Bullet limiting mechanism

Abstract

The present invention belongs to the field of robotics and provides a spring-block limiting mechanism, comprising: a base, a first elastic limiting assembly, the first elastic limiting assembly comprising a first elastic member and a first spring; a second elastic limiting assembly, the second elastic limiting assembly comprising a second elastic member and a second spring; a turntable, the turntable comprising a turntable body, a lever, and a bearing, the bearing being mounted in a through hole and fixed to the base body, the turntable body being inserted into the bearing and fixed to achieve a rotational connection with the base body; the lever being rotated clockwise or counterclockwise to a first sliding inclined surface or a second sliding inclined surface until it presses against the first spring body or the second spring body, causing the lever to slide into the second concave structure or the first concave structure to achieve engagement and limiting. Compared with related technologies, the spring-block limiting mechanism of the present invention has a simple structure, occupies little space, has good stability, effectively reduces noise, and is highly reliable.

Description

Technical field

[0001] The present invention relates to the field of robotics technology, and in particular to a bullet limiting mechanism. [Background Technology]

[0002] With the advancement of science and technology, more and more industries are beginning to use robots to replace human work. Robots generally perform their functions through telescoping, rotation, and movement. Therefore, the operational performance of robots is closely related to the user experience.

[0003] At present, there are few ±180° rotation positioning structures with relevant technologies applied in the field of robotics. Most structures cannot simultaneously perform rotation positioning of 0°~180° and 0°~-180°. The rotation positioning structures in other application scenarios use complex mechanical limits such as spiral positioning, follow-up sliders and buffers to cooperate with electrical limits and software limits to protect the rotating mechanism from abnormal rotation.

[0004] However, the rotation positioning structure of the related technology has many complex movements, occupies a large space, and has poor compatibility with the robot turntable. Most of them only rely on electrical limits to achieve ±180° rotation limits, which has potential risks such as electrical component failure, and the application reliability on the robot turntable is low.

[0005] Therefore, it is necessary to provide a new bullet limiting mechanism to solve the above problems. [Summary of the invention]

[0006] The technical problem to be solved by the present invention is to provide a bullet limiting mechanism which has a simple structure, small space occupation, good stability, effective noise reduction and high reliability.

[0007] In order to solve the above technical problems, the present invention provides a spring block limiting mechanism for achieving 180-degree forward and reverse rotation limiting, the spring block limiting mechanism comprising:

[0008] A base, comprising a base body and a circular through hole penetrating the base body;

[0009] a first elastic limiting assembly, the first elastic limiting assembly comprising a first elastic member fixed to one side of the base and extending along one radial direction parallel to the through hole, and a first elastic block fixedly connected to one end of the first elastic member close to the through hole; the first elastic block comprising a first elastic block body, a first guide hole formed by a depression at one end of the first elastic block body away from the through hole, and a first concave structure formed by a depression at one side of the first elastic block body, the other end of the first elastic block body close to the through hole forming a first sliding inclined surface;

[0010] and a second elastic limiting component, wherein the second elastic limiting component is parallel to and spaced from the first elastic limiting component, the second elastic limiting component comprising a second elastic member fixed to one side of the base and extending in a direction parallel to the first elastic member, and a second elastic block fixedly connected to one end of the second elastic member close to the through hole; the second elastic block comprises a second elastic block body, a second guide hole formed by a depression at one end of the second elastic block body away from the through hole, and a second concave structure formed by a depression at one side of the second elastic block body, the other end of the second elastic block body close to the through hole forming a second sliding inclined surface; the first concave structure and the second concave structure are respectively located on a side where the first elastic block body and the second elastic block body are close to each other and are arranged opposite to each other; the side where the first sliding inclined surface and the second sliding inclined surface are close to each other is closer to the through hole than the side where the first sliding inclined surface and the second sliding inclined surface are away from each other;

[0011] A turntable, comprising a ring-shaped turntable body and a shifting rod protruding from the turntable body; and

[0012] A bearing, the bearing being installed in the through hole and fixed to the base body, the turntable body being inserted into the bearing and fixed to realize rotational connection with the base body;

[0013] The shift lever is rotated clockwise or counterclockwise to the first sliding inclined surface or the second sliding inclined surface until it presses against the first spring block body or the second spring block body so that the shift lever slides into the second concave structure or the first concave structure to achieve engagement and limiting.

