Joint housing, joint assembly and robot

Abstract

The present invention provides a joint housing, a joint assembly, and a robot. The joint housing includes a first joint housing, a second joint housing, and a connecting component. The connecting component is arranged between the first joint housing and the second joint housing. The connecting component and the first joint housing form a first cavity for installing a motor. The connecting component and the second joint housing form a second cavity for installing a reducer. The connecting component is used to connect to both the motor and the reducer. When the axial dimension of the reducer changes, only the axial dimension of the connecting component needs to be changed, and the axial dimensions of the second joint housing and the first joint housing do not need to be changed. This not only improves the versatility of the second joint housing and the first joint housing, but also solves the problem of poor versatility of joint housings in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a joint housing, a joint assembly and a robot. Background Art

[0002] In existing industrial robots, the structure of the connection between two joints is in the form of "one joint, a reducer, a flange, and another joint".

[0003] like Figure 1 and Figure 2 As shown, in the joint assembly in the prior art, the J1 joint housing 310 and the J2 joint housing 320 are connected to each other and form an installation cavity 330, the motor 340 is arranged on the outside of the installation cavity 330, and the reducer 350 is arranged in the installation cavity 330, the output end of the reducer 350 is connected to the J1 joint housing 310, and the input end of the reducer 350 is connected to the motor 340 through the flange 360, and the flange 360 is connected to the J2 joint housing 320.

[0004] On the one hand, the axial dimension of the flange 360 is relatively large; on the other hand, the external dimensions of reducers of different brands are different, that is, when the axial dimension of the reducer 350 changes, the axial dimensions of the J1 joint housing 310 and the flange 360 need to be changed, which not only causes the versatility of the J1 joint housing 310 to be poor, but also causes waste of materials, resulting in higher processing costs; among them, the axial direction of the reducer 350, the axial direction of the J1 joint housing 310, the axial direction of the flange 360 and the axial direction of the motor 340 are all the same.

[0005] In addition, the motor 340 is connected to the reducer 350 through the flange 360 and is installed above the reducer 350, so that the load of the reducer 350 is relatively large. Summary of the Invention

[0006] The main purpose of the present invention is to provide a joint housing, a joint assembly and a robot to solve the problem of poor versatility of the joint housing in the prior art.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a joint housing is provided, which includes: a first joint housing; a second joint housing; a connecting component, the connecting component is arranged between the first joint housing and the second joint housing, the connecting component and the first joint housing form a first cavity for installing the motor, the connecting component and the second joint housing form a second cavity for installing the reducer, and the connecting component is used to connect to both the motor and the reducer.

[0008] Furthermore, the connecting component includes a first connecting member and a second connecting member connected to each other, the first connecting member is connected to the first joint housing and encloses a first cavity, the second connecting member is connected to the second joint housing, and the second joint housing, the second connecting member and the first connecting member together enclose a second cavity.

[0009] Furthermore, the second connecting member is a cylindrical structure with openings at both ends, the first connecting member has an annular groove, one end of the second connecting member is clamped in the annular groove, and the other end of the second connecting member is connected to the second joint housing; and / or the first connecting member includes a connecting body and a first annular protrusion protruding from the connecting body, the first joint housing includes a shell body with a cylindrical structure, and the first protrusion is inserted in the cylindrical cavity of the shell body.

[0010] Further, the first connecting member includes a second protrusion and a third protrusion, both of which are annular, the second protrusion is located in the annular hole of the third protrusion and is spaced apart from the third protrusion, so that an annular groove is formed between the outer wall of the second protrusion and the inner wall of the third protrusion; and / or the first end of the shell body is an open end, and the first joint shell also includes a fixing portion mounted on the outside of the shell body, so that when the first protrusion is inserted into the first end of the shell body, the fixing portion is connected to the connecting body.

