Robot joint limiting mechanism and robot

Abstract

The invention provides a robot joint limiting mechanism and a robot, the robot joint limiting mechanism comprises a first structural member, a second structural member, a driving mechanism, a trigger fixed on the first structural member, a push rod slidably arranged on the first structural member, an elastic member and a control assembly, and the second structural member is provided with a protruding structure used for pushing the push rod. The push rod is used for triggering the trigger, the elastic part is located between the first structural part and the push rod, the control assembly is electrically connected with the driving mechanism and the trigger, and the control assembly is used for receiving signals of the trigger and transmitting instructions to the driving mechanism according to the signals. According to the robot joint limiting structure, a pure mechanical limiting structure is not adopted, rotation of a structural part is not limited through collision of the limiting structure, and therefore the robot joint limiting structure is long in service life, the situation that the limiting position is broken through due to structural damage is avoided, and safety is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of limiting, and more specifically, relates to a robot joint limiting mechanism and a robot. Background Art

[0002] In the field of robotics, each moving joint is controlled by a servo. The control system indirectly controls the movement of each body structure by controlling the movement of the servo, so that the robot can achieve the target function according to the control intention. The movement of each local part of the robot body has a certain range of motion and needs to work within the specified range of motion. 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 order to ensure the range of motion of each component, in addition to the precise control of the controller, a limit device is also added to the moving parts. The current limit devices all use a hard limit structure of a limit block, or a limit block plus a buffer structure such as rubber to limit the range of motion, which is a pure mechanical structure. Pure mechanical structures are destructive. When two parts are in hard contact, the weaker part of the two parts will increase the risk of failure as the number of operations increases, and even the moving parts will break through the limit device, causing damage to themselves and the environment. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a robot joint limiting mechanism and a robot, so as to solve the technical problem in the prior art that the mechanical structure limiting is hard contact and the risk of limiting failure increases continuously due to long-term use.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a robot joint limiting mechanism, including a first structural member, a second structural member rotatably connected to the first structural member, a driving mechanism for making the first structural member and the second structural member rotate relative to each other, a trigger fixed to the first structural member, a push rod slidably arranged on the first structural member, an elastic member and a control component, the second structural member having a protruding structure for pushing the push rod, the push rod being used to trigger the trigger, the elastic member being located between the first structural member and the push rod, the control component being electrically connected to the driving mechanism and the trigger, and the control component being used to receive a signal from the trigger and transmit instructions to the driving mechanism according to the signal.

[0006] Optionally, the first structural member includes a first connecting part, a second connecting part and a third connecting part which are connected in sequence, the first connecting part and the third connecting part are arranged at intervals, the housing of the driving mechanism is fixedly connected to the first connecting part, one side of the second structural member is connected to the motion output end of the driving mechanism, and the other side of the second structural member is rotatably supported on the third connecting part; both ends of the push rod extend into the first connecting part and the third connecting part respectively, and the trigger is fixed to the first connecting part or the third connecting part.

[0007] Optionally, the first connecting portion is provided with a first mounting hole, the third connecting portion is provided with a third mounting hole, two ends of the push rod are respectively located in the first mounting hole and the third mounting hole, and the trigger includes a trigger body and a press switch;

[0008] The trigger body is fixed in the first mounting hole, the elastic member is sleeved on the outer periphery of the push switch, one end of the elastic member abuts against the trigger body or the first connecting portion, and the other end of the elastic member abuts against the end of the push rod; or,

[0009] The trigger body is fixed in the third mounting hole, the elastic member is sleeved on the outer periphery of the push switch, one end of the elastic member abuts against the trigger body or the third connecting portion, and the other end of the elastic member abuts against the end of the push rod.

[0010] Optionally, the protruding structure is used to push the middle portion of the push rod, and the protruding structure is located between the first connecting portion and the third connecting portion.

[0011] Optionally, a thrust bearing is provided on the push rod, the thrust bearing is fixedly connected to the push rod, and the thrust bearing is used to push the protruding structure.

