Stress wave gear

Abstract

The invention relates to a stress wave transmission comprising a transmission base, in particular a transmission chassis or a transmission housing, and an output component mounted for rotation relative to the transmission base by means of an output bearing, a torque measuring device having an electronic evaluation device, and a wave generator comprising a wave generator insert mounted for rotation relative to a flexspline about a rotation axis. The stress wave transmission is characterized in that the output bearing and at least part of the torque measuring device are arranged axially in the region of the flexspline.

Description

[0001] The invention relates to a stress wave transmission with a transmission base, in particular a transmission chassis or a transmission housing, and with an output component mounted rotatably relative to the transmission base by means of an output bearing and with a torque measuring device having an electronic evaluation device, and with a wave generator having a wave generator insert which is mounted rotatably about a rotation axis relative to a flexspline.

[0002] Gearboxes come in a variety of designs and are used to change motion quantities, often involving rotational movement. One possible design is a stress wave gear.

[0003] A stress wave transmission usually has a rigid, circular-section, internally toothed gear, called a circular spline, and a flexible, externally toothed gear, called a flexspline, which is arranged in the space surrounded by a rigid, internally toothed gear. A usually oval wave generator is rotatably arranged within the flexspline, the outer circumference of which has a bearing seat for a radially flexible rolling bearing. The wave generator is in contact with the radially flexible, externally toothed gear via the radially flexible rolling bearing. The radially flexible rolling bearing enables the wave generator to rotate relative to the radially flexible, externally toothed gear. The wave generator bends the rolling bearing and the flexspline into an oval shape in order to mesh the teeth of the circular spline and the flexspline along the vertical axis of the oval wave generator.

[0004] The flexspline has fewer teeth than the circular spline. When the wave generator rotates, the outer side of the flexspline rolls against the inner side of the circular spline, with the teeth of the flexspline circumferentially engaging and disengaging from the teeth of the circular spline on opposite sides. Due to the difference in the number of teeth, the flexspline rotates relative to the circular spline when the wave generator rotates and the flexspline is held in place, for example, relative to the gearbox housing. The wave generator is usually elliptical. However, any shape deviating from the circular shape is possible, resulting in the described engagement of the teeth of the flexible, externally toothed gear with the teeth of the rigid, internally toothed gear.It is also possible to design the wave generator in such a way that the teeth of the flexspline engage with the teeth of the circular spline at three or more points.

[0005] In the ring design of a stress wave gear, two internally toothed, rigid ring gears (circular spline and dynamic spline) with different numbers of teeth are present. Their teeth mesh with the external teeth of the radially flexible, externally toothed sleeve (flexspline). One of the internally toothed ring gears has the same number of teeth as the flexspline, while the other internally toothed ring gear has more teeth than the flexspline.

[0006] WO 2010 142318 A1 discloses a device for measuring the torque transmitted to an output shaft of a stress wave transmission. The device comprises a housing, a circular spline mounted in the housing, and a flex spline mounted on the output shaft. The device also includes sensors arranged to measure forces between the circular spline and the housing, as well as a computing unit that receives measurement signals from the sensors and calculates the transmitted torque based on them.

[0007] It is the object of the present invention to provide a stress wave transmission which is particularly compact.

[0008] The object is achieved by a stress wave transmission which is characterized in that the output bearing and at least a part of the torque measuring device are arranged axially in the region of the flexspline.

[0009] The output bearing can advantageously be designed as a rolling bearing. The use of a crossed roller bearing as the output bearing is particularly advantageous because a crossed roller bearing has particularly high bending and tilting stiffness. In particular, the output bearing can also be a cylindrical roller bearing, a four-point contact bearing, a multi-row rolling bearing, or a multi-row ball bearing. An output bearing designed as a plain bearing is also possible.

[0010] The output bearing can advantageously be arranged so that it surrounds the flexspline. This design is particularly compact.

