Shoulder joint structure and humanoid robot

Abstract

The invention relates to the technical field of robots, in particular to a shoulder joint structure and a humanoid robot, and the shoulder joint structure comprises a first supporting assembly, a second supporting assembly, a third supporting shell and an elastic rotating connecting assembly. Wherein the elastic rotating connecting assembly comprises an elastic containing frame, a connecting shaft, a supporting ring and a ball, impact is absorbed through inclined elastic deformation of an elastic supporting part, the ball rolls in an annular rolling groove to achieve low-friction rotation, and the problem that a traditional bearing is prone to damage due to hard connection is solved. Meanwhile, the elastic supporting part adopts pre-tightening installation and limiting design, so that lossless disassembly and assembly are facilitated; and the connecting arms and the ball ring grooves are geometrically optimized, so that stress concentration and ball clamping stagnation are avoided. The shoulder joint structure is applied to the humanoid robot and connected between the trunk and the arms, collision energy can be effectively buffered when the robot falls down, the protection effect is achieved, assemblies can be rapidly disassembled and assembled, the maintenance cost is reduced, the impact resistance and maintainability of the shoulder joint of the robot are remarkably improved, and the service life of the shoulder joint of the robot is remarkably prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics, and particularly relates to a shoulder joint structure and a humanoid robot. Background Art

[0002] With the rapid development of robot technology, humanoid robots are increasingly widely used in many fields such as service, industrial production, and scientific research exploration. As the core part connecting the arm and the torso of a humanoid robot, the performance of the shoulder joint plays a decisive role in the movement flexibility, stability, and load-bearing capacity of the robot arm.

[0003] Currently, as shown in the attached specification Figure 1-2 The shoulder joint structure of a humanoid robot generally has a first support shell (111), a first driver (112), a second support shell (121), a second driver, and a third support shell (13). Among them, the first support shell (111) is used to connect with the torso structure of the humanoid robot, and the first driver is arranged in the first support shell (111) and the stator is connected with the first support shell (111); the second support shell (121) is connected with the rotor of the first driver (112), and the second driver is arranged in the second support shell (121) and the stator is connected with the second support shell (121); the third support shell (13) is used to connect with the arm structure of the humanoid robot, the third support shell (13) has a receiving groove (13a), the second support shell (121) is received in the receiving groove (13a), the rotor of the second driver is connected with the front wall of the receiving groove (13a), the rear end of the second support shell (121) is connected with a bearing (13b) through a bearing seat, and a fixed shaft (13c) that is in interference fit with the bearing (13b) is fixedly connected to the rear wall of the receiving groove (13a), so that the rear end of the second support shell (121) forms a rotational connection with the rear wall of the receiving groove (13a).

[0004] In the above shoulder joint structure, the first driver is used to drive the second support shell (121) to rotate forward and backward, and further drive the arm structure of the humanoid robot to swing forward and backward; the second driver is used to drive the third support shell (13) to rotate up and down, so as to drive the arm structure of the humanoid robot to lift and lower laterally. However, in this shoulder joint structure, the rear end of the second support shell (121) and the rear wall of the receiving groove (13a) are rotationally connected through the hard contact of the bearing (13b) and the fixed shaft (13c). Although this connection method can realize the basic rotation function of the joint, when the robot falls backward during operation, the rear end of the third support shell (13) will directly collide with the ground, and this structure cannot buffer the impact between the rear wall of the receiving groove (13a) and the rear end of the second support shell (121), so the connection part is easily damaged, which will shorten the service life of the robot and reduce its reliability and stability. Therefore, it is necessary to develop a new shoulder joint structure that can effectively improve the service life.

[0005] The methods described in this section are not necessarily methods that have been previously conceived or adopted. Unless otherwise specified, no method described in this section should be assumed to be prior art merely because it is included in this section. Similarly, unless otherwise specified, the problems mentioned in this section should not be considered to have been recognized in any prior art. Summary of the Invention

[0006] The purpose of the present invention is to provide a shoulder joint structure and a humanoid robot including the same, to solve the problems of easy damage and short service life of the existing shoulder joint structure due to rigid connection, and to improve the impact resistance, maintainability and service life of the shoulder joint through means such as integrated design of elastic buffering and rotation, modular disassembly and assembly design, and geometric optimization.

