Joint assembly and robot

Abstract

The invention provides a joint assembly and a robot. The joint assembly comprises a first connecting rod, a second connecting rod, a first driving assembly, a cable and a reset assembly. The first end of the second connecting rod is rotationally connected to the first connecting rod through a first joint. The first driving assembly is installed in the first joint. The reset assembly comprises a clamping seat and a first elastic piece, the clamping seat is installed in the second connecting rod, and the cable penetrates through the clamping seat and is fixed to the clamping seat, so that the cable is divided into a first cable and a second cable. The first elastic piece extends along the outside of the first cable and is connected to the first cable, the first elastic piece is bent in the second connecting rod along with the first cable, and a first reset section extending towards or away from the first joint from the clamping base and a second reset section extending in the direction opposite to the extending direction of the first reset section after the first reset section is bent are formed. The cable can restore to the original position after the robot joint moves, and the situation that the cable is abraded or broken due to long-term abnormal stress is avoided.

Description

Technical Field

[0001] This application relates to the technical field of robot cable management, and more particularly to a joint assembly and a robot. Background Technology

[0002] With the rapid development of robotics technology, multi-joint robots have been widely used in various fields such as industry and service. In their joint design, the installation of motors and the rational arrangement of internal cables have become crucial aspects. Typically, robot joints are composed of adjacent links, and the motor cables need to be integrated into a busbar to meet electromagnetic shielding requirements and adapt to the wiring space inside the joint.

[0003] In existing multi-joint robots, adjacent links are connected by joints to achieve relative rotation. Drive motors are usually installed at the joints to drive the movement of the links. When the joints rotate, the cables will undergo deformations such as stretching and bending with the movement of the links, and there is a lack of an effective reset mechanism.

[0004] Under such stress for a long time, cables are prone to wiring disorder, wear and even breakage, which in turn affects the stability of motor power supply and signal transmission quality, ultimately causing joint failure and reducing the reliability and service life of the robot. Summary of the Invention

[0005] In view of the above problems, this application provides a joint assembly and a robot that enable cables to return to their original position after joint and link movements.

[0006] According to one aspect of this application, a joint assembly is provided, including a first link, a second link, a first drive assembly, a cable, and a reset assembly. A first end of the second link is rotatably connected to the first link via a first joint. The first drive assembly is mounted within the first joint and is adapted to drive the first joint to rotate. The reset assembly includes a retainer and a first elastic member. The retainer is mounted within the second link, and the cable passes through and is fixed to the retainer, such that the cable splits into a first cable extending from the retainer to the first joint and a second cable extending from a second end of the second link. The first elastic member extends along the outside of the first cable and is connected to the first cable. The first elastic member bends within the second link following the first cable, forming a first reset segment extending from the retainer toward or away from the first joint, and a second reset segment extending in the opposite direction to the first reset segment after bending.

[0007] In this embodiment, a third link and a second drive assembly are also included. The third link is rotatably connected to the second end of the second link via a second joint; the second drive assembly is installed within the second joint and is adapted to drive the second joint to rotate; the cable also passes through the second joint.

[0008] In this embodiment, the card holder has a first through hole and a second through hole; the cable passes through the first through hole and the second through hole in opposite directions and is connected to the card holder to form a first cable and a second cable, and a U-shaped joint is formed between the first cable and the second cable; a first elastic member is connected to the portion of the first cable that passes through the first through hole.

[0009] In this embodiment, the reset component further includes a second elastic member that extends along the outside of the second cable and is connected to the portion of the second cable that passes through the second through hole, and is adapted to reset the second cable by elastic force after the joint component moves.

[0010] In this embodiment of the application, the spacing between the first through hole and the second through hole is configured such that the bending radius of the cable after passing through the first through hole and the second through hole is the minimum allowable bending radius of the cable.

[0011] In this embodiment, a first connector and a second connector are also included. The first connector connects the end of the second reset segment away from the first reset segment to the first cable; the second connector connects the end of the second elastic member away from the second through hole to the second cable.