[0012] Optionally, the push rod protrudes radially outward to form a step structure for the protrusion structure to push.

[0013] Optionally, the second structural member has a cam surface arranged around its rotation axis, the cam surface has a base circular surface perpendicular to the length direction of the push rod, the push rod and the base circular surface are in contact with each other, and the protruding structure is located on the base circular surface.

[0014] Optionally, the number of the protruding structures is two, and they are circumferentially spaced apart on the cam surface.

[0015] Optionally, the control component includes a controller and a relay, the controller has a control circuit for controlling the driving mechanism, the relay is located on the control circuit, and the trigger is used to control the switch of the relay; or,

[0016] The control component includes a controller having a control circuit for controlling the driving mechanism, and the trigger is located on the control circuit.

[0017] The present invention also provides a robot, comprising the above-mentioned robot joint limiting mechanism.

[0018] The robot joint limiting mechanism and the robot provided by the present invention have the beneficial effects that: compared with the prior art, the robot joint limiting mechanism of the present invention includes a first structural member, a second structural member, a driving mechanism, a trigger and a push rod, the second structural member and the first structural member are driven to rotate relative to each other by the driving mechanism, when the second structural member reaches the limit position relative to the first structural member, the protruding structure on the second structural member pushes the push rod, and the push rod triggers the trigger accordingly, and then sends a signal to the control component to stop the driving mechanism. In this way, the trigger can be pressed when the second structural member reaches the limit position through the cooperation of the protruding structure and the push rod to stop the driving mechanism. Since the protruding height of the protruding structure is controllable, the push rod will not collide with the trigger hard, nor will it damage the trigger. The robot joint limiting structure in the present invention does not adopt a purely mechanical limiting structure, and does not limit the rotation of the structural member by the collision of the limiting structure, so it has a longer service life, and will not break through the limit position due to structural damage, and has higher safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 The three-dimensional structure of the robot joint limiting mechanism provided by the embodiment of the present invention Figure 1 ;

[0021] Figure 2 The three-dimensional structure of the robot joint limiting mechanism provided by the embodiment of the present invention Figure 2 ;

[0022] Figure 3 for Figure 2 A partial enlarged view of the middle A;

[0023] Figure 4 A cross-sectional view of a robot joint limiting mechanism provided by an embodiment of the present invention;

[0024] Figure 5 for Figure 4 A partial enlarged view of point B in the middle;

[0025] Figure 6 A partial structural diagram of a second structural member provided in an embodiment of the present invention.

[0026] Among them, the reference numerals in the figure are:

[0027] 10-first structural member; 11-first connecting portion; 111-first mounting hole; 12-second connecting portion; 13-third connecting portion; 131-third mounting hole; 20-second structural member; 21-cam surface; 211-base circular surface; 212-protruding structure; 30-driving mechanism; 41-push rod; 42-thrust bearing; 43-trigger; 431-trigger body; 432-press switch; 44-elastic member. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0030] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0032] In the field of robotics, each moving joint is controlled by a servo. The control system indirectly controls the movement of each body structure by controlling the movement of the servo, so that the robot can achieve the target function according to the control intention. The movement of each local part of the robot body has a certain range of motion and needs to work within the specified range of motion. 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.

[0033] In order to ensure the range of motion of each component, in addition to the precise control of the controller, a limit device is also added to the moving parts. The current limit devices all use a hard limit structure of a limit block, or a limit block plus a buffer structure such as rubber to limit the range of motion, which is a pure mechanical structure. Pure mechanical structures are destructive. When two parts are in hard contact, the weaker part of the two parts will increase the risk of failure as the number of operations increases, and even the moving parts will break through the limit device, causing damage to themselves and the environment.

