Robot joint limiting structure and robot

Abstract

The invention provides a robot joint limiting structure and a robot, the robot joint limiting structure comprises a first structural member, a second structural member, a driving mechanism, a trigger, a lever, an elastic member and a control assembly, the lever has a first position, a second position and a third position, the first position is used for pressing the trigger, and the second position is used for pressing the elastic member; the third position is rotationally connected with the first structural part, the second structural part is provided with a protruding structure used for pushing the second position, the elastic part is located between the first structural part and the first position, the control assembly is electrically connected with the driving mechanism and the trigger, and the control assembly is used for receiving a signal of the trigger and transmitting an instruction to the driving mechanism according to the signal. According to the robot joint limiting structure and the robot, 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 and the robot are long in service life, the limiting position cannot be broken through due to structural damage, 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 structure 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 limit structure and a robot, so as to solve the technical problem in the prior art that the mechanical structure limit is hard contact and the risk of limit 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 structure, 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 lever, an elastic member and a control component, the lever having a first position, a second position and a third position, the first position being used to trigger the trigger, the third position being rotatably connected to the first structural member, the second structural member having a protruding structure for pushing the second position, the elastic member being located between the first structural member and the first position, 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 position, the second position and the third position are arranged in sequence along the length direction of the lever; or, the first position, the third position and the second position are arranged in sequence along the length direction of the lever.

[0007] Optionally, the third position is connected to the first structural member via a first spherical bearing; and / or a second spherical bearing is fixed to the second position.

[0008] Optionally, the first structural member has a groove structure, the trigger is fixed inside the groove structure, and one end of the elastic member abuts against an inner wall of the groove structure.

[0009] Optionally, the side wall of the groove structure is provided with a side opening for the lever to extend into, the bottom wall of the side opening is used to stop the lever, and the length of the trigger's push switch extending out of the bottom wall of the side opening is less than the maximum stroke of the trigger's push switch.

[0010] Optionally, the lever forms a trigger portion along its radial protrusion at the first position, and the trigger portion is used to press and trigger the trigger. The length of the trigger portion is smaller than the length of the press switch of the trigger extending out of the bottom wall of the side opening.

[0011] Optionally, the outer wall of the second structural member is provided with two cam structures, and the two protruding structures are both formed by the base circle of the cam structure protruding radially outward.

[0012] Optionally, the first structural member includes a first connecting part, a second connecting part and a third connecting part 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, the other side of the second structural member is rotatably supported on the third connecting part, the trigger is fixed to one of the first connecting part and the second connecting part, and the third position is rotatably connected to the other of the first connecting part and the second connecting part.

[0013] 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,

[0014] The control component includes a controller having a control circuit for controlling the driving mechanism, and the trigger is located on the control circuit.

[0015] The present invention also provides a robot, comprising the above-mentioned robot joint limiting structure.

[0016] The beneficial effects of the robot joint limiting structure and the robot provided by the present invention are as follows: compared with the prior art, the robot joint limiting structure of the present invention includes a first structural member and a second structural member that can rotate relative to each other, a lever is rotationally connected to the first structural member at its first position, is pushed by a protruding structure on the second structural member at its second position, and can press a trigger at its third position, so that the trigger can be pressed when the second structural member reaches the limit position through the cooperation of the protruding structure and the lever to stop the operation of the driving mechanism, and because the protruding height of the protruding structure is controllable, the lever 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

[0017] 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.

[0018] Figure 1 A three-dimensional structural diagram of a robot joint limiting structure provided by an embodiment of the present invention;

[0019] Figure 2 A three-dimensional cross-sectional view of a robot joint limiting structure provided by an embodiment of the present invention;

[0020] Figure 3 A side sectional view of a robot joint limiting structure provided by an embodiment of the present invention;

[0021] Figure 4 for Figure 3 A partial enlarged view of the middle A;

[0022] Figure 5 A three-dimensional structural diagram of a lever and a spherical bearing provided in an embodiment of the present invention;

[0023] Figure 6 A side view of a second structural member provided in an embodiment of the present invention.

