Harmonic wave speed reduction transmission device carrying strain gauge

Abstract

The utility model provides a harmonic wave speed reduction transmission device carrying a strain gauge, which comprises a motor, a harmonic wave speed reducer and a rigid gear which are arranged in a device shell, the motor drives the harmonic wave speed reducer to output speed reduction rotation kinetic energy, and the rigid gear is used for guiding and holding the harmonic wave speed reducer. The rigid gear is provided with at least one truss which can generate deformation of bending moment and is used for fixing the rigid gear in the shell, and the strain gauge is attached to the truss and is used for sensing the torsion of the speed reduction rotation kinetic energy output by the harmonic reducer, so that the structural configuration is refined.

Description

Technical Field

[0001] This utility model relates to a torque sensing of the output of a harmonic speed reduction transmission device, and particularly to a harmonic speed reduction transmission device equipped with a strain gauge. Background Technology

[0002] A strain gauge is made of a flexible copper foil sheet that deforms under external force, generating a potential signal. It is commonly used in known speed reduction gears as a torque sensing component to detect the torque output of the gear reducer.

[0003] Harmonic reduction gear is a relatively advanced reduction gear, commonly used in the elbow joints of industrial robots, humanoid robots, or human limb assistive devices to precisely control the degree of freedom and output value of artificial joints.

[0004] Harmonic reduction gear transmission devices generally consist of a harmonic reducer mounted on a motor that provides power. The harmonic reducer outputs reduced rotational kinetic energy through the elastic deformation of metal. Specifically, the harmonic reducer typically houses a rigid gear, a flexible gear, and a waveform generation assembly within a housing. The waveform generation assembly includes an elliptical disk and a flexible bearing tightly coupled to the periphery of the elliptical disk. The motor drives the elliptical disk to rotate, which sequentially forces the flexible bearing and a thin-walled portion of the flexible gear to form a consistent ellipse. This causes the flexible gear to rotate in the opposite direction around the rigid gear. During this process, since the number of teeth on the outer side of the flexible gear is slightly less than the number of teeth on the inner side of the rigid gear, and the thin-walled portion of the flexible gear has been formed into an ellipse, the flexible gear can only mesh with the inner teeth of the rigid gear at two opposite ends along the major axis of the ellipse. It rotates slowly on the inner teeth of the rigid gear. This means that for every 360-degree rotation of the elliptical disk, the flexible gear can only rotate a small arc in the opposite direction (depending on the number of teeth reduced on the outer side of the flexible gear). This results in the flexible gear rotating much slower relative to the elliptical disk, achieving a deceleration effect. Consequently, the flexible gear outputs rotational kinetic energy with a predetermined reduction ratio through a thick-walled portion.

[0005] Furthermore, it is known that the existing Taiwan patent TWI640756B has representatively disclosed a technique of installing a strain gauge in a planetary gear type reduction transmission device to detect its output torque value; however, the strain gauge in this patent is mounted on a torque sensing disk, and the torque output by the rigid gear (or ring gear) must be transmitted to the torque sensing disk before it can be sensed by the strain gauge, which easily reduces the accuracy of the strain gauge in sensing the output torque.

[0006] It is also known that existing patents JP-5659446B2 and CN109895122B have representatively disclosed the application technology of the above-mentioned harmonic reducer. Patents JP6496937B2, CN109895112B, CN103610568B, and US9855654 also teach that various torque sensing components (or sensors) are directly installed on the movable component that transmits the decelerated rotational kinetic energy output. However, the technology taught in the above-mentioned patents is prone to limiting the accuracy of the torque sensing component in sensing torque. In addition, it is also easy for the wires connected to the torque sensing component to rotate with the movable component, thereby causing the wires to be tangled or damaged. Utility Model Content

[0007] In view of the technical defects of the prior art, the purpose of this utility model is to use a strain gauge as the torque sensing component, and thus provide a harmonic deceleration transmission device equipped with a strain gauge. The improved structure of the deceleration transmission device enables the torque sensing component to be installed on the movable component and to directly sense the torque output of the rigid gear, thereby improving the accuracy of the deceleration transmission device in sensing the output torque, and overcoming the problem that the wires of the torque sensing component are prone to entanglement.