[0007] To achieve the above purpose, a technical solution adopted by the present invention is:

[0008] A shoulder joint structure includes a first support assembly, a second support assembly, a third support shell, and an elastic rotational connection assembly;

[0009] The first support assembly includes a first support shell and a first driver, and the first driver is arranged inside the first support shell and the stator is connected to the first support shell;

[0010] The second support assembly includes a second support shell and a second driver, the second support shell is connected to the rotor of the first driver, and the second driver is arranged inside the second support shell and the stator is connected to the second support shell;

[0011] The third support shell has a receiving groove, the second support shell is received in the receiving groove, the rotor of the second driver is connected to the front wall of the receiving groove, and the elastic rotational connection assembly is connected between the rear end of the second support shell and the rear wall of the receiving groove, so that the rear end of the second support shell forms a rotational connection with the rear wall of the receiving groove;

[0012] The elastic rotational connection assembly is also used to buffer the impact between the rear end of the second support shell and the rear wall of the receiving groove.

[0013] Further, the elastic rotational connection assembly includes an elastic receiving frame, a connecting shaft, a first support ring, a ball, and a second support ring;

[0014] The elastic receiving frame includes a ring sleeve portion and a plurality of elastic support portions arranged in a circular array around the axis of the ring sleeve portion. The plurality of elastic support portions extend rearward in the direction of the axis of the ring sleeve portion and are connected to the rear wall of the receiving groove. The plurality of elastic support portions are inclined from the side radially away from the axis of the ring sleeve portion to the side radially close to the axis of the ring sleeve portion from front to back;

[0015] The front end of the connecting shaft is connected to the rear end of the second supporting shell, and the rear end passes through the annular sleeve portion. The peripheral surface of the connecting shaft is provided with a first ball ring groove;

[0016] The first support ring is sleeved on the outside of the connecting shaft and located at the rear side of the ring sleeve portion. The upper edge of the inner circumference of the first support ring has a second ball ring groove. The first support ring abuts against the ring sleeve portion to limit the first support ring from sliding forward.

[0017] The second support ring is sleeved on the outside of the connecting shaft and is located behind the first support ring. The lower edge of the inner periphery of the second support ring has a third ball ring groove. The second support ring abuts against the inner walls of the plurality of elastic support parts to limit its backward sliding.

[0018] The first ball ring groove, the second ball ring groove and the third ball ring groove are combined to form an annular ball rolling groove that constrains the balls to roll in an annular manner, and a plurality of balls are assembled in the annular ball rolling groove.

[0019] Furthermore, the rear end of the third support shell is provided with an assembly groove connected to the receiving groove, and a plurality of the elastic support parts have a limiting portion on the radially outer side of the rear ends, and the rear ends of the plurality of the elastic support parts have an elastic tendency to expand radially outward, and the rear ends of the plurality of the elastic support parts are radially gathered inward and penetrate the assembly groove and abut against the inner wall of the assembly groove, and the plurality of the limiting portions abut against the rear end of the third support shell to limit the elastic support parts from escaping forward from the assembly groove.

[0020] Furthermore, the limiting portion is formed by extending radially outward from the rear end of the elastic supporting portion.

[0021] Furthermore, the diameter of the circumscribed circle at the front end of the plurality of elastic support parts is larger than the diameter of the assembly groove.

[0022] Furthermore, the periphery of the annular sleeve portion is respectively connected to a plurality of elastic support portions through a plurality of connecting arms.

[0023] Furthermore, the plurality of connecting arms are inclined from the front to the back from the side radially close to the axis of the ring sleeve portion to the side radially away from the axis of the ring sleeve portion.

[0024] Furthermore, when the second ball ring groove and the third ball ring groove are respectively combined with the first ball ring groove, the cross-sectional arc lines are concentric with the cross-sectional arc line of the first ball ring groove and have the same radius;

[0025] A plane coordinate system is defined in the cross section through the axis of the connecting shaft, wherein the coordinate system takes the center of the arc of the single-side cross section of the first ball ring groove as the origin, the X-axis extends along the radial direction of the connecting shaft toward one side of the axis of the connecting shaft, and the Y-axis extends along the axial direction of the connecting shaft toward the rear end of the connecting shaft;

[0026] In the coordinate system, the two ends of the cross-sectional arc of the first ball raceway are respectively located in the first quadrant and the fourth quadrant, and neither exceeds the Y-axis; the two ends of the cross-sectional arc of the second ball raceway are both located in the third quadrant, the upper end does not exceed the X-axis, and the lower end does not exceed the Y-axis; the two ends of the cross-sectional arc of the third ball raceway are both located in the second quadrant, the upper end does not exceed the Y-axis, and the lower end does not exceed the X-axis.

