WO2020206684A1 - Limiting device, robot arm and robot - Google Patents

Abstract

A limiting device. The limiting device comprises a first rotating member (110) and a second rotating member (120), which rotate relative to each other. The first rotating member (110) is provided with an arc-shaped blocking area (130) and an elastic member (140); and the second rotating member (120) is provided with a stopping member (150), wherein the elastic member (140) comprises an elastic body (141) elastically embedded in the arc-shaped blocking area (130), and a protruding arm (142) protruding out of the elastic body (141). When the elastic member (140) and the first rotating member (110) move synchronously, at least one end of the elastic member (140) is arranged away from two end portions of the arc-shaped blocking area (130); moreover, after the first rotating member (110) is linked with the elastic member (140) to rotate by more than a predetermined angle relative to the second rotating member (120), the protruding arm (142) is stopped by the stopping member (150), such that the elastic member (140) stops rotating relative to the second rotating member (120); and at this moment, if the first rotating member (110) continuously rotates relative to the second rotating member (120) in the original direction, the elastic member (140) will move relative to the first rotating member (110) along the arc-shaped blocking area (130), such that the elastic member (140) abuts against one end portion of the arc-shaped blocking area (130). By means of the limiting device, a robot arm can be prevented from rotating excessively after a zero position is lost. The present application also relates to a robot arm and a robot.

Description

Limiting device, mechanical arm and robot 【Technical Field】

This application relates to the field of robotics, in particular to a limit device, a mechanical arm and a robot.

【Background technique】

A robot is a multi-joint manipulator or a multi-degree-of-freedom machine device that is used in many fields. The robot is driven by a motor, can perform work automatically, and realizes various functions by its own power and control capabilities. Among them, the rotation angle of each joint of the robot is limited within a certain range. For the joints, when the allowable rotation angle does not exceed 360° in the positive and negative directions, the actual rotation angle of the current joint can be directly judged from the appearance. , But if the allowable rotation angle exceeds 360° in the positive and negative directions, it is difficult to confirm the actual rotation angle of the current joint based on appearance alone. For example, when the joint rotates to two positions of +180° and -180°, since the two adjacent limbs move 360° relative to each other, the appearance of the robot in these two positions is exactly the same.

Generally, the zero position of the motor encoder will be lost after the power is cut off. If the actual rotation angle of the joint cannot be judged from the appearance after the zero position is lost, it is easy to make a misjudgment after the power is turned on again, which will be +360° or -360° The position misidentifies the zero position, causing the joint rotation to exceed the limit, and ultimately damaging the internal structure of the robot.

[Content of the invention]

The main technical problem to be solved by this application is to provide a limit device, a mechanical arm and a robot, which can avoid excessive rotation of the mechanical arm after the zero position is lost.

In order to solve the above technical problems, a technical solution adopted in this application is to provide a limiting device, including: a first rotating member and a second rotating member, the first rotating member rotates relative to the second rotating member, so The first rotating member is provided with an arc-shaped blocking area extending in the direction of rotation of the first rotating member relative to the second rotating member, and the second rotating member is provided with a stopper, The stopper is arranged in the direction of rotation of the first rotating member relative to the second rotating member; an elastic member, the elastic member includes an elastic body elastically embedded in the arc-shaped blocking area and a protrusion For the convex arm of the elastic body, when the elastic member and the first rotating member move synchronously, at least one end of the elastic member and the two ends of the arc-shaped blocking area are set away from each other; After the first rotating member is linked to the elastic member to rotate more than a predetermined angle relative to the second rotating member, the convex arm is stopped by the stopper to stop the elastic member relative to the second rotating member Rotate, if the first rotating member continues to rotate in the original direction relative to the second rotating member, the elastic member will move relative to the first rotating member along the arc-shaped blocking area to cause the The elastic member abuts against one end of the arc-shaped blocking area.

