Joint and robot
By integrating the torque sensor with the harmonic reducer by mounting it on the end of the flexible wheel, the problem of increased axial length and weight of the joint in the prior art is solved, achieving miniaturization and weight reduction of the joint, and improving detection accuracy and transmission efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JIEKA FUTURE TECHNOLOGY (SHANGHAI) CO LTD
- Filing Date
- 2025-08-22
- Publication Date
- 2026-07-07
AI Technical Summary
In existing collaborative robotic arms, the harmonic reducer and torque sensor are separate modules in the joints, which increases the axial length and weight of the equipment and does not meet the development requirements of lightweighting and integration.
By at least partially mounting the torque sensor onto the end of the flexspline to form an integrated structure with the harmonic reducer, the output flange is eliminated, thus integrating the torque sensor with the harmonic reducer and reducing axial length and weight.
This achieves miniaturization and weight reduction of the joints, while ensuring that the torque sensor can detect the output torque in real time, thus improving connection stability and transmission efficiency.
Smart Images
Figure CN224464715U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mechanical transmission technology, and more specifically, to a joint and a robot. Background Technology
[0002] With the development of industrial automation and human-robot collaboration technologies, collaborative robotic arms have shown broad application prospects in fields such as precision assembly, medical surgery, scientific research experiments, and educational demonstrations. Collaborative robotic arms are required to possess characteristics such as high precision, high efficiency, and lightweight design to meet the task requirements in complex working environments. As collaborative robotic arms develop towards miniaturization and intelligence, the demand for integrated design of harmonic reducers and deep integration with control systems is increasing.
[0003] Typically, reducers and torque sensors are separate modules. During assembly, the torque sensor is directly mounted on the output flange of the harmonic drive. This increases the axial length and weight of the joint, which does not conform to the development trend of lightweight and integrated collaborative robotic arms, resulting in excessively large equipment size. Utility Model Content
[0004] The purpose of this application is to provide a joint and robot that can improve the integration of the joint and achieve miniaturization and weight reduction of the joint.
[0005] In a first aspect, embodiments of this application provide a joint, including a harmonic reducer and a torque sensor. The harmonic reducer includes a flexible wheel, a steel wheel, and a wave generator. The flexible wheel and the torque sensor are coaxially arranged, and the torque sensor is at least partially sleeved on the end of the flexible wheel. The wave generator is coaxially arranged with the flexible wheel, and the wave generator is at least partially disposed on the inner wall of the end of the flexible wheel opposite to the torque sensor. The steel wheel is sleeved on the outer wall of the flexible wheel.
[0006] Optionally, the torque sensor includes a body, which has an annular structure with a through hole in the middle; a limiting ring is provided on the side of the body facing the flexible wheel, the limiting ring is coaxially arranged with the body, and the outer diameter of the limiting ring is smaller than the outer diameter of the body; a first limiting wall is protruding from the outer circumference of the limiting ring, the first limiting wall is perpendicular to the plate surface of the body; the end face of the flexible wheel can be locked in the limiting ring, so that the outer wall of the end face of the flexible wheel abuts against the inner wall of the first limiting wall.
[0007] Optionally, the inner diameter of the limiting ring is larger than the diameter of the through hole of the body; the end face of the flexible wheel is provided with a first assembly part corresponding to the inner diameter of the limiting ring, and the middle part of the first assembly part has an opening coaxially provided with the through hole of the body; the first assembly part can be locked in the inner diameter of the limiting ring, so that the outer wall of the first assembly part abuts against the inner wall of the inner diameter of the limiting ring.
[0008] Optionally, the torque sensor also includes an input cable, one end of which is fixedly connected to the side of the body away from the flex wheel, and the other end is inserted into the flex wheel through a through hole, for detecting the output torque of the harmonic reducer.
[0009] Optionally, the harmonic reducer also includes an annular flexible wheel washer, which is structurally adapted to the first assembly part of the flexible wheel; the flexible wheel washer is fixedly disposed on the side of the first assembly part of the flexible wheel away from the torque sensor.