[0008] Therefore, this utility model provides a harmonic deceleration transmission device equipped with a strain gauge. The main technical means is to arrange a motor, a harmonic reducer, and a rigid gear along a coaxial trajectory within a housing made of metal. The motor includes a stator fixed within the housing and a rotor pivotally placed within the stator; the harmonic reducer drives the rotor and outputs decelerated rotational kinetic energy; the rigid gear is fixed within the housing and guides the harmonic reducer, thereby bearing the torque of the harmonic reducer. Furthermore, the rigid gear has an annular end face with a uniform circumferential radius. This annular end face extends along the coaxial trajectory to form at least one frame capable of generating bending torque. The rigid gear is fixed within the housing via the frame, and the strain gauge is attached to the frame to sense the torque of the decelerated rotational kinetic energy output by the harmonic reducer.

[0009] Based on the aforementioned technical means, the difference between this utility model and the prior art lies in the fact that neither the housing nor the rigid gear fixed within the housing are movable components used to transmit the decelerated rotational kinetic energy output. Therefore, the problem of the strain gauge's wires causing entanglement can be avoided. Furthermore, in this utility model, the rigid gear, while guiding the output of the decelerated rotational kinetic energy from the harmonic reducer, simultaneously bears torque. This causes the frame, after bearing the applied output torque, to deform due to the mechanical properties of its metallic material, generating a bending moment. This, in turn, causes the strain gauge to deform along with the frame, generating a potential signal to determine the torque of the decelerated rotational kinetic energy output by the harmonic reducer. The deformation generated by the frame and the strain gauge is proportional to the output torque. In other words, this utility model can at least improve the accuracy of the harmonic deceleration transmission device in sensing the output torque based on the structural configuration characteristics of the frame.

[0010] In a further embodiment, the cross-section of the truss can be rectangular, strip-shaped, or M-shaped, and the trusses can also be formed in pairs on the annular end face. When the cross-section of the truss is rectangular, the two long sides of the rectangle are perpendicular to the tangent of the annular end face, and the two short sides of the rectangle are parallel to or collinear with the tangent of the annular end face, and the strain gauge is attached to a radial end face formed by the extension of either of the long sides. Alternatively, when the truss is strip-shaped, the radial end face on which the strain gauge is attached can be formed by the extension of at least one long side of the strip-shaped body. Furthermore, when the truss is M-shaped, it has two symmetrical strip portions, each strip portion having two symmetrical long sides, and the radial end face on which the strain gauge is attached can be formed by the extension of either of the long sides.

[0011] In a variant implementation, the annular end face is formed with a pair of slots, and the bottom of the truss is formed with a holding portion that can be fixed to the slot, the truss being formed on the annular end face via the holding portion. Furthermore, the annular end face may extend along the axial trajectory to form a boss, and the slots are respectively formed between the boss and the annular end face.

[0012] A further embodiment of this utility model includes:

[0013] The housing consists of a base and a cover pivotally connected to each other. The rigid gear is fixed within the base of the housing via the frame and extends into the cover to guide the harmonic reducer. The base provides a fixed position for the stator and the rigid gear, while the cover houses and provides a drive connection for the harmonic reducer, serving as a power output end of the harmonic reduction drive device.

[0014] The harmonic reducer includes a waveform generating assembly and a flexible gear. The waveform generating assembly includes an elliptical disk drivingly connected to the rotor and a flexible bearing coupled between the elliptical disk and the flexible gear. The harmonic reducer is guided by the rigid gear via the flexible gear. The rigid gear has a plurality of annularly distributed internal teeth. The flexible gear has a thin-walled portion capable of deformation and a thick-walled portion maintaining rigidity. The thin-walled portion has a smooth inner wall surface and a plurality of annularly distributed external teeth around its periphery. The flexible gear engages with the flexible bearing via the inner wall surface and meshes with a portion of the internal teeth of the rigid gear via the external teeth. Furthermore, the housing provides a fixed connection between the stator and the rigid gear. The flexible gear is driven to the housing cover via the thick-walled portion, causing the housing cover to become a power output end of the harmonic reduction transmission device.

[0015] In addition, the rotor has a central pivot hole, and the housing has a central seat portion that can extend into the central pivot hole. The rotor is pivotally mounted between the central seat portion and the stator via the central pivot hole. The central seat portion has a hole, and a central post extends into the housing cover. The housing cover is pivotally connected to the housing base via the central post.

[0016] Compared with the prior art, the present invention can not only effectively improve the accuracy of output torque sensing and avoid the strain gauge wires causing entanglement, but also improve the configuration stability and durability of the strain gauge. In addition, it can also improve the structural volume and internal space of the harmonic deceleration transmission device.

