CN113942035A

CN113942035A - Joint assembly and robot

Info

Publication number: CN113942035A
Application number: CN202111257153.0A
Authority: CN
Inventors: 周家裕; 陈修奇; 王佳威; 黄建威; 张志波; 谭艳
Original assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Current assignee: Gree Electric Appliances Inc of Zhuhai; Zhuhai Gree Intelligent Equipment Co Ltd
Priority date: 2021-10-27
Filing date: 2021-10-27
Publication date: 2022-01-18
Anticipated expiration: 2041-10-27
Also published as: CN113942035B

Abstract

The invention provides a joint assembly and a robot, wherein the joint assembly comprises: the joint shell comprises an accommodating cavity and a positioning part arranged in the accommodating cavity, and the positioning part is provided with a radial positioning surface and/or an axial positioning surface; the speed reducer is arranged in the accommodating cavity and is provided with a radial limiting surface and/or an axial limiting surface; the axial direction parallel of the input shaft of radial positioning face and speed reducer is used for with radial spacing face butt, and/or the axial direction perpendicular of axial positioning face and input shaft is used for with the spacing face butt of axial, with when installing the speed reducer into holding the intracavity, through the cooperation of radial positioning face and radial spacing face, and/or the cooperation of axial positioning face and the spacing face of axial, fix a position the speed reducer, and then improve the installation accuracy of speed reducer, the lower problem of installation accuracy of the speed reducer of the joint in having the technique has been solved.

Description

Joint assembly and robot

Technical Field

The invention relates to the technical field of robots, in particular to a joint assembly and a robot.

Background

In order to reduce the weight, the design of an industrial robot is required to be compact and lightweight, and therefore, the structure of a speed reducer, which is a joint core component, is particularly studied.

In order to achieve high stability of the movement of the robot joint, it is necessary to increase the mounting accuracy of the joint reducer.

Disclosure of Invention

The invention mainly aims to provide a joint assembly and a robot, and aims to solve the problem that in the prior art, the installation accuracy of a speed reducer of a robot joint is low.

In order to achieve the above object, according to one aspect of the present invention, there is provided a joint assembly including: the joint shell comprises an accommodating cavity and a positioning part arranged in the accommodating cavity, and the positioning part is provided with a radial positioning surface and/or an axial positioning surface; the speed reducer is arranged in the accommodating cavity and is provided with a radial limiting surface and/or an axial limiting surface; the radial positioning surface is parallel to the axial direction of an input shaft of the speed reducer and is used for being abutted against the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft and is used for being abutted against the axial limiting surface so as to position the speed reducer; the radial positioning surface and the radial limiting surface are at least one, and the at least one radial positioning surface and the at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial positioning surface and the axial limiting surface are at least one, and the at least one axial positioning surface and the at least one axial limiting surface are arranged in a one-to-one correspondence mode.

Furthermore, the positioning part comprises a protruding part which is convexly arranged on the inner wall of the accommodating cavity, and the speed reducer comprises an external shell which is sleeved on the outer side of the input shaft; the outer shell is provided with a first end face and a second end face, and the speed reducer is positioned on the second side of the protruding part; the second side surface is used for being abutted to the first end surface, so that the second side surface and the first end surface form an axial positioning surface and an axial limiting surface respectively.

Further, the external casing is columnar and comprises a first casing part and a second casing part which are connected with each other along the axial direction of the input shaft, and the first casing part is positioned on one side of the second casing part close to the bulge; the outer peripheral surface of the first casing portion is located on one side of the outer peripheral surface of the second casing portion, which is close to the central axis of the input shaft, in a direction perpendicular to the axial direction of the input shaft; the second side surface of the protruding part is convexly provided with a protruding part, and the protruding direction of the protruding part is parallel to the axial direction of the input shaft; the outer peripheral surface of the boss is used for abutting against the outer peripheral surface of the first shell part, so that the outer peripheral surface of the boss and the outer peripheral surface of the first shell part form a radial positioning surface and a radial limiting surface respectively.

