Joint assembly and industrial robot

Abstract

The utility model provides a kind of joint assembly and industrial robot, joint assembly is used for industrial robot, joint assembly includes: pedestal, rotating member, speed reducer, support assembly, first fastener and second fastener.Rotating member can rotate relative to pedestal;Speed reducer is set to pedestal, one side of rotating member is connected with the output part of speed reducer;Support assembly is located the other side of rotating member, support assembly includes first connecting part and second connecting part, and first connecting part is rotatably connected with second connecting part;First connecting part is connected with pedestal by first fastener;Second connecting part is connected with rotating member by second fastener.The joint assembly proposed in the utility model, by the pre-tightening force applied by first fastener and second fastener, first connecting part of support assembly and pedestal are rigidly connected respectively, and second connecting part and rotating member are rigidly connected, eliminate the gap existing in cooperation connection in relevant technology, and the anti-deformation ability of joint assembly as a whole is enhanced.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a joint assembly and an industrial robot. Background Technology

[0002] As the core transmission component of an industrial robot, the rigidity of the joint assembly directly determines the overall performance of the robot. To improve joint rigidity, a double-support structure is often adopted, which involves adding an auxiliary support assembly on the opposite side of the main power transmission component.

[0003] In related technologies, insufficient robustness of the connection between the auxiliary support component and the fixed and moving sides of the joint has long been a technical bottleneck. Currently used connection methods struggle to achieve an ideal, gapless, and tight connection between components, resulting in gaps at the connection interface or limited connection rigidity. When the joint operates under high-speed, high-load conditions, enormous torques and alternating stresses act on this weak link, causing slight relative displacement or loosening between the auxiliary support component and its connected structural parts. This movement not only prevents the auxiliary support component from effectively sharing the load, leading to excessive burden on the main power transmission components and affecting their service life, but also severely weakens the constraint effect that the double-support structure should provide, resulting in increased deformation of the joint component under stress and a significant reduction in the overall rigidity of the joint component. Utility Model Content

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0005] Therefore, the first aspect of this utility model proposes a joint assembly.

[0006] The second aspect of this utility model proposes an industrial robot.

[0007] In view of the above, the first aspect of this utility model provides a joint assembly for an industrial robot. The joint assembly includes: a base, a rotating component, a reducer, a support assembly, a first fastener, and a second fastener. The rotating component is rotatable relative to the base; the reducer is disposed on the base, and one side of the rotating component is connected to the output of the reducer; the support assembly is located on the other side of the rotating component, and the support assembly includes a first connecting portion and a second connecting portion, which are rotatably connected; the first connecting portion is connected to the base via the first fastener; and the second connecting portion is connected to the rotating component via the second fastener.

[0008] This invention proposes a joint assembly for industrial robots. The joint assembly mainly consists of a base, a rotating component, a reducer, a support assembly, a first fastener, and a second fastener. The base is the fixed foundation component of the joint assembly; it is a structural component within the joint assembly. During operation, the base remains relatively stationary, thus forming the fixed side of the joint assembly. The base can be connected to the upper-level arm, body, or rotating base of the industrial robot. The rotating component is the motion output component of the joint. It can rotate relative to the base around its axis of rotation, thus forming the rotating side of the joint assembly, used to drive the lower-level arm or end effector. During the operation of the joint assembly, the base and the rotating component serve as the start and end points of the power transmission path, respectively.

[0009] In the joint assembly, the reducer serves as the transmission component, with its stationary portion mounted on the base. One side of the rotating component is directly connected to the output section of the reducer, i.e., the power output section. During operation, an external power source drives the input shaft of the reducer to rotate. After the internal transmission mechanism of the reducer reduces the speed and increases the torque, its output section transmits the power to the rotating component fixed to it, thereby driving the rotating component to rotate relative to the base.

[0010] The support assembly is located on the side of the rotating component away from the reducer, and includes a first connecting part and a second connecting part that can rotate relative to each other. The key improvement of this invention lies in the innovative connection method. Specifically, the first connecting part of the support assembly is directly connected to the base via a first fastener, while the second connecting part of the support assembly is directly connected to the rotating component via a second fastener. This connection method eliminates the mating connection used in related technologies, utilizing the preload provided by the fasteners to achieve a rigid connection between the support assembly and the structural components on both sides of the joint.

[0011] In related technologies, the auxiliary support components of double-support joints often employ traditional connection methods such as clearance fit or transition fit between themselves and adjacent structural components. This type of connection inherently cannot achieve a completely rigid bond; gaps exist at the interface, resulting in insufficient connection rigidity. When the joint assembly is subjected to load movement, slight relative movement occurs between the support component, the base, and the rotating parts. This not only prevents the auxiliary support from effectively sharing the load and increases the burden on the reducer, but also severely weakens the overall constraint capacity of the joint assembly, leading to significant deformation of the joint assembly under stress and a marked reduction in rigidity.

[0012] To address the core issue of insufficient connection rigidity, this invention abandons the approach of relying on tolerances for connection. Instead, it actively applies preload through the locking action of fasteners, forcing a rigid coupling with the supporting component and the structural members on both sides to form a surface-to-surface contact. Specifically, for the connection between the supporting component and the base, the first fastener applies preload to the first connecting part. This preload firmly presses the end face of the first connecting part against the corresponding mating surface of the base, generating significant static friction between the two contact surfaces. This constrains their relative motion tendency, making the first connecting part and the base a continuous whole in terms of mechanical behavior, allowing them to rotate synchronously.

[0013] For the connection between the support component and the rotating part, the preload provided by the second fastener tightly presses the end face of the second connection part against the mating surface of the rotating part. This preload-based connection method also achieves the fixation of the second connection part and the rotating part, eliminating displacement.

[0014] In operation, when the reducer drives the rotating component to rotate, the load and torque are transmitted to the second connecting part through the rotating component. Since the second connecting part is rigidly connected to the rotating component, the load is directly and without delay introduced into the entire support assembly. Subsequently, the load is transmitted to the first connecting part through the rotating pair inside the support assembly, and finally diffused into the base through its rigid connection with the base. The support assembly can respond promptly and withstand the load, working in conjunction with the reducer to resist the torque that causes the rotating component to twist relative to the base, thus forming a truly high-rigidity double-support structure. Based on the actively pre-tightened rigid connection, the rigidity loss caused by microscopic slippage at the connection interface is completely eliminated.

