Joint assembly and robot

Abstract

The application provides a joint assembly and a robot, the joint assembly comprising: a driving assembly arranged on a first body; a speed reducer, an output end of the speed reducer being connected with a second body; a transmission assembly, the transmission assembly comprising: a support shaft arranged on the driving assembly; a bearing assembly, the bearing assembly comprising at least two bearings, the bearings being sleeved on the support shaft; an idler wheel sleeved on the bearings, the idler wheel being connected with an output end of the driving assembly and an input end of the speed reducer, and used for transmitting driving force of the output end of the driving assembly to the input end of the speed reducer, so as to drive the second body to swing relative to the first body; and a limiting assembly connected with the bearings, and used for limiting the bearings from moving during rotation of the idler wheel. The joint assembly can improve the support stability of the idler wheel, improve the bearing play, and reduce the cost of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a joint assembly and a robot. Background Technology

[0002] Robots are an important part of the industrial field. The wrist joint of a robot, as a structure that directly contacts the production process, has a significant impact on the use of the robot due to its structural design and precision.

[0003] In the fifth axis joint of a robot wrist, due to the large distance between the axes of the motor and the reducer, an idler wheel is typically added as an intermediate transmission component to connect the input and output gears in the gear set. The idler wheel requires support and installation from components such as bearings. In related technologies, the idler wheel structure of the fifth axis joint of a robot wrist usually uses a single deep groove ball bearing to support the idler wheel. However, with only one bearing supporting the idler wheel, and during gear meshing and operation, the idler wheel's support shaft may be subjected to overturning bending moments and axial forces. The support provided by a single deep groove ball bearing is insufficient, and the stability of a single-support structure is lower, leading to instability in the idler wheel's operation.

[0004] In addition, bearings typically have clearance, meaning they wobble during rotation, which reduces transmission accuracy and causes gear wear. Related technologies often use angular contact ball bearings as support bearings to improve the clearance problem; however, angular contact ball bearings are larger and more expensive. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] Therefore, a first aspect of the present invention provides a joint assembly.

[0007] A second aspect of the present invention provides a robot.

[0008] A first aspect of the present invention provides a joint assembly for a robot, the robot including a first body and a second body; the joint assembly includes: a drive assembly disposed on the first body; a reducer, the output end of the reducer being connected to the second body; a transmission assembly including: a support shaft disposed on the drive assembly; a bearing assembly including at least two bearings sleeved on the support shaft; an idler wheel sleeved on the bearings, the idler wheel being connected to the output end of the drive assembly and the input end of the reducer, for transmitting the driving force from the output end of the drive assembly to the input end of the reducer to drive the second body to swing relative to the first body; and a limiting assembly connected to the bearings for limiting the movement of the bearings during the rotation of the idler wheel.

[0009] The joint assembly provided by this invention can be used in a robot. The robot may include a first body and a second body, which are the robot's two arms. The joint assembly can drive the first and second bodies to swing relative to each other, thereby realizing the robot's arm operation. Specifically, the joint assembly may include a drive assembly and a reducer. The drive assembly is disposed on the first body, and the input end of the reducer is connected to the second body. Thus, the drive assembly transmits driving force to the reducer, which in turn drives the second body to move, thereby realizing the swinging of the second body relative to the first body.

[0010] Furthermore, the joint assembly also includes a transmission assembly, which may include a support shaft, a bearing assembly, and an idler wheel. The support shaft is mounted on the drive assembly, and the idler wheel is connected to the support shaft via the bearing assembly. The idler wheel is connected to the output end of the drive assembly and the input end of the reducer. In this way, the driving force output by the output end of the drive assembly can be transmitted to the input end of the reducer through the idler wheel, thereby enabling the reducer to rotate under the drive of the drive assembly, which in turn causes the second body of the robot to swing relative to the first body.

[0011] Specifically, the bearing assembly may include at least two bearings, and the idler wheel is mounted on at least two bearings. That is, the idler wheel is supported by at least two bearings. Compared with the related technology that supports the idler wheel by one bearing, the support effect of the idler wheel can be effectively improved, ensuring the support force of the bearing assembly on the idler wheel, and thus ensuring the stability of the idler wheel during meshing operation.

[0012] Furthermore, the transmission assembly also includes a limiting component, which can connect to the bearing to limit its movement during the idler wheel's rotation. This prevents the bearing from wobbling during idler wheel rotation, avoiding reduced transmission accuracy and wear on the drive assembly and reducer gears. Additionally, by using the limiting component to limit the bearing and prevent wobbling, compared to robot joints in related technologies, it eliminates the need for angular contact ball bearings to address bearing clearance issues. Instead, ordinary deep groove ball bearings combined with the limiting component can effectively improve bearing clearance, thus reducing the cost of the joint assembly.

[0013] The joint assembly provided by this invention can transmit the driving force output by the drive assembly to the reducer through the idler wheel of the transmission assembly, thereby realizing the relative swinging between the first and second bodies of the robot. Simultaneously, the idler wheel can be supported by at least one bearing in the transmission assembly, ensuring the supporting force of the bearing assembly on the idler wheel and thus guaranteeing the stability of the idler wheel during meshing operation. Furthermore, the setting of the limiting component can limit the bearing during the rotation of the idler wheel, preventing bearing wobble, improving bearing clearance issues, eliminating the need for angular contact ball bearings, and effectively reducing the cost of the joint assembly.

[0014] In some technical solutions, the bearing may optionally include: an inner bearing ring fitted onto a support shaft; an outer bearing ring fitted onto the inner bearing ring, wherein an idler wheel is fitted onto the outer bearing ring; a plurality of balls disposed between the inner and outer bearing rings; and a limiting assembly connected to the inner and outer bearing rings to limit relative movement between the inner and outer bearing rings along the axial direction of the support shaft.

[0015] In this technical solution, the bearing may include an inner ring, an outer ring, and multiple balls disposed between the inner and outer rings. The inner ring is sleeved on the support shaft, and the idler wheel is sleeved on the outer ring, thereby ensuring that the idler wheel can rotate relative to the support shaft, so as to transmit the driving force output from the output end of the drive assembly to the input end of the reducer through the idler wheel.

