Harmonic reducer having load measuring unit

Abstract

The present invention relates to a harmonic reducer having a load measuring unit, comprising: a wave generator having a cam plate portion having a wave surface; a flex bearing into which the cam plate portion of the wave generator is fitted and coupled; a flex spline provided outside the flex bearing and having an annular boss portion; a circular spline provided outside the flex spline and having an internal gear meshing with an external gear of the flex spline; a first body coupled to the circular spline; and a second body rotatably provided on the first body by means of a support bearing, wherein the boss portion is coupled to the second body by a plurality of second coupling bolts, and the harmonic reducer further comprises a load measuring unit coupled together by fastening of the second coupling bolts, and the load measuring unit includes a ring-shaped load sensing sensor, and the second coupling bolts are fastened by passing through the load sensing sensor.

Description

Harmonic reducer equipped with a load measuring unit

[0001] The present invention relates to a harmonic reducer, and more specifically, to a harmonic reducer equipped with a load measuring unit.

[0002] A harmonic reducer is a type of high-precision reducer that achieves reduction by utilizing the difference in the number of teeth between a flex spline and a circular spline, which undergo shape deformation by waves generated by a wave generator. Because this harmonic reducer is compact and lightweight, yet can achieve a high reduction ratio, has a large transmission torque capacity, and has low backlash, it is used in industrial fields such as robots that require precise reduction ratios.

[0003] Generally, a harmonic reducer consists of a wave generator, a flex spline, and a circular spline. The flex spline is deformed by waves generated by the wave generator, causing harmonic motion, and some of the teeth of the flex spline and some of the teeth of the circular spline interlock with each other. Because there is a minute difference between the number of teeth of the flex spline and the number of teeth of the circular spline, a reducer with a large reduction ratio can be implemented due to such dimensional difference.

[0004] FIG. 1 is an exploded perspective view showing a part of the configuration of a conventional harmonic reducer, FIG. 2 is a cross-sectional view of a flex spline, and FIG. 3 is a cross-sectional view showing a conventional harmonic reducer.

[0005] The harmonic reducer (1) is equipped with a circular spline (2), a flex spline (3) arranged concentrically on the inner side of the circular spline (2), and a wave generator (4) with an elliptical outer surface inserted into the flex spline (3).

[0006] The above-mentioned circular spline (2) is in the shape of a ring, and an inner gear (21) is formed on the inner surface to mesh with the outer gear (35) of the flex spline (3).

[0007] The flexible flex spline (3) comprises a cylindrical body portion (31), a ring-shaped diaphragm (32) continuous at one end thereof, a ring-shaped boss portion (33) integrally formed on the diaphragm (32), and an outer gear (35) formed on the outer circumference of the opening of the body portion (31).

[0008] As shown by the dotted line in FIG. 2, the diaphragm (32A) of the flex spline (3) may be provided in a ring shape that extends radially outward. A ring-shaped boss portion (33A) is integrally formed along the outer edge of the diaphragm (32A).

[0009] The wave generator (4) is provided with a cam plate (41) having an elliptical wave surface, and a wave bearing (42) is fitted and coupled to the outer surface of the cam plate (41).

[0010] The wave bearing (42) is composed of an inner race (42a), an outer race (42b), and a plurality of balls (42c) that are provided to be driven between the inner and outer races. The inner and outer races (42a, 42b) are flexible.

[0011] As illustrated in FIG. 3, the harmonic reducer comprises a ring-shaped first body (5) coupled to a circular spline (2) and a ring-shaped second body (6) rotatably provided on the first body (5) by a support bearing (7).

[0012] The boss portion (33) of the flex spline (3) is connected to the second body (6) by a second connecting bolt (18). The second connecting bolt (18) is spaced apart along the circumferential direction and fastened in multiple numbers.

[0013] The first body (5) is connected to the circular spline (2) by a first connecting bolt (19). The first connecting bolt (19) is spaced apart along the circumferential direction and fastened in multiple numbers.