[0034] In order to alleviate and solve the above technical problems, an embodiment of the present invention proposes a robot joint limiting mechanism, including a first structural member 10, a second structural member 20, a driving mechanism 30, a trigger 43, a push rod 41, an elastic member 44 and a control component. The driving mechanism 30 enables the first structural member 10 and the second structural member 20 to rotate relative to each other. When the relative position of the first structural member 10 and the second structural member 20 reaches the limit position, the protruding structure 212 on the second structural member 20 pushes the push rod 41 to move, so that the push rod 41 triggers the trigger 43, and then the driving mechanism 30 stops moving. There is no need to stop the structural member through a hard collision of the limiting structure, so the structural member can be protected, and no structural damage will occur during long-term use, and the structural strength is high.

[0035] The robot joint limiting mechanism provided in the embodiment of the present invention is now described.

[0036] Please also read Figures 1 to 3 The robot joint limiting mechanism includes a first structural member 10, a second structural member 20 rotatably connected to the first structural member 10, a driving mechanism 30 for making the first structural member 10 and the second structural member 20 rotate relative to each other, a trigger 43 fixed to the first structural member 10, a push rod 41 slidably arranged on the first structural member 10, an elastic member 44 and a control component, the second structural member 20 has a protruding structure 212 for pushing the push rod 41, the push rod 41 is used to trigger the trigger 43, the elastic member 44 is located between the first structural member 10 and the push rod 41, the control component is electrically connected to the driving mechanism 30 and the trigger 43, and the control component is used to receive a signal from the trigger 43 and transmit instructions to the driving mechanism 30 according to the signal.

[0037] The first structural member 10 is a structural member in the robot joint, and may be an upper arm structural member, a lower arm structural member, a thigh structural member, a lower leg structural member, etc. The first structural member 10 may be a single part, or may be formed by connecting a plurality of parts.

[0038] The second structural member 20 is also a structural member in the robot joint, which can be an upper arm structural member, a lower arm structural member, a thigh structural member, a lower leg structural member, etc. The second structural member 20 can be a single part, or it can be formed by connecting multiple parts. Among them, the first structural member 10 and the second structural member 20 can rotate relative to each other to realize the rotation between the robot joints, such as the rotation connection between the upper arm structural member and the lower arm structural member, the rotation connection between the thigh structural member and the lower leg structural member, the rotation connection between the lower leg structural member and the foot plate structural member, etc. The second structural member 20 has a protruding structure 212. When the second structural member 20 rotates relative to the first structural member 10, the position of the protruding structure 212 also changes accordingly. The protruding structure 212 is used to push the push rod 41.

[0039] The driving mechanism 30 is used to provide power to make the first structural member 10 and the second structural member 20 rotate relative to each other. Specifically, the driving mechanism 30 can drive the second structural member 20 to rotate the second structural member 20 relative to the first structural member 10; or the driving mechanism 30 can drive the first structural member 10 to rotate the first structural member 10 relative to the second structural member 20. For the convenience of explanation and understanding, the following embodiments are described by taking the example of the driving mechanism 30 driving the second structural member 20 to rotate relative to the first structural member 10. The driving mechanism 30 can be a structure such as an articulated servo, which can output rotational motion.

[0040] The trigger 43 is an electrical component, and has a push switch 432. The push switch 432 can be pressed by an external force, thereby triggering the trigger 43. The trigger 43 is fixed to the first structural member 10. It can be understood that the part of the trigger 43 other than the push switch 432 is fixed to the first structural member 10.

[0041] The push rod 41 is a rod-shaped structure, and the push rod 41 is slidably set on the first structural member 10. When the second structural member 20 rotates relative to the first structural member 10, the protruding structure 212 moves synchronously. When the relative position of the first structural member 10 and the second structural member 20 reaches the limit position, the protruding structure 212 pushes the push rod 41 to slide relative to the first structural member 10, so that the push rod 41 presses the trigger 43, the trigger 43 is triggered, and the trigger signal is transmitted to the control component, and the control component controls the driving mechanism 30 to stop moving.

