Robot joint, robot and robot joint motion control method

Abstract

The invention discloses a robot joint, a robot and a robot joint motion control method. The robot joint comprises a first joint body, a driving part, a second joint body, a limiting part and a triggering part. The second joint body is rotationally connected with the first joint body and connected with the driving part, and the second joint body rotates by a preset angle relative to the first joint body under the action of the driving part; the limiting piece is fixed to the first joint body, and a containing cavity and an opening communicating with the containing cavity are formed in the limiting piece; the triggering piece is arranged in the containing cavity, and at least part of the triggering piece protrudes out of the opening; when the rotating angle of the second joint body relative to the first joint body is larger than the preset angle, the second joint body abuts against and extrudes the triggering piece, and the triggering piece controls the driving piece to stop working. According to the robot joint, the situation that the second joint body exceeds the movement range, and consequently a robot and the surrounding environment are damaged is prevented, and the reliability of a product is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot joint, a robot, and a robot joint motion control method. Background Art

[0002] With the development of science and technology, robots are being used more and more widely, bringing great convenience to people's lives and production. In the field of robots, each moving joint is controlled by a servo. The robot's control system indirectly controls the movements of each part of the body by controlling the movement of the servo, so that the robot can achieve its functional goals according to the control intention. The movement of each local part of the robot body has a certain range of motion and works within the specified range of motion. However, once the specified range of motion is exceeded, the robot may be partially damaged or cause damage to the surrounding environment, or even cause harm to people around it.

[0003] In the related art, in order to ensure the range of motion of each component of the robot and to prevent the control system from failure or misoperation, in addition to the precise control of the control system, a limit device is added to the moving component. Usually, a hard limit is formed in the form of a limit block, or a limit block plus a buffer structure such as rubber is used to limit the range of motion. However, structures such as limit blocks are purely mechanical structures, that is, a hard-on-hard structure is used, and there is hard contact between the two components, resulting in the risk of failure of the weaker side as the number of operations increases, and even the moving parts break through the limit device, causing damage to themselves and the environment, affecting the user experience of the robot. Summary of the invention

[0004] In view of this, the purpose of the present application is to overcome the deficiencies in the prior art and to provide a robot joint, a robot and a robot joint motion control method.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a robot joint, the robot joint comprising:

[0007] First joint body;

[0008] Driving parts;

[0009] A second joint body is rotatably connected to the first joint body and connected to the driving member, and under the action of the driving member, the second joint body rotates relative to the first joint body by a preset angle;

[0010] A limiting member is fixed on the first joint body, and the limiting member is provided with a receiving cavity and an opening communicating with the receiving cavity;

[0011] A trigger member is disposed in the accommodating cavity, and at least a portion of the trigger member protrudes from the opening;

[0012] When the second joint body rotates relative to the first joint body at an angle greater than the preset angle, the second joint body abuts against and presses the trigger member, and the trigger member controls the driving member to stop working.

[0013] The robot joint provided by the present application has a second joint body that is rotatably connected relative to the first joint body, and under the action of a driving member, the second joint body rotates relative to the first joint body. At the same time, a trigger member is arranged on the limiting member. In this way, when the rotation angle of the second joint body relative to the first joint body is greater than a preset angle, the second joint body abuts against and squeezes the trigger member, and the trigger member controls the driving member to stop working. At this time, the second joint body stops rotating, which is equivalent to achieving soft contact of the limit of the moving parts, ensuring the effectiveness of the limit, preventing the moving parts from exceeding the range of motion and causing damage to the robot and the surrounding environment, thereby protecting the robot itself and the surrounding environment and improving the reliability of the product.

[0014] In addition, the robot joint according to the present application may also have the following additional technical features:

[0015] In one embodiment of the first aspect, the trigger member includes:

[0016] A trigger body, the trigger body is disposed in the accommodating cavity, and the trigger body has a mounting cavity;

[0017] A trigger button is movably disposed in the mounting cavity, and at least a portion of the trigger button protrudes from the opening.

