WO2020206685A1 - 限位装置、机械臂及机器人 - Google Patents

限位装置、机械臂及机器人 Download PDF

Info

Publication number
WO2020206685A1
WO2020206685A1 PCT/CN2019/082470 CN2019082470W WO2020206685A1 WO 2020206685 A1 WO2020206685 A1 WO 2020206685A1 CN 2019082470 W CN2019082470 W CN 2019082470W WO 2020206685 A1 WO2020206685 A1 WO 2020206685A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotating member
arm
arc
elastic body
assembly
Prior art date
Application number
PCT/CN2019/082470
Other languages
English (en)
French (fr)
Inventor
靳宇
周国麟
Original Assignee
深圳配天智能技术研究院有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to PCT/CN2019/082470 priority Critical patent/WO2020206685A1/zh
Priority to CN201980011731.7A priority patent/CN111757797B/zh
Publication of WO2020206685A1 publication Critical patent/WO2020206685A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops

Definitions

  • This application relates to the field of robotics, in particular to a limit device, a mechanical arm and a robot.
  • 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.
  • the rotation angle of each joint of the robot is limited within a certain range.
  • 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.
  • 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.
  • 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.
  • 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 a 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 on the first rotating member and protruding from the elastic body The convex arm and the limiting arm protruding from the elastic body and extending to the blocking area, when the elastic member and the first rotating member move synchronously, at least one end of the limiting arm is in contact with the blocking The two ends of the zone are set away from each other; 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 stop
  • a technical solution adopted in the present application is to provide a mechanical arm, including: 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 a blocking area that extends in the direction of rotation of the first arthropod component relative to the second arthropod component, and the second arthropod component may be opposite to the second arthropod component.
  • the connected connecting piece is provided with a stopper, and the stopper is arranged in the direction of rotation of the first limb assembly relative to the second limb assembly; an elastic piece, the elastic piece including elastically embedded in the first limb assembly
  • at least one end of the limit arm is set away from the two ends of the 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, so that the elastic member stops rotating relative to the second arthropod assembly.
  • the elastic member will rotate relative to the first limb assembly along the blocking area so that the limiting arm abuts against one
  • 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, and a blocking area and an elastic member are provided on the first rotating member opposite to the second rotating member.
  • the elastic member includes an elastic body and A convex arm protruding from the elastic body, a limit arm protruding from the elastic body and extending to the blocking area, when the elastic member moves synchronously with the first rotating member, at least one end of the limit arm is set away from both ends of the blocking area 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.
  • the elastic member will rotate relative to the first rotating member along the blocking area so that the limit arm abuts against one end of the blocking area, thereby avoiding excessive rotation of the first rotating member relative to the second rotating member. Therefore, when the limiting device is used in a mechanical arm, for example, when two arthroscopic 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 after the zero position is lost, even because of the appearance It is impossible to see the misjudgment of the rotation angle of the robotic arm at this time, and the limit device can also ensure that the robotic arm does not rotate excessively and protect the robotic arm.
  • 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;
  • Fig. 3 is a schematic diagram of the exploded structure of the first rotating part in Fig. 1;
  • FIG. 4 is a schematic diagram of the first rotating member rotating relative to the second rotating member in an application scenario
  • 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 cross-sectional view of an elastic body elastically embedded in an annular groove in an application scenario
  • FIG. 8 is a schematic cross-sectional view of the elastic body elastically embedded in the annular groove in another application scenario
  • FIG. 9 is a schematic diagram of the first rotating member rotating relative to the second rotating member in another application scenario.
  • FIG. 10 is a schematic diagram of the first rotating member rotating relative to the second rotating member in another 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
  • Figure 13 is a schematic diagram of the explosive structure of the robotic arm of the present application.
  • Figure 14 is a schematic diagram of the exploded structure of the first limb assembly in Figure 13;
  • FIG. 15 is a schematic diagram of the structure of the second limb assembly in FIG. 13;
  • Fig. 16 is a schematic diagram of the structure of the robot of the present application.
  • FIG. 1 is a schematic structural diagram of an embodiment of the limiting device of the present application
  • FIG. 2 is an exploded schematic diagram of the limiting device in FIG. 1
  • FIG. 3 is an exploded structural schematic diagram of the first rotating member in FIG.
  • the limiting device 100 includes: a first rotating member 110, a second rotating member 120, a blocking area 130 provided on the first rotating member 110, an elastic member 140 elastically embedded on the first rotating member 110, and a The stopper 150 on the two rotating parts 120.
  • the first rotating member 110 and the second rotating member 120 are sleeved and capable of relative rotation. 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 blocking area 130 is disposed on the first rotating member 110 and extends in the rotation direction of the first rotating member 110 relative to the second rotating member 120, and has a first end 1301 and a second end 1302.
  • the elastic member 140 includes an elastic body 141, a protruding arm 142 protruding from the elastic body 141, and a limiting arm 143 protruding from the elastic body 141, wherein the limiting arm 143 extends into the blocking area 130 on the first rotating member 110 and limits The position arm 143 can only move along the blocking area 130 and cannot move into the area outside the blocking area 130.
  • the elastic member 140 When there is no external force, the elastic member 140 can move synchronously with the first rotating member 110 due to elastic tension, and when the elastic member 140 moves synchronously with the first rotating member 110, at least one end of the limiting arm 143 of the elastic member 140 is The first end 1301 and the second end 1302 of the zone 130 are arranged far away, and when an external force is applied to the elastic element 140 alone, the elastic element 140 can move relative to the first rotating element 110.