[0016] Furthermore, the limiting component can be connected to the inner ring and outer ring of the bearing, thereby limiting the relative movement between the inner ring and outer ring of the bearing during the rotation of the idler wheel. Specifically, it can limit the axial movement of the inner ring and outer ring of the bearing along the support shaft.

[0017] In some technical solutions, optionally, the support shaft includes a protrusion disposed at the first end of the support shaft and protruding radially along the support shaft. The bearing includes a first bearing and a second bearing. The first bearing includes a first bearing inner ring and a first bearing outer ring. The second bearing includes a second bearing inner ring and a second bearing outer ring. Along the axial direction of the support shaft, the first bearing inner ring abuts against the protrusion. The limiting assembly includes: a support ring sleeved on the support shaft, with both sides of the support ring abutting against the first bearing inner ring and the second bearing inner ring respectively; an end cap disposed at the second end of the support shaft and abutting against the second bearing outer ring; and an elastic element disposed between the first bearing and the second bearing, the elastic element being used to apply an elastic force to the first bearing outer ring and the second bearing outer ring to limit the relative movement between the first bearing inner ring and the first bearing outer ring, and to limit the relative movement between the second bearing inner ring and the second bearing outer ring.

[0018] In this technical solution, the number of bearings can be two, namely, a first bearing and a second bearing. The first bearing includes a first bearing inner ring and a first bearing outer ring, and the second bearing includes a second bearing inner ring and a second bearing outer ring.

[0019] Furthermore, a protrusion can be provided on the support shaft. Specifically, the protrusion can be located at the first end of the support shaft, and the protrusion can protrude radially outward from the support shaft. The inner ring of the first bearing is sleeved on the support shaft, and the inner ring abuts against the protrusion on the support shaft. That is, the protrusion on the support shaft is located near the end of the first bearing and abuts against the inner ring of the first bearing. In this way, the protrusion on the support shaft can limit the movement of the inner ring of the first bearing, preventing it from moving towards the first end of the support shaft.

[0020] Furthermore, the limiting assembly may include a support ring and an end cap, wherein the end cap is disposed on the second end of the support shaft opposite to the first end, that is, the end closer to the second bearing. The end cap can abut against the inner ring of the second bearing. In this way, the protrusion on the support shaft can limit the movement of the inner ring of the second bearing towards the second end of the support shaft, preventing the inner ring of the second bearing from moving.

[0021] Simultaneously, a support ring can be sleeved on the support shaft and positioned between the first and second bearings. The two sides of the support ring abut against the inner rings of the first and second bearings, respectively. This further limits the movement of the inner rings, preventing them from shifting. Specifically, for the inner ring of the first bearing, the protrusion on the support shaft and the support ring limit its movement on both sides, preventing axial movement. Similarly, for the inner ring of the second bearing, the end cap and support ring limit its movement on both sides, preventing axial movement.

[0022] Furthermore, the limiting component may also include an elastic element, which may be disposed between the first bearing and the second bearing. By disposing of the elastic element, an elastic force can be applied to the outer ring of the first bearing and the outer ring of the second bearing, that is, the elastic element can restrict the outer ring of the first bearing and the inner ring of the first bearing to a fixed position, and restrict the outer ring of the second bearing and the inner ring of the second bearing to a fixed position.

[0023] It is understandable that there is usually a certain amount of play between the inner and outer rings of a bearing and the balls. Therefore, bearing clearance typically originates from the axial movement between the inner and outer rings. The relative movement between the inner and outer rings has a limiting relative position. By applying an elastic force to the outer ring using an elastic element, the relative position between the inner and outer rings can be restricted to this limiting position, preventing further relative movement and thus eliminating bearing clearance. This ensures that no relative movement occurs between the inner and outer rings during idler gear rotation, thereby improving bearing clearance and preventing reduced transmission accuracy and wear on drive components and reducer gears.

[0024] In some technical solutions, optionally, one end of the elastic element abuts against the outer ring of the first bearing, and the other end of the elastic element abuts against the outer ring of the second bearing, and the elastic element is in an elastic deformation state.

[0025] In this technical solution, the elastic element can directly abut against the outer ring of the first bearing and the outer ring of the second bearing, thereby directly applying elastic force to the outer ring of the first bearing and the outer ring of the second bearing.

[0026] Specifically, an elastic element is disposed between the first bearing and the second bearing. One end of the elastic element directly abuts against the outer ring of the first bearing, and the other end directly abuts against the outer ring of the second bearing. This confines the outer ring and inner ring of the first bearing to their extreme relative positions, preventing relative movement between them. Similarly, it confines the outer ring and inner ring of the second bearing to their extreme relative positions, preventing relative movement between them.

[0027] Furthermore, it is understandable that the inner rings of the first and second bearings are positioned relative to the support shaft via the protrusions on the support shaft, the end cap, and the support ring. This ensures a stable position for both inner and outer bearings. Similarly, the outer rings of the first and second bearings are positioned relative to each other via elastic elements, further guaranteeing the overall stability of the first bearing's position. This, in turn, ensures the positional stability of both the first and second bearings during the idler wheel's rotation.

[0028] In some technical solutions, optionally, the idler wheel is provided with a shoulder portion, which extends between the first bearing and the second bearing, and the shoulder portion abuts against one of the outer rings of the first bearing and the second bearing; wherein, one end of the elastic element abuts against the shoulder portion, the other end of the elastic element abuts against the other of the outer rings of the first bearing and the second bearing, and the elastic element is in an elastic deformation state.

[0029] In this technical solution, the idler wheel may also be provided with a shoulder, which can extend between the first bearing and the second bearing. The shoulder further restricts the relative position between the idler wheel and the support shaft, preventing the idler wheel from detaching from the support shaft. Specifically, the shoulder is located between the first and second bearings. When there is a tendency for relative movement between the idler wheel and the support shaft, the shoulder can abut against either the first or second bearing, thereby preventing further movement between the idler wheel and the support shaft.

[0030] Furthermore, one side of the shoulder portion can abut against one of the first bearing outer ring and the second bearing outer ring. At this time, one end of the elastic element abuts against the shoulder portion, and the other end of the elastic element abuts against the other of the first and second bearing outer rings. That is, one end of the elastic element directly applies an elastic force to one of the first and second bearing outer rings, while the other end applies an elastic force to the other of the first and second bearing outer rings through the shoulder portion. This restricts the first bearing outer ring and the first bearing inner ring to their extreme relative positions, preventing relative movement between them. Simultaneously, it restricts the second bearing outer ring and the second bearing inner ring to their extreme relative positions, preventing relative movement between them.

