COAXIAL GEARBOX

Description

Field of invention

[0001] The invention relates to a coaxial gearbox, in particular a coaxial gearbox manufactured from a kit for a series of coaxial gearboxes with different ratios, a series of coaxial gearboxes with different ratios and a method for manufacturing a coaxial gearbox. State of the art

[0002] Gearboxes are known in the art which include toothed pins mounted axially displaceably in a tooth carrier. Drive elements with a profile are used to drive the toothed pins. The toothed pins are moved axially and engage with a toothed section, resulting in a relative movement between the tooth carrier with the toothed pins and the toothed section. The relative movement between the toothed section and the toothed pins is at least one order of magnitude smaller than the movement of the drive element with the profile. High gear ratios can be achieved in this way. Examples of such a gearbox are published in DE 10 2019 129 660 A1, DE 10 2019 129 662 A1, which, according to the Examining Division of the European Patent Office, represents the closest prior art, and CN 110 645 334 A.

[0003] However, existing state-of-the-art solutions involve high costs or significant effort in the production of gearboxes with different gear ratios. Disclosure of the invention

[0004] The object of the invention is to provide a coaxial transmission which is improved compared to coaxial transmissions known from the prior art, in particular to achieve a simpler or more cost-effective provision of coaxial transmissions with different gear ratios. Furthermore, it is an object of the invention to provide a series of coaxial transmissions with different gear ratios and a method for manufacturing a coaxial transmission.

[0005] The problem is solved by a coaxial gearbox according to claim 1 and by a series and a method according to the dependent claims. Advantageous further developments and embodiments are described in the dependent claims. The invention is described in the attached set of claims.

[0006] Typically, terms such as "axial", "radial" or "circumferential direction" are to be understood in relation to the axis of rotation of the coaxial drive, for example, in relation to the axis of rotation of the cam disc of the coaxial drive.

[0007] In typical embodiments, the guides of the gear carrier are axially aligned with respect to the axis of rotation of the coaxial drive. Typically, the toothed pins are mounted in the guides of the gear carrier so as to be axially displaceable. Typically, a toothed pin is mounted in a guide of the gear carrier so as to be displaceable in exactly one direction, typically along the longitudinal axis of the toothed pin. This can be achieved, for example, by ensuring that the toothed pin has a constant cross-section in the direction of displacement over a certain length, particularly over a certain length of the body along the longitudinal axis of the toothed pin. The toothed pin can be received in the guide such that it is mounted in the guide so as to be axially displaceable along its longitudinal axis with respect to the axis of rotation of the coaxial drive.Typically, a guide for a toothed pin in the tooth carrier is designed as a bore or opening with a constant cross-section in the axial direction. The bore or opening typically extends through the tooth carrier in the axial direction. The guides are typically designed as round openings or bores, particularly circular openings or bores. Other typical tooth carriers include rectangular milled recesses, elongated holes, or slots as guides. In typical embodiments, the tooth carrier surrounds the axis of rotation in the circumferential direction. In particular, the tooth carrier can be circular or annular.

[0008] In typical embodiments, the gear carrier is selected from a plurality of gear carriers. Typically, the gear carriers of the plurality of gear carriers are each configured to implement one of the coaxial gears of a series of coaxial gears. The coaxial gears of the series typically have different gear ratios. In particular, the coaxial gears of the series may include identical gear components, for example, identical teeth or identical pins.

[0009] In typical embodiments, the coaxial drive is manufactured from a kit. Typically, the kit comprises a gear, pins, and one or more tooth carriers. In particular, the kit can include a plurality of tooth carriers. For example, by selecting a tooth carrier, a coaxial drive with one of several different gear ratios can be manufactured from the kit. In some embodiments, tooth carriers can each be manufactured from a tooth carrier prefabricated part, in particular from identical tooth carrier prefabricated parts. The tooth carrier prefabricated parts typically do not have guides, in particular no guides designed as bores or openings. Guides for providing a tooth carrier can be manufactured in the tooth carrier prefabricated part, for example, by drilling, with the guides being arranged circumferentially to achieve a coaxial drive with a specific gear ratio.

[0010] Typically, adjacent guides of a gear carrier are spaced apart from each other circumferentially around the axis of rotation by a specific angle. An angle between adjacent guides is typically the angle between two radii from the axis of rotation to the respective centers of the adjacent guides. Typically, an angular division of a gear carrier defines the circumferential arrangement of the guides, in particular the angles between adjacent guides and the distribution of these angles circumferentially.

