Gear-driven joints and robots

Abstract

This utility model provides a gear-driven joint and a robot. The gear-driven joint includes: a drive motor with a drive gear at its drive end; a reducer assembly including an input gear and an output gear connected by a transmission; and an adjustment mechanism including an eccentric shaft and an idler wheel mounted on the eccentric shaft. The idler wheel meshes with the input gear and the drive gear. The rotation axis of the eccentric shaft and the rotation axis of the idler wheel are not collinear. Rotating the idler wheel adjusts the center distance between the idler wheel and the input gear, as well as the center distance between the idler wheel and the drive gear. In this utility model, by adjusting the rotation of the idler wheel, the center distance between the idler wheel and the input and drive gears can be adjusted, ensuring tight meshing.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a gear-driven joint and a robot. Background Technology

[0002] Currently, robot wrist transmissions generally employ motors and reducers. This heavily relies on the performance and quality of the reducer, resulting in high overall costs. Furthermore, high-performance reducers are primarily imported, leading to significant limitations in research and development costs and timelines. In related technologies, some manufacturers use multi-stage gear transmissions to replace reducers. However, this requires high gear meshing precision, and wear or manufacturing errors can increase the center distance, leading to poor meshing. Utility Model Content

[0003] The present invention aims to at least solve the technical problem of gear wear leading to an increase in center distance in the prior art or related technologies.

[0004] In view of this, an embodiment of the first aspect of the present invention provides a gear transmission joint.

[0005] A second aspect of this utility model provides a robot.

[0006] To achieve the above objectives, embodiments of this utility model provide a gear transmission joint, comprising: a drive motor, the drive end of which is provided with a drive gear; a reducer assembly, which includes an input gear and an output gear, the input gear and the output gear being connected in transmission; and an adjustment mechanism, comprising an eccentric shaft and an idler wheel sleeved on the eccentric shaft, the idler wheel meshing with the input gear and the drive gear; wherein the rotation axis of the eccentric shaft and the rotation axis of the idler wheel are not collinear, and the center distance between the idler wheel and the input gear and the center distance between the idler wheel and the drive gear are adjusted by rotating the idler wheel.

[0007] The gear transmission joint proposed in this utility model allows for adjustable center distance to compensate for gear wear or manufacturing errors, ensuring tight meshing and smooth transmission. Specifically, by adjusting the rotation of the idler gear, the center distance between the idler gear, the input gear, and the drive gear can be adjusted, ensuring tight meshing without gaps or poor meshing, avoiding increased meshing clearance due to wear, and reducing gear damage and maintenance frequency.

[0008] It is understandable that the adjustment mechanism can be fine-tuned during assembly or operation without disassembling the entire transmission system.

[0009] The adjustment structure of the eccentric shaft and idler wheel effectively solves the problem of gear meshing clearance caused by wear or error. It is easy to operate; simply rotate the eccentric shaft to finely adjust the center distance, adapt to gear wear or manufacturing errors, and ensure tight meshing. In addition, the eccentric adjustment mechanism is integrated inside the joint, which does not take up too much space, and the adjustment process does not require disassembling the entire transmission chain.

[0010] In some technical solutions, optionally, a locking shaft section is provided on the eccentric shaft, and the cross-section of the locking shaft section is not circular; the gear transmission joint further includes: a locking assembly, including a toothed plate and a toothed baffle that mesh with each other, the toothed plate having a locking inner hole adapted to the cross-sectional shape of the locking shaft section, and the toothed plate being sleeved on the outside of the locking shaft section; wherein, the outer periphery of the toothed plate is provided with a first locking tooth, and the toothed baffle has a second locking tooth on the side facing the toothed plate, and the circumferential movement of the toothed plate is restricted by the meshing of the first locking tooth and the second locking tooth.

[0011] In this technical solution, by setting a locking shaft segment and locking components, not only is the precise transmission of adjustment actions and positional stability guaranteed, but the rigidity and reliability of the overall structure are also improved, ensuring the long-term stability of the gear meshing state after adjustment, and effectively solving the meshing problem caused by gear wear and manufacturing errors.

[0012] In some technical solutions, the gear transmission joint may optionally include: a first locking member, detachably connected to the eccentric shaft, the first locking member being used to fasten the toothed plate.

[0013] In this technical solution, the first locking element is a fastener capable of detachably connecting to the eccentric shaft, typically a nut, lock nut, or similar structure. The first locking element securely fixes the toothed plate to the locking section of the eccentric shaft, preventing the toothed plate from loosening or slipping due to vibration, load, or external force, thus achieving mechanical locking of the adjusted position and ensuring the stable position of the eccentric shaft and idler wheel after adjustment. The first locking element facilitates assembly and maintenance, and allows for disassembly for readjustment or repair.

[0014] In some technical solutions, optionally, one end of the locking shaft section is provided with an external thread, and the adjusting mechanism also includes a locking nut, which is threadedly connected to the locking shaft section.

[0015] In this technical solution, tightening or loosening can be achieved by rotating the locking nut, which facilitates the disassembly and maintenance of the adjustment mechanism. After adjustment, tightening the locking nut fixes the position and ensures the stability of the adjustment result.

[0016] In some technical solutions, the gear transmission joint may optionally include: a base, the base having an adjustment mechanism; and a second locking member, detachably connected to the base, the second locking member being used to fasten the toothed baffle.

[0017] In this technical solution, the base is fixed to the bottom of the adjusting mechanism or the supporting structure, serving as the basic support component of the entire adjusting mechanism. It provides a stable installation platform, ensuring the rigidity and positional stability of the adjusting mechanism. The base acts as the carrier of the adjusting mechanism, tightly connected to other adjusting elements, transmitting adjusting force and maintaining structural integrity. The base is fixed to the bottom or frame of the mechanical structure, connecting the eccentric shaft, the adjusting mechanism, and the locking components.

[0018] The second locking element, as a detachable fastener used to secure the toothed baffle, may be a bolt, nut, or special locking element. The second locking element is detachably connected to the base, specifically including but not limited to threads, bolts, quick-connect fittings, etc. Under the action of the second locking element, the toothed baffle can be fixed in the adjustment mechanism to prevent it from shifting or loosening during movement.