[0011] The flexspline can extend axially from a first plane perpendicular to its rotation axis to a second plane perpendicular to its rotation axis, wherein the output bearing and at least a part of the torque measuring device are arranged at least partially, preferably completely, between the first and the second plane.

[0012] The part of the torque measuring device arranged axially in the region of the flexspline can be the electronic evaluation device and / or at least one deformation body and / or at least one deformation measuring sensor and / or a circuit board with electrical or electronic components.

[0013] In a particularly advantageous embodiment, the transmission is designed as a three-shaft transmission, in which a rotatably mounted first shaft serves as the transmission input, a second shaft serves as the output component and a third shaft is non-rotatably attached to the transmission base or is manufactured in one piece with the transmission base.

[0014] In a stress wave transmission, for example, a wave generator insert mounted so that it can rotate relative to a flexspline can act as the transmission drive and a circular spline as the output component, while a flexspline fixed to the transmission base acts as the fixed shaft. Alternatively, it is also possible for a transmission designed as a stress wave transmission to have a wave generator insert mounted so that it can rotate relative to a flexspline as the transmission drive and a flexspline as the output component, while a circular spline fixed to the transmission base acts as the fixed shaft.

[0015] It can advantageously be provided that the output component is a circular spline or a dynamic spline or a flex spline or that the output component is a transmission component that is connected in a rotationally fixed and rigid manner to a circular spline or a dynamic spline or a flex spline, for example screwed or glued or welded.

[0016] In general, the drive component can be formed by a shaft generator insert of the shaft generator.

[0017] The stress wave gear can be designed, for example, as a pot gear or a hat gear. In a design designed as a hat gear, the flexspline has a rim with a flange arranged on its outer circumference. The flange can be designed for coupling to the gear base, for example a gear chassis or a gear housing, or for coupling to a shaft. In a design designed as a pot gear, the flexspline has a pot base, which can have a flange for coupling to the gear base, for example a gear chassis or a gear housing, or for coupling to a shaft.

[0018] The stress wave gear unit can be designed as a ring gear unit and have a ring-shaped flexspline. In such a design, for example, a wave generator insert mounted for rotation relative to the flexspline can act as the gear drive and a circular spline (preferably designed as an internally toothed ring gear) can act as the output component, while a dynamic spline (preferably designed as an internally toothed ring gear) that is non-rotatably attached to the gear base acts as the fixed shaft.

[0019] The torque measuring device preferably comprises at least one deformation body and at least one deformation measuring sensor, which is designed and arranged to detect the deformation (in particular bending, shearing, compression, and / or elongation) of the deformation body caused by the application of torque. The deformation measuring sensor can, for example, comprise at least one strain gauge. However, alternatively or in addition to at least one strain gauge, other measuring means, for example a piezo-based length measuring sensor, can also be present to detect the deformation of the deformation body. The deformation body can, for example, be designed as a bending beam. Alternatively, the deformation body can, for example, be designed as a tension or compression rod.

[0020] Preferably, the torque measuring device comprises a plurality of deformation bodies, each with at least one deformation measuring sensor.

[0021] In a particular embodiment, the torque measuring device has two, in particular annular or ring-segment-shaped, gear component elements which are elastically movably connected to one another by means of a plurality of deformation bodies, wherein it can be provided in particular that at least one deformation measuring sensor is arranged on each of the deformation bodies.

[0022] The electronic evaluation device is preferably designed and configured to receive measurement signals from the at least one deformation measurement sensor and to determine therefrom a torque and / or a rotational speed of a transmission shaft and / or a rotational position of a transmission shaft and / or a direction of rotation of a transmission shaft.

[0023] Preferably, several deformation bodies are part of the torque measuring device, wherein the deformation bodies elastically movably connect the first transmission component element and the second transmission component element such that one of the transmission component elements can be rotated about a rotation axis relative to the other of the transmission component elements by the application of torque. Here, each deformation body is preferably designed and arranged such that the force acting on it due to the application of torque is exclusively a compressive force or exclusively a tensile force.

