Limiting assembly and robot with same

Abstract

The invention provides a limiting assembly and a robot with the limiting assembly. The limiting assembly comprises a first mechanical arm and a second mechanical arm, and the second mechanical arm is rotatably arranged on the first mechanical arm; the signal receiving part is used for receiving whether the rotating angle range of the second mechanical arm and / or the running state of the limiting assembly is abnormal or not; the first limiting piece is adjustably arranged at the end, close to the second mechanical arm, of the first mechanical arm, and the first limiting piece is provided with a first limiting position extending out of the end, close to the second mechanical arm, of the first mechanical arm and a first avoiding position; and when the signal receiving piece receives that the rotating angle range of the second mechanical arm and / or the running state of the limiting assembly is abnormal, the control piece controls the limiting assembly to be in the limiting state. According to the technical scheme, the problem that in the prior art, the movement range of the mechanical arm cannot be mechanically limited according to the movement space or the driving condition of the mechanical arm is solved.

Description

Technical Field

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

[0002] At present, the robot in the prior art generally includes at least two mechanical arms, and the at least two mechanical arms are rotatably arranged to move to a predetermined range. In order to ensure that the robot can operate within a larger range, the rotation range of the two mechanical arms in the prior art is generally within 360°.

[0003] However, in some applications, the installation space of the SCARA robot (a robot used for assembly work) is small, which often limits the movement space of the robot arm. In addition, the control components of the robot arm may also fail to drive. The prior art cannot mechanically limit the range of motion of the robot arm according to the above situation, so that the robot arm may collide with other structures during operation. Summary of the invention

[0004] The main purpose of the present invention is to provide a limiting component and a robot having the same, so as to solve the technical problem in the prior art that the motion range of the robot arm cannot be mechanically limited according to the activity space or driving conditions of the robot arm.

[0005] In order to achieve the above object, according to one aspect of the present invention, a limit assembly is provided, comprising:

[0006] A first mechanical arm and a second mechanical arm, wherein the second mechanical arm is rotatably disposed on the first mechanical arm;

[0007] A signal receiving component, the signal receiving component is used to receive whether the rotation angle range of the second mechanical arm and / or the operating state of the limit assembly is abnormal;

[0008] A first limiter, which is adjustably disposed at one end of the first mechanical arm close to the second mechanical arm, and has a first limit position extending from one end of the first mechanical arm close to the second mechanical arm and a first avoidance position;

[0009] A second limit member is adjustably arranged at one end of the second mechanical arm close to the first mechanical arm, and the second limit member has a second limit position and a second avoidance position extending from one end of the second mechanical arm close to the first mechanical arm; the limit assembly has a limit state and a normal operating state; when the limit assembly is in the limit state, the first limit member is in the first limit position, the second limit member is in the second limit position, and the first limit member is used to abut and limit with the second limit member; when the limit assembly is in the normal operating state, the first limit member is in the first avoidance position, the second limit member is in the second avoidance position, and the first limit member and the second limit member are arranged to avoid each other;

[0010] The control component, the signal receiving component, the first limit component and the second limit component are all connected to the control component; when the signal receiving component receives that the rotation angle range of the second robotic arm and / or the operating state of the limit component is abnormal, the control component controls the limit component to be in the limit state.

[0011] Further, a first avoidance groove is provided at one end of the first mechanical arm close to the second mechanical arm, and the first avoidance groove is adapted to the shape of the first limiting member; when the first limiting member is in the first avoidance position, the first limiting member moves into the first avoidance groove; and / or,

[0012] A second avoidance groove is provided at one end of the second mechanical arm close to the first mechanical arm, and the second avoidance groove is adapted to the shape of the second limiting member; when the second limiting member is in the second avoidance position, the second limiting member moves into the second avoidance groove.

