Drive comprising a transmission driven by an electric motor

Abstract

The invention relates to a drive comprising a transmission driven by an electric motor, wherein a drive shaft of the transmission has multiple eccentric regions with differing widths in the axial direction, wherein the high points thereof are offset relative to one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disc region, in particular a housing part of the transmission, wherein respective rollers are accommodated in respective recesses of a cage and arranged with a radial degree of freedom, wherein the cage is rotationally fixed to the output shaft of the transmission, wherein the output shaft, along with the cage, is rotationally fixed both relative to the cam disc regions and relative to the drive shaft, wherein, during operation, the respective rollers are made to roll and / or slide on the respective cam disc region by the respective eccentric region, wherein the eccentric regions are arranged behind one another in the axial direction in such a way that the dynamic imbalance is minimised and / or eliminated.

Description

[0001] Drive, comprising a transmission driven by an electric motor

[0002] Description:

[0003] The invention relates to a drive comprising a transmission driven by an electric motor.

[0004] It is generally known that in an epicyclic gear, planetary gears mesh with a sun gear and a ring gear.

[0005] From DE 39 06 053 A1, the closest prior art is a transmission in the form of a stress wave transmission.

[0006] A reduction bearing with electric motor is known from US 2017 / 0 063 193 A1.

[0007] A control system for a vehicle is known from WO 2019 / 186 330 A1.

[0008] A gearbox is known from DE 10 2013 011 799 A1.

[0009] The invention is therefore based on the object of designing a transmission with a high ratio, high transmitted torque and high torsional rigidity in a compact and stable manner.

[0010] According to the invention, the object is achieved by the drive according to the features specified in claim 1, 2 or 3.

[0011] Important features of the invention in the drive are that the drive has a gear driven by an electric motor, wherein a driving shaft, in particular a hollow shaft, of the gear has a plurality of eccentric regions of different widths in the axial direction, the high points of which are offset from one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disk region, in particular of a housing part of the gear, wherein respective rollers are received in respective recesses of a cage and are arranged with a radial degree of freedom, in particular radially reciprocating, in particular wherein the respective recesses are formed radially continuously through the cage and are evenly spaced from one another in the circumferential direction, in particular wherein the cage is connected in a rotationally fixed manner to the output shaft, wherein the cage is connected in a rotationally fixed manner to the output shaft of the gear,in particular in one piece, in particular in one part, wherein the output shaft together with the cage is rotatably mounted both relative to the cam disc areas and relative to the driving shaft, wherein the first housing part is connected to a second housing part, wherein the output shaft together with the cage is rotatably mounted both relative to the cam disc areas and relative to the driving shaft, in that the output shaft has a circumferentially uninterrupted and / or completely circumferential wedge-shaped and / or V-shaped groove, in particular a groove open radially outwards, in which rolling elements, in particular cylindrical, barrel-shaped rolling elements or spherical rolling elements, are received, wherein a V-shaped recess, in particular a V-shaped recess open radially inwards, is provided and / or formed,which is delimited in the axial direction by the first housing part and counter to the axial direction by the second housing part, in particular wherein a first rolling area of ​​the rolling body is arranged on a flank of the wedge-shaped or V-shaped groove and a second rolling area of ​​the rolling body on the first housing part or on the second housing part, in particular wherein the V-shaped recess is arranged radially outside the V-shaped groove, in particular wherein the second housing part has axial bores for connecting a device to be driven by the gear of the drive, in particular wherein the output shaft has axial bores at its axial end region facing away from the cage, in particular for connection to a rotatably mounted part of the device to be driven, wherein during operation, in particular during rotational movement of the driving shaft,the respective rollers are or are forced by the respective eccentric region to roll and / or slide on the respective cam disk region, in particular wherein the widths B_i of the eccentric regions and the circumferential angular positions a_i of the high points associated with the respective eccentric region are designed in such a way that the sum of all products B_i * cos( a_i ) disappears and that the sum of all products B_i * sin( a_i ) disappears, where i numbers the eccentric regions, in particular has values ​​from 1 to N and N is the number of eccentric regions, wherein the eccentric regions are arranged one behind the other in the axial direction in such a way that the dynamic imbalance is minimized and / or disappears. The advantage here is that a high torque and a high gear ratio can be transmitted in a compact spatial area, whereby the drive can be designed to be stable and torsionally rigid. This is because the cage is integral with the output shaft, in particular in one piece,The cage can also be equipped with a second row of rollers. This allows for particularly stable transmission, meaning smooth torque transmission.

[0012] By using multiple rows of rollers, the radial forces can be reduced when the drive shaft is balanced. Furthermore, rollers of different widths can be used, thus enabling a symmetrical arrangement. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.

[0013] It is advantageous to provide at least three eccentric areas, at least two of which have different axial widths. This enables the most uniform rotational operation possible and absorbs high transverse forces.

[0014] A statically and dynamically balanced design can be achieved when the sum of the products of width and cosine or sine of the eccentric high point circumferential angle position disappears or at least becomes as small as possible in terms of amount.

[0015] Important features of the drive according to claim 2 are that the drive has a gear driven by an electric motor, wherein a driving shaft, in particular a hollow shaft, of the gear has a plurality of eccentric regions of different widths in the axial direction, the high points of which have an offset in the circumferential direction to one another, wherein the respective eccentric region is radially surrounded by a respective cam disk region, in particular of a housing part of the gear, wherein the different width of the respective eccentric regions, in axial

[0016] Rollers of different widths are accommodated in respective recesses of a cage in the direction of travel and are arranged with a radial degree of freedom, in particular such that they can be moved back and forth radially, in particular wherein the respective recesses are formed radially continuously through the cage, wherein the cage is connected to the output shaft of the gear unit in a rotationally fixed manner, in particular is formed integrally, in particular in one piece, wherein the output shaft together with the cage is rotatably mounted both relative to the cam disc regions and relative to the driving shaft, wherein the first housing part is connected to a second housing part, wherein the output shaft together with the cage is rotatably mounted both relative to the cam disc regions and relative to the driving shaft, in that the output shaft has a wedge-shaped and / or V-shaped groove that is continuous and / or completely circumferential in the circumferential direction, in particular a groove that is open radially outwards,in which rolling elements, in particular cylindrical, barrel-shaped or spherical rolling elements, are accommodated, wherein a V-shaped recess, in particular a radially inwardly open V-shaped recess, is provided and / or formed, which is delimited in the axial direction by the first housing part and counter to the axial direction by the second housing part, in particular wherein a first rolling area of ​​the rolling element is arranged on a flank of the wedge-shaped or V-shaped groove and a second rolling area of ​​the rolling element is arranged on the first housing part or on the second housing part, in particular wherein the V-shaped recess is arranged radially outside the V-shaped groove, in particular wherein the second housing part has axial bores for connecting a device to be driven by the gear of the drive, in particular wherein the output shaft has axial bores on its axial end region facing away from the cage,in particular for connection to a rotatably mounted part of the device to be driven, wherein during operation, in particular during rotation of the driving shaft, the respective rollers are or are forced by the respective eccentric region to roll and / or slide on the respective cam disk region, in particular wherein the widths C_i of the rollers forced to roll by the respective eccentric region, which has the width C_i, and the circumferential angular positions a_i of the high points associated with the respective eccentric region are designed such that the sum of all products C_i * cos( a_i ) disappears and that the sum of all products C_i * sin( a_i ) disappears, where i numbers the eccentric regions, in particular has values ​​from 1 to N and N is the number of eccentric regions, wherein the rollers and / or eccentric regions of different widths are arranged one behind the other in the axial direction in such a way,that the dynamic imbalance is minimized and / or disappears, in particular where the cage is non-rotatably connected to the output shaft.

[0017] The advantage here is that a high torque and a high gear ratio can be transmitted in a compact space, while the drive can be designed to be stable and torsionally rigid. This is because the cage can be designed as a single piece with the output shaft. The cage can also be equipped with a second row of rollers. This achieves particularly stable transmission and smooth running during torque transmission. By using multiple rows of rollers, the radial forces can be reduced when the driving shaft is balanced. In addition, rollers of different widths can be used, thus achieving a symmetrical arrangement. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.

[0018] It is advantageous to provide at least three eccentric areas, at least two of which have different axial widths. This enables the most uniform rotational operation possible and absorbs high transverse forces.

