Joint assembly of robot and robot
By installing an annular seal between the reducer and the mounting components, the problem of easy damage to the reducer is solved, resulting in better sealing and service life.
Patent Information
- Application Number
- CN202423059536.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-10
- Publication Date
- 2025-10-31
- Estimated Expiration
- 2034-12-10
AI Technical Summary
The gap between the reducer and the mounting parts in the robot's joint assembly causes grease to leak out, resulting in insufficient lubrication of the reducer and easy damage.
An annular seal is installed between the reducer and the mounting components to seal the fit and prevent grease from spreading, thereby enhancing the sealing performance.
This reduces oil leakage in the speed reducer, lowers the probability of speed reducer damage, and improves the sealing performance and service life of the joint components.
Smart Images
Figure CN223493289U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of robot sealing technology, specifically relating to a joint component of a robot and the robot itself. Background Technology
[0002] Currently, robots are widely used in various industries, such as spraying, grinding, welding and food processing, where robots can replace human labor and thus save labor costs.
[0003] In related technologies, the joint components of a robot include a mounting component and a reducer that are docked together. The reducer has an oil inlet at the end facing the mounting component, and the mounting component has an oil inlet channel, one end of which faces and connects to the oil inlet. In this design, because there is a gap between the reducer and the mounting component—that is, at the docking point—grease inside the reducer can leak into this gap from the oil inlet, resulting in insufficient lubrication inside the reducer and making it prone to damage. Utility Model Content
[0004] The purpose of this application is to provide a joint assembly for a robot and a robot in general, which can solve the problem of easy damage to reducers in related technologies.
[0005] In a first aspect, embodiments of this application provide a joint assembly for a robot, including: a reducer and a first mounting component that are docked together, wherein the reducer has an oil inlet at one end facing the first mounting component, the first mounting component has an oil inlet channel, and the oil outlet of the oil inlet channel is disposed facing the oil inlet and connected to the oil inlet;
[0006] A first annular seal is disposed between the reducer and the first mounting component, and is in sealing fit with both the reducer and the first mounting component, and is arranged around the oil inlet.
[0007] Secondly, embodiments of this application provide a robot that includes the joint components described above.
[0008] In this embodiment, a first annular seal is disposed between the reducer and the first mounting component, and is in sealing fit with both the reducer and the first mounting component. The first annular seal surrounds the oil inlet. With this arrangement, when grease moves to the position of the first annular seal, the seal prevents the grease from continuing to diffuse in the gap between the first mounting component and the reducer, thereby reducing oil leakage from the reducer and consequently lowering the probability of damage to the reducer. Attached Figure Description
[0009] Figure 1This is a first cross-sectional view of the joint assembly disclosed in an embodiment of this application;
[0010] Figure 2 This is a second cross-sectional view of the joint assembly disclosed in an embodiment of this application.
[0011] Explanation of reference numerals in the attached figures:
[0012] 100 - Reducer, 110 - Oil inlet, 120 - Output component, 130 - Second gear;
[0013] 200 - First mounting component, 210 - Oil injection channel, 211 - Oil outlet, 220 - Receiving cavity;
[0014] 301-First annular seal, 302-Second annular seal, 303-Third annular seal, 304-Fourth annular seal, 305-Fifth annular seal, 306-Sixth annular seal, 307-Seventh annular seal, 308-Eighth annular seal, 309-Ninth annular seal, 310-Tenth annular seal;
[0015] 400 - Second mounting component, 410 - Main body, 411 - Receiving cavity, 420 - Flange;
[0016] 510 - Rotary drive component; 520 - First gear;
[0017] 600-Conduit;
[0018] 710 - First threaded connector, 720 - Second threaded connector. Detailed Implementation
[0019] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0020] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0021] The joint components of the robot and the robot provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.
[0022] Please refer to Figure 1 and Figure 2 As shown, this application provides a joint assembly for a robot. The disclosed joint assembly includes a first annular seal 301 and a reducer 100 and a first mounting member 200 that are mated together. Optionally, the reducer 100 and the first mounting member 200 are arranged sequentially along the axial direction of the reducer 100, and the two opposite sides of the reducer 100 and the first mounting member 200 are, for example, in contact with each other along the axial direction of the reducer 100.