Furthermore, the second side surface comprises a first surface body and a second surface body which are distributed along the direction vertical to the axial direction of the input shaft, the second surface body is positioned on one side of the first surface body close to the first side surface along the axial direction of the input shaft, and the first surface body is used for being abutted against the first end surface; the speed reducer comprises a first bearing sleeved on the input shaft, and the outer ring of the first bearing is connected with the protruding part; along the axial of input shaft, first bearing has the bearing terminal surface that is close to the dihedron, and the dihedron is used for with the bearing terminal surface butt, and the bearing terminal surface forms the spacing face of axial.

Further, the speed reducer includes: the outer shell comprises a sleeving hole and a boss part which is convexly arranged from the inner wall of the sleeving hole to the central axis of the input shaft, and the outer shell is sleeved outside the input shaft through the sleeving hole; and a second bearing disposed between the boss portion and the input shaft, an outer peripheral surface of the second bearing abutting against the projecting end surface of the boss portion.

Further, the speed reducer includes: the external shell is sleeved on the input shaft, and a second bearing is arranged between the external shell and the input shaft; the cover body is fixedly arranged along the axial direction of the input shaft and is positioned on one side of the input shaft; and the filling piece is telescopically arranged along the axial direction of the input shaft and is clamped in a gap between the outer ring of the second bearing and the cover body.

Furthermore, the input shaft is a hollow shaft, the joint assembly further comprises a wire passing pipe penetrating through the hollow cavity of the input shaft, and the extending direction of the wire passing pipe is parallel to the axial direction of the input shaft; the wire passing pipe comprises a pipe inner layer and a pipe outer layer which is rotatably sleeved on the outer side of the pipe inner layer, and the pipe outer layer and the input shaft can be arranged in a relatively rotating mode.

Furthermore, the joint component also comprises a motor arranged in the accommodating cavity, a transmission gear is sleeved on an output shaft of the motor, and meshing teeth matched with the transmission gear are arranged on an input shaft; and/or along the axial direction of the input shaft, the accommodating cavity is divided into a first cavity part and a second cavity part, and the motor and the speed reducer are respectively positioned in the first cavity part and the second cavity part.

Further, the filling member has a ring-shaped structure.

According to another aspect of the present invention, there is provided a robot comprising the joint assembly described above.

By applying the technical scheme of the invention, the joint assembly comprises a joint shell and a speed reducer arranged in the accommodating cavity, the joint shell comprises the accommodating cavity and a positioning part arranged in the accommodating cavity, the positioning part is provided with a radial positioning surface and/or an axial positioning surface, and the speed reducer is provided with a radial limiting surface and/or an axial limiting surface; the radial positioning surface is parallel to the axial direction of an input shaft of the speed reducer and is used for being abutted against the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft and is used for being abutted against the axial limiting surface so as to position the speed reducer; the radial positioning surface and the radial limiting surface are at least one, and the at least one radial positioning surface and the at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial positioning surface and the axial limiting surface are at least one, and the at least one axial positioning surface and the at least one axial limiting surface are arranged in a one-to-one correspondence mode.

In the specific implementation process, when the speed reducer is installed in the accommodating cavity, the speed reducer is positioned in the axial direction of the input shaft and the radial direction vertical to the axial direction of the input shaft through the matching of the radial positioning surface and the radial limiting surface and/or the matching of the axial positioning surface and the axial limiting surface, so that the installation precision of the speed reducer is improved, and the problem of low installation precision of the speed reducer of the robot joint in the prior art is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic view of the joint housing and reducer of the joint assembly according to the invention in a fitted configuration;

FIG. 2 shows a schematic structural view of a joint housing of the joint assembly of FIG. 1;

fig. 3 shows an external structural view of the reducer of the joint assembly according to the present invention;

figure 4 shows a cross-sectional view at a-a of the reducer of the joint assembly of figure 3.

