WO2021003866A1 - 机器人关节支撑结构以及机器人 - Google Patents

机器人关节支撑结构以及机器人 Download PDF

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Publication number
WO2021003866A1
WO2021003866A1 PCT/CN2019/110013 CN2019110013W WO2021003866A1 WO 2021003866 A1 WO2021003866 A1 WO 2021003866A1 CN 2019110013 W CN2019110013 W CN 2019110013W WO 2021003866 A1 WO2021003866 A1 WO 2021003866A1
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WO
WIPO (PCT)
Prior art keywords
annular groove
end housing
support structure
robot
motor
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PCT/CN2019/110013
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English (en)
French (fr)
Inventor
黄强
张春雷
高峻峣
余张国
刘华欣
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北京理工大学
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Publication of WO2021003866A1 publication Critical patent/WO2021003866A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1025—Harmonic drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Definitions

  • the invention relates to a humanoid robot, in particular to a robot joint support structure and a robot.
  • Humanoid robots are an advanced development stage of robotics technology, which embodies the research and development level of many aspects of robotics, motion and dynamics.
  • the humanoid robot has strong obstacle crossing ability, adjustable moving direction in all directions, strong terrain adaptability, good movement flexibility, and high carrying capacity. It is the best choice in complex operating environments and has broad application prospects.
  • Larger leg-footed robots have large volume and mass. When the mass of the legs is large, the moment of inertia generated by the legs during walking is large, which has a significant impact on the stability of motion. Therefore, how to reduce the weight of the legs is one of the focal issues facing legged robots.
  • the key structure of the leg of the leg-foot humanoid robot is at the joint position.
  • the joint support structure of the existing humanoid leg-foot robot mostly adopts paired bearings.
  • paired bearings Generally, deep groove ball bearings, angular contact ball bearings, and cross roller bearings are selected. Or four-point contact ball bearings, etc., which can not only make the legs rotate at the joint positions but also ensure the rigidity of the joint positions, so that the joints of the robot legs remain stable.
  • the weight of the joint parts and the weight of the joint support structure of the human-like leg-foot robot joint support structure using deep groove ball bearings, angular contact ball bearings, crossed roller bearings, or four-point contact ball bearings is greatly combined.
  • the weight of the joint legs is increased, and the load of the robot is increased when walking, and the volume and weight are large. Larger weight requires a large power motor to drive, and a large power motor requires a larger structural weight to support.
  • embodiments of the present invention provide a robot joint support structure and a robot with the joint support structure to optimize the joint structure space and reduce the weight of the entire joint, thereby improving the flexibility and motion performance of the robot.
  • a robot joint support structure which includes: a drive motor; a reduction transmission mechanism coaxially connected to the drive motor; circumferentially surrounding the drive motor and fixedly connected to the drive motor
  • the motor end housing the transmission end housing that circumferentially surrounds the reduction transmission mechanism and is fixedly connected to the motor end housing; is placed on the outer periphery of the motor end housing and the transmission end housing and is connected to the The knee joint sleeve connected with the output end of the speed reduction transmission mechanism;
  • the motor end housing has a first annular groove in its circumferential direction
  • the transmission end housing has a second annular groove in its circumferential direction
  • the knee joint sleeve is integrally provided with or is detachably connected with an annular connecting piece circumferentially surrounding the motor end housing, and the annular connecting piece has a third annular groove which is connected to the first annular groove.
  • the annular grooves cooperate to form a first raceway for accommodating the first balls, so that the first balls are evenly arranged in the circumferential direction of the motor end housing along the first raceway;
  • the knee joint sleeve has a fourth annular groove at a position corresponding to the second annular groove of the transmission end housing, and the fourth annular groove cooperates with the second annular groove to form a second annular groove.
  • the second rolling path of the balls makes the second rolling balls evenly arranged in the circumferential direction of the transmission wheel end housing along the second rolling path.
  • the annular connecting member is a first pressure ring; the outer ring of the first pressure ring has an external thread, and is detachably connected to the knee joint sleeve through a threaded connection.
  • the robot joint support structure further includes: an inner thigh plate, an outer thigh plate, an inner calf plate, and an outer calf plate; the inner thigh plate and the outer thigh plate are connected by connectors, and are respectively installed near the The side of the drive motor and the side close to the reduction transmission mechanism, and the inner thigh plate is fixedly connected to the motor end housing; the inner leg plate and the outer leg plate and the knee joint sleeve Fixed connection.
  • the side wall of one end of the knee joint sleeve adjacent to the outer thigh plate has a fifth annular groove surrounding the transmission shaft of the reduction transmission mechanism; the outer thigh plate and the fifth annular groove The corresponding position of the groove has a sixth annular groove, and the sixth annular groove cooperates with the fifth annular groove to form a third raceway for accommodating the third ball, so that the third ball runs along the The third raceway is evenly arranged in the circumferential direction of the drive shaft.
  • the robot joint support structure further includes: a side cover plate, the side cover plate is fixed together with the inner thigh plate and the motor end housing by screws or by stop fittings and screws.
  • the reduction transmission mechanism is a harmonic reducer, which includes a wave generator, a harmonic rigid wheel and a flexspline; the motor end housing, the harmonic rigid wheel and the transmission end housing pass Screw fixed connection, or fixed connection through spigot fitting and screw.