  • the elastic member 140 may be a metal member, which has a small thickness and has certain elasticity.
  • the stopper 150 is arranged in the rotation direction of the first rotating member 110 relative to the second rotating member 120.
  • the stopper 150 abuts against the elastic member 140
  • the convex arm 142 prevents the elastic member 140 from continuing to rotate relative to the second rotating member 120 in the original direction.
  • the elastic member 140 when the limiting device 100 in the present application is working, if the first rotating member 110 rotates normally relative to the second rotating member 120, the elastic member 140 will keep moving synchronously with the first rotating member 110 due to elastic tension, that is, The first rotating member 110 is linked with the elastic member 140 to rotate relative to the second rotating member 120.
  • the stopper 150 When the first rotating member 110 rotates forward or backward more than a predetermined angle relative to the second rotating member 120, the stopper 150 is disposed in the direction of rotation of the first rotating member 110 relative to the second rotating member 120, so 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.
  • the elastic member 140 will be subjected to the force of the stopper 150 to move relative to the first rotating member 110, and due to the limit of the elastic member 140
  • the arm 143 extends into the blocking area 130, so the elastic element 140 will rotate relative to the first rotating element 110 along the blocking area 130.
  • the limiting arm 143 When the elastic element 140 rotates along the blocking area 130 to a certain angle relative to the first rotating element 110, the limiting arm 143 will abut the first end 1301 or the second end 1302 of the 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, and restricting the first rotating member 110 from rotating relative to the second The maximum angle at which the piece 120 rotates in the forward or reverse direction.
  • both ends of the protruding arm 142 are located far away from the first end 1301 and the second end 1302 of the blocking area 130, regardless of whether the first rotating member 110 rotates forward or backward relative to the second rotating member 120, After receiving a force, the elastic member 140 will move relative to the first rotating member 110.
  • the following description is provided with the two ends of the protruding arm 142 and the first end 1301 and the second end 1302 of the blocking area 130 disposed away from each other.
  • the limiting device 100 in the present application can be used on the robotic arm of a robot.
  • 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.
  • FIG. 4 is a schematic diagram of the first rotating member 110 rotating relative to the second rotating member 120 in an application scenario.
  • the first rotating part 110 is sleeved on the outside of the second rotating part 120, and the stopper 150 is a tappet 150 eccentrically arranged on the radial surface 121 of the second rotating part 120.
  • the first rotating member 110 includes a circumferential wall 111, an annular groove 131 and an arc groove 132 further recessed in the annular groove 131 are provided on the inner side of the circumferential wall 111, and the blocking area 130 is an arc groove 132.
  • the elastic member 140 is a slip ring 140.
  • the slip ring 140 includes an arc-shaped elastic body 141 elastically embedded in the annular groove 131, a protruding arm 142 protruding from the inner ring of the elastic body 141, and an outer ring protruding from the elastic body 141.
  • the limit arm 143 extends to the arc groove 132. In order to reduce the friction between the limiting arm 143 and the arc-shaped groove 132 when the elastic member 140 rotates relative to the first rotating member 110, the limiting arm 143 extends into the arc-shaped groove 132 and interacts with the side wall and bottom of the arc-shaped groove 132. The walls form a gap.
  • the first rotating member 110 further includes an annular surface 112, and the circumferential wall 111 is erected perpendicularly from the outer periphery of the annular surface 112.
  • the blocking area 130 can be arranged in addition to The inner side of the circumferential wall 111 may also be arranged on the annular surface 112.
  • the stopper 150 is a baffle arranged on the inner peripheral wall of the second rotating part 120.
  • the blocking area may also be provided on the inner rotating member.
  • 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 It includes a second circumferential wall 2101. The first circumferential wall 2201 is surrounded by the second circumferential wall 2101.
  • the stopper 250 is a tappet 250 that is arranged inside the second circumferential wall 2101 and protrudes toward the first circumferential wall 2201 to block
  • the area 230 is arranged on the outside of the first circumferential wall 2201, and the structure of the blocking area 230 and the elastic member 240 are the same as the above-mentioned embodiments. That is, at this time, the outside of the first circumferential wall 2201 and the inside of the second circumferential wall 2101 have a predetermined The distance allows the elastic member 240 and the stopper 250 to be accommodated between the first circumferential wall 2201 and the second circumferential wall 2101. In the application scenario of FIG.
  • the boss A is provided to ensure the first circumference
  • the distance between the wall 2201 and the second circumferential wall 2101, that is, the side wall of the boss A is the first circumferential wall 2201 at this time.
  • the boss A may not be provided but directly set
  • the side walls of the sleeve portion of the first rotating member 220 and the second rotating member 210 are a first circumferential wall 2201 and a second circumferential wall 2101.
  • this application does not limit the blocking area and the position of the stopper, as long as it is ensured that when the first rotating member rotates in a certain direction relative to the second rotating member by more than a predetermined angle, the stopper can interact with the elasticity in the blocking area. It’s enough if the pieces meet.
  • the first rotating member 110 is sleeved on the outer side of the second rotating member 120, and the blocking area 130 is provided on the inner side of the circumferential wall 111.
  • the number of the limiting arm 143 is one, and the symmetry axis of the limiting arm 143 coincides with the symmetry axis of the convex arm 142.
  • the number of limit arms 143 may be two, and the two limit arms 143 are distributed on both sides of the convex arm 142 and are symmetrical about the convex arm 142. In this case, when the first rotating member 110 When the forward rotation of the second rotating member 120 exceeds the maximum limit angle, one of the limit arms 143 will abut the blocking area 130. When the first rotating member 110 rotates in the reverse direction relative to the second rotating member 120 and exceeds the maximum limit angle, The other limiting arm 143 abuts against the blocking area 130.
  • the annular groove 131 is a semi-closed groove with "large inside and small outside".
