Power transmission element, torque measuring device, and freewheel assembly

Abstract

To provide a measurement device for measuring a force acting on a crankshaft.SOLUTION: A measurement device includes a crankshaft and a load cell 47 for measuring a radial force acting on the crankshaft. The load cell has: a receiving sleeve 96 for receiving a ring of a bearing; and a fixing ring for attaching the load cell into a transmission housing. An axial support part is included in the fixing ring to axially support the ring of the bearing. Furthermore, measurement regions are provided to receive a radial force of the receiving sleeve that connects the receiving sleeve to the fixing ring. A strain sensor is attached to at least two of the measurement regions. An electronic apparatus for evaluation is connected to the strain sensor.SELECTED DRAWING: Figure 21

Description

Technical Field

[0001] In a first aspect, the present specification discloses a load cell for measuring a radial force acting on a crankshaft.

Background Art

[0002] Patent Document 1 discloses a load sensing bearing assembly having a flange configuration with a spring region for measuring radial forces and thrust forces and tilt moments on the outer ring of the bearing.

[0003] Patent Document 2 discloses a bearing support system in which a bearing having a slotted inner ring supported by radially spaced outer rings is held using a plurality of circumferentially spaced supports that are rigid in the radial direction and flexible in the axial direction, so as to receive the axial thrust load of the bearing of the shaft in a controlled manner.

[0004] Patent Document 3 discloses a wheel bearing unit having a first element with a cylindrical section supported by a bearing arrangement and a radially extending flange section, and a second element with a flap for centering the wheel rim.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Means for Solving the Problems

[0006] The load cell according to this specification comprises a cylindrical receiving sleeve for receiving a bearing ring and a fixing ring for attaching the load cell within a transmission housing. The ring can in particular be the outer ring of a rolling bearing. The fixing ring of the load cell is connected to the receiving sleeve at a connection part or a measuring area. The measuring area is provided for receiving the radial force of the receiving sleeve transmitted from the ring of the bearing to the measuring area.

[0007] For example, strain sensors such as adhesively bonded strain gauges are attached to at least two of the measuring areas. Further, the load cell comprises an axial support part which is provided on the fixing ring for axially supporting the outer ring of the bearing or for receiving an axial force. Here, the axial force is aligned parallel to the longitudinal direction of the receiving sleeve, and the radial force is aligned perpendicular to the longitudinal direction.

[0008] In particular, the load cell can be configured to receive a bearing located radially inside the receiving sleeve, where the outer ring of the bearing contacts the inner surface of the receiving sleeve, and the measuring area and the axial support part may be joined radially inwards to the fixing ring.

[0009] The axial support part is separated from the measuring area by a radial slot, where the axial support part is separated from the receiving sleeve by a circumferential slot.

[0010] In particular, the measuring area can comprise a measuring protrusion formed as an angle bracket, and the angle bracket may in particular comprise a radial area and an axial area adjacent to the radial area. This shape is highly suitable for generating a controlled deformation under the action of a radial force.

[0011] The radial region is connected to the fixed ring, and the axial region is connected to the receiving sleeve. In particular, the radial region can be arranged at an angle of approximately 90° with respect to the axial region.

[0012] In a further embodiment, the axial region is flush with the cylindrical inner surface of the receiving sleeve.

[0013] In particular, the axial support protrusion can be configured to protrude radially inwards over the entire inner surface of the receiving sleeve. As a result, the bearing can be arranged within the receiving sleeve such that the ring of the bearing, in particular the outer ring, abuts against this protruding region, and the axial force acting on the bearing is transmitted to the load cell and also transmitted in the fixed region.

[0014] In a further embodiment, at least one of the strain sensors is configured as a strain gauge. In a further embodiment, one strain sensor is attached to each of the measurement regions, and in particular each strain sensor can be attached to the radial region of the measurement region.

[0015] In a further embodiment, at least two of the measurement regions are provided with recessed portions for attaching the strain sensors, whereby the strain sensors can be easily positioned and protected from damage.

[0016] In a particular embodiment, the load cell comprises four of the measurement regions arranged at 90° intervals. As a result, on the one hand, good support for the bearing received within the load cell can be obtained, and on the other hand, measurement of a predetermined radial force can be enabled, from which the torque acting on the crankshaft can be calculated, the crankshaft being supported by the bearing.

[0017] In particular, the fixed ring can have a fixed region with fixing holes suitable for screwing the fixed ring to the housing.

[0018] Furthermore, the fixed ring may be provided with a recess, and the measurement region is disposed in the recess. In this case, the measurement protrusion, the slot defining the size of the measurement protrusion, and the axial support portion are dimensioned such that the size with respect to the angle including the measurement protrusion and the slot defining the size of the measurement protrusion approximately corresponds to the size with respect to the angle of the axial support portion.

[0019] In one embodiment, the size with respect to the angle of the measurement region in the circumferential direction is 30° or less. As a result, good deformability can be obtained, and the applied radial force corresponds to a certain clearly defined direction.

[0020] In particular, the load cell can be integrally made of a metal that elastically deforms to provide good stability and shape stability. Here, "metal" refers to a metal material and particularly includes metal alloys.

[0021] In a further aspect, the present specification discloses a measuring device for measuring the force acting on a crankshaft. The measuring device includes a crankshaft, which includes a bearing disposed on the crankshaft and the above-described load cell. The receiving sleeve of the load cell is disposed on the outer ring of the bearing, and the axial support portion of the load cell is axially supported by the outer ring of the bearing.

[0022] Furthermore, an evaluation electronic device is connected to the strain sensor of the load cell, and this evaluation electronic device is configured to measure the force acting on the crankshaft from the signal of the strain sensor. The crankshaft can particularly be a pedal shaft, but may also be, for example, a crankshaft of a piston engine.

[0023] Furthermore, the present specification discloses a transmission device including the above-described measuring device. The transmission device includes a transmission housing and a crankshaft, and the crankshaft is installed in the transmission housing via a first bearing and a second bearing.

[0024] The first bearing is received in the transmission housing via the load cell of the measuring device. The load cell is received in the transmission housing via a fixed ring. The receiving sleeve receives the outer ring of the first bearing, and the axial support portion is supported by the outer ring of the first bearing.

[0025] In the transmission device, in particular, the crankshaft can include a first step and a second step for supporting the bearing. These steps can be formed, for example, by the crankshaft having a larger diameter at its central portion than at its two ends. In particular, the inner ring of the first bearing of the measuring device can be arranged on the first step of the pedal shaft, and the inner ring of the second bearing can be arranged on the second step of the crankshaft, thereby forming an X-shaped arrangement of the obliquely installed bearings.

[0026] In the X-configuration of the bearings arranged on the crankshaft, the force acting on the crankshaft is transmitted outward via the bearings. As a result, the load cell can be arranged closer to the evaluation electronic device on the outer side. Further, the force acting on the output shaft arranged on the output-side bearing also acts outward. Thereby, the output shaft can be held at a distance from the rotor shaft arranged on the driving side of the output shaft.

[0027] To receive the axial force, the first bearing of the measuring device and the second bearing of the measuring device can be configured as single-row angular contact ball bearings in particular. In one embodiment, the second bearing is supported by a wave spring on the second step of the pedal shaft or on the housing.

[0028] In a further embodiment, the second bearing is supported by a spacer disk on the second step of the pedal shaft or on the housing.

[0029] Furthermore, this specification discloses a transmission device having the above-described features and including a motor, a reduction gear connected to the motor, and a hollow output shaft connected to the reduction gear.

[0030] In this transmission device, the crankshaft is configured as a pedal shaft, and the first bearing and the second bearing are each configured as a rolling bearing. The pedal shaft passes through the hollow output shaft, and a freewheel is provided between the pedal shaft and the hollow output shaft to disconnect the pedal shaft from the hollow output shaft.

[0031] Furthermore, this specification discloses an electric vehicle including the above-described transmission device. Here, the motor is configured as an electric motor, and the battery of the electric vehicle is connected to the electric motor.

[0032] In another aspect, this specification discloses a harmonic pin ring transmission including an input shaft and an output shaft. In particular, the input shaft can be configured as a hollow shaft suitable as a rotor shaft of an electric motor, and the output shaft can be configured as a hollow shaft located behind an inner gear described below in the power flow.

[0033] In this transmission, a cam disk that serves to press a traction means against an outer gear is formed as a single part with a hollow drive shaft, and the hollow drive shaft can in particular form a rotor of an electric motor.

[0034] The transmission includes a first outer gear and an inner gear arranged concentrically with the first outer gear in a first plane perpendicular to the axis. A second outer gear is arranged in a second plane perpendicular to the axis, and the traction means extends between the first outer gear and the inner gear. In other words, the axial region of the traction means is arranged in a space formed between the outer gear and the inner gear.

[0035] The rotary transmitter lifts the traction means from the outer periphery of the inner gear and presses it against the inner periphery of the first outer gear and the inner periphery of the second outer gear. The rotary transmitter includes a hollow drive shaft and a cam disk. The cam disk and the pin holding ring of the pin ring are arranged in a third plane perpendicular to the axis, which is located between the first plane perpendicular to the axis and the second plane perpendicular to the axis. The cam disk is formed as a single part with the hollow drive shaft.

[0036] In an advantageous embodiment, the traction means is configured as a pin ring, with pins or protrusions protruding from two opposite sides of the central region, and the central region is arranged in the third plane perpendicular to the axis. In particular, the central region can be made flexible and corresponds to the pin holding ring. Further, the central region of the pin ring may include an inner bearing surface for the bearing of the cam disk and an outer bearing surface for the bearing of gear parts such as a support ring.

[0037] During operation, the rotary transmitter lifts the pin from the outer periphery of the inner gear and presses the pin against the inner periphery of the first outer gear and the inner periphery of the second outer gear.

[0038] In another embodiment, the outer periphery of the cam disk is configured such that an oval shape, for example, a sine wave or an ellipse has a superimposed circular shape. In another embodiment, the outer periphery of the cam disk has a circular shape and is arranged eccentrically with respect to the transmission central axis.

[0039] In particular, by arranging a rolling bearing radially between the cam disk and the traction means, the force along the outer periphery can be avoided, where the rolling bearing is advantageously deformable with respect to the oval cam disk.

[0040] In particular, the rotary transmitter can be essentially made of lightweight aluminum and can be manufactured as a single part with a hollow shaft forming the rotor of an electric motor.

[0041] Particularly when the rotation transmitter includes an eccentric disk or a circular disk arranged eccentrically, the rotation transmitter can include a ring connected to the hollow drive shaft via a connecting support column.

[0042] In another aspect, the present specification discloses a harmonic pin ring transmission with a support ring.

[0043] The transmission includes a first outer gear, an inner gear arranged concentrically with the first outer gear in a first plane perpendicular to the axis, and a second outer gear arranged in a second plane perpendicular to the axis.

[0044] Furthermore, the transmission includes traction means extending between the first outer gear and the inner gear, and a rotation transmitter that lifts the traction means from the outer periphery of the inner gear and presses the traction means against the inner periphery of the first outer gear and the inner periphery of the second outer gear.

[0045] The rotation transmitter includes a hollow drive shaft and a cam disk. The cam disk and the pin retaining ring of the pin ring are arranged in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis. Further, the first outer gear is formed by a first outer ring, the second outer gear is formed by a second outer ring, and the first outer ring and the second outer ring are inserted into the support ring. In particular, the second outer ring can have the same structure as the first outer ring and / or can be mirror-symmetrical to the first outer ring.

[0046] Furthermore, the first outer ring and the second outer ring can each be made of a plastic such as PA66 or polymethyl methacrylate (PMMA) by injection molding. In particular, when a uniform distribution of load exists due to the pins of the pin ring contacting all the teeth of the tooth portion of the outer gear, the outer gear can be formed of plastic. By appropriately setting the dimensions of the pins of the pin ring and by appropriately selected tooth portions, each pin can contact the internal teeth of the outer gear or the external teeth of the inner gear.

[0047] In particular, the first outer ring and the second outer ring can each include a journal that protrudes radially outward, which is distributed to cover the outer periphery of each outer ring, and the support ring includes a mating recess into which the journal is inserted.

[0048] In another embodiment, grooves are formed in the first outer ring and the second outer ring, the grooves are distributed to cover the outer peripheries of the first outer ring and the second outer ring respectively, and the support ring includes a journal that engages with the grooves and is formed as a region of the transmission housing. This embodiment is particularly suitable for a geared motor.

[0049] The support ring that receives the outer gear can be made of lightweight aluminum and can in particular be made by an aluminum die-casting process.

[0050] In a further embodiment, the support ring includes two sub-rings that contact each other axially. Thereby, the housing parts support each other axially.

[0051] For easier connection to the transmission housing, the first outer ring, the second outer ring, and the support ring may have mating and aligned threaded holes. In particular, the outer gear or outer ring and the support ring can be connected to the transmission housing by screws, which pass through the threaded holes of the transmission cover and also through the mating threaded holes of the first outer ring, the support ring, and the second outer ring, and are threaded into the threads of the transmission housing of the harmonic pin ring transmission.

[0052] In another aspect, the present specification discloses a harmonic transmission provided with traction means, in particular a harmonic pin ring transmission having a pin ring provided with a freewheel device.

[0053] The transmission includes an input shaft for applying the driving force of a motor and an output shaft for transmitting the output power. Further, the transmission includes a first outer gear, an inner gear disposed concentrically with the first outer gear in a first plane perpendicular to the axis, a second outer gear disposed in a second plane perpendicular to the axis, and traction means extending between the first outer gear and the inner gear.

[0054] Furthermore, the transmission includes a rotary transmitter that lifts the traction means from the outer periphery of the inner gear, presses the traction means against the inner periphery of the outer gear, and also presses the traction means against the inner periphery of the second outer gear.

[0055] The rotary transmitter includes a hollow drive shaft and a cam disk, and the cam disk and the traction means are disposed in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis. When using a pin ring, the pin retaining ring of the pin ring, or the portion corresponding to the pin retaining ring of a single-piece pin ring, is disposed in the third plane perpendicular to the axis.

[0056] Furthermore, the transmission optionally includes a hollow output shaft supported within the inner gear via a motor freewheel, and a pedal shaft supported by the hollow output shaft via a pedal shaft freewheel. The pedal shaft is received within a transmission housing of the transmission. The pedal shaft has a receiving area or interface surface for the motor freewheel on its outer circumference. On the inner circumference opposite the outer circumference, the pedal shaft has a receiving area for the pedal shaft freewheel.

[0057] In particular, the motor freewheel can be configured as a clamp roller freewheel, and the pedal shaft freewheel can be configured as a detent freewheel. In a further exemplary embodiment, both the motor freewheel and the pedal shaft freewheel are configured as clamp roller freewheels.

[0058] The output shaft or the hollow output shaft extends axially on the output side of the hollow drive shaft, and a ball bearing is arranged between the hollow output shaft and the pedal shaft. The hollow output shaft has a fixed area for an output member such as a gear or a pulley.

[0059] Furthermore, the present specification discloses a freewheel assembly having an outer clamp roller freewheel and an inner detent freewheel.

[0060] The freewheel assembly includes a hollow drive shaft, a hollow output shaft, and a pedal shaft. In this configuration, the pedal shaft, the hollow output shaft, and the hollow drive shaft are arranged concentrically with each other. The hollow output shaft is arranged radially inside the hollow drive shaft, and the pedal shaft is arranged radially inside the hollow output shaft.

[0061] Furthermore, the hollow output shaft has a stepped detent engagement area on its inner circumference and a stepped clamp roller rolling area on the outer circumference on the side opposite in the radial direction on its inner circumference.

[0062] The pedal shaft includes a star-shaped bearing region for the detent, and the star-shaped bearing region includes a detent pedestal evenly distributed over the entire outer circumference for receiving the detent, and a spring pedestal arranged adjacent to the detent pedestal for receiving a spring.

[0063] In this configuration, the steps of the stepped detent engagement region and the steps of the stepped clamp roller rolling region formed on the pedal shaft are aligned such that the driving direction of the outer clamp roller freewheel coincides with the driving direction of the inner detent freewheel.

[0064] The outer clamp roller freewheel particularly includes the hollow drive shaft and the stepped clamp roller rolling region of the hollow output shaft, and the inner detent freewheel particularly includes the pedal shaft and the stepped detent engagement region.

[0065] In this specification, "radially inward" with respect to the hollow shaft means the inner circumference or its virtual extension. In this case, the component does not necessarily have to be completely the hollow output shaft in the axial direction.

[0066] In a further embodiment, the stepped clamp body rolling region on the outer circumference of the hollow output shaft and the stepped detent engagement region on the inner circumference of the hollow output shaft are in an essentially identical plane perpendicular to the axis. As a result, an inclination moment with respect to the hollow output shaft can be avoided, and space can be saved in the axial direction.

[0067] In a further embodiment, the hollow drive shaft of the freewheel assembly comprises a disk-shaped region having external teeth provided on the outer periphery of the disk-shaped region. The disk-shaped region need not be formed as a solid disk and may be formed, for example, as a perforated disk or a disk with other interruptions, or as a ring with struts. The disk-shaped region serves to receive the output torque. For example, this can be configured as the internal gear of a harmonic pin ring transmission.

[0068] In a further embodiment, the hollow output shaft has an annular thickened portion at the first end, and at the second end opposite the first end, there is a fixing region for the output means, in particular for a chain ring adapter.

[0069] In a further embodiment, the outer periphery of the hollow output shaft of the freewheel assembly has a stepped bearing region for a rolling bearing. Accordingly, the inner periphery of the hollow output shaft may also have a stepped bearing region for a rolling bearing.

[0070] In a further embodiment, the hollow output shaft has a female thread at the output-side end.

[0071] In a further embodiment, the freewheel assembly comprises a detent rotatably installed on the detent pedestal and a spring element disposed on the spring pedestal and in contact with the detent.

[0072] Furthermore, the freewheel assembly comprises a freewheel cage having webs and clamping rollers disposed between the webs, and the freewheel cage and the clamping rollers are disposed radially between the clamping roller rolling region of the hollow output shaft and the inner periphery of the hollow drive shaft.

[0073] In a further embodiment, the detent pedestal is cylindrical, one end is closed by a wall, and the opposite end is open.

[0074] In a further embodiment, the stepped clamp body rolling region and the freewheel cage each comprise at least two receiving regions for spring elements such as coil springs, and in each case, one spring element is arranged between one receiving region of the clamp body rolling region and one receiving region of the freewheel cage.

[0075] Furthermore, the pedal shaft may comprise a force sensor unit, the force sensor unit comprising a metal load cell and a pedal shaft ball bearing on the drive side, the load cell being arranged on the pedal shaft ball bearing.

[0076] In a further embodiment, the load cell of the freewheel assembly comprises an inner annular portion fixed to the outer annular portion via fixing projections, which may in particular be four fixing projections arranged at 45° intervals. The pedal shaft ball bearing is inserted into the inner annular portion.

[0077] In a further embodiment, the inner part and the outer part of the load cell are radially offset with respect to each other, the fixing projections being bounded laterally by radial slots, and at least two of the fixing projections comprising strain sensors. The fixing projections are suitable for receiving radial forces and are also referred to as measuring projections.

[0078] Furthermore, by reducing the axial thickness of the outer ring in the region of the fixing projections, the fixing projections can be retracted with respect to an annular fixing region useful for fixing to the transmission housing.

[0079] Furthermore, the present application discloses a pedal shaft for a freewheel assembly, the pedal shaft comprising a first fixing region for a pedal crank at a first end and a second fixing region for a pedal crank at a second end opposite thereto. Furthermore, the pedal shaft comprises a star-shaped receiving region for a detent near the first end.

[0080] In a particular embodiment, the star-shaped receiving region has steps, and each step includes a first side surface, a second side surface, a stop support region inclined approximately 45° in a predetermined direction with respect to the circumferential direction, and a spring pedestal. Further, each step includes an upper surface substantially parallel to the outer circumference of the shaft.

[0081] Furthermore, each step includes an end region having a stop pedestal, the stop pedestal being at least partially cylindrical, open on one axial side and closed on the opposite axial side. In particular, there may be six steps.

[0082] In another aspect, the present specification discloses a harmonic transmission, particularly a harmonic pin ring transmission, having an output shaft with an integral interface surface for a freewheel.

[0083] The harmonic transmission includes an input shaft and an output shaft, and further includes the following features.

[0084] A first outer gear and an inner gear concentrically arranged with respect to the first outer gear in a first plane perpendicular to the axis. The second outer gear is arranged in a second plane perpendicular to the axis. Further, traction means, for example a pin ring, extending between the first outer gear and the inner gear is provided.

[0085] A rotary transmitter is connected to the input shaft. During operation, the rotary transmitter lifts the traction means from the outer circumference of the inner gear and presses the traction means against the inner circumferences of the first outer gear and the second outer gear.

[0086] The rotary transmitter includes a hollow drive shaft and a cam disk, and the cam disk and, when the traction means is configured as a pin ring, the pin retaining ring of the pin ring are arranged in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis.

[0087] Furthermore, the harmonic speed changer includes a hollow output shaft supported within the inner gear via a motor freewheel, and a pedal shaft supported by the hollow output shaft via a pedal shaft freewheel. The pedal shaft is received within a speed changer housing of the harmonic speed changer. Further, the pedal shaft includes a receiving region or interface surface for the motor freewheel on an outer periphery, and includes a receiving region for the pedal shaft freewheel on an inner periphery on a side radially opposed to the outer periphery.

[0088] In one embodiment, this engine freewheel is configured as a clamp roller freewheel, and the pedal shaft freewheel is configured as a detent freewheel.

[0089] The output shaft extends axially on an output side of the hollow drive shaft, a ball bearing is disposed between the hollow output shaft and the pedal shaft, and the hollow output shaft includes a fixed region for an output element, particularly for an output element such as a gear or a pulley for connection to a traction means.

[0090] In another aspect, the present specification discloses a harmonic pin ring speed changer including an input shaft and an output shaft, and the speed changer has the following components.

[0091] The speed changer is provided with a first outer gear and an inner gear, and the inner gear is disposed concentrically with respect to the first outer gear in a first plane perpendicular to an axis. A second outer gear is disposed in a second plane perpendicular to the axis. A pin ring having pins extends between the first outer gear and the inner gear.

[0092] A rotation transmitter is disposed within portions of the inner gear and the outer gear. During operation, the rotation transmitter lifts the pins of the pin ring from an outer periphery of the inner gear, and presses the pins against an inner periphery of the first outer gear and an inner periphery of the second outer gear.

[0093] The above-mentioned rotary transmitter includes a hollow drive shaft and a cam disk, and the cam disk and the central region of the pin ring are arranged on a third plane perpendicular to the axis, which is located between the first plane perpendicular to the axis and the second plane perpendicular to the axis.

[0094] The pin ring is made of a single part. In particular, the pin ring can be made of metal. The pins of the pin ring are formed by protrusions protruding from two opposite side portions in the axial direction of the central region of the pin ring, and the central region includes a smooth cylindrical inner bearing surface for support by a bearing and a smooth cylindrical outer surface.

[0095] In a further embodiment, the protrusion is cylindrical on the first of the two opposite side portions and partially cylindrical on the second of the two opposite side portions, where the cylindrical region is located radially outside the pin ring.

[0096] In a further embodiment, the protrusion includes a rounded inner engagement region that is radial on the inside of the pin ring and a rounded outer engagement region that is radial on the outside of the pin ring on the first of the two opposite side portions. Further, the protrusion includes a rounded outer engagement region on the second of the two opposite side portions.

[0097] In a further embodiment, a bearing such as a rolling or ball bearing or a flexible rolling or ball bearing is arranged between the cam disk and the pin ring, and the pin ring includes a shoulder on the inside for supporting the bearing.

[0098] In another aspect, the present specification discloses a single-part pin ring for a harmonic pin ring transmission, which is formed as a single part and made of metal. The pin ring includes pins formed by protrusions protruding from two opposite side portions in the axial direction of the central region of the pin ring.

[0099] In this case, the central region includes a smooth cylindrical inner bearing surface for support by a bearing and a smooth cylindrical outer bearing surface for support of the bearing of the support cylinder.

[0100] In a further embodiment, the protrusion is cylindrical at a first side of the two opposite sides and partially cylindrical at a second side of the two opposite sides. The cylindrical region is located radially outside the pin ring.

[0101] In a further embodiment, the protrusion includes a rounded inner engagement region that is radial inside the pin ring and a rounded outer engagement region that is radial outside the pin ring at a first side of the two opposite sides. Further, the protrusion includes a rounded outer engagement region at a second side of the two opposite sides.

[0102] In a further embodiment, in each case, at the first side of the two opposite sides, a web arranged in a tangential direction is located between the protrusions, and the outer boundary line of the cross-section of the protrusion is smoothly connected to the outer boundary line of the web. Here, "smoothly" can be understood to mean the continuous first derivative when averaging over the surface roughness.

[0103] In a further embodiment, a bearing such as a rolling or ball bearing or a flexible rolling or ball bearing is arranged between the cam disk and the pin ring. In this case, the pin ring includes a shoulder inside for supporting the bearing.

[0104] In another aspect, the present specification discloses a harmonic transmission with an obliquely installed bearing.

[0105] The transmission includes a first outer gear, an inner gear arranged concentrically with respect to the first outer gear in a first plane perpendicular to the axis, and a second outer gear arranged in a second plane perpendicular to the axis.

[0106] The traction means extends between the first outer gear and the inner gear. Further, a rotary transmitter is provided, which lifts the traction means from the outer periphery of the inner gear and presses the traction means against the inner periphery of the first outer gear and the inner periphery of the second outer gear.

[0107] The rotary transmitter includes a hollow drive shaft and a cam disk, and the cam disk and the pin holding ring of the pin ring are arranged in a third plane perpendicular to the axis, which is located between the first plane perpendicular to the axis and the second plane perpendicular to the axis.

[0108] The pedal shaft is arranged radially inside the output shaft, and the pedal shaft is mounted in the motor housing via a pedal shaft ball bearing on the drive side and a load cell made of metal or metal alloy.

[0109] In a further embodiment, the load cell comprises an inner annular portion attached to the outer annular portion via fixing protrusions, and the pedal shaft ball bearing is inserted into the inner annular portion. In particular, four fixing protrusions spaced 45° apart can be present. The fixing protrusions are also referred to as measuring protrusions.

[0110] The outer annular portion is inserted into a cylindrical portion in the motor housing. The inner portion and the outer portion are offset radially from each other. Further, the fixing protrusions are bounded laterally by radial slots, and material recesses are provided radially outside the measuring protrusions. As a result, in particular, the thickness of the measuring protrusions is reduced, thereby promoting the deformability of the measuring protrusions.

[0111] Strain sensors such as strain gauges may be applied to at least two of the measuring straps on at least two surfaces of the measuring straps.

[0112] Further, a wave spring may be arranged between the load cell and the drive-side rotor ball bearing, which can in particular serve to compensate for tolerances.

[0113] In another aspect, the present specification discloses a harmonic pin ring transmission provided with a crank gear formed as a planetary gear device. The harmonic pin ring transmission includes an input shaft and an output shaft, which are also referred to as a driving shaft and a driven shaft, respectively.

[0114] Furthermore, the transmission includes a first gear, an inner gear arranged concentrically with respect to the first outer gear in a first plane perpendicular to the axis, and a second outer gear arranged in a second plane perpendicular to the axis.

[0115] The traction means extends between the first outer gear and the inner gear. A rotary transmitter is provided, which lifts the traction means from the outer periphery of the inner gear and presses the traction means against the inner periphery of the first outer gear. The rotary transmitter includes a hollow drive shaft and a cam disk, and the cam disk is arranged in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis.

[0116] Furthermore, the pedal shaft is arranged radially inside the output shaft, and the planetary gear device and the pedal shaft freewheel are arranged in the force flow between the pedal shaft and the output shaft.

[0117] In one embodiment, the planetary carrier of the planetary gear device is connected to the pedal shaft, the ring gear of the planetary gear device includes a connection area for connection to the transmission housing, and the sun gear of the planetary gear device is attached to the surface of the pedal shaft. The pedal shaft freewheel is arranged between the hollow shaft of the planetary gear device connected to the sun gear and the output shaft.

[0118] In another embodiment, the pedal shaft freewheel is disposed between the crankshaft and the planetary carrier of the planetary gear device, the ring gear of the planetary gear device is rotatably installed in the harmonic transmission, and the sun gear of the planetary gear device is configured to be attached to a fixed housing portion of the harmonic transmission.

[0119] Furthermore, the present specification discloses a tension shaft transmission, and the tooth shape can be designed such that there is a complete tooth engagement between the internal teeth and the external teeth. This applies even when the rotary transmitter includes an eccentric disk instead of an oval cam disk.

[0120] The tension shaft transmission has two main types, namely: firstly, a design having a driven cup-shaped tension shaft with a fixed area for the output shaft; and secondly, a design having a movable second outer gear and a cylindrical tension shaft.