[0013] Furthermore, the limiting component also includes:

[0014] a first driving member, which is arranged on the first mechanical arm, wherein the driving end of the first driving member is telescopically arranged, and the driving end of the first driving member is drivingly connected to the first limiting member; and / or,

[0015] The second driving member is arranged on the second mechanical arm, the driving end of the second driving member is telescopically arranged, and the driving end of the second driving member is drivingly connected to the second limiting member.

[0016] Further, there are a plurality of first limit members, and the plurality of first limit members are arranged at intervals along the circumferential direction of the second mechanical arm relative to the rotation axis of the first mechanical arm, and the control member controls the plurality of first limit members according to the rotation angle range of the second mechanical arm; and / or,

[0017] There are multiple second limit members, and the multiple second limit members are arranged at intervals along the circumferential direction of the rotation axis of the second mechanical arm relative to the first mechanical arm. The control member controls the multiple second limit members according to the rotation angle range of the second mechanical arm.

[0018] Further, there are multiple first limit members, and the multiple first limit members are arranged at circumferential intervals along the rotation axis of the second robotic arm relative to the first robotic arm, and the control member controls the multiple first limit members according to the rotation angle range of the second robotic arm; the control member determines the number and position of the first limit members that are adapted to the rotation angle range of the second robotic arm according to the rotation angle range of the second robotic arm, and controls the corresponding first limit members to move to the first limit position.

[0019] Furthermore, the limiting component also includes:

[0020] A visual detection member, disposed on the rotation axis of the second mechanical arm, wherein a detection end of the visual detection member is disposed toward the first limiting member;

[0021] When there is only one first limiting member, the visual detection member is used to detect the angle range of both ends of the first limiting member relative to the rotation axis; or,

[0022] When there are at least two second position-limiting members, the visual detection member is used to detect the angle range of two second position-limiting members located at two ends of the at least two second position-limiting members;

[0023] Wherein, the visual detection component is connected to the control component, and the control component determines whether the angle range detected by the visual detection component is compatible with the rotation angle range of the second robotic arm according to the angle range detected by the visual detection component.

[0024] Further, the first limiting member is a first arc-shaped block, and the first arc-shaped block has a first arc-shaped edge and a second annular edge which are arranged opposite to each other; and / or,

[0025] The second limiting member is a second arc-shaped block, and the second arc-shaped block has a third arc-shaped edge and a fourth arc-shaped edge which are arranged opposite to each other.

[0026] Further, the first position-limiting member is a first arc block, the center angle corresponding to the first arc block is a first center angle, the second position-limiting member is a second arc block, and the center angle corresponding to the second arc block is a second center angle;

[0027] wherein the first center angle is equal to the second center angle; or

[0028] The first central angle is greater than the second central angle.

[0029] Further, the first limiting member includes a limiting body and a limiting protrusion which are connected to each other, and the limiting protrusion is arranged to protrude from one end of the limiting body close to the second robotic arm; the second limiting member is provided with an arc groove which is adapted to the limiting protrusion, and the limiting protrusion can be movably arranged in the arc groove, and the limiting protrusion is used to perform limiting abutment with both ends of the arc groove.

[0030] According to another aspect of the present invention, a robot is provided, comprising the above-mentioned limiting assembly.

[0031] By applying the technical solution of the present invention, the positions of the first limiter and the second limiter can be adjusted and set according to the signal received by the signal receiving member through the control member, so as to determine that the rotation of the second mechanical arm is limited when the signal receiving member receives the rotation angle range of the second mechanical arm, and the limiter assembly is placed in a limited state through the control member to minimize the rotation range of the second mechanical arm and avoid the second mechanical arm from interfering with other components during rotation. Alternatively, when the operating state of the limiter assembly is abnormal (the abnormal operating state here may include but is not limited to the loss of control of the limiter assembly, the failure of the control module that controls the rotation of the second mechanical arm of the limiter assembly, etc.), the rotation of the second mechanical arm is limited to minimize the rotation range of the second mechanical arm and avoid the second mechanical arm from interfering with other components in the out-of-control state. Therefore, the limiter assembly provided in this embodiment can solve the technical problem in the prior art that the range of motion of the mechanical arm cannot be mechanically limited according to the activity space or driving conditions of the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 A schematic structural diagram of a position limiting assembly provided according to an embodiment of the present invention from one viewing angle is shown;