[0017] The implementation details and technical effects disclosed above will be explained in more detail in the accompanying drawings and embodiments described below. Attached Figure Description

[0018] Figure 1 This is a three-dimensional exploded view of the harmonic speed reduction transmission device of this utility model.

[0019] Figure 2 yes Figure 1 Cross-sectional view.

[0020] Figure 3a yes Figure 2 A partial cross-sectional view reveals the configuration of the truss on the rigid gear and the strain gauges attached to the truss.

[0021] Figure 3b yes Figure 3a The diagram illustrates the action of the strain gauge sensing torque as it follows the deformation of the frame.

[0022] Figure 3c yes Figure 3a The cross-sectional view of the truss shown.

[0023] Figure 3d yes Figure 3a The diagram shows a three-dimensional representation of the truss and rigid gear implemented as separate components.

[0024] Figure 4a yes Figure 2 An exploded three-dimensional diagram showing another embodiment of a truss formed on a rigid gear.

[0025] Figure 4b yes Figure 2 A three-dimensional schematic diagram of another embodiment of the rigid gear having a truss formed on it, illustrating that the truss and the annular end face are configured in a detachable manner.

[0026] Explanation of reference numerals in the attached drawings: 10-Shell; 11-Shell base; 111-Central seat; 112-Seat hole; 12-Shell cover; 121-Central column; 20-Motor; 21-Stator; 22-Rotor; 221-Central pivot hole; 31-Harmonic reducer; 310-Waveform generating group; 311-Flexible gear; 312-Thin-walled section; 312a-Inner wall surface; 312b-External gear; 313-Thick-walled section; 314-Elliptical disk; 31 5-Flexible bearing; 40-Rigid gear; 41-Internal tooth; 42-Annular end face; 421-Groove; 43, 44-Ring; 430, 440-Radial end face; 431-Connecting part; 432, 442-Holding part; 433, 443-Long side; 434, 444-Short side; 441-Strip part; 50-Strain gauge; 61-First bearing; 62-Second bearing; 63-Third bearing; 64-Fourth bearing. Detailed Implementation

[0027] First, please refer to both. Figure 1 and Figure 2 The diagram illustrates the configuration of a first embodiment of the present invention, demonstrating that the harmonic reduction gear transmission device has a housing 10 made of metal material. Within the housing 10, a motor 20, a harmonic reducer 31, a rigid gear 40, and a strain gauge 50 can be arranged according to the same axial trajectory. The axial trajectory is... Figure 2 The center line is used to indicate the center.

[0028] The motor 20 may be one of a brushless DC motor or a permanent magnet AC synchronous motor, and includes a stator 21 fixed in the housing 10 and a rotor 22 pivotally placed in the stator 21, and the rotor 22 forms a central pivot hole 221.

[0029] The harmonic reducer 31 is used to drive the rotor 22 and convert the rotational kinetic energy provided by the rotor 22 into a decelerated rotational kinetic energy, and then outputs the decelerated rotational kinetic energy to the equipment end where the harmonic reducer transmission device is installed.

[0030] The harmonic reducer 31 includes a waveform generating assembly 310 and a flexible gear 311. The waveform generating assembly 310 includes an elliptical disk 314 that is drively connected to the rotor 22 and a flexible bearing 315 coupled between the elliptical disk 314 and the flexible gear 311. The flexible gear 311 has a thin-walled portion 312 that can deform and a thick-walled portion 313 that can maintain rigidity. The thin-walled portion 312 has a smooth inner wall surface 312a and a plurality of external teeth 312b that are distributed in a ring around the periphery of the thin-walled portion 312. The flexible gear 311 can engage the flexible bearing 315 by means of the inner wall surface 312a.

[0031] The rigid gear 40 is also made of rigid metal material and has a plurality of internal teeth 41 arranged in a ring, and the rigid gear 40 is still fixed in the housing 10 along the said axis trajectory. Accordingly, the plurality of external teeth 312b of the flexible gear 311 can mesh with some of the internal teeth 41 of the rigid gear 40, so that the rigid gear 40 can provide a guiding function for the flexible gear 311 of the harmonic reducer 31.

