CN111788039B - Limiting device, mechanical arm and robot - Google Patents

Abstract

A limiting device comprises a first rotating member (110) and a second rotating member (120) which rotate relatively, wherein the first rotating member (110) is provided with an arc blocking area (130) and an elastic member (140), the second rotating member (120) is provided with a stop member (150), the elastic member (140) comprises an elastic body (141) and a convex arm (142) protruding out of the elastic body, the elastic body (141) is elastically embedded in the arc blocking area (130), when the elastic member (140) and the first rotating member (110) synchronously move, at least one end of the elastic member (140) is far away from two ends of the arc blocking area (130), and meanwhile, after the first rotating member (110) is linked with the elastic member (140) to rotate by more than a preset angle relative to the second rotating member (120), the convex arm (142) is stopped by the stop of the stop member (150) to enable the elastic member (140) to rotate relative to the second rotating member (120), and at the moment, if the first rotating member (110) continues to rotate relative to the second rotating member in the original direction, the elastic member (140) moves along the arc blocking area (130) relatively to the arc blocking area (110). Through the limiting device, the mechanical arm can be prevented from over-rotating after losing the zero position. And also relates to a mechanical arm and a robot.

Description

Limiting device, mechanical arm and robot

Technical Field

The application relates to the technical field of robots, in particular to a limiting device, a mechanical arm and a robot.

Background

The robot is a multi-joint manipulator or a multi-degree-of-freedom robot device applied in multiple fields, is driven by a motor, can automatically execute work, and realizes various functions by self power and control capability. Wherein, the rotation angle of each joint of the robot is limited in a certain range, and when the allowed rotation angle is accumulated in the positive and negative directions for the joint to not exceed 360 degrees, the actual rotation angle of the current joint can be directly judged from the appearance, but if the allowed rotation angle is accumulated in the positive and negative directions to exceed 360 degrees, the actual rotation angle of the current joint is difficult to be confirmed only by the appearance. For example, when the joint is rotated to two positions of +180° and-180 °, the robot assumes a completely uniform appearance in these two positions, since the two adjacent joint limbs are exactly 360 ° moved relative to each other.

Normally, the motor encoder can cause zero position loss after power failure in midway, if the actual rotation angle of the joint cannot be judged in appearance after the zero position loss, misjudgment is easy to occur after the motor encoder is electrified again, the position of +360 degrees or-360 degrees is mistakenly recognized as the zero position, joint rotation exceeds a limit range, and finally the internal structure of the robot is damaged.

Disclosure of Invention

The technical problem that this application mainly solves is to provide a stop device, arm and robot, can avoid the arm to lose the back excessive rotation in the zero position.

In order to solve the technical problems, one technical scheme adopted by the application is as follows: there is provided a spacing device comprising: a first rotating member and a second rotating member, the first rotating member rotating relative to the second rotating member, the first rotating member being provided with an arc-shaped blocking area extending in a rotation direction of the first rotating member relative to the second rotating member, the second rotating member being provided with a stopper provided in the rotation direction of the first rotating member relative to the second rotating member; the elastic piece comprises an elastic body and a convex arm, the elastic body is elastically embedded in the arc-shaped blocking area, the convex arm protrudes out of the elastic body, and when the elastic piece and the first rotating piece synchronously move, at least one end of the elastic piece and two end parts of the arc-shaped blocking area are far away from each other; after the first rotating member is linked to rotate relative to the second rotating member by more than a preset angle, the protruding arm is stopped by the stop member to stop the rotation of the elastic member relative to the second rotating member, and at the moment, if the first rotating member continues to rotate relative to the second rotating member according to the original direction, the elastic member moves relative to the first rotating member along the arc-shaped blocking area to enable the elastic member to abut against one end part of the arc-shaped blocking area.

