Limiting component and robot

Abstract

The present invention provides a limit assembly and a robot, wherein the limit assembly comprises: a base and a rotating body rotatably connected thereto, and also comprises a limit structure, wherein the limit structure comprises two overlapping or staggered blocks and two protrusions, wherein the two protrusions can swing, and the two blocks correspond to the two protrusions one by one to block, so that the limitation of the rotation angle is adjusted by the cooperation of different set blocks and protrusions, thereby increasing the angle that the limit assembly can limit, thereby increasing the application range of the limit assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of limiting devices, and in particular to a limiting component and a robot. Background Art

[0002] Mechanical limit technology is a safety technology to ensure the safety of the robot in the event of an accident. It can protect the robot from greater damage and ensure that the robot can work normally after eliminating the accident. At the same time, it can also protect the operator from greater damage to a certain extent. Therefore, most joints of industrial robots will have mechanical limit devices, especially those structures that require cables to be passed through the joints.

[0003] At present, there are mainly the following mechanical limit methods:

[0004] First, the single stopper method, two stops, the first stopper is fixed, and the second stopper is fixed on the rotating body. When the rotating body rotates in one direction, it drives the second stopper to rotate in the same direction, rotates to the first stopper and collides with one side of it to form a limit in this direction; when the rotating body rotates in the other direction, it drives the second stopper to rotate in the same direction, rotates to the first stopper and collides with the other side of it to form a limit in this direction. Since the first stopper is a solid with a certain thickness, the angle formed by the limit in the two directions is less than 360°. This method has a simple structure, reliable limit, and low cost, but the limit angle is small.

[0005] Second, the rocker arm block method, such as Figure 1 As shown, two limit blocks 4 are arranged symmetrically on the base 1, and a swing block 6 is arranged in the middle of the limit blocks 4, which can swing around the shaft 5 on the base 1 in a small range; when the rotating body 2 rotates, the boss 3 is driven to rotate synchronously, pushing the swing block 6 to one side of the limit block 4; when the rotating body 2 rotates in the opposite direction, the boss 3 pushes the swing block 6 to the other side of the limit block 4; in this way, the working stroke of the rotating body 2 can reach greater than or equal to 360°. This method is also relatively simple in structure and low in cost. The limit angle can exceed one circle, which can meet the minimum limit requirement of 360°, but it cannot be applied to the larger angle of 600° or even larger. Summary of the invention

[0006] The invention provides a limiting component and a robot, which are used to increase the angle range of limiting.

[0007] The present invention provides a limiting assembly, which includes: a base, wherein a hollow cavity is arranged in the base; and a rotating body arranged in the hollow cavity and rotatably connected to the base; and also includes a limiting structure; the limiting structure includes:

[0008] A first stopper and a second stopper respectively fixedly connected to the side wall of the rotating body, wherein the first stopper and the second stopper overlap or stagger along the axial direction of the rotating body;

[0009] A receiving groove is arranged on the side wall of the hollow cavity; a swing block is located in the receiving groove and is rotatably connected to the base; the swing block is provided with a first protrusion for blocking the first stopper, and a second protrusion for blocking the second stopper; wherein;

[0010] Along the axis direction of the rotating body, two surfaces of the first stopper and the second protrusion opposite to each other are arranged on both sides of a first setting plane; two surfaces of the second stopper and the first protrusion opposite to each other are arranged on both sides of a second setting plane; wherein the first setting plane and the second setting plane are two parallel planes perpendicular to the axis of the rotating body;

[0011] The angle between the first protrusion and the second protrusion is a set angle; and when one of the first protrusion and the second protrusion is pressed and contacted with the stop block corresponding to the protrusion, the other protrusion is located in the accommodating groove and is pressed and contacted with the side wall of the accommodating groove, and the minimum distance between the other protrusion and the side wall of the rotating body is greater than the vertical distance from the end of the stop block corresponding to the protrusion to the side wall of the rotating body.