[0042] The elastic member 44 is located between the first structural member 10 and the push rod 41, and always has the force to push the push rod 41 away from the trigger 43. Therefore, during the rotation of the second structural member 20, when the protruding structure 212 does not contact the push rod 41, under the elastic force of the elastic member 44, the push switch 432 of the trigger 43 and the push rod 41 move away from each other, and the second structural member 20 is within the predetermined stroke, so the driving mechanism 30 continues to move; during the rotation of the second structural member 20, when the protruding structure 212 contacts the push rod 41, the second structural member 20 reaches the limit position, the protruding structure 212 compresses the elastic member 44, and the push rod 41 contacts the push switch 432 of the trigger 43, thereby triggering the trigger 43 and stopping the driving mechanism 30.

[0043] The control component is electrically connected to the driving mechanism 30 and the trigger 43. The control component is used to receive the signal of the trigger 43 and transmit the command to the driving mechanism 30 according to the signal. Specifically, when the first structural member 10 and the second structural member 20 rotate relative to the extreme position, the protruding structure 212 pushes the push rod 41, so that the push rod 41 moves relative to the first structural member 10, and then the push rod 41 presses the trigger 43, so that the trigger 43 is triggered, and the signal of the trigger 43 being triggered is transmitted to the control component, and the control component issues a command to stop the driving mechanism 30 according to the trigger signal.

[0044] The robot joint limiting mechanism in the above embodiment includes a first structural member 10, a second structural member 20, a driving mechanism 30, a trigger 43 and a push rod 41. The second structural member 20 and the first structural member 10 are driven to rotate relative to each other by the driving mechanism 30. When the second structural member 20 reaches the limit position relative to the first structural member 10, the protruding structure 212 on the second structural member 20 pushes the push rod 41, and the push rod 41 triggers the trigger 43 accordingly, and then sends a signal to the control component to stop the driving mechanism 30. In this way, the trigger 43 can be pressed when the second structural member 20 reaches the limit position through the cooperation of the protruding structure 212 and the push rod 41 to stop the driving mechanism 30. Since the protruding height of the protruding structure 212 is controllable, the push rod 41 will not collide with the trigger 43, nor will it damage the trigger 43. The robot joint limiting structure in the present invention does not adopt a purely mechanical limiting structure, and does not limit the rotation of the structural member by the collision of the limiting structure. Therefore, it has a long service life, and will not break through the limit position due to structural damage, and has high safety.

[0045] In some embodiments of the present invention, see Figure 1 , Figure 2 and Figure 4The first structural member 10 includes a first connecting portion 11, a second connecting portion 12 and a third connecting portion 13 connected in sequence, the first connecting portion 11 and the third connecting portion 13 are arranged at intervals, the housing of the driving mechanism 30 is fixedly connected to the first connecting portion 11, one side of the second structural member 20 is connected to the motion output end of the driving mechanism 30, and the other side of the second structural member 20 is rotatably supported on the third connecting portion 13; the two ends of the push rod 41 extend into the first connecting portion 11 and the third connecting portion 13 respectively, and the trigger 43 is fixed to the first connecting portion 11 or the third connecting portion 13. The first connecting portion 11 and the second connecting portion 12 are connected at an angle, and the second connecting portion 12 and the third connecting portion 13 are connected at an angle, so that the first connecting portion 11 and the second connecting portion 12 are opposite and arranged at intervals, the first structural member 10 is arranged in a U shape, and one end of the second structural member 20 is located between the first connecting portion 11 and the third connecting portion 13. The motion output end of the driving mechanism 30 can output rotational motion to drive the second structural member 20 to rotate. Since both ends of the push rod 41 extend into the first connection portion 11 and the third connection portion 13 respectively, both ends of the push rod 41 are positioned by the first structure member 10 and can slide relative to the first structure member 10 along the length direction of the push rod 41 .

[0046] By configuring the first structural member 10 to include the first connecting portion 11, the second connecting portion 12, and the third connecting portion 13 connected in sequence, mounting positions are formed for both ends of the push rod 41, and the push rod 41 can slide relative to the first structural member 10. When the push rod 41 is pushed by the protruding structure 212, at least a portion of the push rod 41 gets closer and closer to the trigger 43, thereby pressing the trigger 43.

