Strain wave gear mechanism

Abstract

The invention relates to a strain wave gear mechanism having a gear mechanism base, in particular a gear mechanism chassis or a gear mechanism housing; an output component which is rotatably mounted relative to the gear mechanism base by means of an output bearing; a torque measuring device which has an electronic evaluation device; and a wave generator which has a wave generator insert that is rotatably mounted about an axis of rotation relative to a flex spline. The strain wave gear mechanism is characterized in that the output bearing and at least part of the torque measuring device are positioned axially in the region of the flex spline.

Description

[0001] tension shaft gear

[0002] The invention relates to a stress wave transmission, which is designed as a pot transmission or as a hat 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.

[0003] 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.

[0004] 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.

[0005] 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 such that the teeth of the flexspline engage the teeth of the circular spline at three or more points. WO 2010 142318 A1 discloses a device for measuring the torque transmitted through an output shaft of a stress wave transmission. The device comprises a housing, a circular spline mounted in the housing, and a flexspline 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 on this basis.

[0006] It is the object of the present invention to provide a stress wave transmission which is particularly compact.

[0007] 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.

[0008] 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.

[0009] The output bearing can advantageously be arranged so that it surrounds the flexspline. This design is particularly compact.

[0010] 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.

[0011] 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.

[0012] In a particularly advantageous embodiment, the transmission is designed as a three-shaft transmission, in which a rotatably mounted first shaft acts as the transmission input, a second shaft acts as the output component and a third shaft is rotatably attached to the transmission base or is manufactured together in one piece with the transmission base.

[0013] 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 fastened 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 fastened to the transmission base acts as the fixed shaft.

[0014] It can advantageously be provided that the output component is a circular spline or a flex spline or that the output component is a transmission component that is torsionally and rigidly connected to a circular spline or a flex spline, for example screwed, glued or welded.

[0015] In general, the drive component can be formed by a shaft generator insert of the shaft generator.

[0016] The stress wave gear is designed as a pot gear or as a hat gear, which is particularly advantageous in terms of a compact and easily implementable design. In a hat gear design, 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 pot gear design, 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.

[0017] Preferably, the evaluation device and / or the torque measuring device are arranged at a distance from the external toothing of the flexspline. Such a design is particularly straightforward to implement.

[0018] 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.

[0019] Preferably, the torque measuring device comprises a plurality of deformation bodies, each with at least one deformation measuring sensor.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] A particularly compact design is one in which the electronic evaluation device at least partially surrounds the Flexspline.

[0024] In a particularly advantageous embodiment, the electronic evaluation device has an annular or 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 that is rotationally and rigidly connected to the shaft generator. The electronic evaluation device can have multiple circuit boards; even in such a design, 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 rotationally and rigidly connected to the shaft generator.

[0025] In another embodiment, the electronic evaluation device is arranged in the space surrounded by the flexspline.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Of particular advantage is a chassis, in particular an active chassis, for a motor vehicle that has at least one transmission according to the invention or one actuator according to the invention. A particularly advantageous feature is that high overload protection and reliable monitoring of the transmission can be easily implemented, which increases driving safety. Of particular advantage is a steering system, in particular a car steering system or a truck steering system, that has at least one transmission according to the invention. The steering system can in particular be a power steering system and / or a superimposed steering system. In general, a device, in particular a stress wave transmission, is particularly advantageous that has at least one of the following aspects (in particular also in combination with at least one of the aforementioned aspects):

[0031] 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).

[0032] 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.

[0033] 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 rotatably attached to the transmission base or are manufactured together in one piece with the transmission base.

[0034] 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 torsionally and rigidly connected to a circular spline (15) or a dynamic spline or a flex spline (2).

[0035] 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).

[0036] 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.

[0037] 7. Stress wave transmission according to one of aspects 1 to 6, characterized in that the stress wave transmission is designed as a ring gear. (In such an embodiment, for example, a wave generator insert mounted rotatably relative to the flexspline can function as the transmission drive and a circular spline, preferably designed as an internally toothed ring gear, can function as the output component, while a dynamic spline (preferably designed as an internally toothed ring gear) rotationally fastened to the transmission base functions as the fixed shaft.) . 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. . Stress wave transmission according to aspect 8, characterized in that the deformation measuring sensor has at least one strain gauge (18).

[0038] 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).

[0039] 1 1. 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.

[0040] 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.

[0041] 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.

[0042] 14. Stress wave transmission according to one of aspects 1 to 13, characterized in that the electronic evaluation device (19) has several circuit boards.

[0043] 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.

[0044] 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).

[0045] 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.

[0046] 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).