[0024] A particularly compact design is one in which the electronic evaluation device at least partially surrounds the Flexspline.

[0025] In a particularly advantageous embodiment, the electronic evaluation device comprises an annular, ring-segment-shaped, or cylindrical circuit board, in particular with electrical or electronic components. Such a design allows the electronic evaluation device to be arranged in a particularly space-saving manner such that it at least partially, in particular completely, surrounds the flexspline and / or the shaft generator and / or a shaft rigidly and non-rotatably connected to the shaft generator.

[0026] The electronic evaluation device can comprise multiple circuit boards. Even in such an embodiment, it is advantageously possible for the electronic evaluation device to at least partially, in particular completely, surround the flexspline and / or the shaft generator and / or a shaft that is rigidly and non-rotatably connected to the shaft generator.

[0027] In another embodiment, the electronic evaluation device is arranged in the space surrounded by the flexspline.

[0028] In a particularly advantageous design, the electronic evaluation device is attached to an inner or outer ring of the output bearing. This design ensures a secure arrangement of the electronic evaluation device while still allowing for a compact design of the stress wave gear unit.

[0029] An actuator which has a drive motor and a transmission according to the invention which is connected downstream of the drive motor is particularly advantageous.

[0030] In a particularly advantageous embodiment, the evaluation device is designed to control or regulate the drive motor depending on a sensor measurement value from the at least one deformation sensor. In particular, the evaluation device can be designed to throttle and / or stop the drive motor if a predefined or predeterminable sensor measurement value is exceeded, if a predefined or predeterminable sensor measurement value is undershot, or if a predefined or predeterminable sensor measurement value range is exceeded. In this way, overloading of the transmission can be avoided.

[0031] A robot, in particular an industrial robot, that includes at least one gear mechanism or actuator according to the invention is particularly advantageous. In particular, the gear mechanism according to the invention can be used in a robot joint. The robot joint can be used and monitored in a particularly versatile manner through the use of the gear mechanism according to the invention.

[0032] Of particular advantage is a chassis, in particular an active chassis, for a motor vehicle that has at least one transmission or actuator according to the invention. A particularly advantageous feature is that high overload protection and reliable monitoring of the transmission can be easily implemented, thus increasing driving safety. A steering system, in particular a car steering system or a truck steering system, that has at least one transmission according to the invention is of particular advantage. The steering system can, in particular, be a power steering system and / or a superimposed steering system.