[0019] A statically and dynamically balanced design can be achieved when the sum of the products of width and cosine or sine of the eccentric high point circumferential angle position disappears or at least becomes as small as possible in terms of amount.

[0020] Important features of the drive according to claim 3 are that the drive has a gear unit driven by an electric motor, wherein a driving shaft, in particular a hollow shaft, of the gear unit has a first eccentric region, wherein the first eccentric region is radially surrounded by a first cam disc region, in particular of a housing part of the gear unit, wherein first rollers are accommodated in first recesses of a cage and are arranged with a radial degree of freedom, in particular radially reciprocating, in particular wherein the first recesses are formed radially continuously through the cage, the driving shaft, in particular a hollow shaft, of the gear unit has a second eccentric region, wherein the second eccentric region is radially surrounded by a second cam disc region, in particular of the housing part of the gear unit, wherein second rollers are accommodated in second recesses of the cage and are arranged with a radial degree of freedom,in particular radially reciprocable, are arranged, in particular wherein the second recesses are formed radially continuously through the cage, the driving shaft, in particular hollow shaft, of the transmission has a third eccentric region, wherein the third eccentric region is radially surrounded by a third cam disk region, in particular of a housing part of the transmission, wherein third rollers are received in third recesses of the cage and are arranged with a radial degree of freedom, in particular radially reciprocable, in particular wherein the third recesses are formed radially continuously through the cage, wherein the cage is connected to the output shaft of the transmission in a rotationally fixed manner, in particular is formed in one piece, in particular in one part, wherein the first eccentric region is arranged in the axial direction between the second and the third eccentric region,in particular, wherein the axial direction is directed parallel to the axis of rotation of the driving shaft, wherein the output shaft together with the cage is rotatably mounted both relative to the cam disc areas and relative to the driving shaft, wherein the first housing part is connected to a second housing part, wherein the output shaft together with the cage is rotatably mounted both relative to the cam disc areas and relative to the driving shaft, in that the output shaft has a circumferentially uninterrupted and / or completely circumferential wedge-shaped and / or V-shaped groove, in particular a groove open radially outwards, in which rolling elements, in particular cylindrical, barrel-shaped rolling elements or spherical rolling elements, are received, wherein a V-shaped recess, in particular a radially inwardly open V-shaped recess, is provided and / or formed,which is delimited in the axial direction by the first housing part and counter to the axial direction by the second housing part, in particular wherein a first rolling area of ​​the rolling body is arranged on a flank of the wedge-shaped or V-shaped groove and a second rolling area of ​​the rolling body on the first housing part or on the second housing part, in particular wherein the V-shaped recess is arranged radially outside the V-shaped groove, in particular wherein the second housing part has axial bores for connecting a device to be driven by the gear of the drive, in particular wherein the output shaft has axial bores at its axial end region facing away from the cage, in particular for connection to a rotatably mounted part of the device to be driven, wherein during operation, in particular during rotational movement of the driving shaft,the respective rollers are forced by the respective eccentric region to roll and / or slide on the respective cam disc region, in particular wherein the first rollers are forced by the first eccentric region to roll and / or slide on the first cam disc region and wherein the second rollers are forced by the second eccentric region to roll and / or slide on the second cam disc region and wherein the third rollers are forced by the third eccentric region to roll and / or slide on the third cam disc region.

[0021] The advantage here is that high torque and a high gear ratio can be transmitted in a compact space, while the drive can be designed to be stable and torsionally rigid. This is because the cage can be constructed as a single piece with the output shaft. Furthermore, the cage can be equipped with a second row of rollers. This allows for particularly stable transmission, meaning smooth torque transmission.

[0022] By directly supporting the rolling element in the manner of a spherical roller bearing or crossed roller bearing, axial and radial forces are minimized. This allows high torques to be transmitted to the output shaft because the output shaft is stably supported. The torque is transmitted from the rollers to the cage, which then transmits the torque to the hollow output shaft. From there, the torque is transmitted via the flange block interface formed on the output shaft to the device driven by the gearbox.

[0023] By using three rows of rollers, the radial forces can be reduced when the drive shaft is balanced. Furthermore, rollers of different widths can be used, thus enabling a symmetrical arrangement. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.

[0024] It is advantageous to provide at least three eccentric areas, at least two of which have different axial widths. This enables the most uniform rotational operation possible and absorbs high transverse forces.

[0025] A statically and dynamically balanced design is achievable when the sum of the products of the width and the cosine or sine of the eccentric high point circumferential angle position disappears or is at least as small as possible. In an advantageous embodiment, the sum of the axial width of the second eccentric area and the third eccentric area equals the axial width of the first eccentric area. This is advantageous because the resulting radial force is minimized and the gear is statically and dynamically balanced.

[0026] In an advantageous embodiment, a stiffening ring is formed, in particular molded, on the cage, in particular on the side facing away from the axial bores of the output shaft, in particular wherein the stiffening ring is aligned coaxially to the tubular cage and coaxially to the output shaft, in particular wherein the radial wall thickness of the cage in the area covered by the stiffening ring in the axial direction is greater than the wall thickness of the cage outside this area. The advantage here is that a high torque can be introduced from the rollers into the cage and the cage can be sufficiently stiffened by the stiffening ring. Preferably, the stiffening ring is arranged on the side of the cage axially facing away from the flange block interface, i.e. the axial bores, of the output shaft, so that the torque can be introduced axially between the stiffening ring and the output shaft.

[0027] In an advantageous embodiment, the first recesses of the cage, in particular, are rectangular, with relief notches protruding in the axial direction in the corner regions of the rectangular recesses, with the distance between two relief notches, measured in the circumferential direction, decreasing monotonically, in particular strictly monotonically, in the axial direction and / or with increasing distance from the rectangle. The advantage here is that the first recesses do not have any sharp corners of the basic rectangular shape, and thus the force-stress curves in the cage can be optimized. As the relief notches become increasingly closer with increasing axial distance in the circumferential direction, a particularly favorable stress force curve can be achieved in the cage.In addition, the respective dovetail-like axial end area is designed with sufficient material to ensure the axial limitation of the rollers, especially when the limiting material extends as far as possible in the circumferential direction.

[0028] In an alternative advantageous embodiment, the in particular first recesses of the cage are designed in the shape of a rectangular slot, in particular wherein the respective axial end region of the slot-shaped recess is rounded and / or designed as a semicircle, wherein on a first spacing ring radially projecting knobs protrude into the recesses and axially delimit the in particular first rollers received in the in particular first recesses, in particular

[0029] - wherein a respective one of the knobs of the first spacing ring projects into a first recess and axially delimits a first roller received in this first recess, in particular in the axial direction,

[0030] - wherein a nub of the first spacing ring that is closest to this respective first nub of the first spacing ring protrudes into a respective second recess of the cage and axially delimits the second roller received in this second recess, in particular counter to the axial direction, in particular wherein the second recess is axially spaced from the first recess. It is advantageous that the spacing rings can be made of a material that is softer than the material of the cage, so that low-noise operation of the transmission can be achieved. In particular, the spacing rings are made of plastic.In an advantageous embodiment, the inner radius of the first cam disc region, in particular the radial distance of the cam disc region relative to the axis of rotation of the driving shaft, depends periodically on the circumferential angle, in particular on the circumferential angle relative to the axis of rotation of the shaft, and is in particular not constant. In particular, the first cam disc region encompasses, in the axial direction, the area covered by the respective first roller in the axial direction. This is advantageous in that the cam disc region can be manufactured simply, and the transmission ratio can be specified by the periodicity.

[0031] In an advantageous embodiment, the outer radius of the driving shaft in the respective eccentric area depends on the circumferential angle, in particular, it is not constant, in particular, with the dependence of the outer radius having only a single maximum and a single minimum as a function of the circumferential angle. This is advantageous in that it enables simple manufacturing. Furthermore, an eccentric area can be formed on the input shaft, and the subsequent fine machining can be carried out cost-effectively. The gear ratio can be varied or achieved by varying the eccentricity, the periodicity, and the number of rollers or the diameter of the rollers.