[0015] In summary, the joint assembly proposed in this invention, through the preload applied by the first and second fasteners, rigidly connects the first connecting part of the support assembly to the base, and the second connecting part to the rotating component, respectively, eliminating the gaps present in traditional mating connections. This allows the support assembly to function as an efficient force transmission path, instantly and effectively distributing most of the bending moment and radial force acting on the rotating component when the joint assembly is under load. This significantly reduces the burden of these non-central loads on the reducer output section, thereby helping to extend the service life of the reducer, a critical transmission component.

[0016] Secondly, the support assembly is securely connected to the structural components on both sides of the joint using fasteners, enhancing the joint assembly's resistance to deformation as a whole. Specifically, the secure connection between the first connecting part and the base, and the secure connection between the second connecting part and the rotating component, form a tight, rigid frame between the support assembly, the base, and the rotating component. When the reducer drives the rotating component, this rigid frame effectively resists torsional torque, thereby directly improving the torsional rigidity of the joint assembly around its axis and the overall structural stability.

[0017] Furthermore, the rigid connection method based on preload fundamentally eliminates the possibility of microscopic relative movement between the connecting part of the support component and the base or rotating parts due to the existence of fitting gaps. Therefore, it completely avoids wear at the connection interface caused by such micro-movements, as well as abnormal noise problems caused by wear and impact. This not only improves the smoothness and quietness of the joint component's operation but also ensures the continuity and reliability of its power transmission, thereby improving the long-term reliability of the entire joint component.

[0018] Optionally, in some technical solutions of this utility model, the first connecting part is provided with a first through hole, the base is provided with a first threaded hole, the first threaded hole corresponds to the first through hole, and the first fastener passes through the first through hole and engages with the first threaded hole.

[0019] Optionally, in some technical solutions of this utility model, the second connecting part is provided with a second through hole, the rotating part is provided with a second threaded hole, the second threaded hole corresponds to the second through hole, and the second fastener passes through the second through hole and engages with the second threaded hole.

[0020] Optionally, along the axial direction of the first connecting portion, the first connecting portion has a first end, the first end of the first connecting portion protruding from the edge of the base. The joint assembly further includes: a first gasket, a portion of which is located at the first end of the first connecting portion; and a first fastener passing through another portion of the first gasket and connected to the base, so that a portion of the first gasket abuts against the first end of the first connecting portion.

[0021] Optionally, along the axial direction of the second connecting portion, the second connecting portion has a second end, the second end of the second connecting portion protruding from the edge of the rotating member. The joint assembly further includes: a second washer, a portion of which is located at the second end of the second connecting portion; and a second fastener passing through another portion of the second washer and connected to the rotating member, so that a portion of the second washer abuts against the second end of the second connecting portion.

[0022] Optionally, in some technical solutions of this utility model, the reducer further includes: a body connected to the base, and an output part rotatably connected to the body.

[0023] In some technical solutions of this utility model, optionally, the base includes a base body, a first extension and a second extension; the first extension is disposed on the base body; the second extension is disposed on the base body, and an installation space is formed between the second extension and the first extension, with at least a portion of the rotating member located in the installation space; the reducer is disposed on the first extension; and the second connecting part is disposed on the second extension.

[0024] Optionally, in some technical solutions of this utility model, the first extension is provided with a first mounting hole, and the reducer is disposed in the first mounting hole; the second extension is provided with a second mounting hole, and the first connecting part is connected to the second mounting hole.

[0025] Optionally, in some technical solutions of this utility model, a first mounting part is provided on one side of the rotating part, and the output part of the reducer is connected to the first mounting part; a second mounting part is provided on the other side of the rotating part, and a second connecting part is connected to the second mounting part.

[0026] According to a second aspect of the present invention, an industrial robot is provided, comprising joint components as described in any of the above technical solutions.

[0027] The industrial robot proposed in the second aspect of this utility model, because it includes the joint components as described in any of the above technical solutions, has all the beneficial effects of the joint components in any of the above technical solutions.

[0028] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0030] Figure 1 One of the structural schematic diagrams of the joint assembly in some embodiments of the present invention is shown;

[0031] Figure 2 Figure 1 AA section view;

[0032] Figure 3 The second schematic diagram of the joint assembly in some embodiments of this utility model is shown.

[0033] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0034] Figure 5 for Figure 3 A magnified view of a section at point C;

[0035] Figure 6 One of the structural schematic diagrams of a portion of the joint assembly in some embodiments of this utility model is shown;

[0036] Figure 7 This is shown as a second schematic diagram of a portion of the joint assembly in some embodiments of the present invention;

[0037] Figure 8 The diagram shows a schematic representation of the structure of an industrial robot in some embodiments of the present invention.

[0038] in, Figures 1 to 8 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0039] 10 Industrial robot, 100 Joint assembly, 110 Base, 112 First threaded hole, 114 Base body, 116 First extension, 118 First mounting hole, 120 Second extension, 122 Second mounting hole, 124 Mounting space, 130 Rotating component, 132 Second threaded hole, 134 First mounting part, 136 Second mounting part, 140 Reducer, 142 Body, 144 Output part, 150 Support assembly, 152 First connecting part, 154 First through hole, 156 First end, 158 Third end, 160 Second connecting part, 162 Second through hole, 164 Second end, 166 Fourth end, 170 First fastener, 172 First screw head, 174 First screw part, 180 Second fastener, 182 Second screw head, 184 Second screw part, 190 First washer, 192 Second washer, 200 First component, 300 Second component. Detailed Implementation

[0040] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of this utility model and the features thereof can be combined with each other.

[0041] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0042] The following is combined Figures 1 to 8 The joint assembly 100 and industrial robot 10 proposed in some embodiments of the present invention are described.

