Anti-collision limiting assembly and mechanical arm

Abstract

The utility model provides an anti-collision limiting assembly and a mechanical arm. The anti-collision limiting assembly comprises a first limiting piece and a second limiting piece matched with the first limiting piece. The first limiting piece is used for being installed on a first mechanical arm body and provided with a first limiting face, the second limiting piece is used for being installed on a second mechanical arm body rotationally connected with the first mechanical arm body and provided with a second limiting face, and the second limiting face can abut against the first limiting face. And the second mechanical arm body stays at a limiting position relative to the first mechanical arm body. The first limiting piece and the second limiting piece abut against each other to limit the rotating angle of the mechanical arm, the limiting pieces are prevented from making direct contact with the surface of the mechanical arm, and the risk that the mechanical arm is damaged is reduced; in addition, the situation that the limiting structure occupies too much joint space, so that the joint space becomes small, and therefore when an operator rotates the second mechanical arm, the hands are prone to being clamped, and personal injuries are caused is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, and more specifically, to an anti-collision limiting component and a mechanical arm. Background Art

[0002] The joints of the multi-degree-of-freedom robot arm for human-machine collaboration are prone to getting stuck when they reach the limit position during operation. To solve this problem, limit blocks can be added to the robot arm shell. However, for a robot arm with a small space between joints, the addition of limit blocks will make the joint space smaller, making it easy to get your hands caught when manually dragging the robot arm; in addition, the limit blocks will directly contact and collide with the robot arm shell, which can easily damage the shell or destroy the appearance.

[0003] Most of the existing limit blocks for robotic arms use an integrated limit block, which is directly supported at the extreme position. In order to ensure the limiting effect, the limit length of the limit block needs to be made long enough to support the robotic arm when it reaches the extreme position. Limit blocks with longer limit lengths will cause the joint space to become smaller. When the operator moves the robotic arm, the hand may be caught in the gap between the limit block and the robotic arm, causing personal injury; in addition, when the robotic arm reaches the extreme position, the limit surface of the limit block directly abuts against the surface of the robotic arm. This type of limit block will frequently contact the outer shell of the robotic arm during operation, and it is easy to lose paint and damage the appearance. If a violent collision occurs, the outer shell of the robotic arm may also be damaged, making it difficult to maintain. Utility Model Content

[0004] The purpose of the utility model is to provide an anti-collision limit assembly and a mechanical arm, so as to solve the technical problem in the prior art that the limit block of the mechanical arm easily causes damage to the human body and the mechanical arm.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] In a first aspect, an anti-collision limiter assembly is provided, comprising:

[0007] A first limit member and a second limit member cooperating with the first limit member; the first limit member is used to be installed on the first mechanical arm body, the first limit member is provided with a first limit surface, the second limit member is used to be installed on the second mechanical arm body rotatably connected to the first mechanical arm body, the second limit member is provided with a second limit surface, the second limit surface can abut against the first limit surface, so that the second mechanical arm body stays at the extreme position relative to the first mechanical arm body.

[0008] By adopting the above technical solution, the anti-collision limiter assembly includes a first limiter and a second limiter, and the limiter structure is divided into two parts and installed on the first mechanical arm body and the second mechanical arm body respectively. When the second mechanical arm body rotates to the extreme position, the first limiter and the second limiter are mutually abutted to limit the rotation angle of the mechanical arm, so as to avoid the limiter directly contacting the surface of the mechanical arm and reduce the risk of damage to the mechanical arm; when the second mechanical arm body rotates to other positions, the second limiter is driven to rotate to other positions. At this time, only the first limiter exists in the joint space between the first mechanical arm and the second mechanical arm, so as to avoid the limiter structure occupying too much joint space and causing the joint space to become smaller, which makes it easy for the operator to get his hand pinched when rotating the second mechanical arm and cause personal injury. In addition, since the limiter structure is limited by the contact between the first limiter and the second limiter, if a collision occurs and the first limiter and the second limiter are damaged, they can be replaced to reduce maintenance costs.