[0034] Figure 2 A schematic structural diagram of another viewing angle of a position limiting assembly provided in an embodiment of the present invention is shown;

[0035] Figure 3 A structural schematic diagram showing a partial structure of a position limiting assembly provided according to an embodiment of the present invention;

[0036] Figure 4 It shows a schematic structural diagram of a first limiting member and a second limiting member of the same size provided in an embodiment of the present invention when they are not in contact with each other;

[0037] Figure 5 It shows a schematic structural diagram of a first limiting member and a second limiting member of the same size provided in an embodiment of the present invention when they abut against each other for limiting position;

[0038] Figure 6 It shows a schematic structural diagram of the first limiting members and the second limiting members of different sizes provided according to an embodiment of the present invention when they are not abutting against each other for limiting;

[0039] Figure 7 A schematic structural diagram of a first limiting member having a limiting body and a limiting protrusion provided according to an embodiment of the present invention is shown.

[0040] The above drawings include the following reference numerals:

[0041] 10. The first robotic arm;

[0042] 20. Second mechanical arm; 21. Rotation axis;

[0043] 30. First limiting member; 31. Limiting body; 32. Limiting protrusion;

[0044] 40. A second limiting member. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] like Figures 1 to 7As shown, an embodiment of the present invention provides a limit assembly, which includes a first mechanical arm 10, a second mechanical arm 20, a signal receiving member, a first limit member 30, a second limit member 40 and a control member, and the second mechanical arm 20 is rotatably arranged on the first mechanical arm 10. The signal receiving member is used to receive the rotation angle range of the second mechanical arm 20 and / or whether the operating state of the limit assembly is abnormal; the first limit member 30 is adjustably arranged at one end of the first mechanical arm 10 close to the second mechanical arm 20, and the first limit member 30 has a first limit position and a first avoidance position extending from one end of the first mechanical arm 10 close to the second mechanical arm 20; the second limit member 40 is adjustably arranged at one end of the second mechanical arm 20 close to the first mechanical arm 10, and the second limit member 40 has a first limit position and a first avoidance position extending from one end of the second mechanical arm 20 The second limit position and the second avoidance position near one end of the first mechanical arm 10; the limit assembly has a limit state and a normal operating state; when the limit assembly is in the limit state, the first limit member 30 is in the first limit position, the second limit member 40 is in the second limit position, and the first limit member 30 is used to abut against the second limit member 40 for limit; when the limit assembly is in the normal operating state, the first limit member 30 is in the first avoidance position, the second limit member 40 is in the second avoidance position, and the first limit member 30 and the second limit member 40 are arranged to avoid each other. The signal receiving member, the first limit member 30 and the second limit member 40 are all connected to the control member; when the signal receiving member receives the rotation angle range of the second mechanical arm 20 and / or the operating state of the limit assembly is abnormal, the control member controls the limit assembly to be in the limit state.

[0047] By adopting the limit assembly provided in this embodiment, the control part can adjust the position of the first limit member 30 and the second limit member 40 according to the signal received by the signal receiving part, so that when the signal receiving part receives the rotation angle range of the second mechanical arm 20, the control part determines that the rotation of the second mechanical arm 20 is limited and puts the limit assembly in a limited state, so as to minimize the rotation range of the second mechanical arm 20 and avoid the second mechanical arm 20 from interfering with other parts when rotating. Alternatively, when the operating state of the limit assembly is abnormal (the abnormal operating state here may include but is not limited to the operation out of control of the limit assembly, the failure of the control module that controls the rotation of the second mechanical arm 20 of the limit assembly, etc.), the rotation of the second mechanical arm 20 is limited to minimize the rotation range of the second mechanical arm 20 and avoid the second mechanical arm 20 from interfering with other parts when out of control. Therefore, the limit assembly provided in this embodiment can solve the technical problem that the motion range of the mechanical arm cannot be mechanically limited according to the activity space or driving condition of the mechanical arm in the prior art.