[0018] In one embodiment of the first aspect, the movable stroke of the trigger button relative to the trigger body is S mm, and the dimension of the trigger button protruding from the opening is D mm, satisfying the relationship: S≥D.

[0019] In one embodiment of the first aspect, the limiting component and the first joint body are an integrally formed structure.

[0020] In one embodiment of the first aspect, a contact surface is provided on the second joint body at a position contacting with the trigger member.

[0021] In one of the embodiments of the first aspect, a wiring hole connected to the accommodating cavity is formed on the limiting member, the wiring hole is oriented in a first direction, the opening is oriented in a second direction, the first direction and the second direction are set at an angle R, satisfying the relationship: 0°<R≤180°.

[0022] In one embodiment of the first aspect, the driving member includes a fixed part and an output part, the output part is rotatably disposed on the fixed part, the fixed part is fixedly connected to the first joint body, and the output part is connected to the second joint body to drive the second joint body to rotate relative to the first joint body.

[0023] In a second aspect, the present application also provides a robot comprising the robot joint described in any of the above embodiments.

[0024] The robot provided in the present application has the above robot joint. The robot includes the robot joint in any one of the above embodiments, and therefore has all the beneficial effects of the robot joint, which will not be described in detail here.

[0025] In one embodiment of the second aspect, the robot further includes a controller, wherein the controller is electrically connected to the trigger member and the driving member, respectively, and the controller is used to control the operation of the driving member.

[0026] In one embodiment of the second aspect, the robot further comprises a control switch and a power supply, wherein the control switch, the power supply and the driving member form a closed circuit;

[0027] The control switch is electrically connected to the trigger element.

[0028] In one embodiment of the second aspect, the robot further includes a body, and the first joint body is fixed to the body.

[0029] In a third aspect, the present application further provides a robot joint motion control method, which is applied to the robot described in any one of the above embodiments, and the control method includes:

[0030] Acquire the angle at which the driving member drives the second joint body to rotate relative to the first joint body;

[0031] Determining whether the acquired angle is greater than the preset angle;

[0032] If yes, the driving member is controlled to stop working;

[0033] If not, the driving member is controlled to operate normally.

[0034] The robot joint motion control method provided in the present application controls the driving component to stop working when the angle of rotation of the second joint body relative to the first joint body is greater than a preset angle. At this time, the second joint body stops rotating, preventing the moving parts from exceeding the range of motion and causing damage to the robot and the surrounding environment, thereby protecting the robot itself and the surrounding environment and improving the reliability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of a three-dimensional structure of a robot joint provided by some embodiments of the present application from a one-view perspective is shown;

[0037] Figure 2 Shows Figure 1 A one-view structural diagram of the robot joints in FIG.

[0038] Figure 3 Shows Figure 2 The cross-sectional structural diagram along the AA direction shown in FIG.

[0039] Figure 4 Shows Figure 2 The cross-sectional structure schematic diagram along the BB direction shown in ;

[0040] Figure 5 Shows Figure 4 An enlarged structural diagram of the C portion shown in FIG.

[0041] Figure 6 A schematic structural diagram of a robot joint provided by some embodiments of the present application with the second joint body removed from one perspective is shown;

[0042] Figure 7 A schematic diagram showing an embodiment of the present application in which the first joint body and the limiting member are integrally formed;

[0043] Figure 8 Shows Figure 7 An enlarged structural schematic diagram of the D portion shown in ;

[0044] Fig. 9 Shows Figure 7 Schematic diagram of the three-dimensional structure of the structure shown in;

[0045] Fig.10 A schematic diagram of the structure of a trigger member in one embodiment of the present application is shown;

[0046] Fig.11 A schematic diagram showing the control principle of a robot provided by another embodiment of the present application is shown;

[0047] Fig.12 A schematic flow chart of a robot joint motion control method in some embodiments of the present application is shown.

