Robot and assembly method thereof

Abstract

A robot and an assembly method thereof are provided. The robot (100) comprises: a first arm link (101) comprising a joint housing (1011) and an inner meshing member (1012) arranged on the inner surface of the joint housing (1011); a second arm link (102) comprising an output flange (1021); and a moving assembly (104), the moving assembly (104) being at least partially arranged in the joint housing (1011). The moving assembly (104) comprises an input shaft (1041) adapted to rotate around an axis (X) of the input shaft (1041); and at least one intermediate member (1042) coupled to the output flange (1021) and adapted to be driven by the input shaft (1041) to rotate while meshing with the inner meshing member (1012), causing relative movement between the first arm link (101) and the second arm link (102). By forming the relatively stationary parts of the gearbox in one piece, a high connection strength connection between the robot arm links can be achieved in a more cost-effective and space-saving manner.

Description

Technical Field

[0001] The disclosed embodiments generally relate to a robot and an assembly method thereof. Background Art

[0002] A gearbox is a device that uses gears and gear trains to provide speed and torque conversion from a rotating power source to another device. Conventional planetary gearboxes typically include one or more external gears (i.e., planetary gears) that rotate around a central gear (i.e., a sun gear). Typically, the planetary gears are mounted on a movable arm or bracket that can itself rotate relative to the sun gear. Planetary gearboxes also include the use of an external ring gear or annulus that meshes with the planetary gears. Planetary gears are generally divided into simple planetary gears or compound planetary gears. Simple planetary gears have a sun gear, a ring gear, a bracket, and a planetary gear set.

[0003] Typically, the gearbox is manufactured separately from the robot structure as a precision component manufactured by an external supplier with different materials and processing technology, and the gearbox is further connected to the robot structure in the subsequent assembly process. This separate gearbox and structure design requires a connection interface and takes up space. Especially for plastic robots, stable and robust threaded connections are not available due to the strength and creep effects of plastic materials. Summary of the invention

[0004] In order to solve or at least partially solve the above and other potential problems, an embodiment of the present disclosure provides a robot in which a portion of a gear box is integrated into the robot structure.

[0005] In a first aspect, a robot is provided. The robot comprises a joint housing and an inner engagement member arranged on an inner surface of the joint housing; a second arm link comprising a flange; and a moving assembly, the moving assembly being at least partially arranged in the joint housing and comprising an input shaft, the input shaft being adapted to rotate around an axis of the input shaft; and at least one intermediate member, the at least one intermediate member being coupled to the output flange and being adapted to be driven by the input shaft to rotate while being engaged with the inner engagement member to cause relative movement between the first arm link and the second arm link.

[0006] By forming the housing integrally in one arm link and the output flange integrally in the other arm link, the assembly difficulty and cost can be reduced. In addition, the connection interface that takes up space in the plastic robot housing and deteriorates the connection performance can be eliminated, thereby making the connection between the arm link and the joint more stable (especially for plastic robots). Moreover, the moving assembly includes parts such as the intermediate member that is most easily damaged. With this arrangement, the moving assembly can be more conveniently replaced, repaired or maintained.

[0007] In some embodiments, the robot further comprises at least one bearing arranged in the joint housing and surrounding the input shaft. In this way, the assembly difficulty and cost can be further reduced.

[0008] In some embodiments, the first arm link further includes a first arm link body; and the second arm link further includes a second arm link body.

[0009] In some embodiments, the joint housing, the inner engagement member and the first arm link body are integrally formed, thereby significantly improving manufacturing efficiency and structural strength.

[0010] In some embodiments, the joint housing and the inner engagement member are formed separately, and the joint housing includes a barrel having a container for arranging the inner engagement member therein. With this arrangement, the joint housing can be manufactured more easily by injection molding while ensuring the quality of the inner engagement member by using machining.

[0011] In some embodiments, the robot further includes an adjustment mechanism, which is arranged on the inner meshing member and the cylinder and is operable to press the inner meshing member inwardly to reduce the inner diameter of the inner meshing member. By using the adjustment mechanism to press the inner meshing member inwardly, the assembly error between the inner meshing member and the moving assembly can be effectively compensated. In addition, with the adjustment mechanism, the joint housing and the inner meshing member do not need to be too thick, thereby making injection molding in the plastic robot housing easier and improving manufacturing accuracy.

