated arms are diametrically opposed to each other with respect to the swashplate's pivot center. This arrangement means that the articulated arms are not only located on opposite sides of the swashplate, but also on opposite sides of the swashplate's axis of rotation in a direction perpendicular to the swashplate's axis of rotation. The symmetrical arrangement of the articulated arms and, consequently, the actuators, ensures an even weight distribution of the control elements on the rotating drive shaft.

[0025] According to a further embodiment of the invention, the control means can comprise a linear actuator with an actuator that is movable coaxially or parallel to the drive shaft. The actuator is arranged on the outside of the housing. The actuator is coupled through the wall of the housing to one or more articulated arms. The actuator is arranged on a spindle that is located outside the housing. The spindle can be driven by a drive source, e.g., an electric motor, located on the outside of the housing. The actuator drive can thus be easily separated from the drive of the drive shaft, ensuring simple design and maintenance. The actuator can be guided axially on the drive shaft if it extends toward the outside of the housing. Alternatively or additionally, the actuator can be guided axially on the outside of the housing. FIGURE DESCRIPTION

[0026] The invention is explained in more detail below using exemplary embodiments. The figures show: Fig. 1 a continuously variable gear transmission according to a first embodiment of the invention; Fig. 2 parts of the gear transmission made of Figure 1 Fig. 3 Parts of the gear drive made of Figure 1 Fig. 4 Parts of the gear drive made of Figure 1 Fig. 5 Parts of the gear drive made of Figure 1 ; Fig. 6 the gear drive made of Fig. 1 in an AA sectional view; Fig. 7 Parts of the gear drive made of Figure 1 in a sectional view; Fig. 8 a continuously variable gear transmission according to a further embodiment of the invention; and Fig. 9 a continuously variable gear transmission according to a further embodiment of the invention.

[0027] Figure 1Figure 1 shows a gear transmission 1 according to a first embodiment of the invention. The gear transmission 1 comprises a housing 2 with a drive shaft 3, which is rotatably mounted in the housing. Parts of the housing 2 have been removed to reveal the internal structure of the gear transmission. The gear transmission also comprises an output shaft 4, which is likewise rotatably mounted in the housing 2 and is rigidly connected to an output gear 5.

[0028] A first gear 6 and a second gear 7 are provided on opposite inner surfaces of the housing and are rotatably mounted in the housing 2. The first gear 6 and the second gear 7 are arranged coaxially with respect to their axes of rotation 8 and each mesh with the output gear 5. The axes of rotation of the first and second gears 6, 7 are arranged transversely to the axis of rotation of the drive shaft 3.

[0029] The drive shaft 3 and the output gear 5 are operationally coupled via the first and second gears 6 and 7 through a gear mechanism. The gear mechanism comprises a substantially rectangular swashplate body 9 and a swashplate 10 arranged therein. The drive shaft 3 extends along an axis designated as the swashplate axis of rotation 11. The swashplate 10 is mounted on the drive shaft 3 so as to be rotationally fixed with respect to the swashplate axis of rotation 11 and rotates with the drive shaft 3 about the swashplate axis of rotation 11; that is, the axis of rotation of the drive shaft coincides with the swashplate axis of rotation 11, and the swashplate 10 cannot rotate about the swashplate axis of rotation 11 relative to the drive shaft 3. However, in a direction transverse to the swashplate axis of rotation 11, the swashplate 10 can be tilted, here about the tilt axis 12; that is, the swashplate 10 can be tilted relative to the drive shaft 3.tilted towards the swashplate axis 11, which is indicated by a curved double arrow.

[0030] To adjust the inclination of the swashplate 10 about the inclination axis 12 relative to the swashplate rotation axis 11, adjusting or control means 13 are provided.

[0031] The drive shaft 3 can be driven by any drive source. In the embodiment shown here, the drive shaft 3 is coupled to an electric motor 14. The control means 13 are also electrically driven. Connections 15 are provided for this purpose.

[0032] Figure 2 Figures a) and b) show the wobbling body 9 from Figure 1Within the swashplate 9, the swashplate 10 is rotatably mounted by means of a rolling bearing arrangement 16. The swashplate 10 is mounted on the drive shaft and supports the swashplate 9. Due to the rolling bearing arrangement 16, the swashplate 9 tilts together with the swashplate 10 when the inclination of the swashplate 10 on the drive shaft is changed.