[0014] In FIG. 3, reference numeral 17 illustrates a first cover coupled to a circular spline (2) by fastening a first coupling bolt (19), reference numeral 8 illustrates a second cover coupled to a second body (6) by fastening a second coupling bolt (18), reference numerals 13, 14, and 15 illustrate seals, and reference numerals 12 and 16 illustrate O-rings.

[0015] And reference numeral 9 illustrates a first bearing that rotatably supports the wave generator (4) with respect to the first cover (17), and reference numeral 11 illustrates a second bearing that rotatably supports the wave generator (4) with respect to the second cover (8).

[0016] The harmonic reducer is supplied to robot manufacturers, etc., assembled without a first cover (17) or a second cover (8), or supplied to robot manufacturers, etc., with a structure equipped with a first cover (17) or a second cover (8).

[0017] When the harmonic reducer described above is mounted and used in robots, there was a problem in that the external force acting on the harmonic reducer could not be measured. In order to measure the external force acting on the harmonic reducer, the current of the motor rotating the wave generator (4) is measured and converted into load torque, but only the twisting of the movable parts generated during rotation can be measured, and loads other than the direction of rotation, particularly bending moments or impacts, cannot be measured, and there was a problem in that it could not be operated in response to this.

[0018] For example, when a harmonic reducer is mounted on a robot and the robot lifts an object for transport, it can lift at a low speed when the object is heavy and at a relatively high speed when the object is light; however, since the bending moment acting on the harmonic reducer due to the load of the object could not be measured, the operation could not be controlled in response to the weight of the object.

[0019] In order to solve these problems, DE 10 2018 125 078 A1 and DE 10 2019 112 146 B3 present a method in which a flex spline (3) is placed on a cylindrical body part (31) to place a load sensor, but the structure is attached to the outer surface of the cylinder, so installation was not easy, and there was a problem that discontinuity of measurement occurred depending on the adhesive force.

[0020] The present invention is proposed to solve the problems of the prior art as described above, and aims to provide a harmonic reducer equipped with a load measuring unit capable of measuring a load, such as a bending moment or impact, in addition to the rotational direction.

[0021] The present invention comprises a wave generator having a cam plate portion having a wave surface, a flex bearing to which the cam plate portion of the wave generator is fitted, a flex spline having an annular boss portion provided on the outer side of the flex bearing, a circular spline having an inner gear that meshes with an outer gear of the flex spline provided on the outer side of the flex spline, a first body coupled to the circular spline, and a second body rotatably provided to the first body by means of a support bearing; the boss portion is coupled to the second body by a plurality of second coupling bolts and further comprises a load measuring portion coupled to the boss portion by fastening the second coupling bolts; the load measuring portion comprises a substrate having a plurality of bolt holes formed along the circumferential direction into which the second coupling bolts are inserted, and a plurality of load measuring sensor portions coupled to the substrate. The present invention provides a harmonic reducer having a load measuring part, characterized in that the second connecting bolt is inserted into a bolt hole of a substrate and screw-fastened to a second body passing through a boss part, so that the load measuring part is coupled to the second body together with the boss part.

[0022] In the above, the load measuring sensor unit comprises one or more load measuring units; the load measuring unit includes a load measuring sensor layer provided on top of an insulating layer and an adhesive layer stacked sequentially on the substrate, and a protective layer covering the load measuring sensor layer; the load measuring sensor layer is a resistor formed by printing a conductive material through a nozzle onto the upper part of the adhesive layer.

[0023] In the above, the substrate is provided with a concave bolt fastening portion along the circumferential direction, a bolt hole is formed in the bolt fastening portion, and the load measuring sensor portion is printed on the bolt fastening portion in the radial direction on the inner and / or outer side of the bolt hole.

[0024] In the above, a protruding substrate protrusion is formed between the bolt fastening portions of the substrate, and a protruding outer edge is provided at the radially outer end of the substrate protrusion.