[0019] In some technical solutions, the gear transmission joint may optionally include: an adjusting stepped hole disposed on the base, an eccentric shaft disposed within the adjusting stepped hole, the eccentric shaft including a mating shaft section and a locking shaft section and a connecting shaft section respectively located at both ends of the mating shaft section; a first bearing sleeved on the connecting shaft section; a second bearing sleeved on the mating shaft section, and a portion of the idler wheel sleeved on the second bearing; wherein, in the axial direction, a portion of the idler wheel is located between the first bearing and the second bearing.

[0020] In this technical solution, an adjustable stepped hole is provided on the base. This stepped hole structure within the base has different inner diameter sections, forming a stepped inner cavity. It provides positioning and adjustment space for the insertion of the eccentric shaft, allowing for fine-tuning or positioning of the eccentric shaft within the hole. This, combined with the adjustment mechanism, enables center distance adjustment. Essentially, the adjustable stepped hole is embedded inside the base, serving as a mounting hole for the eccentric shaft.

[0021] The eccentric shaft includes a connecting shaft section, a mating shaft section, and a locking shaft section. The eccentric shaft is located in the adjustment stepped hole and serves as the core element for adjusting the position of the idler wheel. The center distance between the idler wheel and the input gear and the drive gear is adjusted through the eccentric structure.

[0022] The locking shaft section includes structures for locking and adjustment, such as locking elements and locking teeth, enabling the locking or fine-tuning of the eccentric shaft. The other end has a connecting shaft section to support the eccentric shaft by fitting a first bearing, ensuring its smoothness and rigidity during rotation. Furthermore, a second bearing is provided, specifically fitted onto the mating shaft section, with part of the idler wheel also fitted onto its outer side. Under the action of the second bearing, the middle or eccentric portion of the eccentric shaft is supported, ensuring smooth rotation of the idler wheel.

[0023] In some technical solutions, the gear transmission joint may optionally include a pad, disposed at the end of the second bearing away from the first bearing, and the pad is disposed between the toothed plate and the second bearing.

[0024] In this technical solution, the pad, as a key load-bearing and buffering element in the adjustment mechanism, is located at the end of the second bearing away from the first bearing and is sandwiched between the toothed plate and the second bearing. It plays an important role in axial positioning, wear reduction protection and force balance, ensuring the stability and long-term reliable operation of the adjustment mechanism.

[0025] In some technical solutions, the gear transmission joint may optionally include: a mounting port located on the base; and a top cover detachably connected to the mounting port; wherein the projection of the mounting port onto the cross-section of the idler wheel covers the idler wheel.

[0026] In this technical solution, the mounting port on the top cover and the base are connected by bolts, clips or other detachable fasteners. The projection of the mounting port covers the idler wheel, ensuring that the idler wheel is directly below the mounting port or inside the space, which facilitates the assembly, adjustment and maintenance of the idler wheel. The mounting port is closed by the top cover to prevent impurities from entering the idler wheel and its bearings, thus protecting the stable operation of the transmission system.

[0027] In some technical solutions, optionally, the angle between the shortest line connecting the axis of the idler gear and the axis of the input gear, and the shortest line connecting the axis of the idler gear and the axis of the drive gear, is greater than 0° and less than 180°.

[0028] In this technical solution, the angle formed by the shortest line connecting the idler gear axis, the input gear axis, and the drive gear axis is between 0° and 180°, which is the spatial basis for the idler gear to act as an intermediate gear to simultaneously adjust the center distance of the two sets of gears. This "V" shaped axis layout, combined with the eccentric adjustment mechanism, can efficiently compensate for gear wear and manufacturing errors, and improve the stability and reliability of the robot wrist transmission.

[0029] An embodiment of the second aspect of this application provides a robot, including: at least one robotic arm; any of the aforementioned gear-driven joints, wherein the output gear of the gear-driven joint is connected to the robotic arm in a transmission manner.

[0030] The robot provided in this application includes at least one robotic arm and a gear-driven joint. The robotic arm consists of multiple joints and links. The output gear of the gear-driven joint is connected to the subsequent transmission mechanism of the robotic arm to realize the transmission of power and motion, and further enables precise motion control and torque transmission.

[0031] Since the robot includes any of the aforementioned gear-driven joints, it possesses the beneficial effects of any of the aforementioned gear-driven joints, which will not be elaborated further here.

[0032] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0033] Figure 1A schematic diagram of the structure of a gear transmission joint according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of an adjustment mechanism according to an embodiment of the present invention is shown; Figure 3 A schematic diagram of the structure of an eccentric shaft according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of the structure of a gear transmission joint according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of the structure of a gear transmission joint according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of the structure of a base according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of the structure of a gear transmission joint according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown; Figure 9 A schematic diagram of the gear center distance adjustment structure in the related technology is shown; Figure 10 A schematic diagram of the gear center distance adjustment structure in the related technology is shown.

[0034] in, Figures 1 to 8 The correspondence between the reference numerals and component names in the attached drawings is as follows: 1: Gear drive joint; 11: Drive motor; 111: Drive gear; 12: Reducer assembly; 121: Input gear; 122: Output gear; 13: Adjustment mechanism; 131: Eccentric shaft; 1311: Locking shaft section; 1312: Mating shaft section; 1313: Connecting shaft section; 132: Idler wheel; 14: Locking assembly; 141: Toothed plate; 1411: First locking tooth; 1412: Locking inner hole; 142: Toothed baffle; 1421: Second locking tooth; 15: First locking element; 16: Locking nut; 17: Base; 171: Adjustment stepped hole; 172: First bearing; 173: Second bearing; 174: Pad; 175: Mounting port; 176: Top cover; 18: Second locking element; 2: Robot; 21: Mechanical arm; Figure 9 and Figure 10 The correspondence between the reference numerals and component names in the attached drawings is as follows: 10' bolt hole. Detailed Implementation

[0035] To better understand the above-mentioned objectives, features, and advantages of the embodiments of this utility model, the embodiments of this utility model will be described in optional 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.

