Harmonic pin-ring gear system
A harmonic ring gear system can include at least one inner gear with external toothing, the at least one inner gear defining an axis of rotation; at least one outer gear with internal toothing arranged concentrically to the at least one inner gear about the axis of rotation, the internal toothing spaced apart from the external toothing; a pin ring positioned between the at least one inner gear and the at least one outer gear, the pin ring comprising a multiplicity of pins; and a rotary transmitter configured to lift a portion of the pins of the multiplicity of pins off the external toothing and press the portion of the pins into the internal toothing.
1. Harmonic-pin ring gear system comprising:
at least one inner ring with external toothing and
at least one outer ring with internal toothing,
a pin ring with pins with a circular cross section,
a rotor with a transmitter for drawing the pins of the pin ring into the teeth of the outer rings and into the teeth of the inner ring,
wherein the inner ring, the rotor and the outer ring are arranged concentrically in relation to one another, the transmitter is arranged inside the pin ring and the transmitter and the pin ring are arranged between the inner ring and the outer ring, wherein the transmitter is deformed such that the outer ring and the inner ring rotate in relation to one another,
wherein, moreover, the shape of the teeth of the outer ring and the shape of the teeth of the inner ring are essentially determined by the envelope of the moving pins and each of the pins is in mesh with the internal toothing of the outer gear or in mesh with the external toothing of the inner gear.
2. Harmonic pin ring gear system according to claim 1 , wherein the apex of a pin central point of a pin as the pin moves from one tooth base into an adjacent tooth base of toothing of the inner or outer ring lies on a pitch circle of the opposite toothing.
3. Harmonic pin ring gear system according to claim 2 , wherein the cross section of the tooth is shaped like a sector of a circle.
4. Harmonic pin ring gear system according to claim 1 , wherein the tooth flanks run into the tooth base perpendicular to the pitch circle of the toothing.
5. Harmonic pin ring gear system according to claim 1 , wherein the pin trajectory of a pin centre point of a pin as the pin moves from one tooth base into an adjacent tooth base is determined by a section of an ellipse.
6. Harmonic pin ring gear system according to claim 1 , wherein the pin trajectory of a pin centre point of a pin as the pin moves from one tooth base into an adjacent tooth base is determined by a section of a sine-overlaid circular shape.
7. Harmonic pin ring gear system according to claim 1 , wherein the pin trajectory of a pin centre point of a pin as the pin moves from one tooth base into an adjacent tooth base is essentially determined by a shape of the transmitter compressed along an angular coordinate.
8. Harmonic pin ring gear system according to claim 1 , wherein the root circle of the teeth of the inner gear is essentially located twice the circumference of the pins from the root circle of the teeth of the outer gear.
9. Inner ring with external toothing for a harmonic pin ring gear system comprising a pin ring with pins having a circular cross section, a rotor with a transmitter for drawing the pins of the pin ring into the teeth of the inner ring, wherein the inner ring and the rotor are arranged concentrically in relation to one another and the transmitter is arranged inside the pin ring, wherein the transmitter deforms the pin ring such that the inner ring rotates relative to an outer ring arranged concentrically to the inner ring,
wherein the inner ring
comprises tooth bases with a profile in the form of a segment of a circle arranged a regular distances, and
teeth arranged between the tooth bases, wherein the shape of the teeth is essentially determined by the envelope of the moving pins.
10. Inner ring according to claim 9 , wherein the profile of the tooth bases is semi-circular in shape.
11. Inner ring according to claim 9 , wherein the tooth flanks run into the tooth base perpendicular to the pitch circle of the toothing.
12. Outer ring with external toothing for a harmonic pin ring gear system comprising a pin ring with pins having a circular cross section, a rotor with a transmitter for drawing the pins of the pin ring into the teeth of the inner ring, wherein the outer ring and the rotor are arranged concentrically in relation to one another and the transmitter is arranged inside the pin ring, wherein the transmitter deforms the pin ring such that the outer ring rotates relative to an inner ring that is arranged concentrically to the outer ring,
wherein the outer ring
comprises tooth bases with a profile in the form of a segment of a circle arranged a regular distances, and
teeth arranged between the tooth bases, wherein the shape of the teeth is essentially determined by the envelope of the moving pins.
13. Inner ring according to claim 12 , wherein the profile of the tooth bases are semi-circular in shape.
14. Inner ring according to claim 12 , wherein the tooth flanks perpendicular to the pitch circle of the toothing run into the tooth base.