[0012] In the above technical solution, the limitation of the rotation angle is adjusted by cooperating with different stoppers and protrusions, thereby increasing the angle that can be limited by the limit assembly and further increasing the application range of the limit assembly.

[0013] In specific settings, the first stopper can move relative to the second stopper and can be locked at a set position. By adjusting the relative position relationship of the two stops, the adjustment angle of the limit assembly is improved, further increasing the scope of application.

[0014] In the specific configuration, two rows of slots are arranged around the side wall of the rotating body along the axis direction of the rotating body; the first stopper is mounted in a slot in one of the slots in one row; the second stopper is mounted in a slot in the other slot in the other row. The spacing between the two stoppers is adjusted by engaging the slots with the stoppers, thereby increasing the applicable range of the limit assembly.

[0015] In a specific configuration, along the axis direction of the rotating body, two rows of threaded holes are arranged around the side wall of the rotating body, the first stopper is threadedly connected to one of the threaded holes in one row, and the second stopper is threadedly connected to one of the threaded holes in the other row. The distance between the stoppers is changed by threading the threaded holes and the stoppers, thereby increasing the applicable range of the limit assembly.

[0016] In a specific configuration, the rotating body includes a first body and a second body, wherein the first body is rotatably connected to the second body and can be locked in a set position; wherein the first stopper is fixedly connected to the first body, and the second stopper is fixedly connected to the second body. By relative rotation and locking between the two bodies, the interval between the two stoppers is adjusted, thereby improving the applicability of the limit assembly.

[0017] In a specific configuration, the first body is provided with a plurality of blind holes around the axis of the rotating body, and the second body is provided with a threaded hole corresponding to each blind hole; and further includes a threaded connector inserted into at least two of the plurality of blind holes, and each threaded connector is threadedly connected to a threaded hole corresponding to the blind hole inserted by the threaded connector. The first body and the second body are locked by the threaded connector, thereby improving the stability between the first body and the second body.

[0018] In the specific configuration, it also includes elastic locking pieces corresponding to the first protrusion and the second protrusion one by one; wherein each elastic locking piece includes:

[0019] A slot disposed on the bottom wall of the receiving slot, a blind hole disposed on the swing block, a ball passing through the blind hole and engaging with the slot, and a compression spring disposed in the blind hole with two ends pressed against the bottom wall of the blind hole and the ball respectively; or,

[0020] A slot is provided on the swing stopper, a blind hole is provided on the bottom wall of the receiving groove, a ball is passed through the blind hole and engaged with the slot, and a compression spring is provided in the blind hole and the two ends of the compression spring press against the bottom wall of the blind hole and the ball respectively. The temporary positioning of the protrusion is achieved through the cooperation between the ball and the slot.

[0021] In a specific setting, the first setting plane and the second setting plane are both the center planes of the rotating body in the thickness direction.

[0022] In a specific configuration, the side wall of the accommodating groove opposite to the rotating body is an inverted V-shape, and the inverted V-shaped side wall includes a first inclined surface and a second inclined surface, wherein the first inclined surface is used to press the first protrusion, and the second inclined surface is used to press the second protrusion.

[0023] In addition, a robot is provided, the robot comprising a first rotating member, and a second rotating member rotatably connected to the first rotating member, and also comprising any of the above-mentioned limiting components; wherein,

[0024] The first rotating member is fixedly connected to the base of the limiting assembly, and the second rotating member is fixedly connected to the rotating body of the limiting assembly.

