WO2020206686A1 - 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

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Publication number
WO2020206686A1
WO2020206686A1 PCT/CN2019/082473 CN2019082473W WO2020206686A1 WO 2020206686 A1 WO2020206686 A1 WO 2020206686A1 CN 2019082473 W CN2019082473 W CN 2019082473W WO 2020206686 A1 WO2020206686 A1 WO 2020206686A1
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WO
WIPO (PCT)
Prior art keywords
rotating member
blocking area
spiral
elastic member
relative
Prior art date
Application number
PCT/CN2019/082473
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/CN2019/082473 priority Critical patent/WO2020206686A1/zh
Priority to CN201980011730.2A priority patent/CN111788046B/zh
Publication of WO2020206686A1 publication Critical patent/WO2020206686A1/zh

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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

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 spiral blocking area extending in the direction of rotation of the first rotating member relative to the second rotating member, and the second rotating member is provided with a stopper, The stopper is arranged in the direction of rotation of the first rotating member relative to the second rotating member; an elastic member, the elastic member includes an elastic body elastically embedded in the spiral blocking area and a protrusion For the convex arm of the elastic body, when the elastic member and the first rotating member move synchronously, at least one end of the elastic member and the two ends of the spiral blocking area are set away from each other; After the first rotating member is linked to the elastic member to rotate more than a predetermined angle relative to the second rotating member, the convex arm is stopped by the stopper to stop the elastic member relative to the second rotating member Rotate, if the first rotating member continues to
  • a mechanical arm comprising: a first articulated limb assembly and a second articulated limb that are adjacent to each other, and the first articulated limb assembly rotates relative to the second articulated limb assembly ,
  • the first arthropod component is provided with a spiral blocking area, the spiral blocking area extends in the direction of rotation of the first arthropod component relative to the second
  • a stopper is provided on the connecting piece connected to the second arthropod assembly, and the stopper is arranged in the direction of rotation of the first arthropod assembly relative to the second arthropod assembly; an elastic element, the elastic element includes elastic The elastic body embedded in the spiral blocking area and the convex arm protruding from the elastic body, when at least one end of the elastic member moves synchronously with the first rotating member, the elastic member and the The two ends of the spiral blocking area are set away from each other; wherein, after the first limb assembly is linked with the elastic member to rotate more than a predetermined angle relative to the second
  • the elastic member will move along the The spiral blocking area moves relative to the first limb assembly so that the elastic member abuts against one end of the spiral blocking area.
  • 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, a spiral blocking area is provided on the first rotating member that rotates relative to the second rotating member, and elastically embedded in the spiral.
  • the elastic member in the blocking area, the elastic member includes an elastic body and a convex arm protruding from the elastic body, when the elastic member moves synchronously with the first rotating member, at least one end of the elastic member is set away from the two ends of the spiral 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 move relative to the first rotating member along the spiral blocking area so that the elastic member abuts against one end of the spiral blocking area, thereby preventing the first rotating member from being relative to the second rotating member Excessive rotation, so when the limit device is used in a mechanical arm, for example, when the two articulated bodies are connected to the first rotating part and the second rotating part respectively, it can prevent the two articulated bodies from rotating excessively, so that even if the zero position is lost Because the rotation angle of the robotic arm cannot be seen from the appearance, misjudgment occurs, and the limit device can also ensure that the robotic arm does not rotate excessively and protect the robotic arm.
  • 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 a part of the structure of the first rotating member in an application scenario
  • Figure 5 is a schematic diagram of an exploded structure of a limit device in an application scenario
  • Fig. 6 is a schematic cross-sectional view of an elastic body being elastically embedded in a spiral blocking area in an application scenario
  • FIG. 7 is a schematic cross-sectional view of the elastic body being elastically embedded in the spiral blocking area in another application scenario
  • FIG. 8 is a schematic diagram of the first rotating member rotating relative to the second rotating member in an 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 an exploded structure of a first rotating part in a first perspective in an application scenario
  • FIG. 12 is a schematic diagram of an exploded structure of the first rotating member in FIG. 11 from a second perspective;
  • 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 a schematic diagram of an exploded structure of the limiting device in FIG. 1
  • FIG. 3 is a schematic diagram of an exploded structure of the first rotating member in FIG. .
  • the limiting device 100 includes: a first rotating part 110, a second rotating part 120, a spiral blocking area 130 arranged on the first rotating part 110, an elastic part 140 elastically embedded on the rotating part 110, and a second rotating part 120.