[0048] Specifically, a first avoidance groove is provided at one end of the first mechanical arm 10 close to the second mechanical arm 20, and the first avoidance groove is adapted to the shape of the first limiter 30; when the first limiter 30 is in the first avoidance position, the first limiter 30 moves into the first avoidance groove. With such a structural setting, it is convenient for the first limiter 30 to stably avoid the second limiter 40 when it is in the first avoidance position, so as to ensure that when the limiter assembly is in normal operation, the second mechanical arm 20 can rotate within a predetermined angle range relative to the first mechanical arm 10. Specifically, the predetermined angle range can be 360°.

[0049] Specifically, a second avoidance groove is provided at one end of the second mechanical arm 20 close to the first mechanical arm 10, and the second avoidance groove is adapted to the shape of the second stopper 40; when the second stopper 40 is in the second avoidance position, the second stopper 40 moves into the second avoidance groove. With such a structural setting, it is convenient for the second stopper 40 to stably avoid the first stopper 30 when it is in the second avoidance position, so as to ensure that when the stopper assembly is in normal operation, the second mechanical arm 20 can rotate relative to the first mechanical arm 10 within a predetermined angle range. Specifically, the predetermined angle range can be 360°.

[0050] In this embodiment, the limiting assembly further includes a first driving member, which is disposed on the first mechanical arm 10, and the driving end of the first driving member is telescopically disposed, and the driving end of the first driving member is drivingly connected to the first limiting member 30. In this way, it is convenient to automatically and flexibly control the position of the first limiting member 30, so that the first limiting member 30 moves to the first limiting position or the first avoidance position.

[0051] Specifically, the limiting assembly further includes a second driving member, which is disposed on the second mechanical arm 20, and the driving end of the second driving member is telescopically disposed, and the driving end of the second driving member is drivingly connected to the second limiting member 40. In this way, it is convenient to automatically and flexibly control the position of the second limiting member 40, so that the second limiting member 40 moves to the second limiting position or the second avoidance position.

[0052] In this embodiment, there are multiple first limiters 30, and the multiple first limiters 30 are arranged at intervals along the circumferential direction of the second mechanical arm 20 relative to the rotation axis of the first mechanical arm 10, and the control component controls the multiple first limiters 30 according to the rotation angle range of the second mechanical arm 20. With such a structural arrangement, it is convenient to determine the control method of the multiple first limiters 30 according to the rotation angle range of the second mechanical arm 20, so that when the limit assembly is in the limit state, the corresponding limit angle range of the first limiter 30 and the second limiter 40 is adapted to the rotation angle range of the second mechanical arm 20 (when the limit assembly is in the limit state, the corresponding limit angle range of the first limiter 30 and the second limiter 40 is less than or equal to the rotation angle range of the second mechanical arm 20), so as to better ensure the stable movement of the second mechanical arm 20 and avoid the second mechanical arm 20 from being damaged by collision during the rotation process.

[0053] Specifically, there are multiple second limiters 40, which are arranged at intervals along the circumferential direction of the rotation axis of the second mechanical arm 20 relative to the first mechanical arm 10, and the control member controls the multiple second limiters 40 according to the rotation angle range of the second mechanical arm 20. With such a structural arrangement, it is convenient to determine the control method of the multiple second limiters 40 according to the rotation angle range of the second mechanical arm 20, so that when the limit assembly is in the limit state, the corresponding limit angle range of the first limiter 30 and the second limiter 40 is adapted to the rotation angle range of the second mechanical arm 20 (when the limit assembly is in the limit state, the corresponding limit angle range of the first limiter 30 and the second limiter 40 is less than or equal to the rotation angle range of the second mechanical arm 20), so as to better ensure the stable movement of the second mechanical arm 20 and avoid the second mechanical arm 20 from expanding and being damaged during the rotation process.