[0033] Particularly advantageous is a gear or an actuator, a robot joint, a robot, a steering system which has at least one of the following aspects: 1. Stress wave transmission with a transmission base, in particular a transmission chassis or a transmission housing (11), and with an output component mounted so as to be rotatable relative to the transmission base by means of an output bearing (32), and with a torque measuring device which has an electronic evaluation device (19), and with a wave generator (1) having a wave generator insert (33) which is mounted so as to be rotatable about a rotation axis (28) relative to a flexspline (2), characterized in that the output bearing and at least part of the torque measuring device are arranged axially in the region of the flexspline (2). 2. Stress wave transmission according to aspect 1, characterized in that the output bearing is designed as a rolling bearing, in particular a crossed roller bearing (9) or a cylindrical roller bearing or a four-point bearing or a multi-row rolling bearing or a multi-row ball bearing. 3. Stress wave transmission according to aspect 1 or 2, characterized in that the transmission is designed as a three-shaft transmission, in which a rotatably mounted first shaft as the transmission input, a second shaft as the output component and a third shaft are rotationally fixedly attached to the transmission base or are manufactured together in one piece with the transmission base. 4. Stress wave transmission according to one of aspects 1 to 3, characterized in that the output component is a circular spline (15) or a dynamic spline or the flex spline (2) or that the output component is a transmission component which is rotationally fixed and rigidly connected to a circular spline (15) or a dynamic spline or the flex spline (2). 5. Stress wave transmission according to one of aspects 1 to 4, characterized in that a drive component is the wave generator insert (33) of a wave generator (1). 6. Stress wave transmission according to one of aspects 1 to 5, characterized in that the stress wave transmission is designed as a pot transmission or as a hat transmission. 7. Stress wave transmission according to one of aspects 1 to 6, characterized in that the stress wave transmission is designed as a ring transmission. 8. Stress wave transmission according to one of aspects 1 to 7, characterized in that the torque measuring device has at least one deformation body (29) and at least one deformation measuring sensor. 9. Stress wave transmission according to aspect 8, characterized in that the deformation measuring sensor has at least one strain gauge (18). 10. Stress wave transmission according to aspect 8 or 9, characterized in that the torque measuring device has two, in particular annular, transmission component elements (21, 22) which are elastically movably connected to one another by means of a plurality of deformation bodies (29). 11. Stress wave transmission according to one of aspects 8 to 10, characterized in that the deformation body (29) is designed as a bending beam or that the deformation bodies (29) are designed as bending beams. 12. Stress wave transmission according to one of aspects 8 to 10, characterized in that the deformation body (29) is designed as a tension or compression rod or that the deformation bodies (29) are designed as tension or compression rods. 13. Stress wave transmission according to one of aspects 1 to 12, characterized in that the electronic evaluation device (19) has an annular or ring-segment-shaped or cylindrical circuit board. 14. Stress wave transmission according to one of aspects 1 to 13, characterized in that the electronic evaluation device (19) has several circuit boards. 15. Stress wave transmission according to one of aspects 1 to 14, characterized in that the electronic evaluation device (19) is arranged in the space surrounded by the flexspline. 16. Stress wave transmission according to one of aspects 1 to 15, characterized in that the electronic evaluation device (19) at least partially surrounds the flexspline (2). 17. Stress wave transmission according to one of aspects 1 to 16, characterized in that the electronic evaluation device (19) is attached to an inner ring (10) or to an outer ring (8) of the output bearing. 18. Stress wave transmission according to one of aspects 1 to 17, characterized in that the flexspline (2) extends axially from a first plane (30) perpendicular to its axis of rotation to a second plane (31) perpendicular to its axis of rotation, wherein the output bearing and the evaluation device (19) are arranged at least partially, preferably completely, between the first plane (30) and the second plane (31). 19. Stress wave transmission according to one of aspects 1 to 18, characterized in that the part of the torque measuring device arranged axially in the region of the flexspline (2) is the electronic evaluation device (19) and / or the at least one deformation body (29) and / or the at least one deformation measuring sensor and / or a circuit board with electrical or electronic components. 20. Actuator comprising a drive motor and a transmission according to one of aspects 1 to 19, which is connected downstream of the drive motor. 21. Actuator according to aspect 20, characterized in that the evaluation device (19) is designed to control or regulate the drive motor in dependence on the sensor signals. 22. Actuator according to aspect 20 or 21, characterized in that the evaluation device (19) is designed to throttle and / or stop the drive motor when a predetermined or predeterminable sensor measured value is exceeded or when a predetermined or predeterminable sensor measured value is undershot or when a predetermined or predeterminable sensor measured value range is left. 23. Robot joint comprising at least one gear mechanism according to one of aspects 1 to 19 and / or an actuator according to one of aspects 20 to 22. 24. Robot comprising at least one gear mechanism according to one of aspects 1 to 19 and / or an actuator according to one of aspects 20 to 22. 25. Chassis, in particular active chassis for a motor vehicle, which has at least one according to one of aspects 1 to 19 and / or an actuator according to one of aspects 20 to 22. 26. Steering system, in particular car steering system or truck steering system, which has at least one transmission according to one of aspects 1 to 19 and / or an actuator according to one of aspects 20 to 22. 27. Steering according to aspect 26, characterized in that the steering is a power steering system and / or a superposition steering system.