[0014] Preferably, the base further comprises a first and a second annular groove formed by a side of the base body being recessed along the axial direction of the through hole, and a first and a second guide groove formed by a side of the base body being recessed along one radial direction of the through hole;

[0015] The turntable body passes through the through hole and forms a rotational connection with the second groove, and the shifting rod is arranged in the first groove.

[0016] Preferably, the first elastic member further comprises a first limiting block protruding and extending from the bottom side of the first elastic block body close to the base; the second elastic member further comprises a second limiting block protruding and extending from the bottom side of the second elastic block body close to the base;

[0017] The first guide groove is recessed inward to form a first limiting platform, the second guide groove is recessed inward to form a second limiting platform, the first limiting block is contacted with the first limiting platform, and the second limiting block is contacted with the second limiting platform.

[0018] Preferably, the lever includes the lever body protruding from the turntable body and a convex structure extending from one end of the lever body away from the turntable body to opposite sides and perpendicular to the lever body, and the convex structure is used to press against the first sliding inclined surface or the second sliding inclined surface and slide to engage with the second concave structure or the first concave structure to limit the position.

[0019] Preferably, both ends of the convex structure are concave to form an arc surface structure, and the arc surface structure contacts the first sliding inclined surface or the second sliding inclined surface to convert the rotational motion into linear motion.

[0020] Preferably, the first sliding inclined surface, the second sliding inclined surface and the arc surface structure are all formed by surface treatment through a coating process.

[0021] Preferably, the first elastic member includes a first guide column fixed to the base and a first spring sleeved on the first guide column and fixed to the base at one end, and the other end of the first spring is inserted into the first guide hole and forms a fixed connection.

[0022] Preferably, the second elastic member includes a second guide column fixed to the base and a second spring sleeved on the second guide column and fixed to the base at one end, and the other end of the second spring is inserted into the second guide hole to form a fixed connection.

[0023] Preferably, the first guide post and the second guide post are both screws.

[0024] Preferably, the turntable body is penetrated inwardly to form a central hole, and the central hole is used for installing a wiring harness.

[0025] Compared with the related art, the spring block limiting mechanism of the present invention is arranged in the base, and the first elastic limiting component and the second elastic limiting component are installed on the base to limit the rotation position of the turntable. The first spring block is adjusted by the first elastic component of the first elastic limiting component, and the second elastic component of the second elastic limiting component adjusts the second spring block. When the turntable rotates forward, the shift rod slides through the first sliding inclined surface to the second concave structure of the second spring block to achieve bite limiting; when the turntable rotates negatively, the shift rod slides through the second sliding inclined surface to the first concave structure of the first spring block to achieve bite limiting; thereby achieving 180° rotation positioning for positive and negative rotation; the overall space occupied is small, and the spring can effectively constrain the freedom of the spring block when it is not working in a vibration environment, avoid shaking, effectively reduce noise, and has high reliability.

Brief Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:

[0027] Figure 1 It is a structural schematic diagram of the elastic block limiting mechanism of the present invention;

[0028] Figure 2 for Figure 1 Exploded diagram;

[0029] Figure 3 for Figure 1 AA line cross-sectional view;

[0030] Figure 4 This is a schematic structural diagram of the first elastic block of the present invention;

[0031] Figure 5 This is a schematic structural diagram of the second spring block of the present invention;

[0032] Figure 6 This is a schematic diagram of the state of the M position of the present invention;

[0033] Figure 7 This is a schematic diagram of the state of the N position of the present invention;

[0034] Figure 8 This is a schematic diagram of the state of the K position of the present invention. [Specific implementation method]

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] See also Figure 1-8 As shown, a spring block limiting mechanism 100 is provided for achieving 180-degree forward and reverse limiting. The spring block limiting mechanism 100 includes: a base 2, a first elastic limiting component 3, a second elastic limiting component 4, a turntable 1 and a bearing 7.