[0121] The tension shaft transmission includes an outer gear having internal teeth and a tension shaft having external teeth, the outer gear includes a fixed area for attachment to the transmission housing, and the tension shaft is disposed concentrically with respect to the outer gear in a plane perpendicular to the axis.

[0122] The rotary transmitter is configured to be suitable for attachment to a rotating input shaft and to be able to press the tension shaft against the internal teeth of the outer gear during operation. For this purpose, the rotary transmitter is disposed on the tension shaft, and the outer circumference of the rotary transmitter is suitable for pressing the tension shaft.

[0123] The above-mentioned rotary transmitter includes a hollow drive shaft and a cam disk. The cam disk preferably has a circular outer periphery arranged concentrically with the central axis of the outer gear, or an elliptical outer periphery centered on the central axis of the outer gear. Ball bearings are arranged on the outer periphery of the cam disk, which is preferably a flexible ball bearing in the case of an oval or elliptical outer periphery. However, the tooth portion of the outer gear specifically described below is particularly suitable for an oval transmitter and provides particularly good meshing in this case.

[0124] The cross-section of the tooth tip of the external teeth of the tension shaft essentially corresponds to a sector. Therefore, the cross-section of the tooth tip corresponds to the cross-section of a part of a cylindrical pin and preferably essentially corresponds to a semi-circle.

[0125] With respect to the central axis of the outer gear, the internal teeth of the outer gear are essentially defined by the outer equidistant line with respect to the gear orbit defined by the equations x(t)=r1*cost(t)+r2*cos((n + 1)*t)+r3*cos((n + 3)*t) and y(t)=r1*sin(t)-r2*sin((n + 1)*t)+r3*sin((n + 3)*t), where n + 1 is the number of teeth of the internal teeth of the outer gear, and the radii rl, r2, and r3 are greater than zero. Regarding the magnitudes of the radii, r2>r3 and r1>r2 + r3 apply. Further conditions regarding the parameters n and t, as well as the radii, are given below in the description related to this tooth portion.

[0126] The coordinates x and y are related to a rectangular coordinate system arranged perpendicular to the central axis of the outer gear, and the origin thereof is within the central axis of the outer gear or the transmission.

[0127] In particular, the tension shaft can be made in a cup shape, and a fixing region for fixing the output shaft is formed at the bottom of this cup shape. This can also be implemented such that the tension shaft is integrally formed with the output shaft.

[0128] Furthermore, a central circular opening may be formed in the bottom of the cup shape, and the fixed region of the tension shaft includes fixing holes arranged around the central circular opening. This embodiment can be particularly advantageous for a geared motor.

[0129] In another embodiment, the tension shaft has a cylindrical shape, and the transmission includes a second rotatably arranged outer gear having a fixed region for fixing the output shaft. The internal teeth of the outer gear are determined by the same structure or formula as the internal teeth of the first outer gear.

[0130] In particular, the expression "essentially" regarding the tooth part can mean a deviation of up to 5% or 10% with respect to the distance mentioned in the description with reference to FIGS. 117 and 118, for example.

[0131] Alternatively, the shape of the tooth part of the outer gear can also be specified by explicitly specifying the trochoid construction. According to this trochoid construction, the tooth surface of the internal teeth of the outer gear is determined as a function of the periodic angle by the radial distance from the central axis of the internal gear. In this case, the radial distance from the central axis is determined by the inner equidistant line with respect to the orbit of the gear, and the position on the orbit of the gear is determined by the vector sum of the periodic vector, the first trochoid vector, and the second trochoid vector in each case.

[0132] Furthermore, the rear end of the periodic vector is on the central axis, the rear end of the first trochoid vector is at the front end of the periodic vector, and the rear end of the second trochoid vector is at the front end of the first trochoid vector.

[0133] Furthermore, the trochoid angle of the first trochoid vector is n + 1 times the periodic angle, and the trochoid angle of the second trochoid vector is n + 3 times the periodic angle, where n is the number of pins of the harmonic pin ring transmission that is at least 4.

[0134] Furthermore, the length of the periodic vector is longer than the sum of the lengths of the first rotating circular vector and the second rotating circular vector, and the length of the first rotating circular vector is longer than the length of the second rotating circular vector.

[0135] Furthermore, this specification discloses a two-stage reduction gear including an outer gear fixed to a transmission housing and having first internal teeth, and the outer gear includes a fixing region for attachment to the transmission housing.

[0136] The outer gear rotatably installed in the transmission housing is provided with second internal teeth, and the outer gear includes a fixing region for attachment to an output shaft.

[0137] A pin ring, which is a single part although it is in two parts or two sections, is arranged concentrically with respect to the outer gear, and the two-part integral pin ring includes first external teeth and second external teeth. The first external teeth of the two-part integral pin ring engage with the internal teeth of the fixed outer gear. The second external teeth of the two-part integral pin ring engage with the internal teeth of the rotatable outer gear.

[0138] The rotary transmitter is configured to press the two-part integral pin ring against the internal teeth of the fixed outer gear and against the internal teeth of the rotatable outer gear. A ball bearing is arranged around the rotary transmitter.

[0139] In particular, in order to obtain a large reduction, the number of teeth of the internal teeth of the fixed outer gear can be made larger than the number of teeth of the first external teeth, and the number of teeth of the internal teeth of the rotatable outer gear can be made larger than the number of teeth of the second external teeth. Furthermore, the number of teeth of the fixed outer gear is larger than the number of teeth of the rotatable outer gear, and the number of teeth of the first external teeth is larger than the number of teeth of the second external teeth.

[0140] Furthermore, the rotary transmitter may include a circular ring disposed eccentrically with respect to the fixed outer gear. This eccentric speed changer provides a particularly simple and robust design that does not require a deformable bearing.

[0141] In particular, the cross-section of the tooth tip of the first external teeth and the cross-section of the tooth tip of the second external teeth may essentially correspond to a sector, preferably a semi-circle. Thus, the shape of the tooth portion corresponds to a cylindrical pin, which is particularly preferred in an eccentric speed changer.

[0142] Furthermore, the cross-section of the tooth tip of the first external teeth and the cross-section of the tooth tip of the second external teeth can correspond to the inner equidistant line at a distance of the pin radius with respect to the gear path defined by the equations x(t)=r1*cos(t)+r2*cos(nt) and y(t)=r1*sin(t)+r2*sin(nt), where with respect to the radii rl, r2, rl>0, r2>0 and rl>r2 apply. In particular, the tooth portion can correspond to this shape not only in the region of the tooth tip but also along the entire circumference.

[0143] The same also applies to the tooth portion of the pin ring. Thus, the cross-section of the tooth tip of the first external teeth and the cross-section of the tooth tip of the second external teeth can correspond to the outer equidistant line at a distance of the pin radius with respect to the gear path defined by the equations x(t)=r1*cos(t)+r2*cos(nt) and y(t)=r1*sin(t)-r2*sin(nt), where with respect to the radii rl, r2, rl>0, r2>0 and rl>r2 apply, and rl, r2 and n have the same values as for the tooth portion of the outer gear. In particular, this shape of the tooth portion can be applied to the tooth portion not only in the region of the tooth tip but also along the entire circumference.

[0144] Furthermore, the present specification discloses a load cell for measuring the radial force acting on the crankshaft, which has a receiving sleeve for receiving the bearing ring, a fixing ring for mounting the load cell within the transmission housing, and an axial support portion provided on the fixing ring for axially supporting the bearing ring.

[0145] Furthermore, a measuring area for receiving the radial force of the receiving sleeve is provided, which connects the receiving sleeve to the fixing ring, and strain sensors are attached to at least two of the measuring areas.

[0146] Furthermore, the present specification discloses a freewheel assembly having an outer transmission freewheel and an inner pedal shaft freewheel. The freewheel assembly includes a hollow drive shaft, a hollow output shaft, and a pedal shaft. The pedal shaft, the hollow output shaft, and the hollow drive shaft are arranged concentrically with each other.

[0147] Furthermore, the hollow output shaft is arranged radially inside the hollow drive shaft, the pedal shaft is arranged radially inside the hollow output shaft, and the pedal shaft freewheel is arranged between the pedal shaft and the hollow output shaft. The transmission freewheel is arranged on the side of the hollow output shaft opposite to the pedal shaft freewheel. The hollow output shaft includes adapted portions inside and outside the areas of each freewheel.

[0148] Thus, this double freewheel can be integrated into the gear device while saving space in the area of the pedal shaft without requiring a separate outer ring or inner ring. In this case, the outer freewheel can particularly be a clamp roller freewheel, and the inner freewheel can particularly be a ratchet freewheel. However, both freewheels can also be clamp roller freewheels. Other combinations are also possible.

[0149] Furthermore, the present specification discloses a single-piece pin ring that is preferably used in combination with an eccentric transmission.

[0150] In a first embodiment, the single-piece pin ring is made of metal, and a pin retaining ring and an array of a plurality of pins protruding axially at two opposite side portions of the pin retaining ring are made as a single piece.

[0151] In particular, the pins may be connected to each other in the circumferential direction, thereby providing further stability and enabling more efficient production.

[0152] Furthermore, the pins may be formed as half pins suitable for engagement with internal teeth on a first side portion of the two opposite side portions, and the pins on the opposite second side portion may be formed as complete pins suitable for engagement with internal teeth and external teeth on the opposite side of the internal teeth. Thereby, weight and materials can be saved.

[0153] In a further embodiment, the single-piece pin retaining ring has a smooth inner circumference on the inside and a rounded ridge on the outside, and the ridge is made as a single piece with the pin retaining ring. This embodiment is suitable for, for example, an eccentric two-stage reduction gear.

[0154] Furthermore, at least one head region of the rounded ridge may have a semi-circular cross-section. Thus, the same tooth portion can be used, which is also suitable for a pin ring having cylindrical pins.

[0155] Furthermore, the present specification discloses a support ring assembly for a reduction gear having a first outer gear and a second outer gear, the support ring assembly comprising a support ring, a first outer gear having first internal teeth, and a second outer gear having second internal teeth, the first outer gear and the second outer gear being inserted into the support ring on opposite sides, the support ring comprising a fixing region, such as an axial hole, for attachment to a transmission housing.

[0156] In particular, the first outer gear and the second outer gear can be made of plastic. Furthermore, the first outer gear and the second outer gear can each be connected to the support ring via a pin-groove connection, thereby enabling easy assembly thereof.

[0157] Furthermore, the present specification discloses a single-piece rotor-transmitter element for a reduction gear having a hollow shaft, the hollow shaft comprising a fixing region for fixing a rotor package on a first side, and a cam disk on a second side opposite the first side, an outer periphery of the cam disk being configured as a bearing portion for a ball bearing.

[0158] In particular, the single-piece rotor-transmitter element can be made of aluminum. Furthermore, the hollow shaft of the single-piece rotor-transmitter element may be dimensioned such that a pedal shaft can pass through the hollow shaft.

[0159] In a further embodiment, the cam disk comprises a circular outer periphery arranged eccentrically with respect to a central axis of the hollow shaft. In another embodiment, the cam disk comprises an oval outer periphery with respect to the central axis of the hollow shaft.

[0160] Furthermore, this specification discloses a crank gear that provides a speed increasing transmission. In a first embodiment, the crank gear includes a drive shaft, particularly a crankshaft or a pedal shaft, and a planetary gear device is disposed on the drive shaft. The planetary carrier of the planetary gear device is fixedly connected to the drive shaft. The ring gear of the planetary gear device includes a fixed area for attachment to the transmission housing and a receiving area for a torque sensor. The sun gear of the planetary gear device is configured as a ring gear, which is concentrically disposed with respect to the drive shaft, and the sun gear is connected to a hollow output shaft of the planetary gear device that is rotatably installed on the drive shaft.

[0161] In a second embodiment, the crank gear includes a drive shaft, particularly a crankshaft or a pedal shaft, and a planetary gear device is disposed on the drive shaft. The planetary carrier of the planetary gear device is attached to the drive shaft via a freewheel. The sun gear of the planetary gear device includes a fixed area for attachment to the transmission housing and a receiving area for a torque sensor. The ring gear of the planetary gear device includes a receiving area for a ball bearing for support in the transmission housing.

[0162] In a third embodiment, the crank gear includes a drive shaft, particularly a crankshaft or a pedal shaft, and a planetary gear device is disposed on the drive shaft. The planetary carrier of the planetary gear device includes a fixed area for attachment to the transmission housing. The hollow shaft of the planetary gear device is fixedly connected to the drive shaft. The sun gear of the planetary gear device is concentrically disposed with respect to the drive shaft and is configured as a hollow shaft that is rotatably installed on the drive shaft.

[0163] Furthermore, this specification discloses a cycloid gear, and the cycloid gear includes the following components Transmission housing; an outer gear having internal teeth fixed to the transmission housing; and an input shaft disposed concentrically with the outer gear, the input shaft comprising a drive-side eccentric disk on which a first ball bearing is disposed and an output-side eccentric disk on which a second ball bearing is disposed.

[0164] A drive-side inner gear having external teeth is attached to the first ball bearing, and an output-side inner gear having external teeth is attached to the second ball bearing. The drive-side inner gear and the output-side inner gear are disposed inside the outer gear, and the external teeth of the drive-side inner gear and the output-side outer gear respectively engage with the internal teeth of the outer gear.

[0165] In particular, the cycloid gear can include a crankshaft installed on the input shaft and the above-mentioned load cell attached to the crankshaft on the drive side.

[0166] Furthermore, the input shaft may be configured as the above-mentioned single-component rotor transmitter element.

[0167] In another embodiment, the cycloid gear includes a crankshaft installed on the input shaft, the crankshaft includes one of the above-mentioned planetary gear devices, and the crankshaft forms the drive shaft of the planetary gear device.

[0168] In a further embodiment, a third ball bearing is disposed on the input shaft on the output side of the output-side eccentric disk, a driven pulley is disposed on the third ball bearing, the driven pulley includes a carrier pin, which engages in axially continuous openings of the drive-side inner gear and the output-side inner gear, and an output shaft is formed radially inside the driven pulley.

[0169] In this case, the output shaft is formed inside the diameter of the driven pulley, and the third ball bearing is arranged on the inner shoulder of the output shaft. Further, an inner gear ball bearing is arranged on the outer shoulder of the output shaft, axially with respect to the third ball bearing, diagonally opposite with respect to the center of the bearing, and the inner gear ball bearing is supported by the housing cover of the transmission housing.

[0170] In yet another further embodiment, at least one of the inner gears includes a first tooth portion and a second external tooth. The cycloid gear further includes a rotatable outer gear having internal teeth, and the second external tooth engages with the internal teeth of the rotatable outer gear, and the rotatable outer gear includes a fixed area for installing an output shaft. Thereby, two-stage speed reduction can be provided.

[0171] Furthermore, the internal teeth can be formed by the inner surface of the outer gear, or the internal teeth can be formed by an array of stationary pins on which rollers are arranged.

[0172] Hereinafter, the object of this specification will be described in more detail with reference to the following drawings.

Brief Description of the Drawings

[0173]

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DETAILED DESCRIPTION OF THE INVENTION

[0174] In the following description, details are provided to explain the embodiments of this specification. However, it will be apparent to those skilled in the art that these embodiments can be implemented even without such details.

[0175] FIG. 1 shows a cross-sectional view of the harmonic pin ring gear 10. The cutting plane A-A in FIG. 1 is shown in FIG. 19. In FIG. 1, the left side corresponds to the drive side of the harmonic pin ring gear 10, and the right side corresponds to the output side. If the right side follows the normal arrangement of the drive, the viewing direction in FIG. 10 is in the advancing direction.

[0176] The stator 20 of the stator assembly of the harmonic pin ring gear 10 is disposed within the motor housing 22. The stator 20 includes three separate coils 21 for connection to the three phases of a three-phase inverter. These three coils of the stator 20 are connected to the three-phase inverter via three terminals 25, one of which is shown in FIG. 1.

[0177] The three-phase inverter is configured as power electronics composed of a printed circuit board 23, and the printed circuit board 23 is disposed within a cooling cover 24 attached to the motor housing 22 on the drive side. The printed circuit board 23 is configured as an annular disk, which is located outside the cylindrical protrusions of the motor housing and the cooling cover, whereby the electronic devices of the motor disposed on the printed circuit board are sealed against the oil and grease of the transmission.

[0178] The pedal shaft 35 extending through the center of the motor housing 22 is stepped on the output side and has three steps, with its diameter increasing from the outside to the inside. A shaft seal 50, an output-side pedal shaft ball bearing 46, and a pedal shaft freewheel 49 are arranged on each step. The diameter of the pedal shaft 35 is also stepped on the drive side and has two steps. A shaft seal and a sensing ring 68 are arranged on the outer step, and a ball bearing 45 is arranged on the inner step. The stepped shape of this pedal shaft is also shown in the perspective view of Fig. 4.

[0179] An outer rotor shaft 26 with a permanent magnet is installed radially inside the stator 20. This outer rotor shaft is also called a "rotor package". The outer rotor shaft 26 has an elastic region on its inner side, which is inserted onto the surface of the inner rotor shaft 27. An oval cam disk 28 configured eccentrically is formed on the surface of the inner rotor shaft 27 on the output side, which is shown in more detail in Fig. 3.

[0180] On the drive side, the inner rotor shaft 27 is supported inside the motor housing 22 by a drive-side rotor ball bearing 29 with respect to the outside. That is, the outer ring of the drive-side rotor ball bearing 29 is arranged in the cylindrical recess of the motor housing 22.

[0181] Furthermore, on the output side, the inner rotor shaft 27 is installed inside a radially outer output-side rotor ball bearing 30 within the inner gear 7. The hollow shaft of the inner gear 7 is integrally connected to the annular portion of the inner gear 7 on the output side, and the annular portion is provided with external teeth 5.

[0182] The hollow shaft of the inner gear 7 is subsequently installed via a radially outer inner gear ball bearing 31 on a housing cover 32 screwed to the motor housing 22 by a screw 34. The inner gear ball bearing 31 is offset axially to the output side from the output-side rotor ball bearing 30 and is also offset radially to the outside. Furthermore, the inner gear ball bearing 31 overlaps the output-side rotor ball bearing 30 axially.

[0183] A flexible ball bearing or thin-walled ball bearing 33, in which the inner and outer rings are deformable, is clamped to the cam disk 28 of the inner rotor shaft 27. A pin retaining ring 103 provided with pins 101 is supported by the flexible ball bearing 33, and the pins 101 are held in cylindrical recesses inside the pin retaining ring. In the embodiment of FIG. 1, the pins 101 are connected to each other. The pins 101 of the pin ring 102 project from the flexible ball bearing 33 and the pin retaining ring 103 on both sides in the axial direction. For simplicity, the pin ring assembly including the pin retaining ring 103 and the pins 101 is also referred to below as the pin ring 102.

[0184] The cam disk 28 and the flexible ball bearing 33 together form a transmitter configuration, which converts torque into a radial force. Instead of a flexible ball bearing having flexible inner and outer rings, a wire race bearing or a flexible ball bearing without an outer ring, or different types of flexible rolling bearings can be used.

[0185] The housing cover 32 is screwed to the motor housing by fixing screws 34 on the output side of the motor housing. Further, the drive-side outer gear 8' and the output-side outer gear 8 are inserted into the support ring 36 and screwed to the support ring 36 by screws 34. The support ring 36 is axially divided into two mirror-symmetrical halves, which together form a track 67 for the pin ring 103.

[0186] The drive-side outer gear 8' and the output-side outer gear 8 are arranged outside the cam disk 28 and the flexible ball bearing 33 in the axial direction. Radially, the drive-side outer gear 8' faces a portion of the pin 101 that projects from the pin retaining ring 103 towards the drive side in the axial direction. Radially, the output-side outer gear 8 faces a portion of the pin 101 that projects from the pin retaining ring 103 towards the output side in the axial direction.

[0187] On the drive side, the drive-side spacer disk 37 is arranged in the motor housing 22 so as to face the drive-side end face of the pin 101 in the axial direction. Similarly, on the output side, the output-side spacer disk 38 is arranged in the motor housing 22 so as to face the output-side end face of the pin 101 in the axial direction.

[0188] The output shaft 39 is arranged radially inside the hollow shaft of the inner gear 7, and the transmission freewheel 40 is arranged between the hollow shaft of the inner gear 7 and the output shaft 39. The output shaft 39 is installed in the output-side output ball bearing 41 on the radially outer side, which is inserted into the cylindrical recess or shoulder of the housing cover 32. The output-side region of the output shaft 39 projects axially from the housing cover 32. The chain ring adapter 43 is attached to the output shaft 39 and is held via a circular output nut 44 screwed onto the female thread of the output shaft 39.

[0189] Part of the pedal shaft 35 is arranged inside the rotor shaft 27 and part is arranged inside the output shaft 39, and it is concentric with the rotor shaft 27 and the output shaft 39. The pedal shaft 35 is installed in the load cell 47 via the drive-side pedal shaft ball bearing 45 on the radially outer side, and the load cell 47 is inserted into the motor housing 22. A printed circuit board 48, also called a "PCB force sensor" having evaluation electronics, is fixed to the load cell 47. The connector of the printed circuit board 48 is guided radially outward by a ribbon cable 63 and connected to the electronics of the printed circuit board 23.

[0190] The load cell 47 includes strain gauges that generate electrical signals corresponding to the deformation of the load cell 47, which functions as a suspension for the drive-side pedal shaft ball bearing. The load cell 47 has four webs, which are arranged 45° apart in the circumferential direction and are connected to a ring into which the outer ring of the output-side bottom bracket ball bearing is inserted. In each case, one strain gauge is applied to each of these webs, and the strain gauge is electrically connected to the annular printed circuit board 23.

[0191] On the drive side of the output-side pedal shaft ball bearing 46, the pedal shaft freewheel 49 is disposed between the pedal shaft 35 and the output shaft 39. The transmission freewheel 40, the hollow shaft of the inner gear 7, and the inner gear ball bearing 31 extend radially outward. Instead of the single pedal shaft freewheel 49, two adjacent freewheels, or a single freewheel and a rolling bearing such as an adjacent needle roller bearing, can also be installed.

[0192] On the output side of the output-side pedal shaft ball bearing 46, the inner shaft seal ring 50 is inserted between the pedal shaft 35 and the output shaft 39, facing the output-side pedal shaft ball bearing 46. Further, the outer shaft seal ring 51 is disposed between the output shaft 39 and the housing cover 32, facing the output ball bearing 41 on the output side. Another shaft seal ring 52 is disposed between the cooling cover 24 and the pedal shaft 35 on the drive side. The O-ring 42 is inserted radially outward between the output-side outer gear 8 and the housing cover 32.

[0193] During operation, the input torque is transmitted to the outer rotor shaft 26 and then from there to the inner rotor shaft 27 by the electromagnetic force action via the stator 20 (which is converted into a radial force by the cam disk 28 and the flexible ball bearing 33). This radial force is converted into output torque on the tooth surfaces of the internal teeth 6, 6' of the outer gears 8, 8' and the external teeth 5 of the inner gear 7, where the inner gear 7 is driven and the outer gears 8, 8' are fixed to the housing. The output torque is greater than the input torque by the reduction ratio.

[0194] The inner tooth portion formed by the external teeth 5 of the inner gear 7 faces the internal teeth 6 of the output-side outer gear 8, and thereby provides the output torque by these pins 101 that contact both the external teeth 5 and the internal teeth 6, 6'.

[0195] FIG. 2 shows an exploded perspective view of the transmission of FIG. 1, showing, when viewed from the drive side towards the output side, the drive-side rotor ball bearing 29, the inner rotor shaft 27, the cam disk 28, the output-side rotor ball bearing 30, the second outer gear 8', the flexible ball bearing 33, the pin retaining ring 103 provided with the pin 101, the support ring 36, the first outer gear 8, the inner gear 7 having an inner gear hollow shaft, and the inner gear ball bearing 31.

[0196] Each of the outer gears 8, 8' is provided with a journal 53, which projects radially outwards from each of the outer gears 8, 8' and is distributed at regular intervals around the outer periphery of the outer gears 8, 8'. The support ring 36 is provided with circumferentially distributed radial slots 54 that are radially opposed to the journals 53. Further, screw holes 55 for fixing the outer gears are provided, some of which are located partly within the outer gears 8, 8' and partly in the support ring 36 in the embodiment of FIG. 2.

[0197] Between the drive-side rotor ball bearing 29 and the motor housing 22, a wave spring 61 is arranged on the drive side of the drive-side rotor ball bearing 29, and a spacer ring 62 is arranged between the drive-side rotor ball bearing 29 and the outer rotor shaft 26 on the output side of the drive-side rotor ball bearing 29.

[0198] In particular, the support ring 36 can be made of aluminum, the outer gears 8, 8' can be made of a plastic such as polyamide 66 (PA66), the support ring 36 can in particular be made by aluminum die-casting, and the outer gears can in particular be made by plastic injection molding. Further, the inner rotor shaft 27 can be made of aluminum.

[0199] As shown in FIG. 1, in the assembled state, the screw 34 extends through the transmission cover 32, the first outer gear 8, the second outer gear 8', and the support ring 36 into the motor housing 22.

[0200] Figure 2 shows the drive-side portion of the exploded perspective view of the transmission of Figure 1. In this figure, when viewed from the drive side, it shows the cooling cover 24, the printed circuit board 23, the stator 20, the motor housing 22 with one or more coils 21, the printed circuit board 48, the load cell 47, the wave spring 61, the drive-side spacer disk 37, the second outer gear 8' with internal teeth 6', the drive-side rotor ball bearing 29, the spacer ring 62, the outer rotor shaft 26, and a part of the inner rotor shaft 27.

[0201] Figure 3 shows the output-side portion of the exploded perspective view of the transmission of Figure 1. In this figure, when viewed from the drive side, it shows the inner rotor shaft 27 with a cam disk 28, the output-side rotor ball bearing 30, the pin ring 102 with a pin retaining ring 103 and a pin 101, the support ring 36, the output-side outer gear 8, the inner gear 7 with external teeth 5, the output shaft 37, the transmission freewheel 40, the O-ring, the output-side spacer disk 38, the inner gear ball bearing 31, the housing cover 32 with a fixing screw 34, and the shaft seal ring 50.

[0202] As shown in Figure 3, the transmission freewheel 40 includes a cylindrical roller 64 disposed within a clamp cage 65. A coil spring 66 is provided in the clamp cage 65 to press the cylindrical roller 64.

[0203] Figure 4 shows an exploded perspective view of the inner assembly of the transmission of Figure 1, particularly the pedal shaft freewheel 49. Specifically, Figure 4 shows, when viewed from the drive side, the sensing 68, the drive-side pedal shaft ball bearing 45, the pedal shaft 35, the pedal shaft freewheel 49, the output-side pedal shaft ball bearing 46, the spacer 69, the chain ring adapter 43, the wave spring 70, the inner shaft seal 50, the O-ring 76, and the output nut 44.

[0204] As shown in Fig. 4, the pedal shaft freewheel 49 has a blade-shaped step 71 formed on the surface of the pedal shaft 35. The detent 73 and the coil spring 72 are arranged between the steps 71. Fixed areas 74, 75 for the pedal crank are provided at both ends of the pedal shaft, which are shown in cross-section in Fig. 1.

[0205] Fig. 5 shows a perspective view of the inner assembly of the transmission of Fig. 1 in the assembled state. For clarity, the inner gear 7 and the flexible ball bearing 33 are omitted in Fig. 5.

[0206] Fig. 6 shows the pedal shaft assembly 80 or the pedal shaft unit 80 of the transmission 10 of Fig. 1, where the drive side is on the right and the output side is on the left. The pedal shaft assembly 80 includes a freewheel assembly 81 and a sensor assembly 82. The viewing direction in Fig. 6 is opposite to the operating direction in the installed state.

[0207] Fig. 7 shows a cross-sectional view along the cross-section line D-D passing through the freewheel assembly 81 of Fig. 6. This view is from the output side, and the flat cable 63 of the sensor assembly 82 can be seen behind. Further, the screw heads of the screws can be seen on the right side of the load cell 47, and the annular printed circuit board 23 is screwed to the load cell 47 by these screws.

[0208] The freewheel assembly 81 includes a pedal shaft freewheel 49 and a transmission freewheel 40. The output shaft 39 is further configured as the outer ring of the pedal shaft freewheel 49 and the inner ring of the transmission freewheel 40. As shown in Fig. 7, the pedal shaft freewheel 49 is configured as a detent freewheel, while the transmission freewheel 40 is configured as a clamp roller freewheel having a cylindrical clamp roller 64. The inner circumference of the output shaft 39 forms a sawtooth-shaped step, and the step forms a step for the detent 73. The detent 73 is pressed against the inner circumference of the output shaft 39 by the coil spring 72.

[0209] Similarly, the outer periphery of the output shaft 39 forms a saw-tooth-like step, also called "star-shaped", the steps of which form steps for the cylindrical rollers 64 of the transmission freewheel 40. The freewheel cage 65 and thus the cylindrical rollers 64 are pressed against the outer periphery of the drive shaft 39 by a coil spring 66 disposed between the outer periphery of the output shaft 39 and the freewheel cage 65.