[0031] In some technical solutions, the end cover may optionally include a boss, which is disposed on the edge of the end cover and protrudes along the axial direction of the support shaft, and the boss abuts against the inner ring of the second bearing.

[0032] In this technical solution, a boss can be provided at the edge of the end cover, and the boss protrudes along the axial direction of the support shaft. In this way, when the end cover is connected to the second end of the support shaft, it can be ensured that the boss abuts against the inner ring of the second bearing, that is, the end cover can limit the inner ring of the second bearing.

[0033] In addition, when the axial length of the support shaft is short, that is, when the inner ring of the second bearing can protrude from the second end of the support shaft, the end cover does not need to be provided with a boss. This can still ensure that the end cover abuts against the inner ring of the second bearing and ensure the limiting effect on the inner ring of the second bearing.

[0034] In some technical solutions, the drive assembly optionally includes: a housing, a support shaft disposed in the housing; a motor disposed inside the housing; and a first gear sleeved on the output shaft of the motor, the first gear meshing with an idler gear.

[0035] In this technical solution, the drive assembly may include a housing and a motor disposed within the housing, wherein a transmission assembly may be disposed on the housing of the drive assembly. The motor enables the generation of driving force by the drive assembly. The housing protects the motor from damage caused by impacts from external objects. Furthermore, it is understood that the motor's output shaft may extend outside the housing to ensure that the driving force output by the motor's output shaft can be transmitted to the idler gear.

[0036] Furthermore, the drive assembly also includes a first gear, which is sleeved on the output shaft of the motor and meshes with the idler gear. During the operation of the motor, the output shaft rotates, causing the first gear to rotate. The first gear meshes with the idler gear, thereby causing the idler gear to rotate, so as to transmit the driving force of the motor to the idler gear.

[0037] In some technical solutions, the transmission assembly may optionally include: at least one connector, through which the support shaft is connected to the housing; wherein, when there are multiple connectors, the centers of the connectors are located on the same pitch circle of the idler wheel.

[0038] In this technical solution, the transmission component may also include at least one connector, through which the connection between the support shaft and the housing of the drive component can be realized.

[0039] Furthermore, when there are multiple connectors, the centers of the connectors can be located on the same pitch circle of the idler wheel. This ensures the uniformity of the fastening force applied by the multiple connectors to the support shaft and the housing, and guarantees the stability of the connection between the support shaft and the housing of the drive assembly.

[0040] Specifically, multiple connectors can be evenly distributed on one pitch circle of the idler wheel to further improve the uniformity of the fastening force applied by the connectors to the support shaft and the housing. Depending on the actual assembly of the joint assembly, the multiple connectors can also be unevenly distributed on one pitch circle of the idler wheel, or multiple connectors can be distributed on different pitch circles of the idler wheel, ensuring that the connectors fix the support shaft and the housing while avoiding interference between the connectors and other components of the joint assembly.

[0041] In some technical solutions, the reducer may optionally include: an input shaft; a second gear, sleeved on the output shaft, the second gear meshing with an idler gear.

[0042] In this technical solution, the reducer may include an input shaft and a second gear sleeved on the input shaft. The second gear can mesh with an idler gear. Thus, when the motor of the drive component is running, the output shaft of the motor rotates, the first gear drives the idler gear to rotate, and the idler gear can drive the second gear to rotate, thereby driving the input shaft of the reducer to rotate. The reducer transmits the driving force to the output shaft of the reducer through internal gear sets and other components, and then drives the second body of the robot to swing relative to the first body through the output shaft, thereby realizing the robot's arm function.

[0043] In some technical solutions, optionally, the first axis of the motor's output shaft, the second axis of the support shaft, and the third axis of the input shaft are parallel to each other; wherein, in a plane perpendicular to the first axis, the line connecting the first axis and the second axis is L1, the line connecting the first axis and the third axis is L2, the line connecting the second axis and the third axis is L3, the angle between L1 and L2 is greater than or equal to 0 degrees and less than or equal to a first angle, and the angle between L3 and L2 is greater than or equal to 0 degrees and less than or equal to a first angle.

[0044] In this technical solution, the first axis of the motor's output shaft, the second axis of the support shaft, and the third axis of the reducer's input shaft can be set to be parallel to each other. In this way, when the motor is running, it can be ensured that the first gear, the idler gear, and the second gear can rotate in the same plane, avoiding relative tilting of the rotation planes of the first gear, the idler gear, and the second gear, and ensuring the transmission ratio and transmission efficiency of the first gear, the idler gear, and the second gear.

[0045] Furthermore, in a plane perpendicular to the first axis, that is, relative to this plane, the first, second, and third axes are all perpendicular to this plane. On this plane, the line connecting the first and second axes is L1, the line connecting the first and third axes is L2, and the line connecting the second and third axes is L3. It can be understood that the first, second, and third axes each have one intersection point with this plane. Specifically, L1 is the line connecting the intersection point a of the first axis and the plane, and the intersection point b of the second axis and the plane; L2 is the line connecting the intersection point a of the first axis and the plane, and the intersection point c of the third axis and the plane; and L3 is the line connecting the intersection point b of the second axis and the plane, and the intersection point c of the third axis and the plane.

[0046] Furthermore, the angle between L1 and L2 is greater than or equal to 0 degrees and less than or equal to the first angle, and the angle between L3 and L2 is greater than or equal to 0 degrees and less than or equal to the first angle. Specifically, when the angle between L1 and L2, and the angle between L3 and L2 are both equal to 0, a, b, and c are on the same straight line in this plane, which facilitates the assembly of the first gear, the idler gear, and the second gear.

[0047] Furthermore, the first angle can be between ±10 degrees. When the angle between L1 and L2 is greater than 0 degrees and less than or equal to the first angle, and the angle between L3 and L2 is greater than 0 degrees and less than or equal to the first angle, then a, b, and c are not on the same straight line on the plane. However, since the first angle is between ±10 degrees, that is, the angles between L1 and L2 and between L3 and L2 will not be too large, which can meet the actual assembly requirements of the joint components and also ensure the ease of assembly of the first gear, idler gear, and second gear.