[0011] Furthermore, the first connecting member includes a connecting body with a plate-like structure, and the two plate surfaces of the connecting body are used to enclose the first cavity and the second cavity respectively; and / or the first connecting member includes a fourth annular protrusion, and at least part of the reducer is clamped in the annular hole of the fourth protrusion.

[0012] Furthermore, the input end of the reducer is clamped in the annular hole of the fourth protrusion, and the outer wall of the reducer is protruding with a first flange portion, and the second fastener is passed through the first flange portion and the fourth protrusion to ensure relative fixation between the reducer and the first connecting member; and / or the outer wall of the motor is protruding with a second flange portion, and the third fastener is passed through the second flange portion and the connecting body to ensure relative fixation between the motor and the first connecting member.

[0013] Furthermore, the motor and the first joint housing are spaced apart; and / or the output end of the reducer is connected to the second joint housing via a flange.

[0014] Furthermore, the connecting body is any one of a circular plate, a polygonal plate, and an irregularly shaped plate; and / or an avoidance hole is provided on the connecting body, the avoidance hole is connected to the first cavity and to the second cavity, and the output shaft of the motor passes through the avoidance hole to be connected to the input end of the reducer.

[0015] According to another aspect of the present invention, a joint assembly is provided, which includes a motor, a reducer and the above-mentioned joint housing.

[0016] According to yet another aspect of the present invention, a robot is provided, comprising the above-mentioned joint assembly.

[0017] Applying the technical solution of the present invention, the joint housing includes a first joint housing, a second joint housing and a connecting component, the connecting component is arranged between the first joint housing and the second joint housing, the connecting component is connected to the first joint housing and to the second joint housing, the connecting component and the first joint housing form a first cavity for installing the motor, the connecting component and the second joint housing form a second cavity for installing the reducer, and the connecting component is used to connect to both the motor and the reducer to fix the motor and the reducer.

[0018] When the axial dimension of the reducer changes, only the axial dimension of the connecting component needs to be changed, and there is no need to change the axial dimensions of the second joint housing and the first joint housing. This not only improves the versatility of the second joint housing and the first joint housing, but also solves the problem of poor versatility of the joint housing in the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 A schematic diagram of the external structure of a joint assembly in the prior art is shown;

[0021] Figure 2 Shown Figure 1 A cross-sectional view at AA in FIG;

[0022] Figure 3 A schematic diagram of the external structure of a joint assembly according to the present invention is shown;

[0023] Figure 4 Shown Figure 3 A cross-sectional view at BB in FIG;

[0024] Figure 5 A schematic structural diagram of a first connecting member of a joint assembly according to the present invention is shown;

[0025] Figure 6 Shown Figure 5 A longitudinal sectional view of the first connecting member of the joint assembly.

[0026] The above drawings include the following reference numerals:

[0027] 10. First joint housing; 111. Housing body; 112. Fixing portion; 113. End cover; 114. Fifth connecting hole; 20. Second joint housing; 30. First connecting member; 31. Connecting body; 32. First protrusion; 33. Second protrusion; 34. Third protrusion; 35. Fourth protrusion; 351. Second connecting hole; 36. Fourth connecting hole; 37. Avoidance hole; 38. Sixth connecting hole; 39. Annular groove; 40. Second connecting member; 51. First cavity; 52. Second cavity

[0028] 210, motor; 211, second flange; 212, third connection hole; 220, reducer; 221, first flange; 222, first connection hole; 230, flange;

[0029] 310, J1 joint housing; 320, J2 joint housing; 330, mounting cavity; 340, motor; 350, reducer; 360, flange. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] The present invention provides a joint housing, please refer to Figures 3 to 6 The joint housing includes a first joint housing 10, a second joint housing 20 and a connecting component. The connecting component is arranged between the first joint housing 10 and the second joint housing 20. The connecting component is connected to the first joint housing 10 and the second joint housing 20. The connecting component and the first joint housing 10 form a first cavity 51 for installing the motor 210. The connecting component and the second joint housing 20 form a second cavity 52 for installing the reducer 220. The connecting component is used to connect to both the motor 210 and the reducer 220 to fix the motor 210 and the reducer 220.