[0036] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0037] Currently, most robot wrist transmission systems employ a motor combined with a reducer. This transmission method heavily relies on the reducer's performance, and the overall cost is significantly affected by it. Furthermore, due to the varying quality of reducers from different manufacturers, high-performance reducers are heavily dependent on foreign suppliers, which significantly impacts R&D costs and timelines. Therefore, to reduce the robot wrist's reliance on reducers, shorten R&D cycles, and lower costs, some manufacturers are using gear transmission solutions to replace reducers. However, gear transmissions require high precision in each gear engagement stage, making adjustment difficult and demanding high precision in installation and machining of components.

[0038] In related technologies, such as Figure 9 and Figure 10 As shown, the center distance is adjusted by rotating the eccentric bushing, which in turn drives the drive gear and the input motor to translate. However, this solution relies on bolt tightening to ensure the center distance position. Since the bolt hole is a slotted hole, there is a risk that the center distance may increase due to bolt loosening during actual use. In the above solution, the center distance position is ensured by bolt tightening. However, since bolt hole 10' is a slotted hole, there is a risk that the center distance may increase due to bolt loosening during actual use.

[0039] The following reference Figures 1 to 8 Some embodiments according to the present invention are described.

[0040] like Figure 1 and Figure 2 As shown, this embodiment provides a gear transmission joint 1 that allows for adjustable center distance to compensate for gear wear or manufacturing errors, ensuring tight meshing and smooth transmission. Specifically, by adjusting the rotation of the idler gear 132, the center distance between the idler gear 132, the input gear 121, and the drive gear 111 can be adjusted, ensuring tight meshing without backlash or poor meshing, avoiding increased meshing clearance due to wear, and reducing gear damage and maintenance frequency. It is understood that the adjustment mechanism 13 can be fine-tuned during assembly or operation without disassembling the entire transmission system.

[0041] Specifically, the gear transmission joint 1 includes a drive motor 11, a reducer assembly 12, and an adjustment mechanism 13. The drive motor 11 provides a power source and can drive the drive gear 111 to rotate. Generally, the drive motor 11 is fixed at the bottom or one end of the joint structure and is directly connected to the drive gear 111 through a rigid connection, such as a coupling.

[0042] Drive gear 111 is driven by a motor, transmitting power to idler gear 132 and reducer input gear 121. Drive gear 111 is rigidly connected to the motor output shaft, such as by a key or coupling, and simultaneously meshes with idler gear 132 of adjusting mechanism 13 and other gears in the transmission. It can be understood that drive gear 111 is located at the front end of the motor, close to the motor, ensuring direct power transmission. It serves as the starting point for adjusting the center distance, and after startup, it drives idler gear 132 and reducer, ensuring the smooth operation of the entire transmission chain.

[0043] The speed reducer assembly 12 includes an input gear 121 and an output gear 122. It mainly reduces the rotational speed and increases the torque to meet the movement requirements of the joint. At the same time, the input gear 121 receives the power from the drive gear 111, and the output gear 122 transmits the reduced motion to the rotating part of the joint.

[0044] The input gear 121 indirectly meshes with the drive gear 111 through the idler gear 132, and the output gear 122 is connected to the output end of the reducer. The output end is generally a rotating shaft or flange connecting the joint.

[0045] The adjustment mechanism 13 includes an eccentric shaft 131 and an idler wheel 132. The eccentric shaft 131 serves as the core of the adjustment mechanism. By rotating, it changes the eccentric position of the idler wheel 132, thereby adjusting the center distance between the idler wheel 132 and the input gear 121 and the drive gear 111. It can be understood that the rotation axis of the eccentric shaft 131 and the rotation axis of the idler wheel 132 are not collinear; that is, they are eccentrically designed. The eccentric shaft 131 is fixed at a certain position in the joint structure, such as being mounted on a dedicated bearing seat or bearing. The rotation of the eccentric shaft 131 causes the idler wheel 132 to shift, thus achieving fine-tuning of the center distance. The idler wheel 132 transmits power by meshing with the input gear 121.

[0046] The center distance is adjusted by rotating the eccentric shaft 131. It can be understood that the idler wheel 132 acts as an intermediate wheel for adjustment, ensuring tight meshing. The eccentric shaft 131 passes through the hole of the idler wheel 132. The idler wheel 132 meshes with the input gear 121 and also with the drive gear 111. The center distance is finely adjusted by eccentric adjustment, and the tooth surface clearance is compensated after wear to ensure meshing quality.

[0047] The idler wheel 132 is eccentrically positioned with respect to the eccentric shaft 131, allowing the eccentric shaft 131 to rotate around its axis, thereby driving the idler wheel 132 to move eccentrically and enabling the idler wheel 132 to finely adjust its position in space.

[0048] The eccentric shaft 131 is connected to the hole on the idler wheel 132 by a rotating shaft. By adjusting the rotation angle, the center distance between the idler wheel 132 and the input gear 121 and the drive gear 111 is changed.

[0049] Generally, the eccentric shaft 131 is fixed on the joint housing or the eccentric wheel bracket and aligned with the eccentric hole of the idler wheel 132, thereby providing controllable eccentric motion and achieving high-precision adjustment.

[0050] In summary, the transmission sequence of gear transmission joint 1 is as follows: drive motor 11, drive gear 111, idler gear 132, and reducer. The rotation of the eccentric shaft 131 adjusts the center distance between the idler gear 132 and the input gear 121 and drive gear 111, ultimately driving the reducer output and completing the joint rotation. This allows the entire transmission chain to have adjustable meshing clearance, maintaining transmission smoothness and rigidity, extending the service life of the gear system, and facilitating maintenance and adjustment.

[0051] The adjustment structure of the eccentric shaft 131 and idler wheel 132 effectively solves the problem of gear meshing clearance caused by wear or error. Operation is simple; the center distance can be finely adjusted by simply rotating the eccentric shaft 131 to adapt to gear wear or manufacturing errors and ensure tight meshing. In addition, the eccentric adjustment mechanism 13 is integrated inside the joint, which does not occupy too much space, and the adjustment process does not require disassembling the entire transmission chain.