[0012] In this embodiment, on the side of the card holder facing the insertion direction of the first through hole, a first countersunk hole is formed at the periphery of both the first and second through holes; the first countersunk hole is suitable for accommodating and fixing the end of the first elastic member or the end of the second elastic member; on the side of the card holder away from the insertion direction of the first through hole, a second countersunk hole is formed at the periphery of both the first and second through holes; a fastener is provided in each of the second countersunk holes; each of the fasteners is sleeved on the outside of the cable and is suitable for fixing the joint of the first cable and the second cable.

[0013] In the embodiments of this application, the axes of the first joint and the second joint are parallel to each other and perpendicular to the axes of the first link, the second link and the third link. Both the first joint and the second joint include a fixed part and a rotating part that rotates relative to the fixed part.

[0014] In this embodiment, the two ends of the second link are respectively connected to the rotating part of the first joint and the fixing part of the second joint. The fixing part of the first joint is connected to the first link, and the rotating part of the second joint is connected to the third link. The first drive assembly and the second drive assembly are respectively installed in the fixing parts of the first joint and the second joint, such that the first drive assembly drives the rotating part of the first joint to rotate, thereby causing the second link to rotate relative to the first link. The second drive assembly drives the rotating part of the second joint to rotate, thereby causing the third link to rotate relative to the second link. The first cable is electrically connected to the first drive assembly, and the second cable is electrically connected to the second drive assembly.

[0015] According to another aspect of this application, based on the above concept, this application also provides a robot including the aforementioned joint components.

[0016] According to the joint assembly of the above embodiments of this application, the elastic force of the first reset segment and the second reset segment realizes the automatic reset of the cable after the robot joint moves, which solves the problems of cable stretching, bending and wiring disorder caused by robot joint movement, avoids cable wear and breakage due to long-term abnormal force, and ensures stable power supply to the motor and encoder signal transmission. Attached Figure Description

[0017] Figure 1 This is a cross-sectional view of the joint assembly in its original position according to an embodiment of this application;

[0018] Figure 2 This is a front view of the reset component according to an embodiment of this application;

[0019] Figure 3 This is an isometric view of the card holder according to an embodiment of this application;

[0020] Figure 4 This is a side view of the cable installed in the card slot according to an embodiment of this application;

[0021] Figure 5 This is another side view of the cable installed in the card slot according to an embodiment of this application;

[0022] Figure 6 This is a side view of the second connector installed on the second cable according to an embodiment of this application;

[0023] Figure 7 yes Figure 1 A cross-sectional view of the joint assembly when the cable deviates from its original position;

[0024] Figure 8 This is another cross-sectional view of the joint assembly in its original position according to an embodiment of this application;

[0025] Figure 9 yes Figure 8 A cross-sectional view of the joint assembly when the cable deviates from its original position. Attached Figure Description

[0026] 1. Booth seating;

[0027] 11. First through hole;

[0028] 12. Second through hole;

[0029] 13. First countersunk hole;

[0030] 14. Second countersunk hole;

[0031] 15. Connecting parts;

[0032] 16. Snap-fit ​​part;

[0033] 2. First connector;

[0034] 3. First elastic element;

[0035] 31. First reset segment;

[0036] 32. Second reset segment;

[0037] 4. Second connector;

[0038] 5. Second elastic element;

[0039] 6. First link;

[0040] 61. First joint;

[0041] 62. First motor;

[0042] 7. Second link;

[0043] 71. Second joint;

[0044] 72. Second motor;

[0045] 8. Third link;

[0046] 9. First cable;

[0047] 91. Joint;

[0048] 10. Second cable. Detailed Implementation

[0049] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. It should also be understood that the terminology used in the embodiments of this application is for describing specific implementation schemes and not for limiting the scope of protection of this application. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0050] It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of this application and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this application, should still fall within the scope of the technical content disclosed in this application. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of this application. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this application's implementation.