[0027] Further, a chamfer surface is formed by chamfering the upper edge of the first ball raceway. In the cross-section passing through the axis of the connecting shaft, when the second ball raceway is joined with the first ball raceway, the distance between each point on the cross-sectional line of the upper end of the cross-sectional arc of the second ball raceway and the chamfer surface is greater than the diameter of the ball.

[0028] Further, it includes a torso structure and an arm structure, and further includes the shoulder joint structure according to any one of claims 1-9, and the shoulder joint structure is connected between the torso structure and the arm structure.

[0029] The present invention has the following beneficial effects:

[0030] Integration of elastic buffering and rotation: The elastic support part deforms to absorb shocks, and the balls ensure the rotational freedom, solving the problem of easy damage of the hard connection of traditional bearings, and effectively improving the reliability and service life of the shoulder joint structure.

[0031] Modular disassembly and assembly design: The elastic support part is pre-tightened and installed, and the balls are assembled step by step, without the need for glue or interference fit, significantly improving the maintenance efficiency and reducing the maintenance cost.

[0032] Geometric optimization and stress dispersion: The connecting arm is inclined in design, and the cross-section of the ball raceway is restricted, avoiding stress concentration and ball jamming, further extending the service life of the shoulder joint structure and ensuring its stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0034] Figure 1 is a scattered schematic diagram of the shoulder joint structure in the background art Figure 1 ;

[0035] Figure 2 is a scattered schematic diagram of the shoulder joint structure in the background art Figure 2 ;

[0036] Figure 3 is a schematic structural diagram of an embodiment of the shoulder joint structure of the present invention;

[0037] Figure 4Schematic diagram of dispersion of an embodiment of the shoulder joint structure of the present invention;

[0038] Figure 5 Schematic diagram of the structure of the elastic rotational connection assembly in an embodiment of the shoulder joint structure of the present invention;

[0039] Figure 6 Exploded view of the elastic rotational connection assembly in an embodiment of the shoulder joint structure of the present invention;

[0040] Figure 7 Front view of an embodiment of the shoulder joint structure of the present invention;

[0041] Figure 8 is Figure 7 Schematic diagram of the sectional structure in the A-A direction in;

[0042] Figure 9 is Figure 8 Enlarged schematic diagram of the structure at B in;

[0043] Figure 10 is Figure 9 Enlarged schematic diagram of the structure at C in;

[0044] Figure 11 Schematic diagram of the structure of an embodiment of the humanoid robot of the present invention.

[0045] The meanings of the reference numerals in the drawings are as follows:

[0046] Humanoid robot An, shoulder joint structure 1, first support assembly 11, first support shell 111, first driver 112, second support assembly 12, second support shell 121, second driver 122, third support shell 13, assembly groove 131, receiving groove 13a, bearing 13b, fixed shaft 13c, elastic rotational connection assembly 14, annular ball raceway 14a, elastic receiving frame 141, ring sleeve portion 1411, elastic support portion 1412, limiting portion 1413, connecting arm 1414, connecting shaft 142, first ball raceway 1421, chamfered surface 1422, first support ring 143, second ball raceway 1431, ball 144, second support ring 145, third ball raceway 1451, torso structure 2, arm structure 3. Detailed implementation manners

[0047] The present invention will be further described below with reference to the drawings.

[0048] Referring to Figures 1-11 as shown, the shoulder joint structure 1 of this embodiment includes a first support assembly 11, a second support assembly 12, a third support shell 13, and an elastic rotational connection assembly 14.

[0049] In this embodiment, the first support assembly 11 includes a first support housing 111 and a first driver 112. The first driver 112 is disposed inside the first support housing 111, and the stator is connected to the first support housing 111. As a basic component for connecting the shoulder joint structure and the robot torso structure, the first driver 112 is used to drive the second support assembly 12 to rotate back and forth, thereby driving the arm structure 3 of the humanoid robot An to swing back and forth.

[0050] In this embodiment, the second support assembly 12 includes a second support housing 121 and a second driver 122. The second support housing 121 is connected to the rotor of the first driver 112. The second driver 122 is disposed inside the second support housing 121, and the stator is connected to the second support housing 121. On the basis of the drive of the first support assembly 11, the second driver 122 inside the second support assembly 12 is used to drive the third support housing 13 to rotate up and down, so as to realize the lateral lifting and placing action of the arm structure 3.