  • the stopper 150 on the two rotating parts 120.
  • the first rotating member 110 and the second rotating member 120 are sleeved with each other and can rotate relative to each other. Specifically, the first rotating member 110 can rotate forward and backward relative to the second rotating member 120.
  • the spiral blocking area 130 extends in the direction of rotation of the first rotating member 110 relative to the second rotating member 120, that is, the first end 1301 and the second end 1302 of the spiral blocking area 130 are located on the first rotating member 110.
  • the stopper 150 is arranged in the rotating direction of the first rotating member 110 relative to the second rotating member 120.
  • the elastic member 140 is elastically embedded on the first rotating member 110. When no external force is applied, the elastic member 140 can move synchronously with the first rotating member 110 due to elastic tension. When an external force is applied to the elastic member 140, the elastic member 140 can It moves relative to the first rotating member 110.
  • the elastic member 140 may be a metal member, which has a small thickness and has certain elasticity.
  • the elastic member 140 specifically includes an elastic body 141 and a protruding arm 142.
  • the elastic body 141 is elastically embedded in the spiral blocking area 130, and the protruding arm 142 protrudes from the elastic body 141 to extend outward from the spiral blocking area 130.
  • at least 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.
  • only one end of the elastic member 140 may be located far 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 and the spiral blocking area 130
  • the first end 1301 or the second end 1302 abuts against each other, and in another application scenario, both ends of the elastic member 140 are far away from the first end 1301 and the second end 1302 of the spiral blocking area 130 3, the first end 1401 of the elastic member 140 is at a distance from the first end 1301 of the spiral barrier area 130, and the second end 1402 of the elastic member 140 is from the spiral barrier area 130.
  • the second end 1302 of 130 has a distance.
  • the elastic member 140 keeps moving synchronously with the first rotating member 110 under elastic tension, that is, the first rotating member 110 is linked with the elastic member 140 relative to the second rotating member. 120 rotations.
  • the elastic member 140 Since the stopper 150 is arranged in the direction of rotation of the first rotating member 110 relative to the second rotating member 120, the elastic member 140 The convex arm 142 will be stopped by the stopper 150, thereby preventing the elastic member 140 from moving in the original direction relative to the second rotating member 120.
  • the elastic member 140 will receive the force of the stopper 150 and move relative to the first rotating member 110.
  • the elastic body 141 is embedded Set in the spiral blocking area 130, so the elastic member 140 will move along the spiral blocking area 130 relative to the first rotating member 110, when the elastic member 140 rotates along the spiral blocking area 130 relative to the first rotating member 110 after a certain angle , The elastic member 140 abuts against the first end 1301 or the second end 1302 of the spiral blocking area 130, and ultimately prevents the first rotating member 110 from continuing to rotate in the original direction relative to the second rotating member 120, restricting the first rotating member The maximum angle of rotation of 110 relative to the second rotating member 120.
  • both ends of the elastic member 140 are arranged far away from the first end 1301 and the second end 1302 of the spiral blocking area 130, no matter if the first rotating member 110 rotates forward or backward relative to the second rotating member 120 After rotating, the elastic member 140 will move relative to the first rotating member 110 after receiving a force.
  • the two ends of the elastic member 140 being located away from the first end 1301 and the second end 1302 of the spiral blocking region 130.
  • 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.
  • the first rotating member 110 is sleeved on the outside of the second rotating member 120, and the stopper 150 is eccentrically arranged on the radial surface 121 of the second rotating member 120.
  • the first rotating member 110 includes a circumferential wall 111, and the spiral blocking area 130 is disposed on the inner side of 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 convex arm 142 protruding from the inner ring of the elastic body 141.
  • the convex arm 142 abuts the tappet 150 to prevent the elastic member 140 from continuing to rotate relative to the second rotating member 120 in the original direction.
  • the shape of the convex arm 142 and the stopper 150 is not limited in this application, as long as the stopper 150 can stop the convex arm 142.
  • the elastic body 141 may also have a spiral shape, as long as at least one end of the elastic body 141 and the first end of the spiral blocking area 130 are operated in synchronization with the first rotating member 110 and the elastic member 140.
  • the portion 1301 and the second end portion 1302 may be arranged far away.
  • FIG. 4 is a schematic diagram of a partial structure of the first rotating member 110 in another application scenario.
  • the first rotating member 110 also includes an annular surface 112 perpendicular to the circumferential wall 111.
  • the circumferential wall 111 is perpendicular to the outer circumference of the annular surface 112, and at this time, the spiral blocking area 130 can be provided.