[0052] In some embodiments, optionally, such as Figure 2 and Figure 3 As shown, the eccentric shaft 131 has a locking shaft segment 1311 with a non-circular cross-section, which matches the inner hole shape of the toothed plate 141 to achieve mechanical positioning and torque transmission. The cross-section of the locking shaft segment 1311 is non-circular, including polygonal, splined, and elliptical shapes. The locking assembly 14 includes two parts: a toothed plate 141 and a toothed baffle 142. The toothed plate 141 has a locking inner hole 1412 that matches the cross-sectional shape of the locking shaft segment 1311 and is fitted onto the locking shaft segment 1311. Figure 4 As shown, the toothed plate 141 has a first locking tooth 1411 on its outer periphery, and the toothed baffle 142 has a second locking tooth 1421 on the side facing the toothed plate 141 that meshes with the first locking tooth 1411. The circumferential movement of the toothed plate 141 is restricted by the meshing of the two sets of locking teeth.

[0053] The locking shaft section 1311 provides precise mechanical positioning for the toothed plate 141 through a non-circular cross section, preventing relative sliding or rotation of the toothed plate 141 on the eccentric shaft 131. Torque transmission is achieved through the non-circular cross section, meaning that the toothed plate 141 rotates synchronously with the eccentric shaft 131, ensuring the transmission synchronization and adjustment accuracy of the adjustment mechanism 13.

[0054] The locking shaft section 1311 is part of the eccentric shaft 131 and is generally located at the upper end of the eccentric shaft 131. The locking inner hole of the toothed plate 141 is sleeved on the locking shaft section 1311, and the shape matches and fits tightly to avoid errors or loosening of the toothed plate 141 relative to the eccentric shaft 131, ensuring the accuracy of the adjustment action and improving the rigidity and stability of the adjustment mechanism 13.

[0055] The toothed plate 141 can be used as a handle or connector for adjustment and operation, driving the eccentric shaft 131 to rotate. The toothed plate 141 cooperates with the locking shaft section 1311 through the locking inner hole to achieve a rigid connection with the eccentric shaft 131. In the circumferential direction, the first locking tooth 1411 on the outer periphery of the toothed plate 141 is used to mesh with the toothed baffle 142 to limit the circumferential displacement of the toothed plate 141.

[0056] The toothed plate 141 is sleeved on the outside of the locking shaft section 1311. The first locking tooth 1411 of the toothed plate 141 is located on the outer peripheral edge and faces the toothed baffle 142. The toothed plate 141 and the eccentric shaft 131 form an integral rotating body, which makes the adjustment operation simple and easy. The rotation of the toothed plate 141 drives the eccentric shaft 131 to rotate and adjust the position of the idler wheel 132. By meshing with the toothed baffle 142, the toothed plate 141 is prevented from rotating on its own after the adjustment is completed, thus ensuring that the position is locked.

[0057] The toothed baffle 142 engages with the first locking tooth 1411 of the toothed plate 141 to form a mechanical limiting and locking structure, preventing the toothed plate 141 from rotating unexpectedly during transmission or vibration, maintaining the stability of the adjustment position, and is fixed to the wrist casting by locking bolts or other fasteners to achieve circumferential positioning of the adjustment mechanism 13.

[0058] The toothed baffle 142 is installed on the side of the toothed plate 141. The second locking tooth 1421 of the toothed baffle 142 meshes with the first locking tooth 1411 of the toothed plate 141. The toothed baffle 142 is fixed on the wrist casting or the bracket of the adjustment mechanism 13 to form a stable locking point, which effectively prevents the eccentric shaft 131 and the idler wheel 132 from loosening after adjustment, ensures long-term stable operation after the gear center distance is adjusted, and improves the reliability of the transmission system.

[0059] It is understandable that the non-circular fit between the locking shaft section 1311 and the toothed plate 141 ensures the precise transmission of the adjustment action, with no torsional clearance, thus avoiding adjustment errors. The toothed plate 141, as the adjustment handle, combined with the locking design of the toothed baffle 142, facilitates operation and ensures the locking effect after adjustment, preventing deviation caused by vibration or load.

[0060] In addition, the toothed baffle 142 is fixed to the wrist casting to form a robust locking mechanism, ensuring the long-term stability of the adjustment mechanism 13.

[0061] In summary, the locking shaft segment 1311 and the locking assembly 14 not only ensure the precise transmission and stable position of the adjustment action, but also improve the rigidity and reliability of the overall structure, ensuring the long-term stability of the gear meshing state after adjustment, and effectively solving the meshing problem caused by gear wear and manufacturing errors.

[0062] In some embodiments, optionally, such as Figure 7 As shown, the first locking member 15 is a fastener capable of detachably connecting to the eccentric shaft 131, typically a nut, lock nut 16, or a similar structure. The first locking member 15 securely fixes the toothed plate 141 to the locking section 1311 of the eccentric shaft 131, preventing the toothed plate 141 from loosening or slipping due to vibration, load, or external force, thus achieving mechanical locking of the adjusted position and ensuring the stable position of the eccentric shaft 131 and idler wheel 132 after adjustment. The first locking member 15 facilitates assembly and maintenance, and can be disassembled for readjustment or repair.

[0063] The first locking member 15 mates with the external thread or other connecting structure on the eccentric shaft 131. The first locking member 15 is usually installed at the end of the eccentric shaft 131 or the top of the locking shaft section 1311, pressing and locking the toothed plate 141 from the end face direction. The first locking member 15 is located at the outer end of the locking shaft section 1311 of the eccentric shaft 131, directly contacting the toothed plate 141 or transmitting the fastening force through auxiliary parts such as washers. The first locking member 15 is close to the toothed plate 141, playing the role of end face locking.

[0064] The first locking element 15, by fastening the toothed plate 141, makes the toothed plate 141 and the eccentric shaft 131 form a rigid whole, preventing the toothed plate 141 from rotating relative to each other after adjustment, and further preventing the eccentric shaft 131 and the idler wheel 132 from loosening due to vibration or external force, thus ensuring the long-term stability of the center distance of the adjustment.

[0065] The detachable design of the first locking element 15 and the eccentric shaft 131 allows the adjusting mechanism 13 to be easily disassembled and reinstalled when adjustment is needed. During maintenance, the locking element can be quickly disassembled to readjust the position of the idler wheel 132. The tightening of the first locking element 15 prevents the toothed plate 141 from shaking or loosening during transmission, ensuring the rigidity and precision of the transmission system.