[0037] The base 2 is used to install the first elastic limiting assembly 3 , the second elastic limiting assembly 4 , the turntable 1 and the bearing 7 . The base 2 includes a base body 21 and a through hole 22 running through the base body 21 .

[0038] Specifically, the base 2 further includes a first groove 23 and a second groove 24 formed by a circular depression on one side of the base body 21 along the axial direction of the through hole 22, as well as a first guide groove 25 and a second guide groove 26 formed on one side of the base body 21. The turntable 1 includes a turntable body 11 and a lever 12 extending from the turntable body 11. The turntable body 11 passes through the through hole 22 and is rotatably connected to the second groove 24. The lever 12 is disposed in the first groove 23. This allows the turntable 1 to be assembled with the base 2, resulting in a smaller structure, greater rotational stability, and space-saving installation.

[0039] The first elastic stop assembly 3 is disposed within the first guide slot 25. It includes a first elastic member 31 fixed to one side of the base 2 and extending in a radial direction parallel to the through-hole 22, and a first spring block 32 fixedly connected to the end of the first elastic member 31 proximal to the through-hole 22. The first elastic member 31 elastically adjusts the first spring block 32 to slide back and forth within the first guide slot 25. The first spring block 32 includes a first spring block body 321, a first guide hole 322 recessed at one end of the first spring block body 321 away from the through-hole 22, and a first concave structure 325 recessed on one side of the first spring block body 321. The other end of the first spring block body 321 proximal to the through-hole 22 forms a first sliding slope 324. The first guide hole 322 and the first elastic member 31 cooperate to provide a working path and posture control for the first elastic member 31, thereby improving the elastic working efficiency of the first elastic member 31.

[0040] The second elastic limiting component 4 is parallel to and spaced from the first elastic limiting component 3. The second elastic limiting component 4 includes a second elastic member 41 fixed to one side of the base 2 and extending in a direction parallel to the first elastic member 31, and a second elastic block 42 fixedly connected to one end of the second elastic member 41 near the through hole 22; the second elastic block 42 includes a second elastic block body 421, a second guide hole 422 formed by a recess at one end of the garden through hole 22 of the second elastic block body 421, and a second elastic block 422 fixedly connected to one end of the garden through hole 22 of the second elastic block body 421. a second concave structure 425 is formed by a depression on one side; the other end of the second spring block body 421 close to the through hole 22 forms a second sliding inclined surface 424; the first concave structure 325 and the second concave structure 425 are respectively located on the side where the first spring block body 321 and the second spring block body 421 are close to each other and are arranged opposite to each other; the side where the first sliding inclined surface 324 and the second sliding inclined surface 424 are close to each other is closer to the through hole 22 than the side where the first sliding inclined surface 324 and the second sliding inclined surface 424 are far away from each other.

[0041] The bearing 7 is installed in the through hole 22 and fixed to the base body 21. The turntable body 11 is inserted into the bearing 7 and fixed to achieve rotational connection with the base body 21. The bearing 7 can reduce friction between the turntable 1 and the base 2, and the turntable 1 has a better rotation effect.

[0042] The lever 12 is rotated clockwise or counterclockwise toward the first sliding inclined surface 324 or the second sliding inclined surface 424 until it presses against the first spring body 321 or the second spring body 421, causing the lever 12 to slide into the second concave structure 425 or the first concave structure 325 to achieve engagement and restraint. The lever 12 is slid along the first sliding inclined surface 324 and the second sliding inclined surface 424 into the second concave structure 425 and the first concave structure 325, respectively, to engage or disengage with each other. When the turntable 1 rotates forward, the lever 12 slides through the first sliding inclined surface 324 into the second concave structure 425 of the second spring block 42 to achieve bite limitation; when the turntable 1 rotates reversely, the lever 12 slides through the second sliding inclined surface 424 into the first concave structure 325 of the first spring block 32 to achieve bite limitation; thereby achieving 180° rotation positioning for positive and negative rotation; the overall space occupied is small, and when in a non-working state in a vibration environment, the spring can effectively constrain the freedom of the spring block to avoid shaking, effectively reduce noise, and have high reliability.

