EP4493841A1 - Entraînement comprenant une transmission entraînée par un moteur électrique - Google Patents

Entraînement comprenant une transmission entraînée par un moteur électrique

Info

Publication number
EP4493841A1
EP4493841A1 EP23707679.9A EP23707679A EP4493841A1 EP 4493841 A1 EP4493841 A1 EP 4493841A1 EP 23707679 A EP23707679 A EP 23707679A EP 4493841 A1 EP4493841 A1 EP 4493841A1
Authority
EP
European Patent Office
Prior art keywords
driving shaft
eccentric
housing part
cage
region
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23707679.9A
Other languages
German (de)
English (en)
Inventor
Markus Lutz
Ingo SCHÜTTERLE
Torsten Koker
Markus Wöppermann
Sascha HALLER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SEW Eurodrive GmbH and Co KG
Original Assignee
SEW Eurodrive GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SEW Eurodrive GmbH and Co KG filed Critical SEW Eurodrive GmbH and Co KG
Publication of EP4493841A1 publication Critical patent/EP4493841A1/fr
Pending legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02034—Gearboxes combined or connected with electric machines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H2061/2869—Cam or crank gearing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H29/00—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action
    • F16H29/02—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action between one of the shafts and an oscillating or reciprocating intermediate member, not rotating with either of the shafts
    • F16H29/04—Gearings for conveying rotary motion with intermittently-driving members, e.g. with freewheel action between one of the shafts and an oscillating or reciprocating intermediate member, not rotating with either of the shafts in which the transmission ratio is changed by adjustment of a crank, an eccentric, a wobble-plate, or a cam, on one of the shafts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
    • F16H63/08—Multiple final output mechanisms being moved by a single common final actuating mechanism
    • F16H63/16—Multiple final output mechanisms being moved by a single common final actuating mechanism the final output mechanisms being successively actuated by progressive movement of the final actuating mechanism
    • F16H63/18—Multiple final output mechanisms being moved by a single common final actuating mechanism the final output mechanisms being successively actuated by progressive movement of the final actuating mechanism the final actuating mechanism comprising cams