  • the inner thigh plate (61) and the motor end housing (10) are fixedly connected with screws or through a stop fitting and screw;
  • the lower leg outer plate (71) is matched and connected with screws or a stop The screw is fixedly connected with the knee joint sleeve;
  • the lower leg lateral plate (72) is fixedly connected with the knee joint sleeve through screws or through stop fitting and screws.
  • the first annular groove is located at the bottom of the shaft shoulder of one end of the motor end housing; the third annular groove is located on the side wall of the first pressure ring; the second annular groove The slot is located at one end of the transmission end housing close to the output end.
  • the robot joint support structure further includes: a second pressure ring, the second pressure ring and the first pressure ring are arranged side by side and are located on the side of the first pressure ring away from the motor end housing
  • the outer ring of the second pressure ring has an external thread, which is fixedly connected to the knee joint sleeve by a threaded connection and presses the first pressure ring toward the first raceway.
  • a robot having the aforementioned robot joint supporting structure.
  • the robot joint support structure and the robot provided by the embodiments of the present invention eliminate the use of traditional bearings, integrate the joint support structure, and use a full circle of balls to roll in the raceway formed by the grooves of each structural member.
  • the method optimizes the structural space of the joint, greatly reduces the weight of the entire joint, and improves the flexibility and movement performance of the robot.
  • the embodiment of the present invention also uses an anti-loosening compression structure (such as a pressure ring) to ensure the positioning accuracy and connection rigidity of the slewing support.
  • an anti-loosening compression structure such as a pressure ring
  • Figure 1 is a schematic cross-sectional view of a robot joint support structure in an embodiment of the present invention.
  • FIG. 2 is a schematic cross-sectional view of a robot joint supporting structure without balls in the embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a three-dimensional structure of a robot joint support structure in an embodiment of the present invention.
  • Motor end housing 20 Transmission end housing 30: Knee joint cover
  • Screw 61 inner thigh plate 62: outer thigh plate
  • the first pressure ring 92 The second pressure ring
  • connection when used herein refers to the existence of features, elements, steps or components, but does not exclude the existence or addition of one or more other features, elements, steps or components.
  • connection herein can not only refer to a direct connection, but also an indirect connection with an intermediate.
  • Fig. 1 is a schematic cross-sectional view of a concentric slewing support structure for a robot joint in an embodiment of the present invention.
  • FIG. 2 is a schematic cross-sectional view of the concentric slewing support structure of the robot joint without showing the balls, so as to explain other structures.
  • the robot joint support structure includes: a drive motor; a reduction gearing mechanism coaxially connected to the drive motor; a motor end housing (or electric motor for short) that surrounds the drive motor in a circumferential direction and is fixedly connected to the drive motor Machine housing) 10; the transmission end housing 20 circumferentially surrounding the reduction transmission mechanism and fixedly connected to the motor end housing; placed on the outer circumference of the motor end housing and the transmission end housing and connected to the output end of the reduction transmission mechanism ⁇ knee joint sleeve 30.
  • the pair of bearing supports in the existing joint support structure are removed, and the joint is integrated between the knee joint sleeve 30 and the motor end housing 10 and between the knee joint sleeve 30 and the transmission end housing 20.
  • the design forms a raceway that accommodates the balls, and realizes the support performance, movement performance and flexibility of the robot joint by rolling the balls in the raceway, thereby optimizing the structural space of the joint and reducing the weight of the joint.
  • the motor end housing 10 has an annular groove in its circumferential direction, that is, a first annular groove 84, or simply a first annular groove.
  • the first annular groove 84 is formed at the bottom of the shaft shoulder of the motor end housing 10, as shown in FIG. 1 where the motor end housing 10 accommodates the ball 81.
  • the opening direction of the groove 84 is relative to the horizontal direction. Tilt up an angle, the angle can be flexibly set (preferably between 30°-60°, such as 45°).
  • the position of the first annular groove may also be at the edge of one end of the motor end housing 10, on the side wall of the motor end housing 10, or on the outer peripheral surface of the motor end housing 10.
  • the opening direction can also be flexibly set based on the position of the groove, such as an upward slope relative to the horizontal direction (such as the corresponding groove is located on the edge), radially outward along the circumference (such as the corresponding groove located in the motor end housing 10 In the case of the outer peripheral surface) or in the horizontal direction (for example, the corresponding groove is located on the side wall of the motor end housing 10).
  • the knee joint sleeve 30 may be integrally formed with an annular connecting piece circumferentially surrounding the motor end housing, or may be detachably connected with an annular connecting piece circumferentially surrounding the motor end housing, as shown in FIG. 1 A pressure ring 91.
  • the first pressure ring 91 may be integrally formed on the knee joint sleeve 30, or it may be fixed in the knee joint sleeve 30 through the threads by processing threads on the outer ring surface of the first pressure ring 91.
  • the first pressure ring is detachably connected to the knee joint sleeve 30 through a threaded connection.
  • the pressure ring can form a raceway for accommodating the first ball while flexibly adjusting the tightness, thereby improving the running performance of the raceway. reliability.
  • the position of the annular connecting piece corresponds to the position of the first annular groove, and the annular connecting piece has a third annular groove 86 that is matched with the first annular groove, and the third annular groove 86 is connected to the first annular groove.
  • the groove 84 cooperates to form a first raceway 01 that accommodates the first ball 81, so that the first ball 81 can be evenly arranged in a circle along the first raceway 01 in the circumferential direction of the motor end housing 10.
  • one or more second pressure rings may be arranged side by side with the first pressure ring, and the outer ring surface of the second pressure ring is threaded and fixed in the knee joint sleeve 30 through the threads.