[0032] Furthermore, the rigid gear 40 has an annular end face 42 with a uniform circumferential radius. This annular end face 42 extends along the axial trajectory to form a pair of flexible retainers 43, allowing the rigid gear 40 to be fixed within the housing 10 via the retainers 43. It is not necessary that the retainers 43 be in pairs; in fact, any single or multiple retainers 43 formed on the annular end face 42 fall within the scope of this invention's adaptable application, as described herein. Further details can be found in the following description. Figure 3a The truss 43 is integrally formed on the annular end face 42 and is upright. One end of the truss 43 has a connecting part 431. The truss 43 can be fixed to the top wall of the housing 10 by means of a screw through the connecting part 431.

[0033] For example Figure 1 and Figure 2As shown, the strain gauge 50 can be fixed to the truss 43 by an attachment method. Furthermore, the strain gauge 50 is a sheet-like body made of flexible copper foil material. When subjected to external force, tension, compression, or torsion, it deforms and generates a potential signal. The deformation of the strain gauge 50 under external force is proportional to the output torque; in other words, the greater the external force, the greater the deformation of the strain gauge 50, and the greater the output torque displayed by the potential signal, and vice versa. In addition, at least one radial end face 430 is formed on the truss 43. The radial end face 430 refers to a plane located radially to the rigid gear 40, and the strain gauge 50 is attached to the radial end face 430 of the truss 43, thus becoming an integral part of the truss 43.

[0034] According to the configuration technology disclosed in the first embodiment above, the present invention can use the potential signal generated by the strain gauge 50 to read and determine the torque of the deceleration rotational kinetic energy output by the harmonic reducer 31 using a common logic controller.

[0035] To elaborate, such as Figure 2 As shown, when the stator 21 of the motor 20 excites the rotor 22 to rotate, it can simultaneously drive the elliptical disk 314 to rotate, and sequentially force the flexible bearing 315 and the thin-walled portion 312 of the flexible gear 311 to form a consistent ellipse, thereby driving the flexible gear 311 to rotate in the opposite direction around the rigid gear 40. At this time, since the number of teeth of the outer teeth 312b of the flexible gear 311 is less than the number of teeth of the inner teeth 41 of the rigid gear 40 (usually two fewer teeth), and the thin-walled portion 312 of the flexible gear 311 has been formed into an ellipse, the flexible gear 311 can actually only mesh with a portion of the inner teeth 41 of the rigid gear 40 at the two opposite ends of the major axis of the ellipse, and slowly rotate on the inner teeth 41 of the rigid gear 40.

[0036] In other words, when the rotor 22 drives the elliptical disk 314 to rotate one revolution (360 degrees), it causes the flexible gear 311 to rotate one revolution (360 degrees) in the opposite direction by a small arc (depending on the number of teeth reduced on the outer teeth of the flexible gear). That is, the rotational speed of the flexible gear 311 is relatively slower than the rotational speed generated by the rotor 22, thereby achieving the effect of harmonic deceleration. This allows the harmonic reducer 31 to output the decelerated rotational kinetic energy with a predetermined reduction ratio through the flexible gear 311. During this deceleration transmission process, the rigid gear 40 not only provides guidance for the flexible gear 311, but also bears the torque generated by the transmission of the flexible gear 311.

[0037] Continued Figures 3a to 3b As shown, where Figure 3aIt was revealed that when the rigid gear 40 was not subjected to torque, the frame 43 and the strain gauge 50 did not deform, causing the strain gauge 50 not to generate the potential signal. Figure 3b The invention further reveals that when the rigid gear 40 is subjected to the torque M transmitted by the flexible gear 311, it causes the frame 43 to be subjected to a bending moment, generating a deformation δ. At this time, the strain gauge 50 fixed on the radial end face 430 of the frame 43 will deform along with the frame 43. The greater the torque M transmitted by the flexible gear 311 on the rigid gear 40, the greater the deformation δ generated by the frame 43 and the strain gauge 50, resulting in a larger potential signal generated by the strain gauge 50; conversely, the smaller the torque M, the greater the deformation δ. Therefore, this invention can read and determine the torque value of the decelerated rotational kinetic energy based on the strength of the potential signal.

