Reduction gear with torque sensing on a deformable section, joint structure and robot joint

Abstract

A reduction gear with torque sensing on a deformable section, characterized in that the reduction gear comprises a flexspline (1) deformable about an axis, an electrically conductive receiver (2), and a transmitter (31) for generating an electric field, wherein the deformable section, which can move the receiver (2) or the transmitter (31), is arranged on the flexspline (1); wherein the deformable section is formed integrally with the flexspline (1) or is rigidly connected to it; wherein the receiver (2) and the transmitter (31) are spaced apart from each other and together form a torque-sensitive structure with a variable gap capacitance;and wherein, during the twisting and deformation of the flexspline (1) about the axis, the deformable section can cause the receiver (2) or the transmitter (31) to rotate about the axis, so that the distance of the receiver (2) to the transmitter (31) and thus the electrical capacitance between the receiver (2) and the transmitter (31) is changed in order to enable the torque measurement of the flexspline (1) and the reduction gear (100).