Robot joint limiting structure and robot

Abstract

The application discloses a robot joint limiting structure and a robot. The robot joint limiting structure comprises a first joint body, a second joint body, a driving member, a limiting trigger and a trigger member. The first joint body is provided with a guide part. The second joint body is rotationally connected with the first joint body, and the second joint body is provided with a first spiral part. The driving member is connected with the first joint body and the second joint body respectively. The limiting trigger is arranged on the first joint body and electrically connected with the driving member. The trigger member is provided with a second spiral part and a sliding part. A part of the trigger member is arranged in a mounting hole, and the trigger member can move along the rotation axis direction of the second joint body and the first joint body. When the rotation angle of the second joint body relative to the first joint body is greater than a preset angle, the trigger member triggers the limiting trigger. The application reduces the probability of damage to the robot and the surrounding environment caused by the movement of the movement component beyond the movement range.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a robot joint limiting structure and a robot. Background Technology

[0002] With the development of technology, robots are being used more and more widely, bringing great convenience to people's lives and production.

[0003] In related technologies, to ensure the range of motion of each component of the robot and to prevent control system failure or malfunction, in addition to precise control by the control system, limiting devices are added to the moving parts. These are typically formed by hard limits such as limit blocks, or by using limit blocks with rubber or other cushioning structures to restrict the range of motion. However, limit blocks and similar structures are purely mechanical, meaning they involve hard contact between two components. This means that the weaker component is prone to failure with increasing operational cycles, and the moving part may even break through the limit device, causing damage to itself and the environment, thus affecting the robot's lifespan. Summary of the Invention

[0004] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a robot joint limiting structure and robot.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: In a first aspect, embodiments of this application provide a robot joint limiting structure, which includes: The first joint body has a mounting hole, and a guide part is provided on the wall of the mounting hole; The second joint body is rotatably connected to the first joint body. The second joint body has a connection hole, and a first spiral part is provided on the wall of the connection hole. A driving component is connected to the first joint body and the second joint body respectively. Under the driving action of the driving component, the second joint body can rotate relative to the first joint body by a preset angle. A limit trigger is disposed on the first joint body and electrically connected to the driving component; The trigger has a second spiral part that mates with the first spiral part and a sliding part that mates with the guide part. A portion of the trigger passes through the mounting hole, and the trigger is movable along the rotation axis of the second joint body and the first joint body. Specifically, when the rotation angle of the second joint body relative to the first joint body is greater than the preset angle, the trigger element triggers the limit trigger.

[0006] The robot joint limiting structure provided in this application allows the trigger to move along the rotation axis of the second joint body relative to the first joint body when the second joint body rotates relative to the first joint body. This movement is restricted by the guide and sliding parts. When the rotation angle of the second joint body relative to the first joint body is greater than a preset angle, the trigger presses the limiting trigger, causing it to activate and stopping the drive component. The trigger pressing the limiting trigger effectively achieves soft contact limiting of the moving parts, ensuring the effectiveness of the limiting and reducing the probability of damage to the robot and the surrounding environment caused by the moving parts exceeding their range of motion. This protects the robot and the surrounding environment and improves the reliability of the product.

[0007] In addition, the robot joint limiting structure according to this application may also have the following additional technical features: In one embodiment of the first aspect, the trigger includes a body and a first trigger portion, and the second spiral portion is disposed circumferentially along the body; The sliding part is disposed at one end of the main body facing the limit trigger, the sliding part extends from the end of the main body in a direction away from the main body, and the sliding part is movably disposed on the guide part; The first triggering part and the sliding part are both disposed at the same end of the main body, and the first triggering part can abut against and trigger the limit trigger.

[0008] In one embodiment of the first aspect, the limit trigger includes a switch body and a switch button, the switch button being movably disposed on the switch body for triggering the switch body to turn on or off, and the switch button being disposed opposite to the first triggering part.

[0009] In one embodiment of the first aspect, the trigger further includes a second trigger portion disposed at one end of the sliding portion away from the main body, and the second trigger portion extends along the end of the sliding portion toward the switch body; The limit trigger also includes a lever, which is rotatably disposed on the switch body. The lever includes a first end and a second end opposite to each other. The first end is located between the switch button and the first trigger part, and the second trigger part is disposed close to the second trigger part. The second trigger part can abut against the second end so that the first end can press the switch button. The first trigger portion can abut against the first end portion so that the first end portion can press the switch button.

[0010] In one embodiment of the first aspect, the switch body is provided with a support, and the lever is rotatably connected to the support.