[0025] In the above, each load measuring sensor unit includes a plurality of load sensing sensors, and the plurality of load sensing sensors constituting each load measuring sensor unit are configured to detect deformation in different directions.

[0026] In the above, the plurality of load measuring sensor units can detect measurement errors and defects among themselves.

[0027] When a harmonic reducer equipped with a load measuring unit according to the present invention is mounted and used in a robot or the like, it is possible to measure external forces such as bending moments or impacts acting on the harmonic reducer, and the operation of the robot or the like can be controlled in response to this, assembly time and cost are reduced, and accurate and stable measurements are possible, thereby improving measurement reliability.

[0028] In addition, precise arrangement of the load measuring sensor layer, which is a sensing element of the load measuring unit, is possible.

[0029] In addition, since the load measuring unit is provided by printing using techniques such as 3D printing, the load measuring unit can be firmly provided on the substrate without being restricted by the shape of the substrate.

[0030] In addition, an adhesive layer is provided to enable continuity of bonding and allows for continuous deformation transfer from the substrate to the load measuring unit without interruption.

[0031] FIG. 1 is an exploded perspective view illustrating a part of the configuration of a conventional harmonic reducer, and

[0032] FIG. 2 is a cross-sectional view illustrating a flex spline provided in a harmonic reducer, and

[0033] FIG. 3 is a cross-sectional view illustrating a conventional harmonic reducer, and

[0034] FIG. 4 is a cross-sectional view illustrating a harmonic reducer equipped with a load measuring unit according to the present invention, and

[0035] FIG. 5 is a cross-sectional view of another example illustrating a harmonic reducer equipped with a load measuring unit according to the present invention, and

[0036] FIG. 6 is a plan view illustrating a load measuring section,

[0037] FIG. 7 is a schematic cross-sectional view along line AA of FIG. 6, and

[0038] FIG. 8 is a schematic cross-sectional view illustrating a load sensing sensor, and

[0039] FIG. 9 is an exemplary plan view illustrated to explain a load measuring unit.

[0040] All technical and scientific terms used in the description of the present invention, unless otherwise defined, have the meaning generally understood by those skilled in the art to which the present disclosure pertains. All terms used in the present disclosure are selected for the purpose of further clarifying the present disclosure and are not selected to limit the scope of the rights under the present disclosure.

[0041] Expressions such as "comprising," "having," "having," etc. used in the description of the present invention should be understood as open-ended terms implying the possibility of including other embodiments, unless otherwise stated in the phrase or sentence containing such expressions.

[0042] Singular expressions used in the description of the present invention may include the meaning of the plural form unless otherwise stated, and this applies likewise to singular expressions described in the claims.

[0043] Expressions such as "first," "second," etc., used in the description of the present invention are used to distinguish multiple components from one another and do not limit the order or importance of said components.

[0044] Where in the description of the present invention it is mentioned that a component is "connected" or "combined" to another component, it should be understood that the component can be directly connected or combined to the other component, or can be connected or combined through a new or different component.

[0045] The harmonic reducer equipped with a load measuring unit according to the present invention will be described in detail below with reference to the attached drawings. In the description of the harmonic reducer equipped with a load measuring unit according to the present invention, descriptions of redundant content regarding the prior art are omitted.

[0046] FIG. 4 is a cross-sectional view illustrating a harmonic reducer equipped with a load measuring unit according to the present invention, FIG. 5 is a cross-sectional view of another example illustrating a harmonic reducer equipped with a load measuring unit according to the present invention, FIG. 6 is a plan view illustrating a load measuring unit, FIG. 7 is a schematic cross-sectional view along line AA of FIG. 6, FIG. 8 is a schematic cross-sectional view illustrating a load sensing sensor, and FIG. 9 is an exemplary plan view illustrating a load measuring unit.