[0012] In some embodiments, the adjustment mechanism includes an outer tapered portion, which is axially arranged on the outer surface of the inner meshing member; and an inner tapered portion, which is arranged in the barrel and surrounds the outer tapered portion. In this way, the inner meshing member can be uniformly squeezed. In addition, the adjustment element can be easily operated without disassembling the plastic gear box.

[0013] In some embodiments, the first arm link body and the joint housing are formed separately and connected by gluing, mechanical snap-fit ​​or interference fit. With this arrangement, it is easier to manufacture the joint housing by injection molding. In addition, high precision can be easily achieved by separately injection molding the first arm link body and the joint housing with uniform thickness and small size.

[0014] In some embodiments, the joint housing is formed separately and then integrally formed in the first arm link body by injection molding. In this way, the first arm link can be easily formed while improving the connection performance between the joint housing and the first arm link body.

[0015] In some embodiments, the inner engagement member comprises a plurality of cylindrical pins which are evenly arranged on the inner surface of the joint housing. This improves the connection performance of the robot using the cycloid gearbox as a joint while allowing the robot to be more compact.

[0016] In some embodiments, the inner meshing member comprises a plurality of gear teeth. This improves the connection performance of robots using planetary gearboxes as joints.

[0017] In some embodiments, the inner meshing member comprises a friction surface. This improves the joint performance of robots using friction-based planetary gearboxes as joints.

[0018] In a second aspect, a method for assembling a robot is provided. The method comprises: providing a first arm link, the first arm link comprising a joint housing and an inner engaging member arranged on an inner surface of the joint housing; providing a second arm link comprising a joint flange; and at least partially arranging a moving assembly in the joint housing, the moving assembly comprising an input shaft, the input shaft being adapted to rotate around an axis of the input shaft; and at least one intermediate member, the at least one intermediate member being coupled to the joint flange and being adapted to be driven by the input shaft to rotate while being engaged with the inner engaging member to cause relative movement between the first arm link and the second arm link.

[0019] It should be understood that the present invention content is not intended to identify the key or essential features of the embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become easy to understand through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of example embodiments of the present disclosure in conjunction with the accompanying drawings, in which like reference numerals generally represent like components in example embodiments of the present disclosure.

[0021] Figure 1 A schematic diagram showing a joint portion of a conventional robot;

[0022] Figure 2 A perspective view showing a joint portion of a conventional robot;

[0023] Figure 3 A schematic diagram showing a joint portion of a robot according to an embodiment of the present disclosure;

[0024] Figure 4 A perspective view showing a joint portion of a robot according to an embodiment of the present disclosure;

[0025] Figure 5 A cross-sectional view showing a first arm link according to an embodiment of the present disclosure;

[0026] Figure 6 A cross-sectional view showing a first arm link according to another embodiment of the present disclosure;

[0027] Figure 7 A cross-sectional view showing a first arm link according to another embodiment of the present disclosure;

[0028] Figure 8 A perspective view showing a robot according to an embodiment of the present disclosure; and

[0029] Fig. 9 A flow chart showing a method for assembling a robot according to an embodiment of the present disclosure is shown.

[0030] Throughout the drawings, the same or similar reference numbers are used to refer to the same or similar elements. DETAILED DESCRIPTION

[0031] The present disclosure will now be discussed in conjunction with several exemplary embodiments. It should be understood that the purpose of discussing these embodiments is only to enable those skilled in the art to better understand and further implement the present disclosure, rather than implying any limitation on the scope of the subject matter.

[0032] As used herein, the term "including" and its variations should be understood as open terms, meaning "including but not limited to". The term "based on" should be understood as "based at least in part on". The terms "one embodiment" and "embodiment" should be understood as "at least one embodiment". The term "another embodiment" should be understood as "at least one other embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below. Unless the context clearly indicates otherwise, the definitions of terms are consistent throughout the specification.

[0033] In traditional solutions, in order to achieve the required reduction ratio, the robot joint usually adopts a planetary gearbox, especially a cycloid planetary gearbox (ie, a cycloid drive or a cycloid reducer), as a reduction and transmission device.

[0034] Nowadays, the development of cheap robots and small and lightweight robots has gradually become a development trend in the field of robotics. Under this trend, non-metallic robots such as plastic robots have been developed. Using non-metallic materials (such as plastic materials or composite materials, etc.) to manufacture robots is becoming more and more common in robot development.