[0210] The steps of the drive shaft 39 are arranged such that the free rotation directions of the pedal shaft freewheel 49 and the transmission freewheel 40 are counterclockwise in FIG. 7. This free rotation direction is opposite to the respective drive direction or lock direction in each case.

[0211] Therefore, the pedal shaft 35 can drive the output shaft 39 in the clockwise direction as long as the output shaft 39 does not move faster than the pedal shaft 35, and the outer ring of the transmission freewheel 40 formed by the inner part of the internal gear 7 can drive the output shaft 39 in the clockwise direction as long as the output shaft 39 does not move faster than the outer ring. The drive and lock directions of the freewheels 40 and 49 are respectively indicated by arrows in FIG. 7.

[0212] FIG. 10 is a simplified cross-sectional view showing the use of the load cell 47 used in the transmission of FIG. 1 and the use of the obliquely installed bearings. For simplicity, the electric motor and the drive system of the electric motor are omitted in this figure, and thus the pedal shaft 35 is directly installed on the housing cover 32'.

[0213] In FIG. 10, the drive-side pedal shaft ball bearing 45 and the output-side pedal shaft ball bearing 46 are each configured as angular ball bearings, which can receive axial forces to a certain extent. Other types of bearings can be provided instead of the ball bearings, which can also receive axial forces in addition to radial forces, such as tapered roller bearings. However, this is usually more costly than the use of ball bearings.

[0214] The load cell 47 attached to the pedal shaft 35 via the bearing 45 includes a support projection 91 and a measurement projection 90. The support projection 91 is supported by the outer ring of its ball bearing in the axial direction, and the measurement projection 90 is supported by the outer ring in the radial direction. The strain gauges are attached to at least two of the measurement projections 90. The inner ring of the ball bearing 45 abuts against the shoulder or step of the pedal shaft 35 toward the center of the pedal shaft 35.

[0215] The inner ring of the ball bearing 46 abuts against the shoulder of the pedal shaft 35 toward the center of the pedal shaft 35 by the wave spring 70. The outer ring of the ball bearing 46 abuts against the transmission cover 44' via the spacer disk.

[0216] During operation, the driver transmits a radial force to the pedal shaft 35 via the pedal crank. These radial forces are received by the measurement projections 90, causing deformation of the measurement projections 90, which is measured by the strain gauges. In contrast, the outer ring of the ball bearing 45 does not cause deformation of the second projection. Instead, the axial force is absorbed by the support projection 91 of the load cell 47, thereby holding the ball bearing 45 laterally.

[0217] Compared to the driver's force on the load cell, any existing torque due to the auxiliary drive does not cause or only slightly causes deformation of the second projection. Thus, the driver's contribution can be measured separately. Further, an angular position sensor can be provided and used to measure the position of the pedal crank and thus the position of the pedal lever arm. The torque supplied by the driver can be reconstructed from the measured radial force by a suitable calculation model implemented by a stored program and / or circuit.

[0218] Figure 10 shows the transmission of the axial force in the housing according to the configuration concept of the transmission of FIGS. 1-9.

[0219] As shown in the lower right of FIG. 10, the axial force on the output side of the pedal shaft 35 is transmitted to the housing 22 via the shoulder of the pedal shaft 35, the output-side pedal shaft ball bearing 46, the wave spring 70, the output nut 44, the female thread of the output hollow shaft 39, the output hollow shaft 39, the step of the output hollow shaft 39, the output ball bearing 41, the housing cover 32, the screw 34, and the thread 60.

[0220] The axial force on the drive side of the pedal shaft 35 is transmitted to the housing 22 via the drive-side step 123 of the pedal shaft 35, the drive-side pedal shaft ball bearing 45, the axial support projection of the load cell 47, and the mounting ring of the load cell 47.

[0221] As shown in the upper right of FIG. 10, the axial force on the output side of the rotor shaft 27 is transmitted to the housing cover via the output-side rotor ball bearing 30, the inner gear 7, and the inner gear ball bearing 31. From there, the axial force is transmitted to the housing 22 via the screw 34 as shown in the lower right of FIG. 10.

[0222] The axial force on the drive side of the rotor shaft 27 is transmitted to the housing 22 via the shoulder 9 of the rotor shaft 27, the outer rotor shaft 26, the spacer ring 62, the drive-side rotor ball bearing 29, and the wave spring 61.

[0223] Furthermore, the axial force on the ball bearing 33 arranged on the cam disk is transmitted to the transmission housing 22 via the inner gear 7 and the ball bearing 31. The reaction force thereto is transmitted to the rotor shaft 27 via the step 9 of the cam disk 28, and from there to the housing 22 via the path as described above.

[0224] The inner gear 7 has a taper on its outer circumference facing radially inwards, whereby only the outer ring of the ball bearing 33 abuts against the inner gear 7. The outer ring of the ball bearing 33 moves essentially in synchronism with the pin ring 101 and the inner gear 7, but the inner ring of the ball bearing 33 does not; the inner ring of the ball bearing 33 rotates much faster than the inner gear 7. The width of the wave spring 70 is adjusted so that the chain ring adapter 43 does not abut against the housing cover 32.

[0225] Figs. 11 to 20 show a harmonic pin ring transmission provided with an eccentric cam disk, where the eccentric cam disk is a circular disk arranged eccentrically.

[0226] Fig. 11 shows a cross-sectional view of the harmonic pin ring transmission 10. The cutting plane A-A of Fig. 11 is shown in Fig. 19. In Fig. 11, the left side corresponds to the drive side of the harmonic pin ring gear 10 and the right side corresponds to the output side.

[0227] The stator 20 of the stator assembly of the harmonic pin ring transmission 10 is arranged in the motor housing 22. The stator 20 comprises three separate coils 21 for connection to the three phases of a three-phase inverter. The three-phase inverter is configured as power electronics constituted by a printed circuit board 23, and the printed circuit board 23 is arranged in a cooling cover 24 attached to the motor housing 22 on the drive side. These three coils of the stator 20 are connected to the three-phase inverter via three terminals 25, one of which is shown in Fig. 11.

[0228] The motor housing 22 and the cooling cover 24 each have a cylindrical protruding portion surrounding a pedal shaft 35 extending through the center of the motor housing 22. The printed circuit board 23 is formed as a perforated disk, which is located outside the protruding portion, whereby the electronic devices arranged therein are sealed against the oil and grease of the transmission.

[0229] An outer rotor shaft 26 equipped with a permanent magnet is installed inside the stator 20 in the radial direction. This outer rotor shaft 26 is also called a "rotor package". The outer rotor shaft 26 has an elastic region inside it, which is inserted into the surface of the inner rotor shaft 27. On the surface of the inner rotor shaft, a circular eccentric disk 28' arranged eccentrically is formed on the output side, which is shown in more detail in FIG. 12.

[0230] On the drive side, the inner rotor shaft 27 is supported inside the motor housing 22 by a drive-side rotor ball bearing 29 with respect to the outside. That is, the outer ring of the drive-side rotor ball bearing 29 is arranged in the cylindrical recess of the motor housing 22.

[0231] Furthermore, the inner rotor shaft 27 is installed inside a radially outer output-side rotor ball bearing 30 within the inner gear 7 on the output side. The hollow shaft of the inner gear 7 is integrally connected to the annular portion of the inner gear 7 on the output side, and the annular portion is provided with external teeth 5.

[0232] The hollow shaft of the inner gear 7 is subsequently attached to a housing cover 32 screwed to the motor housing 22 by a screw 34 via a radially outer inner gear ball bearing 31. The inner gear ball bearing 31 is offset to the output side in the axial direction from the output-side rotor ball bearing 30 and is also offset to the outside in the radial direction. Furthermore, the inner gear ball bearing 31 overlaps the output-side rotor ball bearing 30 in the axial direction.

[0233] A ball bearing 33 is clamped on the eccentric circular disk 28 of the inner rotor shaft 27. A pin retaining ring 103 with a pin 101 is supported by the ball bearing 33, and the pin 101 is held in the cylindrical recess inside the pin retaining ring.

[0234] The pin ring assembly of pin 101 and pin retaining ring 103 is shown in more detail in FIGS. 15 - 17. In the embodiment of FIGS. 15 - 17, the pin ring 102, unlike the embodiment of FIGS. 1 - 10, is formed from a single part and includes portions corresponding to the pin 101 and the pin retaining ring 103. This single - part embodiment of the pin ring 102 is particularly well - suited for transmissions in which the pin ring does not deform or only deforms slightly. This is the case, for example, with the eccentrically arranged circular disks shown in FIGS. 11 - 20, 61 - 66, 67 and 72. The pin 101 of the pin ring 102 projects axially on both sides from the flexible ball bearing 33 and the pin retaining ring 103.

[0235] The eccentric disk 28’ and the ball bearing 33 together form a transmitter assembly, which converts the rotational movement into a radial movement that is transmitted to the pin 101 by the ball bearing 33 and the pin retaining ring 103, and the radial movement is then converted back into a rotational movement by the engagement of the pin 101 with the outer gears 8, 8’.

[0236] The housing cover 32 is screwed to the motor housing by the fixing screws 34 on the output side of the motor housing. Further, the drive - side outer gear 8’ and the output - side outer gear 8 are inserted into the support ring 36 and screwed to the support ring 36 by the screws 34. The O - ring 42 is inserted radially outwards between the output - side outer gear 8 and the housing cover.

[0237] The drive - side outer gear 8’ and the output - side outer gear 8 are arranged axially outside the eccentric disk 28’ and the ball bearing 33. Radially, the drive - side outer gear 8’ faces the portion of the pin 101 that projects axially from the pin retaining ring 103 towards the drive side. Radially, the output - side outer gear 8 faces the portion of the pin 101 that projects axially from the pin retaining ring 103 towards the output side.

[0238] On the drive side, the drive-side spacer disk 37 is arranged in the motor housing 22 so as to face the drive-side end face of the pin 101 in the axial direction. Similarly, on the output side, the output-side spacer disk 38 is arranged in the motor housing 22 so as to face the output-side end face of the pin 101 in the axial direction.

[0239] The output shaft 39 is arranged radially inside the hollow shaft of the inner gear 7, and the transmission freewheel 40 is arranged between the hollow shaft of the inner gear 7 and the output shaft 39. The output shaft 39 is mounted in the output-side output ball bearing 41 on the radially outer side, which is inserted into the cylindrical recess or shoulder of the housing cover 32. The output-side region of the output shaft 39 protrudes axially from the housing cover 32. The chain ring adapter 43 is attached to the output shaft 39 and held via the transmission cover 44 screwed into the female thread of the output shaft 39.

[0240] A part of the above-mentioned pedal shaft 35 is arranged inside the rotor shaft 27 and a part is arranged inside the output shaft 39, and it is concentric with the rotor shaft 27 and the output shaft 39. The pedal shaft 35 is installed in the load cell 47 via the drive-side pedal shaft ball bearing 45 on the radially outer side, and the load cell 47 is inserted into the motor housing 22. The printed circuit board 48 having a force sensor is fixed to the load cell 47, and the connector of the printed circuit board 48 is guided radially outward by the ribbon cable 63 and connected to the electronic device of the printed circuit board 23.

[0241] In the drive-side direction of the output-side pedal shaft ball bearing 46, the pedal shaft freewheel 49 is arranged between the pedal shaft 35 and the output shaft 39. The transmission freewheel 40, the hollow shaft of the inner gear 7, and the inner gear ball bearing 31 continue radially outward. Instead of the single pedal shaft freewheel 49, two adjacent freewheels or rolling bearings such as a single freewheel and an adjacent needle roller bearing can also be installed.

[0242] On the output side of the output-side pedal shaft ball bearing 46, an inner shaft seal ring 50 is inserted between the pedal shaft 35 and the output shaft 39, facing the output-side pedal shaft ball bearing 46. Further, an outer shaft seal ring 51 is disposed between the output shaft 39 and the housing cover 32, facing the output ball bearing 41 on the output side. Another shaft seal ring 52 is disposed between the cooling cover 24 and the pedal shaft 35 on the drive side.

[0243] During operation, the input torque is transmitted to the outer rotor shaft 26 through the electromagnetic force action via the stator 20, and then from there to the inner rotor shaft 27, and is converted into a radial force by the eccentric disk 28’ and the ball bearing 33. This radial force is converted into an output torque on the tooth surfaces of the internal teeth 6, 6’ of the outer gears 8, 8’ and the external teeth 5 of the internal gear 7, where the internal gear 7 is driven and the outer gears 8, 8’ are fixed to the housing. The output torque is greater than the input torque by the reduction ratio.

[0244] The internal tooth portion formed by the external teeth 5 of the internal gear 7 faces the internal teeth 6 of the output-side outer gear 8, and the output torque is provided by these pins 101 that contact both the external teeth 5 and the internal teeth 6, 6’ in particular.

[0245] FIG. 12 shows an exploded perspective view of the transmission of FIG. 11, and looking from the drive side towards the output side, the drive-side rotor ball bearing 29, the inner rotor shaft 27, the eccentric disk 28’, the output-side rotor ball bearing 30, the second outer gear 8’, the ball bearing 33, the pin holding ring 103 provided with pins 101, the support ring 36, the first outer gear 8, the internal gear 7 having an internal gear hollow shaft, and the internal gear ball bearing 31 are shown.

[0246] Each outer gear 8, 8' is provided with a journal 53, which projects radially outward from each outer gear 8, 8' and is distributed at regular intervals on the outer periphery of the outer gears 8, 8'. The support ring 36 is provided with circumferentially distributed radial slots 54 that are radially opposed to the journals 53. Further, screw holes 55 for fixing the outer gears are provided, some of which are in the outer gears 8, 8' and some are in the support ring 36 in the embodiment of FIG. 12.

[0247] Between the drive-side rotor ball bearing 29 and the motor housing 22, a wave spring 61 is arranged on the drive side of the drive-side rotor ball bearing 29, and a spacer ring 62 is arranged between the drive-side rotor ball bearing 29 and the outer rotor shaft 26 on the output side of the drive-side rotor ball bearing 29.

[0248] In particular, the support ring 36 can be made of aluminum, the outer gears 8, 8' can be made of plastic such as polyamide 66 (PA66), the support ring 36 can in particular be made of aluminum die-casting, and the outer gears can in particular be made by plastic injection molding. Further, the inner rotor shaft 27 can be made of aluminum.

[0249] As shown in FIG. 11, in the assembled state, the screw 34 extends through the transmission cover 32, the first outer gear 8, the second outer gear 8', and the support ring 36 into the motor housing 22.

[0250] FIG. 13 shows a side view of the assembled arrangement of the inner rotor shaft 27, the inner gear 7, the pin 101, and the outer gear 8 as seen from the output side. As shown in FIG. 13, at a predetermined position of the eccentric disk 28', the pin 101 is in full contact with the outer inner teeth 6 at the first position, and at the second position opposite to the first position, the pin 101 is in full contact with the inner outer teeth 5.

[0251] FIG. 14 shows a cross-sectional view taken along the cross-sectional line E-E of the arrangement of FIG. 13. As shown in the cross-sectional view of FIG. 14, the eccentric disk 28' has a step 11 on the drive side, and the inner ring of the ball bearing 33 is held from the drive side by this step 11.

[0252] FIG. 15 shows a view of the output side of the pin ring 102 used in the transmission of FIG. 11. FIGS. 16 and 17 show detailed views of the pin ring 102 of FIG. 15, and FIG. 18 shows a view of the drive side of the pin ring 102 of FIG. 15.

[0253] The pin ring 102 includes a pin holding ring 103 and pins 101. The pin ring 102 is integrally formed, and the pin holding ring 103 and the pins 101 are each formed by a part of the pin ring 102 formed as a single component. The pins 101 are each formed such that the output side and the opposite drive side are different.

[0254] That is, the pins on the output side of the pin ring 102, where the pins 101 engage with both the inner gear 7 and the outer gear 8, are lens-shaped, and the two regions located opposite each other in the radial direction each have an arc-shaped boundary, and the two regions located opposite each other in the circumferential direction are each tapered. This is best shown in the side view of FIG. 17 indicated by "G" in FIG. 15.

[0255] On the other hand, on the drive side where the pins 101 engage with only the second outer gear 8', the pins 101 are formed as "half pins", and these each form comb-shaped teeth extending along the outer periphery of the pin ring 102 as shown in the cross-sectional view of FIG. 16 and the view of FIG. 18.

[0256] In the side view of FIG. 17, a first region 255 of the pins 101 that transmits torque to the inner gear 7 and a second region 56 located opposite in the radial direction that transmits torque to the outer gear 8 are shown. The tangential transition portion between the pins 101 is brought about by the regions of the pins 101 being tapered along the circumferential direction. As a result, on the one hand, economical CNC production of the pins 101 can be achieved, and on the other hand, higher tangential rigidity of the pins 101 can be obtained.

[0257] In another manufacturing method, the pin ring is made by transfer molding. In this method, first a hollow ring is manufactured, and then the pin 101 is formed from this hollow ring by punching or milling. In the case of milling, a rotating milling cutter moving in a circular path can be used, and the pins are formed radially first from the inside and then from the outside.

[0258] Transfer molding is further defined, for example, in standards DIN8582 and DIN8583. In a specific method, the workpiece to be processed is first attached to a mandrel. Next, the workpiece to be processed is deformed from the outside by a transfer molding wheel, which is driven under control by a traversing drive system, pressing the workpiece and thinning the material under control.

[0259] Furthermore, a step 57 is formed radially inwards on the output side of the pin 101. As shown in FIG. 11, this step 57 is supported on the outer ring of the ball bearing 33 on the output side in the state where the pin ring 102 is installed.

[0260] As shown in the view of the drive side of the pin ring 102 in FIG. 18, a comb-shaped part having a rounded recess 58 and an intermediate flat part 59 is formed on the drive side of the pin ring 102. The intermediate flat part 59 forms an extension of the pin 101 shown in detail in FIG. 17 and can thus be regarded as the drive side region of the pin 101.

[0261] FIG. 19 shows a view of the output side of the assembled transmission of FIG. 11, where the cutting plane of FIG. 11 is indicated by "A".

[0262] FIG. 20 shows the axial force transmission to the housing according to the configuration concept of the transmission of FIGS. 11 to 19.

[0263] As shown in the lower right of FIG. 20, the axial force on the output side of the pedal shaft 35 is transmitted to the housing 22 via the shoulder of the pedal shaft 35, the output-side pedal shaft ball bearing 46, the wave spring 70, the output nut 44, the female thread of the output hollow shaft 39, the output hollow shaft 39, the step of the output hollow shaft 39, the output ball bearing 41, the housing cover 32, the screw 34, and the thread 60.

[0264] The axial force on the drive side of the pedal shaft 35 is transmitted to the housing 22 via the drive-side step 123 of the pedal shaft 35, the drive-side pedal shaft ball bearing 45, the axial support projection of the load cell 47, and the mounting ring of the load cell 47.

[0265] As shown in the upper right of FIG. 20, the axial force on the output side of the rotor shaft 27 is transmitted to the housing cover via the output-side rotor ball bearing 30, the inner gear 7, and the inner gear ball bearing 31. From there, the axial force is transmitted to the housing 22 via the screw 34 as shown in the lower right of FIG. 20.

[0266] The axial force on the drive side of the rotor shaft 27 is transmitted to the housing 22 via the drive-side step of the rotor shaft 27, the outer rotor shaft 26, the spacer ring 62, the drive-side rotor ball bearing 29, and the wave spring 61.

[0267] Furthermore, the axial force is transmitted to the ball bearing 33 via the shoulder 9 of the cam disk 28, and then to the transmission housing 22 via the shoulder 10 of the pin ring 100, the inner gear 7, and the ball bearing 31. The reaction force thereto is transmitted to the rotor shaft 27 via the step 9 of the cam disk 28, and then to the housing 22 via the path as described above.

[0268] The inner gear 7 has a taper on its outer circumference facing radially inward, so that only the outer ring of the ball bearing 33 abuts against the inner gear 7. The outer ring of the ball bearing 33 moves essentially synchronously with the pin ring 101 and the inner gear 7, but the inner ring of the ball bearing 33 does not. The inner ring of the ball bearing 33 rotates much faster than the inner gear 7. The width of the wave spring 70 is adjusted so that the chain ring adapter 43 does not abut against the housing cover 32.

[0269] The embodiments of FIGS. 21 to 44 disclose an apparatus and a method for measuring the torque applied to a pedal shaft of a bicycle assisted by electric drive.

[0270] By measuring the torque at the pedal shaft, the assistance of the electric motor for an electric bicycle can be adjusted. For this purpose, various methods are known. For example, the magnetic measurement of the torsion of the pedal shaft can be used to measure the torque without contact. Another method measures the mechanical deformation of the ball bearing suspension of the bottom bracket. A corresponding apparatus is disclosed, for example, in German Published Patent Application No. 102013220871. In this apparatus, a single electromagnetic sensor or a mechanical sensor is used to measure the horizontal deflection or deformation of the ball bearing suspension of the bottom bracket.

[0271] This specification discloses a load cell for measuring the radial force acting on a crankshaft, using a receiving sleeve for receiving the ring of a bearing and a fixing ring for mounting the load cell within a transmission housing. The axial support portion is provided in the fixing ring for axially supporting the outer ring of the first bearing. A measuring region connecting the receiving sleeve to the fixing ring is provided for receiving the radial force of the receiving sleeve.

[0272] The strain sensors are attached to at least two of the measuring regions. The strain sensors can in particular be configured as strain gauges, which may be adhered to the surface of the measuring region.

[0273] The axial support portion and the measurement region can in particular be configured as projections or fingers. Furthermore, the measurement region may be configured as an angled projection. The radial force acting on the crankshaft is indirectly measured by the radial force acting on the receiving sleeve, which is transmitted from the crankshaft through the bearing to the receiving sleeve. The crankshaft can in particular be a pedal shaft.

[0274] The load cell can in particular be used to adjust the assistance of the motor in an electric bicycle, and the pedal shaft is axially supported by the load cell. In a broad sense, the load cell can be used anywhere where the radial force is converted into the rotational movement of the shaft by the shaft, in particular the pedal shaft of a bicycle, or a piston driven by an internal combustion engine or another drive. In this case, the measurement of the radial force by the load cell enables the calculation of the torque applied to the shaft. However, it is also possible to generate a control signal using this radial force without performing the intermediate step of calculating the torque.

[0275] In the case where there is no conversion of the radial force as in a gearbox, the load cell described in this specification can also be used to determine the imbalance of the shaft. The load cell is particularly advantageous in the case of mechanical drives such as the pedal shaft. This is because in this case, the applied torque cannot be easily measured by the power of the motor (this is easily possible, for example, when using an electric motor).

[0276] In the load cell according to this specification, the radial force and the axial force are separated by the fact that the axial force is received by the axial support portion or projection, and the radial force is received by the measurement region or projection. Therefore, the load cell can be used in bearings installed obliquely, such as an O-shaped arrangement or an X-shaped arrangement. Furthermore, by separating the radial force from the axial force, the component of the radial force can be measured more accurately, and thus the torque applied to the shaft can be measured more accurately.

[0277] The load cell according to this specification is simple and requires only a small amount of space in the transmission, especially in the axial direction. The overall width of the load cell is essentially determined by the width of the bearing and the width of the fixed region adjacent in the axial direction. Thus, the load cell can be made relatively narrow in the axial direction and can have, for example, a width of not more than about twice the width of a rolling bearing.

[0278] The absorption of the axial force by the load cell is preferably carried out in the fixed outer ring of the ball bearing and not in the movable inner ring or shaft where frictional losses will occur due to relative movement. Thus, the axial support portion preferably contacts only the outer ring of the bearing. The support function of the axial support portion can be obtained in particular by the axial support portion or projection protruding radially inwards on the inner surface of the receiving sleeve. Since the axial support portion corresponds to the width of the bearing ring, it is sufficient for the axial support portion to protrude inwards. The axial support portion may also have a shape for aligning with the bearing ring.

[0279] The measuring projection is preferably configured as an angle bracket. The axial region of the angle bracket connected to the receiving sleeve extends axially, and the radial region of the angle bracket connected to the fixed region extends radially. Thus, the angle bracket forms a lever arm that causes a bend in the radial position of the measuring projection with respect to the radial direction. Due to this bend, one surface of the measuring projection is stretched or compressed, and the surface on the opposite side in the axial direction is compressed or stretched. This compression or stretch is detected by a strain gauge attached to one of the two surfaces of the radial region.

[0280] The two regions of the angular bracket formed by the measuring projections can also be slightly inclined with respect to the axial or radial direction, for example, to allow for greater deformation. Advantageously, the measuring projections are made sufficiently thin in the axial direction to allow for good deformation. In this case, the second region may be made thinner than the first region. Further, in order to avoid deformation near the top of the angular bracket, the second region may be reinforced near the top of the angular bracket.

[0281] The axial region of the measuring projection is advantageously configured not to protrude beyond the surface of the bearing sleeve in contact with the rolling bearing. Thereby, it is avoided that the ring of the rolling bearing in contact with the bearing sleeve abuts against the measuring projection and the axial force is transmitted through the measuring projection. In particular, the axial region can be flush with the surface of the bearing sleeve, and the surface is the cylindrical inner surface of the bearing sleeve.

[0282] In an exemplary embodiment, the measuring region comprises a measuring projection formed as an angular bracket or is configured as an angled measuring projection. In a further exemplary embodiment, the measuring projection comprises a radial region and an axial region adjacent to the radial region. In this case, the radial region is connected to the fixed ring and the axial region is connected to the bearing sleeve, where the radial region is arranged at an angle of approximately 90° with respect to the axial region.

[0283] In an advantageous embodiment, four measuring regions or measuring projections can be provided so that the shaft is supported in four directions. In particular, the measuring projections can be arranged at intervals of 90° such that their directions are perpendicular to each other. The measuring projections are simultaneously support projections for radial support. The term "measuring projection" means that the force acting on the bearing sleeve in the radial direction can be measured using the deformation of the measuring projection.

[0284] In a further embodiment, in order to detect a force in a predetermined direction and to enable good deformation, the size of the measurement protrusion in the circumferential direction can be appropriately selected. For example, the size of the measurement protrusion in the circumferential direction can be limited to 30° or less, or 25° or less, where 90° corresponds to a right angle.

[0285] In one embodiment, the load cell comprises four measurement regions, which are arranged at intervals of 90°. Thus, when all four measurement regions or measurement protrusions are provided with strain sensors, a radial force can be measured in four mutually perpendicular directions.

[0286] In this case, at least one, a plurality, or all of the strain sensors may be formed as strain gauges, which are particularly inexpensive and robust compared to optical strain measurements.

[0287] In particular, in order to measure a radial force in many directions, the strain sensors can be attached to the respective measurement regions or measurement protrusions. In order to facilitate the attachment of the strain gauges, the surface of the measurement region to which the strain gauges are attached may have recesses or pockets for the attachment of the strain sensors or strain gauges.

[0288] For example, in order to make the electrical connection to a printed circuit board attached to a transmission housing as short as possible, or due to the occurrence of a larger deformation, the strain gauges may be arranged close to the fixed region.

[0289] In a further embodiment, the axial support portion or protrusion is separated from the measurement region by a radial slot. Further, the axial support portion or protrusion is separated from the receiving sleeve by a circumferential slot. In particular, this enables the axial support portion and the measurement region to be easily formed from the workpiece. However, the load cell may be cast in this form. Conveniently, the radial or circumferential slots are straight slots in the radial or circumferential direction respectively. However, their shape does not have to be straight.

[0290] For example, in order to further taper the measurement projection inwardly, the direction of the radial slot may be offset from the radial direction. For example, the direction of the radial slot can be inclined inwardly by up to 5° or up to 10° with respect to the radial direction.

[0291] In one embodiment, for attachment to the transmission housing, the fixing ring has a fixing region, and this fixing region is provided with fixing holes. The fixing region may be part of the fixing ring or an extension protruding from the fixing ring.

[0292] Advantageously, this attachment fixes the load cell both axially and against circumferential rotation, and this attachment can be mechanically released again. In another embodiment, this can be done by a secure connection such as a mortise and tenon fit or a snap fit.

[0293] Connections such as riveting or welding are also possible, which are not easily loosened again. However, these are not very suitable for maintenance.

[0294] In a further embodiment, the fixing ring has a recess, the measurement region is arranged in this recess, and this recess can be formed both radially and axially. Thereby, for example, it is possible to avoid the measurement projection directly abutting against the transmission housing, or the thickness of the fixing ring can be adjusted independently of the thickness of the measurement projection.

[0295] In a further embodiment, the size of the measurement projection and the angle of the slit defining the size of this measurement projection are approximately equal to the size with respect to the angle of the axial support portion.

[0296] In a further embodiment, the size with respect to the angle of the measurement projection in the circumferential direction is 30° or less, thereby enabling the measurement of force in a certain predetermined direction.