[0047] In the following description, the vertical direction (B) of FIG. 4 is the axial direction, and the rotation center of the wave generator (110) is the axial center.

[0048] As illustrated in FIG. 4, a harmonic reducer (100) equipped with a load measuring unit according to the present invention comprises a wave generator (110), a flex bearing (140), a flex spline (120), a circular spline (130), a first body (150), a second body (160), and a load measuring unit (190).

[0049] The wave generator (110) is provided as a cylindrical hollow body. The wave generator (110) is provided with a cam plate portion (111) having an elliptical wave surface at the axial center. A flex bearing (140) is fitted and coupled to the outer surface of the cam plate portion (111).

[0050] The above flex bearing (140) is concentric with the wave generator (110) and is provided on the outer side of the wave generator (110). The wave generator (110) is inserted into the flex bearing (140). The cam plate portion (111) of the wave generator (110) is fitted into the flex bearing (140). The flex bearing (140) is composed of an inner ring, an outer ring, and a plurality of balls that are provided to drive between the inner ring and the outer ring, and the inner ring and the outer ring have flexibility.

[0051] The above flex spline (120) is concentric with the flex bearing (140) and is provided on the outside of the flex bearing (140). The above flex spline (120) has flexibility.

[0052] The above flex spline (120) comprises a cylindrical body portion (121), an annular diaphragm (123) extending radially outward from one axial side of the body portion (121), an annular boss portion (125) formed along the edge of the diaphragm (123), and an outer gear (127) formed on the outer circumference of the other axial side of the body portion (121). The boss portion (125) is provided with a thickness greater than that of the diaphragm (123).

[0053] Unlike the embodiment shown in FIG. 3, the diaphragm (123) of the flex spline (120) may be provided to extend radially inward, and the boss portion (125) may be provided in a ring shape extending along the radially inner edge of the diaphragm (123).

[0054] The above-mentioned circular spline (130) is concentric with the above-mentioned flex spline (120) and is provided on the outer side of the above-mentioned flex spline (120). The above-mentioned circular spline (130) is provided in a ring shape. An inner gear (131) that meshes with the outer gear (127) of the above-mentioned flex spline (120) is formed on the inner surface of the above-mentioned circular spline (130).

[0055] The first body (150) is provided in the shape of a ring. The first body (150) is provided between the diaphragm (123) of the circular spline (130) and the flex spline (120). The first body (150) is connected to the circular spline (130) by a plurality of first connecting bolts (119). The first connecting bolts (119) are spaced apart along the circumferential direction of the circular spline (130) and fastened in multiple numbers.

[0056] The second body (160) is provided in the form of a ring. The second body (160) is provided on the outer side of the first body (150). The second body (160) is rotatably provided to the first body (150) by means of a support bearing (170). The boss portion (125) of the flex spline (120) is connected to the second body (160) by a plurality of second connecting bolts (180). The second connecting bolts (180) are spaced apart along the circumferential direction of the boss portion (125) and fastened in multiple numbers.

[0057] In the harmonic reducer (100) equipped with a load measuring unit according to the present invention, depending on the installation, the flex spline (120) may be the output shaft and the circular spline (130) may be the output shaft.

[0058] The load measuring part (190) is provided in a ring shape. The load measuring part (190) is located on the boss part (125). A bolt hole (described later) is formed in the load measuring part (190). A second connecting bolt (180) is fastened into the bolt hole and connected to the second body (160) together with the boss part (125).

[0059] A harmonic reducer (100) equipped with a load measuring unit according to the present invention may include a first cover (107) and a second cover (109) as shown in FIG. 5. The first cover (107) is coupled to a circular spline (130) by fastening a first coupling bolt (119). The second cover (109) is coupled to a second body (160) by fastening a second coupling bolt (180).

[0060] At this time, the load measuring part (190) is located between the boss part (125) and the second cover (109), and the load measuring part (190) is coupled to the second body (160) together with the boss part (125) and the second cover (109) by fastening the second connecting bolt (180).