  • the inner side of the circumferential wall 111 may also be arranged on the annular surface 112.
  • the convex arm 142 is perpendicular to the elastic body 141 and extends in a direction away from the annular surface 112.
  • the stopper 150 may be arranged on the inner peripheral wall of the second rotating member 120.
  • the upper baffle (not shown), after the first rotating member 110 rotates in a certain direction relative to the second rotating member 120 by more than a predetermined angle, the baffle abuts the convex arm 142 to prevent the elastic member 140 from continuing to follow the original direction It rotates relative to the second rotating member 120.
  • the spiral blocking area may also be provided on the inner peripheral rotating member.
  • the second rotating member 210 is sleeved on the outside of the first rotating member 220.
  • the spiral blocking area 230 is arranged outside the first circumferential wall 2201, and the structure of the elastic member 240 is the same as the above-mentioned embodiment.
  • the outer side of the first circumferential wall 2201 and the inner side of the second circumferential wall 2101 have a predetermined distance, which can allow the elastic member 240 and the inner side of the second circumferential wall 2101 to be accommodated between the first circumferential wall 2201 and the second circumferential wall 2101.
  • the stopper 250 in the application scenario of FIG.
  • the distance between the first circumferential wall 2201 and the second circumferential wall 2101 is ensured by the setting of the boss A, that is, the side wall of the boss A is The first circumferential wall 2201, of course, in other application scenarios, the boss A may not be provided, but the side walls of the socketed part of the first rotating member 220 and the second rotating member 210 may be the first circumferential wall 2201 and the second Circumferential wall 2101.
  • the present application does not limit the spiral 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 for more than a predetermined angle, the stopper can block the spiral
  • the elastic pieces in the zone just need to be abutted.
  • the following descriptions are given by assuming that the first rotating member 110 is sleeved on the outside 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 slide rail or a groove provided on the first rotating member 110.
  • the spiral blocking area 130 is a slide rail
  • the slide rail is spiral
  • the slide rail is provided On the circumferential wall 111 of the first rotating member 110, the elastic member 140 is elastically embedded on the sliding rail.
  • the elastic member 140 keeps moving in synchronization with the sliding rail.
  • the elastic member 140 slides along the sliding rail. The rail slides, but cannot move to the area outside the rail.
  • the spiral blocking area 130 is a groove, as shown in FIG. 3, the spiral blocking area 130 is a spiral groove.
  • the spiral groove is "Big inside and small outside" semi-closed groove.
  • the width of the spiral groove decreases in the direction from the bottom of the groove to the slot, and the width of at least part of the cross section of the elastic body 141 is larger than that of the spiral groove The width of the notch so that the elastic body 141 will not slip out of the spiral blocking area 130.
  • the cross-section of the spiral blocking area 130 may be a shape in which the width of the notch is smaller than the width of the bottom of the groove, as shown in FIG.
  • the width of the part at the notch of the blocking area 130 is smaller than the width of the lower part, that is, smaller than the width of the part close to the groove bottom of the spiral blocking area 130.
  • the cross section of the elastic body 141 may also be trapezoidal, as shown in FIG. 6 In the spiral barrier 130.
  • the elastic body 141 may also partially extend out of the spiral blocking area 130.
  • 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 spiral blocking area.
  • the width of the notch of the region 130, the width of the part of the elastic body 141 away from the notch of the spiral blocking region 130 is greater than the width of the notch of the spiral blocking region 130, as shown in FIG.
  • the present application does not limit the cross-sectional shape of the spiral blocking area and the elastic body, as long as the elastic body does not slip out of the spiral blocking area when rotating relative to the first rotating member in the spiral blocking area.
  • the angle range of the rotation of the first rotating member 110 relative to the second rotating member 120 is larger.
  • the first rotating member 110 rotates forward or backward relative to the second rotating member 120 and does not exceed a predetermined angle, the elastic member 140 and the first rotating member 110 keep moving in synchronization, the elastic member 140 and the spiral blocking area 130
  • the first end 1301 and the second end 1302 of the device are remotely arranged.
  • the first rotating member 110 has rotated a certain angle counterclockwise relative to the second rotating member 120 on the basis of FIG. 8, and after the convex arm 142 of the elastic member 140 is stopped by the stopper 150, A rotating element 110 continues to rotate in a counterclockwise direction relative to the second rotating element 120, so that the elastic element 140 moves relative to the first rotating element 110 along the spiral blocking area 130, so that the first end 1401 of the elastic element 140 abuts against the spiral.