[0051] In this embodiment, the third support housing 13 has a receiving groove 13a. The second support housing 121 is received in the receiving groove 13a. The rotor of the second driver 122 is connected to the front wall of the receiving groove 13a. The elastic rotating connection assembly 14 is connected between the rear end of the second support housing 121 and the rear wall of the receiving groove 13a, so that the rear end of the second support housing 121 forms a rotating connection with the rear wall of the receiving groove 13a; the elastic rotating connection assembly 14 is also used to buffer the impact between the rear end of the second support housing 121 and the rear wall of the receiving groove 13a. The elastic rotating connection assembly 14 replaces the traditional bearing rigid connection method. While realizing the rotating function, it can effectively buffer the impact generated by situations such as the robot falling, protect the shoulder joint structure, and extend the service life.

[0052] Furthermore, the elastic rotating connection assembly 14 includes an elastic receiving frame 141, a connecting shaft 142, a first support ring 143, a ball 144, and a second support ring 145.

[0053] In this embodiment, the elastic receiving frame 141 includes a ring sleeve portion 1411 and a plurality of elastic support portions 1412 arranged in an annular array around the axis of the ring sleeve portion 1411. The plurality of elastic support portions 1412 extend backward in the direction of the axis of the ring sleeve portion 1411 and are connected to the rear wall of the receiving groove 13a. The plurality of elastic support portions 1412 are inclined from the side radially away from the axis of the ring sleeve portion 1411 to the side radially close to the axis of the ring sleeve portion 1411 from front to back. The inclined design of the elastic support portions 1412 of the elastic receiving frame 141 can generate radial elastic deformation when being squeezed backward, thereby absorbing impact energy and playing a buffering role.

[0054] In this embodiment, the front end of the connecting shaft 142 is connected to the rear end of the second supporting shell 121, and the rear end passes through the annular sleeve 1411. The circumference of the connecting shaft 142 is provided with a first ball ring groove 1421. The connecting shaft 142 is used to connect the second supporting shell 121 and the elastic receiving frame 141, and provide a partial rolling track for the ball 144.

[0055] In this embodiment, the first support ring 143 is sleeved on the outside of the connecting shaft 142 and is located at the rear side of the ring sleeve 1411. The upper edge of the inner periphery of the first support ring 143 has a second ball ring groove 1431. The first support ring 143 abuts against the ring sleeve 1411 to limit the forward sliding of the first support ring 143. The first support ring 143, on the one hand, participates in forming the rolling track of the ball 144, and on the other hand, plays a role in limiting its own forward sliding to ensure the stability of the structure.

[0056] In this embodiment, the second support ring 145 is sleeved on the outside of the connecting shaft 142 and is located behind the first support ring 143. The lower edge of the inner periphery of the second support ring 145 has a third ball ring groove 1451. The second support ring 145 abuts against the inner walls of the plurality of elastic support portions 1412 to limit its backward sliding. The second support ring 145 also participates in the formation of the rolling track of the ball 144 and limits its own backward sliding, and together with the first support ring 143, ensures that the ball 144 rolls stably in the annular ball rolling groove 14a.

[0057] The first ball ring groove 1421, the second ball ring groove 1431 and the third ball ring groove 1451 are combined to form an annular ball rolling groove 14a that constrains the annular rolling of the balls 144, and a plurality of balls 144 are assembled in the annular ball rolling groove 14a. The three ball ring grooves are combined to form the annular ball rolling groove 14a, in which the balls 144 roll, which greatly reduces the friction force when the second support shell 121 and the third support shell 13 rotate, and ensures the flexibility of rotation.

[0058] Furthermore, the rear end of the third support shell 13 is provided with an assembly groove 131 connected with the receiving groove 13a, and the radial outer side of the rear ends of the plurality of elastic support parts 1412 is provided with a limiting part 1413, and the rear ends of the plurality of elastic support parts 1412 have an elastic tendency to expand radially outward, and the rear ends of the plurality of elastic support parts 1412 are radially gathered inward and penetrate the assembly groove 131 and abut against the inner wall of the assembly groove 131, and the plurality of limiting parts 1413 abut against the rear end of the third support shell 13 to limit the elastic support part 1412 from slipping out of the assembly groove 131 forward. This design realizes the detachable function of the elastic support part 1412, replaces the traditional interference fit or glue fixing method, and facilitates the later maintenance and replacement while ensuring the connection stability through the pre-tightening installation of the elastic support part 1412 and the anti-slipping effect of the limiting part 1413.