[0054] In this embodiment, there are multiple first limiters 30, and the multiple first limiters 30 are arranged at intervals along the annular direction of the second mechanical arm 20 relative to the rotation axis of the first mechanical arm 10. The control component controls the multiple first limiters 30 according to the rotation angle range of the second mechanical arm 20; the control component determines the number and position of the first limiters 30 that are compatible with the rotation angle range of the second mechanical arm 20 according to the rotation angle range of the second mechanical arm 20, and controls the corresponding first limiters 30 to move to the first limit position. This method can facilitate better ensuring the stable movement of the second mechanical arm 20, so that the second mechanical arm 20 does not interfere with other structures during the movement.

[0055] Specifically, “the number and position of the first limit members 30 adapted to the rotation angle range of the second robotic arm 20” can be understood as when a first limit member 30 cooperates with a second limit member 40, the corresponding angle limitation range for the second robotic arm 20 is less than or equal to the rotation angle range of the second robotic arm 20; when two or more first limit members 30 cooperate with a second limit member 40, the corresponding angle limitation ranges at both ends of the two first limit members 30 located at the end are less than or equal to the rotation angle range of the second robotic arm 20.

[0056] Specifically, the limit assembly also includes a visual detection member, which is arranged on the rotation axis 21 of the second mechanical arm 20, and the detection end of the visual detection member is arranged toward the first limit member 30. When there is one first limit member 30, the visual detection member is used to detect the angle range of the two ends of the first limit member 30 relative to the rotation axis 21; or, when there are at least two second limit members 40, the visual detection member is used to detect the angle range of two second limit members 40 located at the two ends respectively among the at least two second limit members 40. Among them, the visual detection member is connected to the control member, and the control member determines whether the angle range detected by the visual detection member is compatible with the rotation angle range of the second mechanical arm 20. With such a setting, it is easy to accurately determine whether the angle range detected by the visual detection member is compatible with the rotation angle range of the second mechanical arm 20, so as to effectively ensure that the second mechanical arm 20 rotates within a limited range, thereby avoiding collision or interference with other structures.

[0057] In this embodiment, the first stopper 30 is a first arc block, and the first arc block has a first arc edge and a second annular edge that are arranged opposite to each other. In this way, the shape of the first stopper 30 can be more adapted to the shape of the rotational motion, and the first stopper 30 can be prevented from interfering with other components during the rotation process. In addition, the structure and shape of the first stopper 30 are also optimized.

[0058] Specifically, the second stopper 40 is a second arc block, and the second arc block has a third arc edge and a fourth arc edge that are arranged opposite to each other. In this way, the shape of the second stopper 40 can be more adapted to the shape of the rotational motion, and the second stopper 40 can be prevented from interfering with other components during the rotation process. In addition, the structure and shape of the second stopper 40 are also optimized.

[0059] In this embodiment, the first stopper 30 is a first arc block, and the center angle corresponding to the first arc block is the first center angle. The second stopper 40 is a second arc block, and the center angle corresponding to the second arc block is the second center angle. The first center angle is equal to the second center angle; or, the first center angle is greater than the second center angle. With such a structural setting, it is possible to limit the limit angle range of the first stopper 30 and the second stopper 40 by adjusting the first center angle and the second center angle, so as to limit the rotation angle range of the second robot arm 20.