[0010] Optionally, the harmonic reducer also includes an annular rotating bearing, which is sleeved on the outer wall of the flexible wheel, and the end face of the rotating bearing is fixedly connected to the torque sensor.
[0011] Optionally, the harmonic reducer also includes a steel wheel connector, which is fixedly disposed between the rotating bearing and the steel wheel.
[0012] Optionally, the flexible wheel and the torque sensor are respectively provided with coaxially arranged screw holes for inserting fixing screws, and the flexible wheel and the torque sensor are fixedly connected by fixing screws.
[0013] Optionally, the steel wheel, the steel wheel connector, and the rotating bearing are each provided with coaxially arranged screw holes for inserting fixing screws, and the steel wheel, the steel wheel connector, and the rotating bearing are fixedly connected by fixing screws.
[0014] On the other hand, this application also provides a robot including the aforementioned joints.
[0015] The beneficial effects of this application include:
[0016] This application provides a joint including a harmonic reducer and a torque sensor. The harmonic reducer includes a flexible wheel, a steel wheel, and a wave generator. The flexible wheel and the torque sensor are coaxially arranged, and the torque sensor is at least partially sleeved on the end of the flexible wheel. The wave generator is coaxially arranged with the flexible wheel, and the wave generator is at least partially disposed on the inner wall of the end of the flexible wheel opposite to the torque sensor. The steel wheel is sleeved on the outer wall of the flexible wheel. Compared with existing joints that place the torque sensor on the output flange of the harmonic reducer, this application at least partially sleeves the torque sensor on the end of the flexible wheel, so that the torque sensor replaces the position of the output flange, realizing the integration of the torque sensor and the harmonic reducer. The torque sensor can detect the magnitude of the output torque of the harmonic reducer in real time, and at the same time, it reduces its axial length and weight compared with the existing structure, realizing the miniaturization and weight reduction of the joint. Attached Figure Description
[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 A cross-sectional view of a joint provided in an embodiment of this application;
[0019] Figure 2 This is one of the exploded views of a joint provided in the embodiments of this application;
[0020] Figure 3 This is the second exploded view of a joint provided in an embodiment of this application.
[0021] Icons: 100-Joint; 110-Harmonic reducer; 111-Flexible wheel; 1111-First assembly; 112-Steel wheel; 113-Wave generator; 114-Flexible wheel washer; 115-Rotating bearing; 116-Steel wheel connector; 120-Torque sensor; 121-Body; 1211-Limit ring; 1211a-First limit wall; 122-Input cable; 130-Fixing screw. Detailed Implementation
[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0023] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. It should be noted that, unless otherwise specified, the various features in the embodiments of this application can be combined with each other, and the combined embodiments are still within the protection scope of this application.
[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0025] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application 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 on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0026] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.
[0027] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0028] This application provides a joint 100, such as... Figure 1 and Figure 2 As shown, the device includes a harmonic reducer 110 and a torque sensor 120. The harmonic reducer 110 includes a flexible wheel 111, a steel wheel 112, and a wave generator 113. The flexible wheel 111 is coaxially arranged with the torque sensor 120, and the torque sensor 120 is at least partially sleeved on the end of the flexible wheel 111. The wave generator 113 is coaxially arranged with the flexible wheel 111, and the wave generator 113 is at least partially disposed on the inner wall of the end of the flexible wheel 111 away from the torque sensor 120. The steel wheel 112 is sleeved on the outer wall of the flexible wheel 111.
[0029] Specifically, the harmonic reducer 110 has an input end that is connected to an external drive device (such as a drive motor or drive cylinder), and an output end that is connected to the load. The output speed of the drive device is reduced by the harmonic reducer 110 and then transmitted to the load, which is suitable for the rotation operation of components such as robotic arms.