[0033] The wobble body 9 has a cuboid structure and features a number of gear segments 19, 20, 21, 22 at two opposite ends 17, 18. A first gear segment 19 and a third gear segment 21 are fixed to the first end 17 of the wobble body 9, preventing rotation and displacement, and extend in opposite directions. The first gear segment 19 and the third gear segment 21 are formed in one piece. A second gear segment 20 and a fourth gear segment 22 are fixed to the second end 18 of the wobble body 9, preventing rotation and displacement, and extend in opposite directions. The second gear segment 20 and the fourth gear segment 22 are also formed in one piece.

[0034] Figure 3 Figure 1 shows the assembly of the swashplate 9 and swashboard 10 on the drive shaft 3. The swashboard 10 is mounted on the drive shaft 3 and carries the swashplate 9 via the [reference to the] Figure 2The described rolling bearing arrangement is shown. Control means 13 are provided to pivot the swashplate 10 about the tilting axis 12 with respect to the swashplate rotation axis 11. These include linear actuators with a spindle located inside the drive shaft 3. The spindle is shown in the sectional view of the gearbox in the Figure 6As shown, two actuators 23 and 24 are arranged on opposite sides of the swashplate body 9 on the drive shaft 3. The actuators 23 and 24 are axially guided in axial passages of the drive shaft 3 extending along the swashplate axis of rotation 11 and are thus rotationally fixed to the drive shaft 3, although the actuators 23 and 24 can be moved axially in the direction of the swashplate axis of rotation 11. The actuators 23 and 24 are each connected to articulated arms 25 and 26. The articulated arms 25 and 26 couple the respective actuator 23 and 24 to the swashplate 10. By moving the actuators 23 and 24 axially relative to the drive shaft 3 along the swashplate axis of rotation 11, the swashplate 10 is tilted about the tilt axis 12 with respect to the swashplate axis of rotation 11 (indicated by a curved double arrow).Due to the bearing between the swashplate 10 and the wobble body 9, this inclination is transferred to the wobble body 9, which is also tilted.

[0035] Figure 4 shows parts of the gear drive from the Figure 1 in an exploded view. Figure 4Figure 1 shows the first gear 6, which is rotatably mounted in the housing 2 about the axis of rotation 8 and has helical teeth for meshing with the output gear. Two freewheels, in the form of a first freewheel 27 and a second freewheel 28, are attached to the first gear 6. The freewheels 27 and 28 have a locking direction 29 and a freewheeling direction 30 about the axis of rotation 8. When the freewheels 27 and 28 rotate in the freewheeling direction 30, they can rotate relative to the first gear 6. In the locking direction 29, however, the freewheels 27 and 28 are locked against relative rotation to the first gear 6. If a freewheel is pivoted about the axis 8 in the locking direction, this rotational movement can be transmitted to the first gear 6. The gear freewheels 28, 27 each have teeth 31, 32. The teeth 31 of the first gear freewheel 27 engage with the first gear segment 19 of the wobble body 9 ( Figure 2 ). The toothing 32 of the second gear freewheel 28 engages with the second gear segment 20 on the other side of the wobble body 9 ( Figure 2 ).

[0036] Figure 5 shows parts of the gear drive from the Figure 1 in an exploded view. Figure 5Figure 1 shows the second gear 7, which is rotatably mounted in the housing 2 about the axis of rotation 8 and has helical teeth for meshing with the output gear. Two freewheels, in the form of a third freewheel 33 and a fourth freewheel 34, are attached to the second gear 7. The freewheels 33 and 34 have a locking direction 35 and a freewheel direction 36 about the axis of rotation 8. When the freewheels 33 and 34 rotate in the freewheel direction 36, they can rotate relative to the second gear 7. In the locking direction 35, however, the freewheels 33 and 34 are locked against relative rotation to the second gear 7. If a freewheel is pivoted about the axis 8 in the locking direction, this rotational movement can be transmitted to the second gear 7. The gear freewheels 33, 34 each have teeth 37, 38.The toothing 37 of the third gear freewheel 37 engages with the third gear segment 21 of the wobble body 9 (. Figure 2 ). The toothing 38 of the fourth gear freewheel 34 engages with the fourth gear segment 22 on the other side of the wobble body 9 ( Figure 2 ).