[0025] In the above technical solution, the limitation of the rotation angle is adjusted by cooperating with different stoppers and protrusions, thereby increasing the angle that can be limited by the limit assembly and further increasing the application range of the limit assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a limit assembly in the prior art;

[0027] Figure 2 A schematic diagram of the structure of a limiter assembly provided in an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of the structure of a rotating body provided by an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of the structure of a swing stopper provided in an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of the cooperation between the rotating body and the swing stopper provided in an embodiment of the present invention;

[0031] Figure 6 A schematic diagram of the structure of a swing stopper provided in an embodiment of the present invention;

[0032] Figure 7 A schematic diagram of the structure of a base provided in an embodiment of the present invention;

[0033] Figure 8 A schematic diagram of the structure of an elastic locking member provided in an embodiment of the present invention;

[0034] Fig. 9 A schematic diagram of the structure of a receiving tank provided in an embodiment of the present invention;

[0035] Fig.10 A schematic diagram of the cooperation between the receiving groove and the protrusion provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] First reference Figure 2 , Figure 2 The schematic diagram of the structure of the limit assembly provided in the embodiment of the present application is shown. Figure 2It can be seen that the limiting assembly provided in the embodiment of the present application includes two major parts: a base 10 and a rotating body 20. When set, the base 10 is provided with a hollow cavity, one end of which is open, and the rotating body 20 is arranged in the hollow cavity and forms a nested manner with the base 10. In addition, the rotating body 20 is rotatably connected to the base 10, so that the rotating body 20 and the base 10 can rotate relative to each other. When the rotation is specifically realized, a rotating shaft is provided in the hollow cavity, and the rotating body 20 is sleeved on the rotating shaft and is rotatably connected to the base 10 through the rotating shaft. When the limiting assembly is used, the rotating body 20 and the base 10 are respectively connected to two external components. Taking a robot as an example, the rotating body 20 and the base 10 are respectively connected to a first rotating member and a second rotating member, wherein the first rotating member and the second rotating member can be components that need to rotate relative to each other, such as a robot base and a robotic arm. When limiting, the rotation range of the first rotating member and the second rotating member is limited by limiting the rotation range between the base 10 and the rotating body 20.

[0038] When the hollow cavity and the rotating body 20 are specifically arranged, different shapes can be selected, such as Figure 2 As shown in FIG. , the hollow cavity is a cylindrical cavity, and the corresponding rotating body 20 is a cylindrical shape. Figure 2 The hollow cavity and the rotating body 20 shown are only a specific example. The hollow cavity and the rotating body 20 may also adopt other shapes as long as they can rotate relative to each other.

[0039] When the application specifically implements the limitation of the rotation angle between the base 10 and the rotating body 20, it is realized by a limiting structure composed of a stopper and a protrusion. For the limiting structure, it includes a first stopper 30 and a second stopper 40 respectively fixedly connected to the side wall of the rotating body 20, and when two stops are set, the first stopper 30 and the second stopper 40 overlap or stagger along the axial direction of the rotating body 20; when the protrusion is specifically set, a receiving groove 70 is set on the side wall of the cavity body, and a swinging stopper 80 is rotatably set in the receiving groove 70, and a first protrusion 50 for blocking the first stopper 30 and a second protrusion 60 for blocking the second stopper 40 are set on the swinging stopper 80. When blocking is realized, the first stopper 30 is blocked by the first protrusion 50, and the second stopper 40 is blocked by the second protrusion 60.

[0040] For reference Figure 3 and Figure 4 ,in, Figure 3 and Figure 4 The arrangement of the two blocks and the two protrusions is shown respectively. When the first block 30 and the second block 40 are specifically arranged, as shown in FIG. Figure 3As shown in , the first stopper 30 and the second stopper 40 are arranged along the axial direction of the rotating body 20, and the first stopper 30 and the second stopper 40 are both located in the hollow cavity. Figure 3 As shown in , the stopper located at the top is the first stopper 30, and the stopper located at the bottom is the second stopper 40. In the circumferential direction of the rotating body 20, the first stopper 30 and the second stopper 40 are staggered, that is, when set, the angle between the first stopper 30 and the second stopper 40 can be any angle of 0 to 360°, such as 90°, 180°, 270° and other different angles, wherein the angle refers to the angle between the center line of the first stopper 30 and the center line of the second stopper 40, as shown in FIG. Figure 3 Of course, the first stopper 30 and the second stopper 40 may overlap along the axis direction of the rotating body 20, and in this case, the angle between the first stopper 30 and the second stopper 40 is 0°.