In order to solve the technical problems, another technical scheme adopted by the application is as follows: there is provided a robot arm including: adjacent first and second leg assemblies, the first leg assembly being rotatable relative to the second leg assembly, the first leg assembly being provided with an arcuate blocking region extending in a direction of rotation of the first leg assembly relative to the second leg assembly, the second leg assembly or a connector connected to the second leg assembly being provided with a stop disposed in a direction of rotation of the first leg assembly relative to the second leg assembly; the elastic piece comprises an elastic body and a convex arm, the elastic body is elastically embedded in the arc-shaped blocking area, the convex arm protrudes out of the elastic body, and when the elastic piece and the first limb component synchronously move, at least one end of the elastic piece and two end parts of the arc-shaped blocking area are far away from each other; after the first leg assembly is linked to rotate relative to the second leg assembly by more than a preset angle, the protruding arm is stopped by the stop piece to stop the elastic member from rotating relative to the second leg assembly, and if the first leg assembly continues to rotate relative to the second leg assembly according to the original direction, the elastic member moves relative to the first leg assembly along the arc-shaped blocking area to enable the elastic member to abut against one end of the arc-shaped blocking area.

In order to solve the technical problem, another technical scheme adopted by the application is as follows: a robot is provided, comprising the mechanical arm.

The beneficial effects of this application are: the stop device of this application is through setting up the backstop piece on the second rotating member, set up the arc on the first rotating member of relative second rotating member and block the district and elasticity inlays the elastic component of establishing in the arc and block the district, the elastic component includes elastic body and the protruding arm of protruding elastic body, when elastic component and first rotating member simultaneous movement, at least one end of elastic component is keeping away from setting with the both ends that the arc blocked the district, after the relative second rotating member of first rotating member linkage elastic component rotates more than predetermined angle, protruding arm receives the backstop of backstop piece and makes the elastic component stop relative second rotating member rotatory, at this moment first rotating member if continue according to the relative second rotating member rotation of original direction, then the elastic component will block the relative first rotating member motion of district and make elastic component butt arc stop one end, thereby avoid first rotating member relative second rotating member excessive rotation, consequently, when this stop device is used for the arm, for example, when two festival limb bodies are connected with first rotating member and second rotating member respectively, can prevent two festival body rotation, thereby judge the mechanical arm excessive rotation can take place because the mechanical arm can not take place the excessive rotation of the appearance, even after the appearance, the mechanical arm can not see out of the mechanical arm excessive rotation, the position judgement is lost.

Drawings

FIG. 1 is a schematic view of an embodiment of a spacing device of the present application;

FIG. 2 is a schematic view of an exploded view of the spacing device of FIG. 1;

FIG. 3 is a schematic view of the first rotary member of FIG. 1;

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

FIG. 5 is a schematic view of a portion of a first rotary member in an application scenario;

FIG. 6 is a schematic diagram of an explosion structure of a limiting device in an application scenario;

FIG. 7 is a schematic structural diagram of a first rotary member in another application scenario;

FIG. 8 is a schematic cross-sectional view of an elastic member body elastically embedded in an arcuate blocking region in an application scenario;

FIG. 9 is a schematic cross-sectional view of an elastic member body elastically embedded in an arc-shaped blocking area in another application scenario;

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

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

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

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

FIG. 14 is a schematic view of an exploded construction of the robotic arm of the present application;

FIG. 15 is a schematic view of the first leg assembly of FIG. 14;

FIG. 16 is a schematic view of the second leg assembly of FIG. 14;

fig. 17 is a schematic structural view of the robot of the present application.

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of an embodiment of a limiting device of the present application, fig. 2 is an exploded structural diagram of the limiting device of fig. 1, and fig. 3 is a schematic structural diagram of a first rotating member of fig. 1. The limiting device 100 includes: the first rotating member 110, the second rotating member 120, the arc-shaped blocking area 130 provided on the first rotating member 110, the elastic member 140 elastically embedded on the rotating member 110, and the stopper 150 provided on the second rotating member 120.