[0066] In some embodiments, optionally, the external thread of the locking shaft section 1311 is specifically provided at one end of the locking shaft section 1311 of the eccentric shaft 131, typically on the outer side of the end, and the thread specification matches the locking nut 16. The external thread at one end of the locking shaft section 1311 provides a reliable mechanical connection interface for the locking nut 16, supports the tightening of the locking nut 16, and realizes the fastening of the toothed plate 141 and the adjusting mechanism 13.

[0067] The locking nut 16 is a fastener that mates with the external thread of the locking shaft section 1311. It is usually a hexagonal nut or a special locking nut 16. It is screwed into the external thread of the locking shaft section 1311 by screwing in the thread. By tightening the locking nut 16, the toothed plate 141 is firmly clamped onto the locking shaft section 1311.

[0068] It should be added that the locking nut 16 is located at the end of the locking shaft section 1311 in the eccentric shaft 131, close to the toothed plate 141. The force is transmitted from the locking nut 16 to the toothed plate 141, thereby fixing the entire adjusting mechanism 13. The locking nut 16, through its engagement with the external thread of the locking shaft section 1311, achieves a strong clamping of the toothed plate 141, preventing the toothed plate 141 from loosening or axially displacing, ensuring a rigid connection between the eccentric shaft 131 and the toothed plate 141, and ensuring that the toothed plate 141 and the eccentric shaft 131 rotate synchronously during adjustment.

[0069] Tightening or loosening can be achieved by rotating the locking nut 16, which facilitates the disassembly and maintenance of the adjustment mechanism 13. After adjustment, tighten the locking nut 16 to fix the position and ensure the stability of the adjustment result.

[0070] In some embodiments, optionally, such as Figure 6 As shown, the base 17 is fixed to the bottom of the adjusting mechanism 13 or on the supporting structure, serving as the basic support for the entire adjusting mechanism 13, providing a stable mounting platform, and ensuring the rigidity and positional stability of the adjusting mechanism 13. The base 17 acts as the carrier of the adjusting mechanism 13, tightly connected to other adjusting elements, transmitting adjusting force and maintaining structural integrity. The base 17 is fixed to the bottom or frame of the mechanical structure, connecting the eccentric shaft 131, the adjusting mechanism 13, and the locking element.

[0071] The adjusting mechanism 13 consists of an eccentric shaft 131, a locking shaft section 1311, a toothed plate 141, a locking nut 16, and locking components. It is mounted on the base 17 and connects the eccentric shaft 131 and the toothed plate 141 to form an integrated adjusting unit. Under the action of the adjusting mechanism 13, the center distance between the idler gear 132 and the input gear 121 and drive gear 111 is finely adjusted. Through eccentric adjustment, the gear meshing state is adjusted to compensate for wear or manufacturing errors.

[0072] The second locking member 18 is a detachable fastener used to secure the toothed baffle 142. It may be a bolt, nut or special locking member. The second locking member 18 is detachably connected to the base 17, specifically including but not limited to threads, bolts, quick-connects, etc. Under the action of the second locking member 18, the toothed baffle 142 can be fixed in the adjusting mechanism 13 to prevent it from shifting or loosening during movement.

[0073] The base 17 provides stable foundation support, ensuring the rigidity and positional accuracy of the adjustment mechanism 13, preventing displacement caused by vibration or load during the adjustment process, and ensuring the accuracy and repeatability of the adjustment; It facilitates the assembly, disassembly, adjustment, and maintenance of the overall structure.

[0074] The second locking member 18 is detachably connected to the base 17, which facilitates the disassembly, maintenance and adjustment of the adjustment mechanism 13, fixes the toothed baffle 142, prevents it from loosening or shifting due to vibration or load changes during operation, and ensures the stability and reliability of the gear meshing state after adjustment.

[0075] In some embodiments, optionally, such as Figure 6 As shown, an adjustable stepped hole 171 is provided on the base 17. This stepped hole structure in the base 17 has different inner diameter sections, forming a stepped inner cavity. It provides positioning and adjustment space for the insertion of the eccentric shaft 131, allowing for fine-tuning or positioning of the eccentric shaft 131 within the hole. This, combined with the adjustment mechanism, enables center distance adjustment. It can be understood that the adjustable stepped hole 171 is embedded inside the base 17, serving as a mounting hole for the eccentric shaft 131.

[0076] like Figure 3 As shown, the eccentric shaft 131 includes a connecting shaft section 1313, a mating shaft section 1312, and a locking shaft section 1311. The eccentric shaft 131 is located in the adjustment stepped hole 171 and serves as the core element for adjusting the position of the idler wheel 132. The center distance between the idler wheel 132 and the input gear 121 and the drive gear 111 is adjusted through the eccentric structure.

[0077] The locking shaft section 1311 is equipped with structures for locking and adjustment, such as locking elements and locking teeth, which can lock or fine-tune the eccentric shaft 131. A connecting shaft section 1313 is provided at the other end to support the eccentric shaft 131 by fitting a first bearing 172, ensuring its stability and rigidity during rotation. Furthermore, a second bearing 173 is provided, specifically fitted onto the mating shaft section 1312, with a portion of the idler wheel 132 also fitted onto its outer side. Under the action of the second bearing 173, the middle or eccentric portion of the eccentric shaft 131 is supported, ensuring smooth rotation of the idler wheel 132.

[0078] A portion of the idler wheel 132 is sleeved outside the second bearing 173, and in the axial direction, a portion of the idler wheel 132 is located between the first bearing 172 and the second bearing 173, forming the positioning of the idler wheel 132 in the axial direction, ensuring that its relative position is stable within the adjustment range.

[0079] It should be added that a step is provided on the base 17, and the inner ring of the first bearing 172 contacts the step. The idler wheel 132 is installed on the eccentric shaft 131. Since the mounting hole of the idler wheel 132 is a stepped hole, the idler wheel 132 is pressed into the outer ring of the first bearing 172. The second bearing 173 is pressed into the eccentric shaft 131, with its outer ring in contact with the idler wheel 132 and its inner ring in contact with the eccentric shaft 131. That is, the first bearing 172 and the second bearing 173 clamp the idler wheel 132 to achieve axial positioning of the idler wheel 132.

