Harmonic drive and internal geared wheel for a drive of this type

A harmonic drive (12) comprising

• a dimensionally stable bearing ring having inner gear teeth;
• a radially deformable sequence of curves in the shape of a wheel hoop which are connected to one another in an articulated way in the dimensionally stable bearing ring (11) of somewhat greater diameter,
• a drive core (14) of non-round cross-section, having an outside, rotating around a rotational axis (24) of the drive core (14) and surrounded by the radially deformable sequence of curves, for coaxial rolling with the surrounding, radially deformable sequence of curves;
• an internal geared wheel (15) assembled from individual, spoke-shaped. radially oriented tappets (21), whose tappet shafts (22) are equipped with feet (23), which feet (23) are supported transverse to the rotational axis (24) on the outside (25) of the drive core (14), with heads (26), which heads (26) each have a curved wall (32), on an opposite side, and, approximately centrally between these heads (26), with connection profiles (30, 31), which project laterally in peripheral direction for mutual articulated connections of the tappets (21) to one another and wherein the heads (26) are furnished with a sequence of outer gear teeth for engaging the inner gear teeth of the dimensionally stable bearing ring (11) and wherein the sequence of outer gear teeth is interrupted between neighboring heads (26).

A harmonic drive (12) comprising

• a dimensionally stable bearing ring;
• a radially deformable sequence of curves in the shape of a wheel hoop which are connected to one another in an articulated way in the dimensionally stable bearing ring (11) of somewhat greater diameter,
• a drive core (14) of non-round cross-section, having an outside, rotating around a rotational axis (24) of the drive core (14) and surrounded by the radially deformable sequence of curves, for coaxial rolling with the surrounding, radially deformable sequence of curves;
• an internal geared wheel (15) assembled from individual, spoke-shaped, radially oriented tappets (21), whose tappet shafts (22) are equipped with feet (23), which feet (23) are supported transverse to the rotational axis (24) on the outside (25) of the drive core (14), with heads (26), which heads (26) each have a curved wall (32), on an opposite side, and, approximately centrally between these heads (26), with connection profiles (30, 31), which project laterally in peripheral direction for mutual articulated connections of the tappets (21) to one another,
• wherein a respective shaft (22) of the foot (23) facing the rotational axis (24) of the drive core (14) and of the internal geared wheel (15) is equipped on a second end with a peripherally expanding head (26) which is elastically compressible radially in relation to the rotational axis (24) wherein the connection profiles (30, 31) are formed as rings and receive a pivot pin.

An internal geared wheel (15) for a harmonic drive comprising

• a dimensionally stable bearing ring having inner gear teeth;
• a radially deformable sequence of curves in the shape of a wheel hoop which are connected to one another in an articulated way in the dimensionally stable bearing ring (11) of somewhat greater diameter,
• a drive core (14) of non-round cross-section rotating around a rotational axis (24) of the drive core (14) and surrounded by the radially deformable sequence of curves, for coaxial rolling with the surrounding, radially deformable sequence of curves;
• wherein the drive core (14) is produced from neighboring individual tappets (21) which are connected to one another in an articulated way in a circular arc, wherein respective shafts (22) of the circular arc are equipped with connection profiles (30, 31), which connection profiles project laterally in a peripheral direction, approximately centrally between the feet (23) of the connection profiles (30, 31) and the heads (26) of the connection profiles (30, 31), for mutual articulated connections to one another and wherein the heads (26) are furnished with a sequence of outer gear teeth for engaging the inner gear teeth of the dimensionally stable bearing ring (11) and wherein the sequence of outer gear teeth is interrupted between neighboring heads (26).

A harmonic drive (12) comprising

• a dimensionally stable bearing ring;
• a radially deformable sequence of curves in the shape of a wheel hoop which are connected to one another in an articulated way in the dimensionally stable bearing ring (11) of somewhat greater diameter,
• a drive core (14) of non-round cross-section, having an outside, rotating around a rotational axis (24) of the drive core (14) and surrounded by the radially deformable sequence of curves, for coaxial rolling with the surrounding, radially deformable sequence of curves;
• an internal geared wheel (15) assembled from individual, spoke-shaped, radially oriented tappets (21), whose tappet shafts (22) are equipped with feet (23), which feet (23) are supported transverse to the rotational axis (24) on the outside (25) of the drive core (14), with heads (26), which heads (26) each have a curved wall (32), on an opposite side, and, approximately centrally between these heads (26), with connection profiles (30, 31), which project laterally in peripheral direction for mutual articulated connections of the tappets (21) to one another;
• wherein the connection profiles (30, 31) are implemented on two sides of each individual tappet (21), are disposed parallel to the rotational axis (24) and offset to one another, on the free face ends of peripheral projecting arms (28, 29), which peripheral projecting arms (28, 29) are short in relation to a radial length of the tappet (21), in a central region of the tappet (21).

A harmonic drive (12) comprising

• a dimensionally stable bearing ring;
• a radially deformable sequence of curves in the shape of a wheel hoop which are connected to one another in an articulated way in the dimensionally stable bearing ring (11) of somewhat greater diameter,
• a drive core (14) of non-round cross-section, having an outside, rotating around a rotational axis (24) of the drive core (14) and surrounded by the radially deformable sequence of curves, for coaxial rolling with the surrounding, radially deformable sequence of curves;
• an internal geared wheel (15) assembled from individual, spoke-shaped radially oriented tappets (21), whose tappet shafts (22) are equipped with feet (23), which feet (23) are supported transverse to the rotational axis (24) on the outside (25) of the drive core (14), with heads (26), which heads (26) each have a curved wall (32), on an opposite side, and, approximately centrally between these heads (26), with connection profiles (30, 31), which project laterally in peripheral direction for mutual articulated connections of the tappets (21) to one another,
• wherein the connection profiles (30, 31) are formed as rings to receive a pivot pin.