In order to solve the above technical problem, another technical solution adopted in this application is to provide a mechanical arm, comprising: a first articulated limb assembly and a second articulated limb that are adjacent to each other, and the first articulated limb assembly rotates relative to the second articulated limb assembly , The first arthropod component is provided with an arc-shaped blocking area that extends in the rotation direction of the first arthropod component relative to the second A stopper is provided on the connecting piece connected to the second arthropod assembly, and the stopper is arranged in the direction of rotation of the first arthropod assembly relative to the second arthropod assembly; an elastic element, the elastic element includes elastic The elastic body embedded in the arc-shaped blocking area and the convex arm protruding from the elastic body, when the elastic member and the first limb assembly move synchronously, at least one end of the elastic member and the The two ends of the arc-shaped blocking area are set away from each other; wherein, after the first limb assembly is linked to the elastic member to rotate more than a predetermined angle relative to the second limb assembly, the convex arm is affected by the stopper Stop and stop the elastic member from rotating relative to the second arthropod assembly. At this time, if the first arthropod assembly continues to rotate relative to the second arthropod assembly in the original direction, the elastic member will move along the The arc-shaped blocking area moves relative to the first limb assembly so that the elastic member abuts against one end of the arc-shaped blocking area.

To solve the above technical problem, another technical solution adopted in this application is to provide a robot including the above-mentioned mechanical arm.

The beneficial effect of the present application is that the limiting device of the present application is provided with a stopper on the second rotating member, an arc-shaped blocking area is provided on the first rotating member that rotates relative to the second rotating member, and an arc-shaped blocking area is elastically embedded in the arc. The elastic member in the blocking area, the elastic member includes an elastic body and a convex arm protruding from the elastic body, when the elastic member moves synchronously with the first rotating member, at least one end of the elastic member and both ends of the arc-shaped blocking area are set away from each other After the first rotating member is linked with the elastic member to rotate more than a predetermined angle relative to the second rotating member, the convex arm is stopped by the stopper to stop the elastic member from rotating relative to the second rotating member. At this time, if the first rotating member continues to follow When the original direction rotates relative to the second rotating member, the elastic member will move relative to the first rotating member along the arc-shaped blocking area so that the elastic member abuts against one end of the arc-shaped blocking area, thereby preventing the first rotating member from being relative to the second rotating member Excessive rotation, so when the limit device is used in a mechanical arm, for example, when the two articulated bodies are connected to the first rotating part and the second rotating part respectively, it can prevent the two articulated bodies from rotating excessively, so that even if the zero position is lost Because the rotation angle of the robotic arm cannot be seen from the appearance, misjudgment occurs, and the limit device can also ensure that the robotic arm does not rotate excessively and protect the robotic arm.

【Explanation of drawings】

Fig. 1 is a schematic structural diagram of an embodiment of a limiting device of the present application;

Figure 2 is a schematic diagram of the explosive structure of the limiting device in Figure 1;

3 is a schematic diagram of the structure of the first rotating member in FIG. 1;

Figure 4 is a schematic view of the structure of the elastic member in Figure 3;

FIG. 5 is a schematic diagram of a part of the structure of the first rotating member in an application scenario;

Figure 6 is a schematic diagram of an exploded structure of a limit device in an application scenario;

Fig. 7 is a schematic structural diagram of a first rotating member in another application scenario;

FIG. 8 is a schematic cross-sectional view of the elastic body being elastically embedded in the arc-shaped blocking area in an application scenario;

9 is a schematic cross-sectional view of the elastic body being elastically embedded in the arc-shaped blocking area in another application scenario;

10 is a schematic diagram of the first rotating member rotating relative to the second rotating member in an application scenario;

FIG. 11 is a schematic diagram of the first rotating member rotating relative to the second rotating member in another application scenario;

FIG. 12 is a schematic diagram of the first rotating member rotating relative to the second rotating member in another application scenario;

FIG. 13 is a schematic diagram of the first rotating member rotating relative to the second rotating member in another application scenario;

Figure 14 is a schematic diagram of the explosive structure of the robotic arm of the present application;

15 is a schematic diagram of the structure of the first limb assembly in FIG. 14;

Fig. 16 is a schematic structural diagram of the second limb assembly in Fig. 14;

Fig. 17 is a schematic structural diagram of the robot of the present application.

【detailed description】

The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.

1 to 3, FIG. 1 is a schematic structural diagram of an embodiment of the limiting device of the present application, FIG. 2 is an exploded structural schematic diagram of the limiting device in FIG. 1, and FIG. 3 is a schematic structural diagram of the first rotating member in FIG. The limiting device 100 includes: a first rotating part 110, a second rotating part 120, an arc blocking area 130 arranged on the first rotating part 110, an elastic part 140 elastically embedded on the rotating part 110, and a second rotating part The stopper 150 on the two rotating parts 120.