[0032] In an advantageous embodiment, the axial area covered by the respective eccentric area at least overlaps with the axial area covered by the cam area, with the cam area contacting the same roller as the respective eccentric area. This is advantageous because the roller transmits the highest possible forces, as it is in contact with the eccentric area and the driving shaft over its entire axial length.

[0033] In addition, the rollers can be arranged radially between the two areas and in the same axial area.

[0034] In an advantageous embodiment, the driving shaft is rotationally fixedly connected to the rotor shaft of the electric motor or is driven by the rotor shaft of the electric motor via one or more gear stages, in particular with a first gearing part rotationally connected to the rotor shaft and a second gearing part rotationally connected to the driving shaft. This is advantageous in that a higher torque can be transmitted.

[0035] In an advantageous embodiment, the cam disk areas are formed on the inside of the first housing part of the transmission, wherein the first housing part is connected to a second housing part, wherein rolling elements of a bearing of the output shaft are delimited by the first housing part, the second housing part and the output shaft, in particular wherein the output shaft has a running surface for the rolling elements and the second housing part has a running surface for the rolling elements, in particular wherein the output shaft has a V-shaped, in particular uninterrupted, annular groove which runs completely around the circumference in the circumferential direction and in which the rolling elements are received, in particular wherein a further V-shaped, in particular uninterrupted, recess which runs completely around the circumference in the circumferential direction and in which the rolling elements are received and which has an orientation opposite to the V-shaped annular groove,is formed and / or bordered by the first and second housing parts. This allows for a compact design. This allows for a compact design. No separate outer ring and inner ring are required for the bearing.

[0036] In an advantageous embodiment, a bearing, in particular an eccentric bearing, is mounted on the first eccentric region, on which, in particular on its outer ring, the first rollers roll and / or slide directly, or on which a ring is mounted, on which the first rollers roll and / or slide, in particular wherein the bearing is designed as a cylindrical roller bearing or a spherical roller bearing. This is advantageous because it enables simple manufacturing and no additional part is required.

[0037] In an advantageous embodiment, the inner radius of the respective cam disc area, in particular the radial distance of the respective cam disc area relative to the shaft's axis of rotation, depends periodically on the circumferential angle, in particular on the circumferential angle relative to the shaft's axis of rotation, and is in particular not constant. This is advantageous because it enables simple manufacturing.

[0038] In an advantageous embodiment, the outer radius of the shaft in the respective eccentric area depends on the circumferential angle, in particular, it is not constant, with the dependence of the outer radius exhibiting only a single maximum and a single minimum as a function of the circumferential angle. This is advantageous because it enables simple manufacturing.

[0039] In an advantageous embodiment, the axial area covered by the respective eccentric area at least overlaps with the axial area covered by the respective associated cam disk area. This is advantageous because the widest possible axial contact is possible.

[0040] In an advantageous embodiment, a respective bearing, in particular a ball bearing, is mounted on the respective eccentric area, on which, in particular on the outer ring thereof, the first rollers roll and / or slide directly, or on which a respective ring is mounted, on which the first rollers roll and / or slide. The advantage here is that friction losses are kept to a minimum.

[0041] In an advantageous embodiment, the cam disk areas are integrated into one or the first housing part, which is connected to one or the second housing part, in which the bearing is accommodated, which rotatably supports the output shaft, in particular, wherein the respective inner ring of this bearing is accommodated on the output shaft and the respective outer ring of this bearing is accommodated in the second housing part. The advantage here is that the transmission is designed to be as compact as possible.

[0042] In an advantageous embodiment, a shaft seal, in particular an inner shaft seal, is accommodated in the output shaft, which seals against the driving shaft, in particular its sealing lip runs on the driving shaft. Another shaft seal, in particular an outer shaft seal, is accommodated in the second housing part, which seals against the output shaft, in particular its sealing lip runs on the output shaft or runs on a ring part fitted onto the output shaft. The advantage here is that a high degree of protection can be achieved.

[0043] In an advantageous embodiment, a third housing part, in particular an adapter housing, is connected to the first housing part, in particular by means of connecting screws evenly spaced in the circumferential direction. The third housing part is connected to the housing of the electric motor, which drives a first gear that engages with a second gear that is rotationally fixedly connected to the drive shaft. The third housing part at least partially surrounds the first and second gears to form a housing. This allows for simple manufacturing.

[0044] In an advantageous embodiment, the cage recesses are rectangular, with relief notches arranged in the corner areas of the rectangular recesses. The distance between any two relief notches decreases monotonically, in particular strictly monotonically, with increasing distance from the respective rectangle. This is advantageous in that a long service life can be achieved and a high torque can be transmitted.

[0045] In another advantageous embodiment, the recesses of the cage are designed in the shape of a rectangular slot, in particular wherein the respective end region of the slot-shaped recess is rounded, wherein radially projecting knobs project into recesses on a first spacing ring and axially delimit the rollers, in particular

[0046] - wherein each of the knobs projects into a first recess and defines a first roller,

[0047] - wherein a knob nearest to this respective first knob projects into a second recess and axially delimits the second roller received in this second recess, in particular wherein the second recess is axially spaced from the first recess.

[0048] The advantage here is that high-load recesses without notches can be used in the cage. This ensures a long service life for the gear. The axial spacing of the rollers is dampened by the respective plastic spacing ring.

[0049] In an advantageous embodiment, the driving shaft is rotationally fixedly connected to the rotor shaft of the electric motor or is driven by the rotor shaft of the electric motor via one or more gear stages, in particular wherein a first gear part is rotationally fixedly connected to the rotor shaft and a second gear part is rotationally fixedly connected to the driving shaft. This is advantageous in that it enables direct driving of the input shaft or indirect driving of the driving shaft via a gear stage. It is important that the gear stage can generate a higher torque or breakaway torque than when driven directly by the electric motor.In an advantageous embodiment, the input shaft is rotatably mounted relative to the cage with the output shaft by means of a bearing, in particular a rolling bearing, in particular a ball bearing, in particular wherein the outer ring of the bearing is received by the output shaft, in particular is positioned against a step of the output shaft, and the inner ring of the bearing is placed on the input shaft, in particular is positioned against a step of the input shaft. The advantage here is that the relative rotational speed of the bearing is lower than when the input shaft is mounted towards the housing. This results in lower losses. Furthermore, stability can be improved because the relative alignment of the input shaft to the cage can be achieved with high precision using simple means.

[0050] In an advantageous embodiment, a bearing, in particular a cylindrical roller bearing, spherical roller bearing, or ball bearing, is mounted on the respective first eccentric region, with the first rollers rolling and / or sliding directly on the first eccentric region, or with a ring mounted on the first eccentric region, on which the first rollers roll and / or slide. This is advantageous in that a reduction in friction losses can be achieved and smoother running is also achieved.

[0051] In an advantageous embodiment, the driving shaft, in particular a hollow shaft, of the gear unit has a second eccentric region which, in the circumferential direction, has an offset angle to the first eccentric region, in particular an offset angle of 180° or an offset angle of 3607P, where P is the number of eccentric regions of the input shaft, wherein the second eccentric region is radially surrounded by a second cam disk region, wherein second rollers are accommodated in the cage, likewise with a radial degree of freedom, in particular such that they can be moved back and forth radially, wherein during operation, in particular when the input shaft is rotating, the second rollers are forced by the second eccentric region to roll and / or slide on the second cam disk region. The advantage here is that greater stability and smooth running can be achieved by reducing the imbalance.

[0052] In an advantageous embodiment, the inner radius of the second cam disc region, in particular the radial distance of the second cam disc region relative to the axis of rotation of the input shaft, depends periodically on the circumferential angle, in particular on the circumferential angle relative to the axis of rotation of the input shaft, and is not constant. It is advantageous that the number of periods of the first cam disc region is equal to the number of periods of the first cam disc region, thus enabling the transmission to be operated, in particular with a reduction in imbalance. This is because an advantageous radial distribution of the eccentrics results in a reduction in imbalance.

[0053] Advantageously, the number of periods of the cam sections is equal to each other, so that the transmission is ready for operation. Imbalance can be reduced by a favorable offset of the eccentric sections in the circumferential direction. In particular, an offset angle in the circumferential direction of 360° divided by the number of eccentric sections is advantageous.