[0041] like Figure 4 As shown in , the first protrusion 50 and the second protrusion 60 are arranged on the swing block 80, and the swing block 80 is rotatably connected to the base 10. When the rotatable connection is specifically realized, it is also realized by a rotating shaft. When the first protrusion 50 and the second protrusion 60 are arranged, the arrangement method of the first protrusion 50 and the second protrusion 60 is similar to the arrangement method of the first stopper 30 and the second stopper 40, and the first protrusion 50 and the second protrusion 60 are also arranged in the axial direction of the swing block 80, and the first protrusion 50 is located at the top, and the second protrusion 60 is located at the bottom. In addition, along the circumference of the swing block 80, the first protrusion 50 and the second protrusion 60 are staggered, that is, the angle between the first protrusion 50 and the second protrusion 60 is a set angle greater than 60° and less than 120°, which is also the angle between the center line of the first protrusion 50 and the center line of the second protrusion 60. When specifically set, the angle can be 90°.

[0042] In addition, if Figure 5As shown, when setting the first stopper 30 and the first protrusion 50, and the second stopper 40 and the second protrusion 60, it is necessary to meet the following conditions: along the axis direction of the rotating body 20, the two opposite surfaces of the first stopper 30 and the second protrusion 60 (respectively the bottom surface of the first stopper 30 and the top surface of the second protrusion 60) are arranged on both sides of the first setting plane a; the two opposite surfaces of the second stopper 40 and the first protrusion 50 (respectively the top surface of the second stopper 40 and the bottom surface of the first protrusion 50) are arranged on both sides of the second setting plane b; wherein, the first setting plane a and the second setting plane b are two parallel planes perpendicular to the axis of the rotating body 20, and in specific settings, the first setting plane a and the second setting plane b can both be the center plane of the rotating body 20 in the thickness direction. That is, when setting, it is ensured that there is no interference between the first stopper 30 and the second protrusion 60, and at the same time, there is no interference between the second stopper 40 and the first protrusion 50. In order to realize the above-mentioned manner, in the axial direction, the lower surface of the first stopper 30 is higher than the upper surface of the second protrusion 60, and at the same time, the upper surface of the second stopper 40 is lower than the lower surface of the first protrusion 50, so as to ensure that there is no interference between the two. When ensuring the above-mentioned relationship, when setting the first stopper 30 and the second stopper 40, the height of the lower surface of the first stopper 30 can be lower than the upper surface of the second stopper 40, and of course, the height of the lower surface of the first stopper 30 can also be higher than the height of the upper surface of the second stopper 40. Similarly, the lower surface of the first protrusion 50 can be lower than the upper surface of the second protrusion 60, or the lower surface of the first protrusion 50 can be higher than the upper surface of the second protrusion 60, etc.