The first rotating member 110 and the second rotating member 120 are coupled to each other and are capable of rotating relatively, in particular, the first rotating member 110 is capable of rotating forward and backward with respect to the second rotating member 120, and the angles at which the first rotating member 110 rotates in forward and backward with respect to the second rotating member 120 are added up to more than 360 °. The arc blocking regions 130 extend in the rotational direction of the first rotary member 110 with respect to the second rotary member 120, that is, the first end 1301 and the second end 1302 of the arc blocking regions 130 are spaced apart in the rotational direction of the first rotary member 110 with respect to the second rotary member 120. The stopper 150 is disposed in a rotation direction of the first rotary member 110 with respect to the second rotary member 120, and when the first rotary member 110 is rotated forward or backward with respect to the second rotary member 120 by more than a predetermined angle, the elastic member 140 disposed on the first rotary member 110 is stopped by the stopper 150.

The elastic member 140 is elastically embedded in the first rotating member 110, and when no external force is applied, the elastic member 140 can move synchronously with the first rotating member 110 due to elastic tension, and when external force is applied to the elastic member 140 alone, the elastic member 140 can move relative to the first rotating member 110. The elastic member 140 may be a metal member, which has a smaller thickness and a 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 protruding arm 142 protrudes out of the elastic body 141 and extends outwards from the arc-shaped blocking area 130. Wherein, when the elastic member 140 keeps moving synchronously with the first rotating member 110, at least one end of the elastic member 140 is disposed away from the first end 1301 and the second end 1302 of the arc-shaped blocking region 130. In one application scenario, only one end of the elastic member 140 may be disposed 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 abuts against the first end 1301 or the second end 1302 of the arc-shaped blocking area 130, and in another application scenario, both ends of the elastic member 140 are disposed away from the first end 1301 and the second end 1302 of the arc-shaped blocking area 130, specifically, as shown in fig. 3, the first end 1401 of the elastic member 140 is disposed 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 disposed at a distance from the second end 1302 of the arc-shaped blocking area 130.

Wherein, when the first rotating member 110 rotates normally relative to the second rotating member 120, the elastic member 140 keeps moving synchronously with the first rotating member 110 under elastic tension, i.e. the first rotating member 110 rotates relative to the second rotating member 120 in linkage with the elastic member 140. 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 protruding arm 142 of the elastic member 140 is stopped by the stopper 150 because the stopper 150 is disposed in the rotating direction of the first rotating member 110 relative to the second rotating member 120, 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 be acted by the stop member 150 to move relative to the first rotating member 110, specifically, since the elastic body 141 is embedded in the arc-shaped blocking area 130, the elastic member 140 will move relative to the first rotating member 110 along the arc-shaped blocking area 130, after the elastic member 140 rotates relative to the first rotating member 110 along the arc-shaped blocking area 130 by a certain angle, the elastic member 140 will abut against the first end 1301 or the second end 1302 of the arc-shaped blocking area 130, and finally prevent the first rotating member 110 from continuing to rotate relative to the second rotating member 120 in the original direction, thereby limiting the maximum angle of forward or reverse rotation of the first rotating member 110 relative to the second rotating member 120.

It will be appreciated that when the elastic member 140 moves synchronously with the first rotating member 110, if only 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, the elastic member 140 will move relative to the first rotating member 110 only when the first rotating member 110 rotates relative to the second rotating member 120 in a specific direction, that is, when the first rotating member 110 rotates relative to the second rotating member 120 in another direction, the elastic member 140 will not move relative to the first rotating member 110 due to the abutment of the ends even if a force is applied. If 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, the elastic member 140 moves relative to the first rotating member 110 after receiving the force, regardless of whether the first rotating member 110 rotates forward or backward relative to the second rotating member 120. For convenience of description, the two ends of the elastic member 140 are disposed away from the first end 1301 and the second end 1302 of the arc-shaped blocking region 130.