[0024] Among them, the reference numerals in the figure are:

[0025] 10-first structural member; 11-first connecting portion; 111-groove structure; 112-side opening; 12-second connecting portion; 13-third connecting portion; 20-second structural member; 21-cam structure; 211-base circle; 22-protrusion structure; 30-driving mechanism; 41-lever; 411-first position; 412-second position; 413-third position; 414-trigger portion; 42-first spherical bearing; 43-second spherical bearing; 44-trigger; 441-press switch; 45-elastic member. DETAILED DESCRIPTION

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] In order to alleviate or solve the above technical problems, the present invention proposes a robot joint limiting structure, including a first structural member 10, a second structural member 20, a driving mechanism 30, a trigger 44, a lever 41, an elastic member 45 and a control component. The driving mechanism 30 can make the first structural member 10 and the second structural member 20 rotate relative to each other. When the two rotate relative to each other to the extreme position, the protruding structure 22 pushes the lever 41, so that the lever 41 presses the trigger 44, and the trigger 44 is triggered, thereby stopping the movement of the driving mechanism 30. There is no need to use the hard collision of the limiting structure to stop the structural member, thereby protecting the structural member, and no structural damage will occur during long-term use. The structural strength is relatively high.

[0033] The robot joint limiting structure provided in the embodiment of the present invention is now described.

[0034] Please also read Figures 1 to 3 The robot joint limiting structure includes a first structural member 10, a second structural member 20 rotatably connected to the first structural member 10, a driving mechanism 30 for relative rotation of the first structural member 10 and the second structural member 20, a trigger 44 fixed to the first structural member 10, a lever 41, an elastic member 45 and a control component, wherein the lever 41 has a first position 411, a second position 412 and a third position 413, wherein the first position 411 is used to trigger the trigger 44, and the third position 413 is rotatably connected to the first structural member 10, and the second structural member 20 has a protruding structure 22 for pushing the second position 412, and the elastic member 45 is located between the first structural member 10 and the first position 411, and the control component is electrically connected to the driving mechanism 30 and the trigger 44, and the control component is used to receive a signal from the trigger 44 and transmit instructions to the driving mechanism 30 according to the signal.

[0035] 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.

[0036] 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 22. When the second structural member 20 rotates relative to the first structural member 10, the position of the protruding structure 22 also changes accordingly.

[0037] 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.

[0038] The trigger 44 is an electrical component, and includes a trigger body and a push switch 441. The push switch 441 can move relative to the trigger body 44 under the action of an external force, thereby triggering the trigger 44. The trigger body can be the outer shell and internal circuit components of the trigger 44. The trigger 44 is fixed to the first structural member 10, and it can be understood that the trigger body of the trigger 44 is fixed to the first structural member 10.

[0039] The lever 41 is a rod-shaped structure, and the shape of its cross section is not specifically limited. The lever 41 has a first position 411, a second position 412, and a third position 413, which does not mean that the first position 411, the second position 412, and the third position 413 are sequentially distributed along the length direction of the lever 41. The third position 413 of the lever 41 is rotatably connected to the first structural member 10. When the relative position of the second structural member 20 and the first structural member 10 reaches the limit state, the protruding structure 22 pushes the second position 412 of the lever 41 to rotate the lever 41, thereby causing the first position 411 of the lever 41 to press the trigger 44, causing the trigger 44 to be triggered, thereby causing the driving mechanism 30 to stop working.

[0040] The elastic member 45 is located between the first structural member 10 and the first position 411 of the lever 41, and always has a force to push the first position 411 of the lever 41 away from the trigger 44. Therefore, during the rotation of the second structural member 20, when the protruding structure 22 is not in contact with the lever 41, under the elastic force of the elastic member 45, the pressing switch 441 of the trigger 44 and the first position 411 of the lever 41 are separated 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 22 is in contact with the lever 41, the second structural member 20 reaches the limit position, the protruding structure 22 compresses the elastic member 45, and the protruding structure 22 is in contact with the pressing switch 441 of the trigger 44, thereby triggering the trigger 44 and stopping the driving mechanism 30.