[0043] When the blocking is realized, the side wall of the receiving groove 70 is also required to limit it. And when setting, when one of the first protrusion 50 and the second protrusion 60 is pressed and contacted with the stopper corresponding to the protrusion, the other protrusion is located in the receiving groove 70 and is pressed and contacted with the side wall of the receiving groove 70, and the minimum distance between the other protrusion and the side wall of the rotating body 20 is greater than the vertical distance between the end of the stopper corresponding to the protrusion and the side wall of the rotating body 20. For the convenience of description, it is taken as an example that the first stopper 30 contacts the first protrusion 50 first. Figure 2As shown in , in the initial state, the first protrusion 50 and the second protrusion 60 are both exposed outside the receiving groove 70 and extend into the hollow cavity. The rotating body 20 is rotated counterclockwise, and first the second stopper 40 contacts the second protrusion 60, driving the swinging stopper 80 to rotate clockwise, and the second protrusion 60 rotates into the receiving groove 70 until the second protrusion 60 no longer blocks the second stopper 40, and then the first stopper 30 contacts the first protrusion 50 to drive the swinging stopper 80 to rotate clockwise, at this time, the second protrusion 60 rotates into the receiving groove 70, and when the first stopper 30 rotates to the set position, the second protrusion 60 rotates to press against the side wall of the receiving groove 70, at this time, the second protrusion 60 retracts into the receiving groove 70, and due to the support of the second protrusion 60, the first protrusion 50 cannot rotate, and the first protrusion 50 limits the first stopper 30 to continue to rotate, and the rotating body 20 is limited. When the rotating body 20 rotates clockwise, the first stopper 30 contacts the first protrusion 50 and drives the first protrusion 50 to rotate counterclockwise. When the first protrusion 50 rotates to a certain position, the first protrusion 50 cannot prevent the first stopper 30 from continuing to rotate. At this time, the second protrusion 60 is brought out of the receiving groove 70 and extends into the hollow cavity. When the rotating body 20 continues to rotate, the second stopper 40 rotates to the position of the second protrusion 60 and contacts and presses against the second protrusion 60, and drives the second protrusion 60 to rotate counterclockwise. At this time, when the first protrusion 50 is driven and pressed against the side wall of the receiving groove 70, the second protrusion 60 cannot rotate again due to the support of the first protrusion 50. The second stopper 40 is limited by the second protrusion 60, and the rotating body 20 cannot rotate clockwise. Of course, Figure 2 Only one specific situation is listed. When the rotating body 20 is rotated, there may be two situations before the rotation starts: the second protrusion 60 is in the receiving groove 70, or the second protrusion 60 is partially in the receiving groove 70 and partially extends into the hollow cavity outside the receiving groove 70. However, no matter which situation occurs, the matching situation of the stopper and the protrusion mentioned above can be referred to.

[0044] It can be seen from the above description that through the staggered setting of the first stop block 30 and the second stop block 40, and the staggered setting of the first protrusion 50 and the second protrusion 60, and during rotation, it is limited by the first stop block 30 and the first protrusion 50, and the second stop block 40 and the second protrusion 60 respectively, so that the rotation angle of the limit assembly is relatively large, providing more options for limiting the limit assembly.

[0045] exist Figure 2 In the structure shown, the receiving groove is a rectangular groove. In the limiting assembly provided in the embodiment of the present invention, the shape of the receiving groove is not limited to a rectangular shape, and other shapes can also be adopted, such as Fig. 9 and Fig.10In the structure shown in FIG. 1 , the side wall of the receiving groove opposite to the rotating body is an inverted V-shape, and the inverted V-shaped side wall includes a first inclined surface 71 and a second inclined surface 72, wherein the first inclined surface 71 is used to press the first protrusion 50, and the second inclined surface 72 is used to press the second protrusion 60. Fig. 9 As shown, the side wall of the receiving groove 70 opposite to the rotating body 20 has two inclined surfaces, namely a first inclined surface 71 and a second inclined surface 72, and when specifically inclined, a concave area is formed in the receiving groove for accommodating the protrusion. Fig.10 As shown in , when the swing block 80 rotates to a certain angle, the first protrusion 50 presses against the first inclined surface 71. Similarly, when the swing block 80 rotates to another angle, the second protrusion 60 can press against the second inclined surface 72. Figure 2 and Fig.10 It can be seen that when the first inclined surface 71 and the second inclined surface 72 are used, the rotation angle of the swing block is increased, thereby increasing the angle of the rotating body when it is limited. Fig. 9 It can be seen that the first inclined surface 71 and the second inclined surface 72 are symmetrically arranged, and the axis of symmetry passes through the axis of the rotating body 20 and the swing block 80. The inclination angles of the first inclined surface 71 and the second inclined surface 72 relative to their axis of symmetry can be set according to actual needs.