[0297] The load cell design according to the present specification is particularly suitable for integrally manufacturing a load cell from metal, for example, by casting from a casting mold and mechanical post-processing steps.

[0298] In another aspect, the present specification discloses a measuring device for measuring the force acting on a crankshaft, particularly a pedal shaft. The measuring device comprises a crankshaft (having a bearing disposed on the crankshaft), and a load cell according to one of the above-described embodiments. In this device, the receiving sleeve of the load cell is disposed on the outer ring of the bearing, and the axial support portion of the load cell is axially supported on the outer ring of the bearing. Further, evaluation electronics are connected to the strain sensors of the load cell.

[0299] Furthermore, the present specification discloses a transmission having the above-described measuring device. The transmission comprises a transmission housing and a crankshaft, particularly a pedal shaft. The crankshaft is received or stored directly in the transmission housing or indirectly via a first drive-side bearing and a second output-side bearing. The bearings can be provided particularly by rolling bearings.

[0300] Furthermore, the crankshaft may pass through a hollow output shaft, and in particular, a freewheel can be disposed between the pedal shaft and the hollow drive shaft in order to separate the pedal shaft from the hollow drive shaft.

[0301] The first bearing is received in the transmission housing via the load cell, and the load cell is received in the transmission housing or fixed to the transmission housing via a fixing ring. The receiving sleeve receives the outer ring of the first bearing, and the axial support portion is supported on the outer ring of the first bearing.

[0302] In a further exemplary embodiment, the crankshaft of the transmission has a larger diameter at its center than at its two ends. As a result, a first stage and a second stage of the crankshaft are formed. The inner ring of the first bearing of the measuring device abuts against the first stage of the pedal shaft, and the inner ring of the second bearing abuts against the second stage of the pedal shaft. As a result, an X-shaped arrangement of the bearings installed obliquely is formed, and the load cell absorbs a part of the force of the bearings installed obliquely.

[0303] In a further embodiment, the first bearing and the second bearing of the measuring device are each formed as a single-row angular ball bearing. In a further embodiment, the first bearing and the second bearing of the measuring device are each formed as a cylindrical roller bearing installed obliquely.

[0304] In a further embodiment, the second bearing is supported via a wave spring on the second stage of the pedal shaft, or on the housing or a component connected to the housing.

[0305] In a further embodiment, the second rolling bearing is further supported via a spacer disk on the second stage of the pedal shaft, or on the housing or a component connected to the housing.

[0306] Furthermore, the present specification discloses a transmission further comprising the following features: a motor; a reduction gear connected to the motor; and a hollow output shaft connected to the reduction gear. In this transmission suitable for an electric bicycle, the crankshaft is configured as a pedal shaft, the first bearing and the second bearing are each configured as a rolling bearing, the pedal shaft passes through the hollow output shaft, and a freewheel is provided between the pedal shaft and the hollow output shaft to separate the pedal shaft from the hollow output shaft.

[0307] Furthermore, the present specification discloses an electric vehicle, particularly an electric bicycle, having the above-described transmission, wherein the motor is configured as an electric motor, and the battery of the electric vehicle is connected to the electric motor.

[0308] In the following description, further details for explaining the above exemplary embodiments are provided. It will be apparent to those skilled in the art that these embodiments may be implemented without using these details.

[0309] FIG. 21 is a perspective view of the load cell 47 as seen from the drive side. The load cell 47 includes four axial support protrusions 91 on which the outer ring of the ball bearing 45 is axially supported, and four measuring protrusions 90 disposed between the axial support protrusions 91 to which one strain gauge 92 is attached respectively. In order to facilitate the positioning of the strain gauge 92, the surface of the measuring protrusion 90 may be concave.

[0310] The axial support protrusion 91 includes an outer portion 93 in contact with the outer ring of the ball bearing and an inner portion 94. The portion where the outer ring of the ball bearing contacts is shown in detail in the cross-sectional view of FIG. 32.

[0311] The measuring protrusion 90 and the axial support protrusion 91 are laterally separated by a radial slot 95 which is each milled. On the output side, the measuring protrusion 90 changes into a receiving sleeve 96 which receives the outer ring of the ball bearing 45. This receiving sleeve 96 is best shown in FIG. 26.

[0312] On the drive side, the protrusions 90, 91 change into an outer ring 97. The regions of the outer ring 97 facing the measuring protrusion 90 and the radial slot 95 each include a circumferential slot 105 which is approximately half of the radial size of the measuring protrusion 90 in the radial direction. The first radial slot 95, the circumferential slot 105, and the second radial slot 95 together form a limiting slot which extends in an angular U-shape and separates the axial support protrusion 91 from the receiving sleeve 96 and the adjacent measuring protrusion.

[0313] The outer ring 97 has four fixing holes 98, by which the load cell 47 can be fixed to a transmission housing not shown in FIG. 1, where the front surface of the outer ring 97 contacts the transmission housing. The attachment of the load cell 47 to the transmission housing is shown, for example, in FIGS. 12 to 14.

[0314] FIG. 22 shows a plan view of the load cell 47 as seen from the drive side with the ball bearing 45 disposed within the load cell 47.

[0315] FIG. 23 shows a plan view of the load cell 47 as seen from the output side with the ball bearing 45 disposed within the load cell 47. As shown in FIG. 23, the measurement protrusion 90 has a portion 99 that is slightly recessed with respect to the output-side end surface of the outer ring 97 on the output-side end surface of the outer ring 97. As a result, the thickness of the measurement protrusion can be reduced, thereby bringing about a greater deformation.

[0316] FIG. 24 shows a cross-sectional view of the load cell 47 along the cutting line A-A of FIG. 22, where the recess 99, the sleeve 96, and the outer ring 97 can be seen.

[0317] FIG. 25 shows a side view of the load cell 47, in which the slot 104 can be seen, which is on the opposite side of the support protrusion 91, whereby the support protrusion 91 is separated from the sleeve 96.

[0318] FIG. 26 shows a perspective view of the load cell 47 as seen from the output side.

[0319] FIG. 27 shows a plan view of the load cell 47 as seen from the output side.

[0320] FIG. 28 shows a cross-sectional view of the load cell 47 along the transverse line A-A of FIG. 27.

[0321] FIG. 29 shows a cross-sectional view along the transverse line B-B of FIG. 27.

[0322] FIG. 30 shows a harmonic pin ring transmission incorporating the load cell 47 of FIG. 21, which will be described in detail below. In FIG. 30, the left side corresponds to the drive side of the harmonic pin ring gear 10, and the right side corresponds to the output side. If the right side follows the normal arrangement of the drive, the viewing direction in FIG. 10 is in the traveling direction.

[0323] The stator 20 of the stator assembly of the harmonic pin ring gear 10 is disposed within the motor housing 22. The stator 20 includes three separate coils 21 for connection to the three phases of a three-phase inverter. These three coils of the stator 20 are connected to the three-phase inverter via three terminals 25, one of which is shown in FIG. 30.

[0324] The three-phase inverter is configured as power electronics constituted by a printed circuit board 23, and the printed circuit board 23 is disposed within a cooling cover 24 attached to the motor housing 22 on the drive side. The printed circuit board 23 is configured as an annular disk, which is located outside the cylindrical protrusions of the motor housing and the cooling cover, whereby the electronics of the motor disposed on the printed circuit board are sealed against the oil and grease of the transmission.

[0325] The pedal shaft 35 extending through the center of the motor housing 22 is stepped on the output side and has three steps, the diameter of which increases from the outside to the inside, and a shaft seal 50, an output-side pedal shaft ball bearing 46, and a pedal shaft free wheel 49 are disposed on each step. The diameter of the pedal shaft 35 is also stepped on the drive side and has two steps, a shaft seal and a sensing 68 are disposed on the outer step, and a ball bearing 45 is disposed on the inner step.

[0326] An outer rotor shaft 26 provided with a permanent magnet is installed on the radially inner side of the stator 20. This outer rotor shaft is also called a "rotor package". The outer rotor shaft 26 has an elastic region on its inner side, which is inserted onto the surface of the inner rotor shaft 27. An oval cam disk 28 configured eccentrically is formed on the output side on the surface of the inner rotor shaft 27.

[0327] On the drive side, the inner rotor shaft 27 is supported within the motor housing 22 by a drive-side rotor ball bearing 29 with respect to the outside. That is, the outer ring of the drive-side rotor ball bearing 29 is arranged in the cylindrical recess of the motor housing 22.

[0328] Furthermore, on the output side, the inner rotor shaft 27 is installed within a radially outer output-side rotor ball bearing 30 within the inner gear 7. The hollow shaft of the inner gear 7 is integrally connected to the annular portion of the inner gear 7 on the output side, and the annular portion is provided with external teeth 5.

[0329] The hollow shaft of the inner gear 7 is subsequently installed via an inner gear ball bearing 31 on the radially outer side onto a housing cover 32 screwed to the motor housing 22 by a screw 34. The inner gear ball bearing 31 is offset axially to the output side from the output-side rotor ball bearing 30 and is also offset radially to the outside. Furthermore, the inner gear ball bearing 31 overlaps the output-side rotor ball bearing 30 axially.

[0330] A flexible ball bearing or a thin-wall ball bearing 33, whose inner and outer rings are deformable, is sandwiched between the cam disk 28 of the inner rotor shaft 27.

[0331] The pin retaining ring 103 with the pin 101 is supported by the flexible ball bearing 33, and the pin 101 is held in the cylindrical recess inside the pin retaining ring. In the embodiment of FIG. 30, the pins 101 are connected to each other. The pins 101 of the pin ring 102 project from the flexible ball bearing 33 and the pin retaining ring 103 on both sides in the axial direction. For simplicity, the pin ring assembly including the pin retaining ring 103 and the pins 101 is also referred to as the pin ring 102 hereinafter.

[0332] The cam disk 28 and the flexible ball bearing 33 together form a transmitter configuration, which converts torque into a radial force. Instead of a flexible ball bearing with flexible inner and outer rings, a wire race bearing or a flexible ball bearing without an outer ring, or different types of flexible rolling bearings can be used.

[0333] The housing cover 32 is screwed to the motor housing by the fixing screws 34 on the output side of the motor housing. Further, the drive-side outer gear 8' and the output-side outer gear 8 are inserted into the support ring 36 and screwed to the support ring 36 by the screws 34. The support ring 36 is axially divided into two semi-bodies that are mirror-symmetrical to each other, and together they form a track 67 for the pin ring 103.

[0334] The drive-side outer gear 8' and the output-side outer gear 8 are arranged outside the cam disk 28 and the flexible ball bearing 33 in the axial direction. Radially, the drive-side outer gear 8' faces the portion of the pin 101 that projects from the pin retaining ring 103 towards the drive side in the axial direction. Radially, the output-side outer gear 8 faces the portion of the pin 101 that projects from the pin retaining ring 103 towards the output side in the axial direction.

[0335] On the drive side, the drive-side spacer disk 37 is arranged in the motor housing 22 so as to face the drive-side end face of the pin 101 in the axial direction. Similarly, on the output side, the output-side spacer disk 38 is arranged in the motor housing 22 so as to face the output-side end face of the pin 101 in the axial direction.

[0336] The output shaft 39 is arranged radially inside the hollow shaft of the inner gear 7, and the transmission freewheel 40 is arranged between the hollow shaft of the inner gear 7 and the output shaft 39. The output shaft 39 is installed in the output-side output ball bearing 41 on the radially outer side, which is inserted into the cylindrical recess or shoulder of the housing cover 32. The output-side region of the output shaft 39 protrudes axially from the housing cover 32. The chain ring adapter 43 is attached to the output shaft 39 and is held by a circular output nut 44 screwed onto the female thread of the output shaft 39.

[0337] The motor housing 22 is sealed against the transmission cover 32 by an O-ring 42 and is also sealed against the cooling cover 24 by a further O-ring 77.

[0338] FIG. 31 shows the details in the region of the load cell 47 of the pin ring transmission of FIG. 30. As shown in FIG. 31, the sensing 68 is arranged on the pedal shaft 35. In use, the position or speed of the pedal shaft 35 can be measured using the sensing 68.

[0339] For the sake of simplicity, it is assumed hereinafter that the load cells are oriented such that the measuring protrusions are arranged perpendicular and parallel to the road surface respectively, i.e., parallel and perpendicular to the movement of the driver's pedal. Other orientations are equally possible.

[0340] The above load cell can be used, in particular, in the transmission of an electric bicycle to determine the measured value of the force applied to the pedal shaft and thus the required motor assistance. The load cell has no moving parts and takes up very little space, especially axially, thereby enabling better use of the available space. Since space is limited in an electric bicycle, it can be particularly advantageous to use a load cell there. In particular, the axial space is severely limited by a predetermined optimum distance of the pedal crank.

[0341] During operation, the driver applies force to the pedal, especially the pedal that moves downward. As a result, a downward force acts on the pedal shaft on the side of the kicked pedal. Further, a forward force acts on the pedal shaft on the side of the kicked pedal. By means of a lever arm in contact with the bearing of the pedal shaft, reaction forces act on the pedal shafts on the opposite side respectively.

[0342] When rowing the pedal, the left pedal and the right pedal are kicked alternately. Therefore, forces that occur periodically and alternately with a uniform rhythm are generated in both the vertical and horizontal directions. The amplitude of this force correlates with the torque applied to the pedal shaft. When measurement protrusions are arranged in each of the vertical and horizontal directions, the vertical force on the pedal shaft is detected by the strain gauges of a pair of measurement protrusions aligned vertically, and the horizontal force on the pedal shaft is detected by the strain gauges of a pair of measurement protrusions aligned horizontally.

[0343] The electrical signals of the strain gauges will be of opposite signs and approximately equal to the signals of the strain gauges facing each other in the radial direction. Therefore, the use of a series of strain gauges facing each other in the radial direction can double the measured amplitude. This can be obtained by subtractive superposition of the signals, which can be implemented by analog electronic devices or after digitization of the signals.

[0344] The signals of the strain gauges are transmitted via connecting wires to evaluation electronics arranged on a printed circuit board fixed to the transmission housing. According to a simple evaluation, the average torque is determined from one or more temporally adjacent maximum deflections of the strain gauge signals according to a calibration curve stored in the permanent memory of the evaluation electronics, and from that average torque, an output signal having a correlation with the torque applied to the pedal shaft in a simple manner, for example by proportional dependence, is generated.

[0345] According to a more detailed evaluation, the electronic evaluation also includes a further temporal evolution of the signal, from which an output signal is generated using data pre-recorded in the memory, such as calibration curves and parameters. Furthermore, the current angular position and / or rotational speed of the pedal shaft can be measured and included in this electronic evaluation.

[0346] Subsequently, the output signal can be transferred to a further part of the evaluation electronics, which determines the necessary motor assistance by the electric motor of the electric bicycle and generates a corresponding motor control signal. This motor control signal may depend on specific operating conditions derived from parameters such as the angle of inclination of the vehicle, the current speed, the state of the battery, or driving over a curb, starting from a standstill, or starting on an incline.

[0347] On the one hand, calibration can be carried out by directly calculating calibration curves and other calibration parameters from the characteristics of the components and storing them in the memory. On the other hand, calibration can also be carried out by attaching a further sensor that measures the actual deformation of the pedal shaft and thus the torque applied to the pedal shaft, while at the same time a periodic pedal force is applied to the pedal of the pedal shaft by a test device.

[0348] The calibration parameters are determined from the correlation between the applied pedal force and the actual torque. These calibration parameters can then be stored in the memory of the evaluation electronics for all electric bicycles of the same model. It is also possible to store calibration parameters for different models in the same memory, where another stored piece of information means the model of the electric bicycle currently in use.

[0349] The measurement of the torque applied to the pedal shaft for calibration purposes can also be carried out by measuring the torque in the output shaft or a downstream transmission element without using a sensor directly installed on the pedal shaft.

[0350] Figures 32 to 34 show the absorption of radial and axial forces by two pedal shaft ball bearings and a load cell 47 installed on a pedal shaft in an X-shaped arrangement. The line-of-sight direction in Figures 32 to 34 is the traveling direction.

[0351] According to Figure 32, the load cell 47 is fixed by a screw that receives a tensile load. However, as shown in Figures 30 and 31, the load cell can also be attached to the opposite side of the transmission housing. In this case, the axially outward force is directly received by the transmission housing.

[0352] Figure 32 shows the configuration of a transmission having a load cell 47 according to the first embodiment, where the load cell 47 is supported by a drive-side ball bearing 45 of a bearing installed obliquely.

[0353] The bearing installed obliquely includes a pedal shaft 35. The pedal shaft 35 has a larger diameter at the center than at both ends, thereby forming a drive-side step 106 and an output-side step 107. The inner ring of the drive-side ball bearing 45 is supported by the drive-side step 106 in the axial direction, and the inner ring of the output-side ball bearing 46 is supported by the output-side step 107 of the pedal shaft 35 in the axial direction.

[0354] Such an arrangement of the ball bearings 45 and 46 supported inside the shaft is also called an "X-shaped arrangement". The ball bearings 45 and 46 of the bearing installed obliquely are configured as single-row angular ball bearings, and the upper sides of the respective inner rings face the center of the pedal shaft 35.

[0355] The support protrusion of the load cell 47 shown in the cross-sectional view is supported by the drive-side step of the pedal shaft 35 in the axial direction. The measurement protrusion 90, to which a strain gauge 92 is attached and which is located behind it, is supported by the outer ring of the drive-side ball bearing 45 in the radial direction.

[0356] Figures 33 and 34 show a configuration similar to that of Figure 32, where a radial portion with the measurement protrusion 90 and the support protrusion 91 are in the same plane. For clarity, the cutting plane of Figure 33 extends through the support protrusion 91, and the cutting plane of Figure 34 extends through the measurement protrusion 90 of the load cell 47. As shown in Figure 33, the axial cross-section of the measurement protrusion 90 in the region of the strain gauge 92 is narrower than the axial cross-section of the support protrusion 91.

[0357] As a result, in the region of the strain gauge 92, a greater deformation can be obtained. Thinning the cross-section can be done, for example, by milling.

[0358] Figures 35 to 52 show further embodiments of the force measurement sensor for the pedal shaft. Using this force measurement sensor, the radial force on the suspension of the pedal shaft can be measured. Indirectly, this can be used to measure the torque applied by the driver to the pedal shaft. For this reason, the device corresponding to measuring the radial force is also referred to as a torque measuring device hereinafter.

[0359] Figure 35 shows a further embodiment of the torque measuring device 110 arranged in the bottom bracket bearing 109. The bottom bracket bearing 109 includes a pedal shaft 111 having a fixed region (not shown here) for the pedal crank.

[0360] The cup-shaped sleeve 114 is arranged on the pedal shaft 111 between the first rolling bearing 112 and the second rolling bearing 113. The cup-shaped sleeve 114 is fixed to the pedal shaft 111 at the end face 115. At the end opposite to that end face, the sleeve 114 is provided with a torque transmission portion 116.

[0361] The first strain gauge 117 is arranged on the pedal shaft 111 between the sleeve 114 and the first rolling bearing 112. The second strain gauge 118 is arranged on the pedal shaft 111 within the sleeve 114, and the third strain gauge 119 is arranged on the outer surface 120 of the sleeve 114.

[0362] The deflection gauges 117, 118, and 119 are each separately and electrically connected to a slip ring 121 arranged outside the pedal shaft 111. The torque flow through the sleeve 114 from the pedal shaft 111 is indicated by arrows in Fig. 35.

[0363] Fig. 36 shows a second embodiment of the torque measuring device 110’. In contrast to the first embodiment, the slip ring 121 to which the deflection gauge 119 on the outer surface 120 of the sleeve 114 is connected is arranged on the outer surface 120 of the sleeve 114.

[0364] Fig. 37 shows a third embodiment of the torque measuring device 110’’. In contrast to the above-described embodiments of Figs. 35 and 36, the deflection gauges 117, 118, and 119 are connected to a transmitter 122.

[0365] Fig. 38 shows a fourth embodiment of the torque measuring device 110’’’. In this embodiment, the deflection gauge 124 is arranged on the outer ring of the right ball bearing 112. Alternatively, the deflection gauge can also be arranged on the intermediate ring.

[0366] Figs. 39 and 40 show another embodiment of the torque measuring device 130 in which the deformation of the transmission housing is measured.

[0367] In the torque measuring device 130, a first pair of diametrically opposed deflection gauges 131, 132 is arranged on the housing 135, and a second pair of diametrically opposed deflection gauges 133, 134 is arranged on the housing 135 and is offset by 90° from the first pair of deflection gauges 131, 132.

[0368] Furthermore, a printed circuit board 136 is arranged on the housing 135, and this printed circuit board 136 is provided with an evaluation logic for the signals of the deflection gauges 131, 132, 133, 134. By displacing the individual deflection gauges by 90°, this device can be installed in any orientation or angular position. This does not rule out the existence of a preferred orientation that is more suitable than other orientations.

[0369] Figure 40 shows another embodiment of the torque measuring device 130' similar to the embodiment of Figure 39. Different from the embodiment of Figure 39, the second pair of strain gauges is offset from the first pair of strain gauges by only a small amount, for example, approximately 10°.

[0370] Figure 41 shows the first series of measurement values of the torque sensor according to Figure 39.

[0371] Figure 42 shows a further series of measurement values of the torque sensor according to Figure 39. In this case, the range of the values of the measurement signal in millivolts is shown on the right axis, and the range of the values of the force derived from the measurement signal in newton - meters is shown on the left axis.

[0372] Figure 43 shows a cross - sectional view of another HCD transmission 10' having a load cell 47 similar to the transmission 10 of Figure 30.

[0373] Different from the transmission of Figure 30, the magnetic transmitter ring 137 is integrated into the side cover of the ball bearing 45 connected to the inner ring of the ball bearing 45. The rotational speed sensor 138 facing the transmitter ring 137 in the axial direction records the change in the magnetic field generated by the rotation of the transmitter ring 137. In particular, the transmitter ring 137 can have magnetism such that the N - pole and S - pole alternate so that the rotational movement of the transmitter ring 137 generates a magnetic field that periodically fluctuates at the position of the rotational speed sensor 138.

[0374] Furthermore, the pedal shaft 35 is configured as a hollow shaft and has an enlarged outer circumference only in the vicinity of the step. The outer rotor shaft 26 is screwed onto the screw 140 of the inner rotor shaft 27. The inner rotor shaft 27 has a drive - side step 141, where the ball bearing 29 is supported. The cam disk 28 has an annular protrusion 139, whereby the cam disk 28 is axially supported on the outer rotor shaft 26 on the drive side.

[0375] Therefore, the axial position of the outer rotor shaft 26 is supported by the screw 140 of the inner rotor shaft 27 in the driving side direction and by the protruding portion 139 of the cam disk 28 in the output side direction. The first force flow on the driving side proceeds from the cam disk 28 to the output side region of the pedal shaft 35 via the outer rotor shaft 26 and the screw 140. The second force flow on the driving side proceeds from the driving side step 141 of the inner rotor shaft 27 to the transmission housing 22 via the ball bearing 29 and the corrugated spring 61.

[0376] Unlike the transmission shown in FIG. 30, in the embodiment of FIG. 43, the pedal shaft freewheel 49' is configured as a clamp roller freewheel similar to the motor freewheel 40. The clamp roller holding ring of the clamp roller freewheel 49' is arranged on the step of the pedal shaft 35 and supported by the O-ring 142.

[0377] FIG. 44 shows an enlarged view of FIG. 43 in the region of the load cell 47.

[0378] The above description includes many details, but they should not be construed as limiting the scope of these embodiments and should be construed only as examples of the assumed embodiments. In particular, the above-mentioned advantages of these embodiments should not be construed as limiting the scope of these embodiments, but should be construed only as examples of the effects that may occur when the above-mentioned embodiments are implemented. Therefore, the scope of these embodiments is determined not by the described examples but by the claims and their equivalents.

[0379] FIGS. 45 to 60 show a pedal shaft assembly and a harmonic pin ring transmission including the pedal shaft assembly.

[0380] This will be further described with reference to the following drawings.

[0381] The following description refers to details, such as the shape and number of parts of the freewheel, in order to explain embodiments of the present specification. In each case, it will be apparent to those skilled in the art that the embodiments can be implemented without these details.

[0382] FIG. 45 shows an exploded perspective view of the pedal shaft assembly 80, in which, from the drive side towards the output side, the internal gear 7, the coil spring 66 of the outer or transmission freewheel 40, the cylindrical clamp roller 64 of the transmission freewheel 40, the pedal shaft 35, the coil spring 72 of the inner or pedal shaft freewheel 49, the tooth stop 73 of the pedal shaft freewheel 49, the output shaft 39, and the freewheel cage 65 of the transmission freewheel 49 are shown.

[0383] The output side of the pedal shaft assembly 80 is here understood as the side on which the receiving region 220 of the output shaft 39 for output is arranged. Thus, the drive side is the opposite side of the output side.

[0384] The radius of the pedal shaft 35 is stepped such that two steps 222, 223 are formed on the drive side and three steps 224, 225, 226 are formed on the output side. The steps 222, 223, 224, 225, 226, which are best shown in FIG. 47, form receiving portions for further transmission elements not shown in FIG. 45. Further, a star configuration 227 having spikes 71 is formed on the third step on the output side.

[0385] The transmission freewheel 40 is also called a "motor freewheel", which is useful for separation when the pedal shaft 35 is connected to the output shaft 39 via an intermediate gear such as a planetary gear device.

[0386] The outer surface of the output shaft 39 comprises, on the drive side, a stepped rolling region 228 for the clamp roller 64 and a recess for the coil spring 66. The inner surface of the output shaft 39 or the hollow output shaft 39 comprises a stepped stop portion 229 for the tooth stop 73, which is located radially opposite to the stepped rolling region 128.

[0387] Furthermore, the output shaft 39 has a receiving area 220 for output means (not shown in Fig. 45) on the output side, and the output means may in particular be a chain ring adapter. Also, the output shaft 39 has an internal thread for fixing a transmission cover (not shown in Fig. 45) which is located radially opposite the receiving area for the output means.

[0388] Fig. 46 shows a side view from the output side of the pedal shaft assembly 80. In this figure, the side cover of the freewheel has been removed to facilitate the illustration of the transmission freewheel 40 and the pedal shaft freewheel 49. In this figure, when looking from the inside to the outside, there are shown an output-side receiving area 75 for the pedal crank (not shown in Fig. 46), a detent 73 and a star configuration 227 with a coil spring 66, a stepped stop portion 229 of the pedal shaft freewheel 49, a receiving area for the output means, a freewheel cage 65 of the transmission freewheel 40, a pinch roller 64 of the transmission freewheel, an outer ring 65 of the transmission freewheel 40, and an inner gear 7 of a harmonic pin ring gear (not shown in Fig. 46).

[0389] Fig. 47 shows a cross-sectional view of the pedal shaft assembly 80 of Fig. 45 along the cutting line shown in Fig. 46. As shown in Fig. 47, the inner diameter of the output shaft 39 configured as a hollow shaft is stepped and forms three steps 230, 231, 232. The outermost step of the output shaft 39 has an internal thread 233. The second step from the outside of the output shaft 39 and the second step from the outside of the opposing pedal shaft 35 serve to receive ball bearings not shown in Fig. 47.

[0390] In the inner gear 7, a hollow shaft 234 is formed on the output side, which at the same time forms the outer ring of the transmission freewheel 40. Furthermore, the inner gear 7 has on the drive side a disk-shaped area 235 with external teeth 5.

[0391] On the drive side, an annular thickened portion is formed at the side end of the output shaft 39, where the drive shaft 39 is inserted into the hollow shaft 234 of the inner gear 7. The outer radius of the output shaft 39 is also stepped, and the outermost step in the radial direction is configured to receive the freewheel cage 65 in the radial direction. Further steps on the outside of the output shaft 39 are configured to receive a ball bearing including a shaft seal (not shown here) and to receive output means (not shown here).

[0392] FIG. 48 shows a perspective view seen from the output side of the pedal shaft assembly 80 of FIG. 45, in which the side cover is removed and the stop regions of the pedal shaft freewheel 49, the freewheel cage 65, and the clamp roller 64 can be partially seen.

[0393] FIG. 49 shows a further perspective view seen from the drive side of the transmission assembly of FIG. 45, in which, in particular, the inner stepped portion 229 of the pedal shaft freewheel 49, the tooth stop 73, the coil spring 72, and the outer stepped portion 228, as well as the clamp roller 64, the freewheel cage 65, and the coil spring 66 of the transmission freewheel 40 are shown.

[0394] FIG. 50 shows a side view of the pedal shaft 35 of the pedal shaft assembly 80 of FIG. 45, in particular showing the crankshaft receiving portions 74, 75, the stepped shape of the outer periphery of the pedal shaft 35, and the star configuration 227.