Wherein the limiting device 100 in the present application may be used on a mechanical arm of a robot, specifically, the first rotating member 110 and the second rotating member 120 are respectively connected with two adjacent joint bodies, so as to limit the maximum angle of relative rotation of the two adjacent joint bodies. Specifically, when the zero position is lost due to power failure or the like of the robot, even if erroneous judgment occurs because the rotation angle of the mechanical arm cannot be seen from the external appearance, the limiting device 100 can ensure that the mechanical arm does not excessively rotate, and finally the internal structure of the robot is protected.

With continued reference to fig. 2 and 3, in the present embodiment, the first rotating member 110 is sleeved on the outer side of the second rotating member 120, and the stopper 150 is a tappet 150 eccentrically disposed on the diameter surface 121 of the second rotating member 120. The first rotary member 110 includes a circumferential wall 111, and the arc-shaped blocking area 130 is provided inside the circumferential wall 111.

With reference to fig. 4, fig. 4 is a schematic structural view of the elastic member 140 in fig. 3. The elastic member 140 is a slip ring 140, and the slip ring 140 includes an arc-shaped elastic body 141 elastically embedded in the arc-shaped blocking area 130, and a protruding arm 142 protruding from an 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 protruding arm 142 abuts against the tappet 150, so as to prevent the elastic member 140 from continuing to rotate in the original direction relative to the second rotating member 120. Note that, the shapes of the protruding arm 142 and the stopper 150 are not limited in this application, as long as the stopper 150 can act as a stopper for the protruding arm 142.

Optionally, referring to fig. 5, fig. 5 is a schematic view of a portion of the first rotating member 110 in another application scenario. In this application scenario, the first rotating member 110 further comprises an annular surface 112 perpendicular to the circumferential wall 111. Specifically, the circumferential wall 111 is perpendicular from the outer periphery of the annular surface 112, and the arcuate blocking area 130 may be provided on the annular surface 112 in addition to the inner side of the circumferential wall 111. When the arc-shaped blocking area 130 is disposed on the annular surface 112, the protruding arm 142 extends perpendicular to the elastic body 141 and away from the annular surface 112, and the stop member 150 may be a baffle (not shown) disposed on the inner peripheral wall of the second rotating member 120, and after the first rotating member 110 rotates in a certain direction relative to the second rotating member 120 beyond a predetermined angle, the baffle abuts against the protruding arm 142 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 above description has been made with the arc-shaped blocking areas provided on the peripheral rotating member, but in other embodiments, the arc-shaped blocking areas may be provided on the 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 outer side of the first rotating member 220, the first rotating member 220 includes a first circumferential wall 2201, the second rotating member 210 includes a 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 disposed inside the second circumferential wall 2101 and protruding toward the first circumferential wall 2201, the arc-shaped blocking area 230 is disposed outside the first circumferential wall 2201, and the structure of the elastic member 240 is the same as that of the above embodiment. That is, in this case, 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 stopper 250 to be accommodated between the first circumferential wall 2201 and the second circumferential wall 2101, 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 arrangement of the boss a, that is, in this case, the side wall of the boss a is the first circumferential wall 2201, and in other application scenarios, it is also possible to directly arrange the side wall of the sleeved portion of the first rotating member 220 and the second rotating member 210 as the first circumferential wall 2201 and the second circumferential wall 2101 instead of the boss a.

In summary, the present application does not limit the positions of the arc-shaped blocking area and the stop member, so long as it is ensured that the stop member can abut against the elastic member in the arc-shaped blocking area when the first rotating member rotates in a certain direction relative to the second rotating member by more than a predetermined angle. For convenience of explanation, 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 disposed on the inner side of the circumferential wall 111.