[0038] Please refer to further information. Figure 3c As shown, reveal Figure 1 The cross-section of the middle section of the truss 43 shown is a rectangle formed by the alternation of two long sides 433 and two short sides 434. The two long sides 433 are perpendicular to the tangent L of the annular end face 42, and the two short sides 434 are parallel or collinear with the tangent L of the annular end face 42. This allows the rectangular truss 43 to generate the bending moment deformation due to the relative thinness created by the two short sides 434. The radial end face 430 can be formed by extending either of the two long sides 433, or the radial end face 430 can be formed symmetrically by extending both long sides 433 simultaneously. Furthermore, the long sides 433 are formed along the radial direction of the rigid gear 40 and the direction of the axial trajectory. In other words, the strain gauge 50 can be used in a single manner or... Figure 3a The pairs shown are fixed on the frame; and it is known that the more strain gauges 50 are attached, the more accurately the torque value of the decelerated rotational kinetic energy output by the harmonic reducer 31 can be detected.

[0039] also, Figure 1 and Figure 3c The disclosed truss 43 can also be defined as a strip shape, the strip shape having two long sides 433 and two short sides 434, and Figure 2 , Figure 3a and Figure 3b The exposed radial end face 430 can also be formed by extending either or symmetrically from the two long sides 433, thereby providing attachment for the strain gauge 50.

[0040] Please refer to further information. Figure 3d As shown, reveal Figure 1The truss 43 shown can be detachably fixed to the annular end face 42. Specifically, the annular end face 42 has a pair of grooves 421, and the bottom of each truss 43 has a retaining part 432 that can be fitted and fixed into the groove 421, allowing the truss 43 to be installed in the groove 421 of the annular end face 42 via the retaining part 432 and thus formed on the annular end face 42. This simplifies the manufacturing process of the rigid gear 40.

[0041] For example Figure 4a As shown, another form of the truss 44 located between the annular end face 42 and the housing 10 is disclosed. That is, the truss 44 can be formed into a flexible M-shaped body, such that the M-shaped body has two symmetrical strips 441, each strip 441 having two symmetrical long sides 443 and two short sides 444 (e.g., Figure 3c This allows the truss 44 to deform to generate the bending moment through the relative thinness created by the two short sides 444. The radial end face 440 can be made of... Figure 4a The strain gauge 50 is formed by extending either or both of the two long sides 443 as shown, such that it can be attached to at least one of the radial end faces 440 formed by either or both of the long side extensions.

[0042] For example Figure 4b As shown, reveal Figure 4a The truss 44 shown can be detachably fixed to the annular end face 42. Specifically, the annular end face 42 has a pair of grooves 421, and the bottom of the truss 44 has a retaining portion 442 that can be fixed to the grooves 421, allowing the truss 44 to be installed in the grooves 421 of the annular end face 42 via the retaining portion 442 and thus formed on the annular end face 42. This also simplifies the manufacturing process of the rigid gear 40.

[0043] The first embodiment described above further discloses that the casing 10 can be annular, and is formed by a ring-shaped casing seat 11 and a ring-shaped casing cover 12 pivotally connected to each other. Furthermore, as... Figure 1 and Figure 2As shown, the housing 11 can be considered as the fixed end of this transmission device, used to lock onto the equipment end that requires the deceleration rotational kinetic energy. A central seat portion 111 can be formed at the center of the housing 11, and a hole 112 is provided in the central seat portion 111. A central post 121 is formed at the center of the housing cover 12, which can extend to the hole 112, for mounting a first bearing 61 between the hole 112 and the central post 121. In addition, a second bearing 62 and a third bearing 63 are installed between the periphery of the housing 11 and the housing cover 12, so that the housing cover 12 can be pivotally connected to the housing 11 by means of the central post 121, the first bearing 61, the second bearing 62 and the third bearing 63.

[0044] Furthermore, the housing 10 provides fixation for the stator 21 and the rigid gear 40 via the housing base 11. The rotor 22 can be pivotally mounted between the outer wall of the central seat portion 111 and the stator 21 by means of at least one fourth bearing 64 disposed within the central pivot hole 221. The cover 12 provides fixation for the thick-walled portion 313 of the flexible gear 311, and the decelerated rotational kinetic energy output by the flexible gear 311 can be provided to the equipment end application by using the cover 12 as a power output end.

[0045] In the above description, the central seat portion 111 and seat hole 112 of the housing 11 can also be formed inside the housing cover 12. In this case, the central post 121 of the housing cover 12 is formed inside the housing 11. In other words, as long as the housing 11 and the housing cover 12 can be pivotally connected to each other and have interconnected accommodating chambers inside, they are all within the scope of application of this utility model.