[0034] The subject matter of the invention is illustrated schematically and by way of example in the drawing and is described below with reference to the figures, wherein identical or similarly acting elements are generally provided with the same reference numerals even in different embodiments. In the drawings: Fig. 1 a first embodiment of a stress wave transmission according to the invention, Fig. 2 a connector of the first embodiment of a stress wave transmission according to the invention, Fig. 3 a second embodiment of a stress wave transmission according to the invention, Fig. 4 a detailed view of the second embodiment with a view along the rotation axis, wherein the gear housing and the evaluation device are not shown, Fig. 5 the circular spline of the second embodiment, Fig. 6 shows the rear view of one of the connectors for a stress wave transmission according to the invention according to the second embodiment, Fig. 7 shows the front view of one of the connectors for a stress wave transmission according to the invention according to the second embodiment, and Fig. 8 is a side view of one of the connectors for a stress wave transmission according to the invention according to the second embodiment,

[0035] Fig. 1 shows a first embodiment of a stress wave transmission according to the invention in a cross-sectional view along the rotation axis 28.

[0036] The stress wave transmission has a wave generator 1 comprising a wave generator insert 33, which is mounted for rotation about a rotation axis 28 relative to a flexspline 2 by means of a radially flexible roller bearing 12. The flexspline 2 has an external toothing 3. The stress wave transmission also has a gear 4, which forms a circular spline 15 and has an internal toothing 5. The internal toothing 5 engages with the external toothing 3 of the flexspline 2 at two opposite points.

[0037] A flange 6 of the flexspline 2 is arranged on the brim of the hat-shaped flexspline 2. This flange 6 is elastically and movably connected to the outer ring 8 of an output bearing 32, namely a crossed roller bearing 9, by means of several connectors 7 arranged offset in the circumferential direction. The flange 6 can be constructed in several parts to facilitate assembly of the stress wave gear, but this is not shown for the sake of clarity. An inner ring 10 of the crossed roller bearing 9 is connected in a rotationally fixed and rigid manner to the gear 4. The outer ring 8 of the crossed roller bearing 9 is connected in a rotationally fixed and rigid manner to a gear housing 11.

[0038] The flange 6 has a plurality of radial plug-in recesses 13 for first plug-in sections 14 of the connectors 5, which have a U-shaped cross section. The outer ring 8 of the crossed roller bearing 9 has a plurality of radial plug-in recesses 13 for plug-in sections 14 of the connectors 7, which have a U-shaped cross section.

[0039] For example, the wave generator 1 can act as the gear drive and the circular spline 15 as the gear output, while the flex spline 2, which is attached to the gear housing 11 via the flange 6, the connectors 7 and the outer ring 8, acts as the fixed shaft.

[0040] Each of the connectors 7 has a deformation measuring sensor 16 which detects a deformation of a deformation body 29 formed by a deformation portion of the connector 7.

[0041] The stress wave transmission also has an evaluation device 19 that receives measurement signals from the at least one deformation measurement sensor 16 and uses the measurement signals to determine the rotational position and / or the rotational speed and / or the direction of rotation of the wave generator 1 and / or the flexspline 2 (and / or another rotating transmission element) relative to the gear 4. The evaluation device 19 has an annular plate that is attached to the outer ring 8.

[0042] The flexspline 2 extends axially from a first plane 30 perpendicular to its rotation axis to a second plane 31 perpendicular to its rotation axis, wherein the output bearing 32 and the evaluation device 19 are arranged between the first plane 30 and the second plane 31.

[0043] The Fig. Figure 2 shows a schematic perspective detail view of one of the connectors 7 of the first embodiment of a transmission according to the invention. The two legs of the U-shaped connector 7 function as plug-in sections 14, which are inserted into the radial plug-in recesses 13 of the flange 6 and the outer ring 8. In addition, a Fig. 11) can be fastened by means of screws (not shown) that extend through holes 20 in the legs of the U-shaped connector 7. The deformation section 17 connecting the legs of the U-shaped connector 7 functions as a deformation body 29, to which strain gauges 18 are glued to detect the respective elastic deformation.