[0011] In typical embodiments, the coaxial drive comprises a cam disk rotatable about the axis of rotation for the axial drive of the toothed pins. Typically, the cam disk includes a profiled section as a drive element for the axial drive of the toothed pins, in particular by axial stroke of the toothed pins. Typically, the profiled section of the cam disk has at least one axial projection, and in particular at least two or at least three projections. Typically, the profiled section of the cam disk follows a helical surface or is curved in the circumferential direction. Typically, the cam disk, the tooth carrier, and the gear teeth are arranged in that order in an axial direction.By driving the cam disc with the profile, a force can be exerted on the toothed pins in the direction of the respective longitudinal axis of the toothed pins, so that the toothed pins are pressed in the guides of the tooth carrier in the direction of the toothing.

[0012] In typical embodiments, the cam disc is selected from a plurality of cam discs with different numbers of axial projections. In particular, the kit can comprise a plurality of cam discs with different numbers of axial projections. In typical embodiments, cam discs can each be manufactured from a cam disc prefabricated part, in particular from identical cam disc prefabricated parts. At least one axial projection can be machined from a cam disc prefabricated part to provide a cam disc, for example by milling, wherein the number of axial projections is determined to achieve a coaxial drive with a specific gear ratio.

[0013] Typical coaxial gears comprise axially oriented gear teeth. In particular, the gear teeth can be designed as the teeth of a face gear. The gear teeth typically comprise teeth arranged in a circumferential sequence. Each tooth typically comprises two tooth flanks. In typical embodiments, the gear teeth for coaxial gears of the same series with different gear ratios are identical, in particular with the same number of teeth or the same diameter.

[0014] Typical coaxial gearboxes have an input shaft and an output shaft. Typically, the input shaft and the output shaft are rotatably mounted about the axis of rotation of the coaxial gearbox. Typically, the input shaft or the output shaft, or both, are designed as hollow shafts. Typically, the cam disc is provided on the input shaft. In typical embodiments, the gear carrier is provided on the output shaft, wherein, in particular, the gear teeth or a face gear with the gear teeth are rotationally fixed to a housing of the coaxial gearbox or are not rotatable relative to the housing. In further typical embodiments, gear teeth or a face gear with the gear teeth are provided on the output shaft, wherein, in particular, a gear carrier is rotationally fixed to a housing of the coaxial gearbox or is not rotatable relative to the housing.

[0015] In typical embodiments, each toothed pin comprises a body mounted axially displaceably in a guide of the gear carrier. Typically, the body extends along the longitudinal axis of the toothed pin. The longitudinal axis of the toothed pin is typically aligned at least substantially parallel to the axis of rotation of the coaxial drive. The body is typically at least partially received in a guide of the gear carrier. The body can have a cross-section that remains at least substantially constant along the longitudinal axis of the toothed pin. In typical embodiments, a cross-sectional area of ​​the body perpendicular to the longitudinal axis of the toothed pin is circular. In particular, the cross-sectional area of ​​the body can be circular. Typically, the body is at least substantially cylindrical.In other typical embodiments, the fuselage has a cross-sectional area that is at least partially non-round, for example a polygonal cross-sectional area, in particular a square cross-sectional area, or a round cross-sectional area with at least one flattening, in particular a circular cross-sectional area with at least one flattening.

[0016] Typically, at least some of the toothed pins are designed to be rigid. The term "rigid" is typically understood in a technical sense, meaning that bending of the toothed pins due to the stiffness of the pin material is so small that it is essentially insignificant for the kinematics of the coaxial drive.

[0017] In embodiments, the toothed pin comprises a toothed pin base in an end region facing the cam. The toothed pin base is typically configured for supporting the toothed pin on a bearing segment of the coaxial drive. In typical embodiments, each toothed pin comprises a head region. The head region typically comprises at least one tooth, in particular at least two teeth, for meshing with the gear teeth. A tooth typically comprises two tooth flanks. Typically, the tooth comprises a tooth head. The tooth head typically forms the transition between the two tooth flanks of the tooth. The tooth head is typically rounded. Typically, the tooth head extends at least substantially in a radial direction. Between the body of a toothed pin and the at least one tooth, the head region typically comprises a socket.Typically, at least one tooth is arranged on the base, particularly on a side of the base facing the toothing.

[0018] Typically, the head region is wider than the body in the circumferential direction around the axis of rotation. The head region can be wider in one circumferential direction or in both circumferential directions relative to the body. In some embodiments, the head region is wider than the body in the radial direction. The head region can be widened radially inwards or radially outwards with respect to the axis of rotation of the coaxial drive, particularly radially inwards and radially outwards. Widening the head region can offer the advantage of increasing the engagement surface for the engagement of the at least one tooth of a pin with the gear teeth. In other typical embodiments, the head region is essentially the same width as the body in the radial direction.