[0034] When the axial dimension of the reducer 220 changes, it is only necessary to change the axial dimension of the connecting component, and there is no need to change the axial dimensions of the second joint housing 20 and the first joint housing 10. This not only improves the versatility of the second joint housing 20 and the first joint housing 10, but also solves the problem of poor versatility of the joint housing in the prior art; and since the connecting component is a rotating part, the manufacturing process is relatively convenient, and the amount of precious materials used in the connecting component is less than the amount of precious materials used in the joint housing, so it can reduce material waste and reduce costs.

[0035] Among them, the axial direction of the motor 210, the axial direction of the reducer 220, the axial direction of the first joint housing 10, the axial direction of the second joint housing 20 and the axial direction of the connecting component are all the same. The axial direction of the reducer 220 refers to the direction from the input end to the output end of the reducer 220. The input end of the reducer 220 is the input end of the main body of the reducer 220, and the output end of the reducer 220 is the output end of the main body of the reducer 220.

[0036] In this embodiment, the connecting parts include a first connecting member 30 and a second connecting member 40 connected to each other, the first connecting member 30 is connected to the first joint housing 10 and forms a first cavity 51, the second connecting member 40 is connected to the second joint housing 20, and the second joint housing 20, the second connecting member 40 and the first connecting member 30 together form a second cavity 52.

[0037] Specifically, the second connecting member 40 is a cylindrical structure with openings at both ends. The first connecting member 30 has an annular groove 39. One end of the second connecting member 40 is clamped in the annular groove 39, and the other end of the second connecting member 40 is connected to the second joint housing 20. The second connecting member 40 is used as a sealing component to prevent dust, sand, etc. in the external environment from entering the second cavity 52 and affecting the performance of the reducer 220.

[0038] Specifically, the first connecting member 30 includes a second protrusion 33 and a third protrusion 34, both of which are annular. The second protrusion 33 is located in the annular hole of the third protrusion 34 and is spaced apart from the third protrusion 34 so that an annular groove 39 is formed between the outer wall of the second protrusion 33 and the inner wall of the third protrusion 34.

[0039] Specifically, the first connecting member 30 includes a connecting body 31 , and the second protruding portion 33 and the third protruding portion 34 are both provided on the connecting body 31 .

[0040] Specifically, the first connecting member 30 also includes a first annular protrusion 32 protruding from the connecting body 31. The first joint housing 10 includes a shell body 111 with a cylindrical structure. The first protrusion 32 is inserted into the cylindrical cavity of the shell body 111, and the outer wall of the first protrusion 32 contacts the inner wall of the shell body 111.

[0041] Specifically, the connecting body 31 is a plate-like structure, and the two plate surfaces of the connecting body 31 are used to enclose the first cavity 51 and the second cavity 52 respectively; that is, the first protrusion 32 is arranged on one plate surface of the connecting body 31, and the second protrusion 33 and the third protrusion 34 are both arranged on the other plate surface of the connecting body 31.

[0042] Optionally, the connecting body 31 is any one of a circular plate, a polygonal plate, and an irregularly shaped plate.

[0043] Optionally, the second connecting member 40 is made of rubber, so that the second connecting member 40 has the characteristics of light weight and easy processing.

[0044] In this embodiment, the first end of the shell body 111 is an open end, and the first joint housing 10 further includes a fixing portion 112 sleeved on the outside of the shell body 111 so that when the first protrusion 32 is inserted into the first end of the shell body 111, the fixing portion 112 is connected to the connecting body 31.

[0045] Specifically, the fixing portion 112 contacts the connecting body 31 , that is, the contact surface of the fixing portion 112 facing the connecting body 31 is flush with the first end surface of the shell body 111 .