[0044] The Fig. Figure 3 shows a second embodiment of a stress wave transmission according to the invention. The stress wave transmission has a transmission housing 11 and a gear 4, namely a circular spline 15. The gear 4 (circular spline 15) is Fig. 5 shown separately. The circular spline 15 is connected to the gear housing 11 in a rotationally fixed manner.

[0045] The gear 4 (circular spline 15) has a first gear component element 21 and a second gear component element 22, which are elastically movably connected to one another by means of four connectors 7, each of which is fastened to the first gear component element 21 and the second gear component element 22. The first gear component element 21 is designed as a ring and has a plurality of axial bores, which are designed as plug-in recesses 13 for plug-in pins 23 of the connectors 7. The second gear component element 22 is designed as an internally toothed ring and also has a plurality of axial bores, which are designed as plug-in recesses 13 for plug-in pins 23 of the connectors 7.

[0046] The stress wave transmission also features a radially flexible, externally toothed, cup-shaped flexspline 2, which is arranged axially in the area of ​​its toothing in the space surrounded by the circular spline 15 and which has a flange 6 at the bottom of the cup. Arranged within the flexspline 2 is a wave generator 1 with a wave generator insert 33 and a radially flexible rolling bearing 12, which has an inner ring 24, an outer ring 25, and rolling elements 26. The wave generator 1 is rotationally fixedly connected to a transmission drive shaft 27. The wave generator 1 bends the flexspline 2 into an oval shape in order to engage the toothings of the circular spline 15 and the flexspline 2 along the vertical axis of the wave generator 1.

[0047] Each of the connectors 7 has deformation measuring sensors 16 which detect a deformation of deformation bodies 29 formed by the two legs of the connector 7.

[0048] The stress wave transmission also has an evaluation device 19 that receives measurement signals from the at least one deformation measurement sensor 16 and uses the measurement signals to determine the rotational position and / or the rotational speed and / or the direction of rotation of the wave generator insert 33 and / or the flexspline 2 (or another rotating transmission element) relative to the gear 4. The evaluation device 19 can be ring-shaped and attached to the transmission housing 11.

[0049] The flexspline 2 extends axially from a first plane 30 perpendicular to its rotation axis to a second plane 31 perpendicular to its rotation axis, wherein the output bearing 32 and the evaluation device 19 are arranged between the first plane 30 and the second plane 31.

[0050] Fig. 5 shows the circular spline of the second embodiment shown separately.

[0051] The Fig. 4 shows a detailed view of the second embodiment with a viewing direction along the rotation axis 28, wherein, among other things, the gear housing 11 and the evaluation device 19 are not shown for the sake of better clarity.

[0052] The Fig. 6 to 8 show different views of one of the connectors 7 of the Fig. 3 shown in the invention. The Fig. Figure 6 shows the rear view of one of the connectors 7. This figure shows that the connector 7 has a V-shaped deformation section 17, which can be made, for example, from a punched sheet metal. A strain gauge 18 is glued to the back of each leg of the V-shaped deformation section 17, which allows the tensile or compressive forces acting on the legs of the V-shaped deformation section 17 to be measured.