  • the second pressure ring can be arranged on the outer side of the first pressure ring, fixedly connected to the knee joint sleeve by a threaded connection, and press the first pressure ring toward the first raceway, as the first pressure ring on the inner side of the anti-loosening pressure ring
  • the pressure ring is pre-tightened to further improve the reliability of the thread structure, thereby ensuring the positioning accuracy and connection rigidity of the slewing support structure.
  • the structure of the second pressure ring is preferably the same as that of the first pressure ring, that is, it also has an annular groove, which can be used interchangeably with the first pressure ring and reduce the weight as much as possible.
  • the structure of the second pressure ring may also be different from that of the first pressure ring, as long as it can pre-tighten the inner first pressure ring.
  • the transmission end housing 20 has a second annular groove 85 in the circumferential direction thereof.
  • the second annular groove 85 is located at one end of the transmission end housing 20 close to the output end, such as at the edge of the transmission end housing close to the output end, but the present invention is not limited to this. It can also be other positions that are in contact with or adjacent to the knee joint sleeve.
  • the knee joint sleeve 30 has a fourth annular groove 87 at a position corresponding to the second annular groove 85 of the transmission end housing 20, and the fourth annular groove 87 cooperates with the second annular groove 85 to form an accommodation
  • the second race 02 of the second ball 82 makes the second balls evenly arranged in a circle along the second race in the circumferential direction of the transmission wheel end housing.
  • the rolling balls of the whole circle in the raceway 02 can play a supporting role, and the balls can ensure the positioning accuracy of the raceways on both sides.
  • the joint support structure may further include an inner thigh plate 61, an outer thigh plate 62, and an inner calf
  • the plate 71 and the outer calf plate 72, the inner thigh plate 61 and the outer thigh plate 62 can form part of the thigh structure of the robot.
  • the inner calf plate 71 and the outer calf plate 72 can form part of the lower leg structure of the robot.
  • the inner thigh plate and the outer thigh plate may be relatively fixedly connected to the motor end housing 10. More specifically, the inner thigh plate 61 may be fixedly connected to the motor end housing 10, for example, the inner thigh plate 61 and the motor end housing 10 may be fixedly connected as a whole by screws. The inner thigh plate 61 and the outer thigh plate 62 can be fixedly connected by a connecting member (such as a connecting rod, not shown in the figure). The inner thigh plate 61 and the outer thigh plate 62 can be installed on the side close to the drive motor and close to the decelerating drive. Organization side.
  • the inner thigh plate 61 and the outer thigh plate 62 together form a part of the thigh structure of the robot. Furthermore, the inner thigh plate and the motor end housing can be fixedly connected by screws, or fixedly connected by spigot fitting and screw connection. The connection by spigot fitting and screw connection can ensure the installation positioning accuracy and structural stability.
  • the inner thigh The combination of the plate and the outer thigh plate as a whole can ensure the rigidity of the thigh.
  • the side of the inner thigh plate opposite to the motor end housing may also have a side cover. As shown in FIG. 3, the side cover 73 can be connected to the inner thigh plate and the motor end by screws.
  • the shells are fixed together, and further can be fixed together with the inner thigh plate and the motor end shell through a stop fitting and a screw.
  • the side cover can increase the flexibility of disassembly and assembly.
  • the inner calf plate and the outer calf plate can be relatively fixedly connected with the knee joint sleeve 30.
  • the outer calf plate 72 can be fixed to the knee joint cover 30 by screws
  • the inner calf plate 71 can be fixed to the knee joint cover 30 by screws.
  • the outer calf plate 72 can be fixed to the knee joint sleeve 30 through a stop-fitting method
  • the inner calf plate 71 can be fixed to the knee joint sleeve 30 by a stop-fitting method.
  • the outer calf plate 72 can be fixed to the knee joint sleeve 30 by screw coupling and notch fitting
  • the calf inner plate 71 can be fixed to the knee joint sleeve 30 by screw coupling and notch fitting.
  • the fitting and screw connection can ensure the accuracy of installation and positioning and the reliability of the structure.
  • the combination of the inner calf plate and the outer calf plate can ensure the rigidity of the calf.
  • the reduction transmission mechanism may be a harmonic reducer, which may include a wave generator (not shown), a harmonic rigid wheel and a flexible wheel (not shown), wherein the flexible wheel is the harmonic The output of the reducer.
  • motors and harmonic reducers are commonly used drive and transmission mechanisms in the prior art, detailed descriptions of their principles and detailed structures are omitted here.
  • Figure 1 only the motor, harmonic rigid wheel, and flexible wheel The installation position of is schematically showing the drive motor 40, the harmonic rigid wheel 51 and the flexible wheel 52, which does not affect the realization of the present invention.
  • the reduction transmission mechanism may also be other reduction transmission mechanisms other than the harmonic reducer. Regardless of the reduction transmission mechanism, the drive shaft of the motor rotates to actuate the harmonic reducer, and the output is reduced by the flexible wheel of the harmonic reducer.
  • the motor end housing 10 and the transmission end housing 20 are relatively fixed, and the knee joint sleeve 30 is fixedly connected to the output end (such as a flexspline) of the reduction transmission mechanism. More specifically, as shown in FIG. 1, the motor end housing 10 and the transmission end housing 20 can be fixed together by the screw 13 or by the spigot fitting and the screw 13 and the harmonic rigid wheel 51 connection, and the spigot fitting and The screw connection can further ensure the accuracy of installation and positioning and the reliability of the structure.