Definitions

  • the invention relates to a drive having a transmission driven by an electric motor.
  • a control system for a vehicle is known from WO 2019/186 330 A1.
  • the invention is therefore based on the object of designing a transmission with a high ratio, high transmitted torque and high torsional rigidity in a compact and stable manner.
  • the object is achieved in the drive according to the features specified in claim 1, 2 or 3.
  • the drive has a gear driven by an electric motor, a driving shaft, in particular a hollow shaft, of the gear having several eccentric regions of different widths in the axial direction, the high points of which are offset from one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disk region, in particular a housing part of the transmission, with respective rollers being accommodated in respective recesses of a cage and arranged with a radial degree of freedom, in particular being able to move back and forth radially, in particular wherein the respective recesses are radially continuous are formed by the cage and are evenly spaced apart from one another in the circumferential direction, in particular wherein the cage is connected in a rotationally fixed manner to the driving shaft, wherein the cage is connected in a rotationally fixed manner to the driving shaft of the transmission, in particular in one piece, in particular in one piece, wherein the driving The shaft together with the cage is rotatably mounted both relative to the cam disk areas and relative to
  • the advantage here is that a high torque and a high gear ratio can be transmitted in a compact spatial area, with the drive being able to be designed to be stable and torsionally rigid.
  • the cage can be made in one piece, in particular in one piece, with the driving shaft.
  • the cage can also be equipped with a second row of rollers, i.e. second rollers. This means that a particularly stable transmission can be achieved, i.e. smooth running when transmitting torque.
  • rollers of different widths can be used and a symmetrical arrangement can therefore be achieved. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.
  • At least three eccentric regions are advantageously provided, at least two of which have an axial width that differs from one another. This enables rotation to be as uniform as possible and high transverse forces can be absorbed.
  • a statically and dynamically balanced design can be achieved when the sum of the products of the width and cosine or sine of the eccentric high point circumferential angle position disappears or at least becomes as small as possible in terms of magnitude.
  • the drive has a gear driven by an electric motor, a driving shaft, in particular a hollow shaft, of the gear having several eccentric regions of different widths in the axial direction, the high points of which are offset from one another in the circumferential direction, wherein the respective eccentric region is radially surrounded by a respective cam disk region, in particular a housing part of the transmission, with the different widths of the respective eccentric regions corresponding to the axial
  • Rollers of different widths are accommodated in respective recesses of a cage and can be moved back and forth with a radial degree of freedom, in particular radially. are arranged, in particular wherein the respective recesses are formed radially continuously through the cage, the cage being connected in a rotationally fixed manner to the output shaft of the transmission, in particular in one piece, in particular in one piece, wherein the output shaft together with the cage both relative to the cam disk areas is also rotatably mounted relative to the driving shaft, the first housing part being connected to a second housing part, the driving shaft together with the cage being rotatably mounted both relative to the cam disk areas and relative to the driving shaft, in that the driving shaft is uninterrupted in the circumferential direction and / or completely circumferential wedge-shaped and / or V-shaped groove, in particular groove opened radially outwards, in which rolling bodies, in particular cylindrical, barrel-shaped rolling bodies or spherical rolling bodies, are accommodated, wherein a V-shaped recess, in particular one radially inward
  • the advantage here is that a high torque and a high gear ratio can be transmitted in a compact spatial area, with the drive being able to be designed to be stable and torsionally rigid.
  • the cage can be made in one piece, in particular in one piece, with the driving shaft.
  • the cage can also be equipped with a second row of rollers, i.e. second rollers.
  • a particularly stable transmission can be achieved, i.e. smooth running when transmitting torque.
  • rollers of different widths can be used and a symmetrical arrangement can therefore be achieved. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.
  • At least three eccentric regions are advantageously provided, at least two of which have an axial width that differs from one another. This enables rotation to be as uniform as possible and high transverse forces can be absorbed.
  • a statically and dynamically balanced design can be achieved when the sum of the products of the width and cosine or sine of the eccentric high point circumferential angle position disappears or at least becomes as small as possible in terms of magnitude.
  • the drive has a gear driven by an electric motor, wherein a driving shaft, in particular hollow shaft, of the gear has a first eccentric region, the first eccentric region being formed by a first cam disk region, in particular a housing part of the gear , is surrounded radially, wherein first rollers are accommodated in first recesses of a cage and are arranged with a radial degree of freedom, in particular radially reciprocating, in particular wherein the first recesses are formed radially continuously through the cage, the driving shaft, in particular hollow shaft, of the Gear has a second eccentric region, wherein the second eccentric region is radially surrounded by a second cam region, in particular of the housing part of the transmission, with second rollers being accommodated in second recesses of the cage and arranged with a radial degree of freedom, in particular radially reciprocating, in particular wherein the second recesses are radially continuous are formed by the cage, the driving shaft, in particular hollow shaft, of the transmission has a third
  • the advantage here is that a high torque and a high gear ratio can be transmitted in a compact spatial area, with the drive being able to be designed to be stable and torsionally rigid.
  • the cage can be made in one piece, in particular in one piece, with the driving shaft.
  • the cage can also be equipped with a second row of rollers, i.e. second rollers. This means that a particularly stable transmission can be achieved, i.e. smooth running when transmitting torque.
  • rollers of different widths can be used and a symmetrical arrangement can therefore be achieved. For example, an axially wider row of rollers is surrounded by two axially narrower rows of rollers.