[0395] As shown in FIGS. 50 and 52, the spikes 71 of the star configuration 227 (four of the spikes 71 can be seen in FIG. 50) each have a rolling region 243, an end portion 244, and a tooth stop receiving region 245. The spikes 71 each have a hole 236 for receiving a coil spring 72 (not shown in FIG. 50), and the hole 236 is perpendicular to the rolling region 243. The hole 236 is slightly offset from the center of the rolling region 243 towards the tooth stop receiving region 245.

[0396] FIG. 51 shows a side view of the output shaft 35, in which a rolling area 243 having a receiving area for a coil spring 72 (not shown in FIG. 51), an outer peripheral step 228, and a receiving area 220 for the output means are shown.

[0397] FIG. 52 shows a side view of the pedal shaft 35 as seen along the central axis of the pedal shaft 35 from the drive side. In this figure, a receiving area 74 for the pedal crank, an output side stepped shape of the outer diameter of the pedal shaft 35, and a star configuration 227 are shown. The end 244 of the spike 71 has a chamfered portion 237 on one side.

[0398] During operation, the coil spring 72 presses the detent 73 outward against the stepped portion 229 inside the output shaft 39, so that when the pedal shaft 35 moves faster than the drive shaft 39 in the drive direction given by the direction of the detent 73 and the direction of the step, the tip of the detent 73 engages with the opposing step.

[0399] When the pedal shaft 35 moves slower than the drive shaft 39 in the drive direction or moves in the direction opposite to the drive shaft 39, the detent 73 slides along the step and is pushed inward against the spring force of the coil spring 72 until it reaches the next step. When moving between two steps, the detent 73 pops out outward due to the action of the coil spring 72, thereby generating a characteristic clicking sound.

[0400] The clicking sound of the pedal shaft freewheel 49 can serve as a warning function in that passers-by can notice it on an electric bicycle that drives relatively quietly unlike a moped or a scooter. Furthermore, this clicking sound enables function control by noise and can meet the expectations of customers who are accustomed to idling noise.

[0401] FIG. 53 shows a view of the output side of the output shaft 39. The driving direction is predetermined by the direction of the heel portion of the step, and in FIG. 53, it is the clockwise direction. In this case, the step portion with a small inclination of the inner stepped portion 229 forms the heel portion of the step, and the heel portion of the step with a large inclination forms the stop portion of the step.

[0402] These steps are aligned so that the driving direction corresponds to the traveling direction when the output is supplied in the traveling direction on the right side by the conventional method. However, conversely, the output may be supplied in the traveling direction on the left side. This can occur particularly in the case of a three-wheeled or four-wheeled vehicle. In this case, in order to enable driving in the traveling direction, the direction of the steps must be reversed with respect to the configuration of FIG. 53.

[0403] In the case of a three-wheeled or four-wheeled vehicle, particularly when the vehicle is equipped to carry a load, for example, when driving uphill and backward, additional drive connections such as a switchable freewheel or a switchable clutch that enables reverse driving of the motor may serve the purpose.

[0404] FIG. 54 shows a plan view from the driving side corresponding to FIG. 53 with respect to the output shaft 35.

[0405] FIG. 55 shows a side view of the freewheel cage 65, where the line of sight direction is perpendicular to the central axis of the pedal shaft 35. FIG. 56 shows a side view of the transmission freewheel 40, in which the clamp roller 64 and the freewheel cage 65 are partially shown.

[0406] The freewheel cage 65 includes webs 250 evenly distributed on the outer periphery and receiving regions 251, 252 on two opposite sides for the coil spring 66, which are aligned with the recess of the output shaft 39.

[0407] FIG. 57 shows a side view of the pedal shaft assembly 80 including the inner portion of the freewheel assembly 81 shown in FIG. 1 and a sensor assembly not shown in FIG. 1.

[0408] Figure 58 is a cross-sectional view taken along the cutting line D-D shown in Figure 57.

[0409] Figure 59 is a cross-sectional view similar to the cross-sectional view of Figure 58, but in this figure, the line of sight direction is directed from the drive side. In this case, the hollow shaft portion 235 of the inner gear 7, which is not shown in Figure 58, is additionally shown, and this forms the outer ring of the transmission freewheel 40.

[0410] The tooth stop 73 of the stepped portion at the pedal shaft freewheel 49 has a cylindrical hinge portion 246 engaging with the fitting circular hinge portion 247 on one side. Further, the tooth stop has a plate-shaped portion 248, which is connected to the hinge portion 247 at one end, and the opposite end is chamfered to form a sharp edge 249.

[0411] During the assembly or maintenance of the pedal shaft freewheel 49, the tooth stop 73 can be easily inserted into the circular hinge portion 247 formed on the pedal shaft 35 from the output side without the need for additional components such as a shaft to form the necessary hinge.

[0412] The two springs 66 of the transmission freewheel 40 push all the clamp rollers 64 via the freewheel cage 65 at approximately the end or traction position shown in Figure 59. As a result, the clamp rollers 64 can contact the outer ring formed by the hollow shaft portion 234 of the inner gear 7 and move towards the end by the relative movement of the outer ring. In this case, the individual webs of the cage 65 can be elastically deformed, thereby compensating for the non-uniform contact pressure on the individual clamp rollers 64.

[0413] However, when the outer ring of the transmission freewheel 40 moves more slowly than the output shaft 39 in the driving direction, the clamp rollers 64 roll towards the bottom of the step and are lifted from the outer ring, thereby releasing the frictional connection with the inner gear 7.

[0414] Figure 60 shows a cross-sectional view of the harmonic pin ring gear 10'. In this figure, the pedal shaft free wheel 49' is configured as a clamp roller free wheel. Therefore, in this embodiment, there is no stepped engagement region for tooth stop inside the output shaft.

[0415] The clamp roller retaining ring of the clamp roller free wheel 49' is arranged on the step of the pedal shaft 35 and supported by the O-ring 142.

[0416] Figures 61 to 66 show a geared motor equipped with a harmonic pin ring transmission having an eccentric disk.

[0417] Figure 61 shows a cross-sectional view of the harmonic pin ring transmission 10. The cutting plane A-A in Figure 61 is shown in Figure 62. In Figure 61, the left side corresponds to the drive side of the harmonic pin ring gear 10, and the right side corresponds to the output side.

[0418] The stator 20 of the stator assembly of the harmonic pin ring transmission 10 is arranged inside the motor housing 22. The stator 20 includes a stator coil 21 (not shown in Figure 61) for connection to the power supply.

[0419] The outer rotor shaft 26 with permanent magnets is installed in contact with the inner rotor shaft 27 inside the radial direction of the stator 20. On the inner rotor shaft 27, a circular eccentric disk 28' arranged eccentrically, or an eccentric circular disk 28' is formed on the output side, which is shown in detail in the three-dimensional exploded view of Figure 64.

[0420] On the drive side, the inner rotor shaft 27 is supported inside the motor housing 22 by the drive side rotor ball bearing 29 with respect to the outside. The outer ring of the drive side rotor ball bearing 29 is arranged in the cylindrical recess of the motor housing 22. On the drive side, the sensing 68 is arranged on the inner rotor shaft 27 adjacent to the outer rotor shaft 26 in the axial direction and faces the hall sensor 353 arranged inside the motor housing 22.

[0421] On the output side, the inner rotor shaft 27 is supported within a radially outer output-side rotor ball bearing 30 that is within the internal gear 7. The hollow shaft of the internal gear 7 is integrally connected at the output side to the annular portion of the internal gear 7, and that annular portion is provided with external teeth 5.

[0422] On the output side, the housing cover 32 is screwed to the motor housing 22 by screws 34. On the opposite drive side, the inner housing 346 is screwed to the motor housing 22 by screws 347. The inner housing is provided with a support cylinder 348.

[0423] The hollow shaft 352 of the internal gear 7 is subsequently attached to the housing cover 32 via a radially outer internal gear ball bearing 31. The internal gear ball bearing 31 is offset axially towards the output side from the output-side rotor ball bearing 30 and is also offset radially outwards relative to the output-side rotor ball bearing 30. Further, the internal gear ball bearing 31 overlaps the output-side rotor ball bearing 30 axially.

[0424] A transmitter ball bearing 33 is disposed on the eccentric circular disk 28 of the inner rotor shaft 27. The eccentric disk 28 and the transmitter ball bearing 33 together form a transmitter configuration that converts torque into a radial force. A pin retaining ring 103 with a pin 101 is installed on the transmitter ball bearing 33, and the pin 101 is held within a cylindrical recess inside the pin retaining ring 103. The pin 101 of the pin ring 102 projects axially on both sides from the flexible ball bearing 33 and the pin retaining ring 103. For simplicity, the pin retaining ring 103 and the pin-ring configuration of the pin 101 are also referred to below as the pin ring 102.

[0425] The drive-side outer gear 8' and the output-side outer gear 8 are inserted into the web 349 of the motor housing 22. The web 349 of the motor housing 22 is shown in the three-dimensional exploded view of FIG. 63. An O-ring 42 is arranged radially outward on the output side between the motor housing 22 and the housing cover 32. Another O-ring 44 is arranged on the drive side between the step of the inner rotor shaft 27 and the drive-side rotor ball bearing 29.

[0426] The drive-side outer gear 8' and the output-side outer gear 8 are arranged axially outside the eccentric disk 28' and the transmitter ball bearing 33. Radially, the drive-side outer gear 8' faces the portion of the pin 101 that projects axially from the pin retaining ring 103 toward the drive side. Radially, the output-side outer gear 8 faces the portion of the pin 101 that projects axially from the pin retaining ring 103 toward the output side.

[0427] On the drive side, a drive-side spacer disk 37 is arranged in the motor housing 22 so as to face the drive-side end face of the pin 101 axially. Similarly, on the output side, an output-side spacer disk 38 is arranged in the motor housing 22 so as to face the output-side end face of the pin 101 axially. The hollow shaft 352 of the inner gear 7 is provided with a threaded hole (not shown in FIG. 61) for output connection.

[0428] An inner shaft seal 50 is inserted between the inner cylinder 348 of the inner housing 46 and the housing cover 32. Further, an outer shaft seal 51 is arranged between the hollow shaft of the inner gear 7 and the housing cover 32 so as to face the output-side pedal shaft ball bearing 31.

[0429] During operation, the input torque is transmitted to the outer rotor shaft 26 through the electromagnetic force acting on the stator 20, and then further to the inner rotor shaft 27, where it is converted into a radial force by the eccentric disk 28' and the flexible ball bearing 33. This radial force is converted into output torque on the tooth surfaces of the internal teeth 6, 6' of the outer gears 8, 8' and the external teeth 5 of the internal gear 7, where the internal gear 7 is driven and the outer gears 8, 8' are fixed to the housing. The output torque is greater than the input torque by the reduction ratio.

[0430] The internal tooth portion formed by the external teeth 5 of the internal gear 7 faces the internal teeth 6 of the output-side outer gear 8, and the output torque is provided by these pins 101 that contact both the external teeth 5 and the internal teeth 6, 6' in particular.

[0431] FIG. 63 shows the drive-side portion of the exploded perspective view of the transmission of FIG. 61. In this figure, as viewed from the drive side to the output side, an inner housing 346 having an inner cylinder 348, a drive-side rotor ball bearing 29, a circular wire wave spring 44, a motor housing 22 provided with a drive-side spacer disk 37, a sensing 68, and a rotor shaft 26 are shown.

[0432] FIG. 64 shows the output-side portion of the exploded perspective view of the transmission of FIG. 61. In this figure, as viewed from the drive side to the output side, a rotor shaft 27 having an eccentric disk 28, a second outer gear 8', a pin ring 102 having pins 101 and a pin retaining ring 103, a transmitter ball bearing 33, an output-side rotor ball bearing 30, a first outer gear 8, a shaft seal 50, an internal gear having an internal gear hollow shaft, a driven-side spacer disk 38, an internal gear ball bearing 31, a transmission cover 32, and a shaft seal 51 are shown.

[0433] The outer gears 8, 8' each have a groove 354 that is directed radially inward from the respective outer periphery of the outer gears 8, 8' and is distributed at equal intervals on the respective outer peripheries of the outer gears 8, 8'. The motor housing 22 has journals 355 that are circumferentially spaced apart corresponding to the grooves 354.

[0434] As shown in Fig. 61, in the assembled state, the screw 34 extends into the motor housing 22 through the transmission cover 32, the first outer gear 8, the second outer gear 8', and the support ring 36.

[0435] Figs. 67 to 76 are provided with a harmonic pin ring transmission having a crank gear. The crank gear is a planetary gear device, which is arranged on the pedal shaft and transmits the driver's rhythm after increasing the speed. In particular, when this planetary gear device includes additional gear stages not shown in Figs. 67 to 76, for example, in the case of a Ravigneaux type or Lepelletier type planetary gear device, the planetary gear device can also be formed as a switchable type.

[0436] In the simplest case, selection between 1:1 transmission and speed-increasing transmission is possible by gear switching. The gear switching of the crank gear can be carried out manually or automatically via an operating element. In the case of automatic transmission, the gear switching can be carried out based on the measured value of a torque sensor.

[0437] Compared with the embodiments of Figs. 1 to 40, the bearing sensor unit of the bottom bracket is replaced by a crank gear. By the transmission of the speed-increasing planetary gear device, the secondary transmission to the rear wheel can be reduced. As a result, the output shaft can be rotated faster, so that the motor and / or the reduction gear can be made smaller, or the motor and / or the reduction gear can deliver more power with the same dimensions.

[0438] Furthermore, by using the planetary gear device and measuring the supporting force of the element fixed to the housing of the planetary gear device with, for example, an adhered strain gauge, the torque on the pedal shaft or the pedal crank can be measured.

[0439] When the sun gear is fixed to the housing and the ring gear is driven as in the embodiments of FIGS. 72 to 76, for example, a speed increase transmission of 1.59:1 can be provided, which can reduce the output motor power to 0.63 times. When the ring gear is fixed to the housing and the sun gear is driven as in the embodiments of FIGS. 67 to 71, for example, a speed increase transmission of 3:1 can be provided. As a result, the output torque of the motor can be further reduced to 0.33 times.

[0440] By using the transmission of the planetary gear device, for example, the output density can be increased, but this can also increase the speed of the motor and thus the noise of the motor. Furthermore, the planetary gear device can be used as the basis of a motor equipped with an integrated transmission gear. In this case, due to the increase in the motor output density, the corresponding transmission gear can be made relatively small in size, that is, the space required for the transmission gear can be reduced.

[0441] FIGS. 67 to 71 show a harmonic pin ring transmission equipped with a planetary gear device arranged on the pedal shaft. In this harmonic pin ring transmission, the drive is performed via a planetary carrier securely connected to the pedal shaft, and the output is performed via the sun gear.

[0442] FIGS. 72 to 76 show a harmonic pin ring transmission equipped with a planetary gear device arranged on the pedal shaft. In this harmonic pin ring transmission, the drive is performed via a planetary carrier rotatably installed on the pedal shaft, and the output is performed via a ring gear rotatably installed within the transmission housing.

[0443] These transmissions are similar to the harmonic pin ring transmission of FIG. 11 with an eccentric disk. However, it is also possible to combine the crank gears of FIGS. 67 to 76 with other reduction gears. In particular, the crank gears of FIGS. 67 to 76 can be combined with a harmonic pin ring transmission having an oval cam disk and a flexible ball bearing similar to the transmission of FIG. 1.

[0444] For clarity, not all of the components already shown in FIG. 1 or FIG. 11 are re-presented with reference numerals in FIGS. 69 - 76.

[0445] FIG. 68 shows a perspective view of the planetary gear assembly 400 of FIG. 67, showing the ring gear 401, the mounting sleeve 402 for the ring gear 401, and the output shaft 39. FIG. 69 shows a side view of the planetary gear assembly 400 of FIG. 68.

[0446] FIG. 70 shows a cross-sectional view of the planetary gear assembly 400 along the cross-section line C-C of FIG. 69. The sun gear 403 is configured as a hollow shaft and is separated from the pedal shaft 35 by a gap 404 so as to be rotatable relative to the pedal shaft 35. The planetary gears 405 are respectively arranged on the planetary gear shafts 406, and a sliding bearing formed by a rolling bearing or a sliding layer is arranged between the planetary gears 405.

[0447] FIG. 71 shows a cross-sectional view of the planetary gear assembly 400 along the cross-section line B-B of FIG. 69. This cross-sectional view further shows that the planetary gear shaft 406 is arranged in the planetary carrier 407 securely connected to the pedal shaft 35.

[0448] The sun gear 403 is integrally connected to another hollow shaft 410 having a diameter slightly larger than that of the sun gear 403, which is dimensioned such that a rolling bearing 408 with two needle roller bearings of the embodiment of FIG. 71 can be arranged between the hollow shaft 410 and the pedal shaft 35. A pedal shaft freewheel 49 is arranged on the second hollow shaft 410.

[0449] The flow of torque from the pedal shaft 35 to the output shaft is indicated by arrows in FIG. 71. As shown in FIG. 67, the flange 402 for fixing the ring gear is fixed to the transmission case 22. The fixed ring gear absorbs the opposing forces generated by the driver's movement of pedaling.

[0450] In a further embodiment, a deformation sensor such as a strain gauge connected to the evaluation electronic device is attached to the ring gear 401. For more accurate measurement, the portion of the ring gear to which the deformation sensor is attached can be thinned.

[0451] FIG. 72 shows a harmonic pin ring transmission provided with a planetary gear device disposed on the pedal shaft 35, in which the output is performed via the ring gear.

[0452] FIG. 73 is a perspective view of the planetary gear device assembly 400' of FIG. 72. FIG. 74 is a side view of the planetary gear device assembly 400' of FIG. 73.

[0453] FIG. 75 shows a cross-sectional view taken along the cross-section line C-C of FIG. 74. The sun gear 403' is separated from the pedal shaft by a gap 404. As shown in FIG. 72, the sun gear 403' is connected to the transmission case 22 in a fixed region. In particular, this fixed region can be configured as a load cell. The planetary gear 405 is rotatably installed on a planetary gear shaft 406 disposed on the planetary carrier 407.

[0454] FIG. 76 shows a cross-sectional view taken along the cross-section line B-B of FIG. 74. As shown in FIG. 76, a portion of the planetary carrier 407 is formed as a hollow shaft 409 disposed on the pedal shaft 35 via a pedal shaft free wheel 49'.

[0455] In a further embodiment not shown here, the hollow shaft of the planetary gear device arranged on the pedal shaft is fixed to the housing on the drive side, the hollow shaft of the planetary gear device is fixedly connected to the pedal shaft, and the sun gear is connected to the output shaft via the pedal shaft freewheel. For this purpose, the attachment of the hollow shaft may be guided around the planetary gear device from the drive side. Here and with other crank gears, the pedal shaft may be a crankshaft such as the crankshaft of an internal combustion engine or the drive shaft of a drive device. Similar to the two crank gears described above, this crank gear also provides a speed increasing transmission.

[0456] Furthermore, a reverse rotation in the rotational direction occurs, which can be advantageous since, unlike an electric bicycle without a reverse gear, when the rotational direction of the load is set in a direction opposite to the rotational direction of the crankshaft or drive shaft of the crank gear, no further reverse rotation in the rotational direction is required.

[0457] Figures 77 to 81 show a cycloid gear according to the present specification and a motor gear unit having the cycloid gear.

[0458] Figure 77 is a cross-sectional view of a motor gear unit for an electric bicycle in which the cycloid gear is used as a reduction gear.

[0459] Regarding the components already described in the description of the previous figures, particularly Figures 1 to 3 and 10 to 14, they will not be described again here. Similar to the transmission shown in Figures 1 and 10, the cycloid gear has three bearing configurations, the output element is formed as a single part with a hollow output shaft, and inwardly, it is supported by two bearings obliquely facing the housing cover, and outwardly, it is supported by the inner hollow shaft. Therefore, only three bearings are required to support the rotor shaft, the output element, and the hollow output shaft.

[0460] In these three bearing configurations, the outer bearing of the rotor shaft can be further removed. This is particularly applicable to the motor gear unit for an electric bicycle, where by using a smaller number of bearings, the limited axial space is utilized better. Thus, the lever action of the outer tilting moment on the bearing and the rotor shaft is reduced, and the rotor shaft can be configured as a thin cylinder. This applies to many cases where such engine gear units are used.

[0461] In the cycloid gear of Fig. 77, the output element in which the hollow output shaft is formed is formed by the output pulley in which the carrier pins and carrier rollers are arranged. In the motor gear unit shown in Figs. 1 and 10, this is formed by the output inner gear in which the hollow output shaft is formed.

[0462] The inner rotor shaft 27' of the cycloid gear is formed by the drive shaft 426 and the rotor shaft 427 attached thereto. The drive shaft 426 includes a drive-side circular eccentric disk 428, an output-side circular eccentric disk 429, and a circular disk 430 disposed at the center, which are formed on the drive shaft 426 and arranged continuously with each other. The output-side eccentric disk 429 is offset by 180° from the drive-side eccentric disk 428.

[0463] The first ball bearing 423 is arranged on the drive-side eccentric disk 428, and the drive-side inner gear 433 is attached thereto. The output-side inner gear 434 is attached to the output-side eccentric disk 429 via the second ball bearing 424. The drive-side inner gear 433 and the output-side inner gear 434 have the same configuration and each includes external teeth 435, 436, which engage with the opposing internal teeth 437 of the external gear 439 fixed to the housing.

[0464] The output pulley 440 is attached to the third ball bearing 425 via a ring 441 disposed on a circular disk 430 arranged at the center. The output pulley 440 includes carrier pins 442, which are equally spaced on the output pulley 440 and engage with circular openings 444 of two inner gears 433, 434. The carrier pins 442 include rollers 443 rotatably installed on the carrier pins 442.

[0465] The drive shaft 426 of the inner rotor shaft 27' functions as a hollow drive shaft 426 of the cycloid reduction gear.

[0466] On the rotor shaft 427 of the inner rotor shaft 27', a pressure disk 451 and a screw 450 on the opposite side of the pressure disk are formed. As shown in the cross-sectional view of Fig. 77, the pressure ring 452 is screwed onto the screw, whereby the rotor pack 26 or the outer rotor shaft 26 is clamped between the pressure ring and the retaining ring. This corresponds to the configuration of Fig. 30 and is different from the configuration of Fig. 1 in which the rotor pack is held between a spacer disposed on the inner rotor shaft and the shoulder of the inner rotor shaft.

[0467] The drive-side inner gear 433 and the output-side inner gear 434 are also called "cam disks". Instead of the internal teeth 437 of the outer gear 439, a fixed pin ring shown in Fig. 79 can also be provided. This fixed pin ring may have rollers, thereby reducing frictional force and shear force and enabling rolling motion.

[0468] The exploded perspective view of Fig. 78, when viewed from left to right, shows the outer gear 439 having internal teeth 437, the output-side inner gear 433, the first ball bearing 423, the drive-side eccentric disk 428, the output-side eccentric disk 429, the inner rotor shaft 27' on which the circular disk 430 is arranged at the center, the second ball bearing 424, the output-side inner gear 434, the spacer 445, the ring 441, the third ball bearing 425, the carrier rollers 443 and the carrier pins 442 arranged on the output pulley 440, and the output pulley 440.

[0469] Furthermore, FIG. 78 shows a protrusion 446 provided between the drive-side circular eccentric disk 428 and the output-side eccentric disk 429.

[0470] The side view of FIG. 79, viewed from the inside to the outside, shows the ring 441, the third ball bearing 425, the output pulley 440, the output-side inner gear 434 having external teeth 436, the external teeth 435 of the drive-side inner gear 433, and the internal teeth 437 of the external gear 439. The stationary pins 447 are shown in two positions and can be provided in place of the internal teeth of the external gear 439.

[0471] The cross-sectional view of FIG. 80 shows a cross-sectional view of the cycloid gear of the motor gear unit of FIG. 77. In this figure, an inner rotor shaft 27' provided with a drive-side eccentric disk 428 and a drive-side inner gear 433 attached thereto, an output-side eccentric disk 429 and an output-side inner gear 434 attached thereto, a circular disk 430 arranged at the center and an output disk 440 provided with carrier pins 442 and carrier rollers 443 attached thereto, and an external gear 439 having internal teeth 437 are shown.

[0472] At the lower part of FIG. 80, a fixing opening 448 for the external gear 439 is shown. As shown in the cross-sectional view of FIG. 77, the external gear 439 is fixed to the transmission case by fixing bolts passing through the fixing opening 448.

[0473] FIG. 81 shows a detailed side view of the cycloid gear of FIG. 77, in which hidden components can also be seen. In FIG. 81, it is shown that the tops of all the teeth of the two inner gears are engaged or in contact with the internal teeth of the fixed external gear. Furthermore, FIG. 81 simultaneously shows another embodiment, in which the external gear, instead of the internal teeth, has a configuration of stationary pins or bolts on which rollers are arranged.

[0474] Hereinafter, as an example, with reference to FIGS. 77 to 81 described above, the assembly of the cycloid drive will be described.

[0475] Elements on the drive side of the rotor shaft 427 within the motor housing 22 are inserted into or attached to the motor housing 22. In particular, the drive-side rotor ball bearing 29, the load cell 47, the drive-side pedal shaft ball bearing 45, and the stator assembly of the motor are inserted into the motor housing 22. The outer gear 439 is screwed into the motor housing 22.

[0476] The rotor shaft 427 is attached to the output shaft 426 on the drive side. The drive-side inner gear 433 and the first ball bearing 423 are arranged on the drive-side eccentric disk 428 from the drive side. The rotor pack is arranged on the inner rotor shaft 27' from the drive side, and the pressure ring 452 is screwed to the rotor pack. Subsequently, the assembly of the rotor shaft 427 and the output shaft 426 with a plurality of components installed is inserted into the motor gear unit from the output side.

[0477] The second ball bearing 424 and the output-side inner gear 434 are arranged on the output-side eccentric disk 429 from the output side. The ring 441 is arranged on the circular disk 430 arranged at the center, and the third ball bearing 425 is arranged on the ring 441.

[0478] The carrier roller 443 is arranged on the carrier pin 442 of the output pulley 440, and the output pulley 440 is arranged on the third ball bearing 425 such that the inner shoulder of the output pulley 440 abuts against the outer ring of the third ball bearing 425. In this case, the carrier pin 442 and the carrier roller 443 are guided through the circular openings 444 of the output-side inner gear 433 and the drive-side inner gear 434. The ball bearing 31 is installed on the shoulder of the output pulley, and the transmission cover is screwed to the motor housing 22 together with the outer gear, where the fixing opening of the transmission cover and the fixing opening of the outer gear overlap.

[0479] The rotor pack 26 and the inner rotor shaft 27' rotate by energizing the stator 22. This rotation is transmitted to the eccentric disks 428, 429. Next, the eccentric disks 428, 429 operate the inner gears 433, 434 disposed therein in an eccentric circular motion, whereby the tooth portions of the inner gears 433, 434 move over the tooth portions of the fixed outer gear 439. As a result, the internal teeth 437 of the outer gear 439 apply a reaction force to the inner gears 433, 434. Due to this reaction force of the outer gear 439, the inner gears 433, 434 are operated in a rotational motion around their respective rotation axes. This rotation is taken in by the carrier pins 442 and transmitted to the output pulley, whereby the motion of the inner gears 433, 434 is converted into a central circular motion. The rotation is then directly transmitted from there to a load by a geared motor or the like, or is first transmitted to the output shaft 39 via a freewheel 40, for example, in the case of an electric bicycle.

[0480] Figs. 82 to 88 show a tension shaft transmission and a motor gear unit provided with the tension shaft transmission in this specification.

[0481] Fig. 82 shows a cross-sectional view of a motor gear unit provided with a tension shaft transmission or a flexspline transmission according to this specification. Elements not shown here correspond to the elements of Fig. 1.

[0482] The external teeth 5'' of the tension shaft 453 are disposed between a cam disk 455' having a flexible ball bearing 33 and an outer gear 457 having internal teeth 6'' screwed to the motor housing 22. This tension shaft is fixed to the output shaft 458 by a rivet in a fixed region, and this output shaft 458 is attached to the diagonally opposed ball bearings 31, 30.

[0483] Fig. 83 shows an exploded perspective view of the tension shaft transmission or the flexspline transmission of Fig. 82, where the fixed outer gear 8'' is provided with tooth portions that are hereinafter referred to as tooth portions for the HPD-F transmission. As a result, a particularly good engagement of the two tooth portions can be obtained.

[0484] Thereafter, the internal teeth of the outer gear become the outer equidistant line with respect to the gear orbit substantially defined as follows. x(t)=r1*cos(t)+r2*cos((n + 1)*t)+r3*cos((n + 3)*t), and y(t)=r1*sin(t)-r2*sin((n + 1)*t)+r3*sin((n + 3)*t) t is from 0 to 2π / Z_outer or 360° / Z_outer. For example, the equidistant line has a distance equal to the pin radius up to the gear orbit.