Wherein, the arc blocking area 130 in the present application may be a sliding rail or a groove disposed on the first rotating member 110, when the arc blocking area 130 is a sliding rail, the sliding rail is arc-shaped, and the sliding rail is disposed on the circumferential wall 111 of the first rotating member 110, the elastic member 140 is elastically embedded on the sliding rail, when the external force is not applied, the elastic member 140 and the sliding rail keep moving synchronously, and when the external force is applied, the elastic member 140 slides along the sliding rail, but cannot move to an area outside the sliding rail. When the arc blocking region 130 is a groove, as shown in fig. 3, the arc blocking region 130 may be an arc groove, or as shown in fig. 7, the arc blocking region 130 is an annular groove 132 blocked by a blocking portion 131, wherein the blocking portion 131 is one screw or a plurality of (e.g. 2) screws arranged at intervals, specifically, the screws are arranged to block the annular groove 132, thereby dividing the arc blocking region 130, and the screws serve as the ends of the arc blocking region 130. For convenience of description, the arc-shaped blocking regions 130 are all described as arc-shaped grooves. In order to avoid the elastic member 140 sliding out of the arc-shaped blocking area 130 during the movement of 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 a semi-closed groove with a 'large inside and a small outside', specifically, the width of the arc-shaped groove is sequentially reduced along the direction from the groove bottom to the groove opening, and the width of at least part of the cross section of the elastic body 141 is larger than the width of the groove opening of the arc-shaped groove, so that the elastic body 141 cannot slide out of the arc-shaped blocking area 130. For example, the cross section of the arc-shaped blocking area 130 may have a shape in which the width of the slot is smaller than the width of the slot bottom, such as a trapezoid as shown in fig. 8, and accordingly, the cross section of the elastic body 141 may have an upper width, that is, a width of a portion near the slot bottom of the arc-shaped blocking area 130, smaller than a lower width, that is, a width of a portion near the slot bottom of the arc-shaped blocking area 130, such as a trapezoid, and thus, the cross section of the elastic body 141 may be embedded in the arc-shaped blocking area 130 as shown in fig. 8. Of course, in other application scenarios, the elastic body 141 may also partially extend out of the arc-shaped blocking area 130, in which case the cross section of the elastic body 141 may be in an hourglass shape, and the width of the middle narrowed portion of the elastic body 141 is smaller than the width of the notch of the arc-shaped blocking area 130, and the width of the portion of the elastic body 141 away from the notch of the arc-shaped blocking area 130 is larger 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 to enable the elastic member 140 to slide smoothly in the arc-shaped blocking area 130 relative to the arc-shaped blocking area 130, a gap exists between the periphery of the protruding arm 142 and the notch of the arc-shaped groove. In summary, the present application does not limit the shape of the cross section of the arc-shaped blocking area and the cross section of the elastic body, as long as it is ensured that the elastic body does not slide out of the arc-shaped blocking area when rotating relative to the first rotating member in the arc-shaped blocking area.

The greater the arc length of the arc-shaped blocking area 130, the greater the angular range of rotation of the first rotating member 110 relative to the second rotating member 120, and the smaller the length of the elastic body 141, the greater the angular range of rotation of the first rotating member 110 relative to the second rotating member 120 when the arc length of the arc-shaped blocking area 130 is fixed. Alternatively, the radius of the arcuate blocking area 130 is greater than 180 °, for example, the radius of the arcuate blocking area 130 is 270 ° or 350 °.

The operation of the stop device 100 will be described in detail below with reference to fig. 10 to 12.

Referring to fig. 10, when the first rotating member 110 rotates forward or backward relative to the second rotating member 120 by no more than a predetermined angle, the elastic member 140 moves synchronously with the first rotating member 110, and the elastic member 140 is disposed away from the first end 1301 and the second end 1302 of the arc-shaped blocking region 130.

Referring to fig. 11, at this time, the first rotating member 110 rotates counterclockwise by a certain angle relative to the second rotating member 120 on the basis of fig. 10, and after the protruding arm 142 of the elastic member 140 is stopped by the stop member 150, the first rotating member 110 continues to rotate relative to the second rotating member 120 in the counterclockwise direction, so that the elastic member 140 moves along the arc-shaped blocking area 130 relative to the first rotating member 110, such that the first end 1401 of the elastic member 140 abuts against the first end 1301 of the arc-shaped blocking area 130, and the first rotating member 110 cannot rotate relative to the second rotating member 120 in the counterclockwise direction.