  • the annular groove The width of the elastic body 131 decreases in the direction from the bottom of the groove to the groove, and the width of at least part of the cross section of the elastic body 141 is larger than the width of the groove of the annular groove 131 so that the elastic body 141 will not slip out of the annular groove 131.
  • the cross section of the annular groove 131 may be a shape in which the width of the notch is smaller than the width of the groove bottom, such as a trapezoid as shown in FIG. 7.
  • the cross section of the elastic body 141 may also be the upper width, that is, close to the annular groove.
  • the width of the part at the notch 131 is smaller than the width of the lower part, that is, smaller than the width of the part close to the bottom of the annular groove 131.
  • the cross section of the elastic body 141 can also be trapezoidal, as shown in Figure 7 embedded in the annular groove. Slot 131.
  • the elastic body 141 may also partially extend out of the annular groove 131.
  • 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 annular groove 131.
  • the width of the notch of the elastic body 141 away from the notch of the annular groove 131 is greater than the width of the notch of the annular groove 131, as shown in FIG. 8.
  • 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, and the limit arm 143 of the elastic member 140 and The first end 1301 and the second end 1302 of the blocking area 130 are arranged away from each other.
  • the first rotating member 110 has rotated a certain angle counterclockwise relative to the second rotating member 120 on the basis of FIG. 4.
  • the first rotating member 110 continues to rotate in a counterclockwise direction relative to the second rotating member 120 to make the elastic member 140 move clockwise relative to the first rotating member 110, so that the limiting arm 143 of the elastic member 140 abuts against the first end 1301 of the blocking area 130, Finally, it is ensured that the first rotating member 110 can no longer rotate relative to the second rotating member 120 in a counterclockwise direction.
  • the first rotating member 110 has rotated a certain angle clockwise relative to the second rotating member 120 on the basis of FIG. 4.
  • the first rotating member 110 continues to rotate in a clockwise direction relative to the second rotating member 120 to make the elastic member 140 move counterclockwise relative to the first rotating member 110, so that the limiting arm 143 of the elastic member 140 abuts against the second end 1302 of the blocking area 130, Finally, it is ensured that the first rotating member 110 can no longer rotate clockwise relative to the second rotating member 120.
  • 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 blocking area 130.
  • a through window 113 is provided at the circumferential wall 111 facing the arc-shaped groove 132.
  • the number of windows 113 is two, and the two windows 113 are respectively facing the first of the arc-shaped groove 130.
  • the end portion 1301 and the second end portion 1302 are provided, and when the first rotating member 110 rotates relative to the second rotating member 120 to cause the limit arm 143 to enter the window 113, it is used as a rotation over limit prompt.
  • the limit arm 143 is provided with an identification portion 1431, which is arranged on the side of the limit arm 143 away from the elastic body 141.
  • the color block area 1431 on the wall, the color of the color block area 1431 is different from the color of the elastic body 141. For example, the color of the color block area 1431 is red, and the color of the elastic body 141 is gray.
  • the number of windows 113 is one, one window 113 faces the arc-shaped groove 132, and the window 113 extends from the first end 1301 to the second end 1302 of the arc-shaped groove 132 .
  • the window 113 exposes the limit arm 143, and the entire movement state of the limit arm 143 can be observed through the window 113, so that the elastic member 140 can collide with the first rotating member 110 in time. Stop the device.
  • the window 113 is also two. At this time, the two windows 113 deviate from the arc groove 132 and are located on the same side of the arc groove 132.
  • the convex arm 142 is provided with a window 113 facing A convex post (not shown) extending from the side.
  • the convex post is not in the window 113.
  • the convex When the first rotating member 110 rotates relative to the second rotating member 120, the convex When the column enters the window 113, it serves as a reminder of the rotation limit.
  • the robotic arm 300 includes a first articulation assembly 310 and a second articulation assembly 320 adjacent to each other.
  • FIG. 14 is an exploded structural diagram of the first limb assembly 310 in FIG. 13, and FIG. 15 is a structural diagram of the second limb assembly 320 in FIG. 13.
  • the first limb component 310 is provided with a blocking area 330 and a resiliently embedded elastic member 340.
  • the blocking area 330 extends in the direction of rotation of the first limb component 310 relative to the second limb component 320.
  • the connecting piece (for example, the joint with the second limb assembly 320) connected to the assembly 320 is provided with a stopper 350, and the stopper 350 is arranged in the rotation direction of the first joint assembly 310 relative to the second joint assembly 320.
  • the elastic member 340 includes an elastic body 341 elastically embedded on the first limb assembly 310, a protruding arm 342 protruding from the elastic body 341, a protruding elastic body 341, and a limiting arm 343 extending to the blocking area 330.
  • the elastic member 340 When moving synchronously with the first limb assembly 310, at least one end of the limiting arm 343 and the two ends of the blocking area 330 are set away from each other.
  • 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 blocking area 330 so that the limiting arm 343 abuts against the end of the blocking area 330.
  • the mechanical arm 300 in the present application may also include the limiting device in any of the foregoing embodiments.
  • the first rotating member and the second rotating member in the limiting device are respectively connected to two The arthropod body, that is, the blocking area 330, the elastic member 340 and the stop member 350 in this embodiment are the same or similar to the blocking area, the elastic member and the stop member in the foregoing embodiment of the limiting device.
  • the arthropod body that is, the blocking area 330, the elastic member 340 and the stop member 350 in this embodiment are the same or similar to the blocking area, the elastic member and the stop member in the foregoing embodiment of the limiting device.
  • the foregoing embodiment of the limiting device which will not be repeated here.
  • FIG. 16 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种限位装置（100）、机械臂（300、410）以及机器人（400），该限位装置包括相对旋转的第一旋转件（110）和第二旋转件（120），第一旋转件设置有阻挡区（130）以及弹性件（140），第二旋转件设置有止挡件（150），弹性件包括弹性嵌设于第一旋转件上的弹性本体（141）、凸出弹性本体的凸臂（142）以及凸出弹性本体且延伸至阻挡区的限位臂（143），在弹性件与第一旋转件同步运动时，限位臂的至少一端与阻挡区的两端部（1301、1302）呈远离设置，同时在第一旋转件联动弹性件相对第二旋转件旋转超过预定角度后，止挡件止挡凸臂而使弹性件停止相对第二旋转件旋转，此时第一旋转件若继续按照原方向相对第二旋转件旋转，则弹性件将沿着阻挡区相对第一旋转件转动而使限位臂抵接阻挡区端部。通过该限位装置能够避免机械臂在零位丢失后过度旋转。

