Harmonic pin ring transmission and method of manufacturing a gear therefor

Abstract

A method for manufacturing a gear includes providing teeth which are shaped according to an epicyclic construction; wherein: locations on a respective tooth surface of each tooth are each determined by a radial distance from an axis as a function of a cycle angle; the radial distance is in turn determined by an equidistant to a gear trajectory; locations on the gear trajectory are respectively determined by the vector sum of a cycle vector and an epicycle vector; a tail of the cycle vector lies on the axis and a tail of the epicyclic vector lies in the tip of the cycle vector; an epicycle angle of the epicycle vector is n times as large as that cycle angle and a length of the cycle angle is greater than a length of the epicycle angle; and n is a number of the round engagement portions of the harmonic pin ring transmission which is at least three.

That which is claimed is: 
     
         1 . A harmonic pin ring transmission comprising:
 a first gear with a first toothing;   a second gear with a second toothing;   a pin ring with round engagement regions; and   a revolving transmitter for drawing the engagement regions of the pin ring in the first toothing of the first gear and in the second toothing of the second gear;   wherein:
 the first gear, the transmitter, and the second gear are arranged concentrically with each other and the transmitter is arranged radially inside the pin ring; 
 the pin ring is disposed between the first gear and the second gear, wherein the transmitter comprises a transmitter disk disposed eccentrically to a transmission central axis; 
 the first toothing of the first gear and the second toothing of the second gear are shaped according to an epicyclic construction; 
 locations on a respective tooth surface of the first toothing and the second toothing are each determined by a radial distance from the transmission central axis as a function of a cycle angle; 
 the radial distance is in turn determined by an equidistant to a gear trajectory; 
 locations on the gear trajectory are respectively determined by a vector sum of a cycle vector and an epicycle vector; 
 a tail of the cycle vector lies on the transmission central axis and a tail of the epicyclic vector lies in a tip of the cycle vector; 
 an epicycle angle of the epicycle vector is n times as large as that cycle angle and a length of the cycle angle is greater than a length of the epicycle angle; and 
 n is a number of the round engagement regions of the harmonic pin ring transmission which is at least three. 
   
     
     
         2 . The harmonic pin ring transmission of  claim 1 , wherein:
 the first gear is an inner gear with an external toothing and the second gear is an outer gear with an internal toothing;   for the external toothing of the inner gear, the epicycle angle is measured in the same direction as the cycle angle and the equidistant is an inner equidistant; and   for the internal toothing of the outer gear, the epicycle angle is measured in the opposite direction to the cycle angle and the equidistant is an outer equidistant.   
     
     
         3 . The harmonic pin ring transmission of  claim 1 , wherein:
 the first gear and the second gear are each an outer gear with an internal toothing; and   for the internal toothing of the two outer gears, the epicycle angle is measured in the opposite direction to the cycle angle and the equidistant is an outer equidistant.   
     
     
         4 . The harmonic pin ring transmission of  claim 3 , wherein the respective equidistant is an equidistant at a distance of a sum of a radius of the round engagement regions and a correction value, and wherein the correction value depends on a back lash. 
     
     
         5 . The harmonic pin ring transmission of  claim 3 , wherein the harmonic pin ring transmission comprises a rolling bearing which rests on the transmitter disk, and wherein a cycle radius is equal to half a diameter of the rolling bearing. 
     
     
         6 . The harmonic pin ring transmission of  claim 3 , wherein a cycle radius is equal to half a diameter of the transmitter disk. 
     
     
         7 . The harmonic pin ring transmission of  claim 3 , wherein an epicycle radius is equal to a half an eccentric offset by which the transmitter disk is offset from the transmission central axis. 
     
     
         8 . The harmonic pin ring transmission of  claim 3 , wherein a drive shaft is connected to the transmitter. 
     
     
         9 . The harmonic pin ring transmission of  claim 8 , wherein an output shaft is connected to one of the first gear, the second gear, or the pin ring. 
     
     
         10 . An inner gear for a harmonic pin ring transmission comprising:
 an external toothing; and   wherein:
 a tooth surface of the external toothing is determined by a radial distance from a central axis of the inner gear as a function of a cycle angle; 
 the radial distance from the central axis is in turn determined by an inner equidistant to a gear trajectory; 
 a location on the gear trajectory is determined by a vector sum of a cycle vector, a first epicycle vector and a second epicycle vector; 
 a tail of the cycle vector lies on the central axis, a tail of the first epicycle vector lies in a tip of the cycle vector, and a tail of the second epicycle vector lies in a tip of the first epicycle vector; 
 an epicycle angle of the first epicycle vector is n−1 times as large as the cycle angle and an epicycle angle of the second epicycle vector is n−3 times as large as the cycle angle; 
 n is a number of pins of the harmonic pin ring transmission which is at least four; 
 the epicycle angle of the first epicycle vector is measured in the same direction as the cycle angle and the epicycle angle of the second epicycle vector is measured in an opposite direction to the cycle angle; 
 a length of the cycle vector is greater than a sum of the lengths of the first epicycle vector and the second epicycle vector; and 
 a length of the first epicycle vector is greater than a length of the second epicycle vector. 
   