[0046] When the position limit is implemented specifically, it can be seen from the above description that the setting angle between the first stopper 30 and the second stopper 40 affects the rotation angle limited by the position limiter assembly. Therefore, in order to improve the applicability of the position limiter assembly. When the first stopper 30 and the second stopper 40 are set, the first stopper 30 can move relative to the second stopper 40 and can be locked in different set positions. By adjusting the relative position relationship of the two stops, the adjustment angle of the position limiter assembly is improved, and the scope of application is further increased.

[0047] When the first stopper 30 is movable relative to the second stopper 40 and can be locked at different set positions, it can be achieved through different solutions. Different methods are listed below to illustrate it.

[0048] First, one method is: along the axis direction of the rotating body 20, two rows of slots are arranged around the side wall of the rotating body 20; that is, two rows of slots are arranged on the side wall of the rotating body 20, and the arrangement direction of the two rows of slots is the axis direction of the rotating body 20. For each row of slots, there are multiple slots and they are arranged circumferentially around the rotating body 20. In addition, when two rows of slots are set, the positions of the slots in the two rows of slots are staggered. When the first stopper 30 and the second stopper 40 are specifically set, the first stopper 30 is clamped in a slot in one of the rows of slots; the second stopper 40 is clamped in a slot in the other row of slots. Thus, the angle between the two stops is adjusted by the engagement of the set slots and the stops. Of course, in the embodiment of the present invention, the first stopper 30 and the second stopper 40 can also overlap along the axis direction of the rotating body 20. At this time, the two rows of slots can be aligned up and down.

[0049] In addition to the above-mentioned clamping method, a threaded connection method can also be used. At this time, along the axial direction of the rotating body 20, two rows of threaded holes are arranged around the side wall of the rotating body 20. When the threaded holes are specifically arranged, the arrangement method of the threaded holes can refer to the arrangement method of the above-mentioned slots. The arrangement methods of the two can be the same or similar. The first stopper 30 is threadedly connected to one of the threaded holes in one row; the second stopper 40 is threadedly connected to one of the threaded holes in the other row. It can be seen from the above description that when threaded holes are used, only the connection method of the first stopper 30 and the second stopper 40 with the rotating body 20 is different from the above-mentioned clamping method, and the arrangement methods of the threaded holes and the slots are similar.

[0050] In addition to the above two methods, another method can also be adopted. In this method, the first stopper 30 and the second stopper 40 are fixedly connected, and the rotating body 20 can be adjusted. At this time, the rotating body 20 includes a first body and a second body, and the first body is rotatably connected to the second body and can be locked in a set position; wherein the first stopper 30 is fixedly connected to the first body, and the second stopper 40 is fixedly connected to the second body. When setting, the first stopper 30 and the first body are an integral structure, and the second stopper 40 and the second body are an integral structure, so that the angle between the two stops is adjusted by the relative rotation and locking between the two bodies, thereby improving the applicability of the limit assembly. When the first body and the second body are relatively rotated and can be locked in a set position, a plurality of blind holes are arranged on the first body around the axis of the rotating body 20, and a threaded hole corresponding to each blind hole is arranged on the second body; it also includes a threaded connector inserted in at least two of the plurality of blind holes, and each threaded connector is threadedly connected to the threaded hole corresponding to the blind hole inserted by the threaded connector. The first body and the second body are locked by the threaded connector. When adjustment is required, the threaded connector is loosened, and then the first body and the second body are rotated to adjust the angle between the first block 30 and the second block 40. Then the first body and the second body are locked by the threaded connector, so as to adjust the angle between the first block 30 and the second block 40. The threaded connector can be a common threaded connector such as a bolt or a screw. Of course, in addition to the above scheme, the relative locking method of the first body and the second body can also adopt other methods, such as one of the two opposite faces of the first body and the second body is provided with a circle of grooves, and the other is provided with a circle of protrusions, and the first body and the second body can be locked by a locking bolt set on the rotating shaft. When adjustment is required, the locking bolt is loosened, and the first body and the second body can slide relative to each other in the axial direction. When adjusted in place, the protrusions and the grooves are matched, and the locking bolts are tightened. When this method is adopted, the rotating shaft and the rotating body 20 are relatively fixed when the locking bolts are locked, and at this time, the rotating shaft and the base 10 are relatively rotated.