  • the knee joint cover 30 can be fixedly connected to the side wall of the flexspline by means of screws 33 or through a spigot and screw 33.
  • the knee joint cover 30 can be relative to the motor with the rotation of the output end (such as the flexspline) of the reduction transmission mechanism
  • the end housing 10 rotates.
  • the knee joint cover 30 is fixedly connected with the flexible wheel, the inner calf plate and the outer lower leg plate are fixedly connected to the knee joint cover 30, and the inner thigh plate and the outer thigh plate are fixedly connected to the motor end housing. Therefore, the knee joint cover 30 is When driven by the output end of the deceleration transmission mechanism to rotate relative to the motor housing, the relative rotation of the lower leg and the thigh can be realized, thereby realizing the walking process of the robot.
  • the side wall of one end of the knee joint cover 30 close to the lateral thigh plate 62 has A fifth annular groove 88 surrounding the transmission shaft of the reduction transmission mechanism.
  • the raceway 03 makes the third balls 83 evenly arranged in a circle along the third raceway 01 in the circumferential direction of the drive shaft.
  • the full circle of balls rolling in the raceway 03 can support and lubricate, and the balls can ensure the positioning accuracy of the raceways on both sides.
  • the robot joint support structure of the above embodiment of the present invention is a new type of concentric gyration support structure, which eliminates the use of traditional bearings, integrates the joint support structure, and uses a full circle of balls in the support structure.
  • the way of rolling in the raceway formed by the groove cooperation optimizes the structural space of the joint, greatly reduces the weight of the entire joint, and improves the flexibility and movement performance of the robot.
  • the embodiment of the present invention also uses an anti-loosening compression structure (such as a pressure ring) to ensure the positioning accuracy and connection rigidity of the slewing support.
  • an anti-loosening compression structure such as a pressure ring
  • the present invention also provides a robot including the above-mentioned concentric gyration support structure, especially a humanoid robot.
  • the concentric gyration support structure provided in this embodiment is not only suitable for humanoid robots, but also suitable for non-humanoid robots with joint support structures.