Wherein the figures include the following reference numerals:

10. a joint housing; 11. a housing portion; 111. an accommodating chamber; 112. a first cavity section; 113. a second cavity section;

123. a projection; 1231. a first side surface; 1232. a second side surface; 1233. a first face body; 1234. a second facet body; 124. a boss portion;

20. a speed reducer; 23. an external housing; 231. a first end face; 232. a second end face; 233. a first shell portion; 234. a second shell portion; 235. a boss portion; 24. an input shaft; 241. meshing teeth; 25. a first bearing; 251. a bearing end face; 26. a second bearing; 27. a cover body; 28. a filling member; 29. a wave generator;

30. a wire passing pipe; 31. a pipe inner layer; 32. an outer layer of the tube; 40. a motor; 50. a transmission gear.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The invention provides a joint assembly, please refer to fig. 1 to 4, the joint assembly comprises a joint housing 10 and a speed reducer 20 arranged in an accommodating cavity 111, the joint housing 10 comprises the accommodating cavity 111 and a positioning part arranged in the accommodating cavity 111, the positioning part is provided with a radial positioning surface and/or an axial positioning surface, and the speed reducer 20 is provided with a radial limiting surface and/or an axial limiting surface; the radial positioning surface is parallel to the axial direction of the input shaft 24 of the speed reducer 20 and is used for being abutted against the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft 24 and is used for being abutted against the axial limiting surface so as to position the speed reducer 20; the radial positioning surface and the radial limiting surface are at least one, and the at least one radial positioning surface and the at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial positioning surface and the axial limiting surface are at least one, and the at least one axial positioning surface and the at least one axial limiting surface are arranged in a one-to-one correspondence manner; when the radial positioning surface and the radial limiting surface are both one, the radial positioning surface is used for being abutted with the radial limiting surface; when the number of the radial positioning surfaces and the number of the radial limiting surfaces are multiple, the radial positioning surfaces and the radial limiting surfaces are arranged in a one-to-one correspondence manner, and each radial positioning surface is used for being abutted against the corresponding radial limiting surface; when the axial positioning surface and the axial limiting surface are both one, the axial positioning surface is used for being abutted against the axial limiting surface; when the axial positioning surfaces and the axial limiting surfaces are multiple, the axial positioning surfaces and the axial limiting surfaces are arranged in a one-to-one correspondence mode, and each axial positioning surface is used for being abutted to the corresponding axial limiting surface.

In the specific implementation process, when the speed reducer 20 is installed in the accommodating cavity 111, the speed reducer 20 is positioned in the axial direction of the input shaft 24 and the radial direction perpendicular to the axial direction of the input shaft 24 through the matching of the radial positioning surface and the radial limiting surface and/or the matching of the axial positioning surface and the axial limiting surface, so that the installation accuracy of the speed reducer 20 is improved, and the problem of low installation accuracy of the speed reducer of the robot joint in the prior art is solved.

Optionally, reducer 20 is a harmonic reducer.

In particular, the joint shell 10 comprises a shell portion 11 enclosing a housing cavity 111.

Specifically, the positioning portion includes a protruding portion 123 protruding on the inner wall of the accommodating cavity 111, and the speed reducer 20 includes an external housing 23 sleeved outside the input shaft 24; in the axial direction of the input shaft 24, the protruding portion 123 has a first side surface 1231 and a second side surface 1232, the outer housing 23 has a first end surface 231 and a second end surface 232, and the speed reducer 20 is located on the second side of the protruding portion 123; the second side surface 1232 is used to abut against the first end surface 231, so that the second side surface 1232 and the first end surface 231 form an axial positioning surface and an axial limiting surface, respectively.

Specifically, the exterior case 23 is cylindrical, and along the axial direction of the input shaft 24, the exterior case 23 includes a first case portion 233 and a second case portion 234 connected to each other, and the first case portion 233 is located on a side of the second case portion 234 adjacent to the protrusion 123; the outer peripheral surface of the first shell portion 233 is located on the side of the outer peripheral surface of the second shell portion 234 close to the central axis of the input shaft 24 in the direction perpendicular to the axial direction of the input shaft 24; the second side surface 1232 of the protrusion 123 is convexly provided with a protrusion 124, and the protruding direction of the protrusion 124 is parallel to the axial direction of the input shaft 24; the outer peripheral surface of the boss 124 is adapted to abut against the outer peripheral surface of the first shell portion 233, so that the outer peripheral surface of the boss 124 and the outer peripheral surface of the first shell portion 233 form a radial positioning surface and a radial positioning surface, respectively.