[0009] In one embodiment, the first limit member is provided with two first limit surfaces, and the second limit member is provided with two second limit surfaces respectively corresponding to the two extreme positions of the second robotic arm body, and the second limit surfaces correspond to the first limit surfaces one by one.

[0010] By adopting the above technical solution, the first limiting member and the second limiting member can respectively limit the second mechanical arm body to the extreme positions in two directions, thereby improving the practicality of the first limiting member and the second limiting member.

[0011] In one embodiment, the first limiting surface and the second limiting surface are mutually matching curved surfaces.

[0012] By adopting the above technical solution, the degree of matching between the first limiting surface and the second limiting surface is improved, thereby preventing the second limiting surface from being misaligned when the second limiting surface abuts against the first limiting surface, thereby preventing the second mechanical arm from failing to limit the second mechanical arm.

[0013] In one embodiment, the first limiting member is further provided with a first connecting surface for bonding with the surface of the first robotic arm body, and the first connecting surface is a conformal curved surface that matches with the surface of the first robotic arm body.

[0014] By adopting the above technical solution, the installation efficiency of the first limiting member and the firmness of the fixing are improved.

[0015] In one embodiment, the first limiting member is provided with a first limiting structure, the first limiting structure is protruding in a direction away from the first connecting surface, and the first limiting surface is provided on a surface of the first limiting structure away from the first connecting surface.

[0016] By adopting the above technical solution, the first limiting structure is protruded on the first limiting member, which facilitates the abutment and cooperation between the first limiting surface and the second limiting surface provided on the first limiting structure.

[0017] In one embodiment, the first limiting member is provided with two first limiting structures, the protruding directions of the two first limiting structures form a preset inclination angle, and each of the first limiting structures is provided with the first limiting surface.

[0018] By adopting the above technical solution, it is achieved that the first limiting member is used to limit the two extreme positions of the second mechanical arm body.

[0019] In one embodiment, the second limiting member includes a fixing ring and a second limiting structure arranged on the fixing ring, the fixing ring is used to be mounted on the second robotic arm body, the second limiting structure is protruded along a direction away from the center of the fixing ring, and the second limiting surface is provided on the surface of the second limiting structure away from the fixing ring.

[0020] By adopting the above technical solution, the second limiting member cooperates with the first limiting member to limit the two extreme positions of the second mechanical arm body.

[0021] In one embodiment, the inner surface of the fixing ring is provided with a second connecting surface for bonding to the surface of the second robot arm body.

[0022] By adopting the above technical solution, the installation efficiency of the second limiting member and the firmness of the fixing are improved.

[0023] In one embodiment, the fixing ring is provided with a chamfered surface surrounding the second connecting surface.

[0024] By adopting the above technical solution, the fixing ring can be fixed on the second mechanical arm body by gluing.

[0025] In a second aspect, a robotic arm is provided, comprising a first robotic arm body, a second robotic arm body and the above-mentioned anti-collision limiter assembly, wherein the first limiter is arranged on the first robotic arm body, and the second limiter is arranged on the second robotic arm body.

[0026] By adopting the above technical solution, on the basis of having the advantages of the anti-collision limit assembly of the above embodiment, the mechanical arm of this embodiment also has the advantages of high safety performance and good anti-damage performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 It is a three-dimensional structural diagram of the mechanical arm and the anti-collision limit assembly provided in the embodiment of the utility model.

[0029] Figure 2 It is a three-dimensional structural diagram of a first position limiting member provided in an embodiment of the utility model from one viewing angle.

[0030] Figure 3 It is a three-dimensional structural diagram of the first limiting member provided in an embodiment of the utility model from another viewing angle.

[0031] Figure 4 It is a three-dimensional structural diagram of a second position-limiting member provided in an embodiment of the utility model from one viewing angle.