[0030] In the existing joint 100, the harmonic reducer 110 and the torque sensor 120 are usually two independent modules, with the torque sensor 120 mounted on the output flange of the harmonic reducer 110. To meet the trend of miniaturization and weight reduction in robotic arms, such as... Figure 1 and Figure 2 As shown, the joint 100 provided in this application at least partially mounts the torque sensor 120 onto the end of the flexible wheel 111, thus eliminating the need for an output flange. This arrangement integrates the torque sensor 120 and the harmonic reducer 110 into a single unit, allowing the torque sensor 120 to simultaneously detect the magnitude of the transmitted torque while the harmonic reducer 110 transmits torque and motion. Compared to existing joints 100, the joint 100 provided in this application reduces its axial length and weight, achieving miniaturization and weight reduction.
[0031] like Figure 1 and Figure 2 The harmonic reducer 110 shown includes a flexible wheel 111, a steel wheel 112, and a wave generator 113. The flexible wheel 111 is coaxially arranged with the torque sensor 120 to ensure that the rotation axis of the torque sensor 120 and the flexible wheel 111 are aligned, avoiding measurement errors caused by eccentricity. Furthermore, the torque sensor 120 is at least partially sleeved on the end of the flexible wheel 111. This arrangement can further reduce the axial length of the joint and also improve the connection stability between the flexible wheel 111 and the torque sensor 120.
[0032] Optionally, such as Figure 2 As shown, the flexible wheel 111 and the torque sensor 120 are respectively provided with coaxially arranged screw holes for passing through the screw holes. The flexible wheel 111 and the torque sensor 120 are fixedly connected by the screws 130. This connection method facilitates the overall disassembly and assembly during maintenance and component replacement.
[0033] The wave generator 113 is the core driving component of the harmonic reducer 110. Its main function is to generate periodic mechanical deformation. The wave generator 113 is at least partially disposed on the inner wall of the end of the flexible wheel 111 opposite to the torque sensor 120, while the steel wheel 112 is sleeved on the outer wall of the flexible wheel 111. The wave generator 113 can drive the flexible wheel 111 to generate elastic deformation and mesh with the steel wheel 112. The wave generator 113, disposed on the inner wall of the flexible wheel 111, together with the steel wheel 112 on the outer side of the flexible wheel 111 and the torque sensor 120 on the top of the flexible wheel 111, forms a rigid support system to reduce the radial vibration of the flexible wheel 111 during high-speed operation.
[0034] The joint 100 provided in this application includes a harmonic reducer 110 and a torque sensor 120. The harmonic reducer 110 includes a flexible wheel 111, a steel wheel 112, and a wave generator 113. The flexible wheel 111 is coaxially arranged with the torque sensor 120, and the torque sensor 120 is at least partially sleeved on the end of the flexible wheel 111. The wave generator 113 is coaxially arranged with the flexible wheel 111, and the wave generator 113 is at least partially disposed on the inner wall of the end of the flexible wheel 111 away from the torque sensor 120. The steel wheel 112 is sleeved on the outer wall of the flexible wheel 111. Compared to existing joints where the torque sensor 120 is mounted on the output flange of the harmonic reducer 110, this application mounts the torque sensor 120 at least partially on the end of the flexible wheel 111, replacing the position of the output flange. This achieves the integration of the torque sensor 120 with the harmonic reducer 110. The torque sensor 120 can detect the magnitude of the output torque of the harmonic reducer 110 in real time, and at the same time, it reduces its axial length and weight compared to the existing structure, thus achieving miniaturization and weight reduction of the joint 100.
[0035] For example, such as Figure 3 As shown, the torque sensor 120 includes a body 121, which has an annular structure with a through hole in the middle. A limiting ring 1211 is provided on the side of the body 121 facing the flexible wheel 111. The limiting ring 1211 is coaxially arranged with the body 121, and the outer diameter of the limiting ring 1211 is smaller than the outer diameter of the body 121. A first limiting wall 1211a is protruding from the outer circumference of the limiting ring 1211. The first limiting wall 1211a is perpendicular to the plate surface of the body 121. The end face of the flexible wheel 111 can be locked in the limiting ring 1211, so that the outer wall of the end face of the flexible wheel 111 abuts against the inner wall of the first limiting wall 1211a.