     
     
         11 . An outer gear for a harmonic pin ring transmission comprising:
 an internal toothing; and   wherein:
 locations on a tooth surface of the internal toothing are each determined by a radial distance from a central axis of the outer gear as a function of a cycle angle; 
 the radial distance is in turn defined by an outer equidistant to a gear trajectory; 
 locations on the gear trajectory are each determined by a vector sum of a cycle vector, a first epicycle vector and a second epicycle vector; 
 a tail of the cycle vector lies on the central axis, a tail of the first epicycle vector lies in a tip of the cycle vector, and a tail of the second epicycle vector lies in a tip of the first epicycle vector; 
 an epicycle angle of the first epicycle vector is n+1 times as large as the cycle angle and an epicycle angle of the second epicycle vector is n+3 times as large as the cycle angle; 
 n is a number of pins of the harmonic pin ring transmission which is at least four; 
 the epicycle angle of the first epicycle vector is measured in an opposite direction to the cycle angle and the epicycle angle of the second epicycle vector is measured in the same direction as the cycle angle; 
 a length of the cycle vector is greater than a sum of the lengths of the first epicycle vector and the second epicycle vector; and 
 a length of the first epicycle vector is greater than a length of the second epicycle vector. 
   
     
     
         12 . A harmonic pin ring transmission comprising:
 an inner gear and an outer gear;   a pin ring with round engagement regions;   wherein, regarding the inner gear:
 the inner gear has an external toothing; 
 a tooth surface of the external toothing is determined by a radial distance from a central axis of the inner gear as a function of a cycle angle; 
 the radial distance from the central axis is in turn determined by an inner equidistant to a gear trajectory; 
 a location on the gear trajectory is determined by a vector sum of a cycle vector, a first epicycle vector, and a second epicycle vector; 
 a tail of the cycle vector lies on the central axis, a tail of the first epicycle vector lies in a tip of the cycle vector, and a tail of the second epicycle vector lies in a tip of the first epicycle vector; 
 an epicycle angle of the first epicycle vector is n−1 times as large as the cycle angle and an epicycle angle of the second epicycle vector is n−3 times as large as the cycle angle; 
 n is a number of pins of the harmonic pin ring transmission which is at least four; 
 the first epicycle angle is measured in the same direction as the cycle angle and the second epicycle angle is measured in an opposite direction to the cycle angle; 
 a length of the cycle vector is greater than a sum of the lengths of the first epicycle vector and the second epicycle vector; 
 a length of the first epicycle vector is greater than a length of the second epicycle vector; 
   wherein, regarding the outer gear:
 the outer gear has an internal toothing; 
 locations on a tooth surface of the internal toothing are each determined by a radial distance from a central axis of the outer gear as a function of a cycle angle; 
 the radial distance is in turn defined by an outer equidistant to a gear trajectory; 
 locations on the gear trajectory are each determined by the vector sum of a cycle vector, a first epicycle vector and a second epicycle vector; 
 a tail of the cycle vector lies on the central axis; 
 a tail of the first epicycle vector lies in a tip of the cycle vector, and a tail of the second epicycle vector lies in a tip of the first epicycle vector; 
 an epicycle angle of the first epicycle vector is n+1 times as large as the cycle angle and an epicycle angle of the second epicycle vector is n+3 times as large as the cycle angle; 
 n is a number of pins of the harmonic pin ring transmission which is at least four; 
 the first epicycle angle is measured in an opposite direction to the cycle angle and the second epicycle angle is measured in the same direction as the cycle angle; 
 a length of the cycle vector is greater than a sum of the lengths of the first epicycle vector and the second epicycle vector; and 
 a length of the first epicycle vector is greater than a length of the second epicycle vector; and 
   wherein the harmonic pin ring transmission further comprises a revolving transmitter for drawing the engagement regions of the pin ring in the internal toothing of the outer gear and in the external toothing of the inner gear, and wherein the inner gear, the transmitter and the outer gear are arranged concentrically with each other, the transmitter is arranged radially inside the pin ring, and the pin ring is disposed between the inner gear and the outer gear.   
     
     
         13 . The harmonic pin ring transmission of  claim 12 , wherein a drive shaft is connected to the transmitter. 
     
     
         14 . The harmonic pin ring transmission of  claim 13 , wherein an output shaft is connected to the pin ring. 
     
     
         15 . The harmonic pin ring transmission of  claim 12 , wherein a drive shaft is connected to the transmitter and an output shaft is connected to one of the inner gear or the outer gear. 
     