  • At least three eccentric regions are advantageously provided, at least two of which have an axial width that differs from one another. This enables rotation to be as uniform as possible and high transverse forces can be absorbed.
  • a statically and dynamically balanced design can be achieved when the sum of the products of the width and cosine or sine of the eccentric high point circumferential angle position disappears or at least becomes as small as possible in terms of magnitude.
  • the sum of the axial width of the second eccentric region and the third eccentric region equals the axial width of the first eccentric region.
  • a stiffening ring is formed on the cage, in particular is formed, in particular on the side facing away from the axial bores of the driving shaft, in particular wherein the stiffening ring is aligned coaxially to the tubularly shaped cage and coaxially to the driving shaft, in particular wherein the radial Wall thickness of the cage in the area covered by the stiffening ring in the axial direction is greater than the wall thickness of the cage outside this area.
  • the advantage here is that a high torque can be introduced from the rollers into the cage and the cage can be sufficiently stiffened by the stiffening ring.
  • the stiffening ring is preferably arranged on the side of the cage that is axially remote from the flange block interface, i.e. the axial bores, of the driving shaft, so that the torque can be introduced axially between the stiffening ring and the driving shaft.
  • the particular first recesses of the cage are rectangular in shape, with relief notches protruding in the axial direction in the corner regions of the rectangular recesses, the distance between two relief notches measured in the circumferential direction being monotonous in the axial direction and/or with increasing distance from the rectangle. especially strictly monotonous, decreasing.
  • the advantage here is that the first recesses do not have any sharp corners of the rectangular basic shape and thus the force stress curves in the cage can be optimized. Due to the relief notches getting closer and closer in the circumferential direction as the axial distance increases, a particularly favorable tension force curve in the cage can be achieved.
  • the respective dovetail-like axial end region is made with enough material to cover the axial To ensure limitation of the roles, especially with the greatest possible extent of the limiting material in the circumferential direction.
  • the particular first recesses of the cage are designed in the shape of a rectangular slot, in particular wherein the respective axial end region of the slot-shaped recess is rounded and/or is designed as a semicircle, with radially projecting knobs protruding into the recesses on a first spacing ring and which in the axially limit, in particular, first rollers recorded in particular first recesses
  • the spacing rings can be made from a material that is softer than the material of the cage, so that low-noise operation of the transmission can be achieved.
  • the spacing rings are made of plastic.
  • the inner radius of the first cam area in particular the radial distance of the cam area relative to the axis of rotation of the driving shaft, depends periodically on the circumferential angle, in particular on the circumferential angle relative to the axis of rotation of the shaft, in particular is not constant, in particular where the first Cam disk area in the axial direction includes the area covered by the respective first roller in the axial direction.
  • the advantage here is that the cam area can be manufactured easily and the gear ratio can be specified by the periodicity.
  • the outer radius of the driving shaft in the respective eccentric region depends on the circumferential angle, in particular it is not constant, in particular the dependence of the outer radius has only a single maximum and a single minimum as a function of the circumferential angle.
  • the advantage here is that simple production is possible.
  • an eccentric area can be formed on the driving shaft and the subsequent fine machining can be carried out cost-effectively.
  • the gear ratio can be varied or achieved by means of the eccentricity, the periodicity and the number of rollers or the diameter of the rollers.
  • the axial region covered by the respective eccentric region at least overlaps with the axial region covered by the cam region, with the cam region touching the same roller as the respective eccentric region.
  • rollers can be arranged radially between the two areas and in the same axial area.
  • the driving shaft is connected in a rotationally fixed manner to the rotor shaft of the electric motor or is driven by the rotor shaft of the electric motor via one or more gear stages, in particular, wherein a first toothed part is rotatably connected to the rotor shaft and a second toothed part is rotatably connected to the driving shaft.
  • the cam disk areas are formed on the inside of the first housing part of the transmission, the first housing part being connected to a second housing part, with rolling elements of a bearing of the driving shaft being delimited by the first housing part, by the second housing part and by the driving shaft, in particular wherein the driving shaft has a running surface for the rolling bodies and the second housing part has a running surface for the rolling bodies, in particular wherein the driving shaft has a V-shaped, in the circumferential direction completely encircling, in particular uninterrupted, annular groove in which the rolling bodies are accommodated, in particular, wherein a further V-shaped, in particular uninterrupted, circumferentially circumferential recess, in which the rolling bodies are accommodated and which has an orientation opposite to the V-shaped annular groove, is formed by the first and second housing parts and/or is bordered.
  • the advantage here is that a compact design is possible.
  • the advantage here is that a compact design is possible. Because there is no need for a separate outer ring and inner ring for storage.
  • the inner radius of the respective cam area in particular the radial distance of the respective cam area with respect to the axis of rotation of the shaft, depends on the circumferential angle, in particular on the circumferential angle related to the axis of rotation of the shaft, is periodic, in particular not constant.
  • the outer radius of the shaft in the respective eccentric region depends on the circumferential angle, in particular it is not constant, in particular the dependence of the outer radius only has a single maximum and a single minimum as a function of the circumferential angle.
  • the axial region covered by the respective eccentric region at least overlaps with the axial region covered by the respective associated cam region.
  • a respective bearing in particular a ball bearing, is attached to the respective eccentric region, on which, in particular on its outer ring, the first rollers roll and / or slide directly or on which a respective ring is attached, on which the first rollers roll and/or slide.
  • the cam areas are integrated into one or the first housing part, which is connected to one or the second housing part, in which the bearing is accommodated, which rotatably supports the driving shaft, in particular, the respective inner ring of this bearing is accommodated on the driving shaft and the respective outer ring of this bearing is accommodated in the second housing part.