[0054] With an advantageous selection of the number of periods, the eccentrics can be distributed in such a way that imbalance is minimized. Furthermore, the cam disc areas can be designed to coincide in the circumferential direction, so that the cam disc areas of all roller rows can be implemented as a single long cam disc area in a cam disc component, within which the roller rows are arranged axially offset from one another. Thus, the cam disc areas of all roller rows can be implemented in a single, particularly common, component, which enables economical manufacturing and simple assembly.

[0055] In an advantageous embodiment, the outer radius of the input shaft in the second eccentric region depends on the circumferential angle, in particular, and is therefore not constant, in particular, with the dependence of the outer radius exhibiting only a single maximum and a single minimum as a function of the circumferential angle. This is advantageous in that simple and cost-effective production is possible, while still allowing high torque to be transmitted and a high gear ratio to be achieved.

[0056] In an advantageous embodiment, the axial region covered by the second eccentric region overlaps at least with the axial region covered by the second cam disk region. Advantageously, the rollers can be arranged radially between the two regions and in the same axial region.

[0057] In an advantageous embodiment, a bearing, in particular a ball bearing, is mounted on the first eccentric region, on which, in particular on the outer ring thereof, the first rollers roll and / or slide directly, or on which a ring is mounted, on which the first rollers roll and / or slide. This is advantageous in that a reduction in friction losses can be achieved.

[0058] In an advantageous embodiment, a first and second cam disk area are integrated in a first housing part, which is connected to a second housing part, in which bearings are accommodated, which rotatably support the output shaft, in particular wherein the respective inner ring of these bearings is accommodated on the output shaft and the respective outer ring of these bearings is accommodated in the second housing part. The advantage here is that simple and robust production is possible. With the same number of periods in the first and second

[0059] Cam disc area, these two cam disc areas can be implemented by a single cam disc area, which in the axial direction comprises the axial area covered by the first and the second cam disc area, thereby enabling particularly simple and cost-effective production, in particular since only a single part can be used for all cam disc areas.

[0060] If necessary, more than two cam disk areas can be integrated into one housing part. With an advantageous choice of the number of periods, one cam disk area, in particular a sufficiently long one, can then be used for all roller rows, which increases cost-effectiveness during production. In an advantageous embodiment, a shaft sealing ring, in particular an inner shaft sealing ring, is accommodated in the output shaft, which seals off the input shaft, in particular its sealing lip runs on the input shaft, wherein a further shaft sealing ring is accommodated in the second housing part, which seals off the output shaft, in particular its sealing lip runs on the output shaft or runs on a ring part slipped onto the output shaft. The advantage here is that a seal against oil can be implemented radially inwards and radially outwards. This means that oil can be provided in the interior of the gearbox.

[0061] In an advantageous embodiment, a third housing part, in particular an adapter housing, is connected to the first and second housing parts, in particular by means of connecting screws evenly spaced in the circumferential direction. The third housing part is connected to the housing of the electric motor, the third housing part at least partially surrounding the first and second gears to form a housing. Advantageously, the housing parts are pressed toward one another by the connecting screws, thus creating a stable enclosure.

[0062] In an advantageous embodiment, the cage for accommodating the first rollers has first recesses that are regularly spaced from one another in the circumferential direction, in particular evenly spaced, in particular with the first recesses being arranged on the cage at the same radial and axial position. The advantage here is that the preferably rectangular recesses, with relief notches introduced at the corners of the rectangle, ensure the smoothest possible running, especially with a large number of rollers.

[0063] In an advantageous embodiment, the cage for accommodating the second rollers has second recesses that are regularly spaced from one another in the circumferential direction, in particular evenly spaced, in particular wherein the second recesses are arranged on the cage at the same radial and axial position. This is advantageous in that improved running smoothness and higher torque transmission can be achieved.

[0064] In an advantageous embodiment, the first recesses are offset from the second recesses in the circumferential direction, wherein the number N of first recesses is equal to the number of second recesses, in particular wherein the offset is 360° / N, where N is the number of first recesses. The advantage here is that with an increasing number, improved running smoothness can be achieved. Furthermore, the torque is then distributed across a larger number of rollers, so that a higher overall torque can be transmitted.

[0065] In this document, the term “driving” is always used to include “propelling”.

[0066] Further advantages emerge from the dependent claims. The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0067] The invention will now be explained in more detail using schematic illustrations:

[0068] Figure 1 shows a drive in a cutaway oblique view.

[0069] Figure 2 shows a corresponding partially cutaway view of the drive.

[0070] Figure 3 shows a related, partially cutaway but differently cut representation of the drive.

[0071] Figure 4 shows an oblique view of a cage 4 in which first rollers 3 and second rollers 4 are accommodated and roll and / or slide on the first housing part 2.

[0072] Figure 5 shows a cross section through the first housing part 2, with only the row formed by the first rollers 3 being visible.

[0073] Figure 6 shows a further cross section through the first housing part 2, wherein the row formed by the first rollers 3 and the row formed by the second rollers 4 are visible.

[0074] In Figure 7, the cage 4 is shown in an oblique view.

[0075] In Figure 8, another drive according to the invention is shown in a cut-away oblique view, wherein three rows of rollers are provided, which are partially removed.

[0076] Figure 9 shows an oblique view with existing rolling elements of the eccentric bearings.

[0077] Figure 10 shows the rollers 3 of the drive, with the cage connected to the output shaft 10 removed.

[0078] In Figure 11, the cage is visible, unlike in Figure 10.

[0079] Figure 12 shows a sectional view of the drive. Figure 13 shows the tip and root relief of the contour of a cam disk of the drive.

[0080] Figure 14 shows the output shaft 10 of the embodiment according to Figure 8.

[0081] Figure 15 shows a plan view of a portion of the cage.

[0082] Figure 16 shows an enlarged view of a recess in the cage.

[0083] Figure 17 shows an enlarged view of another recess in the cage.

[0084] Figure 18 shows a sectional view of the bearing of the output shaft 10 in more detail, wherein a ball 180 is used as a rolling element instead of a cylinder or a barrel.

[0085] Figure 19 shows an alternative cage 10, wherein the recesses are designed without notches. Spacing rings (190, 191) clamp into the recesses of the cage 10 with their radially outwardly projecting knobs.

[0086] In Figure 20, in contrast to Figure 19, the cage 10 is hidden.

[0087] In Figure 21, a third spacing ring 190 is shown in an oblique view.

[0088] In Figure 22, a first spacing ring 190 is shown in an oblique view.

[0089] As shown in Figures 1 to 6, a first gear 12 is connected in a rotationally fixed manner to the rotor shaft of an electric motor 11 and drives a second gear 13 which is in engagement with the first gear.

[0090] The second gear 13 is connected in a rotationally fixed manner to the hollow shaft 1, which has a first

[0091] Eccentric region 8 and a second eccentric region 9 axially spaced therefrom. In the respective eccentric region (8, 9), the outer radius is not constant as a function of the circumferential angle, but rather depends on the circumferential angle. In particular, the function has a single maximum and a single minimum.

[0092] The hollow shaft 1 acts as the input shaft and can also be referred to as the driving shaft.

[0093] The circumferential angle corresponding to the maximum of the first eccentric region 8 is spaced in the circumferential direction from the circumferential angle corresponding to the maximum of the second eccentric region 9.

[0094] The outer circumference of the respective eccentric region (8, 9) is circular-cylindrical, in particular circular. Thus, a first bearing 5 can be placed on the first eccentric region 8, and a second bearing 7 can be placed on the second eccentric region 9.

[0095] The first bearing 5 can be designed as a ball bearing and the second bearing 7 can also be designed as a ball bearing.

[0096] On the outer circumference of the first bearing 5, first rollers are provided, which either roll and / or slide directly on the outer ring of the first bearing 5 or on a ring pushed onto the outer ring of the first bearing 5.

[0097] These first rollers 3 are held in a cage 4 and are thus spaced apart from one another in the circumferential direction. The cage 4 has a recess for each first roller 3, in which it is accommodated. The recesses are preferably shaped similarly to one another, in particular identically, and / or arranged at the same radial distance and / or cover the same axial area.

[0098] Likewise, the second rollers 6 are held in a cage 4, axially spaced from the first rollers 3, and thus spaced from each other in the circumferential direction. This is because the cage 4 has a second recess for each second roller 6, in which this second roller 6 is accommodated. The second recesses are preferably shaped similarly to one another, in particular identically, and / or arranged at the same radial distance and / or cover the same axial area. Thus, radially inward, each of the first and second rollers touches the respective eccentric area.