Description

限位装置、机械臂及机器人 【技术领域】
本申请涉及机器人技术领域，特别是一种限位装置、机械臂及机器人。
【背景技术】
机器人是多领域应用的多关节机械手或多自由度的机器装置，机器人由电机驱动，能够自动执行工作，并靠自身动力和控制能力来实现各种功能。其中，机器人每个关节的旋转角度被限制在一定范围内，对于关节而言，当允许旋转的角度在正负方向上累加不超过360°时，可以直接从外观上判断当前关节实际转动的角度，但是如果允许旋转的角度在正负方向上累加超过360°，仅凭外观则很难确认当前关节实际转动的角度。例如，当关节旋转至+180°和-180°两个位置时，由于两个相邻节肢正好相对运动了360°，因此机器人在这两个位置呈现的外观完全一致。
通常电机编码器发生中途断电后会导致零位丢失，如果在零位丢失后无法从外观上判断关节的实际转动角度，那么再次上电后容易发生误判，将+360°或-360°的位置误认零位，造成关节旋转超过限制范围，最终损坏机器人的内部结构。
【发明内容】
本申请主要解决的技术问题是提供一种限位装置、机械臂以及机器人，能够避免机械臂在零位丢失后过度旋转。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种限位装置，包括：第一旋转件和第二旋转件，所述第一旋转件相对所述第二旋转件旋转，所述第一旋转件设置有阻挡区，所述阻挡区在所述第一旋转件相对所述第二旋转件的旋转方向上延伸，所述第二旋转件设置有止挡件，所述止挡件设置在所述第一旋转件相对所述第二旋转件的旋转方向上；弹性件，所述弹性件包括弹性嵌设于所述第一旋转件上的弹性本体、凸出所述弹性本体的凸臂以及凸出所述弹性本体且延伸至所述阻挡区的限位臂，在所述弹性件与所述第一旋转件同步运动时，所述限位臂的至少一端与所述阻挡区的两端部呈远离设置；其中， 在所述第一旋转件联动所述弹性件相对所述第二旋转件旋转超过预定角度后，所述凸臂受所述止挡件的止挡而使所述弹性件停止相对所述第二旋转件旋转，此时所述第一旋转件若继续按照原方向相对所述第二旋转件旋转，则所述弹性件将沿着所述阻挡区相对所述第一旋转件运动而使所述限位臂抵接所述阻挡区的一端部。
为解决上述技术问题，本申请采用的一个技术方案是：提供一种机械臂，包括：毗邻的第一节肢组件和第二节肢组件，所述第一节肢组件相对所述第二节肢组件旋转，所述第一节肢组件设置有阻挡区，所述阻挡区在所述第一节肢组件相对所述第二节肢组件的旋转方向上延伸，所述第二节肢组件或与所述第二节肢组件相连接的连接件设置有止挡件，所述止挡件设置在所述第一节肢组件相对所述第二节肢组件的旋转方向上；弹性件，所述弹性件包括弹性嵌设于所述第一节肢组件上的弹性本体、凸出所述弹性本体的凸臂以及凸出所述弹性本体且延伸至所述阻挡区的限位臂，在所述弹性件与所述第一节肢组件同步运动时，所述限位臂的至少一端与所述阻挡区的两端部呈远离设置；其中，在所述第一节肢组件联动所述弹性件相对所述第二节肢组件旋转超过预定角度后，所述凸臂受所述止挡件的止挡而使所述弹性件停止相对所述第二节肢组件旋转，此时所述第一节肢组件若继续按照原方向相对所述第二节肢组件运动，则所述弹性件将沿着所述阻挡区相对所述第一节肢组件旋转而使所述限位臂抵接所述阻挡区的一端部。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种机器人，包括上述的机械臂。
本申请的有益效果是：本申请的限位装置通过在第二旋转件上设置止挡件，在相对第二旋转件的第一旋转件上设置阻挡区以及弹性件，弹性件包括弹性本体以及凸出弹性本体的凸臂、凸出弹性本体且延伸至阻挡区的限位臂，当弹性件与第一旋转件同步运动时，限位臂的至少一端与阻挡区的两端部呈远离设置，在第一旋转件联动弹性件相对第二旋转件旋转超过预定角度后，凸臂受止挡件的止挡而使弹性件停止相对第二旋转件旋转，此时第一旋转件若继续按照原方向相对第二旋转件旋转，则弹性件将沿着阻挡区相对第一旋转件旋转而使限位臂抵接阻挡区的一端部，从而避免第一旋转件相对第二旋转件过度旋转，因此当该限位装置用于机械臂，例如两个节肢本体分别与第一旋转件和第二旋转件连接时，能够阻止两个节肢本体过度旋转，从而在零位丢失后，即使因为从外 观无法看出此时机械臂的旋转角度而发生误判，限位装置也可以保证机械臂不会过度旋转，保护机械臂。
【附图说明】
图1是本申请限位装置一实施方式的结构示意图；
图2是图1中限位装置的爆炸结构示意图；
图3是图1中第一旋转件的爆炸结构示意图；
图4是一应用场景中第一旋转件相对第二旋转件旋转时的示意图；
图5是一应用场景中第一旋转件的部分结构示意图；
图6是一应用场景中限位装置的爆炸结构示意图；
图7是一应用场景中弹性本体弹性嵌设在环形沟槽内的截面示意图；
图8是另一应用场景中弹性本体弹性嵌设在环形沟槽内的截面示意图；
图9是另一应用场景中第一旋转件相对第二旋转件旋转时的示意图；
图10是另一应用场景中第一旋转件相对第二旋转件旋转时的示意图；
图11是另一应用场景中第一旋转件相对第二旋转件旋转时的示意图；
图12是另一应用场景中第一旋转件相对第二旋转件旋转时的示意图；
图13是本申请机械臂的爆炸结构示意图；
图14是图13中第一节肢组件的爆炸结构示意图；
图15是图13中第二节肢组件的结构示意图；
图16是本申请机器人的结构示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性的劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
参阅图1至图3，图1是本申请限位装置一实施方式的结构示意图，图2是图1中限位装置的爆炸示意图，图3是图1中第一旋转件的爆炸结构示意图。该限位装置100包括：第一旋转件110、第二旋转件120、设置在第一旋转件110上的阻挡区130、弹性嵌设在第一旋转件110上的弹性件140以及设置在第二旋转件120上的止挡件150。
第一旋转件110与第二旋转件120相互套接，且能够相对旋转，具体地，第一旋转件110能够相对第二旋转件120正向和反向旋转，且第一旋转件110相对第二旋转件120在正向和反向上旋转的角度累加超过360°。阻挡区130设置在第一旋转件110上，且在第一旋转件110相对第二旋转件120的旋转方向上延伸，其具有第一端部1301以及第二端部1302。