[0036] Specifically, such as Figure 3 As shown, the body 121 has an annular plate structure, which can reduce the axial dimension and weight of the joint 100. A coaxial limiting ring 1211 is provided on the end face of the body 121 facing the flexible wheel 111, and the outer diameter of the limiting ring 1211 is smaller than the outer diameter of the body 121. A first limiting wall 1211a perpendicular to the plate surface of the body 121 is provided on the outer circumference of the limiting ring 1211. The setting of the first limiting wall 1211a can accurately guide the assembly position of the flexible wheel 111, ensure the coaxiality of the flexible wheel 111 and the torque sensor 120, and avoid eccentricity problems during assembly. At the same time, the end face of the flexible wheel 111 is inserted into the limiting ring 1211, and its outer wall is tightly abutted against the inner wall of the first limiting wall 1211a, which limits the flexible wheel 111 in the radial direction, forming a stable connection relationship and ensuring the accuracy of torque measurement.
[0037] Furthermore, such as Figure 3As shown, the inner diameter of the limiting ring 1211 is larger than the diameter of the through hole of the body 121; the end face of the flexible wheel 111 is provided with a first mounting part 1111 protruding from the inner diameter of the limiting ring 1211, and the middle part of the first mounting part 1111 has an opening coaxially provided with the through hole of the body 121; the first mounting part 1111 can be locked in the inner diameter of the limiting ring 1211, so that the outer wall of the first mounting part 1111 abuts against the inner wall of the inner diameter of the limiting ring 1211.
[0038] Specifically, such as Figure 3 As shown, the end face of the flexible wheel 111 protrudes from the inner diameter of the limiting ring 1211, forming a raised stepped structure with the end face of the flexible wheel 111. Correspondingly, the inner diameter of the limiting ring 1211 is larger than the diameter of the through hole of the body 121, so that the end face of the body 121 facing the flexible wheel 111 forms a recessed stepped structure with the limiting ring 1211. This arrangement allows the first mounting part 1111 to be engaged within the recessed stepped structure formed by the end face of the body 121 facing the flexible wheel 111 and the limiting ring 1211, improving torque transmission efficiency. Compared with traditional flange connections, this reduces the assembly gap of intermediate connecting parts and further reduces the axial dimension of the joint 100.
[0039] In one possible implementation of this application, such as Figure 3 As shown, the torque sensor 120 also includes an input cable 122. One end of the input cable 122 is fixedly connected to the side of the body 121 away from the flexible wheel 111, and the other end passes through the through hole into the flexible wheel 111, for detecting the output torque of the harmonic reducer 110.
[0040] Specifically, the torque sensor 120 typically requires an input cable 122 to transmit the detection signal and provide power. Since the entire torque sensor 120 rotates with the output of the harmonic reducer 110, placing the input cable 122 outside the torque sensor 120 may cause the cable to become tangled and knotted, affecting the normal operation of the joint 100. Therefore, the through-hole of the torque sensor 120 is connected to the central control section of the harmonic reducer 110. One end of the input cable 122 is fixedly connected to the side of the body 121 away from the flexible wheel 111, and the other end passes through the through-hole into the flexible wheel 111, facilitating wiring and further improving the integration of the joint 100.
[0041] Optionally, such as Figure 1 and Figure 2 As shown, the harmonic reducer 110 also includes an annular flexible wheel washer 114, which is structurally adapted to the first assembly part 1111 of the flexible wheel 111; the flexible wheel washer 114 is fixedly disposed on the side of the first assembly part 1111 of the flexible wheel 111 away from the torque sensor 120.
[0042] Specifically, to avoid direct contact between the flexure 111 of the harmonic reducer 110 and other components, which could easily lead to increased wear and decreased assembly accuracy, a flexure washer 114 is also provided inside the harmonic reducer 110 of this application. To ensure that the setting of the flexure washer 114 does not affect the setting of the input cable 122 of the torque sensor 120, the flexure washer 114 is annular, and the through hole in the middle is used to pass through the input cable 122 of the torque sensor 120.