[0023] Specifically, the reducer 100 has an oil inlet 110 at one end facing the first mounting member 200, and the first mounting member 200 has an oil inlet channel 210. The oil outlet 211 of the oil inlet channel 210 faces the oil inlet 110 and is connected to it. Optionally, the port at the end of the oil inlet channel 210 facing the first mounting member 200 is the oil outlet 211 of the oil inlet channel 210. When no oil filling is required, the oil inlet channel 210 is in a closed state to prevent grease from leaking out by passing through the oil outlet 211 and the oil inlet channel 210 in sequence. When oil filling is required, the oil inlet channel 210 is in an open state, allowing grease to pass through the oil inlet channel 210 and the oil outlet 211 in sequence into the inner cavity of the reducer 100. It should also be noted that the oil inlet channel 210 is always connected to the oil inlet 110.
[0024] The first annular seal 301 is disposed between the reducer 100 and the first mounting part 200, and is sealed to both the reducer 100 and the first mounting part 200. The first annular seal 301 is arranged around the oil inlet 110.
[0025] In this embodiment, a first annular seal 301 is disposed between the reducer 100 and the first mounting member 200, and is in sealing fit with both the reducer 100 and the first mounting member 200. The first annular seal 301 surrounds the oil inlet 110. With this arrangement, when grease moves to the position of the first annular seal 301, the first annular seal 301 can prevent the grease from continuing to diffuse in the gap between the first mounting member 200 and the reducer 100, thereby reducing the amount of oil leakage from the reducer 100 and consequently lowering the probability of damage to the reducer 100.
[0026] In one specific implementation, the first annular seal 301 is, for example, a static seal. The reducer 100 and the first mounting member 200 are relatively fixed and do not rotate. Therefore, configuring the first annular seal 301 as a static seal allows its structure to be adapted to the fit between the reducer 100 and the first mounting member 200, resulting in better sealing between them. More specifically, the first annular seal 301 is, for example, an O-ring. Of course, in other embodiments, the first annular seal 301 can also be a dynamic seal.
[0027] In another embodiment, reference Figure 1 and Figure 2 As shown, the joint assembly also includes a second mounting member 400, a rotary drive member 510, a first gear 520, and a second annular seal 302. The second mounting member 400 has a communicating receiving cavity 411 and a mounting channel. The rotary drive member 510 is disposed on the second mounting member 400, and its output end passes through the mounting channel and extends into the receiving cavity 411. A portion of the first gear 520 is located in the receiving cavity 411. The first gear 520 is sleeved on the output end of the rotary drive member 510 and is drive-connected to the output end of the rotary drive member 510. The first gear 520 is sealed to the inner wall of the mounting channel through the second annular seal 302. The input end of the reducer 100 extends into the receiving cavity 411 and is drive-connected to the first gear 520, so that the driving force provided by the rotary drive member 510 is transmitted to the input end of the reducer 100 through the first gear 520. With this configuration, the gap between the first gear 520 and the inner wall of the mounting channel is sealed, thereby preventing grease from leaking out from the gap between the first gear 520 and the inner wall of the mounting channel, thus resulting in better sealing of the joint assembly.
[0028] In one specific implementation, the second annular seal 302 is, for example, a dynamic seal, and more specifically, an oil seal. When the joint assembly is in operation, the first gear 520 rotates relative to the inner wall of the mounting channel, thereby configuring the second annular seal 302 as a dynamic seal. This allows the structure of the second annular seal 302 to be adapted to the mating relationship between the first gear 520 and the inner wall of the mounting channel, resulting in better sealing between the first gear 520 and the inner wall of the mounting channel. Of course, in other embodiments, the second annular seal 302 can also be a static seal.
[0029] Optionally, the input end of the reducer 100 may be provided with a second gear 130, which meshes with the first gear 520 to transmit the driving force provided by the rotary drive 510 to the input end of the reducer 100, thereby driving the input end of the reducer 100 to rotate.
[0030] In other alternative embodiments, the second annular seal 302 may be omitted, in which case, for example, there is a gap between the first gear 520 and the mounting channel.
[0031] In a further embodiment, reference is made to... Figure 2 As shown, the joint assembly also includes a first threaded connector 710 and a third annular seal 303. The first gear 520 has a cavity at one end facing the rotary drive 510, and the output end of the rotary drive 510 extends into the cavity so that the first gear 520 is fitted onto the output end of the rotary drive 510. One end of the first threaded connector 710 passes through the first gear 520 and is threadedly connected to the output end of the rotary drive 510. The other end of the first threaded connector 710 is sealed to the first gear 520 via the third annular seal 303. This arrangement seals the gap between the first threaded connector 710 and the first gear 520, thereby preventing grease in the receiving cavity 411 from leaking out through the gap between the first threaded connector 710 and the first gear 520.