弹性件140包括弹性本体141、凸出弹性本体141的凸臂142以及凸出弹性本体141的限位臂143，其中限位臂143延伸至第一旋转件110上的阻挡区130中，且限位臂143只能沿着阻挡区130运动而无法运动到阻挡区130之外的区域中。在不受外力时，弹性件140由于弹性张力能够与第一旋转件110同步运动，且当弹性件140与第一旋转件110同步运动时，弹性件140的限位臂143的至少一端与阻挡区130的第一端部1301、第二端部1302呈远离设置，而在单独给弹性件140施加外力时，弹性件140能够相对第一旋转件110运动。其中弹性件140可以为金属件，该金属件的厚度较小，具有一定的弹性。
止挡件150设置在第一旋转件110相对第二旋转件120的旋转方向上，当第一旋转件110相对第二旋转件120旋转超过预定角度后，止挡件150抵接弹性件140的凸臂142而阻止弹性件140继续按照原方向相对第二旋转件120旋转。
具体地，本申请中的限位装置100在工作时，若第一旋转件110相对第二旋转件120正常旋转，则弹性件140由于弹性张力会与第一旋转件110保持同步运动，即，第一旋转件110联动弹性件140相对第二旋转件120旋转。当第一旋转件110相对第二旋转件120正向或反向旋转超过预定角度后，由于止挡件150设置在第一旋转件110相对第二旋转件120的旋转方向上，因此弹性件140的凸臂142将受到止挡件150的止挡，进而阻止弹性件140相对第二旋转件120按照原方向旋转。此时第一旋转件110若继续按照原方向相对第二旋转件120旋转，则弹性件140将受到止挡件150的作用力而相对第一旋转件110运动，而由于弹性件140的限位臂143延伸至阻挡区130中，因此弹性件140将沿着阻挡区130相对第一旋转件110旋转，当弹性件140沿着阻挡区130相对第一旋转件110旋转一定角度后，限位臂143便会抵接阻挡区130的第一端部1301或第二端部1302，最终阻止第一旋转件110继续按照原方向相对第二旋转件120转动，限制第一旋转件110相对第二旋转件120正向或反向转动的最大角度。
可以理解的是，在弹性件140与第一旋转件110保持同步运动时，若限位 臂142只有一端与阻挡区130的第一端部1301以及第二端部1302呈远离设置，则只有当第一旋转件110相对第二旋转件120朝着特定方向旋转时，弹性件140才会相对第一旋转件110运动，也就是说，当第一旋转件110相对第二旋转件120朝着另一个方向旋转时，即使受到作用力，由于凸臂142与阻挡区130的抵接，弹性件140也不会相对第一旋转件110运动。而若凸臂142的两端均与阻挡区130的第一端部1301以及第二端部1302呈远离设置，则无论第一旋转件110相对第二旋转件120正向转动还是反向转动，在受到作用力后，弹性件140均会相对第一旋转件110运动。为方便说明，下面均以凸臂142的两端与阻挡区130的第一端部1301以及第二端部1302呈远离设置进行说明。
其中本申请中的限位装置100可用在机器人的机械臂上，具体地，第一旋转件110和第二旋转件120分别与毗邻的两个节肢本体相连接，从而限制毗邻的两个节肢本体相对旋转的最大角度。具体地，当机器人因为掉电等原因引起零位丢失时，即使因为从外观无法看出此时机械臂的旋转角度而发生误判，限位装置100也可以保证机械臂不会过度旋转，最终保护机器人的内部结构。
参阅图2至图4，图4为一应用场景中第一旋转件110相对第二旋转件120旋转时的示意图。
在本实施方式中，第一旋转件110套接在第二旋转件120的外侧，止挡件150为偏心设置在第二旋转件120的径面121上的挺杆150。第一旋转件110包括圆周壁111，圆周壁111的内侧设置有环形沟槽131以及进一步凹陷于环形沟槽131的弧形凹槽132，阻挡区130为弧形凹槽132。弹性件140为滑环140，滑环140包括弹性嵌设在环形沟槽131内且呈弧形的弹性本体141、凸出弹性本体141内圈的凸臂142以及凸出弹性本体141外圈且延伸至弧形凹槽132内的限位臂143。其中为了减小弹性件140相对第一旋转件110旋转时限位臂143与弧形凹槽132的摩擦，限位臂143伸入弧形凹槽132并与弧形凹槽132的侧壁以及底壁形成间隔。
可选的，在其他应用场景中，如图5所示，第一旋转件110还包括圆环面112，圆周壁111自圆环面112的外周垂直而立，此时阻挡区130除了可以设置在圆周壁111的内侧，还可以设置在圆环面112上。当阻挡区130设置在圆环面112上时，凸臂142的延伸方向与圆环面112垂直，止挡件150为设置在第二旋转件120内周壁上的挡板，在第一旋转件110相对第二旋转件120正向或反向旋转超过预定角度后，止挡件150与凸臂142抵接而阻止弹性件140继续按照 原方向相对第二旋转件120转动。
其中需要说明的是，上述均以阻挡区设置在外围旋转件上进行了说明，但是在其他实施方式中，阻挡区也可以设置在内围旋转件上。具体地，在一应用场景中，如图6所示，此时第二旋转件210套设在第一旋转件220的外侧，第一旋转件220包括第一圆周壁2201，第二旋转件210包括第二圆周壁2101，第一圆周壁2201被第二圆周壁2101围绕，此时止挡件250为设置在第二圆周壁2101内侧且向第一圆周壁2201凸出的挺杆250，阻挡区230设置在第一圆周壁2201外侧，其中阻挡区230、弹性件240结构与上述实施方式相同，也就是说，此时第一圆周壁2201的外侧与第二圆周壁2101的内侧具有一预定距离，该距离能够允许在第一圆周壁2201与第二圆周壁2101之间容置弹性件240以及止挡件250，其中在图6应用场景中，通过凸台A的设置来保证第一圆周壁2201与第二圆周壁2101之间的距离，也就是说，此时凸台A的侧壁为第一圆周壁2201，当然在其他应用场景中，也可以不设置凸台A而是直接设置第一旋转件220和第二旋转件210套接部分的侧壁为第一圆周壁2201和第二圆周壁2101。
总而言之，本申请并不限制阻挡区以及止挡件设置的位置，只要保证当第一旋转件相对第二旋转件朝着某一方向旋转超过预定角度后，止挡件能够与阻挡区中的弹性件发生抵接即可。其中为方便说明，下面均以第一旋转件110套接在第二旋转件120的外侧，且阻挡区130设置在圆周壁111的内侧进行说明。
其中在一应用场景中，限位臂143的数量为一，且限位臂143的对称轴与凸臂142的对称轴重合。可选的，在其他应用场景中，限位臂143的数量可以为二，两个限位臂143分布在凸臂142的两侧，且关于凸臂142对称，此时当第一旋转件110相对第二旋转件120正向旋转超过最大限制角度时，其中一个限位臂143会与阻挡区130抵接，当第一旋转件110相对第二旋转件120反向旋转超过最大限制角度时，另一个限位臂143会与阻挡区130抵接。