The first rotating member 110 and the second rotating member 120 are sleeved with each other and can rotate relative to each other. Specifically, the first rotating member 110 can rotate forward and backward relative to the second rotating member 120, and the first rotating member 110 is relatively The rotation angles of the two rotating parts 120 in the forward and reverse directions add up to more than 360°. The arc-shaped blocking area 130 extends in the rotation direction of the first rotating member 110 relative to the second rotating member 120, that is, the first end 1301 and the second end 1302 of the arc-shaped blocking area 130 are located on the first rotating member 110. The second rotating member 120 is arranged at intervals in the rotation direction. The stopper 150 is arranged in the direction of rotation of the first rotating member 110 relative to the second rotating member 120. When the first rotating member 110 rotates in the forward or reverse direction relative to the second rotating member 120 by more than a predetermined angle, it is set in the first rotating member. The elastic member 140 on the member 110 is stopped by the stopper 150.

The elastic member 140 is elastically embedded on the first rotating member 110. When no external force is applied, the elastic member 140 can move synchronously with the first rotating member 110 due to elastic tension. When an external force is applied to the elastic member 140, the elastic member 140 can It moves relative to the first rotating member 110. The elastic member 140 may be a metal member, which has a small thickness and has certain elasticity.

The elastic member 140 specifically includes an elastic body 141 and a protruding arm 142. The elastic body 141 is elastically embedded in the arc-shaped blocking area 130, and the convex arm 142 protrudes from the elastic body 141 to extend outward from the arc-shaped blocking area 130. Wherein, when the elastic member 140 and the first rotating member 110 keep moving synchronously, at least one end of the elastic member 140 is located away from the first end 1301 and the second end 1302 of the arc-shaped blocking area 130. In an application scenario, only one end of the elastic member 140 may be located away from the first end 1301 and the second end 1302 of the arc-shaped blocking area 130, that is, the other end of the elastic member 140 and the arc-shaped blocking area 130 The first end 1301 or the second end 1302 abuts against each other, and in another application scenario, both ends of the elastic member 140 are far away from the first end 1301 and the second end 1302 of the arc-shaped blocking area 130 3, the first end 1401 of the elastic member 140 is at a distance from the first end 1301 of the arc-shaped blocking area 130, and the second end 1402 of the elastic member 140 is from the arc-shaped blocking area. The second end 1302 of 130 has a distance.

When the first rotating member 110 normally rotates relative to the second rotating member 120, the elastic member 140 keeps moving synchronously with the first rotating member 110 under elastic tension, that is, the first rotating member 110 is linked with the elastic member 140 relative to the second rotating member. 120 rotations. When the first rotating member 110 rotates in a certain direction relative to the second rotating member 120 by more than a predetermined angle, since the stopper 150 is arranged in the direction of rotation of the first rotating member 110 relative to the second rotating member 120, the elastic member 140 The convex arm 142 will be stopped by the stopper 150, thereby preventing the elastic member 140 from rotating in the original direction relative to the second rotating member 120. At this time, if the first rotating member 110 continues to rotate relative to the second rotating member 120 in the original direction, the elastic member 140 will receive the force of the stopper 150 and move relative to the first rotating member 110. Specifically, because the elastic body 141 is embedded It is arranged in the arc-shaped blocking area 130, so the elastic member 140 will move along the arc-shaped blocking area 130 relative to the first rotating member 110. When the elastic member 140 rotates along the arc-shaped blocking area 130 relative to the first rotating member 110 by a certain angle , The elastic member 140 will abut the first end 1301 or the second end 1302 of the arc-shaped blocking area 130, and ultimately prevent the first rotating member 110 from continuing to rotate relative to the second rotating member 120 in the original direction, and restricting the first rotating member The maximum angle at which 110 rotates forward or backward relative to the second rotating member 120.

It can be understood that when the elastic member 140 and the first rotating member 110 keep moving in synchronization, if only one end of the elastic member 140 is arranged far away from the first end 1301 and the second end 1302 of the arc-shaped blocking area 130, only When the first rotating member 110 rotates in a specific direction relative to the second rotating member 120, the elastic member 140 moves relative to the first rotating member 110, that is, when the first rotating member 110 faces the second rotating member 120 When rotating in the other direction, even if a force is applied, the elastic member 140 will not move relative to the first rotating member 110 due to the abutment between the end portion and the end portion. If both ends of the elastic member 140 are arranged far away from the first end 1301 and the second end 1302 of the arc-shaped blocking area 130, no matter if the first rotating member 110 rotates forward or backward relative to the second rotating member 120 After rotating, the elastic member 140 will move relative to the first rotating member 110 after receiving a force. For the convenience of description, the following description is provided with the two ends of the elastic member 140 being set away from the first end 1301 and the second end 1302 of the arc-shaped blocking area 130.