[0046] Specifically, the fixing portion 112 is an annular plate.

[0047] Specifically, the first fastener is passed through the fixing portion 112 and the connecting body 31 so as to relatively fix the fixing portion 112 and the connecting body 31 .

[0048] Specifically, a fifth connection hole 114 is provided on the fixing portion 112 , a sixth connection hole 38 is provided on the connection body 31 , and the first fastener is passed through the fifth connection hole 114 and the sixth connection hole 38 .

[0049] Optionally, the fifth connection hole 114 and the sixth connection hole 38 are both through holes, the first fastener is a bolt, and the fixing portion 112 and the connecting body 31 are relatively fixed by sleeve-fitting a nut on the first fastener.

[0050] Optionally, the fixing portion 112 is an annular structure, the first fasteners are multiple, the fifth connection holes 114 and the sixth connection holes 38 are multiple, the multiple fifth connection holes 114 and the multiple sixth connection holes 38 are each provided in a one-to-one correspondence with the multiple first fasteners, each first fastener is inserted into a corresponding fifth connection hole 114 and a corresponding sixth connection hole 38, and the multiple fifth connection holes 114 are spaced apart along the circumference of the fixing portion 112. Specifically, the first joint housing 10 further includes an end cap portion 113 provided at the second end of the housing body 111.

[0051] In this embodiment, the first connecting member 30 includes a fourth annular protrusion 35 , and at least a portion of the reducer 220 is clamped in the annular hole of the fourth protrusion 35 .

[0052] Specifically, the fourth protrusion 35 is provided on the connecting body 31 , and the fourth protrusion 35 , the second protrusion 33 , and the third protrusion 34 are all located on the same plate surface of the connecting body 31 .

[0053] Specifically, the input end of the reducer 220 is clamped in the annular hole of the fourth protrusion 35 .

[0054] Specifically, a first flange portion 221 is protruded from the outer wall of the reducer 220 , and the reducer 220 and the first connecting member 30 are relatively fixed by passing the second fastener through the first flange portion 221 and the fourth protruding portion 35 .

[0055] Specifically, the first flange portion 221 abuts against the fourth protruding portion 35 .

[0056] Specifically, a first connection hole 222 is provided on the first flange portion 221 , a second connection hole 351 is provided on the fourth protruding portion 35 , and the second fastener is inserted into the first connection hole 222 and the second connection hole 351 .

[0057] Optionally, the first connection hole 222 is a through hole, the second connection hole 351 is a threaded hole, and the second fastener is a bolt.

[0058] Optionally, the first flange portion 221 is an annular structure, there are multiple second fasteners, there are multiple first connection holes 222 and multiple second connection holes 351, the multiple first connection holes 222 and the multiple second connection holes 351 are arranged in a one-to-one correspondence with the multiple second fasteners, each second fastener is passed through the corresponding first connection hole 222 and the corresponding second connection hole 351, and the multiple first connection holes 222 are distributed at circumferential intervals along the first flange portion 221.

[0059] Specifically, the output end of the reducer 220 is connected to the second joint housing 20 via a flange 230. The joint housing of the present application can reduce the axial dimension of the flange 230, i.e., the thickness of the flange 230 is reduced, thereby reducing the material used for the flange 230; wherein, the axial direction of the flange 230 is the same as the axial direction of the reducer 220.

[0060] Specifically, bolts are sequentially passed through the reducer 220 , the flange 230 and the second joint housing 20 , so that the reducer 220 , the flange 230 and the second joint housing 20 are relatively fixed.

[0061] In this embodiment, a second flange portion 211 is protruded from the outer wall of the motor 210 , and the motor 210 and the first connector 30 are relatively fixed by passing a third fastener through the second flange portion 211 and the connecting body 31 .

[0062] Specifically, the second flange portion 211 is in contact with the connection body 31 .