[0051] Please refer to Figures 1-9 This application discloses a joint assembly including a first link 6, a second link 7, a first drive assembly, a cable, and a reset assembly. The first end of the second link 7 is rotatably connected to the first link 6 via a first joint 61. The first drive assembly is installed within the first joint 61 and is adapted to drive the first joint 61 to rotate. The reset assembly includes a retainer 1 and a first elastic member 3. The retainer 1 is installed within the second link 7, and the cable passes through and is fixed to the retainer 1, such that the cable is divided into a first cable 9 extending from the retainer 1 to the first joint 61 and a second cable 10 extending from the second end of the second link 7. The first elastic member 3 extends outside the first cable 9 and is connected to the first cable 9. The first elastic member 3 bends within the second link 7 following the first cable 9, forming a first reset segment 31 extending from the retainer 1 toward or away from the first joint 61, and a second reset segment 32 extending in the opposite direction to the first reset segment 31 after bending.

[0052] First, it should be noted that the function of the cable is to transmit the signal and / or power input from the first link 6 side to the second link 7 side, or to continue transmitting it backward after passing through the second link 7. During the rotation of the first joint 61, with the relative movement of the first link 6 and the second link 7, the cable undergoes displacement and / or bending deformation within the second link 7, thereby deviating from its original position.

[0053] In some embodiments, please refer to Figure 1 The joint assembly of this application also includes a second drive assembly. The third link 8 is rotatably connected to the second end of the second link 7 via a second joint 71. The second drive assembly is installed within the second joint 71 and is adapted to drive the second joint 71 to rotate. A cable passes from the side of the first link 6 to the side of the second link 7, and passes through the second joint 71 and the third link 8. In other embodiments, the cable continues rearward through the third link 8.

[0054] Please refer to Figure 2 , Figure 3 In some embodiments, the card holder 1 has a first through hole 11 and a second through hole 12. Cables pass through the first through hole 11 and the second through hole 12 in opposite directions and are connected to the card holder 1 to form a first cable 9 and a second cable 10. A first elastic member 3 is connected to the portion of the first cable 9 that passes through the first through hole 11.

[0055] For details, please refer to Figures 3-5 The card holder 1 includes a connecting portion 15 and a latching portion 16. The connecting portion 15 is rectangular in shape, with one side in the thickness direction connected to the inner wall of the second connecting rod 7. The latching portion 16 is rectangular in shape, with one side in the length direction fixedly connected to the other side in the thickness direction of the connecting portion 15. A first through hole 11 and a second through hole 12 are spaced apart on the latching portion 16, and their axes are both parallel to the thickness direction of the latching portion 16. It is easy to understand that when the cable first passes through the first through hole 11 in a first direction and then passes through the second through hole 12 in a second direction, the portion of the cable that passes through the first through hole 11 but does not pass through the second through hole 12 forms a U-shaped joint 91, which limits the cable to the card holder 1.

[0056] For more details, please refer to Figure 4 , Figure 5 In some embodiments, the spacing between the first through-hole 11 and the second through-hole 12 is configured such that the bending radius of the cable after passing through the first through-hole 11 and the second through-hole 12 is the minimum permissible bending radius of the cable. The minimum permissible bending radius refers to the lower limit of the minimum arc radius formed by the inner bending surface of the cable when it is bent. If the actual bending radius is less than this value, problems such as internal core breakage, insulation layer rupture, shielding layer failure, and signal attenuation or interruption may occur inside the cable.

[0057] By configuring the spacing between the first through hole 11 and the second through hole 12 to match the minimum allowable bending radius of the cable, the bending arc formed by the cable after passing through the two holes is exactly within its safe bending range. This avoids the cable from breaking the internal core wire, damaging the insulation layer, or causing abnormal signal transmission due to the bending radius being too small, ensuring the bending reliability and service life of the cable during joint movement, while reducing the length of the cable consumed due to connection with the card holder 1.

[0058] To further enhance the secure positioning of the cable and the retainer 1, in some embodiments, on the side of the retainer 1 facing the insertion direction of the first through hole 11, a first countersunk hole 13 is formed at the periphery of both the first through hole 11 and the second through hole 12. The first countersunk hole 13 is suitable for accommodating and fixing the end of the first elastic member 3 or the end of the second elastic member 5. On the side of the retainer 1 away from the insertion direction of the first through hole 11, a second countersunk hole 14 is formed at the periphery of both the first through hole 11 and the second through hole 12, and a fastener is provided in each second countersunk hole 14. Each fastener is sleeved on the outside of the cable and is suitable for fixing the joint 91 of the first cable 9 and the second cable 10.