The limiting device 100 in the present application can be used on the robotic arm of a robot. Specifically, the first rotating member 110 and the second rotating member 120 are respectively connected to two adjacent arthropod bodies, thereby restricting the two adjacent arthropod bodies. The maximum angle of relative rotation. Specifically, when the robot loses its zero position due to power failure or other reasons, even if a misjudgment occurs because the rotation angle of the robot arm cannot be seen from the appearance, the limit device 100 can ensure that the robot arm does not rotate excessively, and finally Protect the internal structure of the robot.

Continuing to refer to Figures 2 and 3, in this embodiment, the first rotating member 110 is sleeved on the outside of the second rotating member 120, and the stopper 150 is eccentrically arranged on the radial surface 121 of the second rotating member 120. Rod 150. The first rotating member 110 includes a circumferential wall 111, and the arc-shaped blocking area 130 is disposed on the inner side of the circumferential wall 111.

In conjunction with FIG. 4, FIG. 4 is a schematic diagram of the structure of the elastic member 140 in FIG. 3. The elastic member 140 is a slip ring 140. The slip ring 140 includes an arc-shaped elastic body 141 elastically embedded in the arc-shaped blocking area 130 and a convex arm 142 protruding from the inner ring of the elastic body 141. When the first rotating member 110 rotates in a certain direction relative to the second rotating member 120 by more than a predetermined angle, the convex arm 142 abuts the tappet 150 to prevent the elastic member 140 from continuing to rotate relative to the second rotating member 120 in the original direction. It should be noted that the shape of the convex arm 142 and the stopper 150 is not limited in this application, as long as the stopper 150 can stop the convex arm 142.

Optionally, refer to FIG. 5, which is a partial structural diagram of the first rotating member 110 in another application scenario. In this application scenario, the first rotating member 110 further includes an annular surface 112 perpendicular to the circumferential wall 111. Specifically, the circumferential wall 111 is perpendicular to the outer circumference of the annular surface 112. At this time, the arc-shaped blocking area 130 can be arranged on the inner side of the annular wall 111 and on the annular surface 112. When the arc-shaped blocking area 130 is arranged on the annular surface 112, the convex arm 142 is perpendicular to the elastic body 141 and extends in a direction away from the annular surface 112. At this time, the stopper 150 may be arranged on the inner peripheral wall of the second rotating member 120. The upper baffle (not shown), after the first rotating member 110 rotates in a certain direction relative to the second rotating member 120 by more than a predetermined angle, the baffle abuts the convex arm 142 to prevent the elastic member 140 from continuing to follow the original direction It rotates relative to the second rotating member 120.

It should be noted that, all the above descriptions are described with the arc-shaped blocking area being provided on the peripheral rotating member, but in other embodiments, the arc-shaped blocking area may also be provided on the inner peripheral rotating member. Specifically, in an application scenario, as shown in FIG. 6, at this time, the second rotating member 210 is sleeved on the outside of the first rotating member 220, the first rotating member 220 includes a first circumferential wall 2201, and the second rotating member 210 Including the second circumferential wall 2101. The first circumferential wall 2201 is surrounded by the second circumferential wall 2101. At this time, the stopper 250 is a tappet 250 arranged inside the second circumferential wall 2101 and protruding toward the first circumferential wall 2201. The shaped blocking area 230 is arranged outside the first circumferential wall 2201, and the structure of the elastic member 240 is the same as the above-mentioned embodiment. That is, at this time, the outer side of the first circumferential wall 2201 and the inner side of the second circumferential wall 2101 have a predetermined distance, which can allow the elastic member 240 and the inner side of the second circumferential wall 2101 to be accommodated between the first circumferential wall 2201 and the second circumferential wall 2101. The stopper 250, wherein in the application scenario of FIG. 6, the distance between the first circumferential wall 2201 and the second circumferential wall 2101 is ensured by the setting of the boss A, that is, the side wall of the boss A is The first circumferential wall 2201, of course, in other application scenarios, the boss A may not be provided, but the side walls of the socketed part of the first rotating member 220 and the second rotating member 210 may be the first circumferential wall 2201 and the second Circumferential wall 2101.