[0043] In this embodiment, the first elastic member 31 further includes a first limit block 323 protruding from the first elastic block body 321 near the bottom side of the base 2; the second elastic member further includes a second limit block 423 protruding from the second elastic block body 421 near the bottom side of the base 2.

[0044] The first guide groove 25 is recessed inward to form a first limiting platform 5, the second guide groove 26 is recessed inward to form a second limiting platform 6, the first limiting block 323 is disposed in contact with the first limiting platform 5, and the second limiting block 423 is disposed in contact with the second limiting platform 6, so that the overall abutment has higher stability.

[0045] Specifically, the first guide groove 25 is recessed inward to form the first limit platform 5, and the second guide groove 26 is recessed inward to form the second limit platform 6. The first limit block 323 is disposed in contact with the first limit platform 5, and the second limit block 423 is disposed in contact with the second limit platform 6. The shift lever 12 slides into the second concave structure 425 and the first concave structure 325 respectively through the first sliding inclined surface 324 and the second sliding inclined surface 424 to achieve mutual engagement or disengagement. The first elastic member 31 and the second elastic member 41 respectively press the first elastic block 32 and the second elastic block 42 into the first guide groove 25 and the second guide groove 26 respectively. The first limit block 323 of the first elastic block 32 contacts the first limit platform 5 to control the initial position of the first elastic block 32 in the first guide groove 25, thereby effectively preventing the first elastic block 32 from contacting the turntable 1, thereby causing wear and loss of rotation efficiency. The second elastic member 41 and the second elastic member 41 respectively press the second elastic block 42 and the second elastic block 42 into the second guide groove 26 and the second guide groove 26. The second limiting block 423 of the second elastic block 42 contacts the second limiting platform 6 to control the second elastic block 42 to the initial position of the second guide groove 26, thereby effectively preventing the second elastic block 42 from contacting the turntable 1.

[0046] In this embodiment, the lever 12 includes a lever body 121 extending protruding from the turntable body, and a convex structure 122 extending perpendicularly to the lever body 121 from one end of the lever body 121 away from the turntable body 11 to opposite sides. The convex structure 122 is configured to press against the first sliding inclined surface 324 or the second sliding inclined surface 424 and slide until it engages with the second concave structure 425 or the first concave structure 325 to limit the position. The convex structure 122 and the first concave structure 325 or the second concave structure 425 interlock. The convex structure of the lever 12 and the concave structure of the spring block allow them to engage with each other during operation and disengage when the operation is complete, resulting in effective limiting and convenient operation.

[0047] In this embodiment, both ends of the convex structure are recessed to form arcuate structures, and the arcuate structures are in contact with the first sliding inclined surface 324 or the second sliding inclined surface 424 to convert the rotational motion into linear motion.

[0048] In this embodiment, the first sliding slope 324, the second sliding slope 424, and the arcuate structure are all formed by a coating process. Optionally, the coating process is a DLC (Diamond-like Carbon) surface treatment process, which can effectively increase hardness and wear resistance, reduce the friction coefficient, thereby improving sliding performance and preventing jamming.

[0049] In this embodiment, the first elastic member 31 includes a first guide post 311 fixed to the base 2 and a first spring 312 that is sleeved on the first guide post 311 and fixed to the base 2 at one end. The other end of the first spring 312 is inserted into and extends into the first guide hole 322, forming a fixed connection. By keeping the first spring 312 in a compressed state, the initial position of the first elastic block 32 can be controlled. Positioning the other end of the first spring 312 in the first guide hole 322 prevents shaking and reduces noise, while also preventing the first slider from contacting and wearing the turntable 1.

[0050] In this embodiment, the second elastic member 41 includes a second guide post 411 fixed to the base 2 and a second spring 412 that is sleeved on the second guide post 411 and fixed to the base 2 at one end. The other end of the second spring 412 is inserted and extends into the second guide hole 422, forming a fixed connection. By keeping the second spring 412 in a compressed state, the initial position of the second elastic block 42 can be controlled. Positioning the other end of the second spring 412 in the second guide hole 422 prevents shaking and reduces noise, while also preventing the second slider from contacting and wearing the turntable 1.

