Assembly having joint-connected members and robot including the same

A robot comprising an assembly, the assembly comprising:

• a first member;
• a second member rotatably connected to the first member to construct a robot joint structure;
• a driving assembly arranged within the first member;
• a speed reducer assembly configured to rotatably connect the first member to the second member;
• and
• a belt drive assembly connected to the driving assembly and the speed reducer assembly, the belt drive assembly being configured to transmit rotary motion from the driving assembly to the speed reducer assembly, thereby rotating the first member with respect to the second member;
• wherein the speed reducer assembly comprises a speed reducer comprising an input shaft and an output component, and a connecting member connected to the speed reducer, the driven pulley is mounted on the input shaft, and the output component is connected to the second member through the connecting member;
• wherein the speed reducer is a harmonic drive and comprises an end cap, the input shaft, a wave generator arranged around the input shaft, a flex spline arranged around the wave generator, a circular spline arranged around the flex spline, an outer casing arranged around the circular spline, and an output bearing fixed to the flex spline, one end of the input shaft extends outside the end cap, and the end cap is fixed to the first member;
• wherein the driven pulley is fixed to the end of the input shaft extending outside the end cap, a rotating bearing is mounted at an inner side of the end cap, and the rotating bearing is arranged around the input shaft;
• and
• wherein the connecting member comprises a main sleeve that accommodates the speed reducer therein and a connecting sleeve that extends from one end of the main sleeve away from the speed reducer, a wall is formed at one end of the connecting sleeve, the output bearing is fixed to the wall.

An assembly of a robot, comprising:

• a first member;
• a second member connected to the first member to construct a robot joint structure and rotatable about a first rotational axis relative to the first member;
• a speed reducer assembly configured to rotatably connect the first member to the second member, comprising a first end and a second end opposite to each other;
• a driving assembly arranged within the first member and arranged separately from the speed reducer assembly;
• a belt drive assembly connected to the driving assembly and the first end of the speed reducer assembly, the belt drive assembly being configured to transmit rotary motion from the driving assembly to the speed reducer assembly, thereby rotating the first member with respect to the second member;
• and
• a detection unit for detecting a rotation angle of the first member with respect to the second member, the detection unit being disposed at the second end of the speed reducer assembly and disposed separately from the driving assembly.