[0019] In typical embodiments, the tooth flanks of a tooth or the gear flanks of the gear teeth run at least partially along helical lines around the axis of rotation. In other embodiments, a tooth flank or a gear flank can run at least partially along a helical surface. In particular, a surface engagement of the tooth flanks and the gear flanks can be provided.

[0020] In typical embodiments, the head region comprises a single tooth, in particular a single tooth with exactly two tooth flanks.

[0021] In other typical embodiments, the toothed pins each comprise at least two teeth in the head region for engaging with the teeth, in particular at least three or at least four teeth. Typically, the head region comprises a maximum of 15 teeth, in particular a maximum of 10 teeth or a maximum of 8 teeth. The teeth are typically arranged in a circumferential line. Toothed pins with more than one tooth can offer the advantage that the toothed pins can be operated with a smaller tooth stroke for engaging with the teeth.

[0022] Typically, the pitch angle of at least two teeth in the end region of a tooth pin is at least substantially equal to, or a multiple of, the pitch angle of the gear teeth, and in particular at least substantially equal to an integer multiple. The pitch angle is determined, for example, by the angle that two circumferentially adjacent teeth, in particular the tooth heads of the adjacent teeth, of an end region form with respect to the axis of rotation. The pitch angle of the gear teeth is calculated, for example, as 360 degrees divided by the number of teeth in the gear teeth.

[0023] In typical embodiments, the toothed pins each have the same number of teeth. In particular, the toothed pins can be uniformly shaped. In particular, the toothed pins are designed as identical parts.

[0024] In other typical embodiments, the toothed pins comprise a group of uniform toothed pins and at least one special toothed pin that differs from the uniform toothed pins. Typically, the at least one special toothed pin has a special number of teeth in its head region, which differs from the number of teeth of a toothed pin among the uniform toothed pins. For example, the special number may be at least or exactly one less than the number of teeth of one of the uniform toothed pins. Typically, the number of uniform toothed pins is greater than the number of special toothed pins. In embodiments, the toothed pins comprise at least one special toothed pin, in particular at least two or at least three, or a maximum of 10 special toothed pins, in particular a maximum of seven or a maximum of five. For example, the toothed pins may comprise exactly one special toothed pin.

[0025] In typical embodiments, the number of toothed pins for the coaxial gear series is the same. Typically, the number of guides in the tooth carriers for the coaxial gear series is also the same. In some embodiments, coaxial gears with different gear ratios can be manufactured using the same sets of toothed pins. In other embodiments, coaxial gears with different gear ratios can be manufactured using different sets of toothed pins. For example, a first coaxial gear series can be manufactured using a first set of uniform toothed pins, and a second coaxial gear series can be manufactured using a group of uniform toothed pins and at least one special toothed pin.

[0026] In typical embodiments, particularly in at least one coaxial transmission of a series according to the embodiments, the calculated number of teeth of the coaxial transmission differs by a non-zero integer from the nearest integer multiple of the number of guides to the number of teeth of the gearing. Typically, the number of axial projections of the cam disk is determined by the calculated number of teeth and the number of teeth of the gearing. In particular, the number of axial projections of the cam disk can be equal to the difference between the calculated number of teeth and the number of teeth of the gearing.

[0027] In the invention, the tooth carrier of the coaxial drive has an irregular angular spacing. This irregular angular spacing comprises a group of identical first angles between adjacent guides and at least one second angle, different from the first angles, between adjacent guides, particularly between further adjacent guides. In embodiments, the first angles are each equal to 360 degrees multiplied by the number of teeth per head region of the tooth pins, divided by the calculated number of teeth. Typically, the sum of the first angles and the at least one second angle equals 360 degrees.

[0028] In typical embodiments, the translation i results from the calculated number of teeth Z z and the number of teeth ZV of the gearing as follows: i = 1 − − Z V Z Z + − Z V

[0029] Design features can offer the advantage that coaxial gears with different gear ratios can be manufactured using identical gear components, for example, using the same tooth design or at least partially identical pins. In particular, different gear ratios can be achieved by varying the angular pitch in the gear carrier or the calculated number of teeth.

[0030] In typical embodiments, the at least one second angle is larger than a first angle. Typically, a gap is formed between adjacent tooth pins in a circumferential angular region of a second angle. Typically, the calculated number of teeth is greater than the integer multiple of the number of guides closest to the number of teeth in the gearing. Typically, the at least one second angle is larger than a first angle by 360 degrees divided by the calculated number of teeth. In further typical embodiments, the second angle is larger than a first angle by an integer multiple of 360 degrees divided by the calculated number of teeth.