[0051] In this embodiment, the first guide post 311 and the second guide post 411 are both screws. The screw connection is convenient for assembly and disassembly.

[0052] In this embodiment, the turntable body 11 is formed with a central hole 13 formed inwardly, and the central hole 13 is used to install the wiring harness. The central hole 13 of the turntable 1 facilitates the passage of the wiring harness, and the ±180° rotation can prevent the wiring harness from being excessively twisted, which is highly safe.

[0053] The working principle of the elastic block limiting mechanism 100 of the present invention is as follows:

[0054] The robot turntable 1 rotation requirements are: Position M → Position N → Position M → Position K → Position M. Position M is the zero position; Position N is the forward rotation position of 180°; and Position K is the reverse rotation position of 180°.

[0055] 1. Position M: The initial position of the robot's turntable 1, the turntable 1 lever 12 is at point A, the first spring block 32 is at point B, and the second spring block 42 is at point C;

[0056] 2. Position M → Position N: During the 180° forward rotation of the robot turntable 1, the first spring block 32 moves from position B to position B1 along the direction D1 shown in the figure under the action of the shifting rod 12. The arc surface of the shifting rod 12 restricts the first spring block 32 to position B1. The boss of the shifting rod 12 engages with the recess of the second spring block 42. The second spring block 42 remains in position C, restricting further forward rotation of the turntable 1. The turntable 1 shifting rod 12 is in position A1, achieving the 180° forward rotation limit of the robot turntable 1.

[0057] 3. Position N → Position M: The robot turntable 1 reverses and returns to zero point. The boss of the lever 12 disengages from the recess of the second spring block 42 and returns from position A1 to position A. The position of the second spring block 42 remains unchanged and remains at position C. The first spring block 32 slides in the opposite direction of D1 from B1 to position B under the action of the spring, thus constraining the position of the spring block.

[0058] 4. Position M → Position K: During the 180° reversal of the robot turntable 1, the second spring block 42 moves from position C to position C1 along the direction D2 shown in the figure under the action of the shift lever 12. The arc surface of the shift lever 12 restricts the second spring block 42 to position C1. The boss of the shift lever 12 engages with the recess of the first spring block 32. The first spring block 32 remains in position B, restricting further reversal of the turntable 1. The turntable 1 shift lever 12 is in position A1, achieving the 180° reversal limit of the robot turntable 1.

[0059] 5. Position K → Position M: The robot turntable 1 rotates forward and returns to the zero point. The boss of the shift lever 12 disengages from the recess of the first spring block 32 and returns from position A1 to position A. The position of the first spring block 32 remains unchanged and is still at position B. Under the action of the spring, the second spring block 42 slides in the opposite direction of D2 from C1 to position C, thus realizing the position constraint of the spring block.

[0060] Compared with the related art, the spring block limiting mechanism of the present invention is arranged in the base, and the first elastic limiting component and the second elastic limiting component are installed on the base to limit the rotation position of the turntable. The first spring block is adjusted by the first elastic component of the first elastic limiting component, and the second elastic component of the second elastic limiting component adjusts the second spring block. When the turntable rotates forward, the shift rod slides through the first sliding inclined surface to the second concave structure of the second spring block to achieve bite limiting; when the turntable rotates negatively, the shift rod slides through the second sliding inclined surface to the first concave structure of the first spring block to achieve bite limiting; thereby achieving 180° rotation positioning for positive and negative rotation; the overall space occupied is small, and the spring can effectively constrain the freedom of the spring block when it is not working in a vibration environment, avoid shaking, effectively reduce noise, and has high reliability.

[0061] The above description is only an embodiment of the present invention. It should be pointed out that those skilled in the art can make improvements without departing from the creative concept of the present invention, but these improvements all fall within the scope of protection of the present invention.