[0061] A harmonic reducer (100) equipped with a load measuring unit according to the present invention may be assembled and supplied to a robot manufacturer, etc., in a structure without a first cover (107) or a second cover (109), or supplied to a robot manufacturer, etc., in a structure equipped with a first cover (107) or a second cover (109).

[0062] Drawing symbols 103, 104, and 105 shown in FIGS. 4 and 5 represent seals, 106 and 108 represent O-rings, and 101 and 102 represent generator bearings that rotatably support the wave generator (110) with respect to both the first cover (107) and the second cover (109).

[0063] As illustrated in FIGS. 6 to 9, the load measuring unit (190) comprises a substrate (191) and a plurality of load sensing sensor units (193) coupled to the substrate (191).

[0064] A plurality of bolt holes (1912) are formed in the substrate (191) along the circumferential direction, into which a second connecting bolt (180) is inserted.

[0065] The second connecting bolt (180) is inserted into the bolt hole (1912) of the substrate (191) and screw-fastened to the second body (160) through the boss portion (125), so that the load measuring portion (190) is coupled to the second body (160) together with the boss portion (125).

[0066] At this time, the substrate (191) may be provided in a ring shape, and the material may be a synthetic resin.

[0067] The load measuring sensor unit (193) comprises one or more load measuring units (195). The load measuring unit (195) includes a load measuring sensor layer (1955) provided on top of an insulating layer (1951) and an adhesive layer (1953) stacked sequentially on the substrate (191), and a protective layer (1952) covering the load measuring sensor layer (1955).

[0068] At this time, the load measuring sensor layer (1955) is a resistor formed by printing a conductive material through a nozzle onto the upper part of the adhesive layer (1953).

[0069] The insulating layer (1951) is formed on a substrate by methods such as thermal evaporation or sputtering. Examples of insulating materials forming the insulating layer (1951) include polyimide, polyethylene terephthalate (PET), polycarbonate (PC), and epoxy.

[0070] An adhesive layer (1953) is further provided on top of the insulating layer (1951). At this time, the load measuring sensor layer (1955) may be printed on the adhesive layer (1953). The adhesive layer (1953) may be formed by applying an adhesive material to the top of the insulating layer (1951). Examples of materials forming the adhesive layer (1953) include epoxy resin and polyimide resin.

[0071] The load measuring sensor layer (1955) can be formed by printing on the upper surface of the adhesive layer (1953). A predetermined conductive material is discharged onto the upper surface of the adhesive layer (1953) through a nozzle (not shown), and the discharged resistive material is laminated onto the upper surface of the adhesive layer (1953) to form a load measuring sensor layer (1955) which is a resistor. The conductive material may be composed of one or more metals such as copper and aluminum.

[0072] The load measuring sensor layer (1955) is adhered to the substrate (191) by the adhesive layer (1953), so that the load measuring sensor layer (1955) accurately receives the deformation of the substrate (191), thereby enabling precise load measurement. If the load measuring sensor layer (1955) is not completely adhered to the substrate (191), it becomes difficult to accurately receive the deformation of the substrate (191) due to temperature changes, loads, etc. Furthermore, if grease leakage or moisture from the bearing of the harmonic drive comes into contact with the circuit, it may penetrate through this gap and cause errors in the output value. Therefore, the adhesion between the load measuring sensor layer (1955) and the substrate (191) is very important, and the adhesive layer (1953) described above enables continuity of bonding, allowing for continuous deformation transmission from the substrate (191) to the load measuring unit (1955) without interruption.

[0073] At this time, as the nozzle (not shown) moves along a set path on the adhesive layer (1953), a resistive material is discharged, and the movement along the path is repeated so that the resistive material forms a layer and is formed into a load measuring sensor layer (1955) which is a resistive body.