  • a shaft sealing ring in particular an inner shaft sealing ring, is accommodated in the driving shaft, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft, with a further shaft sealing ring, in particular an outer shaft sealing ring, being accommodated in the second housing part, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft or runs on a ring part attached to the driving shaft.
  • a third housing part in particular an adapter housing, is connected to the first housing part, in particular by means of connecting screws which are evenly spaced in the circumferential direction, the third housing part being connected to the housing of the electric motor, which drives a first gear wheel which is in engagement with one second gear, which is non-rotatably connected to the driving shaft, the third housing part at least partially surrounding the first and second gears to form a housing.
  • the recesses in the cage are rectangular slot-shaped, in particular, wherein the respective end region of the slot-shaped recess is rounded, with protruding knob recesses protruding radially on a first spacing ring and axially delimiting the rollers, in particular
  • a nub next to this respective first nub projects into a second recess and axially delimits the second roller accommodated in this second recess, in particular wherein the second recess is axially spaced from the first recess.
  • the advantage here is that highly resilient recesses can be used in the cage, which do not have any notches. A long service life for the gearbox can be achieved.
  • the axial spacing of the rollers is dampened by the respective spacing ring made of plastic.
  • the driving shaft is connected in a rotationally fixed manner to the rotor shaft of the electric motor or is driven by the rotor shaft of the electric motor via one or more gear stages, in particular wherein a first toothed part is connected in a rotationally fixed manner to the rotor shaft and a second toothed part is connected in a rotationally fixed manner to the driving shaft is.
  • the advantage here is that it is possible to drive the driving shaft directly or to drive the driving shaft indirectly via a gear stage. It is important that the gear stage can generate a higher torque or breakaway torque, i.e. when driven directly by the electric motor.
  • the driving shaft is rotatably mounted relative to the cage with the driving shaft by means of a bearing, in particular a rolling bearing, in particular a ball bearing, in particular wherein the outer ring of the bearing is received by the driving shaft, in particular is positioned against a step of the driving shaft, and the inner ring of the bearing is attached to the driving shaft, in particular is positioned against a step of the driving shaft.
  • a bearing in particular a rolling bearing, in particular a ball bearing
  • the relative speed of the bearing is lower than when the driving shaft is mounted towards the housing. This means lower losses can be achieved.
  • an improvement in stability can be achieved since the relative alignment of the driving shaft towards the cage can be achieved with high precision using simple means.
  • a bearing in particular cylindrical roller bearings, barrel bearings or ball bearings, is attached to the respective first eccentric area, with the first rollers rolling and/or sliding directly on the first eccentric area or on which a ring is attached, on which the first rollers roll and/or slide.
  • the driving shaft, in particular hollow shaft, of the transmission has a second eccentric region, which has an offset angle in the circumferential direction to the first eccentric region, in particular an offset angle of 180 ° or an offset angle of 3607P, where P is the number of eccentric regions of the driving shaft , wherein the second eccentric region is radially surrounded by a second cam disk region, with second rollers also being accommodated in the cage with a radial degree of freedom, in particular being able to move radially back and forth, wherein during operation, in particular when the driving shaft is rotating, the second rollers are forced by the second eccentric region to roll and/or slide on the second cam disk region.
  • the inner radius of the second cam area in particular the radial distance of the second cam area relative to the axis of rotation of the driving shaft, depends periodically on the circumferential angle, in particular on the circumferential angle related to the axis of rotation of the driving shaft, in particular and is not constant.
  • the advantage here is that the number of periods of the first cam area is equal to the number of periods of the first cam area and the transmission can therefore be operated, in particular with a reduction in the unbalance.
  • An advantageous radial distribution of the eccentrics reduces the unbalance.
  • the numbers of periods of the curve areas are equal to one another, so that the transmission is ready for operation.
  • the imbalance can be reduced by advantageously offsetting the eccentric areas in the circumferential direction.
  • an offset angle in the circumferential direction of 360° divided by the number of eccentric regions is advantageous.
  • the eccentrics can be distributed in such a way that the unbalance is minimized
  • the cam areas can be made congruent in the circumferential direction, so that the cam areas of all rows of rollers can be designed as a single long cam area in a cam component, within which the Rows of rollers are arranged axially offset from one another.
  • the cam disk areas of all rows of rollers can therefore be represented in a single, in particular common, component, which enables economical manufacturability and simple assembly.
  • the outer radius of the driving shaft in the second eccentric region depends on the circumferential angle, in particular and is therefore not constant, in particular where the dependence of the outer radius only has a single maximum and a single minimum as a function of the circumferential angle.
  • the axial region covered by the second eccentric region overlaps at least with the axial region covered by the second cam region.
  • a bearing in particular a ball bearing, is attached to the first eccentric region, on which, in particular on its outer ring, the first rollers roll and/or slide directly or on which a ring is attached, on which the first rollers roll and/or or slide.
  • a first and second cam region are integrated into a first housing part, which is connected to a second housing part, in which bearings are accommodated which rotatably support the driven shaft, in particular wherein the respective inner ring of these bearings is accommodated on the driven shaft is and the respective outer ring of these bearings are accommodated in the second housing part.
  • these two cam areas can be implemented by a single cam area, which in the axial direction includes the axial area covered by the first and the second cam area, which enables particularly simple and cost-effective production, especially since only a single part can be used for all cam areas is.