Referring to fig. 12, the first rotating member 110 rotates clockwise by a certain angle relative to the second rotating member 120 on the basis of fig. 10, and after the protruding arm 142 of the elastic member 140 is stopped by the stop member 150, the first rotating member 110 continues to rotate clockwise relative to the second rotating member 120, so that the elastic member 140 moves along the arc-shaped blocking area 130 relative to the first rotating member 110, such that the second end 1402 of the elastic member 140 abuts against the second end 1302 of the arc-shaped blocking area 130, and the first rotating member 110 cannot rotate clockwise relative to the second rotating member 120 any more.

Wherein the first rotating member 110 may 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 in order to reduce unnecessary loss. 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, the elastic member 140 is provided with a marking portion 143, the marking portion 143 is not in a predetermined area of the window 113 when the elastic member 140 moves synchronously with the first rotating member 110, and the marking portion 143 is used as a rotation overrun indicator when the first rotating member 110 rotates relative to the second rotating member 120 to make the marking portion 143 enter the predetermined area of the window 113. Specifically, when the first rotating member 110 rotates normally relative to the second rotating member 120, the elastic member 140 and the first rotating member 110 keep moving synchronously, so that the marking portion 143 on the elastic member 140 is not located in the predetermined area of the window 113 on the first rotating member 110, and when the first rotating member 110 rotates excessively relative to the second rotating member 120, so that the first rotating member 110 is about to strike the elastic member 140, the marking portion 143 on the first rotating member 110 enters the predetermined area of the window 113 to play a role in prompting, so that an operator can judge whether to stop the device by observing the window 113, thereby avoiding the first rotating member 110 from striking the elastic member 140.

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

Alternatively, in other embodiments, the two windows 113 may not be positioned directly opposite the arcuate blocking area 130. Specifically, the two windows 113 deviate from the arc-shaped blocking area 130 and are located at the same side of the arc-shaped blocking area 130, the marking portion 143 includes a protrusion extending toward one side of the window 113 and disposed on the protrusion arm 142 of the elastic member 141, when the first rotating member 110 rotates normally relative to the second rotating member 120, the protrusion is not located in the window 113, and when the first rotating member 110 rotates beyond the limit relative to the second rotating member 120, the protrusion enters the window 113 to serve as a rotation beyond limit indication. In this case, in an application scenario, the number of the windows 113 may also be one, when the first rotating member 110 rotates relative to the second rotating member 120 normally, the protruding columns on the protruding arms 142 face the middle area of the windows 113, and when the first rotating member 110 rotates relative to the second rotating member 120 to deviate the protruding columns from the middle area of the windows 113, the protruding columns are used as an overrun indication.

Referring to fig. 14, fig. 14 is a schematic structural diagram of an embodiment of a mechanical arm of the present application. The robotic arm 300 includes an adjacent first leg assembly 310 and a second leg assembly 320.

The first leg assembly 310 is capable of forward and reverse rotation relative to the second leg assembly 320. Referring to fig. 15 and 16, fig. 15 is a schematic structural view of the first leg assembly 310 of fig. 14, and fig. 16 is a schematic structural view of the second leg assembly 320 of fig. 14.

The first leg assembly 310 is provided with an arcuate blocking region 330, the arcuate blocking region 330 extending in a rotational direction of the first leg assembly 310 relative to the second leg assembly 320, the second leg assembly 320 or a connection to the second leg assembly 320 (e.g., a joint to the second leg assembly 320) being provided with a stop 350, the stop 350 being provided in a rotational direction of the first leg assembly 310 relative to the second leg 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 out of the elastic body 341, and when the elastic member 340 moves synchronously with the first leg assembly 310, at least one end of the elastic member 340 is far away from both ends of the arc-shaped blocking area 330.