[0047] In some embodiments, the second connection portion 12 can be connected to other joint servos, and the first structural member 10, the second structural member 20 and the driving mechanism 30 can be driven to rotate together through the other joint servos.

[0048] In some embodiments of the present invention, see Figure 4 and Figure 5The first connection part 11 is provided with a first mounting hole 111, the third connection part 13 is provided with a third mounting hole 131, the two ends of the push rod 41 are respectively located in the first mounting hole 111 and the third mounting hole 131, and the trigger 43 includes a trigger body 431 and a press switch 432. The push rod 41 is at least partially located between the first connection part 11 and the third connection part 13, the first connection part 11 is provided with a first mounting hole 111 on a side facing the third connection part 13, and the third connection part 13 is provided with a third mounting hole 131 on a side facing the first connection part 11, the first mounting hole 111 may penetrate the first connection part 11 along the thickness direction of the first connection part 11 (the first mounting hole 111 is a through hole) or not penetrate the first connection part 11 (the first mounting hole 111 is a blind hole), and the third mounting hole 131 may penetrate the third connection part 13 along the thickness direction of the third connection part 13 (the third mounting hole 131 is a through hole) or not penetrate the third connection part 13 (the third mounting hole 131 is a blind hole). When the push switch 432 of the trigger 43 is pressed, the trigger 43 is triggered. The trigger body 431 can be a fixed structure such as a shell of the trigger 43 .

[0049] The two ends of the push rod 41 are respectively located in the first mounting hole 111 and the third mounting hole 131. In this way, when the push rod 41 moves, the first mounting hole 111 and the third mounting hole 131 can respectively support and guide the two ends of the push rod 41, so that the sliding of the push rod 41 is more stable.

[0050] In some embodiments, see Figure 4 and Figure 5 , the trigger body 431 is fixed in the first mounting hole 111, the elastic member 44 is sleeved on the outer periphery of the push switch 432, and one end of the elastic member 44 abuts against the trigger body 431 or the first connecting portion 11, and the other end of the elastic member 44 abuts against the end of the push rod 41. The trigger 43 is fixed in the first mounting hole 111 of the first connecting portion 11, and can be connected and fixed by a connection method such as threaded connection or interference fit. One end of the elastic member 44 abuts against the trigger body 431 or the first connecting portion 11, which can be understood as one end of the elastic member 44 is fixed, detachably connected, and in contact with the trigger body 431 or the first connecting portion 11. The other end of the elastic member 44 abuts against the end of the push rod 41, which can be understood as the other end of the elastic member 44 is fixed, detachably connected, and in contact with the end of the push rod 41. When the push rod 41 is pushed, the elastic member 44 is compressed, and the end of the push rod 41 gradually approaches the trigger 43, thereby pressing the trigger 43. When the push rod 41 is in a normal state, the elastic member 44 pushes the push rod 41 away from the trigger 43 .

[0051] The trigger 43 is pushed by the end of the push rod 41, and no other trigger structure is required, so the structure of the push rod 41 is simple. Moreover, the elastic member 44 is sleeved on the outer periphery of the push switch 432, and the push switch 432 can be used to guide the expansion and contraction of the elastic member 44.

[0052] In some embodiments, the trigger body 431 is fixed in the third mounting hole 131, the elastic member 44 is sleeved on the outer periphery of the push switch 432, and one end of the elastic member 44 abuts against the trigger body 431 or the third connecting portion 13, and the other end of the elastic member 44 abuts against the end of the push rod 41. One end of the elastic member 44 abuts against the trigger body 431 or the third connecting portion 13, which can be understood as one end of the elastic member 44 is fixed, detachably connected, and in contact with the trigger body 431 or the third connecting portion 13. The other end of the elastic member 44 abuts against the end of the push rod 41, which can be understood as the other end of the elastic member 44 is fixed, detachably connected, and in contact with the end of the push rod 41. When the push rod 41 is pushed, the elastic member 44 is compressed, and the end of the push rod 41 gradually approaches the trigger 43, thereby pressing the trigger 43. When the push rod 41 is in normal state, the elastic member 44 pushes the push rod 41 away from the trigger 43.