[0080] In some embodiments, optionally, by placing a pad 174 at one end of the second bearing 173 away from the first bearing 172 and positioning the pad 174 between the toothed plate 141 and the second bearing 173, the pad 174 serves as a spacer and load-bearing element between the two.

[0081] The toothed plate 141 is positioned along the axial direction to prevent direct friction or improper contact between the toothed plate 141 and the second bearing 173. Under the action of the pad 174, the axial pressure of the toothed plate 141 on the second bearing 173 can also be balanced and dispersed, protecting the bearing and the toothed plate 141 from local stress concentration. The pad 174 acts as a buffer layer to reduce wear between the toothed plate 141 and the bearing.

[0082] It is understood that the pad 174 effectively isolates the toothed plate 141 and the second bearing 173, reducing friction and wear caused by direct metal-to-metal contact and extending the service life of the bearing and the toothed plate 141. The pad 174 enables axial pre-tightening or positioning, preventing the toothed plate 141 from loosening or shifting in the axial direction and ensuring the stability of the adjusting mechanism 13.

[0083] In summary, the pad 174, as a key load-bearing and buffering element in the adjustment mechanism 13, is located at the end of the second bearing 173 away from the first bearing 172 and is sandwiched between the toothed plate 141 and the second bearing 173. It plays an important role in axial positioning, wear reduction protection and force balance, ensuring the stability and long-term reliable operation of the adjustment mechanism 13.

[0084] In some embodiments, the mounting port 175 is optionally an opening structure provided on the base 17, usually a hole or slot, for installing, adjusting or maintaining internal components. The mounting port 175 serves as a channel for the installation and maintenance of internal parts such as the adjusting mechanism 13 or the idler wheel 132, facilitating the disassembly, repair and lubrication of the adjusting mechanism 13.

[0085] The mounting port 175 is located on the base 17, corresponding to the idler wheel 132. Its projection on the cross-section of the idler wheel 132 completely covers the idler wheel 132, ensuring that the idler wheel 132 is directly below or inside the mounting port 175.

[0086] The top cover 176, as a cover or closure detachably connected to the mounting port 175, can seal the mounting port 175, protecting the internal transmission components from external dust, moisture, and impurities, while also maintaining the sealing of the internal lubrication environment and extending the life of gears and bearings. Of course, the top cover 176, through its detachable design, facilitates opening the mounting port 175 for maintenance and adjustment.

[0087] The top cover 176 is connected to the mounting port 175 on the base 17 by bolts, clips or other detachable fasteners. The projection of the mounting port 175 covers the idler wheel 132, ensuring that the idler wheel 132 is directly below the mounting port 175 or inside the space, which facilitates the assembly, adjustment and maintenance of the idler wheel 132. The top cover 176 closes the mounting port 175 to prevent impurities from entering the idler wheel 132 and its bearings, thus protecting the stable operation of the transmission system.

[0088] In some embodiments, optionally, the angular relationship between the axis of the idler gear 132 and the axes of the input gear 121 and the drive gear 111 is limited. Specifically, the shortest line connecting the rotation axis of the idler gear 132 and the rotation axis of the input gear 121, the shortest line connecting the rotation axis of the idler gear 132 and the rotation axis of the drive gear 111, and the included angle formed between these two shortest lines are defined as follows: Figure 5 In the case of 'a', 'a' is greater than 0° and less than 180°.

[0089] The rotation axes of the drive gear 111, idler gear 132 and input gear 121 are not simply arranged in a straight line, but form an angle (0° < angle < 180°), usually arranged in a "V" shape or a broken line shape. This design allows the idler gear 132 to act as an intermediate gear, meshing with both the drive gear 111 and the input gear 121 at the same time, thus playing the role of an intermediary in the transmission link.

[0090] The idler wheel 132 is mounted on the eccentric shaft 131. The rotation of the eccentric shaft 131 causes a slight positional change in the axis of the idler wheel 132 relative to the axes of the drive gear 111 and the input gear 121. Since the axes of the three are arranged at an angle, the eccentric movement of the idler wheel 132 can simultaneously adjust the two center distances with respect to the drive gear 111 and the input gear 121, thereby improving the flexibility and accuracy of the adjustment.

[0091] By adjusting the position of the idler wheel 132, the center distance change caused by gear wear or manufacturing error can be effectively compensated, ensuring that the two sets of meshing are uniform and tight; the included angle design enables the adjustment mechanism 13 to achieve multi-axial center distance compensation in the case of limited space, thereby improving the overall rigidity and transmission efficiency of the system.

[0092] The included angle range ensures a compact layout of the transmission chain, which helps to reduce the overall joint volume and is suitable for applications in space-constrained parts such as robot wrists.

[0093] In general, the angle formed by the shortest connecting lines between the idler wheel 132 axis and the input gear 121 axis and the drive gear 111 axis is between 0° and 180°, which is the spatial basis for the idler wheel 132 to act as an intermediate gear to adjust the center distance of the two sets of gears at the same time. This "V" shaped axis layout, together with the eccentric adjustment mechanism 13, can efficiently compensate for gear wear and manufacturing errors, and improve the stability and reliability of the robot wrist transmission.

[0094] like Figure 8 As shown, an embodiment of the second aspect of this application provides a robot 2, including: at least one robotic arm 21; any of the aforementioned gear transmission joints 1, wherein the output gear 122 of the gear transmission joint 1 is connected to the robotic arm 21 in a transmission manner.

[0095] The robot 2 provided in this application includes at least one robotic arm 21 and a gear-driven joint 1. The robotic arm 21 is composed of multiple joints and links, one of which is the gear-driven joint 1 of any of the above embodiments, which effectively reduces the dependence on high-precision reducers and improves the overall performance and maintenance convenience of the robotic arm 21.

[0096] The output gear 122 of the gear transmission joint 1 is connected to the subsequent transmission mechanism of the robotic arm 21 to realize the transmission of power and motion, and further realize precise motion control and torque transmission.

[0097] The above-mentioned robot 2 structure is applicable to various fields such as industrial automation, precision assembly, and medical assistance.