[0048] A second aspect of the present invention provides a robot comprising: a joint assembly as described in any of the above-described technical solutions.

[0049] The robot provided by the present invention includes joint components as described in any of the above technical solutions. Therefore, the robot possesses all the beneficial effects of the aforementioned joint components, which will not be elaborated further here.

[0050] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0051] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0052] Figure 1 One of the structural schematic diagrams of the robot provided in the embodiment of the present invention is shown;

[0053] Figure 2 It shows Figure 1 A magnified view of a section at point A in the middle;

[0054] Figure 3 It shows Figure 2 A magnified view of a section at point B in the middle;

[0055] Figure 4 It shows Figure 2 A magnified view of a section at point C;

[0056] Figure 5 The second schematic diagram of the robot provided in the embodiment of the present invention is shown.

[0057] in, Figures 1 to 5 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0058] 100 Joint assembly, 102 Drive assembly, 104 Reducer, 106 Transmission assembly, 108 Support shaft, 110 Bearing assembly, 112 Bearing, 114 Idler wheel, 116 Limiting assembly, 118 Inner bearing ring, 120 Outer bearing ring, 122 Ball bearing, 124 Protrusion, 126 First bearing, 128 Second bearing, 130 Inner ring of first bearing, 132 Outer ring of first bearing, 134 Inner ring of second bearing, 136 Outer ring of second bearing, 138 Support ring, 140 End cap, 142 Elastic element, 144 Shoulder of shaft, 146 Boss, 148 Housing, 150 Motor, 152 First gear, 154 Connector, 156 Input shaft, 158 Second gear, 160 First axis, 162 Second axis, 164 Third axis, 200 Robot, 202 First body, 204 Second body. Detailed Implementation

[0059] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0060] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0061] The following reference Figures 1 to 5 This describes joint components and robots provided according to some embodiments of the present invention.

[0062] This invention provides a joint assembly 100, such as Figure 1 , Figure 2 and Figure 3 As shown, the joint assembly 100 can be used in a robot 200, wherein the robot 200 includes a first body 202 and a second body 204; the joint assembly 100 includes: a drive assembly 102 disposed on the first body 202; a reducer 104, the output end of which is connected to the second body 204; a transmission assembly 106, the transmission assembly 106 including: a support shaft 108 disposed on the drive assembly 102; a bearing assembly 110, the bearing assembly 110 including at least two bearings 112, the bearings 112 being sleeved on the support shaft 108; an idler wheel 114, sleeved on the bearings 112, the idler wheel 114 being connected to the output end of the drive assembly 102 and the input end of the reducer 104, for transmitting the driving force from the output end of the drive assembly 102 to the input end of the reducer 104, thereby causing the second body 204 to swing relative to the first body 202; and a limiting assembly 116, connected to the bearings 112, for limiting the movement of the bearings 112 during the rotation of the idler wheel 114.

[0063] The joint assembly 100 provided by this invention can be used in a robot 200. The robot 200 may include a first body 202 and a second body 204, which are essentially two arms of the robot 200. The joint assembly 100 can be used to drive the first body 202 and the second body 204 to swing relative to each other, thereby realizing the operation of the robot 200's arms. Specifically, the joint assembly 100 may include a drive assembly 102 and a reducer 104. The drive assembly 102 is disposed on the first body 202, and the input end of the reducer 104 is connected to the second body 204. Thus, the drive assembly 102 transmits driving force to the reducer 104, thereby driving the second body 204 to move, and thus realizing the swinging of the second body 204 relative to the first body 202.

[0064] Furthermore, the joint assembly 100 also includes a transmission assembly 106, which may include a support shaft 108, a bearing assembly 110, and an idler wheel 114. The support shaft 108 is mounted on the drive assembly 102, and the idler wheel 114 is connected to the support shaft 108 via the bearing assembly 110. The idler wheel 114 is connected to the output end of the drive assembly 102 and the input end of the reducer 104. In this way, the driving force output by the output end of the drive assembly 102 can be transmitted to the input end of the reducer 104 via the idler wheel 114, thereby enabling the reducer 104 to rotate under the drive of the drive assembly 102, thereby causing the second body 204 of the robot 200 to swing relative to the first body 202.

[0065] Specifically, the bearing assembly 110 may include at least two bearings 112, and the idler wheel 114 is mounted on at least two bearings 112. That is, the idler wheel 114 is supported by at least two bearings 112. Compared with the related technology where the idler wheel 114 is supported by one bearing 112, the support effect of the idler wheel 114 can be effectively improved, ensuring the support force of the bearing assembly 110 on the idler wheel 114, and thus ensuring the stability of the idler wheel 114 during meshing operation.

[0066] Furthermore, the transmission assembly 106 also includes a limiting assembly 116, which can be connected to the bearing 112. This limiting assembly 116 restricts the bearing 112 during the rotation of the idler wheel 114, thus preventing movement of the bearing 112 and ensuring that the bearing 112 does not wobble during the rotation of the idler wheel 114. This avoids reduced transmission accuracy and wear on the gears of the drive assembly 102 and the reducer 104. Additionally, it is understood that by using the limiting assembly 116 to limit the bearing 112 and prevent wobble, compared to the robot 200 joint in related technologies, it is unnecessary to use angular contact ball bearings to improve bearing clearance. Instead, ordinary deep groove ball bearings combined with the limiting assembly 116 can effectively improve the bearing 112 clearance, thereby reducing the cost of the joint assembly 100.

[0067] The joint assembly 100 provided by this invention can transmit the driving force output by the drive assembly 102 to the reducer 104 through the idler wheel 114 of the transmission assembly 106, thereby realizing the relative swing between the first body 202 and the second body 204 of the robot 200. Simultaneously, in the transmission assembly 106, at least one bearing 112 can support the idler wheel 114, thereby ensuring the supporting force of the bearing assembly 110 on the idler wheel 114 and thus ensuring the stability of the idler wheel 114 during meshing operation. Furthermore, the limiting assembly 116 can limit the bearing 112 during the rotation of the idler wheel 114, preventing the bearing 112 from shaking, improving the bearing 112 clearance problem, eliminating the need for angular contact ball bearings 112, and thus effectively reducing the cost of the joint assembly 100.