[0047] 19. Stress wave transmission according to one of the aspects 1 to 18, characterized in that the part of the

[0048] Torque measuring device, the electronic evaluation device (19) and / or the at least one deformation body (29) and / or the at least one

[0049] deformation measuring sensor and / or a circuit board with electrical or electronic components.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 27. Steering according to aspect 26, characterized in that the steering is a power steering system and / or a superposition steering system.

[0058] 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:

[0059] Fig. 1 shows a first embodiment of a stress wave transmission according to the invention,

[0060] Fig. 2 shows a connector of the first embodiment of a stress wave transmission according to the invention,

[0061] Fig. 3 shows a second embodiment of a stress wave transmission according to the invention,

[0062] Fig. 4 is 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,

[0063] Fig. 5 the circular spline of the second embodiment,

[0064] 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,

[0065] Fig. 7 shows the front view of one of the connectors for an inventive

[0066] Stress wave transmission according to the second embodiment,

[0067] Fig. 8 is a side view of one of the connectors for a

[0068] Stress wave transmission according to the second embodiment, and

[0069] Fig. 9 shows a third embodiment of a stress wave transmission according to the invention.

[0070] Figure 1 shows a first embodiment of an inventive

[0071] Stress wave transmission in a cross-sectional view along the rotation axis 28.

[0072] 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.

[0073] 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, although this is not shown for the sake of clarity. An inner ring 10 of the crossed roller bearing 9 is torsionally and rigidly connected to the gear 4. The outer ring 8 of the crossed roller bearing 9 is torsionally and rigidly connected to a gear housing 11.

[0074] The flange 6 has a plurality of radial plug-in recesses 13 for first plug-in sections 14 of the connectors 7, 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.

[0075] For example, the wave generator 1 can act as a gear drive and the circular spline 15 as a gear output, while the flex spline 2 attached to the gear housing 11 via the flange 6, the connectors 7 and the outer ring 8 acts as a fixed shaft.

[0076] 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.

[0077] 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.

[0078] The electronic evaluation device 19 is also designed and configured to receive measurement signals from the at least one deformation measurement sensor 16 and to determine a torque therefrom. In this respect, the evaluation device 19 and the deformation measurement sensors 16 are components of a torque measurement device 34. The flexspline 2 extends axially from a first plane 30 perpendicular to its rotational axis to a second plane 31 perpendicular to its rotational axis, with the output bearing 32 and the evaluation device 19 being arranged between the first plane 30 and the second plane 31.

[0079] Figure 2 shows a very schematic perspective detailed 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. Additionally, fastening can be achieved by means of screws (not shown) that extend through bores 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.

[0080] 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 shown separately in Figure 5. The circular spline 15 is rotationally connected to the transmission housing 11.

[0081] 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.

[0082] 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 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. 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.

[0083] 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.

[0084] The electronic evaluation device 19 is also designed and configured to receive measurement signals from the at least one deformation measurement sensor 16 and to determine a torque therefrom. In this respect, the evaluation device 19 and the deformation measurement sensors 16 are components of a torque measurement device 34.

[0085] 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.

[0086] Figure 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.

[0087] Figure 5 shows the circular spline of the second embodiment shown separately.

[0088] Figures 6 to 8 show various views of one of the connectors 7 of the stress wave transmission according to the invention shown in Figure 3. 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 makes it possible to measure the tensile or compressive forces acting on the legs of the V-shaped deformation section 17.

[0089] Protruding plug pins 23 are arranged on the front of the V-shaped deformation section 17 and are inserted into the plug recesses 13. Figure 9 shows a third embodiment of a stress wave transmission according to the invention in a cross-sectional view along the rotation axis 28.

[0090] 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.

[0091] 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, although this is not shown for the sake of clarity. An inner ring 10 of the crossed roller bearing 9 is torsionally and rigidly connected to the gear 4. The outer ring 8 of the crossed roller bearing 9 is torsionally and rigidly connected to a gear housing 11.

[0092] The flange 6 is connected to the outer ring 8 via a torque measuring device 34. For example, the wave generator 1 can function 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 and the torque measuring device 34, functions as the fixed shaft.

[0093] The torque measuring device 34 has an evaluation device 19 which receives measurement signals and determines a torque therefrom.

[0094] 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.

[0095] The stress wave transmission also has another sensor 35, namely a rotary encoder 36. The rotary encoder 36 serves to determine the rotational position, the speed, and / or the direction of rotation of a gear element rotating with the reduction ratio, namely the inner ring 10 connected to the circular spline 15. The rotary encoder 36 has a rotary encoder sensor 37 and a coding embodiment 38, for example in the form of a dial, a toothed ring, or a magnetic wheel, that interacts contactlessly with the rotary encoder sensor 37. The evaluation device 19 also receives measurement signals from the rotary encoder sensor 37.