[0037] If the first and second gears 6 and 7 are driven in the locking direction of their freewheels, this driving force is transmitted to the output gear. Due to the opposing arrangement of the locking directions between the first and second gears, the output gear is always driven in one direction of rotation.

[0038] Figure 6 AA shows in a sectional view the gear drive from the Figure 1The drive shaft 3 extends along the swashplate axis of rotation 11. The swashplate 10 is mounted on the drive shaft 3 and carries the swashplate body 9. The swashplate 10 rotates together with the drive shaft 3 about the swashplate axis of rotation 11 and can be pivoted about the tilt axis 12.

[0039] A spindle 39 is arranged inside the drive shaft 3 and rotates with it during operation. The spindle 39 has two threaded sections 40 and 41 with opposing threads on opposite sides of the swashplate body 9. Actuators 23 and 24 are mounted on these threaded sections. The actuators 23 and 24 are axially guided in axial guides 42 and 43 of the drive shaft. The spindle 39 is coupled to the electric drive 15 for the control mechanism to rotate the spindle 39 relative to the drive shaft 3 and to adjust the axial position of the actuators 23 and 24 along the swashplate axis of rotation.

[0040] Figure 7The diagram illustrates the operation of the control mechanism. When the spindle 39 is rotated in a specific direction relative to the drive shaft 3, the actuators 23 and 24 are moved in opposite directions along the swashplate axis of rotation 11, towards each other, due to the opposing thread sections 40 and 41. The swashplate 10 is tilted about the tilt axis 12 via the articulated arms 25 and 26, and this tilting motion is transmitted to the swashplate body 9 via the rolling bearing arrangement 16. The axial position of the actuators 23 and 24 is continuously adjustable and can be changed during operation, i.e., with the drive shaft rotating. The swashplate 10 can be moved between a non-tilted position, in which the swashplate plane is essentially perpendicular to the swashplate axis of rotation 11 (as shown in the diagram) and a tilted position. Figure 6 shown), and an inclined position (as in Figure 7 shown), will be swivelled.

[0041] Is the drive shaft in the Figure 7When the swashplate rotates around the swashplate axis 11, this rotation is transferred to the swashplate 10. Due to its inclined position, the swashplate 10 performs a three-dimensional wobble motion. During this wobble motion, the swashplate 10 rotates relative to the wobble body 9. Due to the rolling bearing guide 16, the wobble body 9 is excited to its own wobble motion about two axes that are perpendicular to the swashplate axis 11 and to each other. Since the gear segments are rigidly connected to the wobble body 9, they also perform a corresponding wobble motion. This wobble motion includes the gear segments 19, 20, 21, 22 moving back and forth in the direction of the swashplate axis 11 at the corner positions of the wobble body 9.This movement is transmitted via the engagement of the gear freewheels to the gear freewheels of the first and second gears, which perform a reciprocating rotary motion around the axis of rotation 8 during the wobbling movements of the wobble body 9. When the gear freewheels are each rotated in the locking direction, this movement is transmitted to the respective gear.

[0042] Due to the wobbling motion of the wobble body, the first to fourth gear freewheels are not moved simultaneously but with a time offset (phase shift) in the locking direction. This means that the driving force is transmitted sequentially via the gear freewheels to the output gear.

[0043] Figure 8 Figure 1 shows a wobbling position of the wobble body using a modified embodiment of the gear drive. The wobbling motion of the wobble body 9 occurs according to the same principle as described in Figure 2. Figure 7The swashplate 10 is tilted relative to the swashplate axis of rotation 11 by means of control means 13. The drive shaft 3 rotates about the swashplate axis of rotation 11. The swashplate body 9 is thereby set into a wobbling motion and pivots back and forth about a first axis 44 and a second axis 45, which are perpendicular to each other and perpendicular to the swashplate axis of rotation 11. Figure 8 Figure 1 shows the wobble body 9 in a position where it is slightly pivoted about both axes 44 and 45. The wobble motion is transmitted via the gear segments (shown here 19 and 21) to the respective freewheels, which pivot back and forth and drive the respective first and second gears in the locking direction. The output gear thus performs a continuous rotary motion in one direction.

