CN111788046B

CN111788046B - Limiting device, mechanical arm and robot

Info

Publication number: CN111788046B
Application number: CN201980011730.2A
Authority: CN
Inventors: 靳宇; 周国麟
Original assignee: Shenzhen A&E Intelligent Technology Institute Co Ltd
Current assignee: Shenzhen A&E Intelligent Technology Institute Co Ltd
Priority date: 2019-04-12
Filing date: 2019-04-12
Publication date: 2023-06-06
Anticipated expiration: 2039-04-12
Also published as: CN111788046A; WO2020206686A1

Abstract

A limiting device (100), mechanical arms (300, 410) and a robot (400) comprise a first rotating member (110) and a second rotating member (120) which rotate relatively, wherein the first rotating member is provided with a spiral blocking area (130) and an elastic member (140), the second rotating member is provided with a stopping member (150), the elastic member comprises an elastic body (141) and a protruding arm (142) protruding out of the elastic body, the elastic member is elastically embedded in the spiral blocking area, when the elastic member and the first rotating member synchronously move, at least one end of the elastic member is far away from two end portions (1301, 1302) of the spiral blocking area, and meanwhile, after the first rotating member is linked with the elastic member to rotate by more than a preset angle relative to the second rotating member, the protruding arm is stopped by the stopping member to rotate relative to the second rotating member, and at the moment, if the first rotating member continues to rotate relative to the second rotating member in the original direction, the elastic member moves along the spiral blocking area relative to the first rotating member to enable the elastic member to abut one end portion of the spiral blocking area. Through the limiting device, the mechanical arm can be prevented from over-rotating after losing the zero position.

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 a spiral 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 spiral 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 spiral 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 spiral blocking area to enable the elastic member to abut against one end part of the spiral 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 rotating relative to the second leg assembly, the first leg assembly being provided with a helical 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 arranged 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 spiral blocking area, the convex arm protrudes out of the elastic body, and when at least one end of the elastic piece moves synchronously with the first rotating piece, the elastic piece and two end parts of the spiral blocking area are far away; 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 spiral blocking area to enable the elastic member to abut against one end of the spiral 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 spiral on the first rotating member of relative second rotating member and block district and elasticity inlay the elastic component of establishing in the spiral and block 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 in spiral and blocking district, after the relative second rotating member rotation of first rotating member linkage elastic component surpasses 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 to rotate according to the relative second rotating member of former direction, then the elastic component will block the relative first rotating member motion in district along the spiral and make elastic component butt spiral block one end in district, thereby avoid first rotating member relative second rotating member excessive rotation, consequently, when this stop device is used for the arm, for example, two festival bodies are connected with first rotating member and second rotating member respectively, can prevent two festival bodies rotation, thereby can not see out of the mechanical arm excessive rotation from the appearance because the mechanical arm is lost in the appearance, even can not take place the excessive rotation of the mechanical arm, the error rotation of the mechanical arm is guaranteed at this moment, the mechanical arm can's error rotation is prevented.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

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 an exploded construction of the first rotary member of FIG. 1;

FIG. 4 is a schematic view of a portion of a first rotary member in an application scenario;

FIG. 5 is a schematic diagram of an explosion structure of a limiting device in an application scenario;

FIG. 6 is a schematic cross-sectional view of the elastic member body elastically embedded in the spiral barrier in an application scenario;

FIG. 7 is a schematic cross-sectional view of an elastic member body elastically embedded in a spiral blocking area in another application scenario;

FIG. 8 is a schematic diagram of a first rotating member rotating relative to a second rotating member in an application scenario;

FIG. 9 is a schematic diagram of a first rotating member rotating relative to a second rotating member in another application scenario;

FIG. 10 is a schematic illustration of a first rotating member rotating relative to a second rotating member in yet another application scenario;

FIG. 11 is a schematic diagram of an explosion structure of a first rotary member at a first view angle in an application scene;

FIG. 12 is a schematic view of the exploded structure of the first rotary member of FIG. 11 at a second view angle;

FIG. 13 is a schematic view of an exploded construction of the robotic arm of the present application;

FIG. 14 is a schematic view of an exploded view of the first leg assembly of FIG. 13;

FIG. 15 is a schematic view of the second leg assembly of FIG. 13;

fig. 16 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 a schematic explosion structure of the limiting device of fig. 1, and fig. 3 is a schematic explosion structure of a first rotary member of fig. 1.