[0068] In some embodiments, the bearing 112 may optionally include: an inner bearing ring 118 sleeved on the support shaft 108; an outer bearing ring 120 sleeved on the inner bearing ring 118, wherein an idler wheel 114 is sleeved on the outer bearing ring 120; a plurality of balls 122 disposed between the inner bearing ring 118 and the outer bearing ring 120; and a limiting assembly 116 connected to the inner bearing ring 118 and the outer bearing ring 120 for limiting relative movement between the inner bearing ring 118 and the outer bearing ring 120 along the axial direction of the support shaft 108.

[0069] In this embodiment, such as Figure 1As shown, the bearing 112 may include an inner bearing ring 118, an outer bearing ring 120, and a plurality of balls 122 disposed between the inner bearing ring 118 and the outer bearing ring 120. The inner bearing ring 118 is sleeved on the support shaft 108, and the idler wheel 114 is sleeved on the outer bearing ring 120, thereby ensuring that the idler wheel 114 can rotate relative to the support shaft 108, so as to transmit the driving force output from the output end of the drive assembly 102 to the input end of the reducer 104 through the idler wheel 114.

[0070] Furthermore, the limiting component 116 can be connected to the inner ring 118 and the outer ring 120 of the bearing, thereby limiting the relative movement between the inner ring 118 and the outer ring 120 of the bearing during the rotation of the idler wheel 114. Specifically, it can limit the movement of the inner ring 118 and the outer ring 120 of the bearing along the axial direction of the support shaft 108.

[0071] It is understandable that for a bearing 112 consisting of an inner ring 118, an outer ring 120, and multiple balls 122 disposed between the inner ring 118 and the outer ring 120, in order to ensure that the balls 122 have rolling space and assembly space, there is usually a certain amount of movement space between the inner ring 118 and the outer ring 120 and the balls 122. Therefore, the clearance of the bearing 112 usually comes from the axial movement between the inner ring 118 and the outer ring 120. By connecting the limiting component 116 to the inner ring 118 and the outer ring 120, the relative movement between the inner ring 118 and the outer ring 120 is restricted, thereby eliminating the clearance of the bearing 112. This ensures that no relative movement occurs between the inner ring 118 and the outer ring 120 during the rotation of the idler wheel 114, thereby improving the clearance problem of the bearing 112, avoiding a decrease in transmission accuracy and wear on the gears of the drive assembly 102 and the reducer 104.

[0072] In addition, bearing 112 can be a conventional deep groove ball bearing, or it can be a angular contact bearing, crossed roller bearing, four-point contact ball bearing, tapered roller bearing, or other bearing types as a support shaft 108 to adapt to different operating conditions.

[0073] In some embodiments, optionally, the support shaft 108 includes a protrusion 124 disposed at a first end of the support shaft 108 and protruding radially along the support shaft 108. The bearing 112 includes a first bearing 126 and a second bearing 128. The first bearing 126 includes a first bearing inner ring 130 and a first bearing outer ring 132. The second bearing 128 includes a second bearing inner ring 134 and a second bearing outer ring 136. Along the axial direction of the support shaft 108, the first bearing inner ring 130 abuts against the protrusion 124. The limiting assembly 116 includes a support ring 138 sleeved on the support shaft 108. The support shaft 108 and the support ring 138 abut against the inner ring 130 and the inner ring 134 of the first bearing, respectively. The end cap 140 is disposed at the second end of the support shaft 108 and abuts against the outer ring 136 of the second bearing. The elastic element 142 is disposed between the first bearing 126 and the second bearing 128. The elastic element 142 is used to apply an elastic force to the outer ring 132 and the outer ring 136 of the first bearing to restrict the relative movement between the inner ring 130 and the outer ring 132 of the first bearing, and to restrict the relative movement between the inner ring 134 and the outer ring 136 of the second bearing.

[0074] In this embodiment, such as Figure 2 and Figure 3 As shown, the number of bearings 112 can be two, namely, a first bearing 126 and a second bearing 128. The first bearing 126 includes a first bearing inner ring 130 and a first bearing outer ring 132, and the second bearing 128 includes a second bearing inner ring 134 and a second bearing outer ring 136.

[0075] Furthermore, a protrusion 124 may be provided on the support shaft 108. Specifically, the protrusion 124 may be located at the first end of the support shaft 108, and the protrusion 124 may protrude radially outward from the support shaft 108. The first bearing inner ring 130 of the first bearing 126 is sleeved on the support shaft 108, and the first bearing inner ring 130 abuts against the protrusion 124 on the support shaft 108. That is, the protrusion 124 on the support shaft 108 is located near the end of the first bearing 126 and abuts against the first bearing inner ring 130 of the first bearing 126. In this way, the protrusion 124 on the support shaft 108 can limit the first bearing inner ring 130, preventing it from moving towards the first end of the support shaft 108.

[0076] Furthermore, the limiting assembly 116 may include a support ring 138 and an end cap 140, wherein the end cap 140 is disposed on the second end of the support shaft 108 opposite to the first end, that is, the end near the second bearing 128. The end cap 140 can abut against the second bearing inner ring 134 of the second bearing 128. Thus, the protrusion 124 on the support shaft 108 can limit the second bearing inner ring 134, preventing it from moving towards the second end of the support shaft 108.

[0077] Meanwhile, the support ring 138 can be sleeved on the support shaft 108 and positioned between the first bearing 126 and the second bearing 128. The two sides of the support ring 138 abut against the inner rings 130 and 134 of the first and second bearings, respectively. This further limits the movement of the inner rings 130 and 134, preventing them from shifting. Specifically, for the inner ring 130, the protrusion 124 on the support shaft 108 and the support ring 138 limit its movement on both sides, preventing axial movement. Similarly, for the inner ring 134, the end cap 140 and the support ring 138 limit its movement on both sides, preventing axial movement.

[0078] Additionally, it should be noted that the number of bearings 112 can be three or more. When the number of bearings 112 is greater than two, the outer rings 120 of the bearings 112 located on both sides are limited by the protrusion 124 at the first end of the support shaft 108 and the end cap 140 at the second end of the support shaft 108. At the same time, the support rings 138 are respectively arranged between two adjacent bearings 112 and abut against the inner rings 118 of the two adjacent bearings 112, thereby realizing the limitation and fixation of three or more inner rings 118.