  • the first end 1301 of the blocking area 130 further prevents the first rotating member 110 from rotating relative to the second rotating member 120 counterclockwise.
  • the first rotating member 110 has rotated a certain angle clockwise relative to the second rotating member 120 on the basis of FIG. 8, and after the convex arm 142 of the elastic member 140 is stopped by the stopper 150, A rotating member 110 continues to rotate in a clockwise direction relative to the second rotating member 120, so that the elastic member 140 moves relative to the first rotating member 110 along the spiral blocking area 130, so that the second end 1402 of the elastic member 140 abuts against the spiral
  • the second end 1302 of the blocking area 130 further prevents the first rotating member 110 from rotating relative to the second rotating member 120 in a clockwise direction.
  • 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 spiral blocking area 130.
  • the circumferential wall 111 of the first rotating member 110 is provided with a through window 113
  • the elastic member 140 is provided with an identification portion 143
  • the elastic member 140 moves synchronously with the first rotating member 110
  • the identification portion 143 is not in the predetermined area of the window 113
  • the first rotating member 110 rotates relative to the second rotating member 120 and the indicator portion 143 enters the predetermined area of the window 113, it is used as a rotation over limit prompt.
  • the elastic member 140 and the first rotating member 110 keep moving synchronously so that the identification portion 143 on the elastic member 140 is not in the window on the first rotating member 110
  • the marking portion 143 on the first rotating member 110 enters the predetermined area of the window 113
  • the area serves as a reminder, so that the operator can judge whether the device needs to be stopped through the observation window 113, so as to prevent the first rotating member 110 from colliding with the elastic member 140.
  • the number of 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 identification portion 143 is arranged on the convex arm 142,
  • the protrusion 143 extending to the side of the window 113 is positioned between the two windows 113 when the first rotating member 110 rotates less than a predetermined angle relative to the second rotating member 120.
  • the window 113 deviates from the spiral blocking area 130.
  • the convex arm 142 is between the two windows 113, so the convex post 143 will not enter the window 113.
  • the first rotating member 110 rotates more than a predetermined angle relative to the second rotating member 120, so that the first rotating member 110 rotates relative to the elastic member 140, so that the protrusion 143 enters one of the windows 113, thereby prompting the operator to face the first rotating member 110.
  • the second rotating member 120 excessively rotates, and the equipment needs to be stopped in time to avoid impact.
  • the number of windows 113 may also be one.
  • the convex post 143 on the convex arm 142 is directly facing the window 113
  • the middle area when the first rotating part 110 rotates relative to the second rotating part 120 and the boss 143 is deviated from the middle area of the window 113, it is used as a warning that the rotation exceeds the limit.
  • the two windows 113 may be arranged opposite to the first end 1301 and the second end 1302 of the spiral blocking area 130 respectively.
  • the identification portion 143 includes the elastic member 140 respectively.
  • the color of the color patch area is different from the colors of other areas around the color patch area. Specifically, when the operator observes the first end 1401 or the second end 4102 of the elastic member 140 from the window 113, it indicates that the elastic member 140 is about to collide with the first rotating member 110, and the device needs to be stopped before the collision. .
  • first end 1301 and the second end 1302 of the spiral blocking area 130, the first end 1401 and the second end 1402 of the elastic member 140 are both planar to prevent the elastic member 140 from slipping out of the spiral blocking area 130.
  • 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 spiral blocking area 330, which extends in the direction of rotation of the first limb component 310 relative to the second limb component 320, and the second limb component 320 may be connected to the second limb component 320
  • the connecting member (for example, the joint connected with the second limb assembly 320) is provided with a stopper 350, and the stopper 350 is arranged in the 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 in the spiral blocking area 330 and a protruding arm 342 protruding from the elastic body 341.
  • the elastic member 340 and the first limb assembly 310 move synchronously, at least one end of the elastic member 340 and The two ends of the spiral blocking area 330 are arranged far away.
  • 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 limb assembly 310 continues to rotate relative to the second limb assembly 320 in the original direction, the elastic member 340 will move relative to the first limb assembly 310 along the spiral blocking area 330 so that the elastic body 340 abuts against one end of the spiral blocking area 330 unit.
  • 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 spiral blocking area 330, the elastic member 340, and the stop member 350 in this embodiment are the same or similar to the spiral blocking area, the elastic member, and the stop member in the foregoing limiting device embodiment.