  • the inner thigh plate, The outer thigh panel, the inner calf panel and the outer calf panel can be replaced by other corresponding receiving parts.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种机器人关节支撑结构以及机器人，该支撑结构包括：驱动电机（40）；减速传动机构；电机端壳体（10）；传动端壳体（20）；置于电机端壳体和传动端壳体的外周并与减速传动机构的输出端相连接的膝关节套（30）；电机端壳体周向上具有第一环形凹槽（84）；传动端壳体周向上具有第二环形凹槽（85）；膝关节套上有周向环绕电机端壳体的环形连接件，环形连接件具有第三环形凹槽（86），该第三环形凹槽与第一环形凹槽相配合形成容纳第一滚珠（81）的第一滚道（01），其沿着第一滚道在电机的圆周方向均匀排布；膝关节套的对应传动端壳体的第二环形凹槽的位置处具有第四环形凹槽（87），第四环形凹槽与第二环形凹槽相配合形成容纳第二滚珠（82）的第二滚道（02），其沿着第二滚道在传动轮的圆周方向均匀排布。

Description

机器人关节支撑结构以及机器人 技术领域
本发明涉及仿人机器人，尤其涉及一种机器人关节支撑结构以及机器人。
背景技术
仿人机器人是机器人技术的先进发展阶段，体现了机器人的机构学、运动和动力学等诸多方面的研究和发展水平。仿人机器人越障能力强，移动方向可全方位调整，地形适应能力强，运动灵活性好，承载能力高，是复杂作业环境下的最佳选择，具有广阔的应用前景。尺寸较大的腿足式机器人体积和质量大，腿部质量较大时在行走过程中腿部产生的转动惯量大，对运动的平稳性影响比较明显。因此，如何减轻腿部的重量是腿足式机器人面临的焦点问题之一。
腿足式仿人机器人腿部关键结构在关节位置，现有的仿人腿足式机器人关节支撑结构多采用成对的轴承支撑，一般选择深沟球轴承、角接触球轴承、交叉滚子轴承或四点接触球轴承等，既可以使腿在关节位置实现旋转又能够保证关节位置的刚性，从而使机器人腿部各关节保持稳定。
但是，这种采用深沟球轴承、角接触球轴承、交叉滚子轴承或四点接触球轴承等轴承支撑的仿人腿足式机器人关节支撑结构的关节零件结构和轴承的重量加在一起大大增加了关节腿的重量，使机器人在行走时负载增大，体积重量大，较大的重量需要大的功率电机驱动、大功率电机又需要更大的结构重量来支撑。
如何优化关节结构空间，从而减小整个关节的重量，提高机器人的灵活性和运动性能，是一个有待解决的技术问题。
发明内容
鉴于此，本发明实施例提供了一种机器人关节支撑结构以及具有该关节支撑结构的机器人，以优化关节结构空间，减小整个关节的重量，从而提高机器人的灵活性和运动性能。
本发明的技术方案如下：
根据本发明的一方面，提供一种机器人关节支撑结构，该结构包括：驱动电机；与所述驱动电机同轴连接的减速传动机构；周向环绕所述驱动电机并与所述驱动电机固定 连接的电机端壳体；周向环绕所述减速传动机构并与所述电机端壳体固定连接的传动端壳体；置于所述电机端壳体和所述传动端壳体的外周并与所述减速传动机构的输出端相连接的膝关节套；
所述电机端壳体在其周向上具有第一环形凹槽；
所述传动端壳体在其周向上具有第二环形凹槽；
所述膝关节套上一体设置有或可拆卸的连接有周向环绕电机端壳体的环形连接件，所述环形连接件具有第三环形凹槽，该第三环形凹槽与所述第一环形凹槽相配合形成容纳第一滚珠的第一滚道，使得所述第一滚珠沿着所述第一滚道在所述电机端壳体的圆周方向均匀排布；
所述膝关节套的对应所述传动端壳体的第二环形凹槽的位置处具有第四环形凹槽，所述第四环形凹槽与所述第二环形凹槽相配合形成容纳第二滚珠的第二滚道，使得所述第二滚珠沿着所述第二滚道在所述传动轮端壳体的圆周方向均匀排布。
可选的，所述环形连接件为第一压环；所述第一压环外圈有外螺纹，通过螺纹连接方式可拆卸地连接在所述膝关节套中。
可选的，所述机器人关节支撑结构还包括：大腿内侧板、大腿外侧板、小腿内侧板和小腿外侧板；所述大腿内侧板与所述大腿外侧板通过连接件连接，分别安装在靠近所述驱动电机的一侧以及靠近所述减速传动机构一侧，并且，所述大腿内侧板与所述电机端壳体固定连接；所述小腿内侧板和所述小腿外侧板与所述膝关节套固定连接。
可选的，所述膝关节套的邻近所述大腿外侧板的一端部侧壁具有环绕所述减速传动机构的传动轴的第五环形凹槽；所述大腿外侧板的与所述第五环形凹槽对应的位置具有第六环形凹槽，所述第六环形凹槽与所述第五环形凹槽相配合形成容纳第三滚珠的第三滚道，使得所述第三滚珠沿着所述第三滚道在传动轴的圆周方向均匀排布。
可选的，所述机器人关节支撑结构还包括：侧盖板，所述侧盖板通过螺钉或者通过止口配合和螺钉与所述大腿内侧板和所述电机端壳体固定在一起。
可选的，所述减速传动机构为谐波减速器，其包括波发生器、谐波刚轮和柔轮；所述电机端壳体、所述谐波刚轮以及所述传动端壳体通过螺钉固定连接，或者通过止口配合和螺钉固定连接。
可选的，所述大腿内侧板(61)与所述电机端壳体(10)通过螺钉或通过止口配合和螺钉固定连接；所述小腿外侧板(71)通过螺钉或通过止口配合和螺钉与所述膝关节 套固定连接；所述小腿外侧板(72)通过螺钉或通过止口配合和螺钉与所述膝关节套固定连接。
可选的，所述第一环形凹槽位于所述电机端壳体的一端部的轴肩底部；所述第三环形凹槽位于所述第一压环的侧壁；所述第二环形凹槽位于所述传动端壳体的靠近输出端的一端部。
可选的，所述机器人关节支撑结构还包括：第二压环，所述第二压环和所述第一压环并排设置并位于所述第一压环的远离所述电机端壳体的一侧，所述第二压环外圈有外螺纹，通过螺纹连接方式固定连接到所述膝关节套中并朝向所述第一滚道压紧所述第一压环。