[0099] Towards the radial outside, the first rollers touch a first cam disc area formed on the inside of a first housing part 2 and roll on it.

[0100] This first cam disk area has an inner radius that periodically depends on the circumferential angle, in particular a sinusoidal one. The cam disk area is formed integrally with the housing part 2, i.e., as a single piece.

[0101] The cam disk area has a discrete rotational symmetry, in particular the number of which is equal to the number of complete periods formed in the circumferential direction.

[0102] The corresponding axis of symmetry of the rotational symmetry is identical to the axis of rotation of the hollow shaft 1.

[0103] Towards the radial outside, the second rollers 6 touch a second cam disc area formed on the inside of the first housing part 2 and roll on it.

[0104] This second cam disc region has an inner radius that periodically depends on the circumferential angle, in particular a sinusoidal one. The second cam disc region is formed integrally with the housing part 2, i.e., as a single piece.

[0105] The second cam disc region has a discrete rotational symmetry, in particular the number of which is equal to the number of complete periods of the second cam disc region formed in the circumferential direction.

[0106] The corresponding axis of symmetry of the rotational symmetry of the second cam disc area is identical to the axis of rotation of the hollow shaft 1.

[0107] The second cam section is arranged axially adjacent to the first cam section. As shown in Figures 1 to 6, the second cam section is designed similarly to the first cam section, thus exhibiting no offset in the circumferential direction. The sinusoidal dependence of the inner radius of the second cam section on the circumferential angle is thus identical to the sinusoidal dependence of the inner radius of the first cam section on the circumferential angle.

[0108] In further embodiments according to the invention, however, an offset of the second cam disk area in the circumferential direction by half a period length relative to the first cam disk area is implemented. In particular, the offset is 180° / M, where M is the number of periods of the cam disk area in the circumferential direction. Alternatively, an offset of 180° is also possible, in particular, wherein the offset of the

[0109] Eccentric regions may, but do not have to, be omitted from each other. In further embodiments, additional rows of rollers are provided axially spaced from the first and second, which then also roll or slide on the cam disk region, with the associated eccentric regions having an offset of 360° / N, where N is the number of rows of rollers.

[0110] As shown in Figures 1 to 6, the second cam disc area is designed in the same way as the first cam disc area and thus the entire cam disc area can be manufactured easily and cost-effectively.

[0111] The number of periods and also the eccentricity enable a high gear ratio with high torque.

[0112] As shown in Figures 1 to 6, the cage 4 surrounds the shaft 1. Therefore, at each axial position, the smallest radial distance of the cage 4 is greater than the largest radial distance of the shaft 1 in the axial area covered by the cage 4.

[0113] At each axial position, the radial clearance area covered by the cage 4 is radially spaced from the radial clearance area covered by the shaft 1 and / or radially spaced and / or located further outward. The axial direction is aligned parallel to the rotational axis of the shaft 1. The radial clearances mentioned here are therefore always relative to the axial axis. Likewise, the circumferential direction and the circumferential angles are relative to this axial direction.

[0114] The cage 4 is designed as a single piece with the output shaft 10.

[0115] Thus, the cage 4 is formed in a first axial region of this part, and the output shaft 10 is axially adjacent to the cage 4 on the output side. The output shaft 10 has axial bores designed as threaded bores on its axial end face. Thus, a driven device with its rotatably mounted element can be screw-connected to the shaft 1.

[0116] The output shaft 10 can also be referred to as the output shaft.

[0117] The output shaft 10 is mounted towards the shaft 1 by means of a further bearing 16 and is rotatably mounted towards the housing, in particular towards a second housing part 17 connected to the first housing part 2, by means of two bearings (14), which are preferably designed as angular contact bearings.

[0118] In this way, the cage 4 together with the output shaft 10 is forced to rotate as quietly as possible.

[0119] To reduce imbalance and further improve smooth running, the first and second eccentric sections 8 and 9 are designed identically but offset by 180° in the circumferential direction. If additional eccentric sections and correspondingly assigned roller rows are used, a circumferential offset of 360° / N is possible between any two adjacent roller rows, with the number of roller rows equal to the number of eccentric sections.

[0120] Furthermore, a shaft seal 15 is provided both toward the shaft 1, in particular radially inward, and another shaft seal 18 is provided toward the housing, in particular radially outward. The shaft seal 15 is received by the output shaft 10, and its sealing lip runs on a finely machined area of ​​the shaft 1.

[0121] The shaft seal 18 is accommodated in the second housing part 17 and its sealing lip runs on the output shaft 10 or on a ring placed on the output shaft 10.

[0122] The bearings of the bearing arrangement 14, which are preferably designed as angular contact bearings, are accommodated with their outer ring in the second housing part 17 and are placed with their inner ring on the output shaft 10.

[0123] The inner ring of the further bearing 16, in particular a rolling bearing, in particular a ball bearing, is placed on the shaft 1. The outer ring of the further bearing 16 is accommodated in the output shaft 10.

[0124] The inner ring of the first bearing 5 is placed on the first eccentric area 8.

[0125] The inner ring of the second bearing 7 is placed on the second eccentric area 9.

[0126] The outer ring of the first bearing 5 or a ring part placed on this outer ring acts as a rolling surface for the first rollers 3.

[0127] The outer ring of the second bearing 7 or a ring part placed on this outer ring acts as a rolling surface for the second rollers 6.

[0128] A third housing part 19 at least partially surrounds the spur gear stage formed by the first and second gears (12, 13). The third housing part 19 is connected to the housing of the electric motor driving the first gear 12.

[0129] On the side of the third housing part 19 facing away from the electric motor 11, the first housing part 2 and the second housing part 10 are arranged. The first housing part 2 is arranged between the second housing part 10 and the third housing part 19. The first, second, and third housing parts (19, 2, 10) are connected by means of connecting screws 20 passing through these three housing parts (19, 2, 10). As can be seen in Figures 1 to 7, in particular in Figures 4 and 7, the first rollers 3 and also the recesses of the cage 4 receiving the first rollers 3 form a first row in the circumferential direction.

[0130] Likewise, the second rollers 6 and the recesses of the cage 4 receiving the second rollers 6 form a second row in the circumferential direction.

[0131] The first rollers 3 are spaced evenly, in particular regularly, from one another in the circumferential direction. Likewise, the second rollers 6 are spaced evenly, in particular regularly, from one another in the circumferential direction.

[0132] The rollers (3, 6) of each row of rollers are all located on a circle, or the axes of the rollers (3, 6) are located on an imaginary cylinder. The center of this circle lies on the axis of the corresponding eccentric area, or the axis of this respective cylinder is concentric with the corresponding eccentric area. Accordingly, the cylinder axes are parallel but radially offset from one another. The first roller 3 rests on the first eccentric area 8, and the second rollers 6 rest on the second eccentric area 9. The two rows are therefore not coaxially aligned with one another. Furthermore, the cylinder containing the rotational symmetry axes of the first rollers 3 is axially spaced from the cylinder containing the rotational symmetry axes of the second rollers 6.

[0133] In the circumferential direction, however, the first row is offset from the second row by half a period length of the first rollers 3 within the first row.

[0134] Each second roller 6 therefore has an offset angle of 180° / N to a respective first roller 3, where N is the number of first rollers 3 arranged in the first row.

[0135] In this way, lower torque ripple is achieved.

[0136] In further embodiments of the invention, additional rows with additional rollers and associated cam disk arrangements are provided. As an example, Figure 8 shows another drive in which three rows of rollers are provided.

[0137] As shown in Figure 8, the input hollow shaft 1 has a first eccentric region 80 which is arranged axially between a second and a third eccentric region (81, 82).

[0138] The high point of the first eccentric region 80 is offset by 180° in the circumferential direction from the high points of the second and third eccentric regions (81, 82), which are each arranged at the same circumferential position.

[0139] In the axial direction, the first eccentric area 80 is wider than the second eccentric area 81.

[0140] In the axial direction, the first eccentric area 80 is wider than the third eccentric area 82.

[0141] Preferably, the sum of the axial widths of the second and third eccentric regions (81, 82) is equal to the axial width of the first eccentric region 80.