[0032] In one specific implementation, the third annular seal 303 is, for example, a static seal. The output ends of the first threaded connector 710 and the rotary drive 510 are relatively fixed and there is no rotational relationship. Therefore, configuring the third annular seal 303 as a static seal allows its structure to be adapted to the mating relationship between the output ends of the first threaded connector 710 and the rotary drive 510, thereby improving the sealing performance of the joint assembly. More specifically, the third annular seal 303 is, for example, a sealing gasket. Of course, in other embodiments, the third annular seal 303 can also be a dynamic seal.
[0033] Alternatively, in other optional embodiments, the third annular seal 303 may be omitted. In this case, for example, there is a first gap between the first threaded connector 710 and the first gear 520, a second gap between the first threaded connector 710 and the first gear 520, a third gap between the output end of the rotary drive 510 and the bottom wall of the cavity, and a fourth gap between the output end of the rotary drive 510 and the side wall of the cavity, and the fourth gap is in communication with the outside. In this case, grease can easily leak to the outside along the first gap, the second gap, the third gap, and the fourth gap in sequence.
[0034] In a further embodiment, reference is made to... Figure 2As shown, the second mounting component 400 includes a main body 410, a flange 420, a fourth annular seal 304, and a fifth annular seal 305. The main body 410 has a receiving cavity 411 and a first sub-channel communicating with the receiving cavity 411. One end of the flange 420 extends into the first sub-channel and is sealed to the inner wall of the first sub-channel by the fourth annular seal 304. The flange 420 has a second sub-channel communicating with the first sub-channel. The mounting channel includes the first sub-channel and the second sub-channel. The first gear 520 is sealed to the inner wall of the second sub-channel by the second annular seal 302. The rotary drive component 510 is located on the flange 420 and is sealed to the end of the flange 420 opposite to the first sub-channel by the fifth annular seal 305. With this configuration, the gap between the flange 420 and the inner wall of the first sub-channel is sealed, and the gap between the end of the flange 420 opposite to the first sub-channel and the rotary drive component 510 is sealed, thereby improving the sealing effect of the joint assembly.
[0035] Optionally, the housing of the rotary drive 510 may be sealed to the end of the flange 420 away from the first sub-channel, and the output end of the rotary drive 510 may rotate relative to the housing of the rotary drive 510.
[0036] In one specific implementation, the fourth annular seal 304 and the fifth annular seal 305 are, for example, static seals. With this configuration, the flange portion 420 and the main body portion 410 are relatively fixed, while the rotary drive member 510 is relatively fixed to the flange portion 420. This configuration of the fourth annular seal 304 and the fifth annular seal 305 as static seals allows the structure of the fourth annular seal 304 to be adapted to the fit between the flange portion 420 and the first sub-channel, and the structure of the fifth annular seal 305 to be adapted to the fit between the flange portion 420 and the rotary drive member 510, thereby further improving the sealing effect of the joint assembly. More specifically, the fourth annular seal 304 and the fifth annular seal 305 are, for example, O-rings. Of course, in other embodiments, the fourth annular seal 304 and the fifth annular seal 305 may also be dynamic seals.
[0037] In other alternative embodiments, the fourth annular seal 304 and the fifth annular seal 305 may be omitted. In this case, gaps may exist, for example, between the flange portion 420 and the inner wall of the first sub-channel, as well as between the end of the flange portion 420 away from the first sub-channel and the rotary drive member 510.
[0038] In another embodiment, reference Figure 1As shown, the reducer 100 is configured as a hollow reducer, and the joint assembly also includes a cable guide 600 that passes through the cavity of the hollow reducer. The joint assembly also includes a sixth annular seal 306. The first end of the cable guide 600 is located in the receiving cavity 411, and the second mounting member 400 is also provided with a cable guide opening, which is connected to the first end of the cable guide 600. The first end of the cable guide 600 is sealed to the inner wall of the receiving cavity 411 by the sixth annular seal 306. This arrangement seals the gap between the first end of the cable guide 600 and the inner wall of the receiving cavity 411, thereby preventing grease from leaking from the gap between the first end of the cable guide 600 and the receiving cavity 411 into the cable guide opening and the cable guide 600. It should be noted that both the cable guide opening and the cable guide 600 are used for the robot's cables to pass through.