[0048] Description of main component symbols:

[0049] 100-robot joint; 110-first joint body; 120-second joint body; 121-contact surface; 130-driving member; 131-fixing portion; 132-output portion; 140-limiting member; 141-accommodating cavity; 142-opening; 143-wiring hole; 150-trigger member; 151-trigger body; 152-trigger button;

[0050] 200-robot; 210-controller; 220-control switch; 230-power supply; 240-fault reminder unit;

[0051] x - first direction; y - second direction. DETAILED DESCRIPTION

[0052] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] Each local part of the robot body has a certain range of motion and works within the specified range of motion. However, once the specified range of motion is exceeded, the robot may be partially damaged or cause damage to the surrounding environment, or even cause harm to nearby people.

[0058] In the related art, in order to ensure the range of motion of each component of the robot and to prevent the control system from failure or misoperation, in addition to the precise control of the control system, a limit device is added to the moving component. The limit device is usually formed by a hard limit in the form of a limit block, or a limit block plus a buffer structure such as rubber. When the moving component rotates a certain angle, the hard contact of the limit block is used to limit the range of motion. However, structures such as limit blocks are purely mechanical structures, that is, they use a hard-on-hard-on structure.

[0059] The inventors found that the hard contact between the two components will cause the weaker side to have a risk of failure as the number of operations increases, and the moving parts may even break through the limit device, causing damage to the robot itself and the environment, affecting the user experience of the robot.

[0060] In order to solve the above technical problems, an embodiment of the present application provides a robot joint 100, which is mainly used on a robot 200.

[0061] like Figure 1 and Figure 2 As shown, the robot joint 100 includes a first joint body 110 , a driving member 130 , a second joint body 120 , a limiting member 140 and a triggering member 150 .

[0062] Combination Figure 4 As shown, the second joint body 120 is rotatably connected to the first joint body 110 and connected to the driving member 130. Under the action of the driving member 130, the second joint body 120 rotates relative to the first joint body 110 by a preset angle. That is, when the driving member 130 works normally, the second joint body 120 is driven to rotate relative to the first joint body 110 by a preset angle.

[0063] The stopper 140 is fixed to the first joint body 110 and is provided with a receiving cavity 141 and an opening 142 communicating with the receiving cavity 141 . The triggering member 150 is disposed in the receiving cavity 141 and at least partially protrudes from the opening 142 .

[0064] During the movement of the robot joint 100, when the angle of rotation of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, that is, when the driving member 130 fails or the controller 210 of the robot 200 fails or is erroneously operated, resulting in the rotation angle of the second joint body 120 being greater than the preset angle, at this time, the second joint body 120 abuts against and squeezes the trigger member 150, and the trigger member 150 controls the driving member 130 to stop working.

[0065] It is understandable that, if the preset angle is 60 degrees, when the second joint body 120 rotates relative to the first joint body 110 at an angle of 61 degrees, 65 degrees, etc., at this time, the second joint body 120 will touch the trigger member 150, causing the trigger member 150 to be triggered, thereby controlling the driving member 130 to stop working. Of course, the preset angle can be designed according to the range of motion when the robot joint 100 is designed, and the preset angle can also be 45 degrees, 50 degrees, 70 degrees, etc.

[0066] Exemplarily, the trigger member 150 is directly mounted on the circuit of the driver 130. The trigger member 150 is in a normally closed state. When touched by the second joint body 120, the trigger member 150 is disconnected, thereby breaking the circuit of the driver 130 and causing the driver 130 to stop working.

[0067] The robot joint 100 provided in the embodiment of the present application has a second joint body 120 that is rotatably connected relative to the first joint body 110, and under the action of the driving member 130, the second joint body 120 rotates relative to the first joint body 110, and at the same time, a trigger member 150 is arranged on the limiting member 140, so that when the angle of rotation of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the second joint body 120 abuts against and squeezes the trigger member 150, and the trigger member 150 controls the driving member 130 to stop working. At this time, the second joint body 120 stops rotating, which is equivalent to achieving soft contact of the limit of the moving part, ensuring the effectiveness of the limit, and preventing the second joint body 120 (i.e., the moving part) from exceeding the range of motion and causing damage to the robot 200 and the surrounding environment, thereby protecting the robot 200 itself and the surrounding environment and improving the reliability of the product.