After the first leg assembly 310 is linked to rotate the elastic member 340 relative to the second leg assembly 320 by more than a predetermined angle, the protruding arm 342 is stopped by the stop member 350 to stop the elastic member 340 from rotating relative to the second leg assembly 320, and if the first leg assembly 310 continues to rotate relative to the second leg assembly 320 in the original direction, the elastic member 340 will move along the arc-shaped blocking area 330 relative to the first leg assembly 310 to make the elastic body 340 abut against one end of the arc-shaped blocking area 330.

The mechanical arm 300 in this application may further include a limiting device in any one of the foregoing embodiments, specifically, in this embodiment, the two joint bodies are connected by the first rotating member and the second rotating member in the limiting device, that is, the arc-shaped blocking area 330, the elastic member 340 and the stop member 350 in this embodiment are the same as or similar to the arc-shaped blocking area, the elastic member and the stop member in the foregoing embodiment of the limiting device, which is described in detail herein without further reference to the foregoing embodiment.

Referring to fig. 17, fig. 17 is a schematic structural view of an embodiment of the robot of the present application. The robot 400 includes a mechanical arm 410, where the mechanical arm 410 is the mechanical arm 300 in any of the above embodiments, and the specific structure can be referred to the above embodiments, which are not described herein.

The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the patent application, and all equivalent structures or equivalent processes using the descriptions and the contents of the present application or other related technical fields are included in the scope of the patent application.

Claims (11)

1. A spacing device, comprising:

a first rotating member and a second rotating member, the first rotating member rotating relative to the second rotating member, the first rotating member being provided with an arc-shaped blocking area extending in a rotation direction of the first rotating member relative to the second rotating member, the second rotating member being provided with a stopper provided in the rotation direction of the first rotating member relative to the second rotating member;

the elastic piece comprises an elastic body and a convex arm, the elastic body is elastically embedded in the arc-shaped blocking area, the convex arm protrudes out of the elastic body, and when the elastic piece and the first rotating piece synchronously move, at least one end of the elastic piece and two end parts of the arc-shaped blocking area are far away from each other; the elastic body is arranged in the arc-shaped groove and cannot slide out of the arc-shaped blocking area when rotating relative to the first rotating piece;

after the first rotating member is linked to rotate relative to the second rotating member by more than a preset angle, the protruding arm is stopped by the stop member to stop the rotation of the elastic member relative to the second rotating member, and if the first rotating member continues to rotate relative to the second rotating member in the original direction, the elastic member moves relative to the first rotating member along the arc-shaped blocking area to enable the elastic member to abut against one end part of the arc-shaped blocking area;

the first rotating piece is sleeved on the outer side of the second rotating piece;

the stop piece is a tappet eccentrically arranged on the diameter surface of the second rotating piece;

the first rotating member comprises a circumferential wall, and the arc-shaped blocking area is arranged on the inner side of the circumferential wall;

the elastic piece is a slip ring, and the slip ring comprises an elastic body which is elastically embedded in the arc-shaped blocking area and is arc-shaped and a convex arm which protrudes out of the inner ring of the elastic body;

the circumference wall of the first rotating piece is provided with a through window, the elastic piece is provided with a marking part, and the marking part is used as a rotation overrun prompt when the first rotating piece rotates relative to the second rotating piece so that the marking part enters a preset area in the window.

2. The spacing device of claim 1, wherein,

the arc-shaped blocking area is an annular groove which is blocked by the blocking block part and is consistent.

3. The spacing device of claim 2, wherein,

the blocking block part is one screw or a plurality of screws arranged at intervals.

4. The spacing device of claim 1, wherein,

the number of the windows is two, the two windows are respectively opposite to the two end parts of the arc-shaped blocking area, the identification part comprises two color block areas respectively arranged at the two end parts of the elastic piece, and the color of each color block area is different from the color of other areas around the color block area.