[0060] Specifically, the first limiting member 30 includes a limiting body 31 and a limiting protrusion 32 connected to each other, and the limiting protrusion 32 is arranged to protrude from one end of the limiting body 31 close to the second mechanical arm 20; the second limiting member 40 is provided with an arc groove adapted to the limiting protrusion 32, and the limiting protrusion 32 can be movably arranged in the arc groove, and the limiting protrusion 32 is used to limit and abut against the two ends of the arc groove. In this way, the structure is simple, and it is convenient to achieve stable limiting of the second mechanical arm 20. In addition, it is also convenient to better effectively limit the movement of the second mechanical arm 20 when the control of the second mechanical arm 20 fails. Specifically, the size of the limiting protrusion 32 and the range of the arc groove can be designed by oneself according to the actual equipment space and motion trajectory requirements.

[0061] Specifically, the first position-limiting member 30 and the second position-limiting member 40 are detachably and washably arranged, and the first position-limiting member 30 and the second position-limiting member 40 can be respectively fastened to the first robotic arm 10 and the second robotic arm 20 by means of clamping screws.

[0062] In addition, in this embodiment, angle scale lines can be set on the first limit member 30, the second limit member 40, the first robotic arm 10 and the second robotic arm 20, and the angle offset can be calculated based on the scale lines to more accurately limit the working range angle of the robotic arm. The adjustment is flexible and unrestricted, and it can also play a mechanical protection role to meet the space optimization of the equipment.

[0063] Specifically, according to the actual equipment space and motion trajectory requirements, the number of the first limit members 30 and / or the second limit members 40 can be adjusted to limit the rotation angle of the second robot arm 20 within a certain range.

[0064] Another embodiment of the present invention provides a robot, comprising the above-mentioned limiting assembly.

[0065] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the number of the first limit member and / or the second limit member can be adjusted accordingly according to the actual application scenario of the robot, so as to flexibly adjust the mechanical limit position and better adapt to the actual use scenario; by adjusting the first limit member and the second limit member, the robot can optimize the motion path and layout, reduce unnecessary space occupation and collision risks; the structure is simple.

[0066] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0067] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0068] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0069] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0070] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A limit assembly, characterized in that: include: A first mechanical arm (10) and a second mechanical arm (20), wherein the second mechanical arm (20) is rotatably arranged on the first mechanical arm (10); A signal receiving component, the signal receiving component is used to receive information about the rotation angle range of the second mechanical arm (20) and / or whether the operating state of the limit assembly is abnormal; a first limiting member (30) which is adjustably arranged at one end of the first mechanical arm (10) close to the second mechanical arm (20), the first limiting member (30) having a first limiting position extending from one end of the first mechanical arm (10) close to the second mechanical arm (20) and a first avoiding position; A second limiting member (40) is adjustably arranged at one end of the second mechanical arm (20) close to the first mechanical arm (10), and the second limiting member (40) has a second limiting position and a second avoiding position extending from one end of the second mechanical arm (20) close to the first mechanical arm (10); the limiting assembly has a limiting state and a normal operating state; when the limiting assembly is in the limiting state, the first limiting member (30) is in the first limiting position, and the second limiting member (40) is in the second limiting position, and the first limiting member (30) is used to abut and limit with the second limiting member (40); when the limiting assembly is in the normal operating state, the first limiting member (30) is in the first avoiding position, and the second limiting member (40) is in the second avoiding position, and the first limiting member (30) and the second limiting member (40) are arranged to avoid each other; The control component, the signal receiving component, the first limit component (30) and the second limit component (40) are all connected to the control component; when the signal receiving component receives that the rotation angle range of the second mechanical arm (20) and / or the operating state of the limit component is abnormal, the control component controls the limit component to be in the limit state.

2. The limit assembly according to claim 1, characterized in that: A first avoidance groove is provided at one end of the first mechanical arm (10) close to the second mechanical arm (20), and the first avoidance groove is adapted to the shape of the first limiting member (30); when the first limiting member (30) is in the first avoidance position, the first limiting member (30) moves into the first avoidance groove; and / or, A second avoidance groove is provided at one end of the second mechanical arm (20) close to the first mechanical arm (10), and the second avoidance groove is adapted to the shape of the second limiting member (40); when the second limiting member (40) is in the second avoidance position, the second limiting member (40) moves into the second avoidance groove.

