公开(公告)号：US11364627B2

公开(公告)日：2022-06-21

申请号：US16848634

申请日：2020-04-14

Applicant: Beijing Institute of Technology

Inventor： Qiang Huang ,  Chunlei Zhang ,  Junyao Gao ,  Zhangguo Yu ,  Huaxin Liu

IPC: B25J9/10 ,  B25J9/00 ,  B25J9/12 ,  B25J15/00

Abstract: 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.