Harmonic drive

Abstract

A harmonic drive is disclosed that includes a flexible ring element, which can be deformed in a locally radial manner in the circumferential direction by a wave generator with a non-round outer peripheral surface and which includes an outer toothing, and a rigid ring element with an inner toothing. The outer toothing of the flexible ring element at least partly meshes with the inner toothing of the rigid ring element in order to transmit a torque at at least one tooth engagement region, wherein the wave generator has a non-round first inner ring which protrudes at least partly into the flexible ring element and is rotationally fixed to a shaft. The harmonic drive additionally comprises a first bearing element, comprising a second inner ring and at least one first outer ring, said second inner ring being secured to the rigid ring element. Each outer ring is secured to the flexible ring element. Additionally, a drive cover is provided which is secured to a substantially radially extending section of the flexible ring element, and the drive cover is equipped with at least one opening on which a diaphragm is arranged in order to equalize gas pressure and/or temperature differences between the interior of the harmonic drive and the surroundings of the harmonic drive.