[0011] In one embodiment of the first aspect, a support rod is provided on the lever, and the support rod is rotatably connected to the support. The support is provided with a limiting part, which is located on the side of the support rod away from the switch body.

[0012] In one embodiment of the first aspect, the limiting portion abuts against the side of the support rod away from the switch body.

[0013] In one embodiment of the first aspect, the limit trigger further includes a housing with an opening facing the mounting hole, the switch body and the switch button being located within the housing, and the housing being connected to the first joint body.

[0014] In one embodiment of the first aspect, a plurality of guide portions are provided on the wall of the mounting hole along the radial direction of the mounting hole; The sliding part is provided in multiple ways along the circumference of the trigger member, and the number of the sliding parts is equal to the number of the guide parts.

[0015] In one embodiment of the first aspect, the first joint body is further provided with a through hole; The drive unit includes a housing and an output end. The housing is connected to the first joint body, and the output end passes through the through hole and is connected to the second joint body.

[0016] In one embodiment of the first aspect, the robot joint limiting structure includes a controller electrically connected to both the drive member and the limiting trigger, the controller having a control circuit for controlling the drive member, and the limiting trigger located on the control circuit; or The robot joint limiting structure includes a controller and a relay. The controller has a control circuit for controlling the drive unit, the relay is located on the control circuit, and the limiting trigger is used to control the switching of the relay. Secondly, this application also provides a robot including the robot joint limiting structure described in any of the above embodiments.

[0017] The robot provided in this application stops working when the second joint body rotates at an angle greater than a preset angle relative to the first joint body. At this time, the second joint body stops rotating, preventing the moving parts from exceeding their 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. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This paper shows a three-dimensional structural diagram of a robot joint limiting structure provided in some embodiments of this application. Figure 2 It shows Figure 1 A schematic diagram of the robot joint limiting structure from one perspective; Figure 3 It shows Figure 2 A schematic diagram of the cross-sectional structure along the AA direction shown in the figure; Figure 4 It shows Figure 3 An enlarged structural diagram of part B shown in the figure; Figure 5 The following are schematic diagrams of the trigger elements in some embodiments of this application; Figure 6 A schematic diagram of the structure of the first joint body in some embodiments of this application is shown; Figure 7 The following are schematic diagrams of the structure of limit triggers in some embodiments of this application; Figure 8 This paper shows a schematic diagram of the robot joint limiting structure without limiting triggers according to some embodiments of this application; Figure 9 The control principle diagram of the robot joint limiting structure provided in some embodiments of this application is shown.

[0020] Explanation of key component symbols: 100 - Robot joint limiting structure; 110 - First joint body; 111 - Mounting hole; 112 - Guide part; 113 - Through hole; 120 - Second joint body; 121 - Connection hole; 130 - Drive component; 131 - Housing; 132 - Output end; 140 - Limit trigger; 141 - Switch body; 1411 - Support; 1412 - Limit part; 142 - Switch button; 143 - Lever; 1431 - First end; 1432 - Second end; 1433 - Support rod; 144 - Housing; 1441 - Opening; 150 - Trigger; 151 - Main body; 152 - Sliding part; 153 - First trigger part; 154 - Second trigger part; 160 - Controller; 170 - Control switch; 180 - Power supply. Detailed Implementation

[0021] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0022] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0024] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0025] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] In the field of robotics, each joint is controlled by a servo motor. The robot's control system indirectly controls the movements of various parts of the body by controlling the movement of the servo motors, enabling the robot to achieve its functional goals according to the control intent. Each part of the robot's body has a certain range of motion, operating within this defined range. However, if it exceeds this range, the robot may suffer localized damage, harm its surrounding environment, or even injure people nearby.

[0027] In related technologies, to ensure the range of motion of each component of the robot and to prevent control system failure or malfunction, in addition to precise control by the control system, limiting devices are added to the moving parts. These limiting devices typically form hard limits in the form of limiting blocks, or use limiting blocks with rubber or other cushioning structures. When the moving part rotates a certain angle, the range of motion is limited by the hard contact of the limiting block. However, structures such as limiting blocks are purely mechanical structures, i.e., they employ a hard-on-hard contact structure.

[0028] Researchers have found that hard contact between two components can cause the weaker component to become more susceptible to failure with increasing number of uses. In some cases, the moving parts may even break through the limiting device, causing damage to themselves and the environment, and affecting the robot's lifespan.

[0029] To address the aforementioned technical problems, embodiments of this application provide a robot joint limiting structure 100, primarily applied to robots, such as bionic robots, industrial robots, and service robots. The number of robot joint limiting structures 100 can be one or more.