[0059] In some embodiments, the fastener includes a rubber ring that is fitted over the cable and embedded in the second countersunk hole 14. The elasticity of the rubber ring increases the frictional force on the cable within the retainer 1, thereby securing the cable more firmly. In other embodiments, a fastener is also embedded in the first countersunk hole 13, further securing the cable at both openings of the first and second countersunk holes 13 and 14.

[0060] Please refer to Figure 1 , Figure 2 In some embodiments, the first cable 9 extends towards the second joint 71, then bends and extends towards the first joint 61. The first elastic element 3 includes a spring, which is sleeved on the first cable 9 and fixed at both ends to the first cable 9. When the first joint 61 rotates, the first cable 9 is pulled towards the first joint 61, causing the first reset segment 31 and the second reset segment 32 of the spring to be in an extended state, generating a restoring force to drive the first cable 9 back to its original position. Thus, after the first joint 61 returns to its original position, the first cable 9 also returns to its original position.

[0061] In some embodiments, the joint assembly of this application further includes a second elastic member 5. The second elastic member 5 extends along the outside of the cable and is connected to the second cable 10, and is adapted to return the second cable 10 to its original position by elastic force after the joint assembly moves.

[0062] Specifically, the second elastic element 5 includes a spring, which is sleeved on the second cable 10 and fixed at both ends to the second cable 10. When the second joint 71 rotates, the part of the second cable 10 that passes through the second through hole 12 is pulled toward the second joint 71, so that the second elastic element 5 is in an extended state, generating a restoring force to drive the second cable 10 back to its original position. Then, after the second joint 71 returns to its original position, the second cable 10 returns to its original position accordingly.

[0063] In some embodiments, to facilitate the connection of the first elastic member 3 and the second elastic member 5 to the first cable 9 and the second cable 10, the joint assembly of this application further includes a first connector 2 and a second connector 4. The first connector 2 is connected to the first cable 9 and to the end of the second reset segment 32 away from the first reset segment 31. The second connector 4 is connected to the second cable 10 and to the end of the second elastic member 5 away from the retainer 1.

[0064] In some embodiments, please refer to Figure 6 Both the first connector 2 and the second connector 4 are annular and have screw holes. The first connector 2 is sleeved on the second reset section 32 and fixedly connected to the cable by bolts. Similarly, the second connector 4 is sleeved on the second cable 10 and connected to the second cable 10 by bolts.

[0065] Please refer to Figure 1 , Figures 7-9 In some embodiments, the axes of the first joint 61 and the second joint 71 are parallel to each other and perpendicular to the axes of the first link 6, the second link 7 and the third link 8. Both the first joint 61 and the second joint 71 include a fixed part and a rotating part that rotates relative to the fixed part.

[0066] The two ends of the second link 7 are respectively connected to the rotating part of the first joint 61 and the fixed part of the second joint 71. The fixed part of the first joint 61 is connected to the first link 6, and the rotating part of the second joint 71 is connected to the third link 8. The first drive assembly and the second drive assembly are respectively installed in the fixed parts of the first joint 61 and the second joint 71, so that the first drive assembly drives the rotating part of the first joint 61 to rotate, thereby causing the second link 7 to rotate relative to the first link 6, and the second drive assembly drives the rotating part of the second joint 71 to rotate, thereby causing the third link 8 to rotate relative to the second link 7. The first cable 9 is electrically connected to the first drive assembly, and the second cable 10 is electrically connected to the second drive assembly.

[0067] In some embodiments, the first drive component includes a first motor 62, and the second drive component includes a second motor 72.

[0068] In the joint assembly of this application, the first link 6 and the third link 8 are structurally symmetrically arranged and their functions are equivalent: the first link 6 is rotatably connected to the second link 7 through the fixed part of the first joint 61, and the third link 8 is rotatably connected to the second link 7 through the rotating part of the second joint 71. Both can serve as the driving end or the driven end. Therefore, without changing the overall structure and working principle of the joint assembly, the positions of the first link 6 and the third link 8 can be interchanged.