[0068] like Fig.10 As shown, in one embodiment, the trigger member 150 includes a trigger body 151 and a trigger button 152. The trigger body 151 is disposed in the accommodating cavity 141, and the trigger body 151 has a mounting cavity. The trigger button 152 is movably disposed in the mounting cavity, and the trigger button 152 at least partially protrudes from the opening 142. In this embodiment, the trigger button 152 at least partially protrudes from the outside of the opening 142, that is, at least a portion of the trigger button 152 is exposed to the outside of the opening 142, so that when the second joint body 120 rotates relative to the first joint body 110 at an angle greater than a preset angle, it can touch the trigger button 152, so that the trigger member 150 sends a control signal to the driving member 130, so that the driving member 130 stops working.

[0069] like Figure 4 and Figure 5 As shown, in the embodiment where the trigger member 150 includes a trigger body 151 and a trigger button 152, the movable stroke of the trigger button 152 relative to the trigger body 151 is S mm, and the dimension of the trigger button 152 protruding from the opening 142 is D mm, satisfying the relationship: S ≥ D. In this embodiment, the movable stroke S of the trigger button 152 is greater than the dimension D of the trigger button 152 protruding from the opening 142, so that when the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, the second joint body 120 can abut against the trigger button 152, so that the trigger button 152 retracts and the trigger member 150 is triggered. In this process, since S is greater than D, the trigger button 152 will not be in hard contact with the trigger body 151 when the second joint body 120 squeezes the trigger button 152, thereby preventing the trigger button 152 from being damaged and improving the reliability of the product.

[0070] like Figure 7and Figure 8 As shown, in one embodiment, the stopper 140 and the first joint body 110 are an integrally formed structure. In this embodiment, the stopper 140 and the first joint body 110 are an integrally formed structure, and the integrally formed structure of the two facilitates manufacturing and improves production efficiency. In addition, the two are integrally formed, eliminating the need to connect the stopper 140 and the first joint body 110 through a connecting structure, which can increase the structural strength between the two.

[0071] like Figure 1 As shown, in one embodiment, abutment surface 121 is provided on the second joint body 120 at a position abutting against the trigger member 150. In this embodiment, when the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the abutment surface 121 of the second joint body 120 abuts against the trigger button 152, so that the trigger button 152 retracts. At the same time, an elastic layer can be provided on the surface of the abutment surface 121 to protect the trigger button 152, and the elastic layer can be made of rubber material.

[0072] like Figure 7 , Figure 8 and Fig. 9 As shown, in one embodiment, the limiting member 140 is provided with a wiring hole 143 connected to the accommodating cavity 141, the wiring hole 143 is oriented in the first direction x, the opening 142 is oriented in the second direction y, and the first direction x and the second direction y are arranged at an angle R, satisfying the relationship: 0°<R≤180°. In this embodiment, a cable can be passed through the wiring hole 143 and electrically connected to the trigger member 150, and the cable is connected to the power supply 230 or the circuit board of the robot 200 to provide power to the trigger member 150. The first direction x and the second direction y are arranged at an angle, that is, the first direction x and the second direction y are different in direction, and can be opposite in direction or form a preset angle between the two, such as 5°, 12°, 90°, 120°, 180°, so as to prevent the cable passed through the connection hole from blocking the trigger button 152.

[0073] like Figure 2 , Figure 3 and Figure 6As shown, in one embodiment, the driving member 130 includes a fixing portion 131 and an output portion 132, the output portion 132 is rotatably disposed on the fixing portion 131, the fixing portion 131 is fixedly connected to the first joint body 110, and the output portion 132 is connected to the second joint body 120 to drive the second joint body 120 to rotate relative to the first joint body 110. In this embodiment, the driving member 130 can be a steering gear or other power source. For example, the fixing portion 131 is fixedly connected to the first joint body 110 by bolts, and the output portion 132 is connected to the second joint body 120, so that when the output portion 132 rotates, the second joint body 120 is driven to rotate.

[0074] The embodiment of the present application further provides a robot 200 (not shown in the figure), comprising the robot joint 100 described in any of the above embodiments.