[0053] The trigger 43 is pushed by the end of the push rod 41, and no other trigger structure is required, so the structure of the push rod 41 is simple. Moreover, the elastic member 44 is sleeved on the outer periphery of the push switch 432, and the push switch 432 can be used to guide the expansion and contraction of the elastic member 44.

[0054] In some embodiments of the present invention, see Figures 2 to 4 The protruding structure 212 is used to push the middle part of the push rod 41, and the protruding structure 212 is located between the first connecting portion 11 and the third connecting portion 13. The middle part of the push rod 41 refers to the position of the push rod 41 away from both ends of its length, that is, the position between the first connecting portion 11 and the third connecting portion 13. The protruding structure 212 is also located between the first connecting portion 11 and the third connecting portion 13, and can abut against the middle part of the push rod 41.

[0055] In some embodiments of the present invention, the protruding structure 212 is used to push the end of the push rod 41. Specifically, the protruding structure 212 can be used to push any end of the push rod 41. This embodiment includes the following two situations: one end of the push rod 41 is arranged through the first connecting portion 11, the first mounting hole 111 on the first connecting portion 11 is a through hole, and the end of the push rod 41 extends in a direction away from the third connecting portion 13 to form a first extension structure, and the protruding structure 212 is used to push the first extension structure; the other end of the push rod 41 is arranged through the third connecting portion 13, the third mounting hole 131 on the third connecting portion 13 is a through hole, and the end of the push rod 41 extends in a direction away from the first connecting portion 11 to form a third extension structure, and the protruding structure 212 is used to push the third extension structure.

[0056] The protruding structure 212 can contact any position of the push rod 41 and push the push rod 41 along the length direction of the push rod 41. The above is only an example of the pushing position of the push rod 41 and does not limit the present invention.

[0057] In some embodiments of the present invention, see Figure 3 and Figure 5 , a thrust bearing 42 is provided on the push rod 41, the thrust bearing 42 is fixedly connected to the push rod 41, and the thrust bearing 42 is pushed by the protruding structure 212. The thrust bearing 42 is a special bearing used to bear axial force, that is, a bearing used to bear forces parallel to the direction of the axis (the length direction of the push rod 41), and the thrust bearing 42 is also called a thrust bearing. The push rod 41 is arranged through the thrust bearing 42, and the push rod 41 and the thrust bearing 42 can be fixedly connected by a connection method such as an interference fit.

[0058] The thrust bearing 42 can be provided to enable the push rod 41 to withstand a greater axial force, thereby preventing the push rod 41 from being directly pushed axially and causing damage to the push rod 41 .

[0059] In some embodiments of the present invention, the push rod 41 protrudes radially outward to form a step structure for being pushed by the protrusion structure 212. The step structure is protruding from the surface of the push rod 41, and the protrusion structure 212 presses against the surface of the step structure, thereby enabling the push rod 41 to move along its length direction.

[0060] Optionally, the step structure may be an annular step circumferentially surrounding the push rod 41 , or may be a plurality of square steps distributed at intervals and surrounding the push rod 41 in an annular shape.

[0061] In some embodiments of the present invention, see Figure 6The second structural member 20 has a cam surface 21 arranged around its rotation axis, and the cam surface 21 has a base circular surface 211 perpendicular to the length direction of the push rod 41. The push rod 41 and the base circular surface 211 are in contact with each other, and the protruding structure 212 is located on the base circular surface 211. The rotation axis of the second structural member 20 relative to the first structural member 10 is the rotation axis of the second structural member 20. The cam surface 21 can be annular or circular, and the central axis of the cam surface 21 is coaxially arranged with the rotation axis of the second structural member 20. The length direction of the push rod 41 is coaxially arranged with the rotation axis of the second structural member 20, and the cam surface 21 includes the base circular surface 211 and the surface of the protruding structure 212. When the second structural member 20 rotates within a predetermined range, under the action of the elastic member 44, the base circular surface 211 and the push rod 41 (thrust bearing 42) contact each other; when the second structural member 20 rotates to the extreme position, the surface of the protruding structure 212 and the push rod 41 (thrust bearing 42) contact each other, the elastic member 44 is compressed, and one end of the push rod 41 presses the trigger 43, and the trigger signal is transmitted to the control component, and the control component controls the driving mechanism 30 to stop moving.

