Stress wave gearbox, drive device, and robot arm with such a stress wave gearbox

Abstract

The invention relates to a tension wave transmission comprising a main rolling bearing (18), a rigid outer ring (19) connected to a rolling bearing inner ring (18b) and having internal teeth (19a), a flexible transmission bushing (20) having an inner shell wall (20a) and an external toothing (20b) opposite the inner shell wall (20a) and meshing with the internal toothing (19a) of the rigid outer ring (19), and a transmission bushing flange (20c), a shaft generator (21) rolling on the inner shell wall (20a) of the flexible transmission bushing (20), to which a motor shaft (22a) of a drive motor (22) can be coupled, wherein the external toothing (20b) of the flexible transmission bushing (20) is in meshing engagement with the internal toothing (19a) of the rigid outer ring (19). and a torque sensor (17),whose outer sensor flange (17a) is connected to the outer rolling bearing ring (18a) of the main rolling bearing (18) and whose inner sensor flange (17b) is connected to the flexible transmission bushing (20). The invention also relates to a drive device (16) and a robot arm (3) with such a tension wave drive (15).

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