[0142] This results in a particularly well-balanced solution.

[0143] A rolling bearing is pushed onto each of the eccentric areas (80, 81, 82), which are referred to below as eccentric bearings.

[0144] A first eccentric bearing is pushed onto the first eccentric area, the rolling elements 16 of which are designed as cylindrical rollers or barrels. The rolling elements (83, 87) of the second and third eccentric bearings are also designed as cylindrical rollers or barrels.

[0145] The output shaft 10 has a flange block interface on the output side, thus an interface advantageous for robot applications. The output shaft 10 features axial bores spaced apart from one another in circumferential direction, which are designed as threaded bores.

[0146] The output shaft 10 has, at its end region axially remote from the flange block interface, a tubular region designed as a cage and radially surrounding the eccentric bearings (80, 81, 82). The respective rollers (16, 88, 89) are received in recesses (141, 142, 143) of the cage and arranged to be movable in the radial direction relative to the cage. Thus, the movement range of the rollers (16, 88, 89) is limited radially inwardly by the respective outer ring of the respective eccentric bearing and radially outwardly by a respective cam contour formed on the inside of the first housing part 2. The first of the cam contours is in turn offset by 180° in the circumferential direction from the other two cam contours, which run in the same direction, i.e. without offset.

[0147] The first rollers 16 roll on the first cam contour and the second rollers 88 roll on the second cam contour. The third rollers 89 roll on the third cam contour.

[0148] In the axial direction, the first cam contour is arranged between the second and third cam contours.

[0149] A second housing part 17 is connected to the first housing part 2 and surrounds the flange block interface of the output shaft 10.

[0150] The second and third rollers (88, 89), which are of different widths to the width of the first roller 16, are arranged in such a way that the dynamic imbalance is minimized or disappears.

[0151] For supporting the output shaft 10 together with the cage, cylindrical or barrel-shaped rolling elements 14 are provided, the cylinder axis of which intersects with the axis of rotation of the output shaft 10, in particular wherein it has an angle between 10° and 80° to the axis of rotation of the output shaft 10.

[0152] The running surface of the rolling element 14 is formed on the one hand on the second housing part 17 and on the other hand on the output shaft 10.

[0153] In particular, the output shaft 10 forms an inner ring and the second housing part forms the outer ring of the bearing of the output shaft 10. In addition, the first housing part 2 delimits the rolling element 14, in particular in the direction of the cylinder axis of the rolling element 14.

[0154] Thus, the rolling element 14 is limited by the first housing part 2, the second housing part 17 and the output shaft 10.

[0155] To accommodate the rolling element 14, the output shaft 10 has a V-shaped annular groove, in particular the annular axis of which is aligned coaxially with the axis of rotation of the output shaft 10.

[0156] By means of the rolling element 14, the V-shaped annular groove of the output shaft 10, and the V-shaped recess whose walls are formed by the first housing part 2 and the second housing part 17, the output shaft bearing is designed according to a crossed roller bearing or four-point contact bearing. Both radial and axial forces are absorbed by the bearing. In particular, the bearing also absorbs moments directed in these directions.

[0157] As shown in Figure 18, instead of the cylindrical or barrel-shaped rolling element 14, a rolling element 180 designed as a ball can be used.

[0158] As shown in Figure 13, a tip recess 131 is provided on the respective cam disk contour at the radially inwardly projecting tip regions of a desired profile 130, in particular a desired contour, of the cam disk, and a foot recess 132 is provided at the foot regions of this desired profile 130. The foot regions are the regions of the desired profile 130 that are radially furthest away from the axis of rotation of the output shaft 10.

[0159] The input shaft 1 is aligned coaxially to the output shaft 10.

[0160] The output shaft 10, in particular its cage, has a circumferentially continuously extending stiffening ring 90 at its axial end region facing away from the flange block interface. The stiffening ring 90 preferably protrudes radially outward on the cage.

[0161] This stiffens the thin-walled cage, achieving greater load-bearing capacity and load-carrying capacity. The radial wall thickness of the cage is smaller than the radial wall thickness in the remaining area of ​​the output shaft 10, particularly in the axial area covered by the rolling elements 14.

[0162] Corresponding to the rows of rollers, the cage has three rows of recesses (141, 142, 143).

[0163] In the circumferential direction, the recesses (141, 142, 143) of the respective row are evenly spaced from each other and in the same axial position.

[0164] The first row of recesses 141 is arranged axially between the second row of recesses 142 and the third row of recesses 143. In particular, the row of second recesses 142 has a circumferential offset from the row of first recesses 141. The row of second recesses 142 has no circumferential offset from the row of third recesses 141.

[0165] As shown in Figures 15 to 17, the recesses (141, 142, 143) have relief notches at their four corner areas in particular. The edges of the first recesses 141, arranged axially on both sides, are therefore dovetail-shaped.

[0166] Two of the relief notches are curved. In particular, the relief notches of each such pair are curved in such a way that they point toward each other.

[0167] Each first recess 141 has a rectangular region, at the corner regions of which relief notches are connected, which on the one hand, i.e. on a first side of the rectangular region, protrude in the axial direction, wherein the distance between the two relief notches on the first side decreases more and more monotonically, in particular strictly monotonically, with increasing axial position, in particular i.e. in the axial direction, and on the other hand, i.e. on the other side of the rectangular region, protrude opposite to the axial direction, wherein the distance between the two relief notches on this other side decreases more and more monotonically, in particular strictly monotonically, with decreasing axial position, in particular i.e. opposite to the axial direction.

[0168] The curved shape is preferably composed of radii R.

[0169] The first rollers 3 are bounded in the axial direction by the respective first and the respective other side of the rectangular area.

[0170] In contrast to the first recesses 141, only a single pair of relief notches in the second recesses 142 is directed toward each other. The other pair, which is located on the side of the second recesses 142 facing away from the first recesses, has relief notches aligned essentially parallel to each other.

[0171] As shown in Figures 19 to 22, the cage can also be designed with rounded, rectangular slot-shaped recesses. The axial limitation of the first rollers 3 is achieved by a first spacer ring 191, whose radially projecting studs protrude into respective first rounded portions of the rectangular slot-shaped recesses and thereby axially limit the respective roller 3. A further spacer ring with its studs protrudes into the respective other rounded portion.

[0172] The knob of the spacing ring which is nearest to a knob of the first spacing ring which projects into the rounding of the first recess projects into the rounding of a respective third recess for delimiting a respective third roller 89.

[0173] The knob of the further spacing ring which is next adjacent to a knob of the further spacing ring which projects into the second rounding of the first recess projects into the rounding of a respective second recess for delimiting a respective second roller 88.

[0174] A second spacing ring 190, with its radially protruding nubs, extends into a fillet of the respective second recess and axially delimits the respective second roller 88. A third spacing ring 190, with its radially protruding nubs, extends into a fillet of the respective third recess of the cage and axially delimits the respective third roller 89.

[0175] As can be seen in Figures 19 to 22, four spacer rings are required for three rows of rollers, each of which is preferably manufactured as a plastic injection-molded part. The studs of each spacer ring (190, 191) are regularly spaced from one another in the circumferential direction.

[0176] The studs are flat on the side axially adjacent to the respective roller, and rounded on the side facing away from the roller axially adjacent to the stud. In this way, the end face of the respective cylindrical or barrel-shaped roller touches the flat area of ​​the respective stud.

[0177] In further embodiments according to the invention, the rollers (16, 88, 89) are of different widths in the axial direction and are arranged one behind the other in such a way that the dynamic imbalance is reduced or disappears.

[0178] When using N rows of rollers, the widths C_i of the rollers are selected such that the sum of the products of the respective width C_i and the cosine value of the circumferential position of the high point assigned to the respective eccentric area disappears, as does the sum of the products of the respective width C_i and the sine value of the circumferential position of the high point assigned to the respective eccentric area.

[0179] For example, it is permissible for two roller rows to have the same width and for the eccentric areas assigned to the two roller rows to have identical circumferential angle positions of their high points. A high point of another eccentric area assigned to a third roller row may then have a different position.

[0180] The rollers of roller rows whose associated eccentric area has the same circumferential angular position of their high point have in total the same axial width as the sum of the axial width of other rollers of other roller rows whose associated eccentric area has a different circumferential angular position of their high point.