[0043] like Figure 1 and Figure 2 As shown, the flexible wheel washer 114 is installed on the end face of the first assembly part 1111 away from the torque sensor 120. This position is located on the force transmission path between the flexible wheel 111 and the wave generator 113. This installation position allows the flexible wheel washer 114 to effectively alleviate the axial pressure and impact load borne by the flexible wheel 111 during transmission. As a buffer layer, the flexible wheel washer 114 can reduce the wear rate of the flexible wheel 111 and improve the durability of the harmonic reducer 110. Preferably, it is fixedly connected to the flexible wheel 111 and the wave generator 113 by fixing screws 130.
[0044] Optionally, such as Figure 1 and Figure 2 As shown, the harmonic reducer 110 also includes an annular rotating bearing 115, which is sleeved on the outer wall of the flexible wheel 111, and the end face of the rotating bearing 115 is fixedly connected to the torque sensor 120.
[0045] In one specific embodiment of this application, the rotating bearing 115 is a crossed roller bearing. Crossed roller bearings are characterized by high rotational accuracy and small size, making them ideal bearings for the transmission of the joint 100.
[0046] The rotating bearing 115 adopts a ring-shaped design and is tightly fitted onto the outer wall of the flexible wheel 111. Its inner diameter is precisely matched with the outer diameter of the flexible wheel 111, and the installation can be achieved through interference fit or clearance fit. This fitting method allows the rotating bearing 115 to evenly distribute the radial force generated when the flexible wheel 111 rotates, converting sliding friction into rolling friction, significantly reducing frictional resistance, and improving the transmission efficiency of the harmonic reducer 110.
[0047] The end face of the rotating bearing 115 is fixed to the torque sensor 120 by fixing screws 130, forming a rigid connection structure. This connection method ensures that the rotating bearing 115, the torque sensor 120, and the flexible wheel 111 are tightly integrated, ensuring the continuity and stability of the torque transmission path. At the same time, the fixed connection also ensures that the rotating bearing 115 will not undergo axial displacement during rotation, maintaining its supporting role for the flexible wheel 111.
[0048] Optionally, such as Figure 1 and Figure 2As shown, the harmonic reducer 110 also includes a steel wheel connector 116, which is fixedly disposed between the rotating bearing 115 and the steel wheel 112.
[0049] Specifically, such as Figure 1 and Figure 2 As shown, the steel wheel connector 116, as an independent annular or disc-shaped structure, is preferably made of a high-strength metal material, such as aluminum alloy or titanium alloy, combining lightweight and high rigidity. The steel wheel connector 116 is fixedly disposed between the rotating bearing 115 and the steel wheel 112, ensuring not only the coaxiality between the rotating bearing 115 and the steel wheel 112, but also providing reliable axial positioning and radial support for both. Optionally, the steel wheel 112, the steel wheel connector 116, and the rotating bearing 115 are each provided with coaxially arranged threaded holes for inserting fixing screws 130. The steel wheel 112, the steel wheel connector 116, and the rotating bearing 115 are fixedly connected by the fixing screws 130.
[0050] When the robotic arm operates at high speed or frequently changes direction, axial movement may occur between the two components in a traditional structure, affecting the smoothness of transmission. However, the steel wheel connector 116 can significantly reduce the amount of axial movement, improve the stability of the joint 100, and reduce vibration and noise during operation, making the joint 100 suitable for medical or scientific research experimental scenarios with high requirements for environmental quietness. In addition, precise positioning and stable connection reduce the transmission backlash inside the harmonic reducer 110, improving the positioning accuracy of the robotic arm. Furthermore, the setting of the steel wheel connector 116 makes the connection between the rotating bearing 115 and the steel wheel 112 more compact, improving the integration of the joint 100 and further realizing the miniaturization of the joint 100.