[0035] Typically, as a precision component manufactured by an external supplier with different materials and processing techniques, the gearbox is usually a separate component from other robot structures such as the base or robot arm, which are further connected to the gearbox during subsequent assembly.

[0036] Figure 1 A schematic diagram showing a joint portion of a conventional robot; Figure 2 A perspective view of a joint portion of a conventional robot is shown. As shown in the figure, in a conventional robot 100', a gearbox 110' is a separate device to be connected to robot arms 101', 102'. As a torque and rotation transmission device, the gearbox needs to be firmly attached to the robot arm link, which requires a strong connection strength. For plastic robots, due to the strength and creep effect of plastic materials, stable and robust screw connections are difficult to achieve, and generally require a sufficiently large thickness at the connection to ensure the connection strength.

[0037] Local thickening of plastic parts may cause difficulties in the molding process and also affect the overall strength of the robot arm connecting rod. As can be seen from the above, this separate gearbox and structural design requires connection interfaces and takes up space, making the robot, especially the joint part of the robot, bulky. This is undesirable for today's pursuit of miniaturization and lightweight plastic robots. In addition, compared with the robot arm connecting rod, the gearbox, especially the moving components of the gearbox, are consumable parts. In the event of a failure, the entire gearbox needs to be replaced, resulting in high maintenance costs.

[0038] In order to solve or at least partially solve the above problems, the present disclosure provides a robot. Figure 3-Figure 8 Some example embodiments are described.

[0039] Figure 3 A schematic diagram of the joint portion of the robot is shown, and Figure 4 A perspective view of a joint portion of a robot according to an embodiment of the present disclosure is shown. As shown in the figure, the robot generally includes at least two arm links and a moving assembly 104 arranged between the arm links. The robot arm link herein represents the robot arm, base and other structural components of the robot.

[0040] For ease of discussion, the main concept of the present disclosure will be described below by taking two robot arm links as an example, and the two robot arm links are hereinafter referred to as the first arm link 101 and the second arm link 102. It should be understood that the concept of the present disclosure can also be applied between each two robot arms in a plurality of robot arms or between a robot arm and a robot base.

[0041] Compared with the arm link of a conventional robot, the first arm link 101 comprises a joint housing 1011 and an inner engagement member 1012 arranged on the inner surface of the joint housing 1011. As a part of a conventional gearbox, the joint housing 1011 is used to receive another part of the gearbox, i.e., a moving assembly. The second arm link 102 comprises an output flange 1021.

[0042] The moving assembly 104 as a separate unit is at least partially arranged in the joint housing. The moving assembly 104 comprises an input shaft 1041 which can rotate around its axis X when driven by a power source such as a motor. The moving assembly 104 also comprises at least one intermediate member 1042 which is coupled to the output flange 1021.

[0043] When the input shaft 1041 is driven to rotate around the first axis X1, the intermediate member 1042 can be driven by the input shaft 1041 to rotate around the second axis X2 while being engaged with the inner engagement member 1012. In other words, the intermediate member 1042 can revolve around the first axis X1 and can rotate around the second axis X2. Therefore, the output flange 1021 coupled to the intermediate member 101 can be actuated by the rotation of the intermediate member 1042 to rotate around the first axis X1. In this way, the first arm link 101 and the second arm link 102 can rotate relative to each other.

[0044] As can be seen from the above, in the present disclosure, the joint housing and the output flange of the conventional gearbox of the robot are part of the first arm link 101 and the second arm link 102, respectively. The moving components of the conventional gearbox are preassembled as separate units to be assembled to the first arm link 101 and the second arm link 102 during the final robot assembly. That is, the housing of the conventional gearbox is separated and integrated into the robot arm link to couple with each other. Therefore, a connection interface for assembling the gearbox is no longer required. This allows the joint portion of the robot, especially the plastic robot, to be made more compact, thereby providing greater freedom for compact robot design.

[0045] By integrating the relatively stationary parts of the gearbox (such as the joint housing 1011 and the output flange 1021) into the robot arm link, a high connection strength connection between the robot arm links can be achieved in a more cost-effective and space-saving manner. Since the main components of the conventional gearbox housing have become components of the arm link, the assembly and maintenance difficulty and cost of the robot can be significantly reduced.

[0046] In addition, compared with traditional solutions, the moving component 104 is a wearing part. In the event of damage or wear, only the damaged or worn parts need to be replaced without completely replacing the entire gearbox, which further significantly reduces maintenance costs.