根据本发明的另一方面，还提供一种机器人，所述机器人具有如前所述的机器人关节支撑结构。
本发明实施例提供的机器人关节支撑结构以及机器人，取消了传统轴承的使用，将关节支撑结构进行一体化设计，并且支撑结构使用整圈的滚珠在各结构件的凹槽配合形成的滚道内滚动的方式，优化了关节的结构空间，大大减小了整个关节的重量，提高了机器人的灵活性和运动性能。
进一步地，本发明实施例还使用防松压紧结构(如压环)能够保证回转支撑的定位精度和连接刚度。
本发明的附加优点、目的，以及特征将在下面的描述中将部分地加以阐述，且将对于本领域普通技术人员在研究下文后部分地变得明显，或者可以根据本发明的实践而获知。本发明的目的和其它优点可以通过在书面说明及其权利要求书以及附图中具体指出的结构实现到并获得。
本领域技术人员将会理解的是，能够用本发明实现的目的和优点不限于以上具体所述，并且根据以下详细说明将更清楚地理解本发明能够实现的上述和其他目的。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，并不构成对本发明的限定。附图中的部件不是成比例绘制的，而只是为了示出本发明的原理。为了便于示出和描述本发明的一些部分，附图中对应部分可能被放大，即，相对于依据本发明实际制造的示例性装置中的其它部件可能变得更大。在附图中：
图1为本发明一实施例中机器人关节支撑结构的剖面示意图。
图2为本发明实施例中未示出滚珠的机器人关节支撑结构的剖面示意图。
图3为本发明一实施例中机器人关节支撑结构的立体结构示意图。
附图标号说明：
10：电机端壳体    20：传动端壳体    30：膝关节套
40：电机          51：谐波刚轮      52：柔轮
11、31：螺钉      61：大腿内侧板    62：大腿外侧板
71：小腿内侧板    72：小腿外侧板    73：侧盖板
81：第一滚珠      82：第二滚珠      83：第三滚珠
84：第一环形凹槽  85：第二环形凹槽  86：第三环形凹槽
87：第四环形凹槽  88：第五环形凹槽  89：第六环形凹槽
91：第一压环      92：第二压环
01：第一滚道      02：第二滚道      03：第三滚道
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，下面结合实施方式和附图，对本发明做进一步详细说明。在此，本发明的示意性实施方式及其说明用于解释本发明，但并不作为对本发明的限定。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。术语“安装”、“相连”、“连接”应做广义理解，例如，可以是机械连接或电连接，也可以是两个元件内部的连通，可以是直接相连，也可以通过中间媒介间接相连，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语的具体含义。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
在此，还需要说明的是，为了避免因不必要的细节而模糊了本发明，在附图中仅仅示出了与根据本发明的方案密切相关的结构和/或处理步骤，而省略了与本发明关系不大的其他细节。
应该强调，术语“包括/包含/具有”在本文使用时指特征、要素、步骤或组件的存在，但并不排除一个或更多个其它特征、要素、步骤或组件的存在或附加。在此，还需 要说明的是，如果没有特殊说明，术语“连接”在本文不仅可以指直接连接，也可以表示存在中间物的间接连接。在下文中，将参考附图描述本发明的实施例。在附图中，相同的附图标记代表相同或类似的部件，或者相同或类似的步骤。
为了解决现有技术中机器人关节支撑结构重量大导致在行走时负载增大，电机驱动功率大等的问题，本发明提供了一种机器人关节支撑结构。图1所示为本发明一实施例中机器人关节同心回转支撑结构的剖面示意图。图2所示为未示出滚珠的机器人关节同心回转支撑结构的剖面示意图，以便于对其他结构进行解释说明。如图1和图2所示，该机器人关节支撑结构包括：驱动电机；与驱动电机同轴连接的减速传动机构；周向环绕驱动电机并与驱动电机固定连接的电机端壳体(或简称电机壳体)10；周向环绕减速传动机构并与电机端壳体固定连接的传动端壳体20；置于电机端壳体和传动端壳体的外周并与减速传动机构的输出端相连接的膝关节套30。
本发明实施例中，去掉了现有关节支撑结构中成对的轴承支撑，在膝关节套30与电机端壳体10之间以及在在膝关节套30与传动端壳体20之间通过一体化设计形成容纳滚珠的滚道，并通过滚珠在滚道内滚动的方式实现了机器人关节的支撑性能、运动性能和灵活性，从而优化关节的结构空间并降低了关节的重量。
更具体地，电机端壳体10在其周向上具有环形凹槽，即第一环形凹槽84，或简称第一环形槽。在一优选示例中，第一环形凹槽84被形成在电机端壳体10的轴肩底部，如图1中电机端壳体10容纳滚珠81的位置，凹槽84开口方向为相对于水平方向向上倾斜一个角度，该角度可以灵活设定(优选30°-60°之间，如45°)。但本发明并不限于此，第一环形凹槽的位置还可以是电机端壳体10一端的边沿处、电机端壳体10的侧壁上或电机端壳体10的外周面上，凹槽的开口方向也可以基于凹槽位置而灵活设置，如相对于水平方向向上倾斜一个角度(如对应凹槽位于边沿的情况)、沿圆周径向向外(如对应凹槽位于电机端壳体10的外周面上的情况)或在水平方向(如对应凹槽位于电机端壳体10的侧壁的情况)。