[0075] The robot 200 provided in this embodiment has the above robot joint 100. The robot 200 includes the robot joint 100 in any of the above embodiments, and therefore has all the beneficial effects of the robot joint 100, which will not be described in detail here.

[0076] It should be noted that the robot 200 may be a humanoid robot 200 , a legged robot 200 , or the like.

[0077] like Fig.11 As shown, in one embodiment, the robot 200 further includes a controller 210, and the controller 210 is electrically connected to the trigger member 150 and the driving member 130, respectively, and the controller 210 is used to control the operation of the driving member 130. In this embodiment, through the setting of the controller 210, when the trigger member 150 is triggered, a signal indicating failure or misoperation of the driving member 130 is sent to the controller 210, and the controller 210 controls the driving member 130 to stop working. At the same time, the controller 210 can control the driving member 130 to achieve different rotation speeds to control the rotation speed of the second joint body 120.

[0078] like Fig.11 As shown, in one embodiment, the robot 200 further includes a control switch 220 and a power source 230 , wherein the control switch 220 , the power source 230 and the driving member 130 form a closed circuit. The control switch 220 is electrically connected to the trigger member 150 .

[0079] In the present embodiment, exemplary, the trigger member 150 is in a normally closed state, and the control switch 220 is used to receive the signal of the trigger member 150. At this time, the control switch 220 is closed, the power supply 230 and the driver 130 are connected to form a closed circuit, and the driver 130 works normally. The control unit normally gives the driver 130 a command signal, and the driver 130 drives the second joint body 120 to rotate within a preset angle. When the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, the second joint body 120 touches the trigger member 150, and the trigger member 150 is disconnected. At this time, the control switch 220 receives the disconnection signal of the trigger member 150, and the control switch 220 is also disconnected, the power supply 230 is not connected to the driver 130, and the driver 130 stops working.

[0080] Of course, the trigger 150 can also be set to the disconnected state, and the control switch 220 is used to receive the signal of the trigger 150. At this time, the control switch 220 is closed, the power supply 230 and the driver 130 are connected to form a closed circuit, and the driver 130 works normally. The control unit normally gives the driver 130 a command signal, and the driver 130 drives the second joint body 120 to rotate within a preset angle. When the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, the second joint body 120 touches the trigger 150, and the trigger 150 is closed. At this time, the control switch 220 receives the closed signal of the trigger 150, the control switch 220 is disconnected, the power supply 230 and the driver 130 are not connected, and the driver 130 stops working.

[0081] In the above-mentioned embodiment of the control switch 220, the control switch 220 can be a relay, and the trigger member 150 is a switch for controlling the relay. After power is turned on, the switch is closed to provide a small current to the relay, and the relay is in an energized state, so that the power supply 230 and the driving member 130 form a circuit, and the driving member 130 works normally; when the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, the second joint body 120 touches the switch, the relay loses current and is disconnected, thereby causing the driving member 130 to stop working.

[0082] Of course, in other embodiments, the trigger member 150 may also be a micro switch or a limit switch.

[0083] like Fig.11As shown, in the above embodiment, exemplarily, the robot also includes a fault reminder unit 240. When the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the second joint body 120 touches the trigger member 150, and the control switch 220 disconnects the circuit of the driving member 130, or the controller 210 controls the driving member 130 to stop working. At this time, the controller 210 records that the trigger member 150 is touched, and the fault reminder unit 240 issues a reminder indication, such as through a screen or sound output, to inform the operator of the failure mode and failure position.

[0084] In one embodiment, the robot 200 further includes a body, and for example, the first joint body 110 is fixed to the body. For example: the first joint body 110 is a thigh, the second joint body 120 is a calf, and the calf moves relative to the thigh. For another example: the first joint body 110 is an upper arm, the second joint body 120 is a forearm, and the forearm rotates relative to the upper arm. Of course, in other embodiments, the first joint body 110 can also be other components on the robot 200, and the second joint body 120 can be other moving components.