  • the spiral blocking area 330, the elastic member 340, and the stop member 350 in this embodiment are the same or similar to the spiral blocking area, the elastic member, and the stop member in the foregoing limiting device embodiment.
  • 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.

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  • Mechanical Engineering (AREA)
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  • 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），第一旋转件设置有螺旋形阻挡区（130）以及弹性件（140），第二旋转件设置有止挡件（150），其中弹性件包括弹性嵌设于螺旋形阻挡区内的弹性本体（141）以及凸出弹性本体的凸臂（142），在弹性件与第一旋转件同步运动时，弹性件的至少一端与螺旋阻挡区的两端部（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，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，则弹性件将沿着螺旋形阻挡区相对第一旋转件运动而使弹性件抵接螺旋形阻挡区的一端部。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螺旋形阻挡区，所述螺旋形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螺旋形阻挡区内的弹性本体以及凸出所述弹性本体的凸臂，在所述弹性件与所述第一旋转件同步运动时，所述弹性件的至少一端与所述螺旋形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螺旋形阻挡区相对所述第一旋转件运动而使所述弹性件抵接所述螺旋形阻挡区的一端部。
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螺旋形阻挡区，所述螺旋形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上设置有止挡件，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螺旋形阻挡区内的弹性本体以及凸出所述弹性本体的凸臂，在所述弹性件的至少一端与所述第一旋转件同步运动时，所述弹性件与所述螺旋形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螺旋形阻挡区相对所述第一节肢组件运动而使所述弹性件抵接所述螺旋形阻挡区的一端部。
为解决上述技术问题，本申请采用的又一个技术方案是：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，在相对第二旋转件旋转的第一旋转件上设置螺旋形阻挡区以及弹性嵌设在螺旋形阻挡区内的弹性件，弹性件包括弹性本体以及凸出弹性本体的凸臂，当弹性件与第一旋转件同步运动时，弹性件的至少一端与螺旋形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，则弹性件将沿着螺旋形阻挡区相对第一旋转件运动而使弹性件抵接螺旋形阻挡区的一端部，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的部分结构示意图；
图5是一应用场景中限位装置的爆炸结构示意图；
图6是一应用场景中弹性件本体弹性嵌设在螺旋形阻挡区内的截面示意图；
图7是另一应用场景中弹性件本体弹性嵌设在螺旋形阻挡区内的截面示意图；
图8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是又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是一应用场景中第一旋转件在第一视角的爆炸结构示意图；
图12是图11中第一旋转件在第二视角的爆炸结构示意图；
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中限位装置的爆炸结构示意图，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上的螺旋形阻挡区130、弹性嵌设在旋转件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。螺旋形阻挡区130在第一旋转件110相对第二旋转件120的旋转方向上延伸，也就是说，螺旋形阻挡区130的第一端部1301以及第二端部1302在第一旋转件110相对第二旋转件120旋转的方向上间隔设置，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正向或反向旋转超过预定角度时，设置在第一旋转件110上的弹性件140被止挡件150止挡。
弹性件140弹性嵌设在第一旋转件110上，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，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。