[0098] Since robot 2 includes any of the aforementioned gear transmission joints 1, it has the beneficial effects of any of the aforementioned gear transmission joints 1, which will not be elaborated here.

[0099] In one specific embodiment, an adjustable center distance gear transmission joint 1 is provided, which mainly includes a drive motor 11, an idler gear group (i.e., adjustment mechanism 13), a reducer group (i.e., reducer assembly 12), and a wrist casting. The drive motor group 11 includes a drive motor 11, a drive gear 111, an oil seal, and a bushing. The drive motor 11 is connected to the casting, and the motor drives the drive gear 111 to rotate, thereby driving the idler gear 132 to rotate.

[0100] The idler wheel assembly includes a locking nut 16, a toothed plate, a toothed baffle 142, bearing A (i.e., the first bearing 172), an idler wheel 132, a pad (i.e., a pad plate 174), bearing B (i.e., the second bearing 173), and a camshaft (i.e., an eccentric shaft 131). The camshaft is bolted to a groove in the casting. Bearing A is press-fitted onto the camshaft. To ensure normal rotation of bearing A, a step is provided on the casting, allowing the inner ring of bearing A to contact the step. Optionally, an idler wheel 132 is mounted on the camshaft. Since the mounting hole of idler wheel 132 is a stepped hole, idler wheel 132 is press-fitted onto the outer ring of bearing A. Optionally, bearing B is press-fitted onto the camshaft, with its outer ring contacting idler wheel 132 and its inner ring contacting the camshaft. In other words, bearings A and B clamp idler wheel 132 to achieve axial positioning of idler wheel 132. Optionally, a shim is fitted onto idler wheel 132, making it contact the inner ring of bearing B. Optionally, a toothed plate 141 is provided above the shim, wherein the inner hole of the toothed plate 141 is an irregular circular hole that mates with the cutout of the camshaft. That is, when rotating... When the toothed plate 141 is in use, it can drive the camshaft to rotate together. Optionally, after the center distance of the idler wheel 132 is adjusted, in order to prevent the camshaft from rotating during transmission, a toothed baffle 142 is provided on one side of the toothed plate 141. The two mesh with each other, and the toothed baffle 142 is fixed to the casting by a locking bolt, thus realizing the circumferential positioning of the camshaft. Optionally, the top of the camshaft is provided with an external thread, so that the locking nut 16 can be tightened to it. Since there is a through hole inside the camshaft, the locking bolt B can fix the camshaft to the wrist casting, thus realizing the axial positioning of the idler wheel 132. Optionally, in order to realize the function of variable center distance, the rotation center of the idler wheel 132 has a certain distance deviation from the rotation center of the camshaft, that is, when the camshaft rotates, the rotation trajectory of the idler wheel 132 is as follows. Figure 5 As shown, where, Figure 5 The dotted line represents the target movement position of idler wheel 132. Figure 5 The solid line represents the original position of idler wheel 132.

[0101] Optionally, the reducer assembly includes a large gear (i.e., input gear 121) and a reducer, wherein the large gear meshes with an idler gear. Optionally, to achieve adjustable center distance between the two gear stages, the rotation centers of the drive gear, idler gear, and large gear are arranged in a V-shape. When the camshaft rotates, the idler gear can be fed in both directions towards the drive gear and the large gear, thereby achieving center distance adjustment. Optionally, the reducer is fixed to the wrist casting and sealed with an O-ring. In addition, the upper end of the wrist casting is provided with a top cover and an O-ring. Through the above structure, the entire gear transmission chain is sealed into a whole, ensuring the sealing of the entire oil chamber during transmission.

[0102] Optionally, the robotic arm also includes a rotating wrist. One end of the rotating wrist is connected to the output end of the reducer, and the other end is equipped with a bearing. The inner ring of the bearing is connected to the side cover, and the side cover is fixed to the wrist casting. That is, the rotating wrist has support on both sides, which greatly helps to improve the rigidity of the entire wrist.

[0103] The following describes the application in further detail with reference to specific embodiments: Under normal operating conditions, the drive motor drives the drive gear to rotate. Since the idler gear meshes with the drive gear, the drive gear drives the idler gear to rotate. At this time, the camshaft is kept in a fixed position under the action of the locking bolt and the toothed baffle. Under the action of bearings A and B, the idler gear can rotate freely relative to the camshaft. It should be noted that the rotation center of the idler gear and the rotation center of the camshaft have a certain distance deviation. However, since the cam position is fixed, the rotation center of the idler gear is also relatively fixed. Therefore, when the idler gear rotates, its motion trajectory is always circular. Optionally, the rotation of the idler gear drives the large gear of the reducer to rotate. The large gear is connected to the input end of the reducer, and the output end of the reducer is connected to the rotating wrist. Therefore, the rotation of the large gear drives the rotating wrist to rotate after passing through the reducer. A bearing is provided at the other end of the rotating wrist and is connected to the wrist casting through the side cover, so that the rotating wrist has a double-support structure, which further improves the rigidity of the rotating wrist. Optionally, the rotating wrist includes a motor and a reducer. The motor is directly connected to the input end of the reducer, and the output end of the reducer is connected to the output flange. Therefore, the output flange can rotate freely.

[0104] Optionally, when the entire wrist joint has been in use for a long time, the gears wear against each other, causing the gear backlash to increase, or during the installation process, manufacturing or installation errors may cause incomplete meshing between the gears. In this case, if it is necessary to adjust the center distance, open the top cover, loosen locking bolts A and B, and remove the toothed baffle. At this time, the idler shaft and idler wheel can rotate freely around the center of the camshaft. Optionally, by rotating the camshaft, due to the eccentricity of the camshaft and idler wheel, the idler wheel will rotate eccentrically along the axis of rotation, and its motion trajectory is shown in the attached figure. Figure 5As shown, optionally, after the idler wheel is adjusted to a suitable angle, that is, when the center distance between the idler wheel and the drive gear and the large gear changes and they are fully engaged, tighten the locking bolt B, install the toothed baffle so that it cooperates with the toothed plate, tighten the locking bolt A, that is, fix the adjusted position of the idler wheel, and then lock the top cover. This realizes the function of adjustable center distance of the gear transmission joint.