[0069] Furthermore, when the positions of the first link 6 and the third link 8 are relatively fixed, for example, when the first link 6 is connected to the robot's body and the third link 8 is connected to the robot's hand, the rotating part of the first joint 61 can be the end of the first link 6 or the end of the second link 7, and the rotating part of the second joint 71 can be the end of the third link 8 or the end of the second link 7. These will be explained in detail below:

[0070] Please refer to Figure 1 , Figure 7 In some embodiments, the housing of the first motor 62 is disposed within the first link 6, and its output shaft is connected to the second link 7. The end of the first link 6 constitutes the fixing part of the first joint 61, and the end of the second link 7 connected to the first link 6 constitutes the rotating part of the first joint 61. The housing of the second motor 72 is disposed within the second link 7, and its output shaft is connected to the third link 8. The end of the second link 7 connected to the third link 8 constitutes the fixing part of the second joint 71, and the end of the third link 8 constitutes the rotating part of the second joint 71.

[0071] At this time, when the second motor 72 is working, it may cause a large change in the position of the cables in the second link 7 and the first link 6, while the deformation and position change of the cables in the third link 8 are smaller. Therefore, the first cable 9 extends towards the first motor 62, and the second cable 10 extends towards the second motor 72.

[0072] Please refer to Figure 8 , Figure 9 In other embodiments, the housing of the first motor 62 is disposed within the second link 7, and its output shaft is connected to the first link 6. The end of the first link 6 constitutes the rotating part of the first joint 61, and the end of the second link 7 connected to the first link 6 constitutes the fixing part of the first joint 61. The housing of the second motor 72 is disposed within the third link 8, and its output shaft is connected to the second link 7. The end of the second link 7 connected to the third link 8 constitutes the rotating part of the second joint 71, and the end of the third link 8 constitutes the fixing part of the second joint 71.

[0073] At this time, when the first motor 62 is working, it may cause a significant change in the position of the cables in the second link 7 and the third link 8, while the deformation and positional change of the cables in the first link 6 are relatively small. Therefore, the first cable 9 extends towards the second motor 72, and the second cable 10 extends towards the first motor 62.

[0074] In other words, when the positions of the first component and the second component are fixed, the reset component can change the orientation of the card holder 1 according to the different magnitudes of deformation and positional change of the cable on the first link 6 side and the third link 8 side, so that the first cable 9 is connected to the side of the first link 6 side and the third link 8 side where the cable deformation and positional change are greater.

[0075] According to another embodiment of this application, a robot is provided, including the joint components described above.

[0076] According to the joint assembly of this application, the elastic force of the first reset segment 31 and the second reset segment 32 realizes the automatic reset of the cable after the robot joint moves, which solves the problems of cable stretching, bending and wiring disorder caused by robot joint movement, avoids cable wear and breakage due to long-term abnormal force, and ensures stable power supply to the motor and encoder signal transmission.

[0077] Based on this, by selectively configuring the orientation of the card holder 1 according to the difference in deformation and displacement amplitude of the cable on the first link 6 side and the third link 8 side, the first cable 9 is connected to the side with larger deformation amplitude, thereby concentrating the elastic restoring force of the reset component on the section where the cable movement is most intense, ensuring that the cable can accurately return to its original position after the joint movement.

[0078] On the other hand, the flexible arrangement of the reset component can adapt to different installation scenarios. That is, regardless of whether the housing of the first motor 62 is installed in the first link 6 or the second link 7, or the housing of the second motor 72 is installed in the second link 7 or the third link 8, the first elastic element 3 can always act on the side with a larger cable deformation by adjusting the orientation of the card holder 1. Thus, bidirectional adaptation can be achieved without adding extra components, improving the versatility and compactness of the reset component.

[0079] The robot according to this application, by adopting the aforementioned joint components, also achieves automatic cable reset after joint movement, effectively avoiding wear and breakage problems caused by cable stretching and bending, and ensuring the stability and reliability of motor power supply and signal transmission.