[0079] Furthermore, the limiting component 116 may also include an elastic element 142, which may be disposed between the first bearing 126 and the second bearing 128. By disposing of the elastic element 142, an elastic force can be applied to the outer ring 132 of the first bearing and the outer ring 136 of the second bearing. That is, the elastic element 142 can restrict the outer ring 132 of the first bearing and the inner ring 130 of the first bearing to a fixed position, and restrict the outer ring 136 of the second bearing and the inner ring 134 of the second bearing to a fixed position.

[0080] It is understandable that there is usually a certain amount of play between the inner ring 118 and the outer ring 120 of the bearing and the ball 122. Therefore, the clearance of the bearing 112 usually comes from the axial movement between the inner ring 118 and the outer ring 120. The relative movement between the inner ring 118 and the outer ring 120 has a limit relative position. By applying an elastic force to the outer ring 120 through the elastic element 142, the relative position between the inner ring 118 and the outer ring 120 can be limited to this limit relative position. This prevents further relative movement between the inner ring 118 and the outer ring 120, thereby eliminating the clearance of the bearing 112. This ensures that during the rotation of the idler wheel 114, there will be no relative movement between the inner ring 118 and the outer ring 120, thus improving the clearance problem of the bearing 112, avoiding reduced transmission accuracy, and preventing wear on the gears of the drive assembly 102 and the reducer 104.

[0081] Additionally, it should be noted that when the number of bearings 112 is three or more, the number of elastic elements 142 also increases accordingly. The elastic elements 142 are positioned between two adjacent bearings 112, applying an elastic force to the outer rings 120 of the two adjacent bearings 112, thus limiting the inner rings 118 and outer rings 120 of the bearings to their extreme relative positions. The elastic elements 142 can be components with elastic deformation, such as single-piece wave springs, multi-piece wave springs, opposing wave springs, helical springs, and elastic washers.

[0082] In some embodiments, one end of the elastic member 142 abuts against the outer ring 132 of the first bearing, and the other end of the elastic member 142 abuts against the outer ring 136 of the second bearing, and the elastic member 142 is in an elastic deformation state.

[0083] In this embodiment, such as Figure 3 As shown, the elastic element 142 can directly abut against the first bearing outer ring 132 and the second bearing outer ring 136, thereby directly applying elastic force to the first bearing outer ring 132 and the second bearing outer ring 136.

[0084] Specifically, the elastic element 142 is disposed between the first bearing 126 and the second bearing 128. One end of the elastic element 142 directly abuts against the outer ring 132 of the first bearing, and the other end directly abuts against the outer ring 136 of the second bearing. This confines the outer ring 132 and the inner ring 130 of the first bearing to their extreme relative positions, preventing relative movement between them. Correspondingly, it also confines the outer ring 136 and the inner ring 134 of the second bearing to their extreme relative positions, preventing relative movement between them.

[0085] Furthermore, it is understood that the first bearing inner ring 130 and the second bearing inner ring 134 are positioned relative to the support shaft 108 by the protrusion 124, the end cap 140, and the support ring 138. This means that the first bearing inner ring 130 and the second bearing inner ring 134 have stable positions relative to the support shaft 108. The first bearing outer ring 132 is positioned relative to the first bearing inner ring 130 by the elastic element 142, thus ensuring the overall positional stability of the first bearing 126. Similarly, the second bearing outer ring 136 is positioned relative to the second bearing outer ring 138 by the elastic element 142, thus ensuring the overall positional stability of the second bearing 128. This ensures the positional stability of the first bearing 126 and the second bearing 128 during the rotation of the idler wheel 114.

[0086] In some embodiments, the idler wheel 114 is optionally provided with a shoulder 144, which extends between the first bearing 126 and the second bearing 128, and the shoulder 144 abuts against one of the first bearing outer ring 132 and the second bearing outer ring 136; wherein one end of the elastic member 142 abuts against the shoulder 144, the other end of the elastic member 142 abuts against the other of the first bearing outer ring 132 and the second bearing outer ring 136, and the elastic member 142 is in an elastic deformation state.

[0087] In this embodiment, such as Figure 3 As shown, the idler wheel 114 may also be provided with a shoulder 144, which can extend between the first bearing 126 and the second bearing 128. The shoulder 144 further restricts the relative position between the idler wheel 114 and the support shaft 108, preventing the idler wheel 114 from detaching from the support shaft 108. Specifically, the shoulder 144 is located between the first bearing 126 and the second bearing 128. When there is a tendency for relative movement between the idler wheel 114 and the support shaft 108, the shoulder 144 can abut against the first bearing 126 or the second bearing 128, thereby preventing further movement between the idler wheel 114 and the support shaft 108.

[0088] Furthermore, one side of the shoulder 144 can abut against one of the first bearing outer ring 132 and the second bearing outer ring 136. At this time, one end of the elastic member 142 abuts against the shoulder 144, and the other end of the elastic member 142 abuts against the other of the first bearing outer ring 132 and the second bearing outer ring 136. That is, one end of the elastic member 142 directly applies an elastic force to one of the first bearing outer ring 132 and the second bearing outer ring 136, while the other end of the elastic member 142 applies an elastic force to the other of the first bearing outer ring 132 and the second bearing outer ring 136 through the shoulder 144. This restricts the first bearing outer ring 132 and the first bearing inner ring 130 to their extreme relative positions, preventing relative movement between them. Simultaneously, it restricts the second bearing outer ring 136 and the second bearing inner ring 134 to their extreme relative positions, preventing relative movement between them.

[0089] In some embodiments, the end cap 140 may optionally include a boss 146 disposed on the edge of the end cap 140 and protruding along the axial direction of the support shaft 108, the boss 146 abutting against the inner ring 134 of the second bearing.

[0090] In this embodiment, such as Figure 4 As shown, a boss 146 can be provided at the edge of the end cover 140, and the boss 146 protrudes along the axial direction of the support shaft 108. In this way, when the end cover 140 is connected to the second end of the support shaft 108, it can be ensured that the boss 146 abuts against the inner ring of the second bearing 128, that is, it can ensure that the end cover 140 can limit the inner ring of the second bearing 128.