[0030] like Figures 1 to 3 As shown, the robot joint limiting structure 100 includes a first joint body 110, a second joint body 120, a drive component 130, a limit trigger 140, and a trigger component 150.

[0031] Combination Figure 6 As shown, the first joint body 110 has a mounting hole 111, and a guide portion 112 is provided on the wall of the mounting hole 111. The second joint body 120 is rotatably connected to the first joint body 110, and a connecting hole 121 is provided on the second joint body 120, and a first helical portion is provided on the wall of the connecting hole 121. The drive unit 130 is connected to the first joint body 110 and the second joint body 120 respectively. Under the driving action of the drive unit 130, the second joint body 120 can rotate relative to the first joint body 110 by a preset angle.

[0032] A limit trigger 140 is disposed on the first joint body 110 and is electrically connected to the drive member 130. Exemplarily, the limit trigger 140 is disposed on the control circuit of the drive member 130 to realize the on / off switching of the control circuit.

[0033] The trigger 150 is provided with a second helical portion that mates with the first helical portion, and a sliding portion 152 that mates with the guide portion 112. A portion of the trigger 150 passes through the mounting hole 111, and the trigger 150 is movable along the rotation axis R of the second joint body 120 and the first joint body 110. The first helical portion mates with the second helical portion, that is, the first helical portion and the second helical portion are rotatably connected. When the second joint body 120 rotates, it drives the trigger 150 to move. At the same time, under the restriction and guidance of the guide portion 112 and the sliding portion 152, the trigger 150 moves along the rotation axis R of the second joint body 120 and the first joint body 110. That is, because the sliding portion 152 is movably connected with the guide portion 112, the trigger 150 does not rotate, but under the action of the first helical portion of the second joint body 120, the trigger 150 is driven to move along the rotation axis R of the second joint body 120 and the first joint body 110.

[0034] When the second joint body 120 rotates at an angle greater than a preset angle relative to the first joint body 110, the trigger 150 triggers the limit trigger 140.

[0035] The robot joint limiting structure 100 provided in the embodiments of this application allows the trigger 150 to move along the rotation axis R of the second joint body 120 and the first joint body 110 when the second joint body 120 rotates relative to the first joint body 110. This allows the trigger 150 to move along the rotation axis R of the two joint bodies 120 and 110 until it contacts the limit trigger 140 when the rotation angle of the second joint body 120 relative to the first joint body 110 is equal to a preset angle. When the second joint body 120 continues to rotate relative to the first joint body 110, i.e., when the rotation angle is greater than the preset angle, the trigger 150 presses the limit trigger 140, causing the limit trigger 140 to be triggered and thus stopping the drive member 130. The trigger 150 pressing the limit trigger 140 effectively achieves soft contact limiting the moving parts, ensuring the effectiveness of the limiting and reducing the probability of damage to the robot and its surrounding environment caused by the moving parts exceeding their range of motion. This protects the robot itself and its surrounding environment, improving product reliability.

[0036] Understandably, if the preset angle is 45 degrees, when the second joint body 120 rotates 46 degrees relative to the first joint body 110, the trigger 150 presses the limit trigger 140, causing the limit trigger 140 to be triggered, thereby stopping the drive 130 from working. Of course, the preset angle can be designed according to the range of motion of the robot joint, and the preset angle can also be 30 degrees, 50 degrees, 70 degrees, etc.

[0037] In some embodiments, exemplarily, the first helical portion is an internal thread and the second helical portion is an external thread. Of course, in other embodiments, the first helical portion may also be an internal helical groove and the second helical portion may be a helical protrusion.

[0038] like Figure 4 , Figure 5 and Figure 8 As shown, in some embodiments, the trigger 150 includes a main body 151 and a first trigger portion 153, and a second spiral portion is arranged circumferentially along the main body 151. A sliding portion 152 is disposed at one end of the main body 151 facing the limit trigger 140, and the sliding portion 152 extends from the end of the main body 151 in a direction away from the main body 151. The sliding portion 152 is movably disposed on the guide portion 112. The first trigger part 153 and the sliding part 152 are both provided at the same end of the main body 151, and the first trigger part 153 can abut against the trigger limit trigger 140.

[0039] In this embodiment, when the second joint body 120 rotates relative to the first joint body 110, the trigger 150 is restricted by the guide portion 112 and the sliding portion 152. That is, the guide portion 112 and the sliding portion 152 are movably connected along the rotation axis R of the second joint body 120 and the first joint body 110. In this way, the rotation of the trigger 150 is restricted, so that the trigger 150 can move along the rotation axis R of the second joint body 120 and the first joint body 110.