3. The limit assembly according to claim 1, characterized in that: The limiting component also includes: a first driving member, arranged on the first mechanical arm (10), wherein the driving end of the first driving member is telescopically arranged, and the driving end of the first driving member is drivingly connected to the first limiting member (30); and / or, The second driving member is arranged on the second mechanical arm (20), the driving end of the second driving member is telescopically arranged, and the driving end of the second driving member is drivingly connected to the second limiting member (40).

4. The limiting assembly according to claim 1, characterized in that: There are a plurality of the first limit members (30), the plurality of the first limit members (30) are arranged at intervals along the circumferential direction of the second mechanical arm (20) relative to the rotation axis of the first mechanical arm (10), and the control member controls the plurality of the first limit members (30) according to the rotation angle range of the second mechanical arm (20); and / or, There are a plurality of second limit members (40), and the plurality of second limit members (40) are arranged at circumferential intervals along the rotation axis of the second robotic arm (20) relative to the first robotic arm (10), and the control member controls the plurality of second limit members (40) according to the rotation angle range of the second robotic arm (20).

5. The limiter assembly according to claim 1, characterized in that: There are a plurality of first limit members (30), and the plurality of first limit members (30) are arranged at circumferential intervals along the second robotic arm (20) relative to the rotation axis of the first robotic arm (10). The control member controls the plurality of first limit members (30) according to the rotation angle range of the second robotic arm (20); the control member determines the number and position of the first limit members (30) that are adapted to the rotation angle range of the second robotic arm (20) according to the rotation angle range of the second robotic arm (20), and controls the corresponding first limit members (30) to move to the first limit position.

6. The limiting assembly according to claim 5, characterized in that: The limiting component also includes: a visual detection member, arranged on the rotating shaft (21) of the second mechanical arm (20), wherein a detection end of the visual detection member is arranged toward the first limiting member (30); When there is only one first limiting member (30), the visual detection member is used to detect the angle range of the two ends of the first limiting member (30) relative to the rotating shaft (21); or, When there are at least two second position-limiting members (40), the visual detection member is used to detect the angle range of two second position-limiting members (40) located at two ends of the at least two second position-limiting members (40); The visual detection component is connected to the control component, and the control component determines whether the angle range detected by the visual detection component is compatible with the rotation angle range of the second mechanical arm (20).

7. The limiting assembly according to claim 1, characterized in that: The first limiting member (30) is a first arc-shaped block, the first arc-shaped block having a first arc-shaped edge and a second annular edge arranged opposite to each other; and / or, The second limiting member (40) is a second arc-shaped block, and the second arc-shaped block has a third arc-shaped edge and a fourth arc-shaped edge which are arranged opposite to each other.

8. The limiting assembly according to claim 1, characterized in that: The first limiting member (30) is a first arc block, the center angle corresponding to the first arc block is a first center angle, and the second limiting member (40) is a second arc block, the center angle corresponding to the second arc block is a second center angle; wherein the first center angle is equal to the second center angle; or The first central angle is greater than the second central angle.

9. The limiting assembly according to claim 1, characterized in that: The first limiting member (30) comprises a limiting body (31) and a limiting protrusion (32) which are connected to each other, and the limiting protrusion (32) is arranged to protrude from one end of the limiting body (31) close to the second mechanical arm (20); the second limiting member (40) is provided with an arc groove which is adapted to the limiting protrusion (32), and the limiting protrusion (32) can be movably arranged in the arc groove, and the limiting protrusion (32) is used to perform limiting abutment with the two ends of the arc groove.

10. A robot, characterized in that: The invention comprises the limiting assembly according to any one of claims 1 to 9.

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