[0105] The above specific embodiments optimize the problem of incomplete gear meshing caused by increased center distance due to gear wear or manufacturing precision issues. By adjusting the position of the idler wheel, the center distance between it and the input and output gears is changed, making the entire robot run more smoothly and improving the overall rigidity of the machine.

[0106] In short, the above embodiment is mainly a gear transmission joint with adjustable center distance, which mainly includes a drive motor assembly, an idler gear assembly, a reducer assembly, and a wrist casting. The drive motor assembly includes a drive motor, a drive gear, an oil seal, and a bushing. The drive motor is connected to the casting, and the motor drives the drive gear to rotate, which in turn drives the idler gear to rotate.

[0107] The idler gear assembly includes a lock nut, a toothed plate, a toothed baffle, bearing A, an idler gear, a spacer block, bearing B, and a camshaft. The camshaft is bolted into a groove in the casting. Bearing A is press-fitted onto the camshaft. To ensure proper rotation of bearing A, a step is provided in the casting, allowing the inner ring of bearing A to contact the step. Optionally, the idler gear is mounted on the camshaft. Since the idler gear mounting hole is a stepped hole, the idler gear is press-fitted onto the outer ring of bearing A. Optionally, bearing B is press-fitted onto the camshaft, with its outer ring contacting the idler gear and its inner ring contacting the camshaft. Thus, bearings A and B clamp the idler gear, achieving axial positioning of the idler gear. The shim is placed on the idler wheel so that it contacts the inner ring of bearing B. Optionally, a toothed plate is provided above the shim, wherein the inner hole of the toothed plate is an irregular circular hole that cooperates with the camshaft cutout. That is, when the toothed plate is rotated, it can drive the camshaft to rotate together. Optionally, after the center distance of the idler wheel is adjusted, in order to prevent the camshaft from rotating during transmission, a toothed baffle is provided on one side of the toothed plate. The two mesh with each other, and the toothed baffle is fixed to the casting by a locking bolt, thus achieving the circumferential positioning of the camshaft. The top of the camshaft has an external thread, so that the locking nut can be tightened with it. Since there is a through hole inside the camshaft, the locking bolt B can fix the camshaft to the wrist casting, thus achieving the axial positioning of the idler wheel.

[0108] The speed reducer unit includes a large gear and a speed reducer, wherein the gear and the idler gear mesh with each other. Optionally, to achieve adjustable center distance between the two-stage gears, the rotation centers of the drive gear, idler gear, and large gear are arranged in a V-shape. When the camshaft rotates, the idler gear can be fed in both directions towards the drive gear and the large gear, thereby achieving center distance adjustment. Optionally, the speed reducer is fixed to the wrist casting and sealed with an O-ring. In addition, the upper end of the wrist casting is provided with a top cover and an O-ring.

[0109] The robotic arm also includes a rotating wrist. One end of the rotating wrist is connected to the output end of the reducer, and the other end is equipped with a bearing. The inner ring of the bearing is connected to the side cover, which is fixed to the wrist casting.

[0110] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "join," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "join" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0111] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0112] 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.

[0113] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A gear driven joint, characterized by, include: A drive motor, wherein the drive end of the drive motor is provided with a drive gear; A speed reducer assembly, the speed reducer assembly including an input gear and an output gear, the input gear and the output gear being connected in a transmission manner; The adjusting mechanism includes an eccentric shaft and an idler wheel sleeved on the eccentric shaft. The idler wheel meshes with the input gear and the drive gear. The rotation axis of the eccentric shaft is not collinear with the rotation axis of the idler wheel. The center distance between the idler wheel and the input gear is adjusted by rotating the idler wheel, and the center distance between the idler wheel and the drive gear is also adjusted.

2. The gear driven joint of claim 1, wherein, The eccentric shaft is provided with a locking shaft section, the cross-section of which is not circular; the gear transmission joint further includes: The locking assembly includes a toothed plate and a toothed baffle that mesh with each other. The toothed plate has a locking inner hole that matches the cross-sectional shape of the locking shaft segment. The toothed plate is sleeved on the outside of the locking shaft segment. The toothed plate has a first locking tooth on its outer periphery, and the toothed baffle has a second locking tooth on the side facing the toothed plate. The circumferential movement of the toothed plate is restricted by the engagement of the first locking tooth and the second locking tooth.

3. The gear driven joint of claim 2, wherein, Also includes: The first locking member is detachably connected to the eccentric shaft and is used to fasten the toothed plate.

4. The gear driven joint of claim 2, wherein, One end of the locking shaft section is provided with an external thread, and the adjusting mechanism further includes: The lock nut is threadedly connected to the locking shaft section.

5. The gear driven joint of claim 2, wherein, Also includes: The base, wherein the adjustment mechanism is provided within the base; The second locking member is detachably connected to the base and is used to fasten the toothed baffle.

6. The gear driven joint of claim 5, wherein, Also includes: An adjusting stepped hole is provided in the base, and the eccentric shaft is provided in the adjusting stepped hole. The eccentric shaft includes a mating shaft section and a locking shaft section and a connecting shaft section located at both ends of the mating shaft section, respectively. The first bearing is sleeved on the outside of the connecting shaft section; The second bearing is sleeved on the mating shaft section, and part of the idler wheel is sleeved outside the second bearing; In the axial direction, part of the idler wheel is located between the first bearing and the second bearing.

7. The gear driven joint of claim 6, wherein, Also includes: A pad is disposed at the end of the second bearing away from the first bearing, and the pad is disposed between the toothed plate and the second bearing.

8. The gear driven joint of claim 5, wherein, Also includes: The mounting port is provided on the base; The top cover is detachably connected to the mounting port; The projection of the mounting port onto the cross-section of the idler wheel covers the idler wheel.

9. The gear transmission joint of any one of claims 1 to 8, wherein, The angle between the shortest line connecting the axis of the idler gear and the axis of the input gear, and the shortest line connecting the axis of the idler gear and the axis of the drive gear, is greater than 0° and less than 180°.

10. A robot, characterized in that include: At least one robotic arm; The gear drive joint as described in any one of claims 1 to 9, wherein the output gear of the gear drive joint is drive-connected to the robotic arm.

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