[0096] The rotary encoder sensor 37 and the evaluation device 1 are arranged on a common carrier 39, namely on a common circuit board.

[0097]

[0098] 1 wave generator

[0099] 2 Flexsplines

[0100] 3 External gearing

[0101] 4 gear

[0102] 5 Internal gearing

[0103] 6 Flange

[0104] 7 connectors

[0105] 8 Outer ring

[0106] 9 crossed roller bearings

[0107] 10 inner ring

[0108] 1 1 Gearbox housing

[0109] 12 rolling bearings

[0110] 13 Plug-in recess

[0111] 14 plug-in sections

[0112] 15 Circular splines

[0113] 16 Deformation measuring sensor

[0114] 17 Deformation section

[0115] 18 strain gauges

[0116] 19 Evaluation device

[0117] 20 holes

[0118] 21 first transmission component element

[0119] 22 second transmission component element

[0120] 23 plug pins

[0121] 24 inner ring

[0122] 25 Outer ring

[0123] 26 rolling elements

[0124] 27 Gearbox drive shaft

[0125] 28 Rotation axis

[0126] 29 deformation bodies

[0127] 30 first level

[0128] 31 second level

[0129] 32 output bearings

[0130] 33 Shaft generator insert

[0131] 34 Torque measuring device

[0132] 35 Sensor

[0133] 36 Encoder Encoder Sensor Coding Embodiment Carrier

Claims

Patent claims 1 . Stress wave transmission, which is designed as a pot transmission or as a hat transmission, with a transmission base, in particular a transmission chassis or a transmission housing (1 1), 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 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 (32) 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 in that the output bearing (32) 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 claim 1 or 2, characterized in that the stress wave 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 is rotatably attached to the transmission base or is manufactured together in one piece with the transmission base.

4. Stress wave transmission according to one of claims 1 to 3, characterized in that the output component is a circular spline (15) or the flex spline (2) or that the output component is a transmission component which is torsionally and rigidly connected to a circular spline (15) or the flex spline (2).

5. Stress wave transmission according to one of claims 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 claims 1 to 5, characterized in that the torque measuring device has at least one deformation body (29) and at least one deformation measuring sensor (16).

7. Stress wave transmission according to claim 6, characterized in that the deformation measuring sensor (16) has at least one strain gauge (18).

8. Stress wave transmission according to claim 6 or 7, 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).

9. Stress wave transmission according to one of claims 6 to 8, characterized in that the deformation body (29) is designed as a bending beam or that the deformation bodies (29) are designed as bending beams.

10. Stress wave transmission according to one of claims 6 to 8, 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.

11. Stress wave transmission according to one of claims 1 to 10, characterized in that the electronic evaluation device (19) has an annular or ring-segment-shaped or cylindrical circuit board.

12. Stress wave transmission according to one of claims 1 to 11, characterized in that the electronic evaluation device (19) has several circuit boards.

13. Stress wave transmission according to one of claims 1 to 12, characterized in that the electronic evaluation device (19) is arranged in the space surrounded by the flexspline (2).

14. Stress wave transmission according to one of claims 1 to 13, characterized in that the electronic evaluation device (19) at least partially surrounds the flexspline (2).

15. Stress wave transmission according to one of claims 1 to 14, 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.

16. Stress wave transmission according to one of claims 1 to 15, 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 (32) and the evaluation device (19) are arranged at least partially, preferably completely, between the first plane (30) and the second plane (31).

17. Stress wave transmission according to one of claims 1 to 16, characterized in that the part of the Torque measuring device, the electronic evaluation device (19) and / or the at least one deformation body (29) and / or the at least one Deformation measuring sensor (16) and / or a circuit board with electrical or electronic components.

18. Actuator comprising a drive motor and a transmission according to one of claims 1 to 17, which is connected downstream of the drive motor.

19. Actuator according to claim 18, characterized in that the evaluation device (1) is designed to control or regulate the drive motor in dependence on the sensor signals.

20. Actuator according to claim 18 or 19, 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.

21. Robot joint comprising at least one gear mechanism according to one of claims 1 to 17 and / or an actuator according to one of claims 18 to 20.

22. Robot comprising at least one gear mechanism according to one of claims 1 to 19 and / or an actuator according to one of claims 20 to 22.

23. Chassis, in particular active chassis for a motor vehicle, which has at least one according to one of claims 1 to 17 and / or an actuator according to one of claims 18 to 20.

24. Steering system, in particular car steering system or truck steering system, which has at least one transmission according to one of claims 1 to 17 and / or an actuator according to one of claims 18 to 20.

25. Steering system according to claim 24, characterized in that the steering system is a power steering system and / or a superposition steering system.

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