[0044] Figure 9Figure 9b shows a gear transmission according to a further embodiment of the invention. The linear actuating unit comprises one, or optionally several, actuating elements 46. The actuating element 46 is arranged on the outside of the housing 2 and connected through the housing wall by articulated arms 47. A control drive with a spindle 48 is also arranged on the outside of the housing 2. By axially moving the actuating element 46 in the direction of the swashplate axis of rotation 11, the actuating element 46 is moved axially (Figure 9b). The inclination of the swashplate is adjusted via the articulated arm 47. Reference symbol list

[0045] 1 Gearbox 2 Housing 3 Input shaft 4 Output shaft 5 Output gear 6 First gear 7 Second gear 8 Axis of rotation of first and second gear 9 Swashplate 10 Swashplate 11 Swashplate axis of rotation 12 Tilt axis 13 Control device 14 Electric motor 15 Connections for control device drive 16 Rolling bearing arrangement 17 First end of swashplate 18 Second end of swashplate 19 First gear segment 20 Second gear segment 21 Third gear segment 22 Fourth gear segment 23 Actuator 24 Actuator 25 Articulated arm 26 Articulated arm 27 First freewheel 28 Second freewheel 29 Locking direction 30 Freewheeling direction 31 Teeth of first freewheel 32 Teeth of second freewheel 33 Third Gear freewheel 34 Fourth gear freewheel 35 Locking direction 36 Freewheeling direction 37 Teeth of third gear freewheel 38 Teeth of fourth gear freewheel 39 Spindle 40 Threaded section 41 Threaded section 42 Axial guide 43 Axial guide 44 First axis 45 Second axis 46 Actuator 47 Articulated arms 48 Spindle

Claims

1. Gearwheel transmission (1), comprising: a housing (2); a drive shaft (3) that is rotatably mounted in the housing (2); an output gearwheel (5) that is rotatably mounted in the housing (2); a transmission mechanism operatively coupling the drive shaft (3) and the output gearwheel (5), the transmission mechanism comprising a wobble member (9), which is arranged between the drive shaft (3) and the output gearwheel (5) and is designed to perform a wobbling motion when the drive shaft (3) rotates, the wobble member (9) being coupled to the output gearwheel (5) such that the wobbling motion of the wobble member (9) is converted into a rotation of the output gearwheel (5), a first gearwheel (6) and a second gearwheel (7), each of which is rotationally mounted in the housing (2) and coupled to the output gearwheel (5), wherein the first gearwheel (6) and the second gearwheel (7) are each coupled to at least one freewheel (27, 28, 33, 34), wherein the freewheels (27, 28, 33, 34) are designed such that they are rotatable in a freewheel direction (30, 36) relative to the respective first and second gearwheel (6, 7) and are locked against rotational movement relative to the respective gearwheel (6, 7) in a locking direction (29, 35); a wobble plate (10) arranged on the drive shaft (3) and supporting the wobble member (9), wherein the wobble plate (10) is rotatably mounted in the wobble member (9) and wherein the wobble plate (10) is connected in a rotationally fixed manner to the drive shaft (3) such that the wobble plate (10) rotates with the drive shaft (3) about a wobble plate axis of rotation (11), wherein an angle of inclination of the wobble plate (10) relative to the wobble plate axis of rotation (11) is adjustable in order to set the wobble plate (10) in a wobbling motion with respect to the wobble plate axis of rotation (11) when the drive shaft (3) rotates and to cause a wobbling motion of the wobble member (9) via the mounting (16) of the wobble plate (10) in the wobble member (9), wherein the wobble member (9) is coupled to the freewheels (27, 28, 33, 34) such that a wobbling motion of the wobble member (9) is converted into a back and forth rotational movement of the freewheels (27, 28, 33, 34) and a drive force introduced into the drive shaft (3) is transmitted to the output gearwheel (5), further comprising control means (13) for changing the angle of inclination of the wobble plate (10) with respect to the wobble plate axis of rotation (11), characterised in that the freewheels comprise gearwheel freewheels (27, 28, 33, 34), wherein the first gearwheel (6) is coupled to a first gearwheel freewheel (27) and a second gearwheel freewheel (28), wherein the first and second gearwheel freewheels (27, 28) are each designed such that they are rotatable in the freewheel direction (30) relative to the first gearwheel (6) and are locked against rotational movement relative to the first gearwheel (6) in the locking direction (29); wherein the second gearwheel (7) is coupled to a third gearwheel freewheel (33) and a fourth gearwheel freewheel (34), wherein the third and fourth gearwheel freewheels (33, 34) are each designed such that they are rotatable in the freewheel direction (36) relative to the second gearwheel (7) and are locked against rotational movement relative to the second gearwheel (7) in the locking direction (35); and wherein the wobble member (9) has a plurality of gearwheel segments (19, 20, 21, 22), each of which meshes with one of the gearwheel freewheels (27, 28, 33, 34) of the first and second gearwheels (6, 7), such that the wobbling motion of the wobble member (9) is converted into a back and forth rotational movement of the gearwheel freewheels (27, 28, 33, 34) and a drive force introduced into the drive shaft (3) is transmitted to the output gearwheel (5).