[0031] In other typical embodiments, the at least one second angle is smaller than a first angle. Typically, the calculated number of teeth is smaller than the integer multiple of the number of guides closest to the number of teeth of the gearing. Typically, the at least one second angle differs from a first angle by 360 degrees divided by the calculated number of teeth and divided by a natural number. For example, a guide can be separated from an adjacent guide in both circumferential directions by a second angle. The two adjacent second angles can, for example, be smaller than a first angle by 360 degrees divided by 2 and divided by the calculated number of teeth. In particular, the coaxial drive can have a special toothed pin in the guide of the adjacent second angles.The special toothed pin can have a lower, in particular at least one lower, special number of teeth in the head area than a toothed pin of the group of uniform toothed pins of the coaxial gear.

[0032] In typical embodiments, at least one of the multiple gear carriers has a regular angular pitch. Typically, with a regular angular pitch, all angles between adjacent guides are equal. In typical series, a coaxial drive, and in particular exactly one coaxial drive of the series, has a calculated number of teeth that is equal to the integer multiple of the number of guides closest to the number of teeth of the gearing.

[0033] Typical coaxial gears according to embodiments include a gear bearing for supporting the toothed pins on a cam disk of the coaxial gear. Typically, the gear bearing comprises bearing segments for pivotally supporting the base of a toothed pin. The bearing segments can also be referred to as pivot segments. In typical embodiments, the bearing segments are arranged in a ring shape. The bearing segments are typically arranged adjacent to one another in the circumferential direction. In embodiments, the bearing segments comprise a group of uniform bearing segments and at least one special bearing segment for at least one special toothed pin. For example, the at least one special bearing segment can be narrower in the circumferential direction than one of the uniform bearing segments. In embodiments, the bearing segments are made of metal. In further embodiments, the bearing segments can be made of plastic.

[0034] Typically, rolling elements are arranged between the cam and the bearing segments. These rolling elements are typically designed as cylindrical rollers. In typical embodiments, the rolling elements are arranged with their longitudinal axis at least substantially perpendicular to the axis of rotation of the gearbox. In typical embodiments, the rolling elements can be guided in a cage that is permanently elastic and able to follow the stroke of the cam. In other typical embodiments, the bearing segments are slidably mounted on the cam.

[0035] Typically, the bearing segments are assembled to form a circular ring. Typical bearing segments can be designed as circular ring sections, in trapezoidal shape with straight outer or inner edges or both, or with a substantially circular cross-section, where the edges are flattened in the circumferential direction.

[0036] Typical embodiments include an anti-rotation ring arranged between the toothed pins and the bearing segments, which in particular prevents the toothed pins from rotating about their respective longitudinal axes, typically with respect to the anti-rotation ring. In typical embodiments, the anti-rotation ring is annular, circumferential around the axis of rotation, and includes openings for receiving the toothed pins. Typical anti-rotation rings of embodiments are elastic, e.g., made of plastic, in particular POM, PA, PEI, PPS, PK, or PEEK. In this way, adaptation to the deformation during the rotation of the cam disc can be achieved.

[0037] Typically, the angular division of the anti-rotation ring, in particular the angular division of the openings for receiving the toothed pins, is equal to the angular division of the toothed carrier. In typical embodiments, the anti-rotation ring is selected from a plurality of anti-rotation rings with different angular divisions, particularly for the implementation of one of the coaxial gearboxes in the series of coaxial gearboxes with different gear ratios.

[0038] In typical embodiments, the anti-rotation ring comprises at least one rib. This rib is typically formed on the side of the anti-rotation ring facing the cam. Typically, the rib projects axially towards the cam. Typically, a longitudinal axis of the rib extends radially. Typically, a rib is arranged within an angular range of a second angle, in particular a second angle that is larger than either of the first angles. The rib can, in particular, be configured to fill a gap between two adjacent bearing segments. The rib can, for example, extend axially substantially to the axial height of a running surface of the bearing segments.Bridges according to embodiments can offer the advantage of preventing rolling elements from falling out of the cage, in particular a rolling element from falling into a gap between two bearing segments.

[0039] Typical toothed pins of various embodiments have a tooth body with a circular cross-section and a non-circular cross-section in the area of ​​the toothed pin base for engagement with a correspondingly shaped opening in the anti-rotation ring. Typical cross-sections of toothed pin base embodiments include a lateral flattening to prevent the entire toothed pin from rotating about its longitudinal axis by engaging with an opening in the anti-rotation ring. Typical embodiments provide a positive locking connection in the area of ​​the toothed pin base. An anti-rotation feature can, in particular, ensure that the toothed pin is not rotated relative to the teeth when unloaded. In this way, reliable engagement with the teeth can be guaranteed.

