Patent ID: 8500500

Claim:
A harmonic drive, comprising a drive element pivoted about a main axis, a transmission element, which has been arranged in such a way that it can be rotated about a tumble axis, whereas the tumble axis intersects the main axis under an orbital angle and rotates together with the drive element about the main axis, as well as an output drive element and a supporting element, whereas a first coupling element has been arranged between the transmission element and the output drive element, and a second coupling element has been arranged between the transmission element and the supporting element, wherein the first coupling element comprises a first gear pairing and the second coupling element comprises a second gear pairing, wherein the first gear pairing comprises a first and a second tooth system, wherein the second gear pairing comprises a third and a fourth tooth system, wherein there is a difference in the number of teeth between the first and the second tooth system and the third and the fourth tooth system, wherein the first and the third tooth system arranged at the transmission element are designed as external tooth systems, and the second tooth system arranged at the output drive element, as well as the fourth tooth system arranged at the supporting element are each designed as an internal tooth system, and wherein at least one of the external tooth systems or at least one of the internal tooth systems is a spur toothing system having a profile displacement changing along a gear width of the spur toothing system.