[0032] Figure 5 It is a schematic diagram of the mechanical arm provided by the embodiment of the utility model rotating to the extreme position.

[0033] Figure 6 It is a schematic diagram of a mechanical arm provided by an embodiment of the utility model that has not been rotated to the extreme position.

[0034] The reference numerals in the figures are:

[0035] 100, first mechanical arm body; 200, second mechanical arm body; 300, joint space;

[0036] 1. First limiting member; 2. Second limiting member;

[0037] 11. First limiting surface; 21. Second limiting surface; 12. First connecting surface; 13. First limiting structure; 22. Fixing ring; 23. Second limiting structure; 24. Second connecting surface; 25. Chamfered surface. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention, and do not indicate that a device or element must have a specific direction, be constructed and operated in a specific direction. Therefore, it should not be understood as a limitation on the present invention.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The following is a more detailed description of the specific implementation of the present utility model in conjunction with specific embodiments:

[0042] like Figure 1 As shown, an anti-collision limit assembly provided by an embodiment of the utility model is used to be assembled on a mechanical arm to prevent the mechanical arm from rotating beyond the limit position and causing damage to the mechanical arm; specifically, the mechanical arm includes a first mechanical arm body 100 and a second mechanical arm body 200 rotatably connected to the first mechanical arm body 100, and the part where the first mechanical arm body 100 and the second mechanical arm body 200 are connected to each other is a joint part, and the second mechanical arm body 200 can rotate relative to the first mechanical arm body 100. When the second mechanical arm body 200 rotates to the limit position, the anti-collision limit assembly limits the rotation of the second mechanical arm body 200 to prevent the second mechanical arm body 200 from rotating beyond the limit position and causing personal injury to the operator and damage to the mechanical arm; the following is an explanation through a specific implementation method:

[0043] Please also read Figures 2 to 4 , the anti-collision limiter assembly of this embodiment includes:

[0044] A first limiting member 1 and a second limiting member 2 cooperating with the first limiting member 1; the first limiting member 1 is used to be installed on the first robotic arm body 100, and the first limiting member 1 is provided with a first limiting surface 11; the second limiting member 2 is used to be installed on the second robotic arm body 200 rotatably connected to the first robotic arm body 100, and the second limiting member 2 is provided with a second limiting surface 21, and the second limiting surface 21 can abut against the first limiting surface 11, so that the second robotic arm body 200 stays at the extreme position relative to the first robotic arm body 100.

[0045] The first limiting member 1 is a member used to cooperate with the second limiting member 2 to limit the rotation of the first mechanical arm body 100; the first limiting member 1 is used to be installed on the first mechanical arm body 100, and the first limiting member 1 is provided with a first limiting surface 11;

[0046] The second limiting member 2 refers to a component used to cooperate with the first limiting member 1 to limit the rotation of the second robotic arm body 200; the second limiting member 2 is used to be installed on the second robotic arm body 200, and the second limiting member 2 is provided with a second limiting surface 21; wherein, the second limiting surface 21 can abut against the first limiting surface 11 to limit the continued rotation of the second robotic arm body 200 relative to the first robotic arm body 100, so that the second robotic arm body 200 stays at the extreme position.

[0047] Please also read Figure 5 and Figure 6 The working principle of the anti-collision limit assembly provided in this embodiment is as follows:

[0048] The first mechanical arm body 100 is rotatably connected to the second mechanical arm body 200. Optionally, the first mechanical arm body 100 is defined with a rotation axis, and the second mechanical arm body 200 can rotate around the rotation axis to realize the rotation of the second mechanical arm body 200 relative to the first mechanical arm body 100; the second mechanical arm body 200 rotates around the rotation axis to form a rotation trajectory, and the second mechanical arm body 200 rotates along the rotation trajectory to a position where it collides with or is about to collide with the first mechanical arm body 100 is called the extreme position of the second mechanical arm body 200. At this time, the second mechanical arm body 200 and the first mechanical arm body 10 0 is the joint space 300; the first limit member 1 is installed on the first robotic arm body 100, and the second limit member 2 is installed on the second robotic arm body 200 and can rotate relative to the first robotic arm body 100 under the drive of the second robotic arm body 200. When the second robotic arm body 200 rotates to the extreme position, the second limit surface 21 on the second limit member 2 abuts against the first limit surface 11 on the first limit member 1. In this way, the second robotic arm body 200 is limited to the extreme position to prevent the second robotic arm body 200 from colliding with the first robotic arm body 100.

[0049] By adopting the above technical solution, the anti-collision limiter assembly includes a first limiter 1 and a second limiter 2, and the limiter structure is divided into two parts and respectively installed on the first mechanical arm body 100 and the second mechanical arm body 200. When the second mechanical arm body 200 rotates to the extreme position, the first limiter 1 and the second limiter 2 are mutually abutted to limit the rotation angle of the mechanical arm, so as to avoid the limiter directly contacting the surface of the mechanical arm and reduce the risk of damage to the mechanical arm; when the second mechanical arm body 200 rotates to other positions, the second limiter 2 is driven to rotate to other positions. At this time, only the first limiter 1 exists in the joint space 300 between the first mechanical arm and the second mechanical arm, so as to avoid the limiter structure occupying too much joint space 300 and causing the joint space 300 to become smaller, which makes it easy for the operator to get his hand pinched when rotating the second mechanical arm and cause personal injury. In addition, since the limiter structure is limited by the first limiter 1 and the second limiter 2 contacting each other, if a collision occurs and the first limiter 1 and the second limiter 2 are damaged, they can be replaced to reduce maintenance costs.

[0050] Please refer again Figures 2 to 4 In one embodiment, the first limit member 1 is provided with two first limit surfaces 11, and the second limit member 2 is provided with two second limit surfaces 21 corresponding to the two extreme positions of the second robotic arm body 200, and the second limit surfaces 21 correspond to the first limit surfaces 11 one by one.

[0051] Here, it can be understood that, in the present embodiment, a rotation axis is defined on the first robotic arm body 100, and the second robotic arm body 200 can rotate around the rotation axis. At the same time, the second robotic arm body 200 can rotate clockwise or counterclockwise around the rotation axis. In this way, the second robotic arm body 200 has an extreme position when it rotates clockwise to one side of the first robotic arm body 100, and has another extreme position when the second robotic arm body 200 rotates counterclockwise to the other side of the first robotic arm body 100, that is, the second robotic arm body 200 has two extreme positions, and correspondingly, two first limit surfaces 11 need to be set on the first limit member 1 and two second limit surfaces 21 need to be set on the second limit member 2.

[0052] By adopting the above technical solution, the first limit member 1 and the second limit member 2 can respectively limit the second mechanical arm body 200 to the extreme positions in two directions, thereby improving the practicality of the first limit member 1 and the second limit member 2.

[0053] In one embodiment, the first limiting surface 11 and the second limiting surface 21 are mutually matching curved surfaces.

[0054] Here, it can be understood that the conforming curved surface means that the first limiting surface 11 and the second limiting surface 21 fit each other or mostly fit each other when abutting, for example, the first limiting surface 11 is convex, the second limiting surface 21 is concave, and the first limiting surface 11 and the second limiting surface 21 fit together in a concave and convex manner.

[0055] By adopting the above technical solution, the matching degree between the first limiting surface 11 and the second limiting surface 21 is improved, and the misalignment phenomenon caused by the second limiting surface 21 abutting against the first limiting surface 11 is prevented, which causes the failure of limiting the second mechanical arm body 200.

[0056] In one embodiment, the first position-limiting member 1 is further provided with a first connection surface 12 for bonding with the surface of the first robotic arm body 100 , and the first connection surface 12 is a conformal curved surface that matches with the surface of the first robotic arm body 100 .