其中为了避免弹性件140相对环形沟槽131运动的过程中滑出，在一应用场景中，该环形沟槽131为“内大外小”半闭口式凹槽，具体而言，该环形沟槽131的宽度沿着槽底向槽口的方向依次缩小，且弹性本体141至少部分横截面的宽度大于环形沟槽131的槽口宽度从而使弹性本体141不会滑出环形沟槽131。例如，环形沟槽131的横截面可以为槽口宽度小于槽底宽度的形状，如图7所示的梯形，相应的，弹性本体141的横截面也可以为上部宽度，也就是接近环形沟槽131槽口处的部分的宽度，小于下部宽度，也就是小于接近环形沟槽 131槽底的部分的宽度，例如弹性本体141的横截面也可以为梯形，如图7所示嵌设在环形沟槽131中。当然在其他应用场景中，弹性本体141还可以部分伸出环形沟槽131，这种情况下弹性本体141的横截面可以呈沙漏形状，且弹性本体141中间收窄部分的宽度小于环形沟槽131的槽口宽度，弹性本体141远离环形沟槽131的槽口处的部分的宽度大于环形沟槽131的槽口处的宽度，如图8所示。
下面结合图4、图9和图10对本申请限位装置100的工作原理进行详细的说明。
参阅图4，此时第一旋转件110相对第二旋转件120正向或反向转动未超过预定角度，弹性件140与第一旋转件110保持同步运动，弹性件140的限位臂143与阻挡区130的第一端部1301以及第二端部1302呈远离设置。
参阅图9，此时第一旋转件110在图4的基础上相对第二旋转件120逆时针旋转了一定角度，弹性件140的凸臂142被止挡件150止挡后，第一旋转件110继续按照逆时针方向相对第二旋转件120旋转而使弹性件140相对第一旋转件110顺时针运动，进而使得弹性件140的限位臂143抵接阻挡区130的第一端部1301，最终保证第一旋转件110无法再按照逆时针方向相对第二旋转件120旋转。
参阅图10，此时第一旋转件110在图4的基础上相对第二旋转件120顺时针旋转了一定角度，弹性件140的凸臂142被止挡件150止挡后，第一旋转件110继续按照顺时针方向相对第二旋转件120旋转而使弹性件140相对第一旋转件110逆时针运动，进而使得弹性件140的限位臂143抵接阻挡区130的第二端部1302，最终保证第一旋转件110无法再按照顺时针相对第二旋转件120旋转。
其中为了减少不必要的损耗，可以在弹性件140与阻挡区130发生撞击之前使第一旋转件110停止按照原方向相对第二旋转件120旋转。参阅图11，在一应用场景中，圆周壁111正对弧形凹槽132处设有贯通的视窗113，视窗113的数量为二，两个视窗113分别正对弧形凹槽130的第一端部1301、第二端部1302设置，当第一旋转件110相对第二旋转件120旋转而使限位臂143进入视窗113内时作为旋转超限提示。具体地，通过在阻挡区130的第一端部1301、第二端部1302处设置两个贯通的视窗113，能够让操作者通过视窗113观察到弹性件140是否即将与第一旋转件110发生撞击，从而在撞击之前及时停止设 备，减少不必要的损耗。可选的，为了能够让操作者通过视窗113清晰地观察到限位臂143，限位臂143上设有标识部1431，标识部1431为设置在限位臂143远离弹性本体141一侧的侧壁上的色块区1431，色块区1431的颜色与弹性本体141的颜色不同。例如，色块区1431的颜色为红色，弹性本体141的颜色为灰色。
参阅图12，在另一应用场景中，视窗113的数量为一，一个视窗113正对弧形凹槽132，视窗113自弧形凹槽132的第一端部1301延伸至第二端部1302。相比图8，在该应用场景中，视窗113暴露限位臂143，通过视窗113可以观察到限位臂143的整个运动状态，从而在弹性件140与第一旋转件110发生撞击之前能够及时停止设备。
可选的，在其他一应用场景中，视窗113也为二，此时两个视窗113偏离弧形凹槽132且位于弧形凹槽132的同一侧，凸臂142上设有向视窗113一侧延伸的凸柱(图未示)，当第一旋转件110相对第二旋转件120正常旋转时，凸柱不在视窗113内，当第一旋转件110相对第二旋转件120旋转而使凸柱进入视窗113内时作为旋转超限提示。
参阅图13，图13是本申请机械臂一实施方式的爆炸结构示意图。该机械臂300包括毗邻的第一节肢组件310以及第二节肢组件320。
第一节肢组件310和第二节肢组件320相互套接，且能够相对旋转，具体地，第一节肢组件310能够相对第二节肢组件320正向和反向旋转。同时结合图14和图15，图14是图13中第一节肢组件310的爆炸结构示意图，图15是图13中第二节肢组件320的结构示意图。
第一节肢组件310设置有阻挡区330以及弹性嵌设的弹性件340，阻挡区330在第一节肢组件310相对第二节肢组件320的旋转方向上延伸，第二节肢组件320或与第二节肢组件320相连接的连接件(例如与第二节肢组件320的关节)上设置有止挡件350，止挡件350设置在第一节肢组件310相对第二节肢组件320的旋转方向上。
弹性件340包括弹性嵌设于第一节肢组件310上的弹性本体341、凸出弹性本体341的凸臂342以及凸出弹性本体341、延伸至阻挡区330的限位臂343，在弹性件340与第一节肢组件310同步运动时，限位臂343的至少一端与阻挡区330的两端部呈远离设置。
在第一节肢组件310联动弹性件340相对第二节肢组件320旋转超过预定 角度后，凸臂342受止挡件350的止挡而使弹性件340停止相对第二节肢组件320旋转，此时第一节肢组件310若继续按照原方向相对第二节肢组件320旋转，则弹性件340将沿着阻挡区330相对第一节肢组件310运动而使限位臂343抵接阻挡区330的端部。
本申请中的机械臂300还可以为包括前述任一项实施方式中的限位装置，具体地，该实施方式中，用限位装置中的第一旋转件和第二旋转件分别连接两个节肢本体，也就是说，本实施方式中的阻挡区330、弹性件340以及止挡件350与前述限位装置实施方式中的阻挡区、弹性件以及止挡件对应相同或相似，详见可参见前述限位装置实施方式，在此不再赘述。
参阅图16，图16是本申请机器人一实施方式的结构示意图。该机器人400包括机械臂410，机械臂410为上述任一项实施方式中的机械臂300，具体结构可参见上述实施方式，在此不再赘述。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (17)