[0091] In addition, when the axial length of the support shaft 108 is relatively short, that is, when the inner ring of the second bearing 128 can protrude from the second end of the support shaft 108, the end cover 140 does not need to be provided with the boss 146. This can still ensure that the end cover 140 abuts against the inner ring of the second bearing 128 and ensure the limiting effect on the inner ring of the second bearing 128.

[0092] In some embodiments, such as Figure 1 As shown, optionally, the drive assembly 102 includes: a housing 148, a support shaft 108 disposed in the housing 148; a motor 150 disposed inside the housing 148; and a first gear 152 sleeved on the output shaft of the motor 150, the first gear 152 meshing with an idler gear 114.

[0093] In this embodiment, the drive assembly 102 may include a housing 148 and a motor 150 disposed within the housing 148, wherein a transmission assembly 106 may be disposed on the housing 148 of the drive assembly 102. The motor 150 enables the generation of driving force in the drive assembly 102. The housing 148 protects the motor 150 from damage caused by impacts from external objects. Furthermore, it is understood that the output shaft of the motor 150 may extend outside the housing 148 to ensure that the driving force output by the motor 150 can be transmitted to the idler wheel 114.

[0094] Furthermore, the drive assembly 102 also includes a first gear 152, which is sleeved on the output shaft of the motor 150 and meshes with the idler wheel 114. During the operation of the motor 150, the output shaft rotates, causing the first gear 152 to rotate. The first gear 152 meshes with the idler wheel 114, thereby causing the idler wheel 114 to rotate, so as to transmit the driving force of the motor 150 to the idler wheel 114.

[0095] Additionally, it should be noted that the housing 148 of the drive assembly 102 can be mounted on the first body 202 of the robot 200. In this way, when the motor 150 of the drive assembly 102 transmits the driving force to the reducer 104 through the idler wheel 114, the second body 204 can swing relative to the first body 202.

[0096] Furthermore, such as Figure 2 As shown, the transmission assembly 106 further includes at least one connector 154, and the support shaft 108 is connected to the housing 148 via the connector 154; wherein, when there are multiple connectors 154, the center of the connector 154 is located on the same pitch circle of the idler wheel 114.

[0097] Specifically, the transmission assembly 106 may also include at least one connector 154, through which the connection between the support shaft 108 and the housing 148 of the drive assembly 102 is realized.

[0098] For example, the connector 154 can be a screw, which can be inserted into the support shaft 108 and the housing 148. Correspondingly, threaded holes can be opened on both the support shaft 108 and the housing 148, and the screw can be threadedly connected to the threaded holes on the support shaft 108 and the housing 148, thereby fixing the support shaft 108 and the housing 148 of the drive assembly 102.

[0099] Furthermore, when there are multiple connectors 154, the centers of the connectors 154 can be located on the same pitch circle of the idler wheel 114. This ensures the uniformity of the fastening force applied by the multiple connectors 154 to the support shaft 108 and the housing 148, and ensures the stability of the connection between the support shaft 108 and the housing 148 of the drive assembly 102.

[0100] Specifically, multiple connectors 154 can be evenly distributed on one pitch circle of the idler wheel 114 to further improve the uniformity of the fastening force applied by the connectors 154 to the support shaft 108 and the housing 148. Depending on the actual assembly of the joint assembly 100, the multiple connectors 154 can also be unevenly distributed on one pitch circle of the idler wheel 114, or the multiple connectors 154 can be distributed on different pitch circles of the idler wheel 114, ensuring that the connectors 154 fix the support shaft 108 and the housing 148 while avoiding interference between the connectors 154 and other components of the joint assembly 100.

[0101] Alternatively, the housing 148 of the drive assembly 102 and the support shaft 108 can be integrally molded by casting to ensure the stability of the relative position between the support shaft 108 and the housing 148. Alternatively, they can be connected by interference fit, bonding, or other methods to achieve a detachable connection between the support shaft 108 and the housing 148.

[0102] In some embodiments, the reducer 104 may optionally include: an input shaft 156; a second gear 158 sleeved on the output shaft, the second gear 158 being meshed with an idler gear 114.

[0103] In this embodiment, such as Figure 1 As shown, the reducer 104 may include an input shaft 156 and a second gear 158 sleeved on the input shaft 156. The second gear 158 can mesh with the idler gear 114. Thus, when the motor 150 of the drive assembly 102 is running, the output shaft of the motor 150 rotates, the first gear 152 drives the idler gear 114 to rotate, and the idler gear 114 can drive the second gear 158 to rotate, thereby driving the input shaft 156 of the reducer 104 to rotate. The reducer 104 transmits the driving force to the output shaft of the reducer 104 through internal gear sets and other components, thereby driving the second body 204 of the robot 200 to swing relative to the first body 202, realizing the arm function of the robot 200.

[0104] Additionally, it should be noted that the first gear 152, idler gear 114, and second gear 158 can all be conventional spur involute gears. However, for reasons such as noise reduction, helical involute gears, herringbone gears, or other types of gears can also be used. The reducer 104 and its transmission chain scheme in this embodiment are applicable to the design of reducers 104 with various structural forms commonly used in industrial robots 200, including harmonic, cycloidal, reduction, and planetary reducers.

[0105] In some embodiments, optionally, the first axis 160 of the output shaft of the motor 150, the second axis 162 of the support shaft 108, and the third axis 164 of the input shaft 156 are parallel to each other; wherein, in a plane perpendicular to the first axis 160, the line connecting the first axis 160 and the second axis 162 is L1, the line connecting the first axis 160 and the third axis 164 is L2, the line connecting the second axis 162 and the third axis 164 is L3, the angle between L1 and L2 is greater than or equal to 0 degrees and less than or equal to a first angle, and the angle between L3 and L2 is greater than or equal to 0 degrees and less than or equal to a first angle.

[0106] In this embodiment, such as Figure 1 and Figure 5 As shown, the first axis 160 of the output shaft of the motor 150, the second axis 162 of the support shaft 108, and the third axis 164 of the input shaft 156 of the reducer 104 can be set to be parallel to each other. In this way, when the motor 150 is running, it can be ensured that the first gear 152, the idler gear 114, and the second gear 158 can rotate in the same plane, avoiding relative tilting of the rotation planes of the first gear 152, the idler gear 114, and the second gear 158, and ensuring the transmission ratio and transmission efficiency of the first gear 152, the idler gear 114, and the second gear 158.