相应地，膝关节套30上可一体形成有周向环绕电机端壳体的环形连接件，或可拆卸的连接有周向环绕电机端壳体的环形连接件，如图1中所示的第一压环91。该第一压环91可以一体形成在膝关节套30上，也可以通过在第一压环91的外环表面加工有螺纹，通过螺纹固定在膝关节套30中，本发明实施例中优选地选择第一压环通过螺纹连接方式与膝关节套30可拆卸地连接的这种方式，这样压环在形成容纳第一滚珠的滚道的同时，还可以灵活调节松紧，从而提高滚道运行的可靠性。该环形连接件的位置与第一环形凹 槽的位置相对应，且该环形连接件具有与第一环形凹槽相配合的第三环形凹槽86，该第三环形凹槽86与第一环形凹槽84相配合形成容纳第一滚珠81的第一滚道01，使得第一滚珠81可以沿着第一滚道01在电机端壳体10的圆周方向均匀排布一圈。整圈的滚珠在滚道内滚动既可以起到支撑作用，滚珠又能够保证两侧滚道的定位精度。在本发明另一实施例中，在可以与第一压环并排设置一个或更多个第二压环，第二压环的外环表面加工有螺纹，通过螺纹固定在膝关节套30中。该第二压环可布置在第一压环的外侧，通过螺纹连接方式固定连接到膝关节套中并朝向第一滚道压紧第一压环，以作为防松压环对内侧的第一压环进行预紧，进一步提高了螺纹结构的可靠性，从而保证了回转支撑结构的定位精度和连接刚度。在本发明一些实施例中，第二压环的结构优选地与第一压环相同，即也具有环形凹槽，这样可以与第一压环相互替换使用并尽量减轻重量，但在本发明其他实施例中，第二压环的结构也可以与第一压环不同，只要能够起到对内侧第一压环起预紧作用即可。
此外，本发明实施例中，传动端壳体20在其周向上具有第二环形凹槽85。在图2所示的示例中，该第二环形凹槽85位于传动端壳体20的靠近输出端的一端部，如位于传动端壳体的靠近输出端的边沿处，但本发明并不限于此，还可以是其他与膝关节套接触或邻近的位置。
相应地，膝关节套30的对应传动端壳体20的第二环形凹槽85的位置处具有第四环形凹槽87，该第四环形凹槽87与第二环形凹槽85相配合形成容纳第二滚珠82的第二滚道02，使得第二滚珠沿着第二滚道在传动轮端壳体的圆周方向均匀排布一圈。整圈的滚珠在滚道02内滚动既可以起到支撑作用，滚珠又能够保证两侧滚道的定位精度。
图1和图2所示的示例中，在将关节支撑结构应用于仿人机器人的腿部关节支撑结构的情况下，该关节支撑结构还可包括大腿内侧板61、大腿外侧板62、小腿内侧板71和小腿外侧板72，大腿内侧板61与大腿外侧板62可组成机器人大腿结构的一部分。小腿内侧板71和小腿外侧板72可组成机器人小腿结构的一部分。
在本发明一实施例中，大腿内侧板与大腿外侧板可与电机端壳体10相对固定连接。更具体地，大腿内侧板61可与电机端壳体10固定连接，例如，大腿内侧板61与电机端壳体10可通过螺钉固定连接为一体。大腿内侧板61可与大腿外侧板62通过连接件(如连接杆，图中未示出)固定连接，大腿内侧板61与大腿外侧板62可分别安装在靠近驱动电机的一侧以及靠近减速传动机构一侧。大腿内侧板61与大腿外侧板62共同组成了机器人大腿结构的一部分。更进一步地，大腿内侧板和电机端壳体可通过螺钉固定连 接，或者通过止口配合和螺钉固定连接，通过止口配合和螺钉连接方式连接能够保证安装定位精度和结构的稳定性，大腿内侧板和大腿外侧板组合成一整体能够保证大腿的刚性。在本发明其他实施例中，大腿内侧板的与电机端壳体相背的一侧还可具有一个侧盖板，如图3中，该侧盖板73可通过螺钉与大腿内侧板和电机端壳体固定在一起，进一步可通过止口配合及螺钉与大腿内侧板和电机端壳体固定在一起。侧盖板可增加拆装的灵活性。
小腿内侧板和小腿外侧板可与膝关节套30相对固定连接。例如，小腿外侧板72可通过螺钉与膝关节套30固定到一起，小腿内侧板71可通过螺钉与膝关节套30固定到一起。另选地，小腿外侧板72可通过止口配合方式与膝关节套30固定到一起，小腿内侧板71可通过止口配合方式与膝关节套30固定到一起。另选地，小腿外侧板72可通过螺钉结合止口配合方式与膝关节套30固定到一起，小腿内侧板71可通过螺钉结合止口方式与膝关节套30固定到一起。通过止口配合和螺钉连接能够保证安装定位精度和结构的可靠性，小腿内侧板和小腿外侧板组合成一整体能够保证小腿的刚性。基于上面的大腿部分和小腿部分与关节部分的连接结构，膝关节套30在减速传动机构的输出端的带动下相对于电机壳体转动时，可实现小腿与大腿的相对旋转，从而实现机器人的行走过程。
在本发明一实施例中，减速传动机构可为谐波减速器，其可包括波发生器(未示出)、谐波刚轮和柔轮(未示出)，其中柔轮为该谐波减速器的输出端。由于电机、谐波减速器为现有技术中常用的驱动和传动机构，在此省略了对其原理及其详细结构的具体描述，而在图1中仅在电机、谐波刚轮、柔轮的安装位置示意地示出驱动电机40、谐波刚轮51和柔轮52，这并不影响本发明的实现。在本发明实施例中，减速传动机构还可以是谐波减速器之外的其他减速传动机构。无论是哪种减速传动机构，电机的传动轴转动来致动谐波减速器，经谐波减速器的柔轮减速输出。
在本发明实施例中，电机端壳体10、传动端壳体20相对固定，膝关节套30与减速传动机构的输出端(如柔轮)固定连接。更具体地，如图1所示，电机端壳体10、传动端壳体20可仅通过螺钉13或者通过止口配合及螺钉13与谐波刚轮51连接固定到一起，通过止口配合和螺钉连接能够进一步保证安装定位精度和结构的可靠性。膝关节套30可通过螺钉33或者通过止口配合及螺钉33与柔轮侧壁固定连接，这样，膝关节套30可随着减速传动机构的输出端(如柔轮)的转动而相对于电机端壳体10转动。正因为膝关节套30与柔轮固定连接，小腿内侧板和小腿外侧板与膝关节套30固定连接，而大腿内侧板和大腿外侧板与电机端壳体固定连接，因此，膝关节套30在减速传动机构的输出 端的带动下相对于电机壳体转动时，可实现小腿与大腿的相对旋转，从而实现机器人的行走过程。
在本发明一实施例中，为了实现大腿外侧板62和与小腿外侧板72固定的膝关节套30之间的相对旋转，在膝关节套30的靠近大腿外侧板62的一端部侧壁上具有环绕减速传动机构的传动轴的第五环形凹槽88。相应地，在大腿外侧板62的与第五环形凹槽对应的位置具有第六环形凹槽89，第六环形凹槽89与第五环形凹槽88相配合形成容纳第三滚珠83的第三滚道03，使得第三滚珠83沿着第三滚道01在传动轴的圆周方向均匀排布一圈。整圈的滚珠在滚道03内滚动可以起到支撑和润滑作用，滚珠又能够保证两侧滚道的定位精度。