  • a shaft sealing ring in particular an inner shaft sealing ring, is accommodated in the driving shaft, which seals towards the driving shaft, in particular whose sealing lip runs on the driving shaft, with a further shaft sealing ring being accommodated in the second housing part, which is towards the driving shaft seals, in particular its sealing lip that runs on the driving shaft or runs on a ring part plugged onto the driving shaft.
  • a third housing part in particular an adapter housing, is connected to the first and second housing parts, in particular by means of connecting screws which are evenly spaced in the circumferential direction, the third housing part being connected to the housing of the electric motor, the third housing part having at least the first and second gears partially surrounding it, forming a housing.
  • the advantage here is that the housing parts are pressed towards each other by the connecting screws, thus creating a stable enclosure.
  • the cage for receiving the first rollers has first recesses which are regularly, in particular uniformly, spaced apart from one another in the circumferential direction, in particular wherein the first recesses on the cage are arranged at the same radial and axial position.
  • first recesses which are regularly, in particular uniformly, spaced apart from one another in the circumferential direction, in particular wherein the first recesses on the cage are arranged at the same radial and axial position.
  • the cage for receiving the second rollers has second recesses which are spaced apart regularly, in particular evenly, in the circumferential direction, in particular, the second recesses on the cage being arranged at the same radial and axial position.
  • the first recesses have an offset in the circumferential direction relative to the second recesses, the number N of the first recesses being the same as the number of second recesses, in particular the offset being 360°/N, where N is the number of first recesses.
  • FIG. 2 shows an associated partially cutaway representation of the drive.
  • Figure 3 shows a corresponding, partially cut but differently cut representation of the drive.
  • first rollers 3 and second rollers 4 are accommodated and roll and/or slide on the first housing part 2.
  • FIG. 6 shows a further cross section through the first housing part 2, with the row formed by the first rollers 3 and the row formed by the second rollers 4 being visible.
  • FIG. 12 shows a head retraction and foot retraction in the contour of a cam of the drive.
  • the driving shaft 10 of the exemplary embodiment according to FIG. 8 is shown in FIG. 14.
  • 15 shows a top view of an area of the cage.
  • a recess in the cage is shown enlarged in FIG. 16.
  • FIG. 17 Another recess in the cage is shown enlarged in FIG. 17.
  • FIG. 18 shows a sectional view of the bearing of the driving shaft 10 in more detail, with a ball 180 being used as a rolling element instead of a cylinder or a barrel.
  • FIG. 1 An alternative cage 10 is shown in FIG. 1
  • a third spacing ring 190 is shown in an oblique view.
  • FIG. 22 shows a first spacing ring 190 in an oblique view.
  • a first gear 12 is connected in a rotationally fixed manner to the rotor shaft of an electric motor 11 and drives a second gear 13, which is in engagement with the first gear.
  • the second gear 13 is connected in a rotationally fixed manner to the hollow shaft 1, which has a first
  • the outer radius is not constant as a function of the circumferential angle, but depends on the circumferential angle.
  • the function has a single maximum and a single minimum.
  • the hollow shaft 1 functions as a driving shaft and can also be referred to as a driving shaft.
  • the circumferential angle associated with the maximum of the first eccentric region 8 is spaced in the circumferential direction from the circumferential angle associated with the maximum of the second eccentric region 9.
  • the outer circumference of the respective eccentric region (8, 9) is circular cylindrical, in particular circular.
  • a first bearing 5 can therefore be placed on the first eccentric region 8 and a second bearing 7 can be placed on the second eccentric region 9.
  • the first bearing 5 can be designed as a ball bearing and the second bearing 7 can also be designed as a ball bearing.
  • First rollers are provided on the outer circumference of the first bearing 5, which either roll and/or slide directly on the outer ring of the first bearing 5 or on a ring pushed onto the outer ring of the first bearing 5.
  • the second rollers 6 are held axially spaced from the first rollers 3 in a cage 4 and are therefore spaced apart from one another in the circumferential direction. Because the cage 4 has a second recess for every second roller 6, in which this second roller 6 is accommodated.
  • the second recesses are preferably shaped like one another, in particular identically, and/or arranged at the same radial distance and/or cover the same axial region. Radially inwardly, each of the first and second rollers touches the respective eccentric area.
  • the first rollers touch a first cam disk area formed on the inside of a first housing part 2 and roll on it.
  • This first cam area has an inner radius that periodically depends on the circumferential angle, in particular a sinusoidal shape.
  • the cam area is formed in one piece with the housing part 2, i.e. in one piece.
  • the associated axis of symmetry of the rotational symmetry is identical to the axis of rotation of the hollow shaft 1.
  • the associated axis of symmetry of the rotational symmetry of the second cam area is identical to the axis of rotation of the hollow shaft 1.
  • the second cam area is arranged axially next to the first cam area. As shown in Figures 1 to 6, the second cam area is designed in the same way as the first cam area, so it has no offset in the circumferential direction.
  • the sinusoidal dependence of the inner radius of the second cam area on the circumferential angle is therefore identical to the sinusoidal dependence of the inner radius of the first cam area on the circumferential angle.
  • the number of periods and also the eccentricity enable a high gear ratio with high torque.
  • the radial spacing region covered by the cage 4 is radially spaced from the radial spacing region covered by the shaft 1 and/or is arranged radially spaced and/or further outward.
  • the axial direction is aligned parallel to the axis of rotation of the shaft 1.
  • the radial distances mentioned here are always related to the axial axis.
  • the circumferential direction and the circumferential angles are related to this axial direction.
  • the cage 4 is made in one piece with the driving shaft 10, i.e. in one piece.
  • the cage 4 is formed and, on the output side, axially adjacent to the cage 4, the driven shaft 10 is formed, which has axial bores on its axial end face, which are designed as threaded bores.
  • a device to be driven with its rotatably mounted element can be screw-connected to the shaft 1.
  • the driving wave 10 can also be referred to as a driving wave.