Specifically, the boss 124 divides the second side surface 1232 into two side surface portions, of which the side surface portion closer to the central axis of the input shaft 24 out of the two side surface portions of the second side surface 1232 of the projecting portion 123 is used to abut against the first end surface 231; an end surface of the first shell portion 233, which is away from the second shell portion 234, is a first end surface 231, and an end surface of the second shell portion 234, which is away from the first shell portion 233, is a second end surface 232.

Specifically, the second side surface 1232 includes a first surface body 1233 and a second surface body 1234 which are distributed along a direction perpendicular to the axial direction of the input shaft 24, the second surface body 1234 is located on a side of the first surface body 1233 close to the first side surface 1231 along the axial direction of the input shaft 24, and the first surface body 1233 is used for abutting against the first end surface 231; the speed reducer 20 comprises a first bearing 25 sleeved on the input shaft 24, and the outer ring of the first bearing 25 is connected with the protruding part 123; along the axial direction of the input shaft 24, the first bearing 25 has a bearing end face 251 close to the second surface body 1234, the second surface body 1234 is used for abutting against the bearing end face 251, and the bearing end face 251 forms an axial limiting face.

Specifically, the boss 124 divides the second side surface 1232 into two side surface portions, and the side surface portion of the two side surface portions of the second side surface 1232 of the projecting portion 123 close to the central axis of the input shaft 24 includes the first surface body 1233 and the second surface body 1234.

Specifically, the speed reducer 20 includes an outer housing 23 fitted over the input shaft 24, and a second bearing 26 is disposed between the outer housing 23 and the input shaft 24.

Specifically, the external housing 23 includes a sleeving hole and a boss portion 235 protruding from an inner wall of the sleeving hole toward a central axis of the input shaft 24, and the external housing 23 is sleeved outside the input shaft 24 through the sleeving hole; the second bearing 26 is provided between the boss portion 235 and the input shaft 24, and the outer peripheral surface of the second bearing 26 abuts against the projecting end surface of the boss portion 235.

Specifically, the speed reducer 20 further includes a cover 27 and a filler 28, which are fixedly disposed, and the cover 27 is located on one side of the input shaft 24 along the axial direction of the input shaft 24; the filler 28 is telescopically arranged in the axial direction of the input shaft 24 and is interposed in a gap between the outer ring of the second bearing 26 and the cover 27.

Optionally, the cover 27 is a reducer rear cover.

Alternatively, the filler 28 may be extended and contracted by a maximum amount of 1 mm to 3 mm in the axial direction of the input shaft 24.

In this embodiment, the input shaft 24 is a hollow shaft, the joint assembly further includes a wire passing pipe 30 inserted into the hollow cavity of the input shaft 24, the wire passing pipe 30 is used for a cable to be inserted, and the extending direction of the wire passing pipe 30 is parallel to the axial direction of the input shaft 24, so that the overall volume of the speed reducer 20 can be reduced, and the occupied space thereof can be reduced.

Specifically, the wire tube 30 passes through the cover 27, so the filling member 28 is a ring structure that is sleeved on the wire tube 30. Optionally, the filler 28 is a wave washer.

Specifically, the line passing pipe 30 includes a pipe inner layer 31 and a pipe outer layer 32 rotatably sleeved outside the pipe inner layer 31, and the pipe outer layer 32 and the input shaft 24 are relatively rotatably disposed so that the pipe inner layer 31 is kept stationary when the pipe outer layer 32 rotates; the lumen of the inner layer 31 of the tube is used for the cable to penetrate through, and the inner layer 31 of the tube and the cable in the inner layer are relatively static, so that the cable is prevented from being abraded.

Specifically, the outer tube layer 32 is fixedly connected to the cover 27, and the outer tube layer 32 is in clearance fit with the input shaft 24, so that the outer tube layer 32 and the input shaft 24 can rotate relatively, i.e., the outer tube layer 32 does not rotate with the input shaft 24.

Specifically, the inner tube layer 31 and the outer tube layer 32 are clearance fit to allow relative rotation between the inner tube layer 31 and the outer tube layer 32.