[0063] Specifically, a third connection hole 212 is provided on the second flange portion 211 , a fourth connection hole 36 is provided on the connection body 31 , and the third fastener is passed through the third connection hole 212 and the fourth connection hole 36 .

[0064] Optionally, the third connection hole 212 is a through hole, the fourth connection hole 36 is a threaded hole, and the third fastener is a bolt.

[0065] Optionally, the second flange portion 211 is an annular structure, there are multiple third fasteners, there are multiple third connecting holes 212 and multiple fourth connecting holes 36, the multiple third connecting holes 212 and the multiple fourth connecting holes 36 are arranged in a one-to-one correspondence with the multiple third fasteners, each third fastener is passed through the corresponding third connecting hole 212 and the corresponding fourth connecting hole 36, and the multiple third connecting holes 212 are distributed at intervals along the circumference of the second flange portion 211.

[0066] Optionally, a plurality of fourth connection holes 36 are located inside the fourth protruding portion 35 .

[0067] Specifically, a circumvention hole 37 is provided on the connecting body 31 , the first cavity 51 and the second cavity 52 are both connected to the circumvention hole 37 , and the output shaft of the motor 210 passes through the circumvention hole 37 to be connected to the input end of the reducer 220 .

[0068] Specifically, if Figure 4 As shown, the first cavity 51 is located below the second cavity 52, that is, the motor 210 is located below the reducer 220, as shown in FIG. Figure 1 and Figure 2As shown, compared with the prior art in which the motor 340 is located above the reducer 350, the present application can reduce the load of the reducer 220, which is beneficial to improving the carrying capacity of the robot having the joint housing of the present application.

[0069] It should be noted that when using the joint housing of the present application, when the axial dimension of the reducer 220 changes, it is only necessary to change the axial dimensions of the second connecting member 40 and the flange 230, and change the axial dimension of the fourth protrusion 35 of the first connecting member 30. The axial direction of the fourth protrusion 35 and the axial direction of the second connecting member 40 are the same as the axial direction of the reducer 220. The first connecting member 30, the second connecting member 40 and the flange 230 are all rotating parts, and the manufacturing process is relatively convenient. The amount of precious materials used in the first connecting member 30, the second connecting member 40 and the flange 230 is less than the amount of precious materials used in the joint housing, so it can reduce material waste and reduce costs.

[0070] Specifically, in the prior art, Figure 1 and Figure 2 As shown, since the motor 340 is connected to the flange 360, and the flange 360 is connected to the J2 joint housing 320, when the joint is in motion, the motor 340 will move accordingly, and the cable interface of the motor 340 will also move, which will cause the cable to be entangled in the machine, thereby restricting the operation of the joint and affecting the operation of the joint; In this application, as Figure 4 As shown, the motor 210 is connected to the connecting body 31, and the motor 210 is spaced apart from the first joint housing 10, that is, the motor 210 is spaced apart from the end cover 113; in this way, the motor 340 will not move with the operation of the joint, so the cable interface position of the motor 340 remains unchanged, and the cable will not be entangled on the machine, thereby not affecting the operation of the joint.

[0071] The present invention further provides a joint assembly, which includes a motor 210, a reducer 220 and the above-mentioned joint housing.

[0072] The present invention also provides a robot comprising the above-mentioned joint assembly.

[0073] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0074] In the joint housing provided by the present invention, the joint housing includes a first joint housing 10, a second joint housing 20 and a connecting component, the connecting component is arranged between the first joint housing 10 and the second joint housing 20, the connecting component is connected to the first joint housing 10 and to the second joint housing 20, the connecting component and the first joint housing 10 form a first cavity 51 for installing the motor 210, the connecting component and the second joint housing 20 form a second cavity 52 for installing the reducer 220, and the connecting component is used to connect to both the motor 210 and the reducer 220 to fix the motor 210 and the reducer 220.