[0040] In typical designs, the anti-rotation ring prevents the bearing segments from rotating relative to each other, in particular rotation about an axis parallel to the axis of rotation of the gearbox or about a longitudinal axis of the toothed pins. Furthermore, the anti-rotation ring can serve as an assembly aid for the bearing segments. For this purpose, the bearing segments are typically inserted into the anti-rotation ring and then slid together onto the toothed pins already located in the gear carrier.

[0041] Typically, the anti-rotation ring includes lugs facing the cam disc to secure the bearing segments in position. These lugs can also be described as reliefs. They typically engage with corresponding edge features within or at the edge of the bearing segments. Examples of such edge features include flattened corners or grooves in edges. The lugs can be arranged radially inside or radially outside the bearing segments.

[0042] Methods for manufacturing a coaxial gearbox from a series comprising a plurality of coaxial gearboxes with different ratios can, in particular, be used to manufacture coaxial gearboxes according to the embodiments described herein.

[0043] In typical embodiments, the method comprises providing prefabricated gear carrier components for a gear carrier, in particular identical prefabricated gear carrier components. Typically, a prefabricated gear carrier component does not have guides for gear pins. The method may include manufacturing a plurality of gear carriers from the prefabricated gear carrier components. Typically, manufacturing the plurality of gear carriers includes creating guides in the prefabricated gear carrier components, for example, by drilling the guides. Typically, the gear carriers are manufactured with different angular pitches of the guides to achieve different gear ratios.

[0044] In typical embodiments, the method comprises providing cam disc prefabrication parts for a cam disc, in particular identical cam disc prefabrication parts without a profile featuring axial protrusions. The method typically includes manufacturing a plurality of cam discs from the cam disc prefabrication parts, for example, by milling the profile and the axial protrusions from the cam disc prefabrication parts. Typically, the cam discs are manufactured with different numbers of axial protrusions.

[0045] The method according to the invention comprises selecting a toothed carrier from a plurality of toothed carriers, wherein the toothed carriers each have different angular divisions of the guides to achieve the different gear ratios. The method may also include selecting a cam disk from a plurality of cam disks. The toothed carrier or the cam disk is typically selected to implement a coaxial drive with a specific gear ratio.

[0046] Typical methods involve providing a plurality of anti-rotation rings. These anti-rotation rings typically have different angular divisions. In typical embodiments, the method may include selecting one anti-rotation ring from this plurality. The angular division of the selected anti-rotation ring typically corresponds to the angular division of the selected tooth carrier.

[0047] The method according to the invention comprises mounting the coaxial gear with a toothing, the selected tooth carrier and the tooth pins, in particular with the selected cam disc or the selected anti-rotation ring.

[0048] The coaxial transmission according to the invention has the advantage over the prior art that coaxial transmissions with different gear ratios can be manufactured more easily, quickly, or cost-effectively. In particular, coaxial transmissions can be manufactured using fewer ratio-specific gear components. Different gear ratios can be achieved by varying production parameters when drilling holes for creating guides in the gear carrier or when milling the cam disc. The effort or cost of designing, simulating, or manufacturing two gear components for each gear ratio can be reduced in certain embodiments. Brief description of the drawings

[0049] The invention is explained in more detail below with reference to the accompanying drawings, the figures of which show: Fig. 1 shows a typical embodiment of the coaxial drive in a partial schematic sectional view; Figs. 2A-2B show schematic views of bearing segments, toothed pins, and an anti-rotation ring according to a typical embodiment; Figs. 3A-3C show schematic views of bearing segments, toothed pins, and an anti-rotation ring according to another typical embodiment; Fig. 4 shows a schematic view of a tooth carrier according to another embodiment; Figs. 5A-5B show schematic views of an anti-rotation ring with a tooth carrier of the Fig. 4 corresponding angle division; and Fig. 6 shows a schematic view of a toothed pin according to typical embodiments. Description of exemplary implementations

[0050] Typical embodiments of the invention are described below with reference to the figures, whereby the invention is not limited to the exemplary embodiments, but rather the scope of the invention is determined by the claims.

[0051] In the description of the embodiments, the same reference numerals may be used for identical or similar parts in different figures and for different embodiments. For the sake of clarity, features already described in connection with other figures are sometimes not mentioned or described multiple times. For clarity, not all features are always provided with a reference numeral, for example, the bearing segments or the toothed pins.