[0057] Here, it can be understood that the first limit member 1 is fixed to the first robotic arm body 100 by bonding; specifically, the first limit member 1 is also provided with a first connecting surface 12, and the first connecting surface 12 is used to bond to the surface of the first robotic arm body 100, so that the first limit member 1 is fixed to the first robotic arm body 100; wherein, the first connecting surface 12 is a conformal curved surface, so that the first connecting surface 12 fits or most of it fits on the surface of the first robotic arm body 100, thereby improving the firmness of the fixation.

[0058] It needs to be further explained that fixing the first position limiting member 1 by bonding is also conducive to improving the installation efficiency of the first position limiting member 1 .

[0059] By adopting the above technical solution, the installation efficiency of the first limiting member 1 and the firmness of the fixing are improved.

[0060] In one embodiment, the first limiting member 1 is provided with a first limiting structure 13 , which is protruding in a direction away from the first connecting surface 12 , and a first limiting surface 11 is provided on a surface of the first limiting structure 13 away from the first connecting surface 12 .

[0061] Here, it can be understood that the first limiting structure 13 has a protruding height, and the first limiting surface 11 is provided on a surface of the first limiting structure 13 facing away from the first connecting surface 12 .

[0062] By adopting the above technical solution, the first limiting structure 13 is protruded on the first limiting member 1 , which facilitates the abutment and cooperation between the first limiting surface 11 and the second limiting surface 21 provided on the first limiting structure 13 .

[0063] In one embodiment, the first limiting member 1 is provided with two first limiting structures 13 , the protruding directions of the two first limiting structures 13 form a preset inclination angle, and each first limiting structure 13 is provided with a first limiting surface 11 .

[0064] Here, it can be understood that the first limiting member 1 is provided with two first limiting surfaces 11, which are respectively located on different first limiting structures 13, and the protruding directions of the two first limiting structures 13 are different, which are respectively used to limit different extreme positions of the second robotic arm body 200.

[0065] It needs to be further explained that the protruding directions of the two first limiting structures 13 form a preset inclination angle, and the preset inclination angle is adapted to the two extreme positions of the second robotic arm body 200 .

[0066] By adopting the above technical solution, the first limiting member 1 is used to limit the two extreme positions of the second mechanical arm body 200.

[0067] In one embodiment, the second limiting member 2 includes a fixing ring 22 and a second limiting structure 23 arranged on the fixing ring 22. The fixing ring 22 is used to be mounted on the second robotic arm body 200. The second limiting structure 23 is protruding in a direction away from the center of the fixing ring 22. The second limiting structure 23 has a second limiting surface 21 on its surface away from the fixing ring 22.

[0068] Here, it can be understood that the second limiting member 2 includes a fixing ring 22 and a second limiting structure 23, the fixing ring 22 is used to be fixed on the second robotic arm body 200 in a sleeve manner, the second limiting structure 23 is arranged on the fixing ring 22, the second limiting structure 23 is protrudingly arranged, and the protruding direction of the second limiting structure 23 is away from the center direction of the fixing ring 22, and the second limiting surface 21 is arranged on the surface of the second limiting structure 23 away from the fixing ring 22.

[0069] By adopting the above technical solution, the second limiting member 2 cooperates with the first limiting member 1 to limit the two extreme positions of the second mechanical arm body 200 .

[0070] In one embodiment, the inner surface of the fixing ring 22 is provided with a second connecting surface 24 for bonding with the surface of the second robot arm body 200 .

[0071] Here, it can be understood that the fixing ring 22 is fixed to the second robot arm body 200 by bonding.

[0072] Optionally, the second connecting surface 24 is a form-fitting surface, so that the fixing ring 22 is more firmly fixed on the second robot arm body 200 .

[0073] It needs to be further explained that fixing the second position-limiting member 2 by bonding is also conducive to improving the installation efficiency of the second position-limiting member 2 .