[0181] In the circumferential direction, the high points of the eccentric areas are arranged in such a way that the radial forces resulting from the rolling contacts of the rollers during operation cancel each other out.

[0182] In the axial direction, the high points of the eccentric areas are arranged in such a way that the moments of the radial forces resulting from the rolling contacts of the rollers during operation cancel each other out.

[0183] In the design shown in Figure 8, the rollers in the different rows of rollers are unequal in the axial direction, specifically, they have different widths. The axial width of the first, i.e., middle, roller is equal to the sum of the axial widths of the rollers in the other two rows of rollers.

[0184] The high points of the axially outer eccentric areas are arranged at the same circumferential angular position.

[0185] List of reference symbols

[0186] 1 hollow shaft with eccentric areas

[0187] 2 first housing part

[0188] 3 first role

[0189] 4 Cage for first rollers 1 and second rollers 6

[0190] 5 first bearing, in particular rolling bearing, in particular ball bearing

[0191] 6 second role

[0192] 7 second bearing, in particular rolling bearing, in particular ball bearing

[0193] 8 first eccentric area of ​​the hollow shaft 1

[0194] 9 second eccentric area of ​​the hollow shaft 1

[0195] 10 drifting wave

[0196] 11 Electric motor

[0197] 12 first gear

[0198] 13 second gear

[0199] 14 Bearings, especially barrel-shaped rolling elements

[0200] 15 inner shaft seal

[0201] 16 additional bearings, especially rolling bearings, especially ball bearings

[0202] 17 second housing part

[0203] 18 outer shaft seal

[0204] 19 third housing part

[0205] 20 connecting screws

[0206] 80 first eccentric area

[0207] 81 second eccentric area

[0208] 82 third eccentric area

[0209] 83 third role

[0210] 84 Bearing ring of the third eccentric bearing

[0211] 85 Bearing ring of the second eccentric bearing

[0212] 86 Bearing ring, especially inner ring, of the first eccentric bearing

[0213] 87 Rolling elements of the second eccentric bearing

[0214] 88 second roll 89 third roll

[0215] 90 stiffening ring

[0216] 130 Target curve of the cam disc

[0217] 131 Head retraction 132 Foot retraction

[0218] 141 Recess for receiving the first roll 6

[0219] 142 Recess for the second roller 88

[0220] 143 Recess for the third roller 89

[0221] 144 Running surface for rolling elements 87 of the second eccentric bearing 145 Notch, in particular shaped pocket end

[0222] 180 Ball as rolling element of the second eccentric bearing

[0223] 190 third spacer ring with knobs

[0224] 191 first spacer ring with knobs

[0225] 192 second spacer ring with knobs

Claims

Patent claims:

1. Drive comprising a gearbox driven by an electric motor, characterized in that a driving shaft of the gearbox has eccentric sections, in particular wherein the driving shaft, in particular hollow shaft, of the gearbox has two, three or more eccentric sections of different widths in the axial direction, the high points of which are offset from each other in the circumferential direction, wherein the respective eccentric section is radially surrounded by a respective cam disk section of a first housing part of the gearbox, wherein respective rollers are received in respective recesses of a cage and are arranged with radial degree of freedom, in particular radially reciprocating, in particular wherein the respective recesses are formed radially through the cage and are uniformly spaced apart from each other in the circumferential direction, wherein the cage is rotationally fixed to the driven shaft of the gearbox, in particular integrally.in particular, is designed in one piece, wherein the first housing part is connected to a second housing part, wherein the driven shaft together with the cage is both relative to the, The driven shaft is rotatably mounted in cam disc areas as well as relative to the driving shaft, by having a continuously and / or completely circumferential wedge-shaped and / or V-shaped groove, particularly radially an externally open groove in which rolling elements, in particular cylindrical, barrel-shaped or spherical rolling elements, are received, wherein a V-shaped recess, in particular a radially inwardly open V-shaped recess, is provided and / or formed, which is bounded in the axial direction by the first housing part and against the axial direction by the second housing part, in particular wherein a first rolling area of ​​the rolling element is arranged on a flank of the wedge-shaped or V-shaped groove and a second rolling area of ​​the rolling element is located on the first housing part or on the second housing part, in particular wherein the V-shaped recess is arranged radially outside the V-shaped groove, in particular wherein the second housing part has axial bores for connecting a device to be driven by the gearbox of the drive, in particular wherein the driven shaft has axial bores at its axial end region facing away from the cage,in particular for connection with a rotatably mounted part of the device to be driven, in particular wherein, during operation, especially during rotational movement of the driving shaft, the respective rollers are forced or are forced to roll and / or slide on the respective cam disc area from the respective eccentric area, in particular wherein the widths B_i of the eccentric areas and the circumferential angle positions a_i of the high points belonging to the respective eccentric area are designed such that the sum of all products B_i * cos( a_i ) vanishes and that the sum of all products B_i * sin( a_i ) vanishes, wherein i numbers the eccentric areas, in particular has values ​​from 1 to N and N is the number of eccentric areas, in particular wherein the eccentric areas are arranged one behind the other in the axial direction in such a way that the dynamic imbalance is minimized and / or disappears.

2. Drive, in particular according to claim 1, comprising a gearbox driven by an electric motor, characterized in that a driving shaft, in particular a hollow shaft, of the gearbox has several eccentric regions of different widths in the axial direction, the high points of which are offset from one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disk region, in particular a housing part of the gearbox, wherein rollers of different widths in the axial direction are received in respective recesses of a cage corresponding to the different widths of the respective eccentric regions and are arranged with radial degrees of freedom, in particular radially reciprocating, in particular wherein the respective recesses are formed radially through the cage, wherein the cage is rotationally fixed to the driven shaft of the gearbox, in particular integrally, in particular in one piece.is designed, wherein the driven shaft together with the cage is rotatably mounted both relative to the cam disc areas and relative to the driving shaft, wherein the first housing part is connected to a second housing part, wherein the driven shaft together with the cage is rotatably mounted both relative to the, The driven shaft is rotatably mounted in cam disc areas as well as relative to the driving shaft, by having a continuously and / or completely circumferential wedge-shaped and / or V-shaped groove, particularly radially an externally open groove in which rolling elements, in particular cylindrical, barrel-shaped or spherical rolling elements, are received, wherein a V-shaped recess, in particular a radially inwardly open V-shaped recess, is provided and / or formed, which is bounded in the axial direction by the first housing part and against the axial direction by the second housing part, in particular wherein a first rolling area of ​​the rolling element is arranged on a flank of the wedge-shaped or V-shaped groove and a second rolling area of ​​the rolling element is located on the first housing part or on the second housing part, in particular wherein the V-shaped recess is arranged radially outside the V-shaped groove, in particular wherein the second housing part has axial bores for connecting a device to be driven by the gearbox of the drive, in particular wherein the driven shaft has axial bores at its axial end region facing away from the cage,in particular for connection with a rotatably mounted part of the device to be driven, wherein in operation, in particular during rotational movement of the driving shaft, the respective rollers are forced by the respective eccentric area to roll and / or slide on the respective cam disc area, in particular wherein the widths C_i of the rollers forced to roll by the respective eccentric area, which has the width C_i, and the circumferential angle positions a_i of the high points belonging to the respective eccentric area are designed such that the sum of all products C_i * cos( a_i ) vanishes and that the sum of all products C_i * sin( a_i ) vanishes, wherein i numbers the eccentric areas, in particular has values ​​from 1 to N and N is the number of eccentric areas, wherein the rollers and / or eccentric areas of different widths are arranged one behind the other in the axial direction in such a way that the dynamic imbalance is minimized and / or disappears, in particular wherein the cage is rotatably connected to the driving shaft.