[0043] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown in the embodiment of this utility model, a joint assembly 100 is proposed for an industrial robot 10. The joint assembly 100 includes: a base 110, a rotating member 130, a reducer 140, a support assembly 150, a first fastener 170, and a second fastener 180. The rotating member 130 is rotatable relative to the base 110; the reducer 140 is disposed on the base 110, and one side of the rotating member 130 is connected to the output portion 144 of the reducer 140; the support assembly 150 is located on the other side of the rotating member 130, and the support assembly 150 includes a first connecting portion 152 and a second connecting portion 160, the first connecting portion 152 and the second connecting portion 160 being rotatably connected; the first connecting portion 152 is connected to the base 110 via the first fastener 170; the second connecting portion 160 is connected to the rotating member 130 via the second fastener 180.

[0044] In this embodiment, the present invention provides a joint assembly 100 for an industrial robot 10. The joint assembly 100 mainly consists of a base 110, a rotating component 130, a reducer 140, a support assembly 150, a first fastener 170, and a second fastener 180. The base 110 is the fixed foundation of the joint assembly 100. It can be understood that the base 110 is a structural component of the joint assembly 100. When the joint assembly 100 is working, the base 110 remains relatively stationary, thus constituting the fixed side of the joint assembly 100.

[0045] The base 110 can be connected to the upper-level arm, body, or rotating base of the industrial robot 10. The rotating component 130 is the motion output component of the joint; it can rotate relative to the base 110 about a rotation axis, thus forming the rotating side of the joint assembly 100 for driving the next-level arm or end effector. During the operation of the joint assembly 100, the base 110 and the rotating component 130 serve as the start and end points of the power transmission path, respectively.

[0046] In the joint assembly 100, the reducer 140 serves as a transmission component, with its stationary portion mounted on the base 110. One side of the rotating member 130 is directly connected to the output section 144 of the reducer 140. During operation, an external power source drives the input shaft of the reducer 140 to rotate. After the reducer 140's internal transmission mechanism reduces the speed and increases the torque, the output section 144 transmits the power to the fixedly connected rotating member 130, thereby driving the rotating member 130 to rotate relative to the base 110.

[0047] The support assembly 150 is located on the side of the rotating member 130 away from the reducer 140. The support assembly 150 includes a first connecting portion 152 and a second connecting portion 160 that are rotatable relative to each other. The key improvement of this utility model lies in the innovation of the connection method. Specifically, the first connecting portion 152 of the support assembly 150 is directly connected to the base 110 through a first fastener 170; at the same time, the second connecting portion 160 of the support assembly 150 is directly connected to the rotating member 130 through a second fastener 180. This connection method abandons the traditional mating connection and uses the preload provided by the fastener to achieve a rigid connection between the support assembly 150 and the structural members on both sides of the joint.

[0048] In related technologies, the auxiliary support components of double-support joints often employ traditional connection methods such as clearance fits or transition fits with adjacent structural members. This type of connection inherently cannot achieve a completely rigid bond; gaps exist at the interface, resulting in insufficient connection rigidity. When the joint assembly is subjected to load movement, relative movement occurs between the support component, the base, and the rotating parts. This not only prevents the auxiliary support from effectively sharing the load and increases the burden on the reducer, but also severely weakens the overall constraint capacity of the joint assembly, leading to significant deformation and a marked reduction in rigidity under stress.

[0049] To address the core issue of insufficient connection rigidity, this invention abandons the traditional approach of relying on tolerances for connection. Instead, it actively applies preload through the locking action of fasteners, forcing a rigid coupling between the support assembly 150 and the structural components on both sides. Specifically, for the connection between the support assembly 150 and the base 110, the first fastener 170 applies preload to the first connecting part 152. This preload firmly presses the end face of the first connecting part 152 against the corresponding mating surface of the base 110, generating a large static friction force between the two contact surfaces. This completely constrains their relative motion tendency, making the first connecting part 152 and the base 110 a continuous whole in terms of mechanical behavior.

[0050] For the connection between the support assembly 150 and the rotating member 130, the preload provided by the second fastener 180 tightly presses the end face of the second connecting part 160 against the mating surface of the rotating member 130. This preload-based connection method also achieves complete fixation between the second connecting part 160 and the rotating member 130, eliminating possible displacement space.

[0051] In operation, when the reducer 140 drives the rotating component 130 to rotate, the load and torque are transmitted to the second connecting part 160 through the rotating component 130. Since the second connecting part 160 is rigidly connected to the rotating component 130, the load is directly and without delay introduced into the entire support assembly 150. Subsequently, the load is transmitted to the first connecting part 152 through the rotating pair inside the support assembly 150, and finally diffused into the base 110 through its rigid connection with the base 110. The support assembly 150 can respond promptly and bear the load, working in conjunction with the reducer 140 to resist the torque that causes the rotating component 130 to twist relative to the base 110, thus forming a truly high-rigidity double-support structure. Based on the active pre-tightening rigid connection, the rigidity loss caused by the slippage of the connection interface is completely eliminated from the mechanism.

[0052] In summary, the joint assembly 100 proposed in this invention, through the preload applied by the first fastener 170 and the second fastener 180, rigidly connects the first connecting portion 152 of the support assembly 150 to the base 110, and the second connecting portion 160 to the rotating member 130, respectively, eliminating the gaps present in traditional mating connections. This robust connection allows the support assembly 150 to serve as an efficient force transmission path, effectively and promptly distributing most of the bending moment and radial force acting on the rotating member 130 when the joint assembly 100 is under load. This significantly reduces the burden of these non-central loads on the reducer 140, thereby helping to extend the service life of the reducer 140, a key transmission component.

[0053] Secondly, the support assembly 150 is securely connected to the structural components on both sides of the joint via fasteners, which greatly enhances the deformation resistance of the joint assembly 100 as a whole. Specifically, the secure connection between the first connecting part 152 and the base 110, and the secure connection between the second connecting part 160 and the rotating part 130, form a tight rigid frame between the support assembly 150, the base 110, and the rotating part 130. When the reducer 140 drives the rotating part 130, this rigid frame can effectively resist torsional torque, thereby directly improving the torsional rigidity of the joint assembly 100 around its axis and the overall structural stability.