[0074] By adopting the above technical solution, the installation efficiency of the second limiting member 2 and the firmness of the fixing are improved.

[0075] In one embodiment, the fixing ring 22 is provided with a chamfered surface 25 surrounding the second connecting surface 24 .

[0076] Here, it can be understood that when the fixing ring 22 is installed on the second robotic arm body 200, the second connecting surface 24 is in contact with the surface of the second robotic arm body 200, and a gap is formed between the chamfered surface 25 of the fixing ring 22 and the surface of the second robotic arm body 200, and the gap is used for applying glue to achieve bonding.

[0077] By adopting the above technical solution, the fixing ring 22 can be fixed on the second robot arm body 200 by gluing.

[0078] In the second aspect, a robotic arm is provided, comprising a first robotic arm body 100 , a second robotic arm body 200 and the above-mentioned anti-collision limit assembly, wherein the first limit member 1 is arranged on the first robotic arm body 100 , and the second limit member 2 is arranged on the second robotic arm body 200 .

[0079] By adopting the above technical solution, on the basis of having the advantages of the anti-collision limit assembly of the above embodiment, the mechanical arm of this embodiment also has the advantages of high safety performance and good anti-damage performance.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An anti-collision limiter assembly, characterized in that: include: A first limit member and a second limit member cooperating with the first limit member; the first limit member is used to be installed on the first mechanical arm body, the first limit member is provided with a first limit surface, the second limit member is used to be installed on the second mechanical arm body rotatably connected to the first mechanical arm body, the second limit member is provided with a second limit surface, the second limit surface can abut against the first limit surface, so that the second mechanical arm body stays at the extreme position relative to the first mechanical arm body.

2. The anti-collision limiting assembly according to claim 1, characterized in that: The first limit member is provided with two first limit surfaces, and the second limit member is provided with two second limit surfaces respectively corresponding to the two extreme positions of the second mechanical arm body, and the second limit surfaces correspond to the first limit surfaces one by one.

3. The anti-collision limiting assembly according to claim 1, characterized in that: The first limiting surface and the second limiting surface are mutually matching curved surfaces.

4. The anti-collision limiting assembly according to claim 1, characterized in that: The first limiting member is also provided with a first connecting surface for bonding with the surface of the first mechanical arm body, and the first connecting surface is a form-fitting curved surface that matches with the surface of the first mechanical arm body.

5. The anti-collision limiting assembly according to claim 4, characterized in that: The first limiting member is provided with a first limiting structure, the first limiting structure is protruding in a direction away from the first connecting surface, and the first limiting surface is provided on a surface of the first limiting structure away from the first connecting surface.

6. The anti-collision limiting assembly according to claim 5, characterized in that: The first limiting member is provided with two first limiting structures, the protruding directions of the two first limiting structures form a preset inclination angle, and each of the first limiting structures is provided with the first limiting surface.

7. The anti-collision limiting assembly according to any one of claims 1 to 6, characterized in that: The second limiting member includes a fixing ring and a second limiting structure arranged on the fixing ring, the fixing ring is used to be mounted on the second robotic arm body, the second limiting structure is protruded along a direction away from the center of the fixing ring, and the second limiting surface is provided on the surface of the second limiting structure away from the fixing ring.

8. The anti-collision limiting assembly according to claim 7, characterized in that: The inner surface of the fixing ring is provided with a second connecting surface for bonding with the surface of the second robot arm body.

9. The anti-collision limiting assembly according to claim 8, characterized in that: The fixing ring is provided with a chamfered surface surrounding the second connecting surface.

10. A robotic arm, characterized in that: It comprises a first mechanical arm body, a second mechanical arm body and the anti-collision limit assembly according to any one of claims 1 to 9, wherein the first limit member is arranged on the first mechanical arm body, and the second limit member is arranged on the second mechanical arm body.

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