[0062] The central axis of the cam surface 21 is coaxially arranged with the rotation axis of the second structural member 20 , so that when the second structural member 20 rotates, the cam surface 21 also rotates accordingly, and the position of the protruding structure 212 is easier to calculate and design.

[0063] In some embodiments, the number of the protrusion structures 212 is two, and they are circumferentially spaced and arranged on the cam surface 21. The second structural member 20 has two extreme positions when rotating. When the second structural member 20 reaches one of the extreme positions, one of the protrusion structures 212 pushes the push rod 41, so that the trigger 43 is triggered. When the second structural member 20 reaches the other extreme position, the other protrusion structure 212 pushes the push rod 41, and the trigger 43 is also triggered.

[0064] In some embodiments of the present invention, the trigger 43 is in a normally closed state, that is, the trigger 43 is in a closed state when it is not triggered. When the protruding structure 212 pushes the push rod 41, the push rod 41 presses the trigger 43, and the trigger 43 is triggered. At this time, the trigger 43 is in an open state, and accordingly, the driving mechanism 30 is disconnected. When the trigger 43 is in a normally closed state, the trigger 43 is in a power-off state for a long time, which can make the service life of the trigger 43 longer and the safety performance higher.

[0065] In some embodiments of the present invention, the trigger 43 is in a normally open state, that is, the trigger 43 is in an open state when it is not triggered. When the protruding structure 212 pushes the push rod 41, the push rod 41 presses the trigger 43, and the trigger 43 is triggered. At this time, the trigger 43 is in a closed state, and accordingly, the driving mechanism 30 is disconnected.

[0066] In some embodiments of the present invention, the control component includes a controller and a relay, the controller has a control circuit for controlling the drive mechanism 30, the relay is located on the control circuit, and the trigger 43 is used to control the switch of the relay. The controller is generally a circuit board, and the circuit board has a control circuit for the drive mechanism 30, and the control circuit is used to send instructions to the drive mechanism 30 to start and stop the drive mechanism 30 and adjust the speed. A relay is an electrical control device, which is actually an "automatic switch" that uses a small current to control a large current operation. When the trigger 43 is not triggered, a small current is provided to the relay, and the relay is energized, so that the power supply and the drive mechanism 30 form a loop, and the drive mechanism 30 works normally; when the trigger 43 is triggered, the relay loses current and disconnects, thereby causing the drive mechanism 30 to lose power.

[0067] By setting up the relay, a small current can be used to control the operation of a large current, which provides higher safety performance.

[0068] In some embodiments of the present invention, the control component includes a controller having a control circuit for controlling the drive mechanism 30. The trigger 43 is located on the control circuit. After the trigger 43 is triggered, the control circuit is directly disconnected and the drive mechanism 30 stops working.

[0069] The present invention also provides a robot, the robot comprising the robot joint limiting mechanism in any of the above embodiments. The robot may be an industrial robot, a service robot, a humanoid robot, etc. The number of the robot joint limiting structures may be one or more.