[0059] In this embodiment, the limiting portion 1413 is formed by radially extending outward from the rear end of the elastic support portion 1412. This design simplifies the structure, reduces production costs, and does not require additional parts to achieve the limiting function.

[0060] In this embodiment, the diameter of the circumscribed circle at the front end of the plurality of elastic support parts 1412 is larger than the diameter of the assembly groove 131. Thus, when the elastic support part 1412 is installed, its front end will be compressed, generating an outward elastic restoring force, which on the one hand maintains the tilted state of the elastic support part 1412, and on the other hand strengthens the constraint on the second support ring 145, pushing the second support ring 145 forward to abut against the ring sleeve part 1411.

[0061] In this embodiment, the periphery of the annular sleeve portion 1411 is respectively connected to the multiple elastic support portions 1412 through multiple connecting arms 1414. When the elastic support portion 1412 is squeezed, the connecting arms 1414 can bend to absorb part of the deformation energy, optimize the deformation path of the elastic support portion 1412, avoid local stress concentration, and make the overall deformation more uniform.

[0062] In this embodiment, the plurality of connecting arms 1414 are inclined from the front to the back from the side radially close to the axis of the collar portion 1411 to the side radially away from the axis of the collar portion 1411. This design complements the inclination direction of the elastic support portion 1412 to form a "V-shaped" structure, further dispersing the load and reducing stress concentration at the root of the connecting arm 1414.

[0063] In this embodiment, when the second ball ring groove 1431 and the third ball ring groove 1451 are respectively combined with the first ball ring groove 1421, the cross-sectional arc lines are concentric with the cross-sectional arc line of the first ball ring groove 1421 and have the same radius; the cross section through the axis of the connecting shaft 142 defines a plane coordinate system, the coordinate system takes the center of the single-side cross-sectional arc line of the first ball ring groove 1421 as the origin, the X-axis extends along the radial direction of the connecting shaft 142 toward one side of the axis of the connecting shaft 142, and the Y-axis extends along the axial direction of the connecting shaft 142 toward the rear end of the connecting shaft 142; in the coordinate system, the two ends of the cross-sectional arc line of the first ball ring groove 1421 are respectively located in the first quadrant and the fourth quadrant, and neither exceeds the Y axis; the two ends of the cross-sectional arc line of the second ball ring groove 1431 are both located in the third quadrant, and the upper end does not exceed the X axis, and the lower end does not exceed the Y axis; the two ends of the cross-sectional arc line of the third ball ring groove 1451 are both located in the second quadrant, and the upper end does not exceed the Y axis, and the lower end does not exceed the X axis. By optimizing the geometric shape and position of the ball ring groove, it is ensured that the ball 144 is installed smoothly and the axial limit is reliable, preventing the ball 144 from escaping from the annular ball groove 14a.

[0064] In this embodiment, chamfers are formed on the upper edges of the first ball ring groove 1421 to form a chamfered surface 1422. In the cross-section passing through the axis of the connecting shaft 142, when the second ball ring groove 1431 is combined with the first ball ring groove 1421, the distance between the upper end of the cross-sectional arc of the second ball ring groove 1431 and the cross-sectional line of the chamfered surface 1422 is greater than the diameter of the ball 144 everywhere. The chamfered surface 1422 plays a guiding role, expanding the inlet space of the ball 144, realizing the rapid installation of the ball 144. A step-by-step assembly process is adopted. First, the first support ring 143 and the connecting shaft 142 are combined, and after the ball 144 is installed, the second support ring 145 is installed.

[0065] The present invention also provides a humanoid robot An, which includes a torso structure 2 and an arm structure 3, and also includes the above-mentioned shoulder joint structure 1. The shoulder joint structure 1 is connected between the torso structure 2 and the arm structure 3. Applying the shoulder joint structure of the present invention to a humanoid robot can effectively improve the impact resistance and maintainability of the robot's shoulder joint. When the robot falls, the elastic support portion 1412 absorbs the collision energy between the third support shell 13 and the ground, protecting the shoulder joint structure 1; at the same time, the elastic rotating connection assembly 14 can be quickly disassembled and assembled, reducing the maintenance cost.

