Limiting assembly and robot having the same

Abstract

The application provides a limiting assembly and a robot with the same, which comprises a first mechanical arm and a second mechanical arm, the second mechanical arm is rotatably arranged on the first mechanical arm; a signal receiving member is used for receiving a rotation angle range of the second mechanical arm and / or whether an operating state of the limiting assembly is abnormal; a first limiting member is adjustably arranged at one end of the first mechanical arm close to the second mechanical arm, the first limiting member has a first limiting position extending from the one end of the first mechanical arm close to the second mechanical arm and a first avoiding position; when the signal receiving member receives the rotation angle range of the second mechanical arm and / or the operating state of the limiting assembly is abnormal, a control member controls the limiting assembly to be in a limiting state. Through the technical scheme provided by the application, the 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 is solved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a limiting component and a robot having the same. Background Technology

[0002] Currently, robots in existing technologies generally include at least two robotic arms, which are rotatably configured to move to a predetermined range. To ensure that the robot can perform operations over a wide range, the rotation range of the two robotic arms in existing technologies is generally within 360°.

[0003] However, in some applications, the installation space for SCARA robots (robots used for assembly operations) is limited, often restricting the robotic arm's range of motion. Furthermore, the robot's arm control components may malfunction. Current technology cannot mechanically limit the robotic arm's range of motion to address these issues, potentially leading to collisions with other structures during operation. Summary of the Invention

[0004] The main objective of this 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 range of motion of a robotic arm cannot be mechanically limited according to the activity space or driving conditions of the robotic arm.

[0005] To achieve the above objectives, according to one aspect of the present invention, a limiting component is provided, comprising:

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

[0007] A signal receiver, the signal receiver being used to receive the rotation angle range of the second robotic arm and / or whether the operating status of the limiting component is abnormal;

[0008] A first limiting member is arbitrarily disposed at one end of the first robotic arm near the second robotic arm. The first limiting member has a first limiting position and a first clearance position extending out of the end of the first robotic arm near the second robotic arm.

[0009] A second limiting member is adjustablely positioned at the end of the second robotic arm near the first robotic arm. The second limiting member has a second limiting position and a second clearance position extending from the end of the second robotic arm near the first robotic arm. 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 is in the first limiting position and the second limiting member is in the second limiting position, with the first limiting member abutting against the second limiting member for limiting. When the limiting assembly is in the normal operating state, the first limiting member is in the first clearance position and the second limiting member is in the second clearance position, with the first limiting member and the second limiting member mutually clearanceing each other.

[0010] The control unit is connected to the signal receiver, the first limiting member, and the second limiting member. When the signal receiver receives an abnormality in the rotation angle range of the second robotic arm and / or the operating state of the limiting component, the control unit controls the limiting component to be in the limiting state.

[0011] Furthermore, a first clearance groove is provided at the end of the first robotic arm near the second robotic arm, and the shape of the first clearance groove is adapted to the shape of the first limiting member; when the first limiting member is in the first clearance position, the first limiting member moves into the first clearance groove; and / or,

[0012] The second robotic arm has a second clearance groove at one end near the first robotic arm. The second clearance groove is adapted to the shape of the second limiting member. When the second limiting member is in the second clearance position, the second limiting member moves into the second clearance groove.

[0013] Furthermore, the limiting component also includes:

[0014] A first driving component is mounted on the first robotic arm, and the driving end of the first driving component is retractable and connected to the first limiting component; and / or,

[0015] The second driving component is mounted on the second robotic arm. The driving end of the second driving component is retractable and is connected to the second limiting component.

[0016] Furthermore, there are multiple first limiting members, which are arranged circumferentially along the rotation axis of the second robotic arm relative to the first robotic arm. The control unit controls the multiple first limiting members according to the rotation angle range of the second robotic arm; and / or,

[0017] There are multiple second limiting members, which are arranged circumferentially along the rotation axis of the second robotic arm relative to the first robotic arm. The control unit controls the multiple second limiting members according to the rotation angle range of the second robotic arm.

[0018] Furthermore, there are multiple first limiting members, which are arranged circumferentially along the rotation axis of the second robotic arm relative to the first robotic arm. The control unit controls the multiple first limiting members according to the rotation angle range of the second robotic arm. The control unit determines the number and position of the first limiting 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 limiting members to move to the first limiting position.

[0019] Furthermore, the limiting component also includes:

[0020] A vision inspection component is mounted on the rotation axis of the second robotic arm, with the detection end of the vision inspection component facing the first limiting component;

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

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

[0023] The vision detection device is connected to the control device, and the control device determines whether it is compatible with the rotation angle range of the second robotic arm based on the angle range detected by the vision detection device.