In a word, the present application does not limit the arc blocking area and the position of the stopper, as long as it is ensured that the stopper can block the arc after the first rotating member rotates in a certain direction relative to the second rotating member for more than a predetermined angle. The elastic pieces in the zone just need to be abutted. For the convenience of description, the first rotating member 110 is sleeved on the outer side of the second rotating member 120, and the arc-shaped blocking area 130 is provided on the inner side of the circumferential wall 111.

Wherein, the arc-shaped blocking area 130 in this application may be a slide rail or a groove provided on the first rotating member 110. When the arc-shaped blocking area 130 is a slide rail, the slide rail is arc-shaped, and the slide rail is provided with On the circumferential wall 111 of the first rotating member 110, the elastic member 140 is elastically embedded on the slide rail. When no external force is applied, the elastic member 140 keeps moving with the slide rail. When receiving external force, the elastic member 140 slides along the sliding rail. The rail slides, but cannot move to the area outside the rail. When the arc-shaped blocking area 130 is a groove, as shown in FIG. 3, the arc-shaped blocking area 130 may be an arc-shaped groove, or as shown in FIG. 7, the arc-shaped blocking area 130 is blocked by the blocking portion 131. The annular groove 132, wherein the blocking portion 131 is a screw or a plurality of (for example, two) screws arranged at intervals. Specifically, the screw is arranged to block the annular groove 132, thereby dividing the arc-shaped blocking area 130. At this time, the screw serves as the end of the arc blocking area 130. For ease of description, the arc-shaped blocking area 130 is used as an arc-shaped groove for description below. Wherein, in order to prevent the elastic member 140 from sliding out of the arc-shaped blocking area 130 during the movement relative to the arc-shaped blocking area 130, in an application scenario, when the arc-shaped blocking area 130 is an arc-shaped groove, the arc-shaped groove is The "big inside and small outside" semi-closed groove, specifically, the width of the arc-shaped groove decreases in the direction from the bottom of the groove to the notch, and the width of at least part of the cross section of the elastic body 141 is larger than that of the arc-shaped groove The width of the notch so that the elastic body 141 will not slide out of the arc blocking area 130. For example, the cross-section of the arc-shaped blocking area 130 may be a shape in which the width of the notch is smaller than the width of the bottom of the groove, such as a trapezoid as shown in FIG. 8. Correspondingly, the cross-section of the elastic body 141 may also be the upper width, that is, close to the arc. The width of the part at the notch of the blocking area 130 is smaller than the width of the lower part, that is, smaller than the width of the part close to the groove bottom of the arc-shaped blocking area 130. For example, the cross section of the elastic body 141 may also be trapezoidal, as shown in FIG. 8 In the arc blocking area 130. Of course, in other application scenarios, the elastic body 141 may also partially extend out of the arc-shaped blocking area 130. In this case, the cross-section of the elastic body 141 may be in an hourglass shape, and the width of the narrowed part of the elastic body 141 is smaller than that of the arc-shaped blocking area. The width of the notch of the area 130, the width of the part of the elastic body 141 away from the notch of the arc-shaped blocking area 130 is greater than the width of the notch of the arc-shaped blocking area 130, as shown in FIG. 9.

It should be noted that, in order for the elastic member 140 to smoothly slide in the arc-shaped blocking area 130 relative to the arc-shaped blocking area 130, there is a gap between the circumference of the convex arm 142 and the notch of the arc-shaped groove. In a word, the present application does not limit the shape of the arc-shaped blocking area and the cross-sectional shape of the elastic body, as long as the elastic body does not slip out of the arc-shaped blocking area when rotating relative to the first rotating member in the arc-shaped blocking area.

Wherein, the greater the arc length of the arc-shaped blocking area 130, the larger the angle range of the first rotating member 110 to rotate relative to the second rotating member 120, and when the arc length of the arc-shaped blocking area 130 is constant, the longer the elastic body 141 is. If smaller, the angle range of the first rotating member 110 relative to the second rotating member 120 is larger. Optionally, the central angle of the arc-shaped blocking area 130 is greater than 180°, for example, the central angle of the arc-shaped blocking area 130 is 270° or 350°.

The working principle of the limiting device 100 will be described in detail below with reference to FIGS. 10 to 12.

10, at this time the first rotating member 110 rotates forward or backward relative to the second rotating member 120 and does not exceed a predetermined angle, the elastic member 140 and the first rotating member 110 keep moving in synchronization, the elastic member 140 and the arc blocking area 130 The first end 1301 and the second end 1302 of the device are remotely arranged.