[0075] When the axial dimension of the reducer 220 changes, only the axial dimension of the connecting component needs to be changed, and there is no need to change the axial dimensions of the second joint housing 20 and the first joint housing 10. This not only improves the versatility of the second joint housing 20 and the first joint housing 10, but also solves the problem of poor versatility of the joint housing in the prior art.

[0076] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0077] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0078] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A joint housing, characterized in that: include: A first joint housing (10); A second joint housing (20); a connecting component, the connecting component being arranged between the first joint housing (10) and the second joint housing (20), the connecting component and the first joint housing (10) enclosing a first cavity (51) for installing a motor (210), the connecting component and the second joint housing (20) enclosing a second cavity (52) for installing a reducer (220), the connecting component being used to connect to both the motor (210) and the reducer (220); The connecting component comprises a first connecting member (30) and a second connecting member (40) connected to each other, the first connecting member (30) being connected to the first joint housing (10) and enclosing the first cavity (51), the second connecting member (40) being connected to the second joint housing (20), and the second joint housing (20), the second connecting member (40) and the first connecting member (30) jointly enclosing the second cavity (52); The second connecting member (40) is a cylindrical structure with two ends being open. The first connecting member (30) has an annular groove (39). One end of the second connecting member (40) is clamped in the annular groove (39). The other end of the second connecting member (40) is connected to the second joint housing (20). The first connecting member (30) includes a connecting body (31) with a plate-like structure and a first annular protrusion (32) protruding from the connecting body (31). The first joint housing (10) includes a shell body (111) with a cylindrical structure. The first protrusion (32) is inserted into the cylindrical cavity of the shell body (111). The two plate surfaces of the connecting body (31) are used to enclose the first cavity (51) and the second cavity (52) respectively.

2. The joint housing according to claim 1, characterized in that: The first connecting member (30) comprises a second protrusion (33) and a third protrusion (34), the second protrusion (33) and the third protrusion (34) both being annular, the second protrusion (33) being located in the annular hole of the third protrusion (34) and being spaced apart from the third protrusion (34), so that the annular groove (39) is formed between the outer wall of the second protrusion (33) and the inner wall of the third protrusion (34); and / or The first end of the shell body (111) is an open end, and the first joint housing (10) further comprises a fixing portion (112) sleeved on the outside of the shell body (111), so that when the first protrusion (32) is inserted into the first end of the shell body (111), the fixing portion (112) is connected to the connecting body (31).

3. The joint housing according to claim 1, characterized in that: The first connecting member (30) comprises a fourth annular protrusion (35), and at least a portion of the reducer (220) is clamped in the annular hole of the fourth protrusion (35).

4. The joint housing according to claim 3, characterized in that: The input end of the reducer (220) is clamped in the annular hole of the fourth protrusion (35), and a first flange portion (221) is protruded from the outer wall of the reducer (220), and the reducer (220) and the first connecting member (30) are relatively fixed by passing a second fastener through the first flange portion (221) and the fourth protrusion (35); and / or A second flange portion (211) is protruded from the outer wall of the motor (210), and a third fastener is passed through the second flange portion (211) and the connecting body (31) to relatively fix the motor (210) and the first connecting member (30).

5. The joint housing according to claim 1, characterized in that: The motor (210) and the first joint housing (10) are arranged at intervals; and / or The output end of the reducer (220) is connected to the second joint housing (20) via a flange (230).

6. The joint housing according to claim 1 or 3, characterized in that: The connecting body (31) is a circular plate or a polygonal plate; and / or The connecting body (31) is provided with a relief hole (37), the relief hole (37) being in communication with the first cavity (51) and the second cavity (52), and the output shaft of the motor (210) passes through the relief hole (37) to be connected to the input end of the reducer (220).

7. A joint assembly, characterized in that: It comprises a motor (210), a reducer (220), and a joint housing according to any one of claims 1 to 6.

8. A robot, characterized in that: Comprising the joint assembly according to claim 7.

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