[0024] Furthermore, the first limiting member is a first arc-shaped block, the first arc-shaped block having a first arc-shaped edge and a second annular edge disposed opposite to each other; and / or,

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

[0026] Furthermore, the first limiting member is a first arc block, and the central angle corresponding to the first arc block is a first central angle; the second limiting member is a second arc block, and the central angle corresponding to the second arc block is a second central angle.

[0027] Wherein, the first central angle is equal to the second central angle; or,

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

[0029] Furthermore, the first limiting member includes a limiting body and a limiting protrusion connected to each other. The limiting protrusion protrudes from one end of the limiting body near the second robotic arm. The second limiting member is provided with an arc-shaped groove adapted to the limiting protrusion. The limiting protrusion is movably disposed in the arc-shaped groove and is used to limit and abut against both ends of the arc-shaped groove.

[0030] According to another aspect of the present invention, a robot is provided, including the limiting component described above.

[0031] By applying the technical solution of this invention, the control component can adjust and set the positions of the first and second limiting components based on the signals received by the signal receiver. This allows the control component to determine that the rotation of the second robotic arm is restricted when the signal receiver receives a rotation angle range from the second robotic arm. The control component then keeps the limiting components in a limited state to minimize the rotation range of the second robotic arm and prevent interference with other components during rotation. Alternatively, when the operating state of the limiting components is abnormal (this abnormal operating state may include, but is not limited to, loss of control of the limiting components, or failure of the control module controlling the rotation of the second robotic arm), the rotation of the second robotic arm can be restricted to minimize its rotation range and prevent interference with other components in an uncontrolled state. Therefore, the limiting component provided in this embodiment solves the technical problem in the prior art where the movement range of a robotic arm cannot be mechanically limited based on its activity space or driving conditions. Attached Figure Description

[0032] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0033] Figure 1 A schematic diagram of the limiting component provided according to an embodiment of the present invention is shown from one perspective;

[0034] Figure 2 A schematic diagram of the limiting component provided according to an embodiment of the present invention is shown from another perspective;

[0035] Figure 3 A schematic diagram of a portion of the structure of the limiting component provided according to an embodiment of the present invention is shown;

[0036] Figure 4 A schematic diagram of the structure of the first and second limiting members of the same size provided according to an embodiment of the present invention when they are not in contact with each other for limiting is shown;

[0037] Figure 5 A schematic diagram of the structure of a first limiting member and a second limiting member of the same size provided according to an embodiment of the present invention when they abut and limit each other is shown.

[0038] Figure 6 This diagram illustrates the structure of the first and second limiting members of different sizes provided according to an embodiment of the present invention when they are not in contact with the limiting element.

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

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

[0041] 10. The first robotic arm;

[0042] 20. Second robotic arm; 21. Rotating shaft;

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

[0044] 40. Second limiting component. Detailed Implementation

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0046] like Figures 1 to 7As shown, an embodiment of the present invention provides a limiting component, which includes a first robotic arm 10, a second robotic arm 20, a signal receiver, a first limiting member 30, a second limiting member 40, and a control member. The second robotic arm 20 is rotatably mounted on the first robotic arm 10. The signal receiver is used to receive the rotation angle range of the second robotic arm 20 and / or whether the operating state of the limiting component is abnormal. The first limiting member 30 is adjustablely positioned at one end of the first robotic arm 10 near the second robotic arm 20, and has a first limiting position and a first clearance position extending from the end of the first robotic arm 10 near the second robotic arm 20. The second limiting member 40 is adjustablely positioned at one end of the second robotic arm 20 near the first robotic arm 10, and has a first limiting position and a second clearance position extending from the end of the second robotic arm 20 near the second robotic arm 20. The first robotic arm 10 has a second limiting position and a second avoidance position. The limiting component has a limiting state and a normal operating state. When the limiting component 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, with the first limiting member 30 abutting against the second limiting member 40 for limiting. When the limiting component is in the normal operating state, the first limiting member 30 is in the first avoidance position and the second limiting member 40 is in the second avoidance position, with the first limiting member 30 and the second limiting member 40 mutually avoiding each other. The signal receiver, the first limiting member 30, and the second limiting member 40 are all connected to the control component. When the signal receiver receives abnormalities in the rotation angle range of the second robotic arm 20 and / or the operating state of the limiting component, the control component controls the limiting component to be in the limiting state.