[0047] In addition, it should be understood that the above arrangement can be used for robots using any suitable gearbox as joints. For example, in some embodiments, the inner meshing member 1012 can be a ring gear with internal teeth, which is mounted on the inner surface of the housing 101 in any suitable manner (such as by fasteners or interference fit). In these embodiments, the intermediate member 1042 can include at least one planetary gear rotating around a central gear.

[0048] In some alternative embodiments, the inner meshing member 1012 may include a plurality of cylindrical pins. In these embodiments, the input shaft 1041 may include at least one eccentric support segment centered on the second axis X2, and the intermediate member 1042 may be a wheel (e.g., a cycloidal wheel) arranged on the support segment. That is, in these embodiments, the robot 100 may include a cycloidal planetary gearbox.

[0049] In some other alternative embodiments, the inner engagement member 1012 may include a friction surface formed in the inner surface of the joint housing 1011. In these embodiments, the input shaft 1041 may include at least one eccentric support segment centered on the second axis X2, and the intermediate member 1042 may be a wheel having a friction surface arranged on its outer surface. That is, in these embodiments, the robot 100 may include a friction-based planetary gearbox.

[0050] That is, the concept of the present disclosure can be applied to a robot using a gearbox including a sun gear and planetary gears, a cycloid type planetary gearbox, or even a friction-based planetary gearbox as a joint.

[0051] Hereinafter, for convenience of explanation, the portion of the first arm link 101 other than the joint housing 1011 is referred to as a first arm link body 1016, and the portion of the second arm link 102 other than the output flange 1021 is referred to as a second arm link body 1022. The first arm link body 1016 and the second arm link body 1022 are portions forming the main shapes of the first arm and the second arm of the robot, respectively.

[0052] In some embodiments, the joint housing 1011 and the inner engagement member 1012 or the output flange 1021 may be integrally formed with the corresponding robot arm link body, such as Figure 3-Figure 5 As shown. This arrangement can further reduce assembly and maintenance costs while increasing connection strength. The joint housing 1011 or the output flange 1021 can be integrally formed on the corresponding robot arm link by injection molding. In addition, in these embodiments, during the injection molding process, at least one bearing 105 can also be inserted into the inner surface of the joint housing 1011, so that assembly and maintenance work can be further reduced.

[0053] In some embodiments, the inner engagement member 1012 may be formed on the inner surface of the joint housing 1011 by machining after injection molding the joint housing 1011. This may improve the accuracy of the inner engagement member 1012 to meet high transmission requirements.

[0054] It should be understood that the above-mentioned embodiment in which the joint housing 1011 and the inner engaging member 1012 or the output flange 1021 are integrally formed in the corresponding arm link body is merely illustrative and does not imply any limitation on the scope of the present disclosure. Any other suitable arrangement or structure is also possible. In some alternative embodiments, each relatively static component of the gearbox (i.e., the joint housing 1011 or the output flange 1021) and the corresponding robot arm link can also be formed separately and then assembled appropriately.

[0055] For example, in some alternative embodiments, for the first arm link 101, only the joint housing 1011 and the first arm link body 1016 are integrally formed, and the inner engagement member 1012 and the joint housing 1011 may be separately formed by injection molding, such as Figure 6 In these embodiments, the joint housing 1011 may include a cartridge 1014 having a container for accommodating the inner engagement member 1012 .

[0056] For example, in some embodiments, the container can be a common circular hole in which the inner engagement member 1012 is arranged by interference fit or bonding, etc. In some alternative embodiments, the container can be a hole, wherein a keyway is arranged on the inner circumference of the hole. The keyway can receive a key formed on the outer circumference of the inner engagement member 1012 to prevent relative movement between the hole and the inner engagement member.

[0057] With this arrangement, the components formed by injection molding each have a substantially uniform thickness, thereby reducing the difficulty of manufacturing. Therefore, during the injection molding process, the accuracy of components such as the inner engagement member 1012 can be easily improved.

[0058] In some embodiments, the robot 100 may further include an adjustment mechanism, which is arranged on the engagement member 1012 and the barrel 1014. The adjustment mechanism may press the inner engagement member 1012 inwardly to reduce the inner diameter of the inner engagement member 1012 while keeping the inner engagement member 1012 self-centered during assembly. In this way, the assembly error between the inner engagement member 1012 and the intermediate member 1042 may be reduced or compensated. Moreover, the inner engagement member 1012 may be assembled more easily in the barrel 1014.