[0074] The load measuring sensor layer (1955) may be formed in a coil shape as exemplarily illustrated in FIG. 9. At this time, the load measuring sensor layer (1955) is formed by printing on the upper part of the adhesive layer (1953) as shown in FIG. 8 and FIG. 9, and when an external force is applied in the direction "A" of FIG. 9 and causes deformation, the resistance of the load measuring sensor layer (1955) changes, and the external force is calculated as the value of the change in resistance.

[0075] A connection terminal layer (1957) may be printed and formed on both ends of the load measuring sensor layer (1955). To this end, a conductive material is discharged onto the upper part of the adhesive layer (1953) through a nozzle (not shown), and the discharged conductive material is stacked onto the upper part of the load measuring sensor layer (1955) to form a conductive connection terminal layer (1957). The conductive material may be composed of one or more metals such as silver, copper, and aluminum.

[0076] A wire layer (1959) is connected together with the connection terminal layer (1957) at the end of the load measuring sensor layer (1955) in which the connection terminal layer (1957) is stacked.

[0077] To this end, a conductive material is discharged onto the upper surface of the adhesive layer through a nozzle (not shown), and the discharged conductive material is laminated onto the upper surface of the adhesive layer (1953) to form a conductive wire layer (1959). The conductive material may be composed of one or more metals such as copper and aluminum. At this time, a portion of the wire layer (1959) is exposed from the protective layer (1952).

[0078] The above protective layer (1952) is formed on a substrate to cover the load measuring sensor layer (1955) by methods such as thermal evaporation or sputtering. Examples of materials forming the above protective layer (1952) include polyimide, polyethylene terephthalate (PET), polycarbonate (PC), and epoxy.

[0079] The above protective layer (1952) is formed to cover the connection terminal layer (1957) and the load measuring sensor layer (1955), and is also provided to cover a part of the wire layer (1959).

[0080] As illustrated in FIG. 6, the substrate (191) is provided with a concave bolt fastening portion (1911) along the circumferential direction. A bolt hole (1912) is formed in this bolt fastening portion (1911). The load measuring sensor portion (193) is printed radially on the bolt fastening portion (1911) on the inside and / or outside of the bolt hole (1912).

[0081] At this time, the bolt fastening portion (1911) is formed concavely and is thinner than both sides thereof. Between the bolt fastening portions (1911), a substrate protrusion (1913) is provided with a thickness greater than that of the bolt fastening portion (1911). Additionally, the thin bolt fastening portion (1911) is provided on the substrate (191), and a bolt hole (1912) is formed in the bolt fastening portion (1911) to fasten a bolt. With this configuration, the load measuring sensor portion (193) is printed and provided on the thin bolt fastening portion (1911), so that the measurement can be performed precisely and sensitively. That is, when mounted on a robot or the like and operated, even with a small load, the bolt fastening part (1911) is thin, so a large deformation can occur compared to the applied load, and the resistance change that occurs as it deforms together also increases, so the resistance change of the load measuring sensor part (193) that measures the resistance change also increases, making precise and sensitive measurement possible.

[0082] As shown in FIG. 6, a protruding substrate protrusion (1913) is formed between the bolt fastening portions (1911) of the substrate (191). A protruding outer jaw portion (1915) is provided at the radially outer end of the substrate protrusion portion (1913). Additionally, a protruding outer jaw portion (1915) is provided on the outer diameter side of the substrate (191) to enable stable assembly with a mating part.

[0083] As shown in the enlarged view of FIG. 6, each load measuring sensor unit (193) includes a plurality of load measuring units (195). At this time, the plurality of load measuring units (195) forming each load measuring sensor unit (193) are configured to detect deformation in different directions.

[0084] That is, each load measuring sensor unit (193) is composed of a plurality of load measuring units (195). The plurality of load measuring units (195) forming each load measuring sensor unit (193) are installed spaced apart from each other. At least two of the plurality of load measuring units (195) forming each load measuring sensor unit (193) are printed in different directions. As shown in FIG. 6, the load measuring units (195) forming the load measuring sensor unit (193) are installed in the circumferential direction ("B" direction) displacement direction, and the remaining two may be installed on both sides in the radial direction ("C" direction) displacement direction.