Referring to FIG. 11, at this time, the first rotating member 110 has rotated a certain angle counterclockwise relative to the second rotating member 120 on the basis of FIG. 10, and after the convex arm 142 of the elastic member 140 is stopped by the stopper 150, A rotating element 110 continues to rotate in a counterclockwise direction relative to the second rotating element 120, so that the elastic element 140 moves relative to the first rotating element 110 along the arc-shaped blocking area 130, so that the first end 1401 of the elastic element 140 abuts the arc. The first end 1301 of the blocking area 130 further prevents the first rotating member 110 from rotating relative to the second rotating member 120 counterclockwise.

Referring to FIG. 12, the first rotating member 110 rotates a certain angle clockwise relative to the second rotating member 120 on the basis of FIG. 10, and after the convex arm 142 of the elastic member 140 is stopped by the stopper 150, A rotating element 110 continues to rotate in a clockwise direction relative to the second rotating element 120, so that the elastic element 140 moves relative to the first rotating element 110 along the arc-shaped blocking area 130, so that the second end 1402 of the elastic element 140 abuts against the arc. The second end 1302 of the blocking area 130 further prevents the first rotating member 110 from rotating relative to the second rotating member 120 in a clockwise direction.

In order to reduce unnecessary loss, the first rotating member 110 can be stopped from rotating relative to the second rotating member 120 in the original direction before the elastic member 140 collides with the arc-shaped blocking area 130. Referring to FIG. 13, in an application scenario, the circumferential wall 111 of the first rotating member 110 is provided with a through window 113, and the elastic member 140 is provided with a marking portion 143. When the elastic member 140 and the first rotating member 110 move synchronously, the marking The portion 143 is not within the predetermined area of the window 113, and when the first rotating member 110 rotates relative to the second rotating member 120 so that the marking portion 143 enters the predetermined area of the window 113, it is used as a rotation over limit prompt. Specifically, when the first rotating member 110 normally rotates relative to the second rotating member 120, the elastic member 140 and the first rotating member 110 keep moving synchronously so that the identification portion 143 on the elastic member 140 is not in the window on the first rotating member 110 In the predetermined area of 113, when the first rotating member 110 rotates over the limit relative to the second rotating member 120 and the first rotating member 110 is about to hit the elastic member 140, the marking portion 143 on the first rotating member 110 enters the predetermined area of the window 113 The area serves as a reminder, so that the operator can judge whether the device needs to be stopped through the observation window 113, so as to prevent the first rotating member 110 from colliding with the elastic member 140.

In the application scenario of FIG. 13, the number of windows 113 is two, and the two windows 113 are respectively arranged opposite to the first end 1301 and the second end 1302 of the arc-shaped blocking area 130, and the identification portion 143 includes the elastic member 140. There are two color patch areas 143 at the two ends. The color of the color patch area 143 is different from the colors of other areas around the color patch area 143, so when the first end 1401 or the second end 1402 of the elastic member 140 enters the window 113 can play a striking reminder function. In an application scenario, the color of the color block area 143 is red, and the color of other areas of the elastic body 141 is gray. It can be understood that in other application scenarios, the identification portion 143 may not be provided on the first rotating member 110.

Optionally, in other implementation manners, the two windows 113 may also be arranged not facing the arc-shaped blocking area 130. Specifically, the two windows 113 deviate from the arc-shaped blocking area 130 and are located on the same side of the arc-shaped blocking area 130, and the identification portion 143 includes a convex post arranged on the convex arm 142 of the elastic member 141 and extending toward the side of the window 113. When the first rotating member 110 rotates normally relative to the second rotating member 120, the boss is not in the window 113. When the first rotating member 110 rotates relative to the second rotating member 120 to exceed the limit and the boss enters the window 113, it is regarded as a rotation overrun prompt. At this time, in an application scenario, the number of windows 113 can also be one. When the first rotating member 110 rotates normally relative to the second rotating member 120, the convex post on the convex arm 142 faces the middle area of the window 113. When a rotating member 110 rotates relative to the second rotating member 120 to cause the boss to deviate from the middle area of the window 113, it is used as a warning of over-rotation.

Refer to FIG. 14, which is a schematic structural diagram of an embodiment of the robot arm of the present application. The robotic arm 300 includes a first articulation assembly 310 and a second articulation assembly 320 adjacent to each other.