[0059] Furthermore, since the barrel 104 as a part of the joint housing 1011 surrounds the inner meshing member 1012, the strength requirement of the joint housing 1011 can be met by a thinner wall of the barrel 104 or the inner meshing member 1012. That is, the barrel 104 or the inner meshing member 1012 made of plastic does not need to be too thick. Therefore, the difficulty of the injection molding process can be significantly reduced, and the manufacturing accuracy can be significantly improved.

[0060] The inner engagement member 1012 can be extruded in various ways. Figure 6 In some embodiments shown, the inner engagement member 1012 may include an outer tapered portion 1013 , and the barrel 1014 may include an inner tapered portion 1015 for surrounding the outer tapered portion 1013 .

[0061] As the inner engagement member 1012 is gradually inserted into the barrel 1014, the inner engagement member 1012 can be squeezed via the outer tapered portion 1013. In this way, the inner diameter of the inner engagement member 1012 can be adjusted by adjusting the depth of the inner engagement member 1012 entering the barrel 1014. In addition, as described above, the adjustment mechanism having the above-mentioned tapered structure can also make the inner engagement member 1012 self-aligned in the barrel 1014, thereby facilitating the assembly of the inner engagement member 1012.

[0062] In some embodiments, a stop structure is formed on the engagement member 1012 and the barrel 1014 to prevent relative rotation between the engagement member 1012 and the barrel 1014. For example, the engagement member 1012 may include a protrusion or a key formed on the outer circumference of the engagement member 1012, and the barrel 1014 may include a recess at a position corresponding to the protrusion on the inner circumference to receive the protrusion. In this way, relative rotation between the engagement member 1012 and the barrel 1014 can be prevented.

[0063] In some embodiments, the inner meshing member 1012 and the barrel 1014 can be made of different materials. For example, the inner meshing member 1012 can be made of a material with good self-lubricating and flexible properties, such as polyoxymethylene (POM). In this way, the inner meshing member 1012 made of such a material can be more easily extruded. In addition, the barrel 1014 can be made of a more rigid material, such as glass fiber reinforced plastic or metal.

[0064] In some embodiments, Figure 7As shown, the joint housing 1011 can be formed separately by casting, injection molding, etc. The joint housing 1011 can then be formed integrally in the first arm link body 1016 by injection molding, for example, by placing the joint housing 1011 at an appropriate position in the mold when injection molding the first arm link body 1016. This arrangement makes the manufacture of the first arm link easier, while improving the connection performance between the joint housing and the first arm link body. In some alternative embodiments, the first arm link body 1016 and the joint housing 1011 can be formed separately, for example, by injection molding. This can further reduce the manufacturing difficulty and cost of the first arm link body 1016 and the joint housing 1011.

[0065] The first arm link body 1016 and the joint housing 1011 can be connected in any suitable manner after being formed by injection molding. For example, they can be connected by gluing, mechanical snap-fit ​​or interference fit. Figure 6 In the illustrated embodiment, an adjustment mechanism or a self-alignment mechanism or a stop structure may be provided on the first arm link body 1016 and the joint housing 1011 .

[0066] It can be seen from the above embodiments of the present disclosure that by integrating relatively stationary parts of the gearbox (such as the joint housing 1011 and the output flange 1021) into the robot arm link, a high connection strength connection between the robot arm links can be achieved in a more cost-effective and space-saving manner. Since the main parts of the gearbox housing have become parts of the arm link, and the moving parts are pre-assembled as separate units, the assembly and maintenance difficulty and cost of the robot can be significantly reduced.

[0067] The embodiment of the present disclosure also provides an assembly method of the robot 100 as described above. Fig. 9 A flowchart 900 of an assembly method of a robot is shown. As shown, at block 910, a first arm link 101 is provided. The first arm link 101 includes a joint housing 1011 and an inner engagement member 1012 disposed on an inner surface of the joint housing.

[0068] In box 920, a second arm link 102 including an output flange 1021 is provided. Thereafter, in box 930, a moving assembly 104 is at least partially arranged in the joint housing 1011. The moving assembly 104 includes an input shaft 1041 and at least one intermediate member 1042. The input shaft 1041 can rotate around its axis X. At least one intermediate member 1042 is coupled to the output flange 1021 and is driven by the input shaft 1041 to rotate while engaging with the inner engagement member 1012. In this way, the relative movement between the first arm link and the second arm link can be actuated. Therefore, the assembly and maintenance difficulty and cost of the robot can be significantly reduced.