[0054] Furthermore, the rigid connection method based on pre-tension fundamentally eliminates the possibility of relative movement between the connecting part of the support assembly 150 and the base 110 or rotating part 130 due to the existence of fitting clearance. Therefore, it avoids wear on the connection interface caused by such movement, as well as abnormal noise problems caused by wear and impact. This not only improves the smoothness and quietness of the joint assembly 100's operation, but also ensures the continuity and reliability of its power transmission, thereby improving the long-term reliability of the entire joint assembly 100.

[0055] Optionally, the first fastener 170 can be a connector, such as a tapered sleeve or an expansion sleeve, sandwiched between the mating surfaces of the first connecting part 152 and the base 110. It eliminates the mating gap through its own contraction or expansion, achieving a tight connection. The first fastener 170 can also be an adhesive, such as high-strength structural adhesive, which fills and cures the contact interface between the first connecting part 152 and the base 110, achieving a fixed connection. The first fastener 170 can also be a pin or bolt passing through corresponding through holes in the first connecting part 152 and the base 110, achieving fixation through interference fit or thread tightening. Alternatively, the first fastener 170 can be a pressure block or retaining ring abutting against the first connecting part 152 on the side facing away from the base 110, pressing the first connecting part 152 onto the base 110 by being fixed itself.

[0056] Optionally, the second fastener 180 can be a connector sandwiched between the mating surfaces of the second connecting part 160 and the rotating part 130, eliminating the mating gap through its own contraction or expansion to achieve a fastening connection. The second fastener 180 can also be an adhesive, filling and solidifying the contact interface between the second connecting part 160 and the rotating part 130 to achieve a fastening connection. The second fastener 180 can also be a pin or screw passing through corresponding through holes in the second connecting part 160 and the rotating part 130, achieving fixation through interference fit or thread tightening. Alternatively, the second fastener 180 can be a pressure block or retaining ring abutting against the second connecting part 160 on the side facing away from the rotating part 130, pressing the second connecting part 160 onto the rotating part 130 through its own fixation.

[0057] Optionally, the support assembly 150 can be a rolling bearing, wherein the first connecting portion 152 is the outer ring of the rolling bearing, and the second connecting portion 160 is the inner ring of the rolling bearing. The support assembly 150 can also be a sliding bearing, wherein the first connecting portion 152 is the bushing of the sliding bearing, and the second connecting portion 160 is the journal forming a sliding pair with the bushing. Furthermore, the support assembly 150 can also be two interlocking and rotatable annular components, wherein the first connecting portion 152 is the outer ring, and the second connecting portion 160 is the inner ring, and the two are rotatably connected by a sliding bushing or lubrication groove provided on their contact interface. The support assembly 150 can also be a self-lubricating bushing, wherein the first connecting portion 152 is the bushing housing, and the second connecting portion 160 is a bushing press-fitted into the housing and rotatable.

[0058] Alternatively, viewed along the rotation axis of the rotating member 130, the joint assembly 100 from left to right consists of: a portion of the base 110, a reducer 140, the rotating member 130, a support assembly 150, and a portion of the base 110 that encloses or supports the support assembly 150 from the other side.

[0059] Alternatively, on the one hand, the input end of the reducer 140 can be connected to an external independent power unit to obtain power. On the other hand, the joint assembly 100 also includes an integrated power unit, which can be directly connected to the reducer 140 to form a compact joint module with its own power source.

[0060] In some embodiments of the present invention, the support assembly 150 optionally includes a bearing, wherein the first connecting portion 152 includes the outer ring of the bearing, and the second connecting portion 160 includes the inner ring of the bearing.

[0061] In this embodiment, the support assembly 150 adopts a bearing structure, with the first connecting part 152 specifically being the outer ring of the bearing and the second connecting part 160 specifically being the inner ring of the bearing. The outer ring of the bearing is directly connected to the base 110 via the first fastener 170, and the inner ring of the bearing is directly connected to the rotating member 130 via the second fastener 180.

[0062] In this embodiment, the outer ring and inner ring of the bearing are rigidly fixed to the base 110 and the rotating part 130 respectively by the pre-tightening force of the fastener, which completely eliminates the gap that may exist in the traditional mating connection, thereby significantly improving the connection rigidity and stability of the joint assembly 100.

[0063] In some embodiments of this utility model, there are multiple first fasteners 170 and multiple second fasteners 180.

[0064] In this embodiment, by providing multiple first fasteners 170 and multiple second fasteners 180, the distribution of preload can be further optimized, enhancing the uniformity and reliability of the connection. Specifically, multiple first fasteners 170 are circumferentially and evenly arranged on the first connecting portion 152 to press the first connecting portion 152 onto the base 110; multiple second fasteners 180 are circumferentially and evenly arranged on the second connecting portion 160 to press the second connecting portion 160 onto the rotating member 130. The multi-fastener design allows the clamping force to act more evenly on the connection interface, avoiding single-point stress concentration, thereby improving the joint assembly 100's resistance to deformation and overall rigidity under high-speed, high-load conditions.

[0065] For example, there are two first fasteners 170, which are symmetrically arranged on both sides of the first connecting portion 152; and there are two second fasteners 180, which are symmetrically arranged on both sides of the second connecting portion 160.

[0066] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, in some embodiments of the present invention, optionally, the first connecting part 152 is provided with a first through hole 154, the base 110 is provided with a first threaded hole 112, the first threaded hole 112 corresponds to the first through hole 154, and the first fastener 170 passes through the first through hole 154 and engages with the first threaded hole 112.

[0067] In this embodiment, the first connecting part 152 is provided with a first through hole 154, and the first fastener 170 can pass through the first through hole 154.

[0068] Optionally, the first through hole 154 is a light hole, and its diameter is slightly larger than the diameter of the first fastener 170, so that the first fastener 170 can pass through and be aligned smoothly.

[0069] The first threaded hole 112 is machined on the base 110, and its position corresponds concentrically with the first through hole 154. During assembly, the first through hole 154 on the first connecting part 152 is first aligned with the first threaded hole 112 on the base 110. Then, the shank of the first fastener 170 passes through the first through hole 154 and is finally screwed into the first threaded hole 112. When the first fastener 170 is tightened, a portion of it presses against the surface of the first connecting part 152, generating a strong preload. This preload forces the mating surfaces of the first connecting part 152 and the base 110 to fit tightly together, achieving fixation through static friction.