[0041] The control component is electrically connected to the driving mechanism 30 and the trigger 44, and is used to receive a signal from the trigger 44 and transmit an instruction 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 each other to an extreme state, the protruding structure 22 pushes the second position 412 of the lever 41 to rotate the lever 41, thereby causing the first position 411 of the lever 41 to press the trigger 44, causing the trigger 44 to be triggered. The signal of the trigger 44 being triggered is transmitted to the control component, and the control component issues an instruction to stop the driving mechanism 30 according to the trigger signal.

[0042] The robot joint limiting structure in the above embodiment includes a first structural member 10 and a second structural member 20 that can rotate relative to each other, a lever 41 is rotatably connected to the first structural member 10 at its first position 411, is pushed by the protruding structure 22 on the second structural member 20 at its second position 412, and can press the trigger 44 at its third position 413. In this way, the trigger 44 can be pressed when the second structural member 20 reaches the limit position through the cooperation of the protruding structure 22 and the lever 41 to stop the operation of the driving mechanism 30. Since the protruding height of the protruding structure 22 is controllable, the lever 41 will not collide with the trigger 44, nor will it damage the trigger 44. 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 longer service life, and will not break through the limit position due to structural damage, and has higher safety.

[0043] In some embodiments of the present invention, the trigger 44 is in a normally closed state, that is, the trigger 44 is in a closed state when it is not triggered. When the protruding structure 22 pushes the second position 412 of the lever 41, the protruding structure 22 presses the trigger 44, and the trigger 44 is triggered. At this time, the trigger 44 is in an open state, and accordingly, the driving mechanism 30 is disconnected. When the trigger 44 is in a normally closed state, the trigger 44 is in a power-off state for a long time, which can make the service life of the trigger 44 longer and the safety performance higher.

[0044] In some embodiments of the present invention, the trigger 44 is in a normally open state, that is, the trigger 44 is in an open state when it is not triggered. When the protrusion structure 22 pushes the lever 41 to the second position 412, the protrusion structure 22 presses the trigger 44, and the trigger 44 is triggered. At this time, the trigger 44 is in a closed state, and accordingly, the drive mechanism 30 is disconnected.

[0045] In some embodiments of the present invention, see Figure 2 and Figure 5 , the first position 411, the second position 412 and the third position 413 are sequentially arranged along the length direction of the lever 41. The second position 412 is arranged between the first position 411 and the third position 413, and the third position 413 is rotatably connected to the first structural member 10, then one end of the lever 41 is rotatably connected to the first structural member 10, and the middle part (the second position 412) of the lever 41 is pushed by the protruding structure 22. Among them, the distance between the first position 411 and the third position 413 is L, the distance between the first position 411 and the second position 412 is L1, and the distance between the second position 412 and the third position 413 is L2. In this way, when the protruding height of the protruding structure 22 is H, the displacement of the second position 412 of the lever 41 is H, and accordingly, the displacement of the first position 411 of the lever 41 is (HL) / L2, and the displacement of the first position 411 of the lever 41 is greater than the displacement H of the second position 412. Therefore, when the protrusion height of the protrusion structure 22 is small, the trigger 44 can still be pressed, that is, the protrusion height of the protrusion structure 22 can be set to be small.

[0046] When the second structural member 20 rotates to the extreme position, the protruding structure 22 pushes the middle position (second position 412) of the lever 41, and the end position (first position 411) of the lever 41 pushes the trigger 44. Therefore, the movement stroke can be enlarged by the lever 41, and the protruding height of the protruding structure 22 can be set smaller.

[0047] In some embodiments, the first position 411 and the third position 413 are the two ends of the lever 41, and the second position 412 is the midpoint of the lever 41 in its length direction. Under the premise that the displacement at the first position 411 can be multiplied, the thrust required by the protruding structure 22 for the second position 412 will not be too large, thereby reducing the resistance of the second structural member 20 when it rotates to the extreme position.

[0048] In other embodiments, the second position 412 may be located at one-third, two-thirds, etc. of the structure of the lever 41 .

[0049] In some embodiments of the present invention, the first position 411, the third position 413, and the second position 412 are sequentially arranged along the length direction of the lever 41. It can be understood that the middle position (the third position 413) of the lever 41 is rotatably connected to the first structural member 10, one end (the second position 412) of the lever 41 is pushed by the protruding structure 22, and the other end of the lever 41 is used to press the trigger 44, similar to a seesaw structure.