[0047] Using the limiting component provided in this embodiment, the control unit can adjust the positions of the first limiting member 30 and the second limiting member 40 according to the signal received by the signal receiver. When the signal receiver receives the rotation angle range of the second robotic arm 20, the control unit determines that the rotation of the second robotic arm 20 is restricted and puts the limiting component in a limiting state to minimize the rotation range of the second robotic arm 20 and avoid interference with other components during rotation. Alternatively, when the operating state of the limiting component is abnormal (this abnormal operating state may include, but is not limited to, loss of control of the limiting component's operation, failure of the control module controlling the rotation of the second robotic arm 20), the rotation of the second robotic arm 20 is restricted to minimize its rotation range and avoid interference with other components in an uncontrolled state. Therefore, the limiting component provided in this embodiment can solve the technical problem in the prior art of not being able to mechanically limit the range of motion of the robotic arm according to its activity space or driving conditions.

[0048] Specifically, a first clearance groove is provided at the end of the first robotic arm 10 near the second robotic arm 20, and the shape of the first clearance groove is adapted to the shape of the first limiting member 30; when the first limiting member 30 is in the first clearance position, the first limiting member 30 moves into the first clearance groove. This structural arrangement facilitates stable clearance between the first limiting member 30 and the second limiting member 40 when in the first clearance position, ensuring that the second robotic arm 20 can rotate relative to the first robotic arm 10 within a predetermined angle range during normal operation of the limiting assembly. Specifically, this predetermined angle range can be 360°.

[0049] Specifically, a second clearance groove is provided at the end of the second robotic arm 20 near the first robotic arm 10, and the shape of the second clearance groove is adapted to the shape of the second limiting member 40; when the second limiting member 40 is in the second clearance position, the second limiting member 40 moves into the second clearance groove. This structural arrangement facilitates stable clearance between the second limiting member 40 and the first limiting member 30 in the second clearance position, ensuring that the second robotic arm 20 can rotate relative to the first robotic arm 10 within a predetermined angle range during normal operation of the limiting assembly. Specifically, this predetermined angle range can be 360°.

[0050] In this embodiment, the limiting component further includes a first driving member, which is disposed on the first robotic arm 10. The driving end of the first driving member is retractably disposed and is drivenly connected to the first limiting member 30. This facilitates automated and flexible control of 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 component also includes a second driving member, which is mounted on the second robotic arm 20. The driving end of the second driving member is retractable and is drivenly connected to the second limiting member 40. This facilitates automated and flexible control of the position of the second limiting member 40, allowing it to move to the second limiting position or the second avoidance position.

[0052] In this embodiment, there are multiple first limiting members 30, which are arranged circumferentially along the rotation axis of the second robotic arm 20 relative to the first robotic arm 10. The control unit controls the multiple first limiting members 30 according to the rotation angle range of the second robotic arm 20. This structural arrangement facilitates determining the control method for the multiple first limiting members 30 based on the rotation angle range of the second robotic arm 20. When the limiting assembly is in the limiting state, the limiting angle range of the corresponding first limiting member 30 and second limiting member 40 is adapted to the rotation angle range of the second robotic arm 20 (the limiting angle range of the corresponding first limiting member 30 and second limiting member 40 when the limiting assembly is in the limiting state is less than or equal to the rotation angle range of the second robotic arm 20). This better ensures the stable movement of the second robotic arm 20 and avoids damage caused by collisions during rotation.

[0053] Specifically, there are multiple second limiting members 40, which are arranged circumferentially along the rotation axis of the second robotic arm 20 relative to the first robotic arm 10. The control unit controls the multiple second limiting members 40 according to the rotation angle range of the second robotic arm 20. This structural arrangement facilitates determining the control method for the multiple second limiting members 40 based on the rotation angle range of the second robotic arm 20. When the limiting assembly is in the limiting state, the limiting angle range of the corresponding first limiting member 30 and second limiting member 40 matches the rotation angle range of the second robotic arm 20 (the limiting angle range of the corresponding first limiting member 30 and second limiting member 40 when the limiting assembly is in the limiting state is less than or equal to the rotation angle range of the second robotic arm 20). This better ensures the stable movement of the second robotic arm 20 and prevents damage caused by expansion during rotation.

[0054] In this embodiment, there are multiple first limiting members 30, which are arranged circumferentially along the rotation axis of the second robotic arm 20 relative to the first robotic arm 10. The control unit controls the multiple first limiting members 30 according to the rotation angle range of the second robotic arm 20. The control unit determines the number and position of the first limiting members 30 that are adapted to the rotation angle range of the second robotic arm 20, and controls the corresponding first limiting members 30 to move to the first limiting position. This method can better ensure the stable movement of the second robotic arm 20, so that the second robotic arm 20 does not interfere with other structures during movement.