2. Gearwheel transmission according to claim 1, wherein the control means (13) are designed to set an angle of inclination of the wobble plate (10) at which the wobble plate (10) does not perform a wobbling motion when the drive shaft (3) rotates.

3. Gearwheel transmission according to any of the preceding claims, wherein the control means (13) are designed to continuously adjust the angle of inclination of the wobble plate (10).

4. Gearwheel transmission according to any of the preceding claims, wherein the first to fourth gearwheel freewheels (27, 28, 33, 34) are coupled to the wobble member (9) such that the first to fourth gearwheel freewheels (27, 28, 33, 34) transmit the drive force successively to the first and second gearwheels (6, 7).

5. Gearwheel transmission according to any of the preceding claims, wherein the wobble member (9) has four gearwheel segments (19, 20, 21, 22), which are fixedly attached to the wobble member (9) or are formed integrally with the wobble member (9), wherein a first gearwheel segment (19) on the wobble member (9) meshes with the first gearwheel freewheel (27), wherein a second gearwheel segment (20) on the wobble member (9) meshes with the second gearwheel freewheel (28), wherein a third gearwheel segment (21) on the wobble member (9) meshes with the third gearwheel freewheel (33), and wherein a fourth gearwheel segment (22) on the wobble member (9) meshes with the fourth gearwheel freewheel (34), wherein the first (19) and third (21) gearwheel segments are provided at a first end (17) of the wobble member (9), and wherein the second (20) and fourth (22) gearwheel segments are arranged at a second end (18), opposite the first end (17) of the wobble member (9).

6. Gearwheel transmission according to claim 5, wherein in each case two gearwheel segments (19, 21; 20, 22) are formed in one piece.

7. Gearwheel transmission according to any of the preceding claims, wherein the axes of rotation (8) of the first gearwheel (6) and the second gearwheel (7) are arranged transversely to the wobble plate axis of rotation (11).

8. Gearwheel transmission according to any of the preceding claims, wherein the control means (13) comprise one or a plurality of linear adjustment units with an axially displaceable actuator (23, 24), preferably in the form of a spindle drive, particularly preferably with a spindle (39) with a right-hand and a left-hand thread (40, 41).

9. Gearwheel transmission according to claim 8, wherein the one or a plurality of linear adjustment units are arranged at least partially within the drive shaft (3).

10. Gearwheel transmission according to claim 8 or 9, wherein the actuator (23, 24) is guided on or in the drive shaft (3) in a rotationally fixed but axially displaceable manner relative to the drive shaft (3).

11. Gearwheel transmission according to any of the preceding claims, wherein the one or a plurality of linear adjustment units comprise one or a plurality of articulated arms (25, 26) connecting the actuator (23, 24) and the wobble plate (10).

12. Gearwheel transmission according to claim 11, wherein a plurality of actuators (23, 24) are arranged along the wobble plate axis of rotation (11) on opposite sides of the wobble plate (10), and wherein the actuators (23, 24) and the associated articulated arms (25, 26) are arranged symmetrically on the opposite sides of the wobble plate (9) with respect to the pivot centre of the wobble plate (9).

13. Gearwheel transmission according to any of the preceding claims, wherein the control means comprise a linear adjustment unit with an actuator (46) movable coaxially or parallel to the drive shaft and a drive source, wherein the actuator (46) is arranged on a spindle (48) arranged on the outside of the housing (2), and wherein the actuator (46) is coupled to one or a plurality of articulated arms (47) through the wall of the housing (2).