[0069] It should be understood that the above detailed embodiments of the present disclosure are only used to illustrate or explain the principles of the present disclosure and are not intended to limit the present disclosure. Therefore, without departing from the spirit and scope of the present disclosure, any modification, equivalent replacement and improvement, etc. should be included in the protection scope of the present disclosure. At the same time, the claims attached to the present disclosure are intended to cover all variations and modifications that fall within the scope and boundaries of the claims or the equivalent forms of the scope and boundaries.

Claims

1. A robot (100), comprising: A first arm connecting rod (101); A second arm link (102); A joint, the joint being arranged to connect the first arm link (101) and the second arm link (102), the joint comprising a joint housing (1011), an output flange (1021) and a moving assembly (104); wherein the joint housing (1011) and the inner engagement member (1012) arranged on the inner surface of the joint housing (1011) are formed in the first arm link (101), and the output flange (1021) is formed in the second arm link (102); and Wherein, the moving assembly (104) is at least partially arranged in the joint housing (1011) and comprises: an input shaft (1041) adapted to rotate about an axis (X) of the input shaft (1041); and At least one intermediate member (1042) is coupled to the output flange (1021) and is suitable for being driven by the input shaft (1041) to rotate while engaging with the internal engagement member (1012) to cause relative movement between the first arm link (101) and the second arm link (102), and the output flange (1021) is suitable for being actuated to rotate around the axis (X) by the rotation of the intermediate member (1042) around the second axis (X2).

2. The robot (100) according to claim 1, further comprising: At least one bearing (105) is arranged in the joint housing (1011) and surrounds the input shaft (1041).

3. The robot (100) according to claim 1, wherein: The first arm link (101) further comprises a first arm link body (1016); and The second arm link (102) also includes a second arm link body (1022).

4. The robot (100) according to claim 3, wherein the joint housing (1011), the inner engaging member (1012) and the first arm link body (1016) are integrally formed.

5. The robot (100) according to claim 3, wherein the joint housing (1011) and the inner engaging member (1012) are formed separately, and The joint housing (1011) includes a cartridge (1014) having a container for arranging the inner engagement member (1012) therein.

6. The robot (100) according to claim 5 further includes an adjustment mechanism, which is arranged on the inner engaging member (1012) and the cylinder (1014), and the adjustment mechanism is operable to press the inner engaging member (1012) inward to reduce the inner diameter of the inner engaging member (1012).

7. The robot (100) according to claim 6, wherein the adjustment mechanism comprises: an outer tapered portion (1013) arranged axially on an outer surface of the inner engagement member (1012); as well as An inner conical portion (1015) is arranged in the cylinder (1014) and surrounds the outer conical portion (1013).

8. The robot (100) according to claim 3, wherein the first arm link body (1016) and the joint housing (1011) are formed separately and connected by gluing, mechanical snap-fit ​​or interference fit.

9. The robot (100) according to claim 3, wherein the joint housing (1011) is formed separately and then is integrally formed in the first arm link body (1016) by injection molding.

10. The robot (100) according to claim 1, wherein the inner engagement member (1012) comprises a plurality of cylindrical pins, and the plurality of cylindrical pins are evenly arranged in the inner surface of the joint housing (1011).

11. The robot (100) of claim 1, wherein the inner engagement member (1012) comprises a plurality of gear teeth.

12. The robot (100) of claim 1, wherein the inner engagement member (1012) comprises a friction surface.

13. A method for assembling a robot, comprising: Providing a first arm link (101), the first arm link (101) comprising a joint housing (1011) and an inner engagement member (1012) arranged on an inner surface of the joint housing (1011); providing a second arm link (102) including an output flange (1021); and A moving assembly (104) is at least partially arranged in the joint housing (1011), the moving assembly (104) comprising: An input shaft (1041) adapted to rotate about an axis (X) of the input shaft (1041); as well as At least one intermediate member (1042) is coupled to the output flange (1021) and is suitable for being driven by the input shaft (1041) to rotate while engaging with the internal engagement member (1012) to cause relative movement between the first arm link (101) and the second arm link (102), and the output flange (1021) is suitable for being actuated to rotate around the axis (X) by the rotation of the intermediate member (1042) around the second axis (X2).

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