[0040] When the second joint body 120 rotates relative to the first joint body 110 by an angle equal to a preset angle, the trigger 150 moves along the rotation axis R of the two joint bodies. At this time, the first trigger part 153 comes into contact with the limit trigger 140. When the second joint body 120 continues to rotate relative to the first joint body 110, that is, when the rotation angle is greater than the preset angle, the trigger 150 continues to move along the rotation axis R of the second joint body 120 and the first joint body 110, so that the first trigger part 153 presses the limit trigger 140, causing the limit trigger 140 to be triggered, thereby stopping the drive 130 from working. The trigger 150 pressing the limit trigger 140 avoids the damage to the robot and the surrounding environment that can easily occur with the use of limit blocks for hard contact limiting in related technologies.

[0041] like Figure 5 and Figure 8 As shown, in some embodiments, the guide portion 112 is exemplarily a guide groove, and the sliding portion 152 is a sliding block. Of course, it is not limited to this. In other embodiments, the guide portion 112 can be a guide rail protruding from the wall of the mounting hole 111, and the sliding portion 152 can be a sliding groove having a cooperation with the guide rail.

[0042] like Figure 4 and Figure 7 As shown, in some embodiments, the limit trigger 140 includes a switch body 141 and a switch button 142. The switch button 142 is movably disposed on the switch body 141 and is used to trigger the switch body 141 to turn on or off. The switch button 142 is disposed opposite to the first trigger part 153.

[0043] 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 trigger 150 continues to move along the rotation axis R of the second joint body 120 and the first joint body 110, so that the first trigger part 153 presses the switch button 142, triggering the limit trigger 140 to send a signal to disconnect the control circuit of the drive 130, thereby stopping the drive 130 from working. The trigger 150 presses the limit trigger 140, avoiding the hard contact limit using limit blocks in related technologies.

[0044] like Figure 4 , Figure 5 and Figure 7 As shown, in some embodiments, the trigger 150 further includes a second trigger portion 154, which is disposed at the end of the sliding portion 152 away from the main body 151, and extends along the end of the sliding portion 152 toward the switch body 141.

[0045] The limit trigger 140 also includes a lever 143, which is rotatably disposed on the switch body 141. The lever 143 includes a first end 1431 and a second end 1432 opposite to each other. The first end 1431 is located between the switch button 142 and the first trigger part 153. The second trigger part 154 is disposed close to the second end 1432, so that the first end 1431 can press the switch button 142.

[0046] The first trigger part 153 can abut against the first end part 1431 so that the first end part 1431 can press the switch button 142.

[0047] In this embodiment, the trigger 150 is provided with a second trigger part 154 and a lever 143 structure of the limit trigger 140. Thus, when the second joint body 120 rotates relative to the first joint body 110 by an angle greater than a preset angle in the first direction, the trigger 150 continues to move along the rotation axis R of the second joint body 120 and the first joint body 110, so that the first trigger part 153 presses the first end 1431 of the lever 143, causing the first end 1431 to press the switch button 142, triggering the limit trigger 140 to disconnect the control circuit of the drive member 130, thereby stopping the drive member 130 from working. When the second joint body 120 rotates relative to the first joint body 110 in the second direction by an angle greater than a preset angle, the trigger 150 continues to move along the rotation axis R of the second joint body 120 and the first joint body 110, so that the second trigger part 154 presses the second end 1432 of the lever 143, the lever 143 rotates, and the first end 1431 presses the switch button 142, so that the limit trigger 140 is triggered, so as to send a signal to disconnect the control circuit of the drive 130, thereby stopping the drive 130 from working.

[0048] It should be noted that the first direction and the second direction are opposite; for example, if the first direction is clockwise, the second direction is counterclockwise. Conversely, if the first direction is counterclockwise, the second direction is clockwise. In other words, by providing a second trigger part 154 on the trigger 150 and a lever 143 structure for the limit trigger 140, when the second joint body 120 rotates clockwise or counterclockwise relative to the first joint body 110, if the angle of rotation is greater than a preset angle, the trigger 150 can trigger the limit trigger 140, thereby stopping the drive 130 from working. This stops the rotation of the second joint body 120 relative to the first joint body 110, avoiding the damage to the robot and its surrounding environment that can easily occur with hard-contact limiting using limit blocks in related technologies.