[0052] In the Fig. 1 Figure 1 shows a section of a typical embodiment of the invention in a schematic sectional view. Fig. 1 Figure 1 shows a part of a coaxial drive 1 with a toothed section 5 aligned with respect to a rotational axis 3 of the coaxial drive 1. The toothed section 5 is designed as the toothing of a face gear 18 rotating around the rotational axis 3. The face gear 18 is rotationally fixed to a housing 31 of the coaxial drive 1.

[0053] The coaxial gearbox 1 comprises a toothed carrier 7, which is provided on an output shaft 34. The output shaft 34 is rotatably mounted on the housing 31 about the axis of rotation 3 via a first bearing 33. The toothed carrier 7 has axially aligned guides 9, in each of which toothed pins 11 are received. The toothed pins 11 are axially displaceable along their respective longitudinal axes 13 in the guides 9 with respect to the axis of rotation 3.

[0054] The tooth pins 11 each comprise a head region oriented for engagement with the teeth 5, and a tooth pin base which projects from the guide 9 of the respective tooth pin 11 and is supported on a bearing segment 17. A tooth pin 11 further comprises a body between the tooth pin base and the tooth head, the body being at least partially received in the guide 9 of the tooth pin 11.

[0055] The toothed pin base of the toothed pin 11 rests with a recess 21 on a partially ball-shaped elevation 19 of the bearing segment 17. An anti-rotation ring 29 is arranged between the toothed pins 11 and the bearing segments 17 to secure the toothed pins 11 against rotation about their respective longitudinal axis 13. The bearing segments 17 are each supported by a running surface 23 on their side facing away from the toothed pin on a rolling bearing with rolling elements 27, which in turn is supported on a profile 25 of a cam disk 15 of the coaxial drive 1. The rolling bearing is located in the Fig. 1 Essentially, a cross-section of a cage 26 for the rolling elements 27 (partially obscured) can be seen. The rolling elements 27 are designed as needle rollers.

[0056] The cam disc 15 is mounted on a drive shaft 36. The drive shaft 36 is rotatably mounted on the toothed carrier 7 via a second bearing 35 about the axis of rotation 3, and thus indirectly also on the housing 31. The cam disc 15 is mounted relative to the housing 31 via a thrust bearing 37 with needle rollers. The profile 25 of the cam disc 15 extends around the axis of rotation 3 and has in the Fig. 1 an axial elevation in the direction of the tooth pins 11.

[0057] In Fig. 2A-2B The bearing segments 17, the anti-rotation ring 29, and the toothed pins 11 are shown schematically without tooth carriers and other components for clarity. In the embodiment of the Fig. 2A-2B The tooth carrier (not shown) comprises 24 guides for 24 toothed pins 11. The embodiment has a tooth count ZV = 120, a calculated tooth count ZZ = 121, a number p = 1 of axial projections on the cam, and a gear ratio i = 121. The toothed pins 11 are uniformly shaped. Each toothed pin 11 comprises a head section with five teeth. The angular division of the tooth carrier and the anti-rotation ring 29 comprises a group of uniform first angles, each approximately 14.876 degrees (= 360 degrees * 5 / 121), and exactly one second angle of approximately 17.851 degrees, which corresponds to the sum of a first angle and 360 degrees / 121. In particular, the second angle is larger than any of the first angles. A gap 55 is formed between the toothed pins 11 in the angular region of the second angle.

[0058] A series of designs comprising a coaxial gearbox with the gear components of Fig. 2A-2B , for example, includes another coaxial gear with the same gearing with a number of teeth ZV = 120 as in the embodiment of the Fig. 2A-2B The other coaxial gear has a calculated number of teeth ZZ = 122, a number p = 2 of axial projections on the cam, and a gear ratio i = 61. The angular division comprises first angles of 14.754 degrees and two second angles. The two second angles are spaced circumferentially apart, so that two gaps are formed between the tooth pins. The series also includes, for example, another coaxial gear with a number of teeth ZV = 120, a calculated number of teeth ZZ = 123, a number p = 3 of axial projections on the cam, and a gear ratio i = 41. The angular division comprises first angles of 14.634 degrees and three second angles spaced circumferentially apart, so that three gaps are formed circumferentially between the tooth pins.