[0039] In one specific implementation, the sixth annular seal 306 is a dynamic seal. The second mounting member 400 is typically connected to the output member 120 of the hollow reducer and rotates synchronously with the output member 120. This creates a relative rotational relationship between the first end of the conduit 600 and the inner wall of the receiving cavity 411. Therefore, configuring the sixth annular seal 306 as a dynamic seal allows the structure of the sixth annular seal 306 to match the fit between the first end of the conduit 600 and the inner wall of the receiving cavity 411, resulting in better sealing of the joint assembly. More specifically, the sixth annular seal 306 is, for example, an oil seal. Of course, in other embodiments, the sixth annular seal 306 can also be a static seal.
[0040] It should be noted that the central area of the hollow reducer typically has a cavity. The input end of the hollow reducer is connected to the output part 120 of the intermediate reducer via an intermediate transmission component. When power is input to the input end of the hollow reducer, the output part 120 of the hollow reducer rotates accordingly. In addition, the hollow reducer typically also has an inner cavity, and the oil inlet 110 is connected to the inner cavity of the hollow reducer 100. Both the inner cavity of the hollow reducer and the aforementioned receiving cavity 411 are filled with grease.
[0041] In other alternative embodiments, the sixth annular seal 306 may be omitted, in which case there may be a gap between the first end of the conduit 600 and the inner wall of the receiving cavity 411.
[0042] In a further embodiment, reference is made to... Figure 1As shown, the first mounting component 200 has a receiving cavity 220, and the second end of the conduit 600 extends into the receiving cavity 220. The second end and the first end of the conduit 600 are opposite ends in the direction of the conduit's own axis. With this arrangement, under the guidance of the conduit 600, the cable can pass through the junction of the conduit 600 and the receiving cavity 220 relatively smoothly, thus allowing it to smoothly enter the conduit 600 from the receiving cavity 220.
[0043] In other alternative embodiments, the second end of the conduit 600 may also be located outside the receiving cavity 220. In this case, the second end of the conduit 600 and the receiving cavity 411 are spaced apart, for example, in the axial direction of the reducer 100, and the input end of the reducer 100 rotates, for example, about the axis of the reducer 100.
[0044] In another embodiment, the joint assembly further includes a seventh annular seal 307, through which the conduit 600 is sealed to the inner wall of the cavity of the hollow reducer. This arrangement seals the gap between the conduit 600 and the inner wall of the cavity of the hollow reducer, thereby preventing grease from entering the conduit 600 and the receiving cavity 220 through the gap between them.
[0045] In one specific implementation, the seventh annular seal 307 is, for example, a static seal. The inner walls of the conduit 600 and the cavity of the hollow reducer are relatively fixed. By configuring the seventh annular seal 307 as a static seal, the structure of the seventh annular seal 307 can be adapted to the fit between the conduit 600 and the inner wall of the cavity of the hollow reducer, thereby further improving the sealing performance of the joint assembly. More specifically, the seventh annular seal 307 is, for example, an O-ring. Of course, in other embodiments, the seventh annular seal 307 can also be a dynamic seal.
[0046] Alternatively, in other optional embodiments, the seventh annular seal 307 may be omitted, in which case, for example, there is a gap between the conduit 600 and the inner wall of the cavity of the hollow reducer.
[0047] In another embodiment, the joint assembly further includes an eighth annular seal 308. The second mounting member 400 is connected to the output member 120 of the reducer 100 and is sealed to the reducer 100 via the eighth annular seal 308. This arrangement seals the gap at the mating position between the second mounting member 400 and the output member 120 of the reducer 100, thereby further improving the sealing performance of the joint assembly.
[0048] Optionally, the second mounting member 400 may be connected to the output member 120 of the reducer 100 via, for example, a second threaded connector 720, and the second threaded connector 720 may be located outside the eighth annular seal 308. The threaded connection provides better reliability, thus ensuring a more reliable connection between the second mounting member 400 and the output member 120 of the reducer 100.
[0049] In one specific implementation, the eighth annular seal 308 is, for example, a static seal. The second mounting member 400 is fixed relative to the output member 120 of the reducer 100. Therefore, by configuring the eighth annular seal 308 as a static seal, the structure of the eighth annular seal 308 can be adapted to the mating relationship between the second mounting member 400 and the output member 120 of the reducer 100, thereby further improving the sealing performance of the joint assembly. More specifically, the eighth annular seal 308 is, for example, an O-ring. Of course, in other embodiments, the eighth annular seal 308 can also be a dynamic seal.