[0051] It can be seen from the above description that the relative position relationship between the first stopper 30 and the second stopper 40 can be adjusted in different ways to improve the rotation angle limit of the limit assembly, thereby improving the applicability of the limit assembly.

[0052] In addition, when setting, the limit assembly also includes an elastic locking member 90 corresponding to the first protrusion 50 and the second protrusion 60 one by one; Figure 6 , Figure 7 and Figure 8As shown, each elastic locking member 90 includes: a slot 92 disposed on the bottom wall of the receiving groove 70, a blind hole 93 disposed on the swing block 80, a ball 91 passing through the blind hole 93 and engaging with the slot 92, and a compression spring 94 disposed in the blind hole 93 and having its two ends pressed against the bottom wall of the blind hole 93 and the ball 91 respectively; in a specific configuration, the opening of the blind hole 93 is located on the lower surface of the swing block 80 so that the ball 91 can be clamped into the slot 92. Of course, when the slot 92 and the blind hole 93 are configured, the slot 92 can also be configured on the swing block 80, while the blind hole 93 can be configured on the bottom wall of the receiving groove 70. At this time, each elastic locking member 90 includes: a slot 92 provided on the swing stopper 80, a blind hole 93 provided on the bottom wall of the receiving groove 70, a ball 91 passing through the blind hole 93 and engaging with the slot 92, and a compression spring 94 provided in the blind hole 93 and having its two ends pressed against the bottom wall of the blind hole 93 and the ball 91 respectively. The temporary positioning of the protrusion is achieved through the cooperation between the ball 91 and the slot 92.

[0053] refer to Figure 6 and Figure 7 As shown, when two elastic locking members 90 are provided, the setting position of one of the elastic locking members 90 refers to the position when the first stopper 30 pushes the first protrusion 50 to rotate to a position that does not block the first stopper 30, and the second protrusion 60 is exposed outside the receiving groove 70 and the extended length is able to block the second stopper 40. This avoids the situation where the position of the second protrusion 60 changes due to mechanical vibration or other external forces, thereby preventing the occurrence of mispositioning or jamming. Similarly, the setting position corresponding to the other elastic locking member 90 also adopts a position that meets the above requirements.

[0054] It can be seen from the above description that in the present application, the rotation angle limit is adjusted by cooperating with different blocks and protrusions, thereby increasing the angle that the limit assembly can limit, thereby increasing the application scope of the limit assembly.

[0055] In addition, an embodiment of the present application further provides a robot, which includes a first rotating member, and a second rotating member rotatably connected to the first rotating member, and also includes any of the above-mentioned limiting components; wherein the first rotating member is fixedly connected to the base 10, and the second rotating member is fixedly connected to the rotating body 20. The first rotating member and the second rotating member can be components that need to rotate relative to each other, such as a robot base and a robotic arm. When limiting, the rotation range of the first rotating member and the second rotating member is limited by limiting the rotation range between the base 10 and the rotating body 20. It can be seen from the above description that by cooperating with different blocks and protrusions, the limitation of the rotation angle is adjusted, the angle that can be limited by the limiting component is increased, and the scope of application of the limiting component is increased.