[0485] The opposing outer teeth of the tension shaft are derived from the shape of the pin ring having cylindrical pins. Thus, the cross-section of the tip of the teeth in a plane perpendicular to the axial direction corresponds to a sector, preferably a semi-circle. This is shown in Fig. 87.

[0486] The exploded perspective view of Fig. 83 shows, from left to right, i.e., when viewed from the output side towards the drive side, the fixed outer gear 8'' or outer ring 8'', the internal teeth 6'', the cup-shaped tension shaft 453 with the fixed region 454, the flexible ball bearing 33, and the drive cylinder 455 with an oval outer circumference and the fixing flange 456, respectively. The drive cylinder in Fig. 83 is suitable for, for example, a geared motor and is different from the cam disk 455' in Fig. 82 arranged on the inner rotor shaft.

[0487] In this specification, "oval" preferably means an oval having two mutually perpendicular mirror symmetry axes or principal axes, such as an ellipse or a circle overlaid with a sine curve. However, "oval" may also refer to an oval having, for example, three symmetry axes, where the distance between these axes is maximum, thereby generating three engagement regions instead of two engagement regions where the teeth are fully engaged.

[0488] The fixed region 454 of the tension shaft is suitable for fixing the output shaft. Further, the fixed outer gear 8’’ is provided with a fixed region 457 for attachment to the transmission housing, and the drive cylinder 455 is provided with a flange 456 for fixing the drive shaft. In one embodiment of the tension shaft transmission for an electric bicycle, the drive cylinder 455 can also be formed as part of the inner rotor shaft, in which case there is no need to have a fixing flange 456.

[0489] FIG. 84 shows a side view from the drive side of the tension shaft transmission of FIG. 82 in the assembled state, in which, from the inside to the outside, the fixed region of the tension shaft, the drive cylinder, the flexible ball bearing, the external teeth of the tension shaft, the internal teeth of the outer gear, and the outer gear are shown.

[0490] FIG. 85 shows a cross-sectional view along the cutting line A-A of FIG. 84 extending along the short axis of the drive cylinder 455. In the cross-sectional view of FIG. 85, since the tension shaft 453 is biased inward, it is shown that it abuts against the outer ring of the flexible ball bearing 33 in the region of the short axis of the drive cylinder 455.

[0491] FIG. 86 shows a cross-sectional view along the cutting line B-B of FIG. 84 extending along the long axis of the drive cylinder 455. As shown in the cross-sectional views of FIGS. 85 and 86, the outer gear 8’’ and the tension shaft 453 each have a smooth cylindrical hole or opening, while the drive cylinder 455 has a threaded hole.

[0492] FIG. 87 shows an enlarged detailed view of the “C” part of FIG. 84 described above, in which the shape of the eccentric tooth part can be seen.

[0493] FIG. 88 shows the tension shaft transmission of FIG. 82 in the assembled state.

[0494] FIGS. 89 to 93 show the two-part integral pin ring 102’ and the two outer gears 8’’’, 8 (4)A two-stage reduction gear is shown, where the two-piece integral pin ring 102' is attached to an eccentric disk.

[0495] The two-piece integral pin ring 102 has a first outer tooth 5''' on the first part and a second outer tooth 5 (4) on the part arranged adjacent to the first part. The first outer tooth 5''' of the pin ring 102' is arranged opposite to the first inner tooth 6''' of the rotatably installed outer gear 8''', and the second outer tooth 5 (4) of the pin ring 102' is arranged opposite to the second inner tooth 6 (4) of the fixed outer gear 8 (4) .

[0496] The number of teeth of the first outer tooth 5''' is less than the number of teeth of the inner tooth 6''', and the number of teeth of the second outer tooth 5 (4) is less than the number of teeth of the inner tooth 6 (4) . In one exemplary embodiment of the high reduction ratio gear, the number of teeth of the first outer tooth 5''' is 28, the number of teeth of the inner tooth 6''' of the movable outer gear 8''' is 29, the number of teeth of the second outer tooth is 29, and the number of teeth of the inner tooth 6 (4) of the fixed outer gear is 30.

[0497] Thus, in this embodiment, the reduction of the first gear stage on the driving side is greater than the reduction of the second gear stage on the output side, and the number of teeth of each outer gear is more than the number of teeth of each tooth part of the pin ring facing radially. As a result, the inner outer teeth move in the opposite direction to the drive with respect to the outer inner teeth. Thus, the inner teeth of the movable outer gear move in the driving direction, reducing the reduction of the first gear stage. Generally, the number of teeth of the opposing tooth parts may be different.

[0498] When using an eccentric disk, the difference in the number of teeth must be at least 1. Furthermore, transmission elements such as ball bearings and the pin rings arranged therein do not need to be deformable. In other embodiments with an oval disk instead of an eccentric disk and a flexible ball bearing, the difference in the number of teeth of the opposing tooth parts is a multiple of 2.

[0499] For example, in the tension shaft transmission shown in Fig. 83 or the two-stage eccentric gear shown in Fig. 89, in an embodiment where there is no transmission means disposed between the inner gear and the outer gear and the transmission means functions simultaneously as an inner gear having external teeth, the difference in the number of teeth refers to the tooth portion of the transmission means and the tooth portion facing the transmission means.

[0500] Fig. 89 shows a side view of the two-stage reduction gear from the output side.

[0501] Fig. 90 shows a cross-sectional view taken along the cutting line A-A of Fig. 89 in the line-of-sight direction shown in Fig. 89. Therefore, the upper half of Fig. 90 shows a cross-sectional view, and the lower half of Fig. 90 shows a side view.

[0502] Fig. 91 shows a side view of the two-stage reduction gear of Fig. 82, where hidden components are shown by dashed lines in order to illustrate the engagement of the opposing tooth portions.

[0503] Fig. 92 is a partially cut-away perspective view of the two-stage reduction gear of Fig. 82 as viewed from the side of the output side or the movable outer gear 8'''.

[0504] Fig. 93 is a partially cut-away perspective view of the two-stage reduction gear of Fig. 82 as viewed from the side of the drive side or the fixed outer gear 8 (4) The fixed outer gear 8 (4) is provided with a fixing area for attachment to a transmission housing not shown in Figs. 89 to 93. Similarly, the movable outer gear 8''' is provided with a fixing area for fixing an output shaft not shown in Figs. 89 to 93.

[0505] The two-part pin rings of the two-stage pin ring transmission of Figs. 89 to 93 are particularly different in the shape of the tooth portions from the tension shaft having external teeth according to the prior art. The shape of the tooth portions of the pin ring provided with two tooth portions is the inner equidistant line with respect to the gear orbit determined by the formula (1) given below regarding the gear orbit of the harmonic pin ring transmission provided with an eccentric disk, and the equidistant line preferably has a distance equal to the pin radius up to the gear orbit (1).

[0506] The harmonic pin ring transmission is also called the HPD-E transmission. Equation (1) describes the non-retrograde circumferential orbit on one circumferential circle.

[0507] Correspondingly, the teeth of the fixed outer gear 8 (4) and the teeth of the movable outer gear 8''' are outer equidistant lines with respect to the gear orbit shown in Equation (1), preferably at a distance corresponding to the pin radius. The number of teeth is determined by the parameter "n" in Equation (1). For both external and internal teeth, it may be sufficient if only the tops of the teeth are determined by Equation (1).

[0508] Preferably, the teeth of the two-stage transmission in FIGS. 89 to 93 are configured such that the deceleration of the first gear stage is further decelerated by the second gear stage, and the second angular velocity generated by the second gear stage is in the opposite direction to the first angular velocity generated by the first gear stage, so as to form a high gear ratio transmission. Further, the second angular velocity is less than twice the first angular velocity, whereby the angular velocity obtained at the output of the transmission is smaller in magnitude than the angular velocity of the first gear stage.

[0509] The second angular velocity can also be made larger than the first angular velocity, thereby causing a reversal of the direction of rotation, and thus at this time the output is generated in the same direction as the drive. The reversal of the direction of rotation can be advantageous, for example, for the generator mode of a hybrid vehicle or for superimposing the rotational movements of the drive and the output.

[0510] During operation, the eccentric disk rotates by a motor, for example an electric motor. This rotational movement is converted by ball bearings into the eccentric movement of the two-part pin ring. As a result, the teeth of the two-part pin ring are guided over the external teeth of the two outer gears or drawn into the external teeth.

[0511] This generates the rotational movement of the pin ring with respect to the fixed outer gear and the rotational movement of the movable outer gear with respect to the pin ring, which become the output rotational movement.

[0512] The two-stage reduction gear can also be composed of an oval transmitter, a deformable ball bearing, and a deformable two-part pin ring. In this case, internal teeth different from those shown in FIGS. 89 to 93 are preferably used. For example, the shape of the tooth part of the tension shaft transmission shown in FIGS. 83 to 87 may be used.

[0513] In particular, the two-stage reduction gear can be operated in the opposite direction and used for speed increase transmission. For example, a high gear ratio can be useful for a streak camera equipped with a rotating mirror that can rotate thousands of times per second.

[0514] The two-stage transmission gear with an output outer gear can also be used in a cycloid gear. In this case, the output pulley with carrier pins is removed. Instead, at least one internal gear is configured as a split internal gear having two different tooth parts, and the internal teeth of the rotatable outer gear are arranged to face the second of these two tooth parts.

[0515] The following description of FIGS. 94 to 118 discloses the tooth parts of the internal and external gears that can be used in the transmission of this specification, particularly in a harmonic pin ring transmission.

[0516] In particular, this specification discloses a harmonic pin ring transmission with an eccentric disk, also called an "HPD-E transmission". This HPD-E transmission includes a first gear having a first tooth part, a second gear having a second tooth part, and a pin ring having a rounded engagement region.

[0517] The pin ring can be formed by a flexible pin retaining ring into which cylindrical pins are inserted. This can also be made as a single part. In this case, the single part pin ring has an annular part from which pin-shaped extension parts protrude laterally in the axial direction.

[0518] In particular, when a third gear is provided as a support gear and when the pin or pin-shaped extension is connected to the annular part or the flexible pin retaining ring in such a way that it cannot rotate, the pin or pin-shaped extension on the side of the support gear can be configured on only one side as a rounded engagement area.

[0519] For example, in a configuration having an outer gear and an inner gear, a second outer gear may be provided as a support gear concentrically aligned with the first outer gear, where the radius and the tooth part of the second outer gear coincide with those of the first outer gear, and further, the tooth part of the second outer gear is aligned with the tooth part of the first outer gear such that the tops of the teeth are aligned in the axial direction.

[0520] In a further embodiment, the pin ring is formed as a single part and has internal and external teeth with rounded tooth tops.

[0521] The rounded engagement area of the pin ring comprises a part of a circular cross-section and can generally be formed by the pins of the pin ring, the pin-shaped extensions of the pin ring, or the circular tooth tops of the pin ring. The part of the circular cross-section is preferably invariant along the axial direction of the transmission. In particular, the part of the circular cross-section can take the shape of a semi-circle or a complete circle.

[0522] Furthermore, the HPD-E transmission comprises a rotary transmitter for pulling the engagement area of the pin ring into the first tooth part of the first gear and the second tooth part of the second gear. In this case, the first gear, the rotary transmitter and the second gear are arranged concentrically with each other, and the rotary transmitter is arranged radially inside the pin ring.

[0523] The pin ring is arranged between the first gear and the second gear. It should be understood that, as in the case of a configuration having an inner gear and an outer gear, when the first gear and the second gear are in the same plane perpendicular to the axis, the configuration between the first gear and the second gear means that the rounded engagement area, the pin or the pin-shaped extension is arranged radially in at least a part between the first gear and the second gear.

[0524] In the case of a configuration having two outer gears, one of the outer gears being driven and the other outer gear being fixedly connected to the housing, when the first gear and the second gear are in different axis-perpendicular planes, it should be understood that the configuration between the first gear and the second gear means that a pin-retaining ring, or a part of a pin ring corresponding to the pin-retaining ring, is arranged axially between the first gear and the second gear.

[0525] The rotary transmitter includes a transmitter disk or a cam disk arranged eccentrically with respect to the transmission center axis, and the disk can be configured particularly as a circular disk. Here, an annular structure such as a ring attached to the shaft of the rotary transmitter via a support column is also regarded as a disk. During operation, the rotary transmitter deforms the pin ring, whereby the outer gear and the inner gear rotate relative to each other.

[0526] The first tooth portion of the first gear and the second tooth portion of the second gear are each formed according to the epicyclic construction method, which will be described in more detail below with respect to an inner gear or an outer gear according to the epicyclic construction method.

[0527] According to the epicyclic construction method, the position on each tooth surface of the first tooth portion or the second tooth portion is determined by the radial distance from the transmission center axis as a function of the periodic angle.

[0528] And the radial distance is determined by an equidistant line with respect to the gear orbit, where the position on the gear orbit is determined by the vector sum of the periodic vector and the epicyclic vector respectively. In this case, the rear end of the periodic vector is at the transmission center axis, and the rear end of the epicyclic vector is at the tip of the periodic vector.

[0529] Furthermore, the epicyclic angle of the epicyclic vector is n times the periodic angle, and the length of the periodic vector is longer than the length of the epicyclic vector, where n is the number of rounded engagement regions of the harmonic pin ring transmission and is at least 3.

[0530] This contour shape can also be summarized by the following formula, where the positive sign refers to the tooth portion of the inner gear and the negative sign refers to the tooth portion of the outer gear. [Number]

[0531] Depending on the design of the pin ring, the rounded engagement region described above refers to the rounded tooth tips of the pins, pin-shaped extensions, or teeth of the pin ring.

[0532] In one embodiment, the first gear is an inner gear with external teeth, and the second gear is an outer gear with internal teeth. Accordingly, the first tooth portion is the external teeth of the inner gear, and the second tooth portion is the internal teeth of the outer gear. In this embodiment, the inner gear is disposed radially inward of the outer gear.

[0533] In the external teeth of the inner gear, the pitch circle angle is measured in the same direction as the periodic angle, and the equidistant line is the inner equidistant line. In contrast, in the internal teeth of the outer gear, the pitch circle angle is measured in the direction opposite to the periodic angle, and the equidistant line is the outer equidistant line. Such a tooth portion configuration will be described in more detail below for each of the inner gear and the outer gear.

[0534] In a further exemplary embodiment of the HPD-E transmission, the first gear and the second gear are each an outer gear with internal teeth. Accordingly, the first tooth portion is formed by the internal teeth of the first outer gear, and the second tooth portion is formed by the internal teeth of the second outer gear.

[0535] In the internal teeth of the two outer gears, the pitch circle angle is measured in the direction opposite to the periodic angle, and the equidistant line is the outer equidistant line.

[0536] In particular, the equidistant line of each of the first tooth part or the second tooth part can be an equidistant line at a distance equal to the sum of the radius of the rounded engagement area and the correction value, and the correction value depends on the backlash. In the case of a cylindrical pin, the radius of the rounded engagement area is equal to the pin radius of the pin. In the case of a pin that is generally cylindrical, the radius corresponds to the radius of the rounded engagement area of the pin. The correction value is zero or more, and can particularly be zero. When the correction value is greater than zero, the correction coefficient corresponds to a ratio of the radius of the rounded engagement area, for example, 5% or 10%.

[0537] In one embodiment, the harmonic pin ring transmission may include a rolling bearing, which abuts against the transmitter disk, where the periodic radius is equal to half of the diameter of the rolling bearing. In another embodiment, the rounded engagement area of the pin ring abuts directly against the transmitter disk, and the periodic radius is equal to half of the diameter of the transmitter disk. In this case, the transmitter disk can be rotatably installed inside.

[0538] In particular, the epicyclic circle can be made equal to half of the eccentric offset by which the transmitter disk is offset with respect to the transmission central axis.

[0539] Regarding the HPD-E transmission, different combinations of drive and output are possible. These options are available for both the HPD-E transmission and the HPD-F transmission. The drive shaft can particularly be configured as the rotor of an electric motor.

[0540] In particular, the drive shaft can be connected to a rotary transmitter. In this case, the output shaft may be connected to the first gear, the second gear, or the pin ring. When the output shaft is connected to the first gear or the second gear, the other gear is usually fixed to the housing or connected to the transmission housing.

[0541] When receiving the output torque from the pin, this can be implemented, for example, by a can-shaped component having an opening for inserting the pin. And this can-shaped or cylindrical component can be installed in the transmission housing for stabilization. In this case, usually an outer gear or an inner gear moves along the pin ring, while the other gear is fixed to the transmission housing. Also in this case, the gear that only moves together with the pin ring can be omitted.

[0542] Furthermore, this specification discloses an inner gear for an "HPD-E transmission" having a single eccentricity and provided with a pin ring having a rounded engagement region. The inner gear has external teeth, and the geometric positions of the tooth surfaces of the external teeth are each determined by the radial distance from the central axis of the inner gear as a function of the periodic angle α (= symbol α).

[0543] That radial distance is determined by the inner equidistant line with respect to the gear orbit. The geometric positions in the gear orbit are each determined by the vector sum of the periodic vector and the epicyclic vector. In this case, the rear end of the periodic vector is on the central axis of the outer gear, and the rear end of the epicyclic vector is at the tip of the periodic vector. Furthermore, the periodic vector and one or more epicyclic vectors are located in a common plane perpendicular to the central axis.

[0544] The periodic angle and the epicyclic angle of the epicyclic vector are determined with respect to a reference line passing through the central axis of the inner gear and perpendicular to the central axis of the inner gear. This also applies to the periodic angle and the epicyclic angle mentioned below, and they are determined with respect to a reference line perpendicular to the central axis of each gear and extending through the central axis of each gear. In the state where the gear or the inner or outer gear is installed, this central axis coincides with the transmission central axis.

[0545] The circumferential angle of the circumferential circle vector is n times larger than the periodic angle, where the circumferential angle is measured in the same direction as the periodic angle, and where n is the number of pins of the harmonic pin ring transmission and is greater than 2. The number of teeth Z_inner of the inner gear is at least 2 and preferably 1 less than the number of pins. Thus, based on the number of teeth of the inner gear, the circumferential angle is (Z_inner + 1) times larger than the periodic angle, where Z_inner is at least 2.

[0546] The length of the periodic vector is longer than the length of the circumferential circle vector. In particular, the radius or length of the vector sum may be selected so that the gear track does not reverse, i.e., does not self-intersect.

[0547] Such a contour shape of the tooth portion of the inner gear can also be summarized by the following formula.

Number

[0548] Furthermore, this specification discloses an outer gear for a harmonic pin ring transmission with a single eccentricity, where the pins preferably have a circular cross-section. The outer wheel has internal teeth, and the geometric positions of the tooth surfaces of its internal teeth are each determined by the radial distance from the central axis of the outer gear as a function of the periodic angle α.

[0549] The radial distance is determined by the outer equidistant line with respect to the gear track. The terms "inner equidistant line" and "outer equidistant line" are understood with respect to the distance from the central axis of the gear.

[0550] The geometric positions on the gear track are each determined by the vector sum of the periodic vector and the circumferential circle vector, where the rear end of the periodic vector is on the central axis of the outer gear and the rear end of the circumferential circle vector is at the tip of the periodic vector.

[0551] Furthermore, the revolution circle angle of the revolution circle vector is n times larger than the period angle, where the revolution circle angle is measured in the direction opposite to the period angle, and where n is the number of pins of the harmonic pin ring transmission and is greater than 2. The number of teeth Z_outer of the outer gear is preferably 1 more than the number of pins. Thus, based on the number of teeth Z_outer of the outer gear, the revolution circle angle is (Z_outer - 1) times larger than the period angle, where Z_outer is at least 4.

[0552] The length of the period vector is longer than the length of the revolution circle vector. In particular, the lengths of these vectors, or the ratio of the lengths of the vectors, can be selected so that the gear paths do not cross themselves.

[0553] In the revolution circle construction, the length of the period vector determines the average distance from the central axis to the tooth part, i.e., the pitch circle, while the length of one or more revolution circle vectors determines the tooth height.

[0554] Preferably, the tooth shape, i.e., the radial distance from the central axis of the gear, is independent of the position on the central axis in the axial direction. When pins are provided, the cross-section of the pin is preferably independent of the position on the longitudinal axis of the pin. The cross-section of the pin is preferably circular, but it may have a shape other than circular. For example, the pin may have a diameter slightly larger in the circumferential direction of the pin ring than in the direction perpendicular to its circumferential direction. Thus, the cross-section of the rounded engagement region is preferably independent of the axial position.

[0555] Such a contour shape of the tooth part of the outer gear can also be summarized by the following formula.

Number

[0556] In another aspect, an oval transmitter or an inner gear for a harmonic pin ring transmission with two eccentricities is disclosed, where the oval is also called an egg-shaped design and has, for example, an elliptical shape. This transmission is also called an "HPD-F transmission".

[0557] The inner gear has external teeth, and the tooth surface of the external teeth is determined by the radial distance from the central axis of the outer gear as a function of the periodic angle α. And the radial distance from the central axis is determined by the inner equidistant line with respect to the gear orbit.

[0558] The geometric position in the gear orbit is determined by the vector sum of the periodic vector, the first circumferential vector and the second circumferential vector. The rear end of the periodic vector is on the central axis of the inner gear, the rear end of the first circumferential vector is at the tip of the periodic vector, and the rear end of the second circumferential vector is at the tip of the first circumferential vector.

[0559] In the design with these two circumferences, the first circumferential vector is also called the primary circumferential vector, and the second circumferential vector is also called the secondary circumferential vector. Therefore, the related circumferences are also called the primary or secondary circumferences respectively. In the design with only one circumference, only the primary circumference exists accordingly.

[0560] Furthermore, the circumferential angle of the first circumferential vector is (n - 1) times larger than the periodic angle, and the circumferential angle of the second circumferential vector is (n - 3) times larger than the periodic angle. Here, n is the number of pins of the harmonic pin ring transmission, which is larger than 2, that is, at least 3. The first circumferential angle is measured in the same direction as the periodic angle, and the second circumferential angle is measured in the direction opposite to the periodic angle. The inner gear has at least two teeth, preferably two teeth less than the number of pins.

[0561] Therefore, based on the number of teeth Z_inner of the inner gear, the first circumferential angle is (Z_inner + 2 - 1)=(Z_inner + 1) times larger than the periodic angle, and the second circumferential angle is (Z_inner + 2 - 3)=(Z_inner - 1) times larger than the periodic angle, where Z_inner is at least 2.

[0562] Here, the length of the periodic vector is longer than the sum of the lengths of the first revolving circular vector and the second revolving circular vector, and the length of the first revolving circular vector is longer than the length of the second revolving circular vector. In particular, the ratio of lengths or the ratio of radii is selected so that the gear track does not self-intersect.

[0563] Furthermore, this specification discloses an outer gear for an oval eccentric or a harmonic pin ring transmission with two eccentrics, or for an HPD-F transmission. The outer gear has internal teeth, and the geometric positions on the tooth surfaces of the internal teeth are each determined by the radial distance from the central axis of the outer gear as a function of the periodic angle α.

[0564] And the radial distance is defined by the outer equidistant line with respect to the gear track, and the geometric positions on the gear track are each determined by the vector sum of the periodic vector, the first revolving circular vector, and the second revolving circular vector.

[0565] The rear end of the periodic vector is on the central axis, the rear end of the first revolving circular vector is at the front end of the periodic vector, and the rear end of the second revolving circular vector is at the front end of the first revolving circular vector.

[0566] Furthermore, the revolving circular angle of the first revolving circular vector is (n + 1) times larger than the periodic angle, and the revolving circular angle of the second revolving circular vector is (n + 3) times larger than the periodic angle. Here, n is the number of pins of the harmonic pin ring transmission and is larger than 3, that is, at least 4.

[0567] Preferably, the number of teeth Z_outer of the outer gear is 2 more than the number of pins. Therefore, based on the number of teeth Z_outer of the outer gear, the first revolving circular angle is (Z_outer - 2 + 1) = (Z_outer - 1) times larger than the periodic angle, and the second revolving circular angle is (Z_outer - 2 + 3) = (Z_outer + 1) times larger than the periodic angle, where Z_outer is at least 2 + 2 + 2 = 6 in order to express this relationship using the minimum number.

[0568] The first revolution circle angle is measured in the direction opposite to the periodic angle, and the second revolution circle angle is measured in the same direction as the periodic angle. Further, the length of the periodic vector is longer than the sum of the lengths of the first revolution circle vector and the second revolution circle vector, and the length of the first revolution circle vector is longer than the length of the second revolution circle vector. Preferably, the ratio of these lengths or the ratio of the radii is selected such that the gear track does not self-intersect.

[0569] Furthermore, this specification discloses a harmonic pin ring transmission including an inner gear having external teeth as described above with respect to the HPD-F transmission, and an outer gear having internal teeth as described above with respect to the HPD-F transmission.

[0570] Furthermore, this transmission includes a pin ring having a rounded engagement region. In particular, this rounded engagement region is preferably formed by pins or pin-shaped extensions having a circular cross-section. A rotary transmitter is provided to draw the rounded engagement region of the pin ring into the internal teeth of the outer gear and the external teeth of the inner gear. The inner gear, the rotary transmitter, and the outer gear are arranged concentrically with each other, and the rotary transmitter is arranged radially inside the pin ring.

[0571] The pin ring, or the rounded engagement region of the pin ring, the pins or the pin-shaped extensions are arranged radially between the inner gear and the outer gear. The rotary transmitter includes an oval cam disk or two eccentrics. During operation, the cam disk or the two eccentrics deform the pin ring, whereby the outer gear and the inner gear rotate relative to each other.

[0572] In a configuration having one pair of an inner gear and an outer gear, the inner gear and the outer gear are arranged in a first plane perpendicular to the axis. The portion of the pin ring corresponding to the pin holding ring and contacting the rotary transmitter is arranged in a second plane perpendicular to the axis. Advantageously, a further outer gear is provided in a third plane perpendicular to the axis to support the pin ring, and this second outer gear has substantially the same dimensions and the same tooth shape as the first outer gear, and the tooth portions are aligned with the tooth portions of the first outer gear. The second plane perpendicular to the axis is between the first plane perpendicular to the axis and the third plane perpendicular to the axis. These designs are applicable to both the HPD-E transmission and the HPD-F transmission.

[0573] In another embodiment, the present specification discloses a harmonic pin ring transmission including a first outer gear having internal teeth described above with respect to the HPD-F transmission and a second outer gear having internal teeth described above with respect to the HPD-F transmission.

[0574] Furthermore, this harmonic pin ring transmission includes a pin ring having a rounded engagement region and a rotary transmitter for drawing the rounded engagement region of the pin ring into the internal teeth of the first outer gear and the internal teeth of the second outer gear.

[0575] In this transmission, the rotary transmitter, the first outer gear, and the second outer gear are arranged concentrically with each other, and the rotary transmitter is arranged radially inside the pin ring. Different from the above-described pair of the inner gear and the outer gear, the first outer gear and the second outer gear are in different planes perpendicular to the axis, and the central portion corresponding to the pin ring or the pin holding ring of the pin ring is arranged axially between the first outer gear and the second outer gear.

[0576] Similar to the HPD-E transmission, the HPD-F transmission also has various options for connecting the drive shaft and the output shaft.

[0577] In particular, the drive shaft may be connected to the rotary transmitter. In this case, the output shaft may be connected to the pin ring. Further, in a configuration using one pair of the inner gear and the outer gear, the output shaft may be connected to the inner gear or the outer gear.

[0578] Similar to the above-described HPD-E transmission, there are various possibilities for connecting the drive shaft and the output shaft to the above-described HPD-F transmission, and the drive shaft can be configured particularly as the rotor of an electric motor.

[0579] In a configuration having two outer gears, in particular, one of these outer gears can be driven and the other can be fixed to the housing. For this purpose, the output shaft may be connected to the output outer gear. In a configuration of two outer gears, it is not necessary to face the inner gear radially to the outer gear. The non-driven gear is preferably connected to or fixed to the housing.

[0580] In a configuration having two outer gears, the second outer gear serves to receive the rotational movement from the pin ring. In this case, the number of teeth of the second outer gear may correspond to the number of rounded engagement regions of the pin ring in order to ensure better engagement. In this case, since the number of teeth of the first outer gear is more than the number of pins or rounded engagement regions of the pin ring, the pin ring is slightly twisted.

[0581] In both a configuration having two outer gears and a configuration having one pair of an inner gear and an outer gear and a further outer gear, it is advantageous to use a pin ring having a central region and in which the pins, pin-shaped extensions or rounded engagement regions of the pin ring project axially at two opposite sides. In particular, when the pin ring is made of a single piece, the rounded engagement regions can, however, also extend continuously from one side to the other.

[0582] Each equidistant line of the epicyclic construction method may be an equidistant line at a distance equal to the sum of the radius of the rounded engagement area and the correction value, and this correction value is determined by backlash. In this case, the rounded engagement area can also be formed by a pin or a pin-shaped extension, in particular.