[0050] Alternatively, in other alternative embodiments, the eighth annular seal 308 may be omitted, in which case, for example, there may be a gap between the second mounting member 400 and the output member 120 of the reducer 100.
[0051] In another embodiment, reference Figure 1 and Figure 2 As shown, the joint assembly also includes a ninth annular seal 309. The first mounting member 200 has a receiving cavity 220. The reducer 100 is a hollow reducer, and the receiving cavity 220 communicates with the cavity of the hollow reducer. The ninth annular seal 309 is located between the reducer 100 and the first mounting member 200, and it seals against both the hollow reducer and the first mounting member 200. The ninth annular seal 309 surrounds the receiving cavity 220 and the cavity of the hollow reducer. A first annular seal 301 is provided on the outer side of the ninth annular seal 309. With this configuration, even if the first annular seal 301 fails to seal, the ninth annular seal 309 can still prevent grease from diffusing into the receiving cavity 411 and the cavity of the hollow reducer 100, thereby further reducing the probability of damage to the reducer 100.
[0052] In one specific implementation, the ninth annular seal 309 is, for example, a static seal. The reducer 100 is fixed relative to the first mounting member 200, thereby configuring the ninth annular seal 309 as a static seal. This allows the structure of the ninth annular seal 309 to be adapted to the fit between the reducer 100 and the first mounting member 200, further improving the sealing performance of the joint assembly. More specifically, the ninth annular seal 309 is, for example, an O-ring. Of course, in other embodiments, the ninth annular seal 309 can also be a dynamic seal.
[0053] Optionally, the first mounting member 200 is connected to the reducer 100, for example, via a third threaded connector. The portion of the reducer 100 connected to the third threaded connector and the output member 120 of the reducer 100 are, for example, in a rotatable connection relationship, and this portion participates in forming the cavity wall of the inner cavity of the reducer 100.
[0054] Alternatively, in other alternative embodiments, the ninth annular seal 309 may be omitted, in which case, for example, a gap exists between the first mounting member 200 and the reducer 100.
[0055] In another embodiment, reference Figure 1 and Figure 2 As shown, the joint assembly also includes a tenth annular seal 310, which is located between the reducer 100 and the first mounting member 200, and is in sealing fit with both the reducer 100 and the first mounting member 200. A first annular seal 301 is provided on the inner side of the tenth annular seal 310. This arrangement ensures that even if the first annular seal 301 fails, the tenth annular seal 310 can still prevent grease from spreading to the outside, thereby further reducing the probability of damage to the reducer 100.
[0056] In one specific implementation, the tenth annular seal 310 is, for example, a static seal. The first mounting member 200 is fixed relative to the reducer 100, thereby configuring the tenth annular seal 310 as a static seal. This allows the structure of the tenth annular seal 310 to be adapted to the mating relationship between the first mounting member 200 and the reducer 100, further improving the sealing performance of the joint assembly. More specifically, the tenth annular seal 310 is, for example, an O-ring. Of course, in other embodiments, the tenth annular seal 310 can also be a dynamic seal.
[0057] In other alternative embodiments, the tenth annular seal 310 may be omitted, in which case, for example, a gap exists between the first mounting member 200 and the reducer 100.
[0058] This application also provides a robot that includes the joint components described above. Optionally, the robot may be, for example, an industrial robot.
[0059] When the joint components have poor sealing, external impurities may enter the joint components during robot operation, severely damaging their motion function and resulting in a short lifespan. Furthermore, in special environments such as the food industry, cleanrooms, or dust-free workshops, robots must not generate pollution during operation, such as powder shedding or oil leakage. For example, in precision industries like circuit board handling, grease leakage can damage the circuit boards. The joint components provided in this embodiment have good sealing, making it difficult for external impurities to enter, thus extending their lifespan. In addition, the good sealing of the joint components provided in this embodiment reduces the risk of oil leakage, making the robot suitable for a wider range of applications.
[0060] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.
Claims
1. A joint assembly for a robot, characterized in that, include: A reducer (100) and a first mounting component (200) are connected together. The reducer (100) has an oil inlet (110) at one end facing the first mounting component (200). The first mounting component (200) has an oil inlet channel (210). The oil outlet (211) of the oil inlet channel (210) is located facing the oil inlet (110) and is connected to the oil inlet (110). The first annular seal (301) is disposed between the reducer (100) and the first mounting part (200) and is sealed to both the reducer (100) and the first mounting part (200), and the first annular seal (301) is arranged around the oil inlet (110).