弹性件140具体包括弹性本体141以及凸臂142。弹性本体141弹性嵌设在螺旋形阻挡区130中，凸臂142凸出弹性本体141自螺旋形阻挡区130向外延伸。其中，当弹性件140与第一旋转件110保持同步运动时，弹性件140的至少一端与螺旋形阻挡区130的第一端部1301以及第二端部1302呈远离设置。在一应用场景中，弹性件140可以只有一端与螺旋形阻挡区130的第一端部1301以及第二端部1302呈远离设置，也就是说，弹性件140的另一端与螺旋形阻挡区130的第一端部1301或第二端部1302抵接，而在另一应用场景中，弹性件140的两端均与螺旋形阻挡区130的第一端部1301以及第二端部1302呈远离设置，具体地，如图3所示，弹性件140的第一端部1401与螺旋形阻挡区130的第一端部1301具有一距离，弹性件140的第二端部1402与螺旋形阻挡区130的第二端部1302具有一距离。
其中在第一旋转件110相对第二旋转件120正常旋转时，弹性件140在弹性张力下与第一旋转件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朝着某一方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按照原方向运动。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，具体地，由于弹性本体141嵌设在螺旋 形阻挡区130内，因此弹性件140将沿着螺旋形阻挡区130相对第一旋转件110运动，当弹性件140沿着螺旋形阻挡区130相对第一旋转件110旋转一定角度后，弹性件140便会抵接螺旋形阻挡区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，若弹性件140只有一端与螺旋形阻挡区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，由于端部与端部的抵接，弹性件140也不会相对第一旋转件110运动。而若弹性件140的两端均与螺旋形阻挡区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，下面均以弹性件140的两端与螺旋形阻挡区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。
继续参阅图2和图3，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，螺旋形阻挡区130设置在圆周壁111的内侧。
弹性件140为滑环140，滑环140包括弹性嵌设在螺旋形阻挡区130内、呈弧形的弹性本体141以及凸出弹性本体141内圈的凸臂142。当第一旋转件110相对第二旋转件120朝着某一方向转动超过预定角度后，凸臂142抵接挺杆150，从而阻止弹性件140继续按照原方向相对第二旋转件120转动。需要说明的是，在本申请中对于凸臂142以及止挡件150的形状不做限制，只要止挡件150能够对凸臂142起到止挡作用即可。可选的，在其他实施方式中，弹性本体141也可以为螺旋形，只要在第一旋转件110与弹性件140同步运行时，弹性本体 141的至少一端与螺旋形阻挡区130的第一端部1301和第二端部1302呈远离设置即可。
可选的，参阅图4，图4是另一应用场景中第一旋转件110的部分结构示意图。在该应用场景中，第一旋转件110还包括与圆周壁111垂直的圆环面112，具体地，圆周壁111自圆环面112的外周垂直而立，此时螺旋形阻挡区130既可以设置在圆周壁111的内侧，也可以设置在圆环面112上。当螺旋形阻挡区130设置在圆环面112上时，凸臂142垂直弹性本体141，向远离圆环面112的方向延伸，此时止挡件150可以是设置在第二旋转件120内周壁上的挡板(图未示)，在第一旋转件110相对第二旋转件120朝着某一方向旋转超过预定角度后，挡板与凸臂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，上述均以螺旋形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，螺旋形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5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，螺旋形阻挡区230设置在第一圆周壁2201外侧，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5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，本申请并不限制螺旋形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，止挡件能够与螺旋形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，且螺旋形阻挡区130设置在圆周壁111的内侧进行说明。
其中，本申请中的螺旋形阻挡区130可以是设置在第一旋转件110上的滑轨或者凹槽，当螺旋形阻挡区130是滑轨时，该滑轨为螺旋形，且滑轨设在第一旋转件110的圆周壁111上，弹性件140弹性嵌设在滑轨上，在不受外力时， 弹性件140与滑轨保持同步运动，当受到外力时，弹性件140沿着滑轨滑动，但无法运动到滑轨以外的区域。当螺旋形阻挡区130是凹槽时，如图3所示，螺旋形阻挡区130是螺旋形凹槽。其中，为了避免弹性件140相对螺旋形阻挡区130运动的过程中滑出螺旋形阻挡区130，在一应用场景中，当螺旋形阻挡区130为螺旋形凹槽时，该螺旋形凹槽为“内大外小”半闭口式凹槽，具体而言，该螺旋形凹槽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螺旋形凹槽的槽口宽度从而使弹性本体141不会滑出螺旋形阻挡区130。例如，螺旋形阻挡区130的横截面可以为槽口宽度小于槽底宽度的形状，如图6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，也就是接近螺旋形阻挡区130槽口处的部分的宽度，小于下部宽度，也就是小于接近螺旋形阻挡区130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6所示嵌设在螺旋形阻挡区130中。当然在其他应用场景中，弹性本体141还可以部分伸出螺旋形阻挡区130，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螺旋形阻挡区130的槽口宽度，弹性本体141远离螺旋形阻挡区130的槽口处的部分的宽度大于螺旋形阻挡区130的槽口处的宽度，如图7所示。