The limiting device 100 includes: the first rotating member 110, the second rotating member 120, the spiral 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, and in particular, the first rotating member 110 is capable of rotating forward and reverse with respect to the second rotating member 120. The spiral blocking area 130 extends in the rotation 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 spiral blocking area 130 are spaced apart in the rotation direction of the first rotary member 110 with respect to the second rotary member 120, the stopper 150 is provided in the rotation direction of the first rotary member 110 with respect to the second rotary member 120, and the elastic member 140 provided on the first rotary member 110 is stopped by the stopper 150 when the first rotary member 110 is rotated forward or backward by more than a predetermined angle with respect to the second rotary member 120.

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 spiral blocking area 130, and the protruding arm 142 protrudes out of the elastic body 141 and extends outwards from the spiral 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 spiral blocking area 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 spiral 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 spiral 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 spiral blocking area 130, specifically, as shown in fig. 3, the first end 1401 of the elastic member 140 is disposed away from the first end 1301 of the spiral blocking area 130, and the second end 1402 of the elastic member 140 is disposed away from the second end 1302 of the spiral 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 moving 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 spiral blocking area 130, the elastic member 140 will move along the spiral blocking area 130 relative to the first rotating member 110, and after the elastic member 140 rotates along the spiral blocking area 130 relative to the first rotating member 110 by a certain angle, the elastic member 140 will abut against the first end 1301 or the second end 1302 of the spiral 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, so as to limit the maximum rotation angle 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 spiral 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 spiral 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 spiral blocking area 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 spiral blocking area 130 is provided inside the circumferential wall 111.

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 spiral 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. Alternatively, in other embodiments, the elastic body 141 may be spiral, so long as at least one end of the elastic body 141 is disposed away from the first end 1301 and the second end 1302 of the spiral blocking area 130 when the first rotating member 110 and the elastic member 140 operate synchronously.

Optionally, referring to fig. 4, fig. 4 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 includes a circular ring surface 112 perpendicular to the circumferential wall 111, specifically, the circumferential wall 111 is perpendicular to the outer circumference of the circular ring surface 112, and the spiral blocking area 130 may be disposed on the inner side of the circumferential wall 111 or on the circular ring surface 112. When the spiral 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 an 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 spiral blocking area provided on the peripheral rotating member, but in other embodiments, the spiral blocking area may be provided on the peripheral rotating member. Specifically, in an application scenario, as shown in fig. 5, when 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 a second circumferential wall=2101, the stopper 250 is a tappet 250 disposed on the inner side of the second circumferential wall 2101 and protruding toward the first circumferential wall 2201, the spiral blocking area 230 is disposed on the outer side of the first circumferential wall 2201, and the structure of the elastic member 240 is the same as that of the above embodiment. That is, 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. 5, 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, the side wall of the boss a is the first circumferential wall 2201, and in other application scenarios, the side wall of the sleeved portion 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 instead of the boss a.

In summary, the present application does not limit the position where the spiral blocking area and the stop member are disposed, so long as it is ensured that the stop member can abut against the elastic member in the spiral 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 description, the first rotating member 110 is sleeved on the outer side of the second rotating member 120, and the spiral blocking area 130 is disposed on the inner side of the circumferential wall 111.

The spiral blocking area 130 in the present application may be a sliding rail or a groove disposed on the first rotating member 110, when the spiral blocking area 130 is a sliding rail, the sliding rail is spiral, 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 elastic member 140 is not subjected to an external force, the elastic member 140 and the sliding rail keep moving synchronously, and when the elastic member 140 is subjected to an external force, the elastic member slides along the sliding rail, but cannot move to an area outside the sliding rail. When the spiral blocking area 130 is a groove, as shown in fig. 3, the spiral blocking area 130 is a spiral groove. In order to avoid the elastic member 140 sliding out of the spiral blocking area 130 during the movement of the elastic member relative to the spiral blocking area 130, in an application scenario, when the spiral blocking area 130 is a spiral groove, the spiral groove is a semi-closed groove with a large inside and a small outside, specifically, the width of the spiral groove is sequentially reduced along the direction from the groove bottom to the groove opening, and at least part of the cross section of the elastic body 141 is wider than the groove opening width of the spiral groove, so that the elastic body 141 cannot slide out of the spiral blocking area 130. For example, the cross section of the spiral 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. 6, 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 spiral blocking area 130, smaller than a lower width, that is, a width of a portion near the slot bottom of the spiral blocking area 130, such as a trapezoid, as shown in fig. 6, embedded in the spiral blocking area 130. Of course, in other application scenarios, the elastic body 141 may also partially extend out of the spiral 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 spiral blocking area 130, and the width of the portion of the elastic body 141 away from the notch of the spiral blocking area 130 is larger than the width of the notch of the spiral blocking area 130, as shown in fig. 7.