[0085] like Fig.12 As shown, the embodiment of the present application further provides a method for controlling the motion of a robot joint 100, which is applied to the robot 200 in any one of the above embodiments, and the control method comprises the following steps:

[0086] S100 , obtaining the angle at which the driving member 130 drives the second joint body 120 to rotate relative to the first joint body 110 . For example, the angle at which the second joint body 120 rotates relative to the first joint body 110 is obtained by an acquisition module, and the angle is sent to the controller 210 (processor) or the trigger member 150 .

[0087] S200, determining whether the acquired angle is greater than the preset angle. If the angle received by the controller 210 is greater than the preset angle, the driving member 130 is controlled to stop working. If the angle received by the controller 210 is less than the preset angle, the driving member 130 is controlled to work normally.

[0088] The robot joint 100 motion control method provided in this embodiment controls the driving component 130 to stop working when the angle of rotation of the second joint body 120 relative to the first joint body 110 is greater than a preset angle. At this time, the second joint body 120 stops rotating, preventing the moving parts from exceeding the motion range and causing damage to the robot 200 and the surrounding environment, thereby protecting the robot 200 itself and the surrounding environment and improving the reliability of the product.

[0089] It should be noted that the above-mentioned robot 200 also includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the robot 200 to execute the above-mentioned robot joint 100 motion control method or the functions of the various components in the above-mentioned robot 200.

[0090] The embodiment of the present application also provides a readable storage medium for storing the computer program used in the robot 200. The readable storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0092] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A robot joint, characterized in that: include: first joint body; Driving parts; A second joint body is rotatably connected to the first joint body and connected to the driving member, and under the action of the driving member, the second joint body rotates relative to the first joint body by a preset angle; A limiting member is fixed on the first joint body, and the limiting member is provided with a receiving cavity and an opening communicating with the receiving cavity; A trigger member is disposed in the accommodating cavity, and at least a portion of the trigger member protrudes from the opening; When the second joint body rotates relative to the first joint body at an angle greater than the preset angle, the second joint body abuts against and presses the trigger member, and the trigger member controls the driving member to stop working.

2. The robot joint according to claim 1, characterized in that: The triggering member comprises: A trigger body, the trigger body is disposed in the accommodating cavity, and the trigger body has a mounting cavity; A trigger button is movably disposed in the mounting cavity, and at least a portion of the trigger button protrudes from the opening.

3. The robot joint according to claim 2, characterized in that: The movable stroke of the trigger button relative to the trigger body is S mm, and the dimension of the trigger button protruding from the opening is D mm, satisfying the relationship: S≥D.

4. The robot joint according to claim 1, characterized in that: The limiting component and the first joint body are an integrally formed structure.

5. The robot joint according to any one of claims 1 to 4, characterized in that: A contact surface is provided at a position where the second joint body contacts the trigger member.

6. The robot joint according to any one of claims 1 to 4, characterized in that: The limiting member is provided with a wiring hole connected to the accommodating cavity, the wiring hole is oriented in a first direction, the opening is oriented in a second direction, the first direction and the second direction are arranged at an angle R, satisfying the relationship: 0°<R≤180°.

7. The robot joint according to claim 1, characterized in that: The driving member includes a fixing part and an output part, wherein the output part is rotatably arranged on the fixing part, the fixing part is fixedly connected to the first joint body, and the output part is connected to the second joint body to drive the second joint body to rotate relative to the first joint body.

8. A robot, characterized in that: A robot joint comprising the robot joint described in any one of claims 1 to 7.

9. The robot according to claim 8, characterized in that: The robot further comprises a controller, which is electrically connected to the trigger member and the driving member respectively, and is used to control the driving member to work.

10. The robot according to claim 8, characterized in that: The robot further comprises a control switch and a power supply, wherein the control switch, the power supply and the driving element form a closed circuit; The control switch is electrically connected to the trigger element.

11. The robot according to claim 8, characterized in that: The robot also includes a body, and the first joint body is fixed on the body.

12. A robot joint motion control method, characterized in that: Applied to the robot according to any one of claims 8 to 11, the control method comprises: Acquire the angle at which the driving member drives the second joint body to rotate relative to the first joint body; Determining whether the acquired angle is greater than the preset angle; If yes, the driving member is controlled to stop working; If not, the driving member is controlled to operate normally.

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