[0085] Meanwhile, the plurality of load measuring sensor units (193) can also detect measurement errors and defects among themselves.

[0086] For example, when using two load measuring sensor units (193), if a signal of a measurement error or defect occurs in one load measuring sensor unit (193), the measurement error and defect are detected by comparing it with the measurement result value of an adjacent load measuring sensor unit (193). If three load measuring sensor units (193) are applied, torque is measured at three load measuring sensor units (193), and the sensor with an abnormal measurement error or defect can be detected by comparing the measured value of each load measuring sensor unit (193) with the output value of a surrounding load measuring sensor unit (193).

[0087] A harmonic reducer equipped with a load measuring unit according to the present invention can be mounted and used in a robot or the like. When the harmonic reducer is mounted and used in a robot or the like, it is possible to measure external forces such as bending moments or impacts acting on the harmonic reducer, and the operation of the robot or the like can be controlled in response to this, thereby reducing assembly time and costs.

Claims

1. A wave generator (110) having a cam plate portion (111) having a wave surface; a flex bearing (140) to which the cam plate portion (111) of the wave generator (110) is fitted; a flex spline (120) provided on the outside of the flex bearing (140) and having an annular boss portion (125); a circular spline (130) provided on the outside of the flex spline (120) and having an inner gear (131) that meshes with an outer gear (127) of the flex spline (120); a first body (150) coupled to the circular spline (130); and a second body (160) rotatably provided to the first body (150) by means of a support bearing (170); The above boss portion (125) is coupled to the second body (160) by a plurality of second coupling bolts (180), and further includes a load measuring portion (190) that is coupled to the boss portion (125) by fastening the second coupling bolts (180); The load measuring unit (190) comprises a substrate (191) having a plurality of bolt holes (1912) formed along the circumferential direction into which a second connecting bolt is inserted, and a plurality of load measuring sensor units (193) coupled to the substrate (191); A harmonic reducer having a load measuring part, characterized in that the second connecting bolt (180) is inserted into the bolt hole (1912) of the substrate (191) and screw-fastened to the second body (160) through the boss part (125), so that the load measuring part (190) is coupled to the second body (160) together with the boss part (125).

2. In claim 1, the load measuring sensor unit (193) is composed of one or more load measuring units (195); The load measuring unit (195) comprises a load measuring sensor layer (1955) provided on top of an insulating layer (1951) and an adhesive layer (1953) stacked sequentially on the substrate (191), and a protective layer (1952) covering the load measuring sensor layer (1955); A harmonic reducer having a load measuring section, wherein the load measuring sensor layer (1955) is a resistor formed by printing a conductive material through a nozzle on top of an adhesive layer.

3. A harmonic reducer having a load measuring part, wherein, in claim 2, the substrate (191) is provided with a concave bolt fastening part (1911) along the circumferential direction, a bolt hole (1912) is formed in the bolt fastening part (1911), and the load measuring sensor part (193) is printed on the bolt fastening part (1911) in a radial direction on the inside and / or outside of the bolt hole (1912).

4. A harmonic reducer having a load measuring part, characterized in that, in claim 3, a protruding substrate protrusion (1913) is formed between the bolt fastening parts (1911) of the substrate (191), and a protruding outer jaw (1915) is provided at the radially outer end of the substrate protrusion (1913).

5. A harmonic reducer having a load measuring unit, wherein, in claim 3, each load measuring sensor unit (193) comprises a plurality of load measuring units (195), and the plurality of load measuring units (195) forming each load measuring sensor unit (193) are configured to detect deformation in different directions.

6. A harmonic reducer having a load measuring unit, wherein, in the third paragraph, the plurality of load measuring sensor units (193) are capable of detecting measurement errors and defects among each other.

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