It should be noted that, in order for the elastic member 140 to slide smoothly in the spiral blocking area 130 relative to the spiral blocking area 130, a gap exists between the periphery of the protruding arm 142 and the notch of the spiral groove. In summary, the present application does not limit the shape of the spiral blocking area and the cross section of the elastic body, as long as it is ensured that the elastic body does not slip out of the spiral blocking area when rotating in the spiral blocking area relative to the first rotating member.

The greater the length of the spiral blocking area 130, the greater the range of angles in which the first rotating member 110 rotates relative to the second rotating member 120, and the smaller the length of the elastic body 141, the greater the range of angles in which the first rotating member 110 rotates relative to the second rotating member 120 when the length of the spiral blocking area 130 is fixed.

The operation of the stop device 100 will be described in detail with reference to fig. 8 to 10.

Referring to fig. 8, 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 spiral blocking area 130.

Referring to fig. 9, the first rotating member 110 rotates counterclockwise by a certain angle relative to the second rotating member 120 on the basis of fig. 8, 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 spiral 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 spiral 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. 10, the first rotating member 110 rotates clockwise by a certain angle relative to the second rotating member 120 on the basis of fig. 8, 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 spiral 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 spiral 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 spiral blocking area 130 in order to reduce unnecessary loss. Referring to fig. 11 and 12, 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 indication 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. 11 and 12, the number of the windows 113 is two, the two windows 113 deviate from the spiral blocking area 130 and are located on the same side of the spiral blocking area 130, the marking portion 143 is a protrusion 143 disposed on the protrusion arm 142 and extending towards the window 113, and when the first rotating member 110 rotates relative to the second rotating member 120 by not more than a predetermined angle, the protrusion arm 142 is located between the two windows 113. Specifically, when the window 113 deviates from the spiral blocking area 130 and the first rotating member 110 rotates relative to the second rotating member 120 normally, the protruding arm 142 is located between the two windows 113, so that the protruding pillar 143 does not enter the window 113, and when the first rotating member 110 rotates relative to the second rotating member 120 more than a predetermined angle, the first rotating member 110 rotates relative to the elastic member 140, so that the protruding pillar 143 enters one of the windows 113, thereby prompting the operator that the first rotating member 110 rotates excessively relative to the second rotating member 120, and stopping the apparatus in time is required to avoid the collision. Alternatively, in this case, in an application scenario, the number of windows 113 may be one, where when the first rotating member 110 rotates normally relative to the second rotating member 120, the boss 143 on the boss 142 faces the middle area of the window 113, and when the first rotating member 110 rotates relative to the second rotating member 120 to deviate the boss 143 from the middle area of the window 113, the rotation overrun is indicated.

Alternatively, in other embodiments, two windows 113 may be disposed opposite the first and

second ends

1301, 1302, respectively, of the spiral-shaped barrier 130, where the indicator 143 includes two color patch areas disposed at the first and

second ends

1401, 1402, respectively, of the elastic member 140, where the color patch areas are different from the colors of other areas surrounding the color patch areas. Specifically, when the operator observes the first end 1401 or the second end 4102 of the elastic element 140 from the window 113, it indicates that the elastic element 140 will collide with the first rotary element 110, and the apparatus needs to be stopped before the collision.

Wherein the first end 1301 and the second end 1302 of the spiral blocking area 130, and the first end 1401 and the second end 1402 of the elastic member 140 are all planar to avoid the elastic member 140 from sliding out of the spiral blocking area 130.

Referring to fig. 13, fig. 13 is a schematic view of an exploded structure 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. With reference to fig. 14 and 15, fig. 14 is a schematic view of an exploded structure of the first leg assembly 310 of fig. 13, and fig. 15 is a schematic view of a structure of the second leg assembly 320 of fig. 13.