2. The joint assembly according to claim 1, characterized in that, The joint assembly further includes a second mounting member (400), a rotary drive member (510), a first gear (520), and a second annular seal member (302). The second mounting member (400) has a communicating receiving cavity (411) and a mounting channel. The rotary drive member (510) is disposed on the second mounting member (400). The output end of the rotary drive member (510) passes through the mounting channel and extends into the receiving cavity (411). A portion of the first gear (520) is located in the receiving cavity (411). The first gear (520) is sleeved on the output end of the rotary drive member (510) and is drivenly connected to the output end of the rotary drive member (510). The first gear (520) is sealed to the inner wall of the mounting channel through the second annular seal member (302). The input end of the reducer (100) extends into the receiving cavity (411) and is drivenly connected to the first gear (520). And / or, the first annular seal (301) is a static seal.
3. The joint assembly according to claim 2, characterized in that, The joint assembly further includes a first threaded connector (710) and a third annular seal (303). The first gear (520) has a cavity at one end facing the rotary drive (510). The output end of the rotary drive (510) extends into the cavity so that the first gear (520) is sleeved on the output end of the rotary drive (510). One end of the first threaded connector (710) passes through the first gear (520) and is threadedly connected to the output end of the rotary drive (510). The other end of the first threaded connector (710) is sealed and engaged with the first gear (520) through the third annular seal (303). And / or, the second annular seal (302) is a dynamic seal.
4. The joint assembly according to claim 2, characterized in that, The second mounting component (400) includes a main body (410), a flange (420), a fourth annular seal (304), and a fifth annular seal (305). The main body (410) is provided with the receiving cavity (411) and a first sub-channel communicating with the receiving cavity (411). One end of the flange (420) extends into the first sub-channel and is sealed to the inner wall of the first sub-channel through the fourth annular seal (304). The flange (420) is provided with a second sub-channel communicating with the first sub-channel. The mounting channel includes the first sub-channel and the second sub-channel. The first gear (520) is sealed to the inner wall of the second sub-channel through the second annular seal (302). The rotary drive (510) is located on the flange (420) and is sealed to the end of the flange (420) away from the first sub-channel through the fifth annular seal (305).
5. The joint assembly according to claim 2, characterized in that, The reducer (100) is configured as a hollow reducer, and the joint assembly further includes a conduit (600) that passes through the cavity of the hollow reducer; The joint assembly further includes a sixth annular seal (306), the first end of the conduit (600) is located in the receiving cavity (411), the second mounting member (400) is also provided with a conduit opening, the conduit opening is connected to the first end of the conduit (600), and the first end of the conduit (600) is sealed to the inner wall of the receiving cavity (411) through the sixth annular seal (306); and / or, the joint assembly further includes a seventh annular seal (307), the conduit (600) is sealed to the inner wall of the cavity of the hollow reducer through the seventh annular seal (307).
6. The joint assembly according to claim 5, characterized in that, The first mounting component (200) is provided with a receiving cavity (220), and the second end of the conduit (600) extends into the receiving cavity (220). The second end of the conduit (600) and the first end of the conduit (600) are opposite ends in the direction of the axis of the conduit (600). And / or, the sixth annular seal (306) is a dynamic seal.
7. The joint assembly according to claim 2, characterized in that, The joint assembly also includes an eighth annular seal (308), the second mounting member (400) is connected to the output member (120) of the reducer (100) and is sealed to the reducer (100) through the eighth annular seal (308).
8. The joint assembly according to claim 1, characterized in that, The joint assembly further includes a ninth annular seal (309). The first mounting member (200) is provided with a receiving cavity (220). The reducer (100) is a hollow reducer. The receiving cavity (220) is connected to the cavity of the hollow reducer. The ninth annular seal (309) is located between the hollow reducer and the first mounting member (200) and is sealed to both the hollow reducer and the first mounting member (200). The ninth annular seal (309) is arranged around the receiving cavity (220) and the cavity of the hollow reducer. The first annular seal (301) is provided on the outside of the ninth annular seal (309).
9. The joint assembly according to claim 1, characterized in that, The joint assembly also includes a tenth annular seal (310), which is located between the reducer (100) and the first mounting member (200) and is in sealing fit with both the reducer (100) and the first mounting member (200). The first annular seal (301) is provided on the inner side of the tenth annular seal (310).
10. A robot, characterized in that, Includes the joint assembly as described in any one of claims 1-9.