[0059] Fig. 2B shows another schematic view of the in the Fig. 2A The embodiment shown, in particular with a view of the running surfaces 23 of the bearing segments 17, is illustrated. The bearing segments 17 are uniformly shaped. The bearing segments 17 are fixed relative to the anti-rotation ring 29, being prevented from rotating by inner lugs 28 and outer lugs 30 of the anti-rotation ring 29. Each of the inner lugs 28 supports a respective inner edge of a bearing segment 17 against radial inward displacement. The radially outer corners 41 of the bearing segments 17 are each flattened to engage with the triangular outer lugs 30, thus preventing radial outward movement and rotation. Each of the outer lugs 30 engages with two bearing segments 17.

[0060] In the area of ​​the gap 55 between two toothed pins 11, the anti-rotation ring 29 comprises a web 32 on the side of the anti-rotation ring 29 facing the cam disk. The web 32 extends axially essentially to the axial height of the running surface 23 of the bearing segments 17 adjacent to the web. The web 32 prevents rolling elements from falling out of the cage into the gap between the bearing segments 17. Further embodiments of anti-rotation rings with inner lugs 28, outer lugs 30 or webs 32 are, for example, in Figuren 3C and 5A-5B shown.

[0061] Fig. 3A-3C Figure 1 shows schematic views of bearing segments 17, an anti-rotation ring 29, and toothed pins 11 of a further embodiment, with the tooth carrier and other components of the coaxial drive omitted for clarity. The coaxial drive has a tooth count ZV = 118, a calculated tooth count ZZ = 119, a number p = 1 of axial projections of the cam disk, and a gear ratio i = 119. The toothed pins comprise a group of uniform toothed pins 61, each with five teeth 52, and a special toothed pin 63 with four teeth. As shown in the view of the Fig. 3B Pointing to the teeth 52 of the toothed pins, the angular division of the tooth carrier and the anti-rotation ring 29 comprises a group of identical first angles 57, of which only two are shown for clarity, and two second angles 59 arranged around the guide of the special toothed pin 63. The second angles 59 are each smaller than one of the first angles 57. Fig. 3C Figure 1 shows a view of the running surfaces 23 of the bearing segments 17. The bearing segments 17 comprise a group of uniform bearing segments 62 and a special bearing segment 64 associated with the special toothed pin 63. The special bearing segment 64 is narrower in the circumferential direction than one of the uniform bearing segments 62.

[0062] Fig. 4 shows a tooth carrier 7 for a coaxial gearbox according to a further embodiment, in particular from a further series with the same toothing as that of the coaxial gearbox of the Fig. 3A-3C The angular division of the guides 9 of the tooth carrier 7 comprises identical first angles 57 and two second angles 59 different from one of the first angles 57, wherein the second angles 59 are each larger than a first angle 57. For the sake of clarity, in Fig. 3B Not all first angles 57 are marked. The second angles 59 are opposite each other circumferentially, so that two gaps are formed circumferentially between the toothed pins inserted into the tooth carrier 7. In particular, uniformly shaped toothed pins can be received in the tooth carrier 7. The tooth carrier 7 is designed for a coaxial drive with a number of teeth ZV = 118, a calculated number of teeth ZZ = 122, a number p = 4 of axial projections of the cam, and a gear ratio i = 30.5.

[0063] The next series includes, for example, another coaxial gearbox with a tooth count ZV = 118, a calculated tooth count ZZ = 121, a number p = 3 of axial projections on the cam, and a gear ratio i = 40.333. A gap is formed between the toothed pins in the circumferential direction. The next series includes, for example, yet another coaxial gearbox with a tooth count ZV = 118, a calculated tooth count ZZ = 120, a number p = 2 of axial projections on the cam, and a gear ratio i = 60. The tooth carrier comprises 24 guides designed as bores. The angular spacing of the guides is regular and includes only the same initial angles. The toothed pins are uniformly shaped.Coaxial gearboxes according to embodiments have the particular advantage that coaxial gearboxes of a series with different ratios can be manufactured using the same gearing and the same pins.

[0064] Fig. 5A-5B Figure 1 shows schematic views of an anti-rotation ring 29, in particular views of the side of the anti-rotation ring 29 facing the cam disk. The anti-rotation ring 29 has inner lugs 28, outer lugs 30, and webs 32 according to the embodiments described herein. Furthermore, the anti-rotation ring 29 has an opening 38 for each of the toothed pins 11. The openings 38 have a sectionally straight indentation 39 on their radially outer side, which projects into the otherwise annular cross-section of the opening 38. Each of the indentations 39 interacts with a flattened portion of a toothed pin (see Figure 1). Fig. 6 In embodiments, a non-circular cross-section of the toothed pin in the area of ​​the toothed pin base allows for engagement with the correspondingly shaped opening with molding in the anti-rotation ring, so that the toothed pin is secured against rotation about its longitudinal axis.

