Harmonic speed reduction transmission device equipped with a strain gauge

A harmonic speed reduction transmission device equipped with a strain gauge, comprising the following components configured inside a housing along an axial path:

• a motor, including a stator fixed inside the housing and a rotor pivoted inside the stator;
• a harmonic reducer, in transmission connection with the rotor to output a rotational torque of reduced speed;
• a rigid gear, fixed inside the housing to guide the harmonic reducer, and to withstand the torque from the harmonic reducer;
• wherein,
• the rigid gear is formed with an annular end face of equal radii in the same pitch circle, the annular end face extends along the axial path to form at least one bracket that can generate deformation under a bending moment, the rigid gear is fixed inside the housing through the bracket, and the strain gauge is attached on the bracket to sense the torque generated by the reduced speed output from the harmonic reducer;
• wherein said annular end face is formed with a pair of recesses corresponding to the brackets, the bottom of each bracket is respectively formed with a retaining portion that can be fixed inside the recess, and the bracket is formed on the annular end face through the retaining portion;
• wherein said annular end face extends along the axial path to form a boss, with the recesses respectively formed between the boss and the annular end face.