[0050] In some embodiments of the present invention, see Figure 1 , Figure 2 and Figure 5 , the third position 413 is connected to the first structural member 10 through the first spherical bearing 42; and / or, a second spherical bearing 43 is fixed to the second position 412. This embodiment includes the following three situations: 1. The third position 413 is connected to the first structural member 10 through the first spherical bearing 42; 2. The second spherical bearing 43 is fixed to the second position 412; 3. The third position 413 is connected to the first structural member 10 through the first spherical bearing 42, and at the same time, a second spherical bearing 43 is fixed to the second position 412. Among them, the spherical bearing is also called a fisheye bearing. The spherical bearing includes a bearing outer ring and a bearing inner ring. The contact surface between the bearing outer ring and the bearing inner ring is a spherical surface, that is, the bearing inner ring can be universally driven relative to the bearing outer ring. When the third position 413 is connected to the first structural member 10 through the first spherical bearing 42, the lever 41 passes through the bearing inner ring of the first spherical bearing 42, and the bearing outer ring of the first spherical bearing 42 is fixedly connected to the first structural member 10. When the second spherical bearing 43 is fixed on the second position 412 , the lever 41 passes through the inner ring of the second spherical bearing 43 , and the protruding structure 22 can abut against the outer ring of the second spherical bearing 43 .

[0051] By providing the first spherical bearing 42, a universal connection between the lever 41 and the first structural member 10 can be achieved, so that the lever 41 can rotate more smoothly to prevent the lever 41 from getting stuck. By providing the second spherical bearing 43, the rotation of the lever 41 does not affect the pushing of the protruding structure 22 on the second position 412.

[0052] In some embodiments, the first structural member 10 has a mounting hole, and the outer peripheral wall of the bearing outer ring of the first spherical bearing 42 is fixed to the above-mentioned mounting hole.

[0053] In other embodiments, the third position 413 of the lever 41 may be hinged to the first structure 10 via a hinge structure.

[0054] In some embodiments of the present invention, see Figure 3 and Figure 4 The first structural member 10 has a groove structure 111, the trigger 44 is fixed inside the groove structure 111, and one end of the elastic member 45 abuts against the inner wall of the groove structure 111. The groove structure 111 has a top opening, and the top opening is arranged opposite to the bottom wall of the groove structure 111. The press switch 441 of the trigger 44 is exposed through the top opening, so that the first position 411 of the lever 41 enters the top opening to press, or the press switch 441 of the trigger 44 is pressed against the top opening outside the groove. One end of the elastic member 45 abuts against the inner wall of the groove structure 111, that is, against the first structural member 10, and the other end of the elastic member 45 abuts against the first position 411 of the lever 41.

[0055] By providing the groove structure 111 , the trigger 44 can be wrapped inside the first structural member 10 , thereby protecting the trigger 44 from being damaged by other external structures or accidentally triggering the trigger 44 .

[0056] In some embodiments, only one side of the groove structure 111 has an opening, and the opening is the top opening mentioned above.

[0057] In some embodiments, the three sides of the groove structure 111 are open, one of which is the top opening mentioned above, and the remaining two side openings 112 are located at the side walls of the groove structure 111. The side openings 112 at the side walls of the groove structure 111 allow the lever 41 to enter the interior of the groove structure 111, which has a certain guiding effect on the lever 41.

[0058] Optionally, the side opening 112 of the groove structure 111 does not penetrate the side wall of the groove structure 111 , so that at least a portion of the side wall of the trigger 44 is blocked to protect the trigger 44 .