[0065] In the Fig. 6 A schematic representation of a toothed pin 11 is shown in an inclined view. The toothed pin 11 comprises a head region 51, a toothed pin base 49, and a body 50 arranged between the head region 51 and the toothed pin base 49. The toothed pin 11 has the concave recess 21 at the toothed pin base and a widened head region 51 with a plurality of teeth 52. The widened head region 51 engages several teeth 52 with the teeth 5 of the face gear 18, enabling the transmission of a high torque via the teeth. Furthermore, the Fig. 6The flattening 53 in the area of ​​the tooth post base 49 can be seen, which prevents the tooth post 11 from rotating by engaging with the mold in a respective opening of the anti-rotation ring.

Claims

1. Coaxial transmission (1), comprising: - a toothing (5) which is axially aligned with respect to an axis of rotation (3) of the coaxial transmission (1), - a tooth carrier (7) which has axially aligned guides (9), and - toothed pins (11), each comprising a body (50), which is axially displaceably mounted in a guide (9) of the tooth carrier (7), and a head region (51), the head region (51) comprising at least one tooth (52) for engagement with the toothing (5), characterised in that the tooth carrier has an irregular angular pitch, which comprises a group of identical first angles (57) between adjacent guides (9) and at least one second angle (59), different from the first angles (57), between adjacent guides (9).

2. Coaxial transmission (1) according to any of the preceding claims, wherein the toothed pins (11) each comprise at least two teeth (52) in the head region (51).

3. Coaxial transmission (1) according to any of the preceding claims, wherein the toothed pins (11) are uniform.

4. Coaxial transmission (1) according to any of claims 1 to 2, wherein the toothed pins (11) comprise a group of uniform toothed pins (61) and at least one special toothed pin (63) different from the uniform toothed pins (61).

5. Coaxial transmission (1) according to claim 4, wherein the at least one special toothed pin (63) has in the head region (51) a special number of teeth (52) which is different from a number of teeth (52) of a toothed pin of the uniform tooth pins (61).

6. Coaxial transmission (1) according to any of claims 4 or 5, further comprising a tooth mount for mounting the toothed pins (11) on a cam disc (15) of the coaxial transmission (1), wherein the tooth mount comprises mounting segments (17) for pivotably mounting a toothed pin base of a toothed pin (11), wherein the mounting segments (17) comprise a group of uniform mounting segments (62) and at least one special mounting segment (64) for the at least one special toothed pin (63).

7. Coaxial transmission (1) according to any of the preceding claims, wherein the coaxial transmission is manufactured from a kit for a series of coaxial transmissions having different transmission ratios, and wherein the tooth carrier (7) is selected from a plurality of tooth carriers, wherein the tooth carriers (7) each have different angular pitches of the guides (9) for realising the different transmission ratios.

8. Coaxial transmission (1) according to claim 7, further comprising an anti-rotation ring (29) for securing the toothed pins (11) against rotation, wherein an angular pitch of the anti-rotation ring (29) is equal to the angular pitch of the tooth carrier (7), and wherein the anti-rotation ring (29) is selected from a plurality of anti-rotation rings having different angular pitches.

9. Coaxial transmission (1) according to any of claims 7 or 8, further comprising a cam disc (15) which has at least one axial elevation in the circumferential direction for axially driving the toothed pins (11), wherein the cam disc (15) is selected from a plurality of cam discs having different numbers of axial elevations.

10. Coaxial transmission (1) according to any of claims 7 to 9, wherein the toothing (5) for the coaxial transmissions of the series having different transmission ratios is identical.

11. Series of coaxial transmissions having different transmission ratios, each according to any of claims 7 to 10.

12. Method for producing a coaxial transmission (1) according to any of claims 1 to 10 and a series according to claim 11, comprising a plurality of coaxial transmissions having different transmission ratios, wherein the coaxial transmission (1) comprises: - a toothing (5) which is axially aligned with respect to an axis of rotation (3) of the coaxial transmission (1), - a tooth carrier (7) which has axially aligned guides (9), and - toothed pins (11), each comprising a body (50), which is designed for axially displaceable mounting in a guide (9) of the tooth carrier (7), and a head region (51), wherein the head region (51) comprises at least one tooth (52) for engagement with the toothing (5), wherein the method comprises: - selecting the tooth carrier (7) from a plurality of tooth carriers, wherein the tooth carriers each have different angular pitches of the guides (9) for realising the different transmission ratios, and - assembling the coaxial transmission (1) with the toothing (5), the selected tooth carrier (7) and the tooth pins (11).