The first limb assembly 310 is provided with a helical blocking area 330, the helical blocking area 330 extending in the direction of rotation of the first limb assembly 310 relative to the second limb assembly 320, the second limb assembly 320 or a connection to the second limb assembly 320 (e.g. a joint to the second limb assembly 320) being provided with a stop 350, the stop 350 being provided in the direction of rotation of the first limb assembly 310 relative to the second limb assembly 320.

The elastic member 340 includes an elastic body 341 elastically embedded in the spiral blocking area 330 and a protruding arm 342 protruding out of the elastic body 341, and when the elastic member 340 and the first leg assembly 310 move synchronously, at least one end of the elastic member 340 is far away from both ends of the spiral blocking area 330.

After the first leg assembly 310 rotates in conjunction with the elastic member 340 relative to the second leg assembly 320 beyond a predetermined angle, the protruding arm 342 is stopped by the stopper 350 to stop the elastic member 340 from rotating relative to the second leg assembly 320, and when the first leg assembly 310 continues to rotate relative to the second leg assembly 320 in the original direction, the elastic member 340 moves along the spiral blocking area 330 relative to the first leg assembly 310 to make the elastic body 340 abut against one end of the spiral blocking area 330.

The mechanical arm 300 in the present application may further include a limiting device in any one of the foregoing embodiments, specifically, in this embodiment, the two leg bodies are connected by the first rotating member and the second rotating member in the limiting device, that is, the spiral blocking area 330, the elastic member 340 and the stop member 350 in this embodiment are the same as or similar to the spiral blocking area, the elastic member and the stop member in the foregoing limiting device embodiment, which will be seen in detail in the foregoing limiting device embodiment and will not be repeated herein.

Referring to fig. 16, fig. 16 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

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 a spiral 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 spiral 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 spiral blocking area are far away from each other; wherein the elastic piece is a metal 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 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 spiral blocking area to enable the elastic member to abut against one end part of the spiral blocking area.

2. The spacing device of claim 1, wherein,

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 includes a circumferential wall, and the spiral blocking area is disposed inside the circumferential wall;

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

3. The spacing device of claim 2, wherein,

the spiral blocking area is a spiral groove.

4. The spacing device of claim 2, wherein,

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.

5. The spacing device of claim 4, wherein,

the number of the windows is two, the two windows are respectively opposite to the two end parts of the spiral 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.

6. The spacing device of claim 4, wherein,

the number of the windows is two, the two windows deviate from the spiral blocking area and are positioned on the same side of the spiral blocking area, the identification part is a convex column which is arranged on the convex arm and extends towards the window side, and when the first rotating piece rotates relative to the second rotating piece by not exceeding the preset angle, the convex arm is positioned between the two windows.

7. The spacing device of claim 2, wherein,

the ends of the spiral blocking area and the ends of the elastic piece are both planar so as to prevent the elastic piece from sliding out of the spiral blocking area.

8. 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 spiral blocking area is arranged on the outer side of the first circumferential wall;

9. A robotic arm, comprising:

adjacent first and second leg assemblies, the first leg assembly rotating relative to the second leg assembly, the first leg assembly being provided with a helical 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 arranged 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 spiral 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 spiral blocking area are far away from each other; wherein the elastic piece is a metal piece;

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 spiral blocking area to enable the elastic member to abut against one end of the spiral blocking area.

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

the first section limb component is sleeved on the outer side of the second section limb component;

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

the first leg assembly includes a circumferential wall, the spiral blocking area being disposed inboard of the circumferential wall;

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

the spiral blocking area is a spiral groove.

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

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.

13. The mechanical arm according to claim 12, wherein,

14. The mechanical arm according to claim 12, wherein,

the number of the windows is two, the two windows deviate from the spiral blocking area and are positioned on the same side of the spiral blocking area, the identification part is a convex column which is arranged on the convex arm and extends towards the window side, and when the first joint limb component rotates relative to the second joint limb component by not exceeding the preset angle, the convex arm is positioned between the two windows.

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

16. The mechanical arm according to claim 9, 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 spiral blocking area is arranged on the outer side of the first circumferential wall;

17. A robot comprising the mechanical arm of any one of claims 9-16.