[0051] On the other hand, this application also provides a robot, including the aforementioned joint 100. The specific structure and beneficial effects of the joint 100 have been described in detail above and will not be repeated here. Through the design of the joint 100, the robot can achieve lightweight design while maintaining flexibility.
[0052] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. 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, characterized in that, The device includes a harmonic reducer (110) and a torque sensor (120). The harmonic reducer (110) includes a flexible wheel (111), a steel wheel (112), and a wave generator (113). The flexible wheel (111) is coaxially arranged with the torque sensor (120), and the torque sensor (120) is at least partially sleeved on the end of the flexible wheel (111). The wave generator (113) is coaxially arranged with the flexible wheel (111), and the wave generator (113) is at least partially disposed on the inner wall of the end of the flexible wheel (111) away from the torque sensor (120). The steel wheel (112) is sleeved on the outer wall of the flexible wheel (111).
2. The joint according to claim 1, characterized in that, The torque sensor (120) includes a body (121), which has an annular structure with a through hole in the middle. A limiting ring (1211) is provided on the side of the body (121) facing the flexible wheel (111). The limiting ring (1211) is coaxially arranged with the body (121), and the outer diameter of the limiting ring (1211) is smaller than the outer diameter of the body (121). A first limiting wall (1211a) is convex on the outer circumference of the limiting ring (1211), and the first limiting wall (1211a) is perpendicular to the plate surface of the body (121). The end face of the flexible wheel (111) can be locked in the limiting ring (1211), so that the outer wall of the end face of the flexible wheel (111) abuts against the inner wall of the first limiting wall (1211a).
3. The joint according to claim 2, characterized in that, The inner diameter of the limiting ring (1211) is larger than the diameter of the through hole of the body (121); the end face of the flexible wheel (111) is provided with a first mounting part (1111) corresponding to the inner diameter of the limiting ring (1211), and the middle part of the first mounting part (1111) has an opening coaxially provided with the through hole of the body (121); the first mounting part (1111) can be locked in the inner diameter of the limiting ring (1211) so that the outer wall of the first mounting part (1111) abuts against the inner wall of the inner diameter of the limiting ring (1211).
4. The joint according to claim 2, characterized in that, The torque sensor (120) also includes an input cable (122), one end of which is fixedly connected to the side of the body (121) away from the flexible wheel (111), and the other end is inserted into the flexible wheel (111) through the through hole, for detecting the output torque of the harmonic reducer (110).
5. The joint according to claim 3, characterized in that, The harmonic reducer (110) further includes an annular flexible wheel washer (114), which is structurally adapted to the first assembly part (1111) of the flexible wheel (111); the flexible wheel washer (114) is fixedly disposed on the side of the first assembly part (1111) of the flexible wheel (111) opposite to the torque sensor (120).
6. The joint according to claim 1, characterized in that, The harmonic reducer (110) also includes an annular rotating bearing (115), which is sleeved on the outer wall of the flexible wheel (111), and the end face of the rotating bearing (115) is fixedly connected to the torque sensor (120).
7. The joint according to claim 6, characterized in that, The harmonic reducer (110) also includes a steel wheel connector (116), which is fixedly disposed between the rotating bearing (115) and the steel wheel (112).
8. The joint according to claim 1, characterized in that, The flexible wheel (111) and the torque sensor (120) are respectively provided with coaxially arranged screw holes, and the screw holes are used to pass through the fixing screws (130). The flexible wheel (111) and the torque sensor (120) are fixedly connected by the fixing screws (130).
9. The joint according to claim 7, characterized in that, The steel wheel (112), the steel wheel connector (116), and the rotating bearing (115) are respectively provided with coaxially arranged screw holes, which are used to pass through fixing screws (130). The steel wheel (112), the steel wheel connector (116), and the rotating bearing (115) are fixedly connected by the fixing screws (130).
10. A robot, characterized in that, Includes the joint described in any one of claims 1-9 above.