[0049] like Figure 7 As shown, in the above embodiment, exemplarily, a support 1411 is provided on the switch body 141, and the lever 143 is rotatably connected to the support 1411. In this embodiment, the lever 143 is rotatably connected to the support 1411 by the provision of the support 1411.

[0050] In some embodiments, exemplarily, a support rod 1433 is provided on the lever 143, and the support rod 1433 is rotatably connected to the support 1411. The support rod 1433 can be rotatably connected to the support 1411 via a pivot, with the pivot on the support rod 1433 and a pin hole on the support 1411, into which the pivot is rotatably inserted. Alternatively, a bearing can be provided on the pivot and positioned within the pin hole to achieve the rotatable connection between the lever 143 and the support 1411.

[0051] A limiting part 1412 is provided on the support 1411, and the limiting part 1412 is located on the side of the support rod 1433 away from the main body 141.

[0052] In this embodiment, by setting the limiting part 1412, after the first end 1431 of the lever 143 is pressed and returns to the initial position, the limiting part 1412 can abut against the support rod 1433 to limit the lever 143 from continuing to rotate.

[0053] It should be noted that the initial position of lever 143 is the position when lever 143 has not rotated, that is, the position when the first end 1431 has not pressed the switch button 142.

[0054] In some embodiments, exemplarily, the limiting portion 1412 abuts against the side of the support rod 1433 opposite to the control body 141. Of course, in other embodiments, the limiting portion 1412 may also form a gap with the side of the support rod 1433 opposite to the control body 141. This gap allows the lever 143 to continue rotating at a small angle after returning to its initial position. In this case, the limiting portion 1412 abuts against the support rod 1433 to prevent the lever 143 from continuing to rotate. This small angle can be from 1 degree to 5 degrees.

[0055] In the aforementioned embodiment of the rotation of the support rod 1433 and the support 1411, a torsion spring can be provided on the rotating shaft of the support rod 1433. The torsion spring is sleeved on the rotating shaft, with one end abutting against the rotating shaft or the support rod 1433, and the other end abutting against the wall of the pin hole. This allows the lever 143 to be reset to its initial position after rotation.

[0056] like Figure 3 and Figure 4As shown, in some embodiments, the limit trigger 140 further includes a housing 144 with an opening 1441 facing the mounting hole 111. The switch body 141 and the switch button 142 are located inside the housing 144, and the housing 144 is connected to the first joint body 110. The housing 144 facilitates the mounting of the limit trigger 140 onto the first joint body 110 by means of the housing 144. The housing 144 can be fixed to the first joint body 110 by screws. Alternatively, the housing 144 can be fixed to the first joint body 110 by welding or bonding.

[0057] like Figure 8 As shown, in some embodiments, exemplarily, a plurality of guide portions 112 are provided on the wall of the mounting hole 111 along the radial direction of the mounting hole 111. A plurality of sliding portions 152 are provided along the circumference of the trigger member 150, and the number of sliding portions 152 is equal to the number of guide portions 112.

[0058] In this embodiment, for example, two guide portions 112 are provided, and correspondingly, two sliding portions 152 are provided. The two guide portions 112 are symmetrically arranged relative to the axial direction of the mounting hole 111.

[0059] Of course, in other embodiments, three guide portions 112 may be provided, and correspondingly, three sliding portions 152 may be provided. However, this is not the only option; depending on the actual design requirements, one, four, or other guide portions 112 may also be provided.

[0060] like Figure 2 and Figure 3 As shown, in some embodiments, the first joint body 110 also has a through hole 113. Exemplarily, the through hole 113 is disposed opposite to the mounting hole 111.

[0061] The drive unit 130 includes a housing 131 and an output end 132. The housing 131 is connected to the first joint body 110, and the output end 132 passes through the through hole 113 and is connected to the second joint body 120.

[0062] In this embodiment, the drive unit 130 is installed on the second joint body 120 by setting the through hole 113 and the housing 131 of the drive unit 130. The second joint body 120 is rotated relative to the first joint body 110 by rotating the output end 132.

[0063] like Figure 9 As shown, in some embodiments, the robot joint limiting structure 100 includes a controller 160, which is electrically connected to the drive 130 and the limit trigger 140, respectively. The controller 160 has a control circuit for controlling the drive 130, and the limit trigger 140 is located on the control circuit.

[0064] In this embodiment, through the settings of the controller 160, when the limit trigger 140 is triggered, the limit trigger 140 sends a signal to the controller 160, and the controller 160 controls the drive component 130 to stop working according to the received signal from the limit trigger 140. At the same time, the controller 160 can control the drive component 130 to achieve different rotational speeds to control the rotational speed of the second joint body 120.