[0066] Working process of the shoulder joint structure:

[0067] When the humanoid robot An needs to perform the forward and backward swinging action of the arm structure 3, the first driver 112 is started, and its rotor drives the second support shell 121 to rotate forward and backward, thereby realizing the forward and backward swinging of the arm structure 3;

[0068] When the humanoid robot An needs to perform the lateral lifting and lowering action of the arm structure 3, the second driver 122 is started, and its rotor drives the third support shell 13 to rotate up and down. At this time, the second support shell 121 remains relatively stable. The third support shell 13 rotates up and down around the connecting shaft 142 through the cooperation of the receiving groove 13a and the second support shell 121, and the connection of the elastic rotating connection assembly 14. The ball 144 rolls in the annular ball raceway 14a, ensuring the smooth rotation of the third support shell 13 and realizing the lateral lifting and lowering action of the arm structure;

[0069] During the operation of the robot, if it falls backward, an impact force is generated when the rear end of the third support shell 13 collides with the ground. At this time, the elastic support portion 1412 in the elastic rotating connection assembly 14 will be squeezed backward. Due to its inclined design and elasticity, the elastic support portion 1412 will produce radial elastic deformation, absorbing the impact force and buffering the impact between the rear end of the second support shell 121 and the rear wall of the receiving groove 13a, thereby protecting the shoulder joint structure and avoiding damage caused by hard impact, effectively improving the impact resistance and reliability of the shoulder joint structure.

[0070] Application scenarios of the humanoid robot:

[0071] The humanoid robot An of the present invention demonstrates significant advantages in various scenarios. In the service field, such as the guiding services in hotels and hospitals, the shoulder joint structure 1 of the robot can ensure the flexible movement of the arm to complete actions such as guiding and delivering items. At the same time, its high reliability and shock resistance ensure stable operation for a long time in crowded environments, and it is not easily damaged even if it is accidentally bumped. In the industrial production field, the robot can be used for assembly, handling and other tasks. The stability and load-bearing capacity of the shoulder joint structure 1 ensure the precise operation of the arm and the handling of heavy objects. The modular disassembly and assembly design facilitates quick repair when the equipment fails, reduces downtime, and improves production efficiency. In the scientific research exploration field, such as when performing detection tasks in complex terrains, the robot is likely to fall or be bumped. The shoulder joint structure 1 of the present invention can effectively protect the shoulder joint structure by virtue of its elastic buffer function, ensuring that the robot can continuously complete scientific research tasks and providing reliable support for scientific research work.

[0072] In summary, the present invention discloses a shoulder joint structure and a humanoid robot including the same. Aiming at the defect that the hard connection of the shoulder joint of traditional humanoid robots is vulnerable to damage, an elastic rotational connection component is innovatively designed. The impact is absorbed through the deformation of the elastic support part, and the ball realizes low-friction rotation, integrating the buffer and rotation functions. At the same time, a modular design of pre-tightening installation and step-by-step assembly is adopted, without the need for glue or interference fit, greatly improving the maintenance efficiency; through the geometric optimization of the connecting arm and the ball ring groove, stress concentration and ball jamming are effectively avoided. The humanoid robot applying this shoulder joint structure is not only flexible in movement, but also has excellent shock resistance and high reliability in multiple fields such as service, industry, and scientific research, significantly extending the service life, reducing the maintenance cost, and providing a new technical solution and application value for the development of robot technology.

[0073] The above embodiments are only used to exemplarily illustrate the principles and effects of the present invention, rather than to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A shoulder joint structure, characterized in that, It includes a first supporting assembly, a second supporting assembly, a third supporting shell and an elastic rotating connecting assembly; The first support assembly includes a first support shell and a first driver, the first driver is disposed in the first support shell and the stator is connected to the first support shell; The second support assembly includes a second support shell and a second driver, the second support shell is connected to the rotor of the first driver, the second driver is arranged in the second support shell and the stator is connected to the second support shell; The third support shell has a receiving groove, the second support shell is received in the receiving groove, the rotor of the second driver is connected to the front wall of the receiving groove, and the elastic rotation connection component is connected between the rear end of the second support shell and the rear wall of the receiving groove, so that the rear end of the second support shell forms a rotation connection with the rear wall of the receiving groove; The elastic rotating connection assembly is also used to buffer the impact between the rear end of the second supporting shell and the rear wall of the receiving groove.

