Strain wave gearing having torque sensor

A strain wave gearing comprising:

• a rigid internally toothed gear;
• a flexible externally toothed gear that is coaxially disposed on an inner side of the internally toothed gear;
• a wave generator that is coaxially disposed on an inner side of the externally toothed gear, the wave generator causing the externally toothed gear to flex into a non-circular shape and partially mesh with the internally toothed gear and causing positions where the externally toothed gear and the internally toothed gear mesh to move in a circumferential direction;
• a main bearing that is coaxially disposed on an outer side of the externally toothed gear, the main bearing supporting the internally toothed gear and the externally toothed gear in a manner that allows relative rotation;
• a flange that securely links the externally toothed gear to one race of the main bearing;
• and
• a torque sensor that detects rotational torque transmitted via the externally toothed gear,
• wherein
• the externally toothed gear is formed with a cylindrical barrel part that has external teeth formed on an outer peripheral surface thereof and is capable of flexing in a radial direction, a diaphragm that extends radially inward from one end of the cylindrical barrel part, and a rigid boss that is formed contiguously with an inner peripheral edge of the diaphragm,
• the boss is provided with a hollow shaft part that coaxially extends in a first direction from the inner peripheral edge toward a side opposite from the cylindrical barrel part along an axial direction, and an annular part that coaxially spreads radially outward from a shaft distal end of the hollow shaft part,
• a torque detection element of the torque sensor is disposed on the flange,
• the flange is provided with a flange outer-side end surface that faces in the first direction in the axial direction,
• the torque detection element is attached to the flange outer-side end surface, and
• a temperature sensor and an acceleration sensor are implemented on a sensor substrate of the torque sensor, the torque sensor being disposed on a flange-outer-side-end-surface side of the flange.