  • the driving shaft 10 is mounted towards the shaft 1 by means of a further bearing 16 and is rotatably mounted towards the housing, in particular towards a second housing part 17 connected to the first housing part 2, by means of two bearings (14), which are preferably designed as angular contact bearings.
  • first and second eccentric regions 8 and 9 are designed to be similar but offset from one another by 180° in the circumferential direction. If additional eccentric areas and correspondingly assigned rows of rollers are used, an offset of 360° / N in the circumferential direction between two next adjacent rows of rollers is possible, whereby the number of rows of rollers is equal to the number of eccentric regions.
  • a shaft sealing ring 15 is provided towards the shaft 1, in particular radially inwards, and a further shaft sealing ring 18 is provided towards the housing, in particular radially outwards towards the housing.
  • the shaft seal 15 is received by the driving shaft 10 and its sealing lip runs on a finely machined area of the shaft 1.
  • the shaft sealing ring 18 is accommodated in the second housing part 17 and its sealing lip runs on the driving shaft 10 or on a ring plugged onto the driving shaft 10.
  • the bearings of the bearing 14, which are preferably designed as angular contact bearings, are accommodated with their outer ring in the second housing part 17 and are plugged onto the driving shaft 10 with their inner ring.
  • the inner ring of the further bearing 16 in particular rolling bearings, in particular ball bearings, is plugged onto the shaft 1.
  • the outer ring of the further bearing 16 is accommodated in the driving shaft 10.
  • the inner ring of the first bearing 5 is attached to the first eccentric region 8.
  • the inner ring of the second bearing 7 is attached to the second eccentric region 9.
  • the outer ring of the first bearing 5 or a ring part attached to this outer ring acts as a rolling surface for the first rollers 3.
  • the outer ring of the second bearing 7 or a ring part attached to this outer ring acts as a rolling surface for the second rollers 6.
  • a third housing part 19 at least partially surrounds the spur gear stage formed from the first and second gears (12, 13).
  • the third housing part 19 is connected to the housing of the electric motor driving the first gear 12.
  • the first housing part 2 and the second housing part 10 are arranged on the side of the third housing part 19 facing away from the electric motor 11.
  • the first housing part 2 is arranged between the second housing part 10 and the third housing part 19.
  • the first, second and third housing parts (19, 2, 10) are connected by means of connecting screws 20 passing through these three housing parts (19, 2, 10).
  • the first rollers 3 and also the recesses of the cage 4 accommodating the first rollers 3 form a first row in the circumferential direction.
  • the second rollers 6 and also the recesses in the cage 4 accommodating the second rollers 6 form a second row in the circumferential direction.
  • the first rollers 3 are evenly, in particular regularly, spaced apart from one another in the circumferential direction.
  • the second rollers 6 are spaced apart from one another evenly, in particular regularly, in the circumferential direction.
  • rollers (3, 6) of each row of rollers are all on a circle or the axes of the rollers (3, 6) are on an imaginary cylinder.
  • the center of this circle lies on the axis of the associated eccentric area or the axis of this respective cylinder is concentric with the associated eccentric area.
  • the cylinder axes are arranged parallel but radially offset from one another.
  • the first rollers 3 rest on the first eccentric region 8 and the second rollers 6 rest on the second eccentric region 9.
  • the two rows are therefore not aligned coaxially with one another.
  • the cylinder which contains the axes of rotational symmetry of the first rollers 3 is axially spaced from the cylinder which contains the axes of rotational symmetry of the second rollers 6.
  • the first row is offset from the second row by half a period length of the first rollers 3 within the first row.
  • Every second roller 6 therefore has an offset angle of 180 ° / N to a respective first roller 3, where N is the number of first rollers 3 arranged in the first row.
  • further rows with further rollers and associated cam disk arrangements are provided.
  • another drive is shown in FIG. 8, in which three rows of rollers are provided.
  • the driving hollow shaft 1 has a first eccentric region 80, which is arranged axially between a second and a third eccentric region (81, 82).
  • the high point of the first eccentric region 80 is offset by 180° in the circumferential direction to the high points of the second and third eccentric regions (81, 82), which are each arranged at the same circumferential position.
  • the first eccentric region 80 is wider than the second eccentric region 81.
  • the first eccentric region 80 is wider than the third eccentric region 82.
  • the sum of the axial widths of the second and third eccentric regions (81, 82) is equal to the axial width of the first eccentric region 80.
  • a rolling bearing is pushed onto each of the eccentric regions (80, 81, 82), which are referred to below as eccentric bearings.
  • a first eccentric bearing is pushed onto the first eccentric region, the rolling elements 16 of which are designed as cylindrical rollers or barrels.
  • the rolling elements (83, 87) of the second and third eccentric bearings are also designed as cylindrical rollers or barrels.
  • the output shaft 10 has a flange block interface on the output side, i.e. an interface that is advantageous for robot applications.
  • the driving shaft 10 has, at its end region axially remote from the flange block interface, a tube region which is designed as a cage and radially surrounds the eccentric bearings (80, 81, 82).
  • the respective rollers (16, 88, 89) are accommodated in recesses (141, 142, 143) of the cage and are arranged to be movable in the radial direction relative to the cage.
  • the range of motion of the rollers (16, 88, 89) is limited radially inwards by the respective outer ring of the respective eccentric bearing and radially outwards by a respective cam contour which is formed on the inside of the first housing part 2.
  • the first of the cam contours is in turn offset 180° in the circumferential direction from the other two cam contours, which are similar to each other, i.e. without an offset.
  • the first rollers 16 therefore roll on the first cam contour and the second rollers 88 roll on the second cam contour.
  • the third rollers 89 roll on the third cam contour.
  • the first cam contour is arranged between the second and the third cam contour.
  • a second housing part 17 is connected to the first housing part 2 and surrounds the flange support interface of the driving shaft 10.
  • the second and third rollers (88, 89), which have different widths than the first roller 16, are arranged in such a way that the dynamic unbalance is minimized or disappears.
  • cylindrical or barrel-shaped rolling bodies 14 are provided, the cylinder axis of which intersects with the axis of rotation of the driving shaft 10, in particular where it has an angle between 10 ° and 80 ° to the axis of rotation of the driving shaft 10.