In this embodiment, the joint assembly further includes a motor 40 disposed in the accommodating cavity 111, a transmission gear 50 is sleeved on an output shaft of the motor 40, and a meshing tooth 241 matched with the transmission gear 50 is disposed on the input shaft 24, so that the output shaft of the motor 40 drives the input shaft 24 to rotate through meshing of the transmission gear 50 and the meshing tooth 241 on the input shaft 24.

Alternatively, the input shaft 24 is of unitary construction with the meshing teeth 241 thereon.

Specifically, the accommodation chamber 111 is divided into a first chamber portion 112 and a second chamber portion 113 in the axial direction of the input shaft 24, and the motor 40 and the speed reducer 20 are located in the first chamber portion 112 and the second chamber portion 113, respectively.

Specifically, the input shaft 24 is provided with a wave generator 29, the input shaft 24 drives the wave generator 29 to rotate, an elliptical cam in the wave generator 29 rotates in a flexible gear to deform the flexible gear, and when flexible gear teeth and rigid gear teeth at two ends of a long shaft of the elliptical cam of the wave generator 29 are engaged, the flexible gear teeth and the rigid gear teeth at two ends of the short shaft are disengaged; for the teeth between the major and minor axes of the wave generator 29, in a semi-engaged state gradually entering into engagement, called meshing, in different sections along the circumferences of the flexible gear and the rigid gear; in a half-engaged state where the engagement is gradually released, it is called a mesh-out. When the wave generator 29 rotates continuously, the flexible gear deforms continuously, so that the four motions of meshing, meshing and disengaging of the flexible gear teeth and the rigid gear teeth are changed continuously, staggered-tooth motion is generated, and the motion transmission from the wave generator 29 to the flexible gear is realized. The rigid wheel is fixedly arranged, and a gap is formed between the outer wall surface of the rigid wheel and the inner wall surface of the outer casing 23.

Specifically, a first bearing 25 and a second bearing 26 are located at both ends of the input shaft 24, respectively.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

in the joint assembly of the present invention, the joint assembly includes a joint housing 10 and a speed reducer 20 disposed in the accommodating cavity 111, the joint housing 10 includes the accommodating cavity 111 and a positioning portion disposed in the accommodating cavity 111, the positioning portion has a radial positioning surface and/or an axial positioning surface, and the speed reducer 20 has a radial limiting surface and/or an axial limiting surface; the radial positioning surface is parallel to the axial direction of the input shaft 24 of the speed reducer 20 and is used for being abutted against the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft 24 and is used for being abutted against the axial limiting surface so as to position the speed reducer 20; the radial positioning surface and the radial limiting surface are at least one, and the at least one radial positioning surface and the at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial positioning surface and the axial limiting surface are at least one, and the at least one axial positioning surface and the at least one axial limiting surface are arranged in a one-to-one correspondence mode.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A joint assembly, comprising:

the joint shell (10) comprises an accommodating cavity (111) and a positioning part arranged in the accommodating cavity (111), wherein the positioning part is provided with a radial positioning surface and/or an axial positioning surface;

the speed reducer (20) is arranged in the accommodating cavity (111), and the speed reducer (20) is provided with a radial limiting surface and/or an axial limiting surface;

the radial positioning surface is parallel to the axial direction of an input shaft (24) of the speed reducer (20) and is used for being abutted against the radial limiting surface, and/or the axial positioning surface is perpendicular to the axial direction of the input shaft (24) and is used for being abutted against the axial limiting surface so as to position the speed reducer (20);

the radial positioning surface and the radial limiting surface are at least one, and at least one radial positioning surface and at least one radial limiting surface are arranged in a one-to-one correspondence manner; the axial positioning surface and the axial limiting surface are at least one, and at least one axial positioning surface and at least one axial limiting surface are arranged in a one-to-one correspondence mode.

2. The joint assembly according to claim 1, wherein the positioning portion comprises a protrusion (123) protruding on an inner wall of the accommodating chamber (111), and the speed reducer (20) comprises an external housing (23) fitted over an outer side of the input shaft (24);

in the axial direction of the input shaft (24), the protrusion (123) has a first side surface (1231) and a second side surface (1232), the outer housing (23) has a first end surface (231) and a second end surface (232), and the speed reducer (20) is located on the second side of the protrusion (123); the second side surface (1232) is used for being abutted to the first end surface (231) so that the second side surface (1232) and the first end surface (231) form the axial positioning surface and the axial limiting surface respectively.