  1. 一种限位装置，其中，包括：
    第一旋转件和第二旋转件，所述第一旋转件相对所述第二旋转件旋转，所述第一旋转件设置有阻挡区，所述阻挡区在所述第一旋转件相对所述第二旋转件的旋转方向上延伸，所述第二旋转件设置有止挡件，所述止挡件设置在所述第一旋转件相对所述第二旋转件的旋转方向上；
    弹性件，所述弹性件包括弹性嵌设于所述第一旋转件上的弹性本体、凸出所述弹性本体的凸臂以及凸出所述弹性本体且延伸至所述阻挡区的限位臂，在所述弹性件与所述第一旋转件同步运动时，所述限位臂的至少一端与所述阻挡区的两端部呈远离设置；
    其中，在所述第一旋转件联动所述弹性件相对所述第二旋转件旋转超过预定角度后，所述凸臂受所述止挡件的止挡而使所述弹性件停止相对所述第二旋转件旋转，此时所述第一旋转件若继续按照原方向相对所述第二旋转件旋转，则所述弹性件将沿着所述阻挡区相对所述第一旋转件运动而使所述限位臂抵接所述阻挡区的一端部。
  2. 根据权利要求1所述的限位装置，其中，
    所述第一旋转件套接在所述第二旋转件的外侧；
    所述止挡件为偏心设置在所述第二旋转件的径面上的挺杆；
    所述第一旋转件包括圆周壁，所述圆周壁的内侧设置有环形沟槽以及进一步凹陷于所述环形沟槽的弧形凹槽，所述阻挡区为所述弧形凹槽；
    所述弹性件为滑环，所述滑环包括弹性嵌设在所述环形沟槽内且呈弧形的所述弹性本体、凸出所述弹性本体内圈的所述凸臂以及凸出所述弹性本体外圈且延伸至所述弧形凹槽内的所述限位臂。
  3. 根据权利要求2所述的限位装置，其中，
    所述限位臂伸入所述弧形凹槽并与所述弧形凹槽的侧壁以及底壁形成间隔以避免摩擦。
  4. 根据权利要求2所述的限位装置，其中，
    所述凸臂的对称轴与所述限位臂的对称轴重合。
  5. 根据权利要求2所述的限位装置，其中，
    所述圆周壁正对所述弧形凹槽处设有贯通的视窗，所述视窗的数量为一， 所述视窗自所述弧形凹槽的一端部延伸至另一端部。
  6. 根据权利要求2所述的限位装置，其中，
    所述圆周壁正对所述弧形凹槽处设有贯通的视窗，所述视窗的数量为二，两个所述视窗分别正对所述弧形凹槽的两个端部设置，当所述第一旋转件相对所述第二旋转件旋转而使所述限位臂进入所述视窗内时作为旋转超限提示。
  7. 根据权利要求6所述的限位装置，其中，
    所述限位臂上设有标识部，所述标识部为设置在所述限位臂远离所述弹性本体一侧的侧壁上的色块区，所述色块区的颜色与所述弹性本体的颜色不同。
  8. 根据权利要求1所述的限位装置，其中，
    所述第二旋转件套接在所述第一旋转件的外侧；
    所述第一旋转件包括第一圆周壁，所述第二旋转件包括第二圆周壁，所述第一圆周壁被所述第二圆周壁围绕；
    所述止挡件为设置在所述第二圆周壁内侧且向所述第一圆周壁凸出的挺杆，所述第一圆周壁的外侧设置有环形沟槽以及进一步凹陷于所述环形沟槽的弧形凹槽，所述阻挡区为所述弧形凹槽；
    所述弹性件为滑环，所述滑环包括弹性嵌设在所述环形沟槽内且呈弧形的所述弹性本体、凸出所述弹性本体内圈的所述凸臂以及凸出所述弹性本体外圈且延伸至所述弧形凹槽内的所述限位臂。
  9. 一种机械臂，其中，包括：
    毗邻的第一节肢组件和第二节肢组件，所述第一节肢组件相对所述第二节肢组件旋转，所述第一节肢组件设置有阻挡区，所述阻挡区在所述第一节肢组件相对所述第二节肢组件的旋转方向上延伸，所述第二节肢组件或与所述第二节肢组件相连接的连接件设置有止挡件，所述止挡件设置在所述第一节肢组件相对所述第二节肢组件的旋转方向上；
    弹性件，所述弹性件包括弹性嵌设于所述第一节肢组件上的弹性本体、凸出所述弹性本体的凸臂以及凸出所述弹性本体且延伸至所述阻挡区的限位臂，在所述弹性件与所述第一节肢组件同步运动时，所述限位臂的至少一端与所述阻挡区的两端部呈远离设置；
    其中，在所述第一节肢组件联动所述弹性件相对所述第二节肢组件旋转超过预定角度后，所述凸臂受所述止挡件的止挡而使所述弹性件停止相对所述第二节肢组件旋转，此时所述第一节肢组件若继续按照原方向相对所述第二节肢 组件旋转，则所述弹性件将沿着所述阻挡区相对所述第一节肢组件运动而使所述限位臂抵接所述阻挡区的一端部。
  10. 根据权利要求9所述的机械臂，其中，
    所述止挡件为偏心设置在所述第二节肢组件的径面上的挺杆；
    所述第一节肢组件包括圆周壁，所述圆周壁的内侧设置有环形沟槽以及进一步凹陷于所述环形沟槽的弧形凹槽，所述阻挡区为所述弧形凹槽；
    所述弹性件为滑环，所述滑环包括弹性嵌设在所述环形沟槽内且呈弧形的所述弹性本体、凸出所述弹性本体内圈的所述凸臂以及凸出所述弹性本体外圈且延伸至所述弧形凹槽内的所述限位臂。
  11. 根据权利要求10所述的机械臂，其中，
    所述限位臂伸入所述弧形凹槽并与所述弧形凹槽的侧壁以及底壁形成间隔以避免摩擦。
  12. 根据权利要求10所述的机械臂，其中，
    所述凸臂的对称轴与所述限位臂的对称轴重合。
  13. 根据权利要求10所述的机械臂，其中，
    所述圆周壁正对所述弧形凹槽处设有贯通的视窗，所述视窗的数量为一，所述视窗自所述弧形凹槽的一端部延伸至另一端部。
  14. 根据权利要求10所述的机械臂，其中，
    所述圆周壁正对所述弧形凹槽处设有贯通的视窗，所述视窗的数量为二，两个所述视窗分别正对所述弧形凹槽的两个端部设置，当所述第一节肢组件相对所述第二节肢组件旋转而使所述限位臂进入所述视窗内时作为旋转超限提示。
  15. 根据权利要求14所述的机械臂，其中，
    所述限位臂上设有标识部，所述标识部为设置在所述限位臂远离所述弹性本体一侧的侧壁上的色块区，所述色块区的颜色与所述弹性本体的颜色不同。
  16. 根据权利要求9所述的机械臂，其中，
    所述第二节肢组件套接在所述第一节肢组件的外侧；
    所述第一节肢组件包括第一圆周壁，所述第二节肢组件包括第二圆周壁，所述第一圆周壁被所述第二圆周壁围绕；
    所述止挡件为设置在所述第二圆周壁内侧且向所述第一圆周壁凸出的挺杆，所述第一圆周壁的外侧设置有环形沟槽以及进一步凹陷于所述环形沟槽的弧形凹槽，所述阻挡区为所述弧形凹槽；
    所述弹性件为滑环，所述滑环包括弹性嵌设在所述环形沟槽内且呈弧形的所述弹性本体、凸出所述弹性本体内圈的所述凸臂以及凸出所述弹性本体外圈且延伸至所述弧形凹槽内的所述限位臂。
  17. 一种机器人，其中，包括如权利要求9-16任一项所述的机械臂。
PCT/CN2019/082470 2019-04-12 2019-04-12 限位装置、机械臂及机器人 WO2020206685A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2019/082470 WO2020206685A1 (zh) 2019-04-12 2019-04-12 限位装置、机械臂及机器人
CN201980011731.7A CN111757797B (zh) 2019-04-12 2019-04-12 限位装置、机械臂及机器人