  • the running surface of the rolling element 14 is formed on the one hand on the second housing part 17 and on the other hand on the driving shaft 10.
  • the driving shaft 10 forms an inner ring and the second housing part forms the outer ring of the bearing of the driving shaft 10.
  • the first housing part 2 delimits the rolling body 14, in particular in the direction of the cylinder axis of the rolling body 14.
  • the rolling body 14 is delimited by the first housing part 2, the second housing part 17 and the driving shaft 10.
  • the driving shaft 10 has a V-shaped annular groove, in particular the ring axis of which is aligned coaxially with the axis of rotation of the driving shaft 10.
  • the bearing of the output shaft is designed accordingly to a cross roller or four-point bearing. Both radial forces and axial forces are absorbed by the bearing. In particular, the bearing also absorbs moments directed in this way.
  • a rolling body 180 designed as a ball can be used instead of the cylindrical or barrel-shaped rolling body 14.
  • the foot areas are the furthest radially the area of the desired course 130 located away from the axis of rotation of the driving shaft 10.
  • the driving shaft 1 is aligned coaxially with the driving shaft 10.
  • the driving shaft 10, in particular its cage, has a stiffening ring 90 which runs continuously in the circumferential direction at its axial end region, in particular at its axial end region facing away from the flange block interface.
  • the stiffening ring 90 preferably projects radially outwards on the cage.
  • the thin-walled cage is stiffened and achieves greater resilience and load-bearing capacity.
  • the radial wall thickness of the cage is smaller than the radial Wall thickness in the remaining area of the driving shaft 10, in particular in that axial area which is covered by the rolling elements 14.
  • the recesses (141, 142, 143) of the respective row are evenly spaced from one another and in the same axial position.
  • the first row of recesses 141 is arranged axially between the second row of recesses 142 and the third row of recesses 143.
  • the row of second recesses 142 has an offset in the circumferential direction from the row of first recesses 141.
  • the row of second recesses 142 has no offset in the circumferential direction from the row of third recesses 141.
  • the recesses (141, 142, 143) have relief notches in their four corner regions in particular.
  • the edges of the first recesses 141, which are arranged axially on both sides, are therefore dovetail-shaped.
  • Two of the relief notches are curved.
  • the relief notches of a respective such pair are curved in such a way that they are directed toward one another.
  • Each first recess 141 has a rectangular area, the corner areas of which are adjoined by relief notches which, on the one hand, i.e. on a first side of the rectangular area, protrude in the axial direction, the distance between the two relief notches on the first side increasing as the axial position increases. in particular in the axial direction, decreases more and more monotonically, in particular strictly monotonically, and on the other hand, i.e. on the other side of the rectangular area, protrudes against the axial direction, the distance between the two relief notches on this other side decreasing as the axial position, in particular, counter to the axial direction, decreases more and more, monotonically, in particular strictly monotonically.
  • the curved shape is preferably composed of radii R.
  • the first rollers 3 are delimited in the axial direction by the respective first and the respective other sides of the rectangular area.
  • the second recesses 142 In contrast to the first recesses 141, in the second recesses 142 only a single pair of relief notches is directed towards one another.
  • the other respective pair which on the side of the second recesses 142 facing away from the first recesses, has relief notches that are aligned substantially parallel to one another.
  • the cage can also be designed with rounded rectangular slot-shaped recesses.
  • the axial limitation of the first rollers 3 is achieved by a first spacing ring 191, the radially projecting knobs of which protrude into the respective first roundings of the rectangular slot-shaped recesses and thereby axially delimit the respective roller 3, with a further spacing ring protruding with its knobs into the other rounding .
  • the nub of the spacing ring that is closest to a nub of the first spacing ring protruding into the rounding of the first recess projects into the rounding of a respective third recess to limit a respective third roller 89.
  • the nub of the further spacing ring that is closest to a nub of the further spacing ring which protrudes into the second rounding of the first recess projects into the rounding of a respective second recess to limit a respective second roller 88.
  • a second spacing ring 190 projects with its radially protruding knobs into a rounding of the second recess and axially delimits the respective second roller 88.
  • a third spacing ring 190 projects with its radially protruding knobs into a rounding of the third recess in the cage and axially delimits the respective third roller 89.
  • the knobs are flat on their side that axially delimits the respective roller and are rounded off in accordance with the rounding on the side facing away from the roller that is axially limited by the knob. In this way, the end face of the respective cylindrical or barrel-shaped roller touches the flat area of the respective knob.
  • the rollers (16, 88, 89) are of different widths in the axial direction and are arranged one behind the other in such a way that the dynamic unbalance is reduced or disappears.
  • the widths C_i of the rollers are selected such that the sum of the products from the respective width C_i and the cosine value of the circumferential position of the high point assigned to the respective eccentric area disappears, as does the sum of the products from the respective width C_i and the Sine value of the circumferential position of the high point assigned to the respective eccentric area.
  • rollers of rows of rollers whose assigned eccentric area have the same circumferential angular position of their high point have the same axial width in total as the sum of the axial width of other rollers of other rows of rollers assigned eccentric region have a different circumferential angular position of their high point.
  • the high points of the eccentric regions are arranged in such a way that the radial forces resulting from the rolling contacts of the rollers during operation cancel each other out.
  • the rollers of the different rows of rollers are of unequal width in the axial direction, in particular of different widths.
  • the axial width of the first, i.e. middle, roller is equal to the sum of the axial widths of the rollers of the other two rows of rollers.
  • the high points of the axially outer eccentric regions are arranged at the same circumferential angular position.
  • first bearing in particular rolling bearings, in particular ball bearings
  • 16 further bearings, in particular rolling bearings, in particular ball bearings