[0055] Specifically, "the number and position of the first limiting members 30 that are adapted to the rotation angle range of the second robotic arm 20" can be understood as follows: when one first limiting member 30 cooperates with the second limiting member 40, the corresponding angle limiting range of 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 limiting members 30 cooperate with the second limiting member 40, the corresponding angle limiting range of the two ends of the two first limiting members 30 located at the ends is less than or equal to the rotation angle range of the second robotic arm 20.

[0056] Specifically, the limiting assembly also includes a vision detection element, which is mounted on the rotation axis 21 of the second robotic arm 20, with its detection end facing the first limiting element 30. When there is only one first limiting element 30, the vision detection element detects the angular range of both ends of the first limiting element 30 relative to the rotation axis 21; or, when there are at least two second limiting elements 40, the vision detection element detects the angular range of two of the at least two second limiting elements 40 located at their respective ends. The vision detection element is connected to a control element, which determines whether the angular range detected by the vision detection element matches the rotation angle range of the second robotic arm 20. This configuration facilitates accurate determination of whether the angular range detected by the vision detection element matches the rotation angle range of the second robotic arm 20, effectively ensuring that the second robotic arm 20 rotates within a limited range, thereby avoiding collisions or interference with other structures.

[0057] In this embodiment, the first limiting member 30 is a first arc-shaped block, which has a first arc-shaped edge and a second annular edge disposed opposite to each other. This allows the shape of the first limiting member 30 to better adapt to the shape of rotational movement, avoiding interference between the first limiting member 30 and other components during rotation. Furthermore, the structure and shape of the first limiting member 30 have also been optimized.

[0058] Specifically, the second limiting member 40 is a second arc-shaped block, which has a third arc-shaped edge and a fourth arc-shaped edge that are arranged opposite to each other. This makes it easier for the shape of the second limiting member 40 to better adapt to the shape of rotational movement, avoiding interference between the second limiting member 40 and other components during rotation. In addition, the structure and shape of the second limiting member 40 have also been optimized.

[0059] In this embodiment, the first limiting member 30 is a first arc block, and the central angle corresponding to the first arc block is the first central angle. The second limiting member 40 is a second arc block, and the central angle corresponding to the second arc block is the second central angle. The first central angle is equal to the second central angle; or, the first central angle is greater than the second central angle. This structural arrangement facilitates the limitation of the limiting angle range of the first limiting member 30 and the second limiting member 40 by adjusting the first and second central angles, thereby limiting the rotation angle range of the second robotic arm 20.

[0060] Specifically, the first limiting member 30 includes a limiting body 31 and a limiting protrusion 32 connected to each other. The limiting protrusion 32 protrudes from the end of the limiting body 31 near the second robotic arm 20. The second limiting member 40 is provided with an arc-shaped groove adapted to the limiting protrusion 32. The limiting protrusion 32 is movably disposed in the arc-shaped groove and is used to limit and abut against both ends of the arc-shaped groove. This simple structure facilitates stable limiting of the second robotic arm 20. Furthermore, it allows for better and more effective limiting of the movement of the second robotic arm 20 in the event of a control failure. Specifically, the size of the limiting protrusion 32 and the range of the arc-shaped groove can be designed according to the actual equipment space and motion trajectory requirements.

[0061] Specifically, the first limiting member 30 and the second limiting member 40 are detachably installed, and the first limiting member 30 and the second limiting member 40 can be locked to the first robotic arm 10 and the second robotic arm 20 respectively by tightening screws.

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

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

[0064] Another embodiment of the present invention provides a robot including the limiting component described above.

[0065] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects: the number of the first limiting member and / or the second limiting member can be adjusted according to the actual application of the robot, thereby flexibly adjusting the mechanical limiting position and better adapting to the actual application; by adjusting the first limiting member and the second limiting member, the robot can optimize its motion path and layout, reducing unnecessary space occupation and collision risks; and the structure is simple.