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2019/082470 WO2020206685A1 (zh) 2019-04-12 2019-04-12 限位装置、机械臂及机器人

Publications (1)

Publication Number Publication Date
WO2020206685A1 true WO2020206685A1 (zh) 2020-10-15

Family

ID=72673154

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/082470 WO2020206685A1 (zh) 2019-04-12 2019-04-12 限位装置、机械臂及机器人

Country Status (2)

Country Link
CN (1) CN111757797B (zh)
WO (1) WO2020206685A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112722111A (zh) * 2021-01-12 2021-04-30 杭州云深处科技有限公司 一种四足机器人通用的限位机构及四足机器人

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114474142B (zh) * 2022-03-10 2023-09-22 武汉联影智融医疗科技有限公司 一种医疗设备用被动关节及被动关节臂

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101589241A (zh) * 2007-01-26 2009-11-25 谢夫勒两合公司 带有转角限定器的滚动轴承
CN102458778A (zh) * 2009-04-29 2012-05-16 诺发系统有限公司 用于机器人的磁性旋转硬停止件
CN103419213A (zh) * 2012-05-21 2013-12-04 库卡罗伯特有限公司 具有环形牵引止挡件的工业机器人
CN205101426U (zh) * 2015-11-03 2016-03-23 温州职业技术学院 不受角度限制的万向节
CN207179081U (zh) * 2017-08-24 2018-04-03 九江精密测试技术研究所 一种限位角可调的转动限位装置
DE102017203741A1 (de) * 2017-03-07 2018-09-13 Kuka Deutschland Gmbh Roboterarm mit einer mechanischen Anschlagsvorrichtung

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200145221Y1 (ko) * 1996-07-30 1999-06-15 윤종용 로봇 회전관절 스토퍼
JP3905643B2 (ja) * 1998-05-29 2007-04-18 株式会社ダイヘン 旋回装置
CN101443572A (zh) * 2004-11-09 2009-05-27 东北大学 电流变流体制动及致动装置以及使用该装置的矫形器
CN204725518U (zh) * 2015-03-26 2015-10-28 珠海格力电器股份有限公司 限位装置及具有其的机器人
CN105128029B (zh) * 2015-09-28 2017-02-01 哈尔滨工业大学深圳研究生院 一种模块化大力矩空间机械臂关节
CN210336012U (zh) * 2019-04-12 2020-04-17 深圳配天智能技术研究院有限公司 限位装置、机械臂及机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101589241A (zh) * 2007-01-26 2009-11-25 谢夫勒两合公司 带有转角限定器的滚动轴承
CN102458778A (zh) * 2009-04-29 2012-05-16 诺发系统有限公司 用于机器人的磁性旋转硬停止件
CN103419213A (zh) * 2012-05-21 2013-12-04 库卡罗伯特有限公司 具有环形牵引止挡件的工业机器人
CN205101426U (zh) * 2015-11-03 2016-03-23 温州职业技术学院 不受角度限制的万向节
DE102017203741A1 (de) * 2017-03-07 2018-09-13 Kuka Deutschland Gmbh Roboterarm mit einer mechanischen Anschlagsvorrichtung
CN207179081U (zh) * 2017-08-24 2018-04-03 九江精密测试技术研究所 一种限位角可调的转动限位装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112722111A (zh) * 2021-01-12 2021-04-30 杭州云深处科技有限公司 一种四足机器人通用的限位机构及四足机器人

Also Published As

Publication number Publication date
CN111757797B (zh) 2023-07-04
CN111757797A (zh) 2020-10-09

Similar Documents

Publication Publication Date Title
WO2020206685A1 (zh) 限位装置、机械臂及机器人
JP4927786B2 (ja) コンプライアントジョイント
US20060232086A1 (en) Robot handling system provided with robot hand
JP5818345B2 (ja) 回転機構、産業用ロボットおよび回転体の原点位置復帰方法
US10661437B2 (en) Stopper apparatus, rotary joint and robot
JPWO2013175554A1 (ja) ロボットおよびロボットシステム
CN210046667U (zh) 一种限位装置、机械臂及机器人
TWI654053B (zh) 具有萬向扭轉結構之驅動工具
WO2020206686A1 (zh) 限位装置、机械臂及机器人
CN210210459U (zh) 限位装置、机械臂及机器人
JP6657824B2 (ja) ロボットのハンド接続構造
CN210336012U (zh) 限位装置、机械臂及机器人
WO2020206684A1 (zh) 限位装置、机械臂及机器人
WO2020206687A1 (zh) 旋转超限提示装置、机械臂以及机器人
CN210210458U (zh) 限位装置、机械臂及机器人
WO2020133269A1 (zh) 一种限位装置、机械臂及机器人
JPS6049550B2 (ja) ねじ締め装置
JPH0366585A (ja) 関節型ロボット
JP3306108B2 (ja) 軸継手機構
JPH012876A (ja) ボルト回動用工具
JPH0724755A (ja) 結合装置
JPH01135487A (ja) 回転軸の回転ストローク規制装置
JP2001038671A (ja) 多関節型ロボット
KR102549560B1 (ko) 관절 장치
JPH07208522A (ja) 旋回軸のストッパ装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19924446

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 02/03/2022)

122 Ep: pct application non-entry in european phase

Ref document number: 19924446

Country of ref document: EP

Kind code of ref document: A1