[0046] Based on the description of the above embodiments, this utility model is sufficient to specifically improve the accuracy of the output torque sensing of the harmonic deceleration transmission device and overcome the problem of the wires of the torque sensing component easily causing entanglement. Furthermore, the above embodiments are merely illustrative of preferred embodiments of this utility model and should not be construed as limiting the scope of the claims of this utility model.

Claims

1. A harmonic reduction gear incorporating a strain gauge, characterised in that, The following are arranged coaxially within a housing: A motor comprising a stator fixed within the housing and a rotor pivotally disposed within the stator; A harmonic reducer drives the rotor and outputs a reduced rotational kinetic energy; A rigid gear, fixed inside the housing, guides the harmonic reducer and thus bears the torque of the harmonic reducer; wherein... The rigid gear has an annular end face with a uniform circumferential radius. The annular end face extends along the axis and forms at least one frame capable of generating bending torque. The rigid gear is fixed in the housing via the frame, and the strain gauge is attached to the frame to sense the torque of the decelerated rotational kinetic energy output by the harmonic reducer.

2. The harmonic speed reduction transmission device of claim 1, wherein: The cross-section of the truss is rectangular, with the two long sides of the rectangle perpendicular to the tangent of the annular end face, and the two short sides of the rectangle parallel or collinear to the tangent of the annular end face. The strain gauge is attached to a radial end face formed by the extension of any of the long sides.

3. The harmonic speed reducer of claim 1, wherein: The truss is in the shape of a strip and is located between the annular end face and the shell. At least one long side of the strip extends to form a radial end face, and the strain gauge is attached to the radial end face.

4. The harmonic speed reducer of claim 1, wherein: The truss is M-shaped and is located between the annular end face and the shell. The M-shaped body has two symmetrical plates, each plate having two symmetrical long sides. The strain gauge is attached to a radial end face formed by the extension of any of the long sides.

5. The harmonic speed reducer of claim 1, wherein: The derricks are formed in pairs on the annular end face.

6. A strain gauge loaded harmonic speed reduction transmission as claimed in any one of claims 1 to 5 wherein: The annular end face has a pair of corresponding slots for the truss, and the bottom of the truss is formed with a holding part that can be fixed to the slot. The truss is formed on the annular end face via the holding part.

7. The harmonic speed reducer of claim 6, wherein: The annular end face extends along the axis to form a boss, and the grooves are formed between the boss and the annular end face.

8. The harmonic speed reduction transmission device equipped with a strain gauge as described in any one of claims 1 to 5, characterized in that: The housing is formed by pivotally connecting a housing base and a housing cover. The rigid gear is fixed in the housing base of the housing via the frame and extends into the housing cover to guide the harmonic reducer.

9. A strain gauge loaded harmonic speed reduction transmission as claimed in any one of claims 1 to 5 wherein: The housing is formed by pivotally connecting a housing base and a housing cover. The housing base provides a fixed position for the stator and the rigid gear, and the housing cover is used to house and provide a drive connection for the harmonic reducer, serving as a power output end of the harmonic reducer drive device.

10. The harmonic speed reducer of claim 1, wherein: The harmonic reducer includes a waveform generating assembly and a flexible gear. The waveform generating assembly includes an elliptical disk that is drively connected to the rotor and a flexible bearing coupled between the elliptical disk and the flexible gear. The harmonic reducer is guided by the rigid gear through the flexible gear.

11. The harmonic speed reduction transmission device of claim 10, wherein: The flexible gear has a thin-walled portion that can deform and a thick-walled portion that can maintain rigidity. The thin-walled portion has a smooth inner wall surface and a plurality of external teeth distributed in a ring around the periphery of the thin-walled portion. The flexible gear engages with the flexible bearing by means of the inner wall surface and meshes with a portion of the internal teeth of the rigid gear by means of the external teeth.

12. The harmonic speed reduction transmission device of claim 11, wherein: The housing is formed by pivotally connecting a housing base and a housing cover. The housing base provides a fixed position for the stator and the rigid gear. The flexible gear is connected to the housing cover via the thick-walled portion, driving the housing cover to become a power output end of the harmonic reduction transmission device.

13. The harmonic speed reduction transmission device equipped with a strain gauge as described in claim 1, characterized in that: The rotor has a central pivot hole. The housing is formed by pivotally connecting a housing base and a housing cover. The housing base has a central seat portion that can extend into the central pivot hole. The rotor is pivotally mounted between the central seat portion and the stator via the central pivot hole. The central seat portion has a hole. A central post extends into the housing cover and is pivotally connected to the housing base via the central post.

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