[0066] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0067] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0068] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

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

[0070] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this application.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A limit assembly comprising: include: A first robotic arm (10) and a second robotic arm (20), wherein the second robotic arm (20) is rotatably mounted on the first robotic arm (10); A signal receiver is used to receive the rotation angle range of the second robotic arm (20) and / or whether the operating status of the limiting component is abnormal. The first limiting member (30) is adjustablely disposed at one end of the first robotic arm (10) near the second robotic arm (20). The first limiting member (30) has a first limiting position and a first avoidance position extending from the end of the first robotic arm (10) near the second robotic arm (20). The second limiting member (40) is adjustablely positioned at one end of the second robotic arm (20) near the first robotic arm (10). The second limiting member (40) has a second limiting position and a second avoidance position extending from the end of the second robotic arm (20) near the first robotic arm (10). The limiting component has a limiting state and a normal operating state. When the limiting component 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. The first limiting member (30) is used to abut against the second limiting member (40) for limiting. When the limiting component is in the normal operating state, the first limiting member (30) is in the first avoidance position and the second limiting member (40) is in the second avoidance position. The first limiting member (30) and the second limiting member (40) are mutually avoidant. The control unit is connected to the signal receiver, the first limiting member (30) and the second limiting member (40); when the signal receiver receives an abnormality in the rotation angle range of the second robotic arm (20) and / or the operating state of the limiting component, the control unit controls the limiting component to be in the limiting state. There are multiple first limiting members (30), and the multiple first limiting members (30) are arranged circumferentially along the rotation axis of the second robotic arm (20) relative to the first robotic arm (10). The control unit controls the multiple first limiting members (30) according to the rotation angle range of the second robotic arm (20). The control unit determines the number and position of the first limiting 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 limiting members (30) to move to the first limiting position. The limiting component further includes: a vision detection component, disposed on the rotation axis (21) of the second robotic arm (20), with the detection end of the vision detection component facing the first limiting component (30); when there is one first limiting component (30), the vision detection component is used to detect the angle range of the two ends of the first limiting component (30) relative to the rotation axis (21); or, when there are at least two second limiting components (40), the vision detection component is used to detect the angle range of two of the at least two second limiting components (40) located at both ends respectively; wherein, the vision detection component is connected to the control component, and the control component determines whether it is adapted to the rotation angle range of the second robotic arm (20) based on the angle range detected by the vision detection component.

2. The check assembly of claim 1, wherein, The first robotic arm (10) has a first clearance groove at one end near the second robotic arm (20), and the first clearance groove is adapted to the shape of the first limiting member (30); when the first limiting member (30) is in the first clearance position, the first limiting member (30) moves into the first clearance groove; and / or, The second robotic arm (20) is provided with a second clearance groove at one end near the first robotic arm (10), and the second clearance groove is adapted to the shape of the second limiting member (40); when the second limiting member (40) is in the second clearance position, the second limiting member (40) moves into the second clearance groove.

3. The check assembly of claim 1, wherein, The limiting component also includes: A first driving component is disposed on the first robotic arm (10), the driving end of the first driving component is retractably disposed, and the driving end of the first driving component is drivingly connected to the first limiting component (30); and / or, The second driving component is disposed on the second robotic arm (20), and the driving end of the second driving component is retractably disposed. The driving end of the second driving component is drivenly connected to the second limiting component (40).

4. The check assembly of claim 1, wherein, There are multiple first limiting members (30), and the multiple first limiting members (30) are arranged circumferentially at intervals along the rotation axis of the second robotic arm (20) relative to the first robotic arm (10). The control unit controls the multiple first limiting members (30) according to the rotation angle range of the second robotic arm (20); and / or, There are multiple second limiting members (40), and the multiple second limiting members (40) are arranged circumferentially along the rotation axis of the second robotic arm (20) relative to the first robotic arm (10). The control member controls the multiple second limiting members (40) according to the rotation angle range of the second robotic arm (20).

5. The limiting component 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 disposed opposite to each other; and / or, The second limiting member (40) is a second arc-shaped block, which has a third arc-shaped edge and a fourth arc-shaped edge that are arranged opposite to each other.

6. The check assembly of claim 1, wherein, The first limiting piece (30) is a first circular arc block, a corresponding central angle of the first circular arc block is a first central angle, the second limiting piece (40) is a second circular arc block, and a corresponding central angle of the second circular arc block is a second central angle. The first central angle is equal to the second central angle; or The first central angle is greater than the second central angle.

7. The check assembly of claim 1, wherein, The first limiting piece (30) comprises a limiting main body (31) and a limiting protruding block (32) connected with each other, the limiting protruding block (32) is arranged on an end of the limiting main body (31) close to the second mechanical arm (20); the second limiting piece (40) is provided with an arc-shaped groove matched with the limiting protruding block (32), the limiting protruding block (32) is movably arranged in the arc-shaped groove, and the limiting protruding block (32) is used for limiting abutment with two ends of the arc-shaped groove.

8. A robot, characterized in that The limiting assembly comprises the limiting assembly according to any one of claims 1 to 7.

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