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)
  • Friction Gearing (AREA)

Abstract

L'invention concerne un entraînement comprenant une transmission entraînée par un moteur électrique, un arbre d'entraînement de la transmission présentant de multiples régions excentriques de largeurs différentes dans la direction axiale, les points hauts de celle-ci étant décalés les uns par rapport aux autres dans la direction circonférentielle, la région excentrique respective étant entourée radialement par une région de disque de came respective, en particulier une partie de carter de la transmission, les rouleaux respectifs étant logés dans des évidements respectifs d'une cage et disposés avec un degré de liberté radial, la cage étant fixée en rotation à l'arbre de sortie de la transmission, l'arbre de sortie, conjointement avec la cage, étant fixé en rotation à la fois par rapport aux régions de disque de came et par rapport à l'arbre d'entraînement, pendant le fonctionnement, les rouleaux respectifs étant amenés à rouler et/ou à coulisser sur la région de disque de came respective par la région excentrique respective, les régions excentriques étant agencées les unes derrière les autres dans la direction axiale de telle sorte que le déséquilibre dynamique est réduit au minimum et/ou éliminé.
EP23707679.9A 2022-03-15 2023-02-22 Entraînement comprenant une transmission entraînée par un moteur électrique Pending EP4493841A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102022000900 2022-03-15
PCT/EP2023/054460 WO2023174658A1 (fr) 2022-03-15 2023-02-22 Entraînement comprenant une transmission entraînée par un moteur électrique

Publications (1)

Publication Number Publication Date
EP4493841A1 true EP4493841A1 (fr) 2025-01-22

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Application Number Title Priority Date Filing Date
EP23707679.9A Pending EP4493841A1 (fr) 2022-03-15 2023-02-22 Entraînement comprenant une transmission entraînée par un moteur électrique

Country Status (5)

Country Link
US (1) US12435777B2 (fr)
EP (1) EP4493841A1 (fr)
CN (1) CN118805044A (fr)
DE (1) DE102023000623A1 (fr)
WO (1) WO2023174658A1 (fr)

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CS228653B1 (en) * 1980-11-24 1984-05-14 Zdenek Sladek Antifriction spur gearbox
DE3906053A1 (de) 1989-02-27 1990-08-30 Harmonic Drive Antriebs Gmbh Getriebe nach art eines spannungswellengetriebes
JPH06174017A (ja) 1992-12-13 1994-06-21 Harmonic Drive Syst Ind Co Ltd 増減速装置
JP5354186B2 (ja) * 2008-07-09 2013-11-27 Ｎｔｎ株式会社 減速装置
WO2011027675A1 (fr) * 2009-09-02 2011-03-10 Ntn株式会社 Unité de réducteur
DE102010016581B4 (de) 2010-04-22 2024-03-07 Wittenstein Se Getriebe
DE112012003027T5 (de) * 2011-07-19 2014-05-08 Ntn Corporation Motoranordnung mit einem Drehzahlminderer
EP2784347A1 (fr) * 2013-03-25 2014-10-01 Spinea s.r.o. Engrenage
DE102013011799A1 (de) 2013-07-16 2015-01-22 Wittenstein Ag Getriebe
EP3135954A1 (fr) 2015-08-25 2017-03-01 Shenzhen Volmen Precision Mechanical Technology Co., Ltd Palier de réduction et moteur électrique
US10378613B1 (en) * 2018-02-07 2019-08-13 Schaeffler Technologies AG & Co. KG Electric powertrain with cycloidal mechanism
US11260898B2 (en) 2018-03-28 2022-03-01 Tesla, Inc. Steering system for a vehicle
KR102345641B1 (ko) 2020-06-15 2021-12-31 씨앤엠로보틱스 주식회사 마찰 파동 감속기
DE102021004541A1 (de) 2020-09-28 2022-03-31 Sew-Eurodrive Gmbh & Co Kg Antrieb, aufweisend ein von einem Elektromotor angetriebenes Getriebe

Also Published As

Publication number Publication date
WO2023174658A1 (fr) 2023-09-21
DE102023000623A1 (de) 2023-09-21
US12435777B2 (en) 2025-10-07
CN118805044A (zh) 2024-10-18
US20250198490A1 (en) 2025-06-19

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