Robot Joint Support Structure Using Ball Tracks
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Solution Overview
Problem
The weight of the joints in legged humanoid robots is high due to the use of traditional bearings, leading to increased load and reduced movement stability and flexibility.
Innovation Solution
A joint support structure that replaces traditional bearings with a ball track system formed by annular grooves and press rings, allowing balls to roll and distribute the load, optimizing structural space and reducing weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If traditional bearings are used in the joint support structure, then the joint can support heavy loads, but the weight of the joint increases significantly
Solution Approach 1:
The patent extracts and removes the traditional bearing component from the joint support structure. Instead of using conventional bearings, the design employs a novel ball track system where balls roll directly within grooves formed by the motor side casing and transmission side casing, eliminating the need for separate bearing assemblies and significantly reducing joint weight.
Solution Approach 2:
The patent merges the support function and the ball track function into a single integrated structure. The motor side casing and transmission side casing directly form the ball tracks through their grooves, combining what would traditionally be separate components (bearings and housing) into a unified joint support structure that reduces overall weight while maintaining load bearing capacity.
2Measurement precision
If traditional bearings are used in the joint support structure, then the joint can maintain positioning accuracy, but the joint structure becomes more complex and occupies more space
Solution Approach 1:
The patent extracts the ball track formation function from the traditional bearing assembly. Instead of relying on pre-manufactured bearings with integrated races, the design extracts the track formation to the casings themselves, which form grooves that guide the balls, simplifying the overall joint structure while maintaining positioning accuracy.
Solution Approach 2:
The motor side casing and transmission side casing serve multiple functions: they provide structural support, form the ball tracks through their grooves, and guide the balls for precise movement. This multi-functionality eliminates the need for separate bearing components, reducing structural complexity while preserving positioning accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This design significantly reduces the weight of the joint, enhancing the flexibility and movement performance of the robot while maintaining positioning accuracy and connection rigidity.
Implementation Method 1
the first balls are uniformly distributed along the first ball track in the circumferential direction of the motor side casing; the second balls are uniformly distributed along the second ball track in the circumferential direction of the transmission side casing
Data Source
AI summary
The present disclosure provides a joint support structure of a robot and a robot having the same. The joint support structure comprises: a drive motor; a reducing transmission mechanism; a motor side casing; a transmission side casing; and a knee joint sleeve disposed on outer peripheries of the motor side casing and of the transmission side casing and connected to the reducing transmission mechanism; the motor side casing has a first annular groove; the transmission side casing has a second annular groove; the knee joint sleeve is provided with an annular connector circumferentially surrounding the motor side casing, and the annular connector has a third annular groove matched with the first annular groove to form a first ball track for accommodating first balls; the knee joint sleeve has a fourth annular groove is matched with the second annular groove to form a second ball track.