[0059] In some embodiments of the present invention, see Figure 3 and Figure 4The side wall of the groove structure 111 is provided with a side opening 112 for the lever 41 to extend into, and the bottom wall of the side opening 112 is used to stop the lever 41. The length of the push switch 441 of the trigger 44 extending out of the bottom wall of the side opening 112 is less than the maximum stroke of the push switch 441 of the trigger 44. The first position 411 of the lever 41 can enter the interior of the groove structure 111 through the side opening 112. The lever 41 is a long strip structure. When the lever 41 is pushed, its first position 411 will gradually approach the trigger 44 along the depth direction of the groove structure 111, that is, gradually approach the bottom wall of the side opening 112. Even after the lever 41 and the bottom wall of the side opening 112 contact each other, the lever 41 will not continue to move, which can protect the trigger 44. Generally speaking, when the second structural member 20 is in the extreme position, the lever 41 will not contact the bottom wall of the side opening 112. The bottom wall of the side opening 112 may block the lever 41 when there are other objects attached to the surface of the protruding structure 22. The length of the push switch 441 of the trigger 44 extending out of the bottom wall of the side opening 112 refers to the length of the push switch 441 extending out of the bottom wall of the side opening 112 when the trigger 44 is in a natural state. The maximum travel of the push switch 441 of the trigger 44 refers to the maximum travel of the push switch 441 when it is not damaged.

[0060] The side opening 112 can guide the movement of the lever 41 to prevent the lever 41 from shaking and failing to align with the first trigger 44. Moreover, the bottom wall of the side opening 112 can stop the lever 41, and even if other objects are attached to the surface of the protruding structure 22, causing the maximum displacement of the first position 411 of the lever 41 to exceed the predetermined displacement, the trigger 44 will not be damaged. The length of the push switch 441 of the trigger 44 extending out of the bottom wall of the side opening 112 is less than the maximum travel of the push switch 441 of the trigger 44, so that the trigger 44 can be protected and the push switch 441 of the trigger 44 will not be damaged.

[0061] In some embodiments of the present invention, see Figure 3 and Figure 4The lever 41 protrudes along its radial direction at the first position 411 to form a trigger portion 414, which is used to press the trigger 44. The length of the trigger portion 414 is less than the length of the bottom wall of the press switch 441 of the trigger 44 extending out of the side opening 112. The trigger portion 414 is provided at the first position 411 of the lever 41. When the lever 41 is pushed at the second position 412, the trigger portion 414 presses the trigger 44, so that the trigger 44 is triggered. The length of the trigger portion 414 refers to the size of the trigger portion 414 along the radial direction of the lever 41. When the lever 41 contacts the bottom wall of the side opening 112 of the groove structure 111, the trigger portion 414 completely passes over the side opening 112 to the bottom of the groove structure 111. If the press switch 441 of the trigger 44 is completely exposed through the side opening 112 and part of the shell of the trigger 44 is exposed through the side opening 112, the trigger 44 will be damaged.

[0062] By setting the triggering portion 414 , the triggering portion 414 can be extended into the interior of the groove structure 111 to press the triggering portion 414 , and the lever 41 can be guided without affecting the pressing and triggering of the triggering portion 414 .

[0063] In some embodiments, the cross-section of the trigger portion 414 is circular, square, or other shapes, and its specific structure is not limited here.

[0064] In some embodiments of the present invention, see Figure 6 The outer wall of the second structural member 20 has two cam structures 21, and the two protruding structures 22 are formed by the base circle 211 of the cam structure 21 protruding radially outward. The two protruding structures 22 are arranged at intervals. When the second structural member 20 rotates to the first extreme position relative to the first structural member 10, one of the protruding structures 22 pushes the second position 412 of the lever 41, so that the first position 411 of the lever 41 presses the trigger 44. When the second structural member 20 rotates to the second extreme position relative to the first structural member 10, the other protruding structure 22 pushes the second position 412 of the lever 41, so that the first position 411 of the lever 41 presses the trigger 44.

[0065] By providing the two protruding structures 22 , the second structural member 20 has two extreme positions for rotation relative to the first structural member 10 , and the second structural member 20 can be prevented from exceeding a predetermined rotation position when rotating forward or reversely.

[0066] In some embodiments, the central axis of the cam structure 21 may coincide with the rotational central axis of the second structural member 20, and accordingly, the central axis of the base circle 211 of the cam structure 21 also coincides with the rotational central axis of the second structural member 20. In this way, the required protrusion height of the protrusion structure 22 can be easily designed and calculated.