[0583] In one embodiment, the rotary transmitter of the harmonic pin ring transmission described above includes an oval cam disk and a flexible rolling bearing, where "oval" particularly includes "oval-like". The oval-like shape is, for example, a circle overlaid with a sine curve obtained by Taylor expansion of an ellipse equation.

[0584] The flexible rolling bearing abuts against the oval cam disk. The periodic radius for each epicyclic construction method of the tooth shape is equal to the sum of half the diameter of the flexible rolling bearing and the correction coefficient. The diameter of the flexible rolling bearing corresponds to the reference circle diameter in the undeformed state of the pin ring or the pin configuration formed by the pin ring.

[0585] In a further embodiment, the harmonic pin ring transmission includes a first circular disk arranged eccentrically with respect to the transmission central axis and a second circular disk arranged eccentrically with respect to the transmission central axis. In this transmission, the periodic radius is equal to the sum of the average radius of the envelope of the two eccentrically arranged circular disks and the correction coefficient. The envelope is a curve formed by the inner circumference of the traction means when the traction means such as a pin ring is held on the circular disk.

[0586] In another embodiment, the radius of the first epicycle is less than or equal to the sum of half the stroke of the pin ring and a second correction coefficient, and this second correction coefficient is less than or equal to zero. The stroke of the pin is determined by the difference between the maximum radius and the minimum radius of the flexible rolling bearing in the deformed state. In particular, the radius of the first epicycle can be made greater than 1 / 4 of the stroke of the pin ring and can in particular be made equal to 3 / 8 of the stroke of the pin.

[0587] The stroke of the pin ring is the stroke of the rounded engagement area of the pin ring, i.e., the distance that the rounded engagement area moves radially when the pin ring is deformed by the rotary transmitter.

[0588] In a further embodiment, the length of the second circumferential vector is about 1 / 3 of the length of the first circumferential vector, where "about" can particularly mean a range of plus or minus 10% or 5%.

[0589] The tolerances of the transmission in this specification correspond to normal technical tolerances such as DIN7168T1 or T2 for length and angle, or DIN3961 or DIN3976 for the accuracy of the tooth parts between the pins and teeth.

[0590] Using the tolerances calculated according to a given standard, it is possible to determine, in particular, whether a given tooth part conforms to the tooth part according to this specification within the tolerances. For this purpose, it is possible to use a normalized photograph of the shape of the gear, or a gear measuring machine such as a tooth surface testing device that mechanically or optically scans the surface of the gear.

[0591] The tolerances can be particularly related to the tooth thickness or the center distance. The corresponding fitting method is also called the "unit center distance" or "unit tooth thickness" fitting method. For example, the measured tooth profile can be considered to match the given tooth profile according to this specification if the distance from the tooth surface does not exceed 5% or 1% of the given tooth thickness.

[0592] The above distance can be measured, for example, perpendicular to the tooth surface or as the distance in the direction of the central axis of the gear. Compliance with the tolerances can also apply in a static sense, such as a 90% probability when using a standard probability distribution such as a Gaussian curve. This can also be considered as model-independent in that only a given percentage, for example 90%, of a plurality of measurement points need to be within the tolerance limits. Therefore, it is assumed that a sufficient number of measurement points are distributed sufficiently uniformly over the entire tooth surface to approximately detect the tooth profile.

[0593] With reference to FIGS. 94 to 118, the tooth portion will be described in more detail below.

[0594] FIGS. 94 and 95 show, by way of example, two types of harmonic pin ring speed changers, and the corresponding tooth shapes thereof are disclosed in this specification.

[0595] FIG. 94 shows a harmonic pin ring speed changer (HPRD-F) 510 including a cam disk and a deformable bearing in contact therewith. The HPRD 510 includes a rotor 513, which is supported by a speed changer housing via a ball bearing (not shown here). An outer ring or outer gear 508 disposed concentrically outside the rotor 513 includes a first outer gear tooth portion or outer tooth portion 506 formed as an inner tooth on a first side.

[0596] The outer ring 508 is attached to a cylindrical housing portion 509. When the outer ring is driven, this housing portion is rotatably installed in the speed changer housing. A second outer gear tooth portion or outer tooth portion 506' formed as an inner tooth is formed on a second outer ring 508', and this second outer ring 508' is inserted into the cylindrical housing portion 509 on the opposite side of the first side.

[0597] A first inner gear tooth portion or inner tooth portion 505 formed as an outer tooth is formed on the outer periphery of an inner ring or inner gear 507 and is disposed concentrically within the first outer tooth portion 506. Similarly, a second inner gear tooth portion or inner tooth portion 505' formed as an outer tooth is formed on the outer periphery of a second inner ring 507' and is disposed concentrically within the second outer tooth portion 506'.

[0598] The inner tooth portions 505, 505' and the outer tooth portions 506, 506' are arranged concentrically with respect to the transmission central axis, and the inner tooth portions 505, 505' are rotatable about the transmission central axis. In other embodiments, depending on which tooth portion is used for output or drive, the outer tooth portions 506, 506', or the outer and inner tooth portions can be made rotatable about the transmission central axis, or the inner tooth portions can be attached to the transmission housing.

[0599] The flexible thin-walled ball bearing 502 is attached to a specially formed flange 504 of the rotor shaft 513. The flange 504 forms a transmitter and may be formed, for example, in an oval, oval-like, or circular shape with a sine curve superimposed. Instead of the flange 504 formed on the rotor shaft 513, a disk or ring formed to correspond thereto may be provided on the motor shaft.

[0600] Instead of the cam disk and the flexible bearing attached thereto, the transmitter of the transmission type of FIG. 94 may have so-called two eccentricities, which are formed by two circular disks arranged eccentrically with respect to the transmission central axis. These circular disks can be installed rotatably about their respective symmetry axes, and a pin ring is attached to the circular disks. Alternatively, a flexible rolling bearing may be installed on the circular disk attached to the transmitter that rotates the circular disk, where the pin ring abuts against the rolling bearing.

[0601] The flexible pin retaining ring 503 is arranged between the flexible thin-walled ball bearing 502 and the outer tooth portions 506, 506'. On the inner side, the flexible pin retaining ring 503 has grooves for receiving pins 501 arranged at equal intervals in the pin retaining ring 503. The pins are formed in a cylindrical shape and have a circular cross-section.

[0602] The pin retaining ring 503 is made flexible so that it can deform according to the angular position of the flange 504. Due to its rigidity, the pin ring formed by the pin retaining ring 503 and the pin 501 functions as both a pulling means for pulling out the output transmission part and a pressure means for pushing the output transmission part.

[0603] Figure 95 shows a three-row configuration in which a first pair of an inner gear 507 and an outer gear 508 lies in a first plane perpendicular to the axis, a second pair of an inner gear 507' and an outer gear 508' lies in a second plane perpendicular to the axis, and the transmitter lies in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis.

[0604] Similarly, a 2.5-row configuration having one pair of an inner gear and an outer gear and another outer gear is possible. This is particularly advantageous in the case of the driven inner gear. This is because the output of the second inner gear generally cannot be led outward. In this case, in the three-row configuration, the second inner gear operates only to support the pins.

[0605] For reasons of stability, it is advantageous for the pin ring to be supported both inwardly and outwardly. However, for both the HPD-F transmission and the HPD-E transmission, a configuration having only two outer gears or only two inner gears arranged concentrically with respect to the transmission central axis is also possible, where one gear is fixed to the transmission housing and the other gear is rotatable. In these configurations, the pin ring is axially arranged between the two inner gears or between the two outer gears, and the pins engage with the respective inner gears or outer gears.

[0606] FIG. 95 shows an exploded perspective view of a harmonic pin ring transmission 510' with a single eccentric disk, also simply referred to as the "HPD-E" transmission. Components similar to those in FIG. 94 have the same reference numerals or reference numerals with an apostrophe " ' ". The HPD-E transmission 510' in FIG. 95 has a particularly simple design, where the inner gear has only two teeth and the outer gear has only four teeth. Generally, in this type of transmission, the outer gear always has two more teeth than the inner gear.

[0607] In the transmission of FIG. 95, the two-tooth inner gear 505 is concentrically arranged within the first four-tooth outer gear 506' and concentric with the transmission central axis 515 in a first plane perpendicular to the axis. A second outer gear 506, which is essentially identical to the first outer gear 506', is arranged concentric with the transmission central axis 515 in a second plane perpendicular to the axis. In a third plane perpendicular to the axis that is between the first and second planes perpendicular to the axis, a disk 514 eccentrically arranged with respect to the transmission central axis and a pin retaining ring 503 are arranged. The eccentrically arranged disk 514 is arranged on a shaft (not shown here), and the shaft can be, for example, the rotor shaft of a motor.

[0608] The pin retaining ring 503 has three semi-circular recesses 516, which are arranged equidistantly on the inner circumference of the pin retaining ring 503. Three pins 501 project axially from two opposite sides of the pin retaining ring 503 for engaging with the outer gear teeth 506, 506' and the inner gear teeth, and are arranged within the semi-circular recesses 516 such that each projects into the first and second planes perpendicular to the axis.

[0609] In a harmonic pin transmission with a single eccentricity, the outer gear has two more teeth than the inner gear, and the number of pins is the arithmetic mean of the number of teeth. In the simplest case, this results in a transmission using a two-tooth inner gear, three pins, and a four-tooth outer gear as shown in FIG. 95. In principle, the difference in the number of teeth can be a multiple of two, but the smaller the difference in the number of teeth, the greater the reduction and the better the torque assistance obtained.

[0610] A harmonic pin transmission with a single eccentricity, in which the pin ring is pressed only at the position of one tooth of the tooth part of the outer gear, is also referred to as an "HPD-E transmission" hereinafter. In a broad sense, this term also means a harmonic pin transmission having a plurality of outer gears in which only one such tooth position can be utilized per outer gear. In particular, this applies when a common eccentricity is provided for two or more outer gears, as in the embodiment of FIG. 2.

[0611] Figs. 96 to 99 show the rolling circle construction method for generating the tooth shape according to the present specification. Fig. 96 shows the inner gear tooth part of the HPD-E transmission, Fig. 97 shows the outer gear tooth part of the HPD-E transmission, Fig. 98 shows the inner gear tooth part of the HPD-F transmission, and Fig. 99 shows the outer gear tooth part of the HPD-F transmission. These rolling circle construction methods will be described in more detail below.

[0612] In Figs. 96 to 99, the cross section of the pin is represented by a circle 520, and the position vector of the gear track is indicated by reference numeral 521. The circular pin cross section has its center at the position vector 521. The periodic vector and the rolling circle vector, or the periodic vector and two rolling circle vectors, are rotated by an angle α according to the angle display in Figs. 96 to 99, and the pin cross section 520 specifies two envelopes, which define the inner and outer equidistant lines with respect to the gear track, and determine the inner gear tooth part and the outer gear tooth part of the transmission, respectively. In the angle display, "n" indicates the number of pins.

[0613] According to the present specification, the gear track is generated by the rolling circle construction method, and from this gear track, the shape of each tooth of the HPD-E transmission is obtained as an envelope or an equidistant line of the circular pin.

[0614] The gear orbit of the inner gear toothing of the HPD-E transmission is obtained from the fact that the radius of the period rotates 360° around the transmission shaft, while the radius of the epicycle rotates in the same direction, by n×360° relative to the reference frame of the transmission shaft, where n is the number of pins. On the other hand, for the connecting line from the origin to the epicycle center, the radius of the epicycle rotates (n-1)×360°, where n-1 is the number of inner gear teeth. The n-1 revolutions of the radius of the epicycle result in n-1 local maxima and n-1 local minima at all radii, which correspond to the teeth and to the recesses between the teeth or to the root surfaces.

[0615] Here, the radius of the period r_1 is equal to the sum of the radius of the bearing on which the pin abuts and the radius of the pin. This radius is also called the "primary radius". The radius of the epicycle r_2 is equal to half the radius of the pin. The tip of the epicycle describes the orbit of the pin. The inner epicycle arises as an equidistant line to the orbit of the pin at a distance caused by the sum of the pin radius and the bearing clearance. This inner epicycle is equal to the tooth shape of the internal gear toothing.

[0616] The tooth profile of the outer gear toothing of the HPD-E transmission is obtained from a similar construction, whereby the radius of the period rotates 360° around the transmission axis, while the radius of the epicycle rotates n×360° in the opposite direction. On the other hand, for a connecting line from the origin to the epicycle center, the radius of the epicycle rotates (n+1)×360°, where n+1 is the number of teeth of the inner gear. The n+1 revolutions of the radius of the epicycle result in n+1 local maxima and n+1 local minima at all radii, which correspond to the teeth and to the recesses between the teeth or to the root surfaces.

[0617] Expressed as a formula, the gear trajectory of the HPD-E transmission is:

number

number

[0618] This is the parametric representation of the gear orbit using the parameter α. Since the normal line of the orbit is perpendicular to the tangent line, the equidistant line at the distance d can be obtained from the parametric representation by the following equations (2a) and (2b). [Number] Here, when the angle is in the counterclockwise direction, the upper sign is applied to the gear orbit of the external teeth, and the lower sign is applied to the gear orbit of the internal teeth. Here, the signs x' or y' mean the respective derivatives with respect to the angle.

[0619] In the specific case of the HPD-E transmission, this results in the following. [Number]

[0620] The following boundary conditions are applied to the HPD-E transmission. [Number] Here, h(D1, r1) is the outer peripheral length of the pin ring.

[0621] For example, for a certain HPD-E transmission, specifically, the values in Table 1 below can be given. [Table 1]

[0622] From the first four values n, tkpin, dpin, and Exver, the derived values in Table 2 below can be obtained. [Table 2]

[0623] Similar to what was shown above for the HPD transmission with eccentricity, for the HPD transmission having an oval cam disk and a deformable bearing, the tooth shape can be obtained by the epicyclic construction method, specifically by using the primary and secondary epicycles. Such a transmission is also referred to as an "HPD-F" transmission for the sake of brevity.

[0624] Regarding the internal teeth of the HPD-F transmission, the gear orbit is obtained as the superposition of a period having a radius r_1, a primary epicycle having a radius r_2, and a secondary epicycle having a radius r_3. Here, the primary epicycle rotates (n - 1) times faster than the period in the same direction, and the secondary epicycle rotates (n - 3) times faster than the period in the opposite direction.

Number

[0625] As the superposition of these three motions, the gear orbit of the inner tooth part of the HPD-F transmission is

Number

Number

[0626] Regarding the simplest case using two inner wheels, four pins, and six outer teeth, the gear orbit of the inner tooth part results in the following.

Number

[0627] Regarding the values of r_1, r_2, and r_3, in particular, the following values can be used. r_1 can correspond to half of the diameter of the reference circle of the non-deformed pin configuration, r_2 can correspond to 3 / 8 of the stroke of the pin, and r_3 can correspond to 1 / 3 of the radius r_2. The stroke of the pin is also given by the difference between the maximum radius and the minimum radius of the cam disk.

[0628] In another embodiment, a correction term determined by parameters a and b is inserted. According to this correction, the radius r_1 is replaced with the effective radius r_1+(a + b) / 2, and the radius r_2 is replaced with the effective radius r_2-(b - a) / 2. Considering this correction,

Equation

[0629] Similar to the case of the above-mentioned HPD-E transmission, the tooth shape is generated as an equidistant line with respect to the gear orbit at the distance of the pin radius, and a positive correction coefficient may be added to consider backlash.

[0630] Therefore, the external teeth are obtained as a superposition of a period having a radius r_1, a primary epicycloid having a radius r_2, and a secondary epicycloid having a radius r_3. Here, the primary epicycloid rotates (n + 1) times faster than the period in the opposite direction, and the secondary epicycloid rotates (n + 3) times faster than the period in the same direction.

[0631] Thus, the following equation is obtained regarding the gear orbit of the external teeth of the HPD-F transmission.

Equation

[0632] Accordingly, the above-mentioned correction term is also applied to the gear orbit of the external teeth, and the following equation is obtained thereby.

Equation

[0633] The following conditions are applied to the ratio of the epicycloid radius to the pin radius and the ratio of the epicycloid orbit of the primary epicycloid to the pin diameter.

Equation

[0634] Therefore, r_2 is always greater than half of the pin radius, and f is always greater than n times the pin diameter, which is the lower limit regarding the circumference of the pin ring.

[0635] For example, regarding a certain HPD-F transmission, specifically, the values in Table 3 below can be given.

Table 3

[0636] From the first five values n, tkPnom, dpin, Hub, and aedFl in the above table, the derived values in Table 4 below can be obtained regarding the HPD-F transmission.

Table 4

[0637] The orbit formed by the center of the pins of the HPD-F transmission is derived from a circle superimposed with a sine curve formed by the following two vectors.

Equation

[0638] The orbit of the center point of the pin is obtained by adding the following two vectors.

Equation

[0639] Regarding the HPD-E transmission, the orbit of the center point of the pin is a circle with a radius r1, which is offset by only half of the pin stroke or only the eccentric offset with respect to the transmission central axis 515. Each orbit of the center point of the pin rotates at the speed of the input shaft around the transmission central axis 515 by the driven transmitter. This also results in the orbits of the individual pins, and these pins rotate at the angular velocity of the output transmission part around this rotational orbit.

[0640] Figures 100 to 103 show the generation of gear tracks and equidistant lines with respect to the gear teeth of the inner gear of the HPD-E transmission having the teeth of two inner gears and the teeth of four outer gears. Similarly, Figures 104 to 107 show the generation of gear tracks and equidistant lines with respect to the gear teeth of the outer gear of the HPD-E transmission.

[0641] The tooth surface of the inner gear tooth part is generated by an equidistant line 519 at a distance of half of the pin radius with respect to the gear track 518. In Figures 100 to 103, the cross-section of the pin is represented by a circle 520. Here, the equidistant line means the inner equidistant line close to the transmission center axis 515.

[0642] The position 521 on the gear track 518 is given as the sum or superposition of the periodic vector and the circumferential circle vector, as also shown in Figure 96.

[0643] The tooth surface of the outer gear tooth part is generated by an equidistant line 519 at a distance of half of the pin radius with respect to the gear track 518. In Figures 104 to 107, the cross-section of the pin is represented by a circle 520. Here, the equidistant line means the outer equidistant line far from the transmission center axis 515.

[0644] Figure 108 shows the tooth shapes of the inner and outer gears obtained for the HPD-E transmission having three pins using the parameters in Table 5 below. [Table 5]

[0645] The periodic radius is set to 0.5×(dbearing + dpin) = 35 mm, and the circumferential circle radius is set equal to 5 mm of the eccentric offset Exver.

[0646] Figures 109 to 111 show various views of the HPD-E transmission 510' having three pins, which is shown in a three-dimensional exploded view in Figure 95.

[0647] FIG. 109 shows a plan view of the HPD-E transmission 510' from the side of the eccentric disk 514.

[0648] FIG. 110 shows a cross-sectional view of the HPD-E transmission 510' taken along the cutting line A-A shown in FIG. 109.

[0649] FIG. 111 shows a plan view of the HPD-E transmission 510' from the side of the internal gear 507.

[0650] FIG. 112 shows another tooth shape obtained for the HPD-E transmission having 58 pins with the above-described parameters. Here, the internal gear tooth portion is obtained from the equidistant line 529 with respect to the gear orbit 528 of the internal gear, and the external gear tooth portion is obtained from the equidistant line 529' with respect to the gear orbit 528' of the external gear.

[0651] FIG. 113 shows another tooth shape obtained for the HPD-F transmission having 150 pins with the above-described parameters. For clarity, the related gear orbits are not shown, and only the equidistant lines 529 and 529' that define the tooth shape are shown.

[0652] For illustration purposes, FIG. 112 shows two of the total 58 pins, and FIG. 113 shows three of the total 150 pins. Each center point of the pin 1 is near the intersection of the gear orbit 528 of the internal gear and the gear orbit 528' of the external gear as shown in FIG. 112.

[0653] FIG. 114 shows the gear orbit 528 of the internal gear of the transmission of FIG. 113 and the related equidistant line 529.

[0654] Figure 115 shows the initial profile 525 of the tooth part manufactured by the trochoid construction method without correction, the worn tooth part 527 after 147 hours of operation, and the corrected tooth part 526 whose reduction effect has already been considered by the preparation. During the running-in operation of the transmission, since the torque is transmitted only in one direction, the wear mainly occurred on the right side surface of the teeth. For better illustration, Figure 115 includes additional auxiliary lines, such as the circle at the root or the axis of symmetry of the initial profile 525.

[0655] This preparation can be taken into account by the correction coefficients a and b described above for, for example, the HPD-F transmission. This correction is particularly relevant to the tooth parts of the HPD-F transmission because the tooth parts of the HPD-F transmission have a sharper tooth shape compared to the rounded tooth shape of the HPD-E transmission and change more significantly by being rounded during operation.

[0656] As in the example of Figure 115, stress on only one side of the tooth surface is generally applied in the drive of the vehicle. When there is stress on only one side, the application of asymmetric correction can be useful. In the trochoid construction method, this can be considered by a radius that depends on the angle of one or more trochoids, where the trochoid radius is selected such that when the starting angle is reached, a relatively small radius is obtained for the inner gear tooth part and a relatively large radius is obtained for the outer gear tooth part, and the starting angle is located in front of the center of the tooth in the selected direction of rotation.

[0657] Next, this radius is continuously brought closer to the radius of the initial profile 525 until the end angle is reached, where the end angle can be given, in particular, by the angular position at the base of the tooth. For example, the difference between the trochoid radius of the initial curve and the trochoid radius of the corrected curve can decrease to zero according to a linear function, polynomial, Gaussian curve, exponential function, or angular function.

[0658] For example, in a 2.5 - row transmission having two outer gears and only one inner gear as shown in FIG. 95, a greater force is transmitted to the inner gear than to the outer gears. As a result, a large amount of wear occurs in the inner gear. For this reason, it may be useful to provide correction only for the tooth portion of the inner gear. Further, it may be useful to manufacture the inner gear from a harder material than the two outer gears. For example, the inner gear can be made of steel, and one or more outer gears can be made of plastic. Suitable materials include, for example, chrome - molybdenum steel and polyamide. FIG. 116 shows details of the HPD - F transmission having tooth portions according to the orbiting circle construction shown in FIGS. 98 and 99, and an integrally formed pin ring 530. Different from the embodiment of FIG. 113, the traction means is formed not by the cylindrical pins 501 inserted into the elastic pin - retaining ring 503, but by the integrally formed pin ring 530. This integrally formed pin ring 530 has internal and external teeth, and the tips of these teeth are rounded in the force - transmission region.

[0659] Instead of the pins 501, the integrally formed pin ring 530 has internal and external teeth, the internal and external teeth each having an arcuate outer region or tooth 531 and an arcuate inner region or tooth 532, which are interconnected by a transition region 533.

[0660] The tooth bases 532 of the outer teeth of the pin ring 530 face the teeth 531 of the inner teeth in each case, and the teeth 531 of the inner teeth face the tooth bases 532 of the outer teeth in each case. The number of teeth 531 of the outer and inner teeth corresponds to the number of pins in the embodiment of FIG. 113. Thus, each tooth portion of the pin ring 530 has two more teeth than the inner gear and two fewer teeth than the outer gear.

[0661] The one-piece pin ring 530 is formed from an elastic material such as rubber, plastic or metal, or a composite elastic material. In particular, the pin ring 530 can be formed by milling an annular element. The pin ring 530 may be used in the HPD-E transmission, in which case the number of teeth is 1 greater than the number of teeth of the inner gear and 1 less than the number of teeth of the outer gear.

[0662] Figure 117 shows a tolerance range 535 defined by the inner envelope 533 and the outer envelope 534 of a given tooth profile 536. According to the first measurement method, the tooth profile 537 to be measured is considered to match the given tooth profile 536 if it lies within the envelopes 536, 537 having a distance Δ (delta) from the given tooth profile 536.

[0663] The distance Δ can be made, for example, a fraction of the tooth width s, a fraction of the tooth pitch p, a fraction of the distance r from the central axis of the gear, or an absolutely pre-determined one. In this case, the tooth width s can be measured, for example, at the midpoint between the base and the tip of the tooth, or at the height of the inflection point of the shape curve 536. Depending on the dimensions of the tooth part, the value delta can be made, for example, 0.5 mm, 0.2 mm or 0.08 mm, or, for example, 5%, 1%, 0.5% or 0.2% of the tooth width s.

[0664] According to a further comparison method, the comparison value is determined as, for example, the arithmetic mean value or the root mean square value by the average of the distances to a given shape at a plurality of predetermined measurement points. Depending on the dimensions of the tooth part, a comparison value of, for example, ≤ 0.5 mm, ≤ 0.2 mm or ≤ 0.08 mm can be regarded as a good match with the given shape 536. The distance can be measured, in particular, perpendicular to the given shape curve 536. A further comparison method can be obtained from the above industrial standard.

[0665] In particular, a predetermined tooth profile 536 can be made the tooth profile obtained according to this specification, which is determined in advance, for example, by the above-mentioned formulas (1), (3) or (5). Formulas (1), (3) and (5) describe a series of shape curves, and from that series of shape curves, a shape curve is selected for which the comparison value between the tooth to be measured and the selected shape curve is minimized under given boundary conditions. For example, the boundary conditions are determined from the tooth portion to be measured, and the sum of the radii and the number n can be specified in advance in the argument of the trigonometric function.

[0666] In this approach, further deviations of the tooth portion to be measured compared to a predetermined tooth portion, such as line deviation of the tooth surface, pitch deviation and runout, remain unconsidered. This can be done, inter alia, by comparing only the individual teeth in a given side view or by including such displacements in the deviations to be measured.

[0667] FIG. 118 shows a tolerance range 535' of the tooth profile defined by the displacement of the shape. The outer curve 534' is given by the shape 536 displaced outward by a distance delta in the radial direction, and the inner curve 533' is given by the shape 536 displaced inward by a distance delta in the radial direction.

[0668] Similar to the example of FIG. 117, the tooth profile to be measured can be considered to match a given shape if it is within the tolerance range defined by the outer curve 534' and the inner curve 533' at all measurement points, or statistically, for example, at 95% of all measurement points.

[0669] According to the bearing concept of this specification, which is particularly relevant to the bearings of the rotor shaft, the output element and the output shaft connected thereto, three bearings are provided, in which the above-mentioned components are mounted in the housing. In particular, the output element and the output shaft are configured to be supported inwardly with respect to the rotor shaft and outwardly with respect to the housing by two diagonally opposed bearings.

[0670] Furthermore, if there is a pedal shaft supported by two additional bearings on the rotor shaft, this three-bearing configuration is extended to a five-bearing configuration. In this case, the hollow output shaft connected to the output element forms an outer hollow output shaft, which is connected to a further hollow output shaft via an outer freewheel. Furthermore, the pedal shaft is connected to the hollow output shaft via an inner freewheel, and speed increase transmission can be switched between the pedal shaft and the output shaft by means of, for example, the planetary gear device shown in FIGS. 67 to 76.

[0671] Advantageously, the inner gear and the output shaft can be made as a single part by two interconnected hollow shafts, and the hollow output shaft has a smaller diameter than the inner gear. And the inner bearing may be arranged on the inner shoulder of the hollow output shaft, and the obliquely opposed outer bearing may be arranged on the outer shoulder of the hollow output shaft, where this outer shoulder is located in the connection region between the inner gear and the hollow output shaft.

[0672] In this specification, ball bearings can generally also be used for rolling bearings. Roller bearings can in particular be used for the bearings serving for support. For the bearings of the reduction gears arranged on the cam disk or the eccentric disk, it is preferable to use ball bearings having a plurality of balls, but roller bearings can also be used.

[0673] FIG. 119 shows a schematic view of a first gear device.

[0674] In this gear device, the drive torque is transmitted from the motor to the reduction gear and from the reduction gear to the output shaft, where the reduction gear is a transmission of the type described herein, for example as shown in FIGS. 121 to 124 schematically.

[0675] In particular, the motor can be an electric motor such as a three-phase external rotor. All reduction gears mentioned in this specification can also be installed, as shown in FIG. 119, within the motor gear unit, for example in a geared motor, without using a crankshaft. In this case, the components arranged on the pedal shaft are excluded. Such a design is suitable, for example, for a robot arm.

[0676] FIG. 120 shows a schematic view of another gear device.

[0677] In this gear device, the drive torque is transmitted from the motor to the reduction gear and from the reduction gear to the outer free wheel and the output shaft of the two free wheels.

[0678] Another drive torque is transmitted from the pedal shaft to the inner free wheel of the two free wheels and the output shaft. Instead of the pedal shaft, another type of crankshaft or usually a drive shaft may be provided. Generally, the inner drive shaft may be driven by another motor or by another mechanical drive such as wind power or hydraulic power.

[0679] FIG. 121 shows a schematic view of a flexspline or tension shaft drive according to this specification. In this flexspline drive, the motor torque is transmitted to the transmitter and from the transmitter to the flexspline. The flexspline is rotatably installed on the transmitter, for example, by a deformable ball bearing.