[0053] On the V-shaped deformation section 17, protruding plug pins 23 are arranged on the front side, which are inserted into the plug recesses 13. List of reference symbols: 1 wave generator 2 Flexsplines 3 External gearing 4 gear 5 Internal gearing 6 Flange 7 connectors 8 Outer ring 9 crossed roller bearings 10 inner ring 11 Gearbox housing 12 rolling bearings 13 Plug-in recess 14 plug-in sections 15 Circular splines 16 Deformation measuring sensor 17 Deformation section 18 strain gauges 19 Evaluation device 20 holes 21 first transmission component element 22 second transmission component element 23 plug pins 24 inner ring 25 Outer ring 26 rolling elements 27 Gearbox drive shaft 28 Rotation axis 29 deformation bodies 30 first level 31 second level 32 output bearings 33 Shaft generator insert QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2010 142318 A1

[0006]

Claims

[1] Stress wave transmission with a transmission base, in particular a transmission chassis or a transmission housing (11), and with an output component mounted rotatably relative to the transmission base by means of an output bearing (32), and with a torque measuring device having an electronic evaluation device (19), and with a wave generator (1) having a wave generator insert (33) which is mounted rotatably relative to a flexspline (2) about a rotation axis (28), characterized by that the output bearing and at least part of the torque measuring device are arranged axially in the region of the flexspline (2). [2] Stress wave transmission according to claim 1, characterized by , that a. the output bearing is designed as a rolling bearing, in particular a crossed roller bearing (9) or a cylindrical roller bearing or a four-point contact bearing or a multi-row rolling bearing or a multi-row ball bearing, and / or that b. the transmission is designed as a three-shaft transmission, in which a rotatably mounted first shaft serves as the transmission input, a second shaft serves as the output component and a third shaft is non-rotatably attached to the transmission base or is manufactured in one piece with the transmission base, and / or that c. the output component is a circular spline (15) or a dynamic spline or the flex spline (2) or that the output component is a transmission component that is rotationally fixed and rigidly connected to a circular spline (15) or a dynamic spline or the flex spline (2), and / or that d. a drive component is the shaft generator insert (33) of a shaft generator (1). [3] Stress wave transmission according to claim 1 or 2, characterized by that the torque measuring device has at least one deformation body (29) and at least one deformation measuring sensor. [4] Stress wave transmission according to claim 3, characterized by , that a. the deformation measuring sensor has at least one strain gauge (18), and / or that b. the torque measuring device comprises two, in particular annular, gear component elements (21, 22) which are elastically movably connected to one another by means of a plurality of deformation bodies (29), and / or that c. the deformation body (29) is designed as a bending beam or that the deformation bodies (29) are designed as bending beams, and / or that d. the deformation body (29) is designed as a tension or compression rod or that the deformation bodies (29) are designed as tension or compression rods. [5] Stress wave transmission according to one of claims 1 to 4, characterized by , that a. the electronic evaluation device (19) has a ring-shaped or ring-segment-shaped or cylindrical circuit board, and / or that b. the electronic evaluation device (19) has several circuit boards, and / or that c. the electronic evaluation device (19) is arranged in the space surrounded by the flexspline, and / or that d. the electronic evaluation device (19) at least partially surrounds the flexspline (2), and / or that e. the electronic evaluation device (19) is attached to an inner ring (10) or to an outer ring (8) of the output bearing. [6] Stress wave transmission according to one of claims 1 to 5, characterized by, characterized by that the flexspline (2) extends axially from a first plane (30) perpendicular to its axis of rotation to a second plane (31) perpendicular to its axis of rotation, wherein the output bearing and the evaluation device (19) are arranged at least partially, preferably completely, between the first plane (30) and the second plane (31). [7] Stress wave transmission according to one of claims 1 to 6, characterized bythat the part of the torque measuring device arranged axially in the region of the flexspline (2) is the electronic evaluation device (19) and / or the at least one deformation body (29) and / or the at least one deformation measuring sensor and / or is a circuit board with electrical or electronic components. [8] Actuator comprising a drive motor and a transmission according to one of claims 1 to 7, which is connected downstream of the drive motor. [9] Robot joint or robot, which has at least one gear according to one of claims 1 to 7 and / or an actuator according to claim 8. [10] Vehicle component comprising at least one transmission according to one of claims 1 to 7 and / or an actuator according to claim 8.

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