[0067] In some embodiments of the present invention, see Figures 1 to 3 The 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, the other side of the second structural member 20 is rotatably supported on the third connecting portion 13, the trigger 44 is fixed to one of the first connecting portion 11 and the second connecting portion 12, and the third position 413 is rotatably connected to the other of the first connecting portion 11 and the second connecting portion 12. 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 arranged oppositely and 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.

[0068] The third position 413 of the lever 41 is rotationally connected to one of the first connection part 11 and the second connection part 12, and the first position 411 of the lever 41 is close to the trigger 44 (the other of the first connection part 11 and the second connection part 12), and the other structures of the lever 41 are located between the first connection part 11 and the second connection part 12, providing an accommodation space for the lever 41 without affecting the layout of other components.

[0069] 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.

[0070] 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 44 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 44 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 44 is triggered, the relay loses current and disconnects, thereby causing the drive mechanism 30 to lose power.

[0071] By setting up the relay, a small current can be used to control the operation of a large current, which provides higher safety performance.

[0072] 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 44 is located on the control circuit. After the trigger 44 is triggered, the control circuit is directly disconnected and the drive mechanism 30 stops working.

[0073] The present invention also provides a robot, the robot comprising the robot joint limiting structure 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.

[0074] The robot provided by the present invention adopts the above-mentioned robot joint limiting structure, which includes a first structural member 10 and a second structural member 20 that can rotate relative to each other, a lever 41 is rotatably connected with the first structural member 10 at its first position 411, is pushed by the protruding structure 22 on the second structural member 20 at its second position 412, and can press the trigger 44 at its third position 413, so that the trigger 44 can be pressed when the second structural member 20 reaches the limit position through the cooperation of the protruding structure 22 and the lever 41, and the operation of the driving mechanism 30 is stopped. Since the protruding height of the protruding structure 22 is controllable, the lever 41 will not collide with the trigger 44, nor will it damage the trigger 44. 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 long service life, and will not break through the limit position due to structural damage, and has high safety.

[0075] In some embodiments of the present invention, the robot is a humanoid robot, and the first structural member 10 and the second structural member 20 may be a thigh structural member and a calf structural member, respectively; or, the first structural member 10 and the second structural member 20 may be an upper arm structural member and a lower arm structural member, respectively.

[0076] 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 structure, 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 lever, an elastic member and a control component, wherein the lever has a first position, a second position and a third position, the first position is used to trigger the trigger, the third position is rotatably connected to the first structural member, the second structural member has a protruding structure for pushing the second position, the elastic member is located between the first structural member and the first position, 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 structure according to claim 1, characterized in that: The first position, the second position and the third position are arranged in sequence along the length direction of the lever; or the first position, the third position and the second position are arranged in sequence along the length direction of the lever.

3. The robot joint limiting structure according to claim 1, characterized in that: The third position is connected to the first structural member via a first spherical bearing; and / or a second spherical bearing is fixed to the second position.

4. The robot joint limiting structure according to claim 1, characterized in that: The first structural member has a groove structure, the trigger is fixed inside the groove structure, and one end of the elastic member abuts against an inner wall of the groove structure.

5. The robot joint limiting structure according to claim 4, characterized in that: The side wall of the groove structure is provided with a side opening for the lever to extend into, the bottom wall of the side opening is used to stop the lever, and the length of the trigger push switch extending out of the bottom wall of the side opening is less than the maximum stroke of the trigger push switch.

6. The robot joint limiting structure according to claim 5, characterized in that: The lever protrudes radially at the first position to form a trigger portion, which is used to press and trigger the trigger. The length of the trigger portion is smaller than the length of the press switch of the trigger extending out of the bottom wall of the side opening.

7. The robot joint limiting structure according to any one of claims 1 to 6, characterized in that: The outer wall of the second structural member is provided with two cam structures, and the two protruding structures are both formed by the base circle of the cam structure protruding radially outward.

8. The robot joint limiting structure according to any one of claims 1 to 6, 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, the other side of the second structural member is rotatably supported on the third connecting part, the trigger is fixed to one of the first connecting part and the second connecting part, and the third position is rotatably connected to the other of the first connecting part and the second connecting part.

9. The robot joint limiting structure according to any one of claims 1 to 6, 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 structure as described in any one of claims 1 to 9.

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