A device for loading and unloading a machine tool for machining gears, in particular a hard fine machining machine, with a workpiece includes: a base, a carrier arranged on the base and which is rotatable with respect to the base about a first axis of rotation, a gripping device arranged on the carrier for gripping and releasing the workpiece, wherein the gripping device has at least two gripper arms which are each pivotable independently of one another about a second axis of rotation, and the gripper arms are pivotable relative to one another about the second axis of rotation in such a way that the gripper arms can assume relative to one another a gripping position for gripping the workpiece and a release position for releasing the workpiece, and the gripper arms are pivotable about the second axis of rotation synchronously with one another at least in the gripping position.

A gearbox (1), in particular coaxial gearbox, includes a ring gear having an internal toothing (3); a tooth carrier (5) having guides (7) which are aligned radially in terms of a rotation axis of the gearbox; teeth (9) which, for engaging with the internal toothing (3), are received in the guides (7), wherein the teeth (9) are mounted in the guides (7) displaceable in the direction of their longitudinal axis (11) relative to the tooth carrier (5); and a cam disk (13) which is rotatable about the rotation axis and is operatively connected to the teeth (9); wherein the teeth (9) have in each case a tooth flank (17) which is at least partially curved along a width curve (51) extending over a width (41) of the tooth flank (17).

A gearbox (1), in particular coaxial gearbox, includes a ring gear having an internal toothing (3); a tooth carrier (5) having guides (7) which are aligned radially in terms of a rotation axis of the gearbox; teeth (9) which, for engaging with the internal toothing (3), are received in the guides (7), wherein the teeth (9) are mounted in the guides (7) displaceable in the direction of their longitudinal axis (11) relative to the tooth carrier (5); and a cam disk (13) which is rotatable about the rotation axis and is operatively connected to the teeth (9); wherein the teeth (9) have in each case a tooth flank (17) which is at least partially curved along a width curve (51) extending over a width (41) of the tooth flank (17).