     
         16 . The harmonic pin ring transmission of  claim 12 , wherein the respective equidistant is an equidistant at a distance of a sum of a radius of the round engagement regions and a correction value, wherein the correction value is determined by a back lash. 
     
     
         17 . The harmonic pin ring transmission of  claim 12 , wherein:
 the transmitter comprises an oval shaped cam disk and a flexible rolling bearing resting on the oval shaped cam disk; and   a cycle radius is equal to a sum of half a diameter of the flexible rolling bearing and a correction value.   
     
     
         18 . The harmonic pin ring transmission of  claim 12 , wherein
 the transmitter comprises a first circular disk arranged eccentrically to a transmission central axis and a second circular disk arranged eccentrically to the transmission central axis; and   a cycle radius is equal to a sum of a mean radius of an envelope of the two eccentrically arranged first and second circular disks and a correction value.   
     
     
         19 . The harmonic pin ring transmission according to  claim 12 , wherein a first epicycle radius is less than or equal to a sum of half a pin ring stroke and a second correction value, the second correction value is less than or equal to zero, and the length of the second epicycle vector is one third of the length of the first epicycle vector. 
     
     
         20 . A method for manufacturing a gear, the method comprising:
 providing teeth which are shaped according to an epicyclic construction;   wherein:
 locations on a respective tooth surface of each tooth are each determined by a radial distance from an axis as a function of a cycle angle; 
 the radial distance is in turn determined by an equidistant to a gear trajectory; 
 locations on the gear trajectory are respectively determined by the vector sum of a cycle vector and an epicycle vector; 
 a tail of the cycle vector lies on the axis and a tail of the epicyclic vector lies in a tip of the cycle vector; 
 an epicycle angle of the epicycle vector is n times as large as that cycle angle and a length of the cycle angle is greater than a length of the epicycle angle; and 
 n is a number of the round engagement regions of a harmonic pin ring transmission which is at least three. 
   
     
     
         21 . The method of  claim 19 , wherein the step of providing teeth is performed by milling. 
     
     
         22 . A harmonic pin ring transmission comprising:
 a first outer gear and a second outer gear;   a pin ring with round engagement regions;   wherein, regarding the first outer gear:
 the first outer gear has an external toothing; 
 a tooth surface of the external toothing is determined by a radial distance from a central axis of the first outer gear as a function of a cycle angle; 
 the radial distance from the central axis is in turn determined by an inner equidistant to a gear trajectory; 
 a location on the gear trajectory is determined by the vector sum of a cycle vector, a first epicycle vector, and a second epicycle vector; 
 a tail of the cycle vector lies on the central axis, a tail of the first epicycle vector lies in a tip of the cycle vector, and a tail of the second epicycle vector lies in a tip of the first epicycle vector; 
 an epicycle angle of the first epicycle vector is n+1 times as large as the cycle angle and an epicycle angle of the second epicycle vector is n+3 times as large as the cycle angle; 
 n is a number of pins of the harmonic pin ring transmission which is at least four; 
 the first epicycle angle is measured in the same direction as the cycle angle and the second epicycle angle is measured in an opposite direction to the cycle angle; 
 a length of the cycle vector is greater than a sum of the lengths of the first epicycle vector and the second epicycle vector; 
 a length of the first epicycle vector is greater than a length of the second epicycle vector; 
   wherein, regarding the second outer gear:
 the second outer gear has an internal toothing; 
 locations on a tooth surface of the internal toothing are each determined by a radial distance from a central axis of the second outer gear as a function of a cycle angle; 
 the radial distance is in turn defined by an outer equidistant to a gear trajectory; 
 locations on the gear trajectory are each determined by the vector sum of a cycle vector, a first epicycle vector and a second epicycle vector; 
 a tail of the cycle vector lies on the central axis; 
 a tail of the first epicycle vector lies in the tip of the cycle vector, and a tail of the second epicycle vector lies in the tip of the first epicycle vector; 
 an epicycle angle of the first epicycle vector is n+1 times as large as the cycle angle and an epicycle angle of the second epicycle vector is n+3 times as large as the cycle angle; 
 n is a number of pins of the harmonic pin ring transmission which is at least four; 
 the first epicycle angle is measured in an opposite direction to the cycle angle and the second epicycle angle is measured in the same direction as the cycle angle; 
 a length of the cycle vector is greater than a sum of the lengths of the first epicycle vector and the second epicycle vector; and 
 a length of the first epicycle vector is greater than a length of the second epicycle vector; and 
   wherein the harmonic pin ring transmission further comprises a revolving transmitter for drawing the engagement regions of the pin ring in the internal toothing of the first outer gear and in the internal toothing of the second outer gear, and wherein the transmitter, the first outer gear, and the second outer gear are arranged concentrically with each other, the transmitter is arranged radially inside the pin ring, and the pin ring is arranged in an axial direction between the first outer gear and the second outer gear.