3. The joint assembly according to claim 2, wherein the outer housing (23) is cylindrical, and in the axial direction of the input shaft (24), the outer housing (23) includes a first housing portion (233) and a second housing portion (234) connected to each other, and the first housing portion (233) is located on a side of the second housing portion (234) adjacent to the projection (123); an outer peripheral surface of the first casing portion (233) is located on a side of an outer peripheral surface of the second casing portion (234) close to a central axis of the input shaft (24) in a direction perpendicular to an axial direction of the input shaft (24);

a second side surface (1232) of the protruding part (123) is convexly provided with a protruding part (124), and the protruding direction of the protruding part (124) is parallel to the axial direction of the input shaft (24); the outer peripheral surface of the boss (124) is used for being abutted against the outer peripheral surface of the first shell part (233), so that the outer peripheral surface of the boss (124) and the outer peripheral surface of the first shell part (233) form the radial positioning surface and the radial limiting surface respectively.

4. Joint assembly according to claim 2, wherein the second side (1232) comprises a first (1233) and a second (1234) profile distributed along a direction perpendicular to the axial direction of the input shaft (24), the second profile (1234) being located on the side of the first profile (1233) close to the first side (1231) along the axial direction of the input shaft (24), the first profile (1233) being intended to abut against the first end face (231);

the speed reducer (20) comprises a first bearing (25) sleeved on the input shaft (24), and the outer ring of the first bearing (25) is connected with the protruding part (123); the first bearing (25) is provided with a bearing end surface (251) close to the second surface body (1234) along the axial direction of the input shaft (24), the second surface body (1234) is used for being abutted with the bearing end surface (251), and the bearing end surface (251) forms the axial limiting surface.

5. Joint assembly according to claim 1, wherein the reducer (20) comprises:

the outer shell (23), the outer shell (23) includes a sleeve hole and a boss part (235) protruding from the inner wall of the sleeve hole toward the central axis of the input shaft (24), and the outer shell (23) is sleeved outside the input shaft (24) through the sleeve hole;

and a second bearing (26), wherein the second bearing (26) is provided between the boss portion (235) and the input shaft (24), and an outer peripheral surface of the second bearing (26) abuts against a protruding end surface of the boss portion (235).

6. Joint assembly according to claim 1, wherein the reducer (20) comprises:

an external casing (23) sleeved on the input shaft (24), wherein a second bearing (26) is arranged between the external casing (23) and the input shaft (24);

a cover body (27) fixedly arranged, wherein the cover body (27) is positioned on one side of the input shaft (24) along the axial direction of the input shaft (24);

a filler (28), wherein the filler (28) is telescopically arranged along the axial direction of the input shaft (24) and is clamped in a gap between the outer ring of the second bearing (26) and the cover body (27).

7. The joint assembly according to claim 1, wherein the input shaft (24) is a hollow shaft, the joint assembly further comprises a wire passing pipe (30) arranged in the hollow cavity of the input shaft (24), and the extending direction of the wire passing pipe (30) is parallel to the axial direction of the input shaft (24);

the wire passing pipe (30) comprises a pipe inner layer (31) and a pipe outer layer (32) which is rotatably sleeved on the outer side of the pipe inner layer (31), and the pipe outer layer (32) and the input shaft (24) can be arranged in a relatively rotating mode.

8. Joint assembly according to claim 1, further comprising a motor (40) arranged in said housing cavity (111),

a transmission gear (50) is sleeved on an output shaft of the motor (40), and meshing teeth (241) matched with the transmission gear (50) are arranged on the input shaft (24); and/or

The accommodating cavity (111) is divided into a first cavity part (112) and a second cavity part (113) along the axial direction of the input shaft (24), and the motor (40) and the speed reducer (20) are respectively positioned in the first cavity part (112) and the second cavity part (113).

9. Joint assembly according to claim 6, wherein the filler (28) is of annular configuration.

10. A robot comprising a joint assembly according to any one of claims 1 to 9.