本发明如上实施例的机器人关节支撑结构为一种新型的同心回旋支撑结构，其取消了传统轴承的使用，将关节支撑结构进行一体化设计，并且支撑结构使用整圈的滚珠在各结构件的凹槽配合形成的滚道内滚动的方式，优化了关节的结构空间，大大减小了整个关节的重量，提高了机器人的灵活性和运动性能。
进一步地，本发明实施例还使用防松压紧结构(如压环)能够保证回转支撑的定位精度和连接刚度。
相应地，本发明还提供一种包括如上同心回旋支撑结构的机器人，尤其是仿人机器人。但是，在本发明的另一方面，本实施例提供的同心回旋支撑结构不仅适用于仿人机器人，还同样适用于具有关节支撑结构的非仿人机器人，在这种情况下，大腿内侧板、大腿外侧板、小腿内侧板和小腿外侧板可由相应的其他承接件替代。
本发明中，针对一个实施方式描述和/或例示的特征，可以在一个或更多个其它实施方式中以相同方式或以类似方式使用，和/或与其他实施方式的特征相结合或代替其他实施方式的特征。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明实施例可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种机器人关节支撑结构，其特征在于，该结构包括：驱动电机(40)；与所述驱动电机同轴连接的减速传动机构(51,52)；周向环绕所述驱动电机并与所述驱动电机固定连接的电机端壳体(10)；周向环绕所述减速传动机构并与所述电机端壳体固定连接的传动端壳体(20)；置于所述电机端壳体和所述传动端壳体的外周并与所述减速传动机构的输出端相连接的膝关节套(30)；
    所述电机端壳体在其周向上具有第一环形凹槽(84)；
    所述传动端壳体在其周向上具有第二环形凹槽(85)；
    所述膝关节套上一体设置有或可拆卸的连接有周向环绕电机端壳体的环形连接件，所述环形连接件具有第三环形凹槽(86)，该第三环形凹槽(86)与所述第一环形凹槽(84)相配合形成容纳第一滚珠(81)的第一滚道(01)，使得所述第一滚珠沿着所述第一滚道在所述电机端壳体的圆周方向均匀排布；
    所述膝关节套的对应所述传动端壳体的第二环形凹槽的位置处具有第四环形凹槽(87)，所述第四环形凹槽(87)与所述第二环形凹槽(85)相配合形成容纳第二滚珠(82)的第二滚道(02)，使得所述第二滚珠沿着所述第二滚道在所述传动轮端壳体的圆周方向均匀排布。
  2. 根据权利要求1所述的机器人关节支撑结构，其特征在于，所述环形连接件为第一压环(91)；
    所述第一压环(91)外圈有外螺纹，通过螺纹连接方式可拆卸地连接在所述膝关节套(30)中。
  3. 根据权利要求1或2所述的机器人关节支撑结构，其特征在于，所述机器人关节支撑结构还包括：大腿内侧板(61)、大腿外侧板(62)、小腿内侧板(71)和小腿外侧板(72)；
    所述大腿内侧板(61)与所述大腿外侧板(62)通过连接件连接，分别安装在靠近所述驱动电机的一侧以及靠近所述减速传动机构一侧，并且，所述大腿内侧板与所述电机端壳体(10)固定连接；
    所述小腿内侧板(71)和所述小腿外侧板(72)与所述膝关节套(30)固定连接。
  4. 根据权利要求3所述的机器人关节支撑结构，其特征在于：
    所述膝关节套(30)的邻近所述大腿外侧板的一端部侧壁具有环绕所述减速传动机构的传动轴的第五环形凹槽(88)；
    所述大腿外侧板的与所述第五环形凹槽(88)对应的位置具有第六环形凹槽(89)，所述第六环形凹槽与所述第五环形凹槽相配合形成容纳第三滚珠(83)的第三滚道(03)，使得所述第三滚珠(83)沿着所述第三滚道(03)在传动轴的圆周方向均匀排布。
  5. 根据权利要求4所述的机器人关节支撑结构，其特征在于，所述机器人关节支撑结构还包括：
    侧盖板(73)，所述侧盖板通过螺钉或者通过止口配合和螺钉与所述大腿内侧板和所述电机端壳体固定在一起。
  6. 根据权利要求1所述的机器人关节支撑结构，其特征在于：
    所述减速传动机构为谐波减速器，其包括波发生器、谐波刚轮(51)和柔轮；
    所述电机端壳体(10)、所述谐波刚轮(51)以及所述传动端壳体(20)通过螺钉固定连接，或者通过止口配合和螺钉固定连接。
  7. 根据权利要求3所述的机器人关节支撑结构，其特征在于：
    所述大腿内侧板(61)与所述电机端壳体(10)通过螺钉或通过止口配合和螺钉固定连接；
    所述小腿外侧板(71)通过螺钉或通过止口配合和螺钉与所述膝关节套固定连接；
    所述小腿外侧板(72)通过螺钉或通过止口配合和螺钉与所述膝关节套固定连接。
  8. 根据权利要求2所述的机器人关节支撑结构，其特征在于：
    所述第一环形凹槽(84)位于所述电机端壳体(10)的一端部的轴肩底部；
    所述第三环形凹槽(86)位于所述第一压环的侧壁；
    所述第二环形凹槽(85)位于所述传动端壳体(20)的靠近输出端的一端部。
  9. 根据权利要求2所述的机器人关节支撑结构，其特征在于，所述机器人关节支撑结构还包括：
    第二压环(92)，所述第二压环(92)和所述第一压环(91)并排设置并位于所述第一压环的远离所述电机端壳体的一侧，所述第二压环外圈有外螺纹，通过螺纹连接方式固定连接到所述膝关节套中并朝向第一滚道压紧所述第一压环。
  10. 一种机器人，其特征在于，所述机器人具有如权利要求1-9中任意一项所述的机器人关节支撑结构。
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