The first limb assembly 310 can rotate forward and backward relative to the second limb assembly 320. 15 and FIG. 16, FIG. 15 is a schematic diagram of the structure of the first limb assembly 310 in FIG. 14, and FIG. 16 is a schematic diagram of the structure of the second limb assembly 320 in FIG. 14.

The first limb assembly 310 is provided with an arc-shaped blocking area 330 extending in the direction of rotation of the first limb assembly 310 relative to the second limb assembly 320, and the second limb assembly 320 may be connected to the second limb assembly 320 The connecting member (for example, the joint connected with the second limb assembly 320) is provided with a stopper 350, and the stopper 350 is arranged in the direction of rotation of the first joint assembly 310 relative to the second joint assembly 320.

The elastic member 340 includes an elastic body 340 elastically embedded in the arc-shaped blocking area 330 and a protruding arm 342 protruding from the elastic body 341. When the elastic member 340 and the first limb assembly 310 move synchronously, at least one end of the elastic member 340 and The two ends of the arc blocking area 330 are arranged far away.

After the first limb assembly 310 is linked with the elastic member 340 to rotate more than a predetermined angle relative to the second limb assembly 320, the convex arm 342 is stopped by the stopper 350 to stop the elastic member 340 from rotating relative to the second limb assembly 320. If the one limb component 310 continues to rotate relative to the second limb component 320 in the original direction, the elastic member 340 will move relative to the first limb component 310 along the arc-shaped blocking area 330 so that the elastic body 340 abuts against one end of the arc-shaped blocking area 330 unit.

The mechanical arm 300 in the present application may also include the limiting device in any of the above embodiments. Specifically, in this embodiment, the first rotating member and the second rotating member in the limiting device are respectively connected to two The arthropod body, that is, the arc-shaped blocking area 330, the elastic member 340, and the stopper 350 in this embodiment are the same or similar to the arc-shaped blocking area, the elastic member, and the stopper in the foregoing limiting device embodiment. For details, please refer to the foregoing embodiment, which will not be repeated here.

Refer to Fig. 17, which is a schematic structural diagram of an embodiment of the robot of the present application. The robot 400 includes a mechanical arm 410, which is the mechanical arm 300 in any one of the foregoing embodiments. The specific structure can be referred to the foregoing embodiment, and will not be repeated here.

The above are only implementations of this application, and do not limit the scope of this application. Any equivalent structure or equivalent process transformation made by using the description and drawings of this application, or directly or indirectly applied to other related technologies In the same way, all fields are included in the scope of patent protection of this application.

Claims (17)