[0680] The flexspline is supported by a stationary outer gear fixed to the housing. This support is indicated by a double-headed arrow. Therefore, the outer gear and the housing absorb the reaction force of the output.

[0681] FIG. 122 shows a schematic view of a harmonic pin ring drive. The motor power is transmitted to the transmitter and from the transmitter to the pin ring. The pin ring is rotatably installed on the transmitter, for example, by a deformable ball bearing.

[0682] The output torque is transmitted from the pin ring to an inner gear rotatably installed thereon and to an output shaft from the pin ring. The pin ring is supported by a stationary outer gear fixed to the housing, which is also indicated by the double-headed arrow. Thus, the outer gear and the housing absorb the reaction force of the output.

[0683] FIG. 123 shows a schematic view of an eccentric speed changer according to the present specification. The motor torque is transmitted to one or more eccentric disks and from the eccentric disks to one or more inner gears. Each inner gear is rotatably supported by a bearing of the eccentric disk. Due to the arrangement of the bearings and journals, the torque is transmitted to the output plate.

[0684] The arrangement of the bearings and journals represents a centering device or a centering speed changer having a ratio of 1:1. In particular, it can include two eccentric disks offset from each other by 180°.

[0685] FIGS. 124 to 126 show a further motor speed changer unit using a tension shaft speed changer. Different from the embodiment of FIG. 82, here the tension shaft 453' is formed on the outer output shaft 458 instead of the tension shaft 453 being attached to the outer output shaft 458 by a rivet. The outer output shaft 458 having the tension shaft 435 is supported by angular contact ball bearings 30, 31 facing diagonally. This corresponds to a three-bearing configuration using the ball bearings 30, 31, 29 or a five-bearing configuration using the ball bearings 30, 31, 29, 45, 46. Similar to the outer output shaft 458, the output shaft 39 is also attached to only two ball bearings 46, 41 offset diagonally from each other in a space-saving manner.

[0686] Regarding the components described above, for example, in relation to FIG. 1, they will not be described again here, and for the sake of clarity, they are not labeled separately as a whole.

[0687] The features of the embodiments of FIGS. 94 to 123 are also disclosed in the features of the following list, and these can also be combined with other features in this specification. In particular, the shape of the tooth portion described above can be combined with all the transmissions in this specification. Here, the tooth portion based on the epicyclic gear orbit by two epicycles is preferably used in a transmission having an oval transmitter, and the tooth portion based on the gear orbit by one epicycle is preferably used in an eccentric transmission.

[0688] The sizing of the opposing tooth portions and, if present, the intermediate transmission means can be selected according to this specification so that there is a complete tooth engagement, particularly in any of a pin-ring transmission, a tension-shaft transmission, or a cycloid gear, where the pin-ring transmission and the tension-shaft transmission can be configured as a design having an eccentric transmitter or as a design having an oval transmitter.

[0689] 1. A harmonic pin-ring transmission, - a first gear having a first tooth portion, - a second gear having a second tooth portion, - a pin ring having a rounded engagement region, - a rotary transmitter for drawing the engagement region of the pin ring into the first tooth portion of the first gear and the second tooth portion of the second gear and comprising, wherein the first gear, the rotary transmitter, and the second gear are arranged concentrically with each other, the rotary transmitter is arranged radially inside the pin ring, the pin ring is arranged between the first gear and the second gear, the rotary transmitter comprises a transmitter disk arranged eccentrically with respect to the transmission central axis, and the first tooth portion of the first gear and the second tooth portion of the second gear are formed according to the epicyclic construction method, The positions on the tooth surfaces of the respective first and second tooth portions are determined as a function of the periodic angle and as the radial distance from the transmission central axis, The radial distance is determined by an equidistant line with respect to the gear orbit, and the positions on the gear orbit are respectively determined by the vector sum of the periodic vector and the circumferential rotation vector. The rear end of the periodic vector is on the center axis of the transmission, the rear end of the circumferential rotation vector is at the tip of the periodic vector, the circumferential rotation angle of the circumferential rotation vector is n times larger than the periodic angle, the length of the periodic angle is longer than the length of the circumferential rotation angle, and n is the number of rounded engagement regions of the harmonic pin ring transmission and is at least 3, the harmonic pin ring transmission.

[0690] 2. The first gear is an inner gear having external teeth, the second gear is an outer gear having internal teeth. With respect to the external teeth of the inner gear, the circumferential rotation angle is measured in the same direction as the periodic angle, the equidistant line is an inner equidistant line. With respect to the internal teeth of the outer gear, the circumferential rotation angle is measured in the opposite direction to the periodic angle, and the equidistant line is an outer equidistant line, the harmonic pin ring transmission according to item 1.

[0691] 3. The first gear and the second gear are respectively outer gears having internal teeth. With respect to the internal teeth of the two outer gears, the circumferential rotation angle is measured in the opposite direction to the periodic angle, and the equidistant line is an outer equidistant line, the harmonic pin ring transmission according to item 1.

[0692] 4. Each of the equidistant lines is an equidistant line at a distance equal to the sum of the radius of the rounded engagement region and the correction value, and the correction value depends on the backlash, the harmonic pin ring transmission according to item 3.

[0693] 5. The harmonic pin ring transmission is provided with a rolling bearing in contact with the transmitter disk, and the periodic radius is equal to half of the diameter of the rolling bearing, the harmonic pin ring transmission according to item 3 or item 4.

[0694] 6. The harmonic pin ring transmission according to item 3 or 4, wherein the periodic radius is equal to half of the diameter of the transmitter disk.

[0695] 7. The harmonic pin ring transmission according to any one of items 3 to 6, wherein the radius of the rolling circle is equal to half of the eccentricity offset by which the transmitter disk is offset from the transmission center axis.

[0696] 8. The harmonic pin ring transmission according to any one of the intersections with items 3 to 7, wherein a drive shaft is connected to the rotary transmitter.

[0697] 9. The harmonic pin ring transmission according to item 8, wherein an output shaft is connected to the first gear.

[0698] 10. The harmonic pin ring transmission according to item 8, wherein an output shaft is connected to the second gear.

[0699] 11. The harmonic pin ring transmission according to item 8, wherein an output shaft is connected to the pin ring.

[0700] 12. An inner gear for a harmonic pin ring transmission having external teeth, wherein a tooth surface of the external teeth is determined by a radial distance from a central axis of the inner gear as a function of a periodic angle, the radial distance from the central axis is determined by an inner equidistant line with respect to a gear orbit, a position in the gear orbit is determined by a vector sum of a periodic vector, a first rolling circle vector, and a second rolling circle vector, a rear end of the periodic vector is at the central axis, a rear end of the first rolling circle vector is at a front end of the periodic vector, and a rear end of the second rolling circle vector is at a front end of the first rolling circle vector, The rotation circle angle of the first rotation circle vector is (n - 1) times larger than the period angle, and the rotation circle angle of the second rotation circle vector is (n - 3) times larger than the period angle, where n is the number of pins of the harmonic pin ring transmission and is at least 4. The first rotation circle angle is measured in the same direction as the period angle, and the second rotation circle angle is measured in the opposite direction to the period angle. The length of the period vector is longer than the sum of the lengths of the first rotation circle vector and the second rotation circle vector, and the length of the first rotation circle vector is longer than the length of the second rotation circle vector, internal gear.

[0701] 13. An outer gear for a harmonic pin ring transmission having internal teeth, wherein the positions on the tooth surfaces of the internal teeth are each determined by the radial distance from the central axis of the outer gear as a function of the period angle. The radial distance is defined by an outer equidistant line with respect to the gear orbit. The positions on the gear orbit are each determined by the vector sum of the period vector, the first rotation circle vector, and the second rotation circle vector. The rear end of the period vector is at the central axis, the rear end of the first rotation circle vector is at the tip of the period vector, and the rear end of the second rotation circle vector is at the tip of the first rotation circle vector. The rotation circle angle of the first rotation circle vector is (n + 1) times larger than the period angle, and the rotation circle angle of the second rotation circle vector is (n + 3) times larger than the period angle, where n is the number of pins of the harmonic pin ring transmission and is at least 4. The first rotation circle angle is measured in the opposite direction to the period angle, and the second rotation circle angle is measured in the same direction as the period angle. The length of the period vector is longer than the sum of the lengths of the first rotation circle vector and the second rotation circle vector, and the length of the first rotation circle vector is longer than the length of the second rotation circle vector, outer gear.

[0702] 14. A harmonic pin ring transmission, - the internal gear according to claim 12, - the outer gear according to claim 13, - a pin ring having a rounded engagement region, - a rotary transmitter for drawing the engagement region of the pin ring into the internal teeth of the outer gear and the external teeth of the inner gear, and the inner gear, the rotary transmitter, and the outer gear are arranged concentrically with each other, the rotary transmitter is arranged radially inside the pin ring, and the pin ring is arranged between the inner gear and the outer gear, a harmonic pin ring transmission.

[0703] 15. A harmonic pin ring transmission, - the first outer gear according to claim 13, - the second outer gear according to claim 13, - a pin ring having a rounded engagement region, - a rotary transmitter for drawing the engagement region of the pin ring into the internal teeth of the first outer gear and the internal teeth of the second outer gear, and the rotary transmitter, the first outer gear, and the second outer gear are arranged concentrically with each other, the rotary transmitter is arranged radially inside the pin ring, and the pin ring is arranged axially between the first outer gear and the second outer gear, a harmonic pin ring transmission.

[0704] 16. The harmonic pin ring transmission according to claim 14 or 15, wherein a drive shaft is connected to the rotary transmitter.

[0705] 17. The harmonic pin ring transmission according to claim 16, wherein an output shaft is connected to the pin ring.

[0706] 18. The harmonic pin ring transmission according to claim 14, wherein a drive shaft is connected to the rotary transmitter and an output shaft is connected to the inner gear.

[0707] 19. The harmonic pin ring transmission according to claim 14, wherein a drive shaft is connected to the rotary transmitter and an output shaft is connected to the outer gear.

[0708] 20. The harmonic pin ring transmission according to claim 15, wherein a drive shaft is connected to the rotary transmitter and an output shaft is connected to one of the two outer gears.

[0709] 21. The harmonic pin ring transmission according to any one of claims 14 to 20, wherein each equidistant line is an equidistant line at a distance equal to the sum of the radius of the rounded engagement region and a correction value, and the correction value is determined by backlash.

[0710] 22. The harmonic pin ring transmission according to any one of claims 14 to 21, wherein the rotary transmitter includes an oval cam disk and a flexible rolling bearing in contact with the oval cam disk, and the periodic radius is equal to the sum of half of the diameter of the flexible rolling bearing and a correction value.

[0711] 23. The harmonic pin ring transmission according to any one of claims 14 to 21, wherein the rotary transmitter includes a first circular disk disposed eccentrically with respect to the transmission center axis and a second circular disk disposed eccentrically with respect to the transmission center axis, and the periodic radius is equal to the sum of the average radius of the envelope of the two eccentrically disposed circular disks and a correction value.

[0712] 24. The harmonic pin ring transmission according to any one of claims 14 to 23, wherein the first circumferential rotation radius is equal to or less than the sum of half of the pin ring stroke and a second correction value, and the second correction value is zero or less.

[0713] 25. The harmonic pin ring transmission according to any one of claims 14 to 24, wherein the length of the second circumferential rotation vector is 1 / 3 of the length of the first circumferential rotation vector.

[0714] The features of the embodiments of FIGS. 1 to 92 are also disclosed in the features of the following list, and these can also be combined with any other features in this specification.

[0715] 1. A harmonic pin ring transmission having an input shaft and an output shaft, the transmission comprising: - a first outer gear; - an inner gear arranged concentrically with the first outer gear in a first plane perpendicular to the axis; - a second outer gear arranged in a second plane perpendicular to the axis; - traction means extending between the first outer gear and the inner gear; - a rotary transmitter for lifting the traction means from the outer periphery of the inner gear and pressing it against the inner periphery of the first outer gear The rotary transmitter includes a hollow drive shaft and a cam disk, and the cam disk is arranged in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis. The cam disk is formed as a single part with the hollow drive shaft, a harmonic pin ring transmission.

[0716] 2. The traction means is formed as a pin ring, pins project from a central portion on two opposite sides, the central portion is arranged in the third plane perpendicular to the axis, and the rotary transmitter lifts the pins from the outer periphery of the inner gear and presses the pins against the inner periphery of the first outer gear, the harmonic pin ring transmission according to item 1.

[0717] 3. The outer periphery of the cam disk has an oval shape, the harmonic pin ring transmission according to item 1 or item 2.

[0718] 4. The outer periphery of the cam disk has a circular shape and is arranged eccentrically with respect to the transmission center axis, the harmonic pin ring transmission according to item 1 or item 2.

[0719] 5. The harmonic pin ring transmission according to any one of claims 1 to 4, wherein a rolling bearing is disposed between the cam disk and the traction means.

[0720] 6. The harmonic pin ring transmission according to any one of claims 1 to 5, wherein the rotary transmitter is essentially made of aluminum.

[0721] 7. The harmonic pin ring transmission according to any one of claims 1 to 6, wherein the rotary transmitter comprises a ring connected to the hollow drive shaft via a connecting strut.

[0722] 8. A harmonic pin ring transmission having an input shaft and an output shaft, the transmission comprising: - a first outer gear; - an inner gear disposed concentrically with the first outer gear in a first plane perpendicular to the axis; - a second outer gear disposed in a second plane perpendicular to the axis; - traction means extending between the first outer gear and the inner gear; - a rotary transmitter that lifts the traction means from the outer periphery of the inner gear and presses it against the inner periphery of the first outer gear wherein the rotary transmitter comprises a hollow drive shaft and a cam disk disposed in a third plane perpendicular to the axis and located between the first plane perpendicular to the axis and the second plane perpendicular to the axis, the first outer gear is formed by a first outer ring, the second outer gear is formed by a second outer ring, and the first outer ring and the second outer ring are inserted into a support ring.

[0723] 9. The harmonic pin ring transmission according to claim 8, wherein the first outer ring and the second outer ring are each made of plastic.

[0724] 10. Each of the first outer ring and the second outer ring includes journals protruding radially outwardly and distributed on the outer periphery of each of the outer rings, and the support ring includes a mating recess into which the journal is inserted, the harmonic pin ring transmission according to item 8 or item 9.

[0725] 11. The support ring is made of aluminum, the harmonic pin ring transmission according to any one of items 8 to 10.

[0726] 12. The support ring includes two partial rings that axially abut, the harmonic pin ring transmission according to any one of items 8 to 11.

[0727] 13. The first outer ring, the second outer ring, and the support ring include mating screw holes, the harmonic pin ring transmission according to any one of items 8 to 12.

[0728] 14. A screw passes through the screw hole of the transmission cover and the mating screw holes of the first outer ring, the support ring, and the second outer ring and is screwed into the screw of the transmission housing of the harmonic pin ring transmission according to item 13.

[0729] 15. A harmonic pin ring transmission having an input shaft and an output shaft, the transmission comprising: - a first outer gear; - an inner gear concentric with the first outer gear in a first plane perpendicular to the axis; - a second outer gear disposed in a second plane perpendicular to the axis; - traction means extending between the first outer gear and the inner gear; - a rotary transmitter that lifts the traction means from the outer periphery of the inner gear and presses it against the inner periphery of the first outer gear comprising a rotating transmitter having a hollow drive shaft and a cam disk, the cam disk being disposed in a third plane perpendicular to the axis, which is located between the first plane perpendicular to the axis and the second plane perpendicular to the axis, The transmission includes a hollow output shaft installed on the inner gear via a motor freewheel, and a pedal shaft installed on the hollow output shaft via a pedal shaft freewheel. The pedal shaft has a receiving area for the motor freewheel on its outer periphery and a receiving area for the pedal shaft freewheel on its inner periphery, and is a harmonic pin ring transmission.

[0730] 16. The harmonic pin ring transmission according to claim 15, wherein the motor freewheel is configured as a clamp roller freewheel, and the pedal shaft freewheel is configured as a detent freewheel.

[0731] 17. The output shaft extends axially on the output side of the hollow drive shaft, a ball bearing is disposed between the hollow output shaft and the pedal shaft, and the hollow output shaft has a fixing area for an output element. The harmonic pin ring transmission according to claim 15 or 16.

[0732] 18. A freewheel assembly having an outer clamp roller freewheel and an inner detent freewheel, - a hollow drive shaft, - a hollow output shaft, - and a pedal shaft comprising, the pedal shaft, the hollow output shaft, and the hollow drive shaft are concentrically arranged with respect to each other, the hollow output shaft is disposed radially inside the hollow drive shaft, and the pedal shaft is disposed radially inside the hollow output shaft. The hollow output shaft has a stepped tooth stop engagement region on its inner circumference and a stepped clamp roller rolling region on its outer circumference. The pedal shaft has a star-shaped bearing region for tooth stopping, and the star-shaped bearing region includes a tooth stop pedestal and a spring pedestal arranged adjacent to the tooth stop pedestal. It is a freewheel assembly.

[0733] 19. The freewheel assembly according to item 18, wherein the stepped clamp roller rolling region on the outer circumference of the hollow output shaft and the stepped tooth stop engagement region on the inner circumference of the hollow output shaft are located in essentially the same plane perpendicular to the axis.

[0734] 20. The hollow drive shaft has a disk-shaped region with external teeth, and the external teeth are provided on the outer circumference of the disk-shaped region. The freewheel assembly according to item 18 or 19.

[0735] 21. The hollow output shaft has an annular thick-walled portion at a first end and a fixed region for output means at a second end opposite to the first end. The freewheel assembly according to any one of items 18 to 20.

[0736] 22. The outer circumference of the hollow output shaft has a bearing region for a ball bearing. The freewheel assembly according to any one of items 18 to 21.

[0737] 23. The inner circumference of the hollow output shaft has a bearing region for a ball bearing. The freewheel assembly according to any one of items 18 to 22.

[0738] 24. The inner circumference of the hollow output shaft has a female thread at one end. The freewheel assembly according to any one of items 18 to 23.

[0739] 25. A tooth stop rotatably installed on the tooth stop pedestal, a spring element arranged on the spring pedestal and connected to the tooth stop, A freewheel cage having a web and a clamping roller disposed between the webs further comprising, wherein the freewheel cage and the clamping roller are radially disposed between the clamping roller rolling region of the hollow output shaft and the inner circumference of the hollow drive shaft, the freewheel assembly according to any one of claims 18 to 24.

[0740] 26. The freewheel assembly according to any one of claims 18 to 25, wherein the detent pedestal is cylindrical, one end is closed by a wall, and the opposite end is open.

[0741] 27. The stepped clamping roller rolling region and the freewheel cage each comprise at least two receiving regions for spring elements, and in each case, the spring element is disposed between the receiving region of the clamping body rolling region and the receiving region of the freewheel cage, the freewheel assembly according to any one of claims 18 to 26.

[0742] 28. The pedal shaft comprises a force sensor unit, the force sensor unit comprises a load cell and a pedal shaft ball bearing, and the load cell is disposed on the pedal shaft ball bearing, the freewheel assembly according to any one of claims 18 to 27.

[0743] 29. The load cell comprises an inner annular portion attached to the outer annular portion via a fixing protrusion, and the pedal shaft ball bearing is inserted into the inner annular portion, the freewheel assembly according to claim 28.

[0744] 30. The inner portion and the outer portion of the load cell are radially offset from each other, the fixing protrusion is bounded laterally by a radial slot, and at least two of the fixing protrusions comprise strain gauges, the freewheel assembly according to claim 29.

[0745] 31. The freewheel assembly according to claim 29 or 30, wherein the axial thickness of the outer ring decreases in the region of the fixing projection.

[0746] 32. A pedal shaft for a freewheel assembly, the pedal shaft comprising a first fixing region at a first end for a pedal crank and a second fixing region at a second end opposite to the first end for the pedal crank, the pedal shaft comprising a star-shaped bearing region for a detent near the first end.

[0747] 33. The pedal shaft according to claim 32, wherein the star-shaped bearing region comprises steps, each of the steps comprising a first side surface, a second side surface, a detent support region having a spring pedestal inclined in a predetermined direction with respect to the circumferential direction, an upper surface substantially parallel to the outer circumference, and an end region having a detent pedestal, the detent pedestal being cylindrical, open on one axial side and closed on the opposite axial side.

[0748] 34. A harmonic pin ring transmission having an input shaft and an output shaft, the transmission comprising: - a first outer gear; - an inner gear concentric with the first outer gear in a first plane perpendicular to the axis; - a second outer gear disposed in a second plane perpendicular to the axis; - traction means extending between the first outer gear and the inner gear; - a rotary transmitter for lifting the traction means from the outer circumference of the inner gear and pressing it against the inner circumference of the first outer gear and the rotary transmitter comprises a hollow drive shaft and a cam disk, the cam disk being disposed in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis. The speed changer includes a hollow output shaft installed on the inner gear via a motor freewheel, and a pedal shaft installed on the hollow output shaft via a pedal shaft freewheel. The pedal shaft includes a receiving area for the motor freewheel on its outer circumference and a receiving area for the pedal shaft freewheel on its inner circumference, and is a harmonic pin ring speed changer.

[0749] 35. The harmonic pin ring speed changer according to item 34, wherein the motor freewheel is configured as a clamp roller freewheel, and the pedal shaft freewheel is configured as a detent freewheel.

[0750] 36. The harmonic pin ring speed changer according to item 34 or 35, wherein the output shaft extends axially on the output side of the hollow drive shaft, a ball bearing is arranged between the hollow output shaft and the pedal shaft, and the hollow output shaft includes a fixing area for an output element.

[0751] 37. A harmonic pin ring speed changer having an input shaft and an output shaft, the speed changer comprising: - a first outer gear; - an inner gear arranged concentrically with the first outer gear in a first plane perpendicular to the axis; - a second outer gear arranged in a second plane perpendicular to the axis; - a pin ring having pins extending between the first outer gear and the inner gear; - a rotary transmitter that lifts the pins of the pin ring from the outer circumference of the inner gear and presses them against the inner circumference of the first outer gear; The rotary transmitter includes a hollow drive shaft and a cam disk, and the cam disk is arranged in a third plane perpendicular to the axis, which is located between the first plane perpendicular to the axis and the second plane perpendicular to the axis. The pin ring is formed as a single part and made of metal. The pin is formed by protrusions protruding from two opposite side portions of the central region of the pin ring. The central region includes an inner bearing surface for abutting against a bearing, a harmonic pin ring transmission.

[0752] 38. The protrusion is cylindrical at a first side portion of the two opposite side portions, and the protrusion is partially cylindrical at a second side portion of the two opposite side portions. The cylindrical region is disposed radially outside the pin ring. The harmonic pin ring transmission according to claim 37.

[0753] 39. The protrusion includes a rounded inner engagement region and a rounded outer engagement region at a first side portion of the two opposite side portions. The protrusion includes a rounded outer engagement region at a second side portion of the two opposite side portions. The harmonic pin ring transmission according to claim 37.

[0754] 40. A bearing is disposed between the cam disk and the pin ring. The pin ring includes a shoulder inside for supporting the bearing. The harmonic pin ring transmission according to any one of claims 37 to 39.

[0755] 41. A pin ring for a harmonic pin ring transmission formed as a single part and made of metal. The pin ring includes a pin formed by protrusions protruding from two opposite side portions of the central region of the pin ring. The central region includes an inner bearing surface for abutting against an outer bearing surface of a bearing. A pin ring.

[0756] 42. The protrusion is cylindrical at a first side portion of the two opposite side portions, and the protrusion is partially cylindrical at a second side portion of the two opposite side portions. The cylindrical region is disposed radially outside the pin ring. The pin ring according to claim 41.

[0757] 43. The protruding portion includes a rounded inner engagement region and a rounded outer engagement region on a first side portion of the two opposite side portions, and the protruding portion includes a rounded outer engagement region on a second side portion of the two opposite side portions. The pin ring according to claim 41.

[0758] 44. The web is disposed between the protruding portions on the first side portion of the two opposite side portions in each case, and an outer boundary line of the protruding portion is smoothly connected to an outer boundary line of the web. The pin ring according to claim 41.

[0759] 45. A bearing is disposed between the cam disk and the pin ring, and the pin ring includes a shoulder on the inner side for supporting the bearing. The pin ring according to any one of claims 41 to 44.

[0760] 46. A harmonic pin ring transmission having an input shaft and an output shaft, the transmission comprising: - a first outer gear; - an inner gear disposed concentrically with the first outer gear in a first plane perpendicular to the axis; - a second outer gear disposed in a second plane perpendicular to the axis; - traction means extending between the first outer gear and the inner gear; - a rotary transmitter that lifts the traction means from an outer periphery of the inner gear and presses it against an inner periphery of the first outer gear and the rotary transmitter includes a hollow drive shaft and a cam disk, and the cam disk is disposed in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis. A pedal shaft is disposed radially inward of the output shaft, and the pedal shaft is attached into a motor housing via a drive-side pedal shaft ball bearing and a load cell. A harmonic pin ring transmission.

[0761] 47. The load cell includes an inner annular portion attached to the outer annular portion via a fixed protrusion, the pedal shaft ball bearing is inserted into the inner annular portion, and the outer annular portion is inserted into the cylindrical region of the motor housing. The harmonic pin ring transmission according to claim 46.

[0762] 48. The harmonic pin ring transmission according to claim 46 or 47, wherein a wave spring is disposed between the load cell and the drive side rotor ball bearing.

[0763] 49. A harmonic pin ring transmission having an input shaft and an output shaft, the transmission comprising: - a first outer gear; - an inner gear concentrically arranged with respect to the first outer gear in a first plane perpendicular to the axis; - a second outer gear arranged in a second plane perpendicular to the axis; - a traction means extending between the first outer gear and the inner gear; - a rotary transmitter that lifts the traction means from the outer periphery of the inner gear and presses it against the inner periphery of the first outer gear; The rotary transmitter includes a hollow drive shaft and a cam disk. The cam disk is arranged in a third plane perpendicular to the axis located between the first plane perpendicular to the axis and the second plane perpendicular to the axis. The pedal shaft is arranged radially inside the output shaft. Further, a planetary gear device and a pedal shaft freewheel are arranged in the flow of force between the pedal shaft and the output shaft. The harmonic pin ring transmission.

[0764] 50. The planetary carrier of the planetary gear device is connected to the pedal shaft. The ring gear of the planetary gear device includes a connection region for connection to the transmission housing. The sun gear of the planetary gear device is attached to the surface of the pedal shaft. The pedal shaft freewheel is arranged between a hollow shaft connected to the sun gear and the output shaft. The harmonic pin ring transmission according to c...

Claims

1. A load cell for measuring a radial force acting on a crankshaft, the load cell comprising: - a receiving sleeve for receiving a bearing ring; - a fixing ring for mounting the load cell within a transmission housing; - an axial support portion provided on the fixing ring for axially supporting the bearing ring; - a plurality of measurement regions for receiving the radial force of the receiving sleeve; wherein the measurement regions connect the receiving sleeve to the fixing ring, at least two of the measurement regions are attached with strain sensors, and the measurement regions are provided with measurement protrusions formed as angular brackets.

2. The load cell according to claim 1, wherein the axial support portion is separated from the measurement region by a radial slot, and the axial support portion is separated from the receiving sleeve by a circumferential slot.

3. The load cell according to claim 1 or 2, wherein the measurement protrusion comprises a radial region and an axial region adjacent to the radial region, the radial region is connected to the fixing ring, the axial region is connected to the receiving sleeve, and the radial region is arranged at an angle of approximately 90° with respect to the axial region.

4. The load cell according to claim 3, wherein the axial region is flush with the cylindrical inner surface of the receiving sleeve.

5. The load cell according to any one of claims 1 to 4, wherein the axial support portion projects radially inwards on the inner surface of the receiving sleeve.

6. The load cell according to any one of claims 1 to 5, wherein at least one of the strain sensors is configured as a strain gauge.

7. The load cell according to any one of claims 1 to 6, wherein one strain sensor is attached to each of the measurement regions.

8. The load cell according to any one of claims 1 to 7, wherein at least two of the measurement regions are provided with recessed portions for attaching the strain sensors.

9. The load cell according to any one of claims 1 to 8, wherein the load cell comprises four of the measurement regions arranged at 90° intervals.

10. The load cell according to any one of claims 1 to 9, wherein the fixing ring has a fixing region provided with fixing holes.

11. The load cell according to any one of claims 1 to 10, wherein the fixing ring has a recess, and the measurement region is disposed in the recess. **Claim 12** The axial support portion is separated from the measurement region by a radial slot, and a size related to the measurement protrusion and an angle of the radial slot that defines the size of the measurement protrusion approximately corresponds to a size related to an angle of the axial support portion. The load cell according to any one of claims 1 to 11. **Claim 13** The load cell according to any one of claims 1 to 12, wherein a size related to an angle of the measurement region in the circumferential direction is 30° or less. **Claim 14** The load cell according to any one of claims 1 to 13, wherein the load cell is integrally formed of metal.

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