Claims

1. A spring block limiting mechanism, used to achieve 180-degree forward and reverse limiting, characterized in that: The elastic block limiting mechanism includes: A base, comprising a base body and a circular through hole penetrating the base body; a first elastic limiting assembly, the first elastic limiting assembly comprising a first elastic member fixed to one side of the base and extending along one radial direction parallel to the through hole, and a first elastic block fixedly connected to one end of the first elastic member close to the through hole; the first elastic block comprising a first elastic block body, a first guide hole formed by a depression at one end of the first elastic block body away from the through hole, and a first concave structure formed by a depression at one side of the first elastic block body, the other end of the first elastic block body close to the through hole forming a first sliding inclined surface; and a second elastic limiting component, wherein the second elastic limiting component is parallel to and spaced from the first elastic limiting component, the second elastic limiting component comprising a second elastic member fixed to one side of the base and extending in a direction parallel to the first elastic member, and a second elastic block fixedly connected to one end of the second elastic member close to the through hole; the second elastic block comprises a second elastic block body, a second guide hole formed by a depression at one end of the second elastic block body away from the through hole, and a second concave structure formed by a depression at one side of the second elastic block body, the other end of the second elastic block body close to the through hole forming a second sliding inclined surface; the first concave structure and the second concave structure are respectively located on a side where the first elastic block body and the second elastic block body are close to each other and are arranged opposite to each other; the side where the first sliding inclined surface and the second sliding inclined surface are close to each other is closer to the through hole than the side where the first sliding inclined surface and the second sliding inclined surface are away from each other; A turntable, comprising a ring-shaped turntable body and a shifting rod protruding from the turntable body; and A bearing, the bearing being installed in the through hole and fixed to the base body, the turntable body being inserted into the bearing and fixed to realize rotational connection with the base body; The shift lever is rotated clockwise or counterclockwise to the first sliding inclined surface or the second sliding inclined surface until it presses against the first spring block body or the second spring block body so that the shift lever slides into the second concave structure or the first concave structure to achieve engagement and limiting.

2. The spring block limiting mechanism according to claim 1, characterized in that: The base further includes a first and a second annular groove formed by a side of the base body being recessed along the axial direction of the through hole, and a first and a second guide groove formed by a side of the base body being recessed along one radial direction of the through hole; The turntable body passes through the through hole and forms a rotational connection with the second groove, and the shifting rod is arranged in the first groove.

3. The bullet limiting mechanism according to claim 2, characterized in that: The first elastic member further includes a first limiting block protruding and extending from the bottom side of the first elastic block body close to the base; the second elastic member further includes a second limiting block protruding and extending from the bottom side of the second elastic block body close to the base; The first guide groove is recessed inward to form a first limiting platform, the second guide groove is recessed inward to form a second limiting platform, the first limiting block is contacted with the first limiting platform, and the second limiting block is contacted with the second limiting platform.

4. The bullet limiting mechanism according to claim 1, characterized in that: The lever includes a lever body protruding from the turntable body and a convex structure extending from one end of the lever body away from the turntable body to opposite sides and perpendicular to the lever body, and the convex structure is used to press the first sliding inclined surface or the second sliding inclined surface and slide to engage with the second concave structure or the first concave structure to limit the position.

5. The elastic block limiting mechanism according to claim 4, characterized in that: Both ends of the convex structure are concave to form an arc surface structure, and the arc surface structure contacts the first sliding inclined surface or the second sliding inclined surface to convert the rotational motion into a linear motion.

6. The elastic block limiting mechanism according to claim 5, characterized in that: The first sliding inclined surface, the second sliding inclined surface and the arc surface structure are all formed by surface treatment through a coating process.

7. The bullet limiting mechanism according to claim 1, characterized in that: The first elastic component includes a first guide column fixed to the base and a first spring sleeved on the first guide column and fixed to the base at one end. The other end of the first spring is inserted into the first guide hole and forms a fixed connection.

8. The elastic block limiting mechanism according to claim 7, characterized in that: The second elastic component includes a second guide column fixed to the base and a second spring sleeved on the second guide column and fixed to the base at one end, and the other end of the second spring is inserted into the second guide hole to form a fixed connection.

9. The elastic block limiting mechanism according to claim 8, characterized in that: The first guide post and the second guide post are both screws.

10. The elastic block limiting mechanism according to claim 1, characterized in that: The turntable body is penetrated inwardly to form a central hole, and the central hole is used for installing a wiring harness.

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