2. The shoulder joint structure according to claim 1, wherein: The elastic rotating connection assembly includes an elastic receiving frame, a connecting shaft, a first supporting ring, a ball and a second supporting ring; The elastic receiving frame comprises a ring sleeve portion and a plurality of elastic support portions arranged in a circular array around the axis of the ring sleeve portion, wherein the plurality of elastic support portions extend to the rear side of the axis of the ring sleeve portion and are connected to the rear wall of the receiving groove, and the plurality of elastic support portions are inclined from the side radially away from the axis of the ring sleeve portion to the side radially close to the axis of the ring sleeve portion from front to back; The front end of the connecting shaft is connected to the rear end of the second supporting shell, and the rear end passes through the annular sleeve portion. The peripheral surface of the connecting shaft is provided with a first ball ring groove; The first support ring is sleeved on the outside of the connecting shaft and located at the rear side of the ring sleeve portion. The upper edge of the inner circumference of the first support ring has a second ball ring groove. The first support ring abuts against the ring sleeve portion to limit the first support ring from sliding forward. The second support ring is sleeved on the outside of the connecting shaft and is located behind the first support ring. The lower edge of the inner periphery of the second support ring has a third ball ring groove. The second support ring abuts against the inner walls of the plurality of elastic support parts to limit its backward sliding. The first ball ring groove, the second ball ring groove and the third ball ring groove are combined to form an annular ball rolling groove that constrains the balls to roll in an annular manner, and a plurality of balls are assembled in the annular ball rolling groove.

3. The shoulder joint structure according to claim 2, wherein: The rear end of the third support shell is provided with an assembly groove connected with the receiving groove, and the radial outer side of the rear ends of the multiple elastic support parts is provided with a limiting part, and the rear ends of the multiple elastic support parts have an elastic tendency to expand radially outward, and the rear ends of the multiple elastic support parts are radially gathered inward and penetrate the assembly groove and abut against the inner wall of the assembly groove, and the multiple limiting parts abut against the rear end of the third support shell to limit the elastic support part from escaping from the assembly groove forward.

4. The shoulder joint structure according to claim 3, characterized in that: The limiting portion is formed by radially extending outward from the rear end of the elastic supporting portion.

5. The shoulder joint structure according to claim 3, wherein: The diameter of the circumscribed circle at the front end of the plurality of elastic support parts is larger than the diameter of the assembly groove.

6. The shoulder joint structure according to claim 3, wherein: The periphery of the annular sleeve portion is respectively connected to a plurality of elastic support portions through a plurality of connecting arms.

7. The shoulder joint structure according to claim 6, characterized in that: The plurality of connecting arms are inclined from the front to the back from the side radially close to the axis of the ring sleeve portion to the side radially far away from the axis of the ring sleeve portion.

8. The shoulder joint structure according to claim 2, wherein: When the second ball ring groove and the third ball ring groove are respectively combined with the first ball ring groove, the cross-sectional arc lines are concentric with the cross-sectional arc line of the first ball ring groove and have the same radius; A plane coordinate system is defined in the cross-section passing through the axis of the connecting shaft. The coordinate system takes the center of the arc of the single-sided cross-section of the first ball ring groove as the origin. The X-axis extends radially along the connecting shaft towards one side of the axis of the connecting shaft, and the Y-axis extends axially along the connecting shaft towards the rear end of the connecting shaft. In the coordinate system, the two ends of the cross-sectional arc of the first ball ring groove are respectively located in the first quadrant and the fourth quadrant, and neither exceeds the Y-axis; the two ends of the cross-sectional arc of the second ball ring groove are both located in the third quadrant, the upper end does not exceed the X-axis, and the lower end does not exceed the Y-axis; the two ends of the cross-sectional arc of the third ball ring groove are both located in the second quadrant, the upper end does not exceed the Y-axis, and the lower end does not exceed the X-axis.

9. The shoulder joint structure according to claim 8, wherein: A chamfer surface is formed by chamfering the upper edge of the first ball ring groove. In the cross-section passing through the axis of the connecting shaft, when the second ball ring groove is combined with the first ball ring groove, the distance between each point on the cross-sectional line of the chamfer surface and the upper end of the cross-sectional arc of the second ball ring groove is greater than the diameter of the ball.

10. A humanoid robot, characterized in that: It includes a torso structure and an arm structure, and further includes the shoulder joint structure according to any one of claims 1-9. The shoulder joint structure is connected between the torso structure and the arm structure.

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