HARMONIC DRIVE FOR A ROBOT, AND ROBOT COMPRISING A HARMONIC DRIVE

摘要

The invention relates to a harmonic drive (1) for a robot (12), said harmonic drive comprising: a flexible ring element (3) which can be deformed peripherally in a radial direction by a wave generator (2) and has external toothing (3a); and a rigid ring element (4) which has internal toothing (4a), wherein the external toothing (3a) of the flexible ring element (3) meshes with the internal toothing (4a) of the rigid ring element (4) in order to transmit a torque at at least one tooth engagement region (5a, 5b), wherein the wave generator (2) has a non-circular bearing element (6) comprising rolling elements (7), an inner ring (8) having a first raceway (8a) for the rolling elements (7), and an outer ring (9) having a second raceway (9a) for the rolling elements (7), wherein at least part of the bearing element (6) projects axially into the flexible ring element (3), and wherein the inner ring (8) is connected to a shaft (16) for conjoint rotation therewith, wherein the bearing element (6) is designed as a single-row cylindrical roller bearing, wherein at least part of the second raceway (9a) for the rolling elements (7) is convexly curved radially in the direction of the rolling elements (7) on an inner peripheral surface of the outer ring (9). The invention also relates to a robot (12) comprising such a harmonic drive (1).