[0080] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above descriptions are merely specific embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A joint assembly, characterized in that, include: First link (6); The first end of the second link (7) is rotatably connected to the first link (6) via the first joint (61); A first drive assembly is installed inside the first joint (61) and is adapted to drive the first joint (61) to rotate; Cables; as well as Reset component, including: A retainer (1) is installed inside the second link (7), the cable passes through the retainer (1) and is fixed to the retainer (1), such that the cable splits into a first cable (9) extending from the retainer (1) to the first joint (61) and a second cable (10) extending from the second end of the second link (7); and The first elastic element (3) extends along the outside of the first cable (9) and is connected to the first cable (9). The first elastic element (3) bends within the second link (7) following the first cable (9) and forms a first reset segment (31) extending from the card holder (1) toward or away from the first joint (61) and a second reset segment (32) extending in the opposite direction to the first reset segment (31) after bending.

2. The joint assembly according to claim 1, characterized in that, Also includes: The third link (8) is rotatably connected to the second end of the second link (7) via the second joint (71); The second drive assembly is installed inside the second joint (71) and is adapted to drive the second joint (71) to rotate; The second cable (10) extends from the card holder (1) to the second joint (71).

3. The joint assembly according to claim 2, characterized in that: The card holder (1) has a first through hole (11) and a second through hole (12); The cable passes through the first through hole (11) and the second through hole (12) in opposite directions and is connected to the card holder (1) to form the first cable (9) and the second cable (10), and a U-shaped joint (91) is formed between the first cable (9) and the second cable (10). The first elastic element (3) is connected to the portion of the first cable (9) that passes through the first through hole (11).

4. The joint assembly according to claim 3, characterized in that, The reset component further includes: The second elastic element (5) extends along the outside of the second cable (10) and is connected to the portion of the second cable (10) that passes through the second through hole (12), and is adapted to reset the second cable (10) by elastic force after the joint assembly moves.

5. The joint assembly according to claim 3, characterized in that: The spacing between the first through hole (11) and the second through hole (12) is configured such that the bending radius of the cable after passing through the first through hole (11) and the second through hole (12) is the minimum allowable bending radius of the cable.

6. The joint assembly according to claim 4, characterized in that, Also includes: The first connector (2) connects the end of the second reset segment (32) away from the first reset segment (31) to the first cable (9); The second connector (4) connects the end of the second elastic member (5) away from the second through hole (12) to the second cable (10).

7. The joint assembly according to claim 4, characterized in that: The card holder (1) has a first countersunk hole (13) recessed at the periphery of both the first through hole (11) and the second through hole (12) on the side facing the insertion direction of the first through hole (11). The first countersunk hole (13) is suitable for receiving and fixing the end of the first elastic member (3) or the end of the second elastic member (5); The card holder (1) is located away from the insertion direction of the first through hole (11), and a second countersunk hole (14) is formed in the periphery of the first through hole (11) and the second through hole (12); a fastener is provided in each of the second countersunk holes (14); Each of the fasteners is fitted onto the outside of the cable and is used to secure the joint (91) of the first cable (9) and the second cable (10).

8. The joint assembly according to claim 2, characterized in that: The axes of the first joint (61) and the second joint (71) are parallel to each other and perpendicular to the axes of the first link (6), the second link (7), and the third link (8). Both the first joint (61) and the second joint (71) include a fixed part and a rotating part that rotates relative to the fixed part.

9. The joint assembly according to claim 8, characterized in that: The two ends of the second link (7) are respectively connected to the rotating part of the first joint (61) and the fixing part of the second joint (71). The fixing part of the first joint (61) is connected to the first link (6), and the rotating part of the second joint (71) is connected to the third link (8). The first drive assembly and the second drive assembly are respectively installed in the fixing part of the first joint (61) and the second joint (71), so that the first drive assembly drives the second link (7) to rotate relative to the first link (6) by driving the rotating part of the first joint (61) to rotate, and the second drive assembly drives the third link (8) to rotate relative to the second link (7) by driving the rotating part of the second joint (71) to rotate. The first cable (9) is electrically connected to the first drive component, and the second cable (10) is electrically connected to the second drive component.

10. A robot, characterized in that, Includes the joint assembly as described in any one of claims 1-9.

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