3. Drive, in particular according to claim 1 or 2, comprising a gearbox driven by an electric motor, characterized in that a driving shaft, in particular a hollow shaft, of the gearbox has a first eccentric region, wherein the first eccentric region is radially surrounded by a first cam disk region, in particular a housing part of the gearbox, wherein first rollers are received in first recesses of a cage and are arranged with radial freedom, in particular radially reciprocating, in particular wherein the first recesses are formed radially through the cage, the driving shaft, in particular a hollow shaft, of the gearbox has a second eccentric region, wherein the second eccentric region is radially surrounded by a second cam disk region, in particular the housing part of the gearbox, wherein second rollers are received in second recesses of the cage and are arranged with radial freedom,in particular radially movable back and forth, are arranged, in particular wherein the second recesses are formed radially through the cage, the driving shaft, in particular hollow shaft, of the gearbox a third, exhibits eccentric area wherein the third eccentric region is radially surrounded by a third cam disk region, in particular a housing part of the gearbox, wherein third rollers are received in third recesses of the cage and arranged with radial degrees of freedom, in particular radially reciprocating, in particular wherein the third recesses are formed radially through the cage, wherein the cage is rotationally fixed to the driven shaft of the gearbox, in particular formed in one piece, in particular in one part, wherein the first eccentric region is arranged in the axial direction between the second and the third eccentric region, in particular wherein the axial direction is parallel to the axis of rotation of the driving shaft, wherein the driven shaft together with the cage is rotatably mounted both relative to the cam disk regions and relative to the driving shaft, wherein the first housing part is connected to a second housing part,wherein the driven shaft together with the cage is rotatably mounted both relative to the cam disc areas and relative to the driving shaft, in that the driven shaft has a circumferentially continuous and / or completely circumferential wedge-shaped and / or V-shaped groove, in particular a radially outwardly open groove, in which rolling elements, in particular cylindrical, barrel-shaped rolling elements or spherical rolling elements, are received, wherein a V-shaped recess, in particular a radially inwardly open V-shaped recess, is provided and / or formed, which is bounded in the axial direction by the first housing part and against the axial direction by the second housing part, in particular wherein a first rolling area of ​​the rolling element is arranged on a flank of the wedge-shaped or V-shaped groove and a second rolling area of ​​the rolling element is arranged on the first housing part or on the second housing part, in particular wherein the V-shaped recess is arranged radially outside the V-shaped groove, in particular wherein the second housing part has axial bores for connecting a device to be driven by the gearbox of the drive, in particular wherein the driven shaft has axial bores at its axial end region facing away from the cage, in particular for connecting to a rotatably mounted part of the device to be driven, wherein in operation, in particular i.e. during rotational movement of the driving shaft, the respective rollers are forced by the respective eccentric region to roll and / or slide on the respective cam disc region,in particular wherein the first rollers are forced from the first eccentric area to roll and / or slide on the first cam disc area, and wherein the second rollers are forced from the second eccentric area to roll and / or slide on the second cam disc area, and wherein the third rollers are forced from the third eccentric area to roll and / or slide on the third cam disc area.

4. Drive according to claim 3, characterized in that the sum of the axial width of the second eccentric region and the third eccentric region equals the axial width of the first eccentric region.

5. Drive according to one of the preceding claims, characterized in that, in particular on the side facing away from the axial bores of the driving shaft, a stiffening ring is formed on the cage, in particular is shaped, in particular wherein the stiffening ring is aligned coaxially to the tubular cage and coaxially to the driving shaft, in particular wherein the radial wall thickness of the cage in the area covered by the stiffening ring in the axial direction is greater than the wall thickness of the cage outside this area.

6. Drive according to one of the preceding claims, characterized in that the recesses of the cage, in particular the first, are rectangular, wherein in the corner regions of the rectangular recesses relief notches project in the axial direction, wherein the circumferentially measured distance between two relief notches decreases monotonically, in particular strictly monotonically, in the axial direction and / or with increasing distance from the rectangle.

7. Drive according to one of claims 1 to 5, characterized in that the recesses of the cage, in particular the first, are rectangularly slotted, in particular wherein the respective axial end region of the slotted recess is rounded and / or designed as a semicircle, wherein radially projecting knobs on a first spacer ring (191) extend into the recesses and axially limit the rollers received in the recesses, in particular the first, in particular - wherein each of the studs of the first spacer ring (191) projects into a first recess and axially, in particular in the axial direction, limits a first roller received in this first recess, - wherein a nub of the first spacer ring (191) nearest to this respective first nub of the first spacer ring (191) projects into a respective second recess of the cage and axially limits the second roller received in this second recess, in particular against the axial direction, in particular wherein the second recess is axially spaced from the first recess.

8. Drive according to one of the preceding claims, characterized in that the inner radius of the first cam disk area, in particular the radial distance of the cam disk area with respect to the axis of rotation of the driving shaft, depends periodically on the circumferential angle, in particular the circumferential angle with respect to the axis of rotation of the shaft, and in particular is not constant, in particular wherein the first cam disk area comprises in the axial direction the area covered in the axial direction by the respective first roller, and / or that in the respective eccentric area the outer radius of the driving shaft depends on the circumferential angle, and in particular is not constant, in particular wherein the dependence of the outer radius has only a single maximum and a single minimum as a function of the circumferential angle.

9. Drive according to one of the preceding claims, characterized in that the axial area covered by the respective eccentric area at least overlaps with the axial area covered by the cam disc area, wherein the cam disc area contacts the same roller as the respective eccentric area, and / or that the driving shaft is non-rotatably connected to the rotor shaft of the electric motor or is driven by the rotor shaft of the electric motor via one or more gear stages, in particular wherein a first toothed part is non-rotatably connected to the rotor shaft and a second toothed part is non-rotatably connected to the driving shaft.

10. Drive according to one of the preceding claims, characterized in that the cam disk areas are formed on the inside of the first housing part of the transmission, wherein the first housing part is connected to a second housing part, wherein rolling elements (14) of a bearing of the driven shaft are bounded by the first housing part, by the second housing part and by the driven shaft, in particular wherein the driven shaft has a running surface for the rolling elements (14) and the second housing part has a running surface for the rolling elements (14), in particular wherein the driven shaft has a V-shaped, circumferentially circumferential, in particular uninterrupted, annular groove in which the rolling elements are received, in particular wherein a further V-shaped, circumferentially circumferential, in particular uninterrupted, recess,in which the rolling elements are received and which has an orientation reversed to the V-shaped annular groove, is formed and / or bordered by the first and second housing parts.

11. Drive according to one of the preceding claims, characterized in that a bearing, in particular an eccentric bearing, is mounted on the first eccentric area, on which, in particular on its outer ring, the first rollers roll and / or slide directly, or on which a ring is mounted, on which the first rollers roll and / or slide, in particular wherein the bearing is designed as a cylindrical roller bearing or as a barrel bearing.

12. Drive according to one of the preceding claims, characterized in that the inner radius of the respective cam disk area, in particular the radial distance of the respective cam disk area with respect to the axis of rotation of the shaft, depends periodically on the circumferential angle, in particular the circumferential angle with respect to the axis of rotation of the shaft, and in particular is not constant, and / or that in the respective eccentric area the outer radius of the shaft depends on the circumferential angle, and in particular is not constant, in particular wherein the dependence of the outer radius has only a single maximum and a single minimum as a function of the circumferential angle, and / or that the axial area covered by the respective eccentric area at least overlaps with the axial area covered by the respective associated cam disk area, and / or that A bearing, in particular a ball bearing, is mounted on the respective eccentric area, on which, in particular on its outer ring, the first rollers roll and / or slide directly, or on which a ring is mounted, on which the first rollers roll and / or slide.

13. Drive according to one of the preceding claims, characterized in that the cam disk areas are integrated into a housing part or the first housing part which is connected to a housing part or the second housing part in which the bearing is received which rotatably supports the driven shaft, in particular wherein the respective inner ring of this bearing is received on the driven shaft and the respective outer ring of this bearing is received in the second housing part.

14. Drive according to one of the preceding claims, characterized in that a shaft seal, in particular an inner shaft seal, is received in the driven shaft, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft, wherein a further shaft seal, in particular an outer shaft seal, is received in the second housing part, which seals towards the driven shaft, in particular whose sealing lip runs on the driven shaft or on a ring part placed on the driven shaft.

15. Drive according to one of the preceding claims, characterized in that a third housing part, in particular an adapter housing, is connected to the first housing part, in particular by means of circumferentially spaced connections. Connecting screws, wherein the third housing part is connected to the housing of the electric motor, which drives a first gear which is in mesh with a second gear which is non-rotatably connected to the driving shaft, wherein the third housing part at least partially surrounds the first and second gears in a housing-forming manner.

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