其中需要说明的是，为了弹性件140能够在螺旋形阻挡区130内相对螺旋形阻挡区130顺利滑动，凸臂142的四周与螺旋形凹槽的槽口之间存在间隙。总而言之，本申请对螺旋形阻挡区和弹性本体横截面的形状并不做限制，只要保证弹性本体在螺旋形阻挡区内相对第一旋转件旋转时不会滑出螺旋形阻挡区即可。
其中，螺旋形阻挡区130的长度越大，第一旋转件110相对第二旋转件120转动的角度范围越大，且在螺旋形阻挡区130的长度一定时，弹性本体141的长度越小，第一旋转件110相对第二旋转件120转动的角度范围越大。
下面结合图8至图10对限位装置100的工作原理进行详细的说明。
参阅图8，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与螺旋形阻挡区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8的基础上相对第二旋转件120逆时针旋转了一定的角度，并在弹性件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，从而弹性件140沿着 螺旋形阻挡区130相对第一旋转件110运动，使得弹性件140的第一端部1401抵接螺旋形阻挡区130的第一端部1301，进而使得第一旋转件110无法再按照逆时针相对第二旋转件120旋转。
参阅图10，此时第一旋转件110在图8的基础上相对第二旋转件120顺时针旋转了一定的角度，并在弹性件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，从而弹性件140沿着螺旋形阻挡区130相对第一旋转件110运动，使得弹性件140的第二端部1402抵接螺旋形阻挡区130的第二端部1302，进而使得第一旋转件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与螺旋形阻挡区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和图12，在一应用场景中，第一旋转件110的圆周壁111设置有贯通的视窗113，弹性件140设置有标识部143，在弹性件140与第一旋转件110同步运动时，标识部143不在视窗113的预定区域内，在第一旋转件110相对第二旋转件120旋转而使标识部143进入视窗113的预定区域时作为旋转超限提示。具体地，当第一旋转件110相对第二旋转件120正常旋转时，弹性件140与第一旋转件110保持同步运动而使弹性件140上的标识部143不在第一旋转件110上的视窗113的预定区域中，当第一旋转件110相对第二旋转件120超限旋转而使第一旋转件110即将撞击弹性件140时，第一旋转件110上的标识部143进入视窗113的预定区域而起到提示作用，从而操作者可以通过观察视窗113判断是否需要停止设备，避免第一旋转件110与弹性件140发生撞击。
在图11和图12应用场景中，视窗113的数量为二，两个视窗113偏离螺旋形阻挡区130，且位于螺旋形阻挡区130的同一侧，标识部143为设置在凸臂142上、向视窗113侧延伸的凸柱143，在第一旋转件110相对第二旋转件120旋转未超过预定角度时，凸臂142位置两个视窗113之间。具体地，视窗113偏离螺旋形阻挡区130，当第一旋转件110相对第二旋转件120正常旋转时，由于凸臂142在两个视窗113之间，因此凸柱143不会进入视窗113，当第一旋转件110相对第二旋转件120旋转超过预定角度后，第一旋转件110相对弹性件140旋转，从而凸柱143会进入其中一个视窗113，从而提示操作者第一旋转件110相对第二旋转件120过度旋转，需要及时停止设备，以避免撞击。可选的，此时在一应用场景中，视窗113的数量也可以为一个，当第一旋转件110相对 第二旋转件120正常旋转时，凸臂142上的凸柱143正对视窗113的中部区域，当第一旋转件110相对第二旋转件120旋转而使凸柱143偏离视窗113的中部区域时，作为旋转超限提示。
可选的，在其他实施方式中，两个视窗113可以分别正对螺旋形阻挡区130的第一端部1301、第二端部1302设置，此时标识部143包括分别设置在弹性件140的第一端部1401和第二端部1402处的两个色块区，色块区的颜色与色块区周围其他区域的颜色不同。具体地，当操作者从视窗113中观察到弹性件140的第一端部1401或第二端部4102时，即表明弹性件140即将与第一旋转件110发生碰撞，需要在撞击之前停止设备。
其中，螺旋形阻挡区130的第一端部1301和第二端部1302、弹性件140的第一端部1401和第二端部1402均呈平面状以避免弹性件140滑出螺旋形阻挡区130。
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能够相对第二节肢组件320正向和反向旋转。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设置有螺旋形阻挡区330，螺旋形阻挡区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连接的关节)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320组件的旋转方向上。