[0070] In this embodiment, the present invention achieves a rigid connection through the preload generated by the threaded engagement, eliminating gaps between the mating surfaces. The threaded connection has reliable self-locking and anti-loosening capabilities, ensuring the connection stability of the joint assembly 100 under long-term vibration conditions.

[0071] Optionally, the first connecting part 152 is provided with a first through hole 154 that penetrates both ends of its axial direction.

[0072] Optionally, a first threaded hole 112 is provided on the mating surface of the base 110 opposite to the first connecting part 152, and the position of the first threaded hole 112 corresponds to the first through hole 154.

[0073] Optionally, the first fastener 170 is a screw, including a first screw head 172 and a first screw shank 174. The diameter of the first screw shank 174 is smaller than the diameter of the first screw head 172. The first screw shank 174 is connected to the first screw head 172. The diameter of the first through hole 154 is slightly larger than the diameter of the first screw shank 174 and smaller than the diameter of the first screw head 172. The first screw shank 174 is provided with threads and can be screwed into the first threaded hole 112.

[0074] During assembly, the first connecting part 152 is fitted against the mating surface of the base 110, and the first through hole 154 is aligned with the first threaded hole 112. Then, the first screw part 174 of the first fastener 170 is passed through the first through hole 154 of the first connecting part 152 and screwed into the first threaded hole 112 on the base 110. When the first fastener 170 is tightened, the first screw head 172 presses against the end face of the first connecting part 152 facing away from the base 110, thereby generating a strong preload force that firmly presses the first connecting part 152 onto the mating surface of the base 110, achieving a gapless rigid connection.

[0075] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in some embodiments of the present invention, optionally, the second connecting part 160 is provided with a second through hole 162, the rotating part 130 is provided with a second threaded hole 132, the second threaded hole 132 corresponds to the second through hole 162, and the second fastener 180 passes through the second through hole 162 and engages with the second threaded hole 132.

[0076] In this embodiment, the second connecting part 160 is provided with a second through hole 162, and the second fastener 180 can pass through the second through hole 162.

[0077] Optionally, the second through hole 162 is a smooth hole, and the diameter of the second through hole 162 is slightly larger than the diameter of the second fastener 180, so that the second fastener 180 can pass through and be aligned smoothly. The second threaded hole 132 is machined on the rotating part 130, and the position of the second threaded hole 132 corresponds concentrically to the second through hole 162.

[0078] During assembly, first align the second through hole 162 on the second connecting part 160 with the second threaded hole 132 on the rotating part 130. Then, pass the second fastener 180 through the second through hole 162 and finally screw it into the second threaded hole 132. When tightening the second fastener 180 with a tool, part of the second fastener 180 will press against the surface of the second connecting part 160, thereby generating a strong preload. This preload forces the mating surfaces of the second connecting part 160 and the rotating part 130 to fit tightly together, achieving fixation through static friction.

[0079] In this embodiment, the present invention achieves a rigid connection through the preload generated by the thread engagement, eliminating the gap between the mating surfaces. The threaded connection has reliable self-locking and anti-loosening capabilities, ensuring the connection stability of the joint assembly 100 under long-term vibration conditions.

[0080] Optionally, the second connecting part 160 is provided with a second through hole 162 that penetrates both ends of its axial direction.

[0081] Optionally, a second threaded hole 132 is provided on the mating surface of the rotating member 130 that is opposite to the second connecting part 160, and the position of the second threaded hole 132 corresponds to the second through hole 162.

[0082] Optionally, the second fastener 180 is a second screw, including a second screw head 182 and a second screw shank 184. The diameter of the second screw shank 184 is smaller than the diameter of the second screw head 182. The second screw shank 184 is connected to the second screw head 182. The diameter of the second through hole 162 is slightly larger than the diameter of the second screw shank 184 and smaller than the diameter of the second screw head 182. The second screw shank 184 is provided with threads and can be screwed into the second threaded hole 132.

[0083] During assembly, the second connecting part 160 is fitted against the mating surface of the rotating part 130, and the second through hole 162 is aligned with the second threaded hole 132. Then, the second screw part 184 is passed through the second through hole 162 of the second connecting part 160 and screwed into the second threaded hole 132 on the rotating part 130. When the second screw part 184 is tightened, the second screw head 182 presses against the end face of the second connecting part 160 facing away from the rotating part 130, thereby generating a strong preload. This preload firmly presses the second connecting part 160 against the mating surface of the rotating part 130, achieving a gapless rigid connection.

[0084] like Figure 6 As shown, in some embodiments of the present invention, optionally, along the axial direction of the first connecting portion 152, the first connecting portion 152 has a first end 156, the first end 156 of the first connecting portion 152 protrudes from the edge of the base 110, and the joint assembly 100 further includes: a first washer 190, a portion of the first washer 190 being located at the first end 156 of the first connecting portion 152; a first fastener 170 passing through another portion of the first washer 190 and connected to the base 110, so that a portion of the first washer 190 abuts against the first end 156 of the first connecting portion 152.

[0085] In this embodiment, along the axial direction of the first connecting portion 152 (e.g. Figure 6 As shown by arrow D in the diagram, the first connecting portion 152 has a first end 156 that protrudes axially from the edge of the base 110, forming an overhanging annular end face. The first gasket 190 is a separate component, and a portion of the first gasket 190 covers and directly contacts the end face of the protruding first end 156.

[0086] In this embodiment, a portion of the first connecting portion 152 is embedded in the mounting hole of the base 110 or fits against the mating surface of the base 110, but the first end 156 extends axially beyond the edge of the base 110, thus being exposed. A first washer 190 is placed on this protruding first end 156 of the first connecting portion 152, with its lower surface contacting the end face of the first end 156. The shank of the first fastener 170 passes through the first washer 190 and is connected to the base 110.