[0056] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A limit assembly, characterized in that: include: A base, wherein a hollow cavity is provided in the base; and a rotating body disposed in the hollow cavity and rotatably connected to the base; It also includes a limiting structure; the limiting structure includes: A first stopper and a second stopper respectively fixedly connected to the side wall of the rotating body, wherein the first stopper and the second stopper overlap or stagger along the axial direction of the rotating body; A receiving groove is arranged on the side wall of the hollow cavity; a swing block is located in the receiving groove and is rotatably connected to the base; the swing block is provided with a first protrusion for blocking the first stopper, and a second protrusion for blocking the second stopper; wherein; Along the axis direction of the rotating body, two surfaces of the first stopper and the second protrusion opposite to each other are arranged on both sides of a first setting plane; two surfaces of the second stopper and the first protrusion opposite to each other are arranged on both sides of a second setting plane; wherein the first setting plane and the second setting plane are two parallel planes perpendicular to the axis of the rotating body; The angle between the first protrusion and the second protrusion is a set angle; and when one of the first protrusion and the second protrusion is pressed and contacted with the stop block corresponding to the protrusion, the other protrusion is located in the accommodating groove and is pressed and contacted with the side wall of the accommodating groove, and the minimum distance between the other protrusion and the side wall of the rotating body is greater than the vertical distance from the end of the stop block corresponding to the protrusion to the side wall of the rotating body.

2. The limiter assembly according to claim 1, characterized in that: The first stopper can move relative to the second stopper and can be locked in a set position.

3. The limiter assembly according to claim 2, characterized in that: Two rows of slots are arranged around the side wall of the rotating body along the axial direction of the rotating body; the first stopper is mounted in a slot in one of the rows of slots; and the second stopper is mounted in a slot in the other row of slots.

4. The limiter assembly according to claim 2, characterized in that: Along the axial direction of the rotating body, two rows of threaded holes are arranged around the side wall of the rotating body, the first stopper is threadedly connected to one threaded hole in one row of threaded holes; the second stopper is threadedly connected to one threaded hole in the other row of threaded holes.

5. The limiter assembly according to claim 2, characterized in that: The rotating body includes a first body and a second body, wherein the first body is rotatably connected to the second body and can be locked in a set position; wherein the first stopper is fixedly connected to the first body, and the second stopper is fixedly connected to the second body.

6. The limiter assembly according to claim 5, characterized in that: The first body is provided with a plurality of blind holes around the axis of the rotating body, and the second body is provided with a threaded hole corresponding to each blind hole; it also includes a threaded connector penetrating through at least two of the plurality of blind holes, and each threaded connector is threadedly connected to a threaded hole corresponding to the blind hole through which the threaded connector penetrates.

7. The limiter assembly according to any one of claims 1 to 6, characterized in that: It also includes elastic locking pieces corresponding to the first protrusion and the second protrusion one by one; wherein each elastic locking piece includes: A slot disposed on the bottom wall of the receiving slot, a blind hole disposed on the swing block, a ball passing through the blind hole and engaging with the slot, and a compression spring disposed in the blind hole with two ends pressed against the bottom wall of the blind hole and the ball respectively; or, A slot is arranged on the swing stopper, a blind hole is arranged on the bottom wall of the accommodating groove, a ball is passed through the blind hole and engaged with the slot, and a compression spring is arranged in the blind hole and has two ends respectively pressed against the bottom wall of the blind hole and the ball.

8. The limiter assembly according to claim 7, characterized in that: in, The first setting plane and the second setting plane are both center planes of the rotating body in the thickness direction.

9. The limit assembly according to claim 1, characterized in that: The side wall of the accommodating groove opposite to the rotating body is in an inverted V shape, and the inverted V-shaped side wall includes a first inclined surface and a second inclined surface, wherein the first inclined surface is used to press the first protrusion, and the second inclined surface is used to press the second protrusion.

10. A robot, characterized in that: The invention comprises a first rotating member, and a second rotating member rotatably connected to the first rotating member, and further comprises a limit assembly as claimed in any one of claims 1 to 9; wherein: The first rotating member is fixedly connected to the base of the limiting assembly, and the second rotating member is fixedly connected to the rotating body of the limiting assembly.

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