[0107] Furthermore, in a plane perpendicular to the first axis 160, that is, relative to this plane, the first axis 160, the second axis 162, and the third axis 164 are all perpendicular to this plane. On this plane, the line connecting the first axis 160 and the second axis 162 is L1, the line connecting the first axis 160 and the third axis 164 is L2, and the line connecting the second axis 162 and the third axis 164 is L3. It can be understood that the first axis 160, the second axis 162, and the third axis 164 each have an intersection point with this plane. Specifically, L1 is the line connecting the intersection point a of the first axis 160 and the plane, and the intersection point b of the second axis 160 and the plane, and the intersection point c of the third axis 164 and the plane.

[0108] Furthermore, the angle between L1 and L2 is greater than or equal to 0 degrees and less than or equal to the first angle, and the angle between L3 and L2 is greater than or equal to 0 degrees and less than or equal to the first angle. Specifically, when the angle between L1 and L2, and the angle between L3 and L2 are both equal to 0, a, b, and c are on the same straight line in this plane, which facilitates the assembly of the first gear 152, the idler gear 114, and the second gear 158.

[0109] Furthermore, the first angle can be between ±10 degrees. When the angle between L1 and L2 is greater than 0 degrees and less than or equal to the first angle, and the angle between L3 and L2 is greater than 0 degrees and less than or equal to the first angle, then a, b, and c are not on the same straight line on the plane. However, since the first angle is between ±10 degrees, that is, the angle between L1 and L2 and the angle between L3 and L2 will not be too large, it can meet the actual assembly requirements of the joint assembly 100 and also ensure the assembly convenience of the first gear 152, the idler gear 114, and the second gear 158.

[0110] In some embodiments of this application, a robot 200 is proposed, including a joint assembly 100 as described in any of the above embodiments.

[0111] The robot 200 provided in this application includes the joint component 100 as described in any of the above embodiments. Therefore, the robot 200 has all the beneficial effects of the joint component 100, which will not be repeated here.

[0112] In the description of this invention, the term "a plurality of" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0113] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A joint assembly for a robot, characterized in that, The robot includes a first body and a second body; the joint assembly includes: The driving component is located in the first main body; A speed reducer, the output end of which is connected to the second main body; The transmission assembly includes: A support shaft is disposed on the drive assembly; A bearing assembly comprising at least two bearings, the bearings being sleeved on the support shaft; An idler wheel, sleeved on the bearing, is connected to the output end of the drive assembly and the input end of the reducer. It is used to transmit the driving force from the output end of the drive assembly to the input end of the reducer, so as to drive the second body to swing relative to the first body. A limiting component, connected to the bearing, is used to restrict the movement of the bearing during the rotation of the idler wheel.

2. The joint assembly according to claim 1, characterized in that, The bearing includes: The bearing inner ring is sleeved on the support shaft; The bearing outer ring is fitted onto the bearing inner ring, wherein the idler wheel is fitted onto the bearing outer ring; Multiple balls are disposed between the inner ring and the outer ring of the bearing; The limiting component is connected to the inner ring and the outer ring of the bearing, and is used to limit the relative movement between the inner ring and the outer ring of the bearing along the axial direction of the support shaft.

3. The joint assembly according to claim 2, characterized in that, The support shaft includes a protrusion disposed at a first end of the support shaft and protruding radially along the support shaft. The bearing includes a first bearing and a second bearing. The first bearing includes a first bearing inner ring and a first bearing outer ring. The second bearing includes a second bearing inner ring and a second bearing outer ring. Along the axial direction of the support shaft, the first bearing inner ring abuts against the protrusion. The limiting component includes: A support ring is sleeved on the support shaft, and the two sides of the support ring abut against the inner ring of the first bearing and the inner ring of the second bearing, respectively. An end cap is disposed at the second end of the support shaft and abuts against the outer ring of the second bearing; An elastic element is disposed between the first bearing and the second bearing. The elastic element is used to apply an elastic force to the outer ring of the first bearing and the outer ring of the second bearing to restrict the relative movement between the inner ring of the first bearing and the outer ring of the first bearing, and to restrict the relative movement between the inner ring of the second bearing and the outer ring of the second bearing.

4. The joint assembly according to claim 3, characterized in that, One end of the elastic element abuts against the outer ring of the first bearing, and the other end of the elastic element abuts against the outer ring of the second bearing, and the elastic element is in an elastic deformation state.

5. The joint assembly according to claim 3, characterized in that, The idler wheel is provided with a shoulder portion, which extends between the first bearing and the second bearing, and the shoulder portion abuts against one of the outer rings of the first bearing and the second bearing. One end of the elastic element abuts against the shoulder portion of the shaft, and the other end of the elastic element abuts against the other of the first bearing outer ring and the second bearing outer ring, and the elastic element is in an elastic deformation state.

6. The joint assembly according to claim 3, characterized in that, The end cap includes a boss, which is disposed on the edge of the end cap and protrudes along the axial direction of the support shaft. The boss abuts against the inner ring of the second bearing.

7. The joint assembly according to any one of claims 1 to 6, characterized in that, The driving component includes: Housing, wherein the support shaft is disposed on the housing; The motor is housed within the housing; The first gear is sleeved on the output shaft of the motor, and the first gear is meshed with the idler gear.

8. The joint assembly according to claim 7, characterized in that, The transmission assembly also includes: At least one connector, through which the support shaft is connected to the housing; In cases where there are multiple connectors, the centers of the connectors are located on the same pitch circle of the idler wheel.

9. The joint assembly according to claim 7, characterized in that, The speed reducer includes: Input axis; The second gear is sleeved on the output shaft and meshes with the idler gear.

10. The joint assembly according to claim 9, characterized in that, The first axis of the motor's output shaft, the second axis of the support shaft, and the third axis of the input shaft are parallel to each other; In a plane perpendicular to the first axis, the line connecting the first axis and the second axis is L1, the line connecting the first axis and the third axis is L2, and the line connecting the second axis and the third axis is L3. The angle between L1 and L2 is greater than or equal to 0 degrees and less than or equal to a first angle, and the angle between L3 and L2 is greater than or equal to 0 degrees and less than or equal to the first angle.

11. A robot, characterized in that, include: The joint assembly as described in any one of claims 1 to 10.

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