A limit device, which includes: The first rotating member and the second rotating member, the first rotating member rotates relative to the second rotating member, the first rotating member is provided with an arc-shaped blocking area, and the arc-shaped blocking area is in the first rotation Extending in the direction of rotation of the second rotating member relative to the second rotating member, the second rotating member is provided with a stopper, and the stopper is disposed in the rotating direction of the first rotating member relative to the second rotating member ； An elastic member, the elastic member includes an elastic body elastically embedded in the arc-shaped blocking area and a convex arm protruding from the elastic body. When the elastic member and the first rotating member move synchronously, the At least one end of the elastic member is set away from the two ends of the arc-shaped blocking area; Wherein, after the first rotating member links the elastic member to rotate more than a predetermined angle relative to the second rotating member, the convex arm is stopped by the stopper to stop the elastic member relative to the The second rotating member rotates. At this time, if the first rotating member continues to rotate relative to the second rotating member in the original direction, the elastic member will move relative to the first rotating member along the arc-shaped blocking area The elastic member abuts against one end of the arc-shaped blocking area. The limit device according to claim 1, wherein: The first rotating part is sleeved on the outside of the second rotating part; The stopper is a tappet eccentrically arranged on the radial surface of the second rotating member; The first rotating member includes a circumferential wall, and the arc-shaped blocking area is disposed on the inner side of the circumferential wall; The elastic member is a slip ring, and the slip ring includes the elastic body that is elastically embedded in the arc-shaped blocking area and is arc-shaped, and the convex arm protruding from the inner ring of the elastic body. The limit device according to claim 2, wherein: The arc-shaped blocking area is an arc-shaped groove. The limit device according to claim 2, wherein: The arc-shaped blocking area is an annular groove whose continuity is blocked by the blocking block. The limit device according to claim 4, wherein: The block part is a screw or a plurality of screws arranged at intervals. The limit device according to claim 2, wherein: The circumferential wall of the first rotating member is provided with a through window, the elastic member is provided with an identification portion, and the first rotating member rotates relative to the second rotating member to cause the identification portion to enter the The predetermined area in the window is used as a reminder of the rotation limit. The limit device according to claim 6, wherein: The number of the windows is two, and the two windows are respectively arranged opposite to the two ends of the arc-shaped blocking area, and the identification part includes two colors respectively arranged at the two ends of the elastic member. In the block area, the color of the color block area is different from the colors of other areas around the color block area. The limit device according to claim 1, wherein: The second rotating part is sleeved on the outside of the first rotating part; The first rotating member includes a first circumferential wall, the second rotating member includes a second circumferential wall, and the first circumferential wall is surrounded by the second circumferential wall; The stopper is a tappet provided on the inner side of the second circumferential wall and protruding toward the first circumferential wall, and the arc-shaped blocking area is provided on the outer side of the first circumferential wall; The elastic member is a slip ring, and the slip ring includes the elastic body that is elastically embedded in the arc-shaped blocking area and is arc-shaped, and the convex arm protruding from the inner ring of the elastic body. A mechanical arm, which includes: Adjacent first arthropod assembly and second arthropod assembly, said first arthropod assembly rotates relative to said second arthropod assembly, said first arthropod assembly is provided with an arc-shaped blocking area, and said arc-shaped blocking area is in said first The one limb assembly extends in the direction of rotation of the second limb assembly, the second limb assembly or the connecting piece connected to the second limb assembly is provided with a stopper, and the stopper is arranged on the In the direction of rotation of the first limb component relative to the second limb component; An elastic member, the elastic member includes an elastic body elastically embedded in the arc-shaped blocking area and a protruding arm protruding from the elastic body. When the elastic member and the first limb assembly move synchronously, the At least one end of the elastic member is set away from the two ends of the arc-shaped blocking area; Wherein, after the first arthropod assembly is linked with the elastic member to rotate more than a predetermined angle relative to the second arthropod assembly, the protruding arm is stopped by the stopper to stop the elastic member relative to the The second arthropod assembly rotates. If the first arthropod assembly continues to rotate relative to the second arthropod assembly in the original direction, the elastic member will move relative to the first arthropod assembly along the arc-shaped blocking area The elastic member abuts against one end of the arc-shaped blocking area. The robotic arm according to claim 9, wherein: The first limb assembly is sleeved on the outside of the second limb assembly; The stopper is a tappet eccentrically arranged on the radial surface of the second limb assembly; The first limb assembly includes a circumferential wall, and the arc-shaped blocking area is disposed on the inner side of the circumferential wall; The elastic member is a slip ring, and the slip ring includes the elastic body that is elastically embedded in the arc-shaped blocking area and is in an arc shape, and the convex arm protruding from the inner ring of the elastic body. The robotic arm according to claim 10, wherein: The arc-shaped blocking area is an arc-shaped groove. The robotic arm according to claim 10, wherein: The arc-shaped blocking area is an annular groove whose continuity is blocked by the blocking block. The robotic arm according to claim 12, wherein: The block part is a screw or a plurality of screws arranged at intervals. The robotic arm according to claim 10, wherein: The circumferential wall of the first limb assembly is provided with a through window, the elastic member is provided with a marking portion, and the first limb assembly is rotated relative to the second limb assembly so that the marking portion enters the The predetermined area in the window is used as a reminder of the rotation limit. The robotic arm according to claim 14, wherein: The number of the windows is two, and the two windows are respectively arranged opposite to the two ends of the arc-shaped blocking area, and the identification part includes two colors respectively arranged at the two ends of the elastic member. In the block area, the color of the color block area is different from the colors of other areas around the color block area. The robotic arm according to claim 9, wherein: The second limb component is sleeved on the outer side of the first limb component; The first limb assembly includes a first circumferential wall, the second limb assembly includes a second circumferential wall, and the first circumferential wall is surrounded by the second circumferential wall; The stopper is a tappet arranged inside the second circumferential wall and protruding to the outside of the first circumferential wall, and the arc-shaped blocking area is arranged outside the first circumferential wall; The elastic member is a slip ring, and the slip ring includes the elastic body that is elastically embedded in the arc-shaped blocking area and is arc-shaped, and the convex arm protruding from the inner ring of the elastic body. A robot, comprising the mechanical arm according to any one of claims 9-16.

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