5. The spacing device of claim 1, wherein,

the second rotating piece is sleeved on the outer side of the first rotating piece;

the first rotating member includes a first circumferential wall, and the second rotating member includes a second circumferential wall, the first circumferential wall being surrounded by the second circumferential wall;

the stop piece is a tappet which is arranged on the inner side of the second circumferential wall and protrudes towards the first circumferential wall, and the arc-shaped blocking area is arranged on the outer side of the first circumferential wall;

the elastic piece is a slip ring, and the slip ring comprises an elastic body which is elastically embedded in the arc-shaped blocking area and is arc-shaped and a convex arm which protrudes out of the inner ring of the elastic body.

6. A robotic arm, comprising:

adjacent first and second limb members, the first limb member being rotatable relative to the second limb member, the first limb member being provided with an arcuate blocking region extending in the direction of rotation of the first limb member relative to the second limb member, the second limb member or a connector connected to the second limb member being provided with a stop member disposed in the direction of rotation of the first limb member relative to the second limb member;

the elastic piece comprises an elastic body and a convex arm, the elastic body is elastically embedded in the arc-shaped blocking area, the convex arm protrudes out of the elastic body, and when the elastic piece and the first limb component synchronously move, at least one end of the elastic piece and two end parts of the arc-shaped blocking area are far away from each other; the elastic body is arranged in the arc-shaped groove and cannot slide out of the arc-shaped blocking area when rotating relative to the first leg assembly;

after the first leg assembly is linked with the elastic piece to rotate relative to the second leg assembly by more than a preset angle, the protruding arm is stopped by the stop piece to stop the elastic piece from rotating relative to the second leg assembly, and if the first leg assembly continues to rotate relative to the second leg assembly in the original direction, the elastic piece moves relative to the first leg assembly along the arc-shaped blocking area to enable the elastic piece to abut against one end part of the arc-shaped blocking area;

wherein the first leg assembly is sleeved on the outer side of the second leg assembly;

the stop piece is a tappet eccentrically arranged on the radial surface of the second joint limb component;

the first leg assembly comprises a circumferential wall, and the arc-shaped blocking area is arranged on the inner side of the circumferential wall;

the elastic piece is a slip ring, and the slip ring comprises an elastic body which is elastically embedded in the arc-shaped blocking area and is arc-shaped and a convex arm which protrudes out of the inner ring of the elastic body;

the circumference wall of first festival limb subassembly is provided with the window that link up, the elastic component is provided with the sign portion, when first festival limb subassembly relative the rotation of second festival limb subassembly makes the sign portion gets into the predetermined region in the window is crossed in the rotation and is had a limit suggestion.

7. The mechanical arm according to claim 6, wherein,

the arc-shaped blocking area is an annular groove which is blocked by the blocking block part and is consistent.

8. The mechanical arm according to claim 7, wherein,

the blocking block part is one screw or a plurality of screws arranged at intervals.

9. The mechanical arm according to claim 6, wherein,

the number of the windows is two, the two windows are respectively opposite to the two end parts of the arc-shaped blocking area, the identification part comprises two color block areas respectively arranged at the two end parts of the elastic piece, and the color of each color block area is different from the color of other areas around the color block area.

10. The mechanical arm according to claim 6, wherein,

the second leg assembly is sleeved on the outer side of the first leg assembly;

the first leg assembly includes a first circumferential wall and the second leg assembly includes a second circumferential wall, the first circumferential wall being surrounded by the second circumferential wall;

the stop piece is a tappet which is arranged on the inner side of the second circumferential wall and protrudes towards the outer side of the first circumferential wall, and the arc-shaped blocking area is arranged on the outer side of the first circumferential wall;

the elastic piece is a slip ring, and the slip ring comprises an elastic body which is elastically embedded in the arc-shaped blocking area and is arc-shaped and a convex arm which protrudes out of the inner ring of the elastic body.

11. A robot comprising the mechanical arm according to any one of claims 6-10.