弹性件340包括弹性嵌设于螺旋形阻挡区330内的弹性本体341以及凸出弹性本体341的凸臂342，在弹性件340与第一节肢组件310同步运动时，弹性件340的至少一端与螺旋形阻挡区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将沿着螺旋形阻挡区330相对第一节肢组件310运动而使弹性本体340抵接螺旋形阻挡区330的一端部。
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，本实施方式中的螺旋形阻挡区330、弹性件340以及止挡件350与前述限位装置实施方式中的螺旋形阻挡区、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螺旋形阻挡区，所述螺旋形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螺旋形阻挡区内的弹性本体以及凸出所述弹性本体的凸臂，在所述弹性件与所述第一旋转件同步运动时，所述弹性件的至少一端与所述螺旋形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螺旋形阻挡区相对所述第一旋转件运动而使所述弹性件抵接所述螺旋形阻挡区的一端部。
  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，所述螺旋形阻挡区设置在所述圆周壁的内侧；
    所述弹性件为滑环，所述滑环包括弹性嵌设在所述螺旋形阻挡区内、呈弧形/螺旋形的所述弹性本体以及凸出所述弹性本体内圈的所述凸臂。
  3. 根据权利要求2所述的限位装置，其中，
    所述螺旋形阻挡区为螺旋形凹槽。
  4. 根据权利要求2所述的限位装置，其中，
    所述第一旋转件的所述圆周壁设置有贯通的视窗，所述弹性件设置有标识部，在所述第一旋转件相对所述第二旋转件旋转而使所述标识部进入所述视窗内的预定区域时作为旋转超限提示。
  5. 根据权利要求4所述的限位装置，其中，
    所述视窗的数量为二，两个所述视窗分别正对所述螺旋形阻挡区的两个端部设置，所述标识部包括分别设置在所述弹性件两个端部处的两个色块区，所述色块区的颜色与所述色块区周围其他区域的颜色不同。
  6. 根据权利要求4所述的限位装置，其中，
    所述视窗的数量为二，两个所述视窗偏离所述螺旋形阻挡区，且位于所述螺旋形阻挡区的同一侧，所述标识部为设置在所述凸臂上、向所述视窗侧延伸的凸柱，在所述第一旋转件相对所述第二旋转件旋转未超过所述预定角度时，所述凸臂位置两个所述视窗之间。
  7. 根据权利要求2所述的限位装置，其中，
    所述螺旋形阻挡区的端部和所述弹性件的端部均呈平面状以避免所述弹性件滑出所述螺旋形阻挡区。
  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，所述螺旋形阻挡区设置在所述第一圆周壁外侧；
    所述弹性件为滑环，所述滑环包括弹性嵌设在所述螺旋形阻挡区内、呈弧形/螺旋形的所述弹性本体以及凸出所述弹性本体内圈的所述凸臂。
  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螺旋形阻挡区，所述螺旋形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上设置有止挡件，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螺旋形阻挡区内的弹性本体以及凸出所述弹性本体的凸臂，在所述弹性件与所述第一旋转件同步运动时，所述弹性件的至少一端与所述螺旋形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螺旋形阻挡区相对所述第一节肢组件运动而使所述弹性件抵接所述螺旋形阻挡区的一端部。
  10. 根据权利要求9所述的机械臂，其中，
    所述第一节肢组件套接在所述第二节肢组件的外侧；
    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，所述螺旋形阻挡区设置在所述圆周壁的内侧；
    所述弹性件为滑环，所述滑环包括弹性嵌设在所述螺旋形阻挡区内、呈弧形/螺旋形的所述弹性本体以及凸出所述弹性本体内圈的所述凸臂。
  11. 根据权利要求10所述的机械臂，其中，
    所述螺旋形阻挡区为螺旋形凹槽。
  12. 根据权利要求10所述的机械臂，其中，
    所述第一节肢组件的所述圆周壁设置有贯通的视窗，所述弹性件设置有标识部，在所述第一节肢组件相对所述第二节肢组件旋转而使所述标识部进入所述视窗内的预定区域时作为旋转超限提示。
  13. 根据权利要求12所述的机械臂，其中，
    所述视窗的数量为二，两个所述视窗分别正对所述螺旋形阻挡区的两个端部设置，所述标识部包括分别设置在所述弹性件两个端部处的两个色块区，所述色块区的颜色与所述色块区周围其他区域的颜色不同。
  14. 根据权利要求12所述的机械臂，其中，
    所述视窗的数量为二，两个所述视窗偏离所述螺旋形阻挡区，且位于所述螺旋形阻挡区的同一侧，所述标识部为设置在所述凸臂上、向所述视窗侧延伸的凸柱，在所述第一节肢组件相对所述第二节肢组件旋转未超过所述预定角度时，所述凸臂位置两个所述视窗之间。
  15. 根据权利要求10所述的机械臂，其中，
    所述螺旋形阻挡区的端部和所述弹性件的端部均呈平面状以避免所述弹性件滑出所述螺旋形阻挡区。
  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外侧凸出的挺杆，所述螺旋形阻挡区设置在所述第一圆周壁外侧；
    所述弹性件为滑环，所述滑环包括弹性嵌设在所述螺旋形阻挡区内、呈弧 形/螺旋形的所述弹性本体以及凸出所述弹性本体内圈的所述凸臂。
  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。
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