[0070] The robot provided by the present invention adopts the above-mentioned robot joint limiting mechanism, which includes a first structural member 10, a second structural member 20, a driving mechanism 30, a trigger 43 and a push rod 41. The second structural member 20 and the first structural member 10 are driven to rotate relative to each other by the driving mechanism 30. When the second structural member 20 reaches the limit position relative to the first structural member 10, the protruding structure 212 on the second structural member 20 pushes the push rod 41, and the push rod 41 triggers the trigger 43 accordingly, and then sends a signal to the control component to stop the driving mechanism 30. In this way, the trigger 43 can be pressed when the second structural member 20 reaches the limit position through the cooperation of the protruding structure 212 and the push rod 41, and the driving mechanism 30 can be stopped. Since the protruding height of the protruding structure 212 is controllable, the push rod 41 will not collide with the trigger 43 hard, nor will it damage the trigger 43. The robot joint limiting structure in the present invention does not adopt a purely mechanical limiting structure, and does not limit the rotation of the structural parts by the collision of the limiting structure. Therefore, it has a long service life and will not break through the limit position due to structural damage, and has high safety.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot joint limiting mechanism, characterized in that: The invention comprises a first structural member, a second structural member rotatably connected to the first structural member, a driving mechanism for making the first structural member and the second structural member rotate relative to each other, a trigger fixed to the first structural member, a push rod slidably arranged on the first structural member, an elastic member and a control component, wherein the second structural member has a protruding structure for pushing the push rod, the push rod is used to trigger the trigger, the elastic member is located between the first structural member and the push rod, the control component is electrically connected to the driving mechanism and the trigger, and the control component is used to receive a signal from the trigger and transmit instructions to the driving mechanism according to the signal.

2. The robot joint limiting mechanism according to claim 1, characterized in that: The first structural member includes a first connecting part, a second connecting part and a third connecting part which are connected in sequence, the first connecting part and the third connecting part are arranged at intervals, the housing of the driving mechanism is fixedly connected to the first connecting part, one side of the second structural member is connected to the motion output end of the driving mechanism, and the other side of the second structural member is rotatably supported on the third connecting part; both ends of the push rod extend into the first connecting part and the third connecting part respectively, and the trigger is fixed to the first connecting part or the third connecting part.

3. The robot joint limiting mechanism according to claim 2, characterized in that: The first connecting portion is provided with a first mounting hole, the third connecting portion is provided with a third mounting hole, two ends of the push rod are respectively located in the first mounting hole and the third mounting hole, and the trigger includes a trigger body and a press switch; The trigger body is fixed in the first mounting hole, the elastic member is sleeved on the outer periphery of the push switch, one end of the elastic member abuts against the trigger body or the first connecting portion, and the other end of the elastic member abuts against the end of the push rod; or, The trigger body is fixed in the third mounting hole, the elastic member is sleeved on the outer periphery of the push switch, one end of the elastic member abuts against the trigger body or the third connecting portion, and the other end of the elastic member abuts against the end of the push rod.

4. The robot joint limiting mechanism according to claim 2, characterized in that: The protruding structure is used to push the middle portion of the push rod, and the protruding structure is located between the first connecting portion and the third connecting portion.

5. The robot joint limiting mechanism according to any one of claims 1 to 4, characterized in that: The push rod is provided with a thrust bearing, the thrust bearing is fixedly connected to the push rod, and the thrust bearing is used to push the protruding structure.

6. The robot joint limiting mechanism according to any one of claims 1 to 4, characterized in that: The push rod protrudes radially outward to form a step structure for being pushed by the protruding structure.

7. The robot joint limiting mechanism according to any one of claims 1 to 4, characterized in that: The second structural member has a cam surface arranged around its rotation axis, the cam surface has a base circular surface perpendicular to the length direction of the push rod, the push rod and the base circular surface are in contact with each other, and the protruding structure is located on the base circular surface.

8. The robot joint limiting mechanism according to claim 7, characterized in that: The number of the protrusion structures is two, and they are circumferentially spaced apart on the cam surface.

9. The robot joint limiting mechanism according to any one of claims 1 to 4, characterized in that: The control component includes a controller and a relay, wherein the controller has a control circuit for controlling the driving mechanism, the relay is located on the control circuit, and the trigger is used to control the switch of the relay; or, The control component includes a controller having a control circuit for controlling the driving mechanism, and the trigger is located on the control circuit.

10. A robot, characterized in that: It comprises the robot joint limiting mechanism as described in any one of claims 1 to 9.

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