[0087] When the first fastener 170 is tightened, it pulls the first washer 190, causing the portion of the first washer 190 in contact with the fastener 170 to be subjected to downward pressure. This pressure is then transmitted to another portion of the first washer 190, namely the area in contact with the first end 156, thereby forcing the first washer 190 to firmly press the first end 156 of the first connecting portion 152 against the base 110, achieving axial compression. The core function of the first washer 190 in this process is to act as a force distributor, converting the load applied by the first fastener 170 into a uniformly distributed pressure with a larger effective area.

[0088] In this embodiment, the present invention achieves non-destructive fixing of the first connecting part 152. The present invention eliminates the need to machine any threaded holes or through holes on the body of the first connecting part 152, thus avoiding any weakening of the structural integrity of the support assembly 150 itself. The preload is transmitted and distributed through the first gasket 190, effectively preventing stress concentration at the connection interface, protecting the precision end face of the first connecting part 152, and ensuring uniform distribution of the clamping force, thereby improving the stability and reliability of the connection.

[0089] Optionally, the base 110 has a first threaded hole 112, and the first fastener 170 is a screw, including a first screw head 172 and a first screw shank 174. The diameter of the first screw shank 174 is smaller than the diameter of the first screw head 172. The first screw shank 174 is connected to the first screw head 172. The diameter of the first through hole 154 is slightly larger than the diameter of the first screw shank 174 and smaller than the diameter of the first screw head 172. The first screw shank 174 is provided with threads and can be screwed into the first threaded hole 112.

[0090] When the first fastener 170 is tightened using a tool, the first screw portion 174, guided by the thread, screws into the first threaded hole 112, thereby generating a strong axial tensile force. This tensile force manifests as a downward pressing force exerted by the first screw head 172 on the first washer 190. Since the diameter of the first screw head 172 is larger than the diameter of the first through hole 154, the first screw head 172 does not pass through the first through hole 154, but instead applies the pressure entirely to the first washer 190. Subsequently, the pressure is evenly transmitted through the first washer 190, ultimately firmly pressing the first end 156 of the first connecting portion 152 onto the base 110.

[0091] Optionally, along the axial direction of the first connecting portion 152 (e.g.) Figure 6 (As indicated by arrow D in the diagram), the first connecting portion 152 includes a first end 156 and a third end 158. The third end 158 is axially opposite to the first end 156 and is embedded in the base 110 during assembly, while the first end 156 protrudes from the base 110. The third end 158 is the end closest to and mates with the base 110. After the third end 158 is embedded, the first end 156 protrudes axially from the edge plane of the base 110, forming an exposed annular end face.

[0092] like Figure 7 As shown, in some embodiments of the present invention, optionally, along the axial direction of the second connecting portion 160, the second connecting portion 160 has a second end 164, the second end 164 of the second connecting portion 160 protruding from the edge of the rotating member 130, and the joint assembly 100 further includes: a second washer 192, a portion of the second washer 192 located at the second end 164 of the second connecting portion 160; a second fastener 180 passing through another portion of the second washer 192 and connected to the rotating member 130, so that a portion of the second washer 192 abuts against the second end 164 of the second connecting portion 160.

[0093] In this embodiment, along the axial direction of the second connecting portion 160 (e.g. Figure 7 As shown by arrow E in the diagram, the second connecting portion 160 has a second end 164 that protrudes axially from the edge of the rotating member 130, forming an extended annular end face. The second gasket 192 is a separate component, and a portion of the second gasket 192 covers and directly contacts the end face of the protruding second end 164.

[0094] In this embodiment, a portion of the second connecting portion 160 is embedded in the mounting hole of the rotating member 130 or fits against the mating surface of the rotating member 130, but the second end 164 extends axially beyond the edge of the rotating member 130, thus being exposed. A second washer 192 is placed on this protruding second end 164 of the second connecting portion 160, with its lower surface contacting the end face of the second end 164. The shank of the second fastener 180 passes through the second washer 192 and is connected to the rotating member 130. When the second fastener 180 is tightened, it pulls the second washer 192, causing the portion of the second washer 192 in contact with the second fastener 180 to experience downward pressure. This pressure is transmitted to another portion of the second washer 192, the area in contact with the second end 164, thereby forcing the second washer 192 to firmly press the second end 164 of the second connecting portion 160 against the rotating member 130, achieving axial clamping.

[0095] In this embodiment, the present invention achieves non-destructive fixing of the second connecting part 160, eliminating the need to machine any threaded holes or through holes on the body of the second connecting part 160, thus avoiding any weakening of the structural integrity of the support assembly 150 itself. The preload is transmitted and distributed through the second gasket 192, effectively preventing stress concentration at the connection interface, protecting the precision end face of the second connecting part 160, and ensuring uniform distribution of the clamping force, thereby improving the stability and reliability of the connection.

[0096] Optionally, the rotating part 130 is provided with a second threaded hole 132, and the second fastener 180 is a screw, including a second screw head 182 and a second screw shank 184. The diameter of the second screw shank 184 is smaller than the diameter of the second screw head 182. The second screw shank 184 is connected to the second screw head 182. The diameter of the second through hole 162 is slightly larger than the diameter of the second screw shank 184 and smaller than the diameter of the second screw head 182. The second screw shank 184 is provided with threads and can be screwed into the second threaded hole 132.

[0097] When the second fastener 180 is tightened using a tool, the second screw portion 184, guided by the thread, screws into the second threaded hole 132, thereby generating a strong axial tensile force. This tensile force manifests as a downward pressing force exerted by the second screw head 182 on the second washer 192. Because the diameter of the second screw head 182 is larger than the diameter of the second through hole 162, the second screw head 182 does not pass through the second through hole 162, but instead applies the pressure entirely to the second washer 192. Subsequently, the pressure is evenly transmitted through the second washer 192, ultimately firmly pressing the second end 164 of the second connecting portion 160 onto the rotating member 130. The threaded connection itself has reliable self-locking properties, effectively preventing loosening under vibration conditions.

[0098] Optionally, along the axial direction of the second connecting portion 160 (e.g.) Figure 7 (As indicated by arrow E in the diagram), the second connecting portion 160 includes a second end 164 and a fourth end 166. The fourth end 166 is axially opposite to the second end 164 and is embedded in the rotating member 130 during assembly, while the second end 164 protrudes from the rotating member 130. After the fourth end 166 is embedded, the second end 164 protrudes axially from the edge plane of the rotating member 130, forming an exposed annular end face. This structure allows for a deeper and more secure connection between the second connecting portion 160 and the rotating member 130. The embedding of the fourth end 166 provides radial constraint, and the compression of the second end 164 achieves axial fixation, forming a multi-dimensional rigid connection mechanism that further enhances the overall performance of the joint assembly 100.

[0099] like Figure 3As shown, in some embodiments of the present invention, optionally, the reducer 140 further includes: a body 142 connected to the base 110, and an output part 144 rotatably connected to the body 142.

[0100] In this embodiment, for the reducer 140, the present invention provides that the reducer 140 also includes a body 142, the body 142 is connected to the base 110 as the fixed part of the reducer 140, and the output part 144 is rotatably connected to the body 142 as the power output part of the reducer 140.

[0101] In this embodiment, the fixed connection of the body 142 ensures the stability of the transmission system, while the direct transmission between the output part 144 and the rotating part 130 ensures the high efficiency of power transmission. The rigid connection between the body 142 and the base 110 effectively suppresses the vibration displacement of the reducer 140 under load, while the precise rotational cooperation between the output part 144 and the body 142 reduces transmission losses and makes the joint movement smoother and more precise.

[0102] Optionally, the body 142 of the reducer 140 is rigidly fixed to the base 110 by fasteners or mating structures, ensuring the stability of the reducer 140 during joint operation, wherein the fasteners include screws.

[0103] The output unit 144 is supported within the housing 142 by rotating pairs such as bearings, and can rotate relative to the housing 142. At the same time, its output end is connected to one side of the rotating component 130. When an external power drives the input shaft of the reducer 140, the power is converted by the reducer 140 and transmitted to the rotating component 130 by the output unit 144, causing the rotating component 130 to rotate relative to the base 110.

[0104] like Figure 3 As shown, in some embodiments of the present invention, optionally, the base 110 includes a base 114, a first extension 116, and a second extension; the first extension 116 is disposed on the base 114; the second extension 120 is disposed on the base 114, and an installation space 124 is formed between the second extension 120 and the first extension 116, at least a portion of the rotating member 130 is located within the installation space 124; the reducer 140 is disposed on the first extension 116; and the second connecting portion 160 is disposed on the second extension 120.

[0105] In this embodiment, the base 110 adopts a split frame structure to provide a stable mounting foundation. The base 114, as the main body, is used to connect to the robot's upper-level arm or body. A first extension 116 and a second extension 120 extend from the base 114 relative to each other, forming a U-shaped frame. The mounting space 124 in the middle is used to accommodate part of the rotating component 130. The reducer 140 is fixed to the first extension 116, while the support assembly 150 is mounted to the second extension 120 by fasteners. This design allows the rotating component 130 to be suspended within the mounting space 124, with one end connected to the output portion 144 of the reducer 140 and the other end connected to the second connection portion 160 of the support assembly 150, thereby forming a symmetrical support layout between the reducer 140 and the support assembly 150.

[0106] During operation, when the reducer 140 drives the rotating component 130 to rotate, the first extension 116 and the second extension 120 share the load. The first extension 116 provides active transmission through the reducer 140, while the second extension 120 provides auxiliary constraint through the support assembly 150. The design of the mounting space 124 ensures that the rotating component 130 has sufficient freedom of movement while avoiding interference with the base 110. This frame structure enhances the overall rigidity of the joint assembly 100 because the load is evenly distributed on both sides of the extension of the base 114, reducing stress concentration.

[0107] Optionally, the base 114, the first extension 116, and the second extension 120 can be an integral structure.

[0108] like Figure 3 As shown, in some embodiments of the present invention, optionally, the first extension 116 is provided with a first mounting hole 118, and the reducer 140 is provided in the first mounting hole 118; the second extension 120 is provided with a second mounting hole 122, and the first connecting part 152 is connected to the second mounting hole 122.

[0109] In this embodiment, a first mounting hole 118 and a second mounting hole 122 are respectively provided on the first extension 116 and the second extension 120. The first mounting hole 118 is provided on the first extension 116. Specifically, the diameter, depth, and shape of the first mounting hole 118 are precisely matched with the outer shape of the body 142 of the reducer 140 to form a complete enclosing structure. The second mounting hole 122 is provided on the second extension 120, and its size and position are adapted to the outer shape of the first connecting portion 152 of the support assembly 150.

[0110] The reducer 140 body 142 is inserted into the first mounting hole 118, positioned by the circumferential constraint provided by the hole wall, and locked with screws. The first connecting part 152 of the support assembly 150 is installed in the second mounting hole 122.

[0111] In related technologies, hole-shaft fits rely on clearance fits or transition fits, inevitably resulting in clearance. However, the mounting hole in this invention primarily functions to provide a precise positioning reference and circumferential support for the component. The final rigid connection is achieved through the preload generated by the fastener, which fundamentally improves the strength and quality of the connection.

[0112] like Figure 3 As shown, in some embodiments of the present invention, optionally, a first mounting portion 134 is provided on one side of the rotating member 130, and the output portion 144 of the reducer 140 is connected to the first mounting portion 134; a second mounting portion 136 is provided on the other side of the rotating member 130, and a second connecting portion 160 is connected to the second mounting portion 136.

[0113] In this embodiment, in some embodiments of the present invention, optionally, a first mounting part 134 is provided on one side of the rotating member 130, and the output part 144 of the reducer 140 is connected to the first mounting part 134; a second mounting part 136 is provided on the other side of the rotating member 130, and a second connecting part 160 is connected to the second mounting part 136.

[0114] In this embodiment, a first mounting portion 134 is provided on the side of the rotating member 130 near the reducer 140, and the first mounting portion 134 can be a third mounting hole. Similarly, a second mounting portion 136 is provided on the other side of the rotating member 130 near the support assembly 150.

[0115] In terms of connection, the output part 144 of the reducer 140 is embedded in the first mounting part 134, and at the same time, it is rigidly connected to the first mounting part 134 of the rotating member 130 by fasteners such as screws. The second mounting part 136 on the other side of the rotating member 130 is a protruding shaft end. The second connecting part 160 of the support assembly 150 can be sleeved on the second mounting part 136, and the second connecting part 160 of the support assembly 150 is rigidly connected to the second mounting part 136 of the rotating member 130 by the second fastener 180.

[0116] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 8 As shown, in an embodiment of the present invention, an industrial robot 10 is proposed, which includes a joint assembly 100 as described in any of the above embodiments.

[0117] In this embodiment, the industrial robot 10 proposed by this utility model includes the joint component 100 as in any of the above embodiments, and therefore has all the beneficial effects of the joint component 100 in any of the above embodiments.

[0118] In this embodiment, the industrial robot 10 integrates a high-rigidity joint assembly 100 as described in any of the above embodiments, fundamentally solving the inherent defects of industrial robots in related technologies due to the use of hole-shaft mating connection methods inside the joints. Specifically, the support assembly 150 within the joint assembly 100 is rigidly connected to the base 110 and the rotating component 130 through the pre-tightening force provided by fasteners, forming a gapless double support structure. This significantly improves the positioning accuracy and trajectory tracking stability of the end effector when the industrial robot 10 performs high-speed, high-precision operations, while also greatly improving the durability and quiet operation of the joint, effectively broadening the application range of the industrial robot 10 in high-requirement scenarios such as precision assembly and processing.

[0119] For example, the industrial robot 10 can be a multi-joint welding robot. By adopting the joint assembly 100 of this invention, the rigidity of its arm joints is significantly enhanced. This enables the robot to effectively suppress welding torch vibration caused by joint micro-movements during continuous trajectory welding, ensuring the accuracy and stability of the welding trajectory and greatly improving welding quality.

[0120] For example, the industrial robot 10 can also be a handling robot, assembly robot, painting robot, or inspection robot. The industrial robot 10 of this invention, due to the outstanding advantages of its joint components 100 in terms of rigidity, precision, and reliability, can effectively improve the performance of various automated equipment.

[0121] In some embodiments of this utility model, the industrial robot 10 may optionally include a first component 200 and a second component 300 connected to the joint assembly 100. Specifically, the first component 200 serves as the fixed or base part of the robot and is connected to the base 110 of the joint assembly 100; the second component 300 serves as the motion or output part 144 of the robot and is connected to the rotating part 130 of the joint assembly 100.

[0122] In this embodiment, the first component 200 can be the robot's body or fixed base 110, and the first component 200 can also be the upper-level arm. The second component 300 can be the lower-level arm or link, and the second component 300 can also be an end effector. Specifically, the rotating component 130 is directly connected to end effectors such as welding torch, gripper, and spray gun to drive them to complete the work task.

[0123] The high rigidity of the joint assembly 100 of this invention ensures efficient and smooth power transmission from the rotating component 130 to the second component 300, significantly improving the motion accuracy, load capacity and dynamic performance of the entire industrial robot 10.

[0124] In the claims, description, and accompanying drawings of this utility model, the term "plural" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description process, and are not intended to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this utility model. The terms "connect," "install," "fix," etc., should be interpreted broadly. For example, "connect" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood based on the specific circumstances described above.

[0125] In the claims, description, and drawings of this utility model, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In the claims, description, and drawings of this utility model, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0126] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A joint assembly, characterized in that, For use in industrial robots, the joint assembly includes: Base; A rotating component, which is capable of rotating relative to the base; A speed reducer is mounted on the base, and one side of the rotating component is connected to the output section of the speed reducer; A support assembly is located on the other side of the rotating member. The support assembly includes a first connecting part and a second connecting part, and the first connecting part and the second connecting part are rotatably connected. The first fastener is used to connect the first connecting portion to the base. The second fastener connects the second connecting part to the rotating part.

2. The joint assembly according to claim 1, characterized in that, The first connecting part is provided with a first through hole, and the base is provided with a first threaded hole. The first threaded hole corresponds to the first through hole, and the first fastener passes through the first through hole and engages with the first threaded hole.

3. The joint assembly according to claim 1, characterized in that, The second connecting part is provided with a second through hole, the rotating part is provided with a second threaded hole, the second threaded hole corresponds to the second through hole, the second fastener passes through the second through hole and engages with the second threaded hole.

4. The joint assembly according to claim 1, characterized in that, Along the axial direction of the first connecting portion, the first connecting portion has a first end that protrudes beyond the edge of the base, and the joint assembly further includes: A first gasket, a portion of which is located at the first end of the first connecting portion; The first fastener passes through another portion of the first gasket and is connected to the base so that a portion of the first gasket abuts against the first end of the first connection portion.

5. The joint assembly according to claim 1, characterized in that, Along the axial direction of the second connecting portion, the second connecting portion has a second end that protrudes beyond the edge of the rotating member, and the joint assembly further includes: A second gasket, a portion of which is located at the second end of the second connecting portion; The second fastener passes through another part of the second washer and is connected to the rotating member so that a part of the second washer abuts against the second end of the second connection.

6. The joint assembly according to any one of claims 1 to 5, characterized in that, The speed reducer also includes: The body is connected to the base, and the output part is rotatably connected to the body.

7. The joint assembly according to any one of claims 1 to 5, characterized in that, The base includes: Matrix; A first extension is disposed on the substrate; A second extension is disposed on the base, and an installation space is formed between the second extension and the first extension, with at least a portion of the rotating member located within the installation space; The speed reducer is disposed in the first extension; The second connecting portion is disposed on the second extension portion.

8. The joint assembly according to claim 7, characterized in that, The first extension is provided with a first mounting hole, and the speed reducer is disposed in the first mounting hole; The second extension is provided with a second mounting hole, and the first connecting part is connected to the second mounting hole.

9. The joint assembly according to claim 8, characterized in that, A first mounting part is provided on one side of the rotating component, and the output part of the reducer is connected to the first mounting part; A second mounting portion is provided on the other side of the rotating component, and the second connecting portion is connected to the second mounting portion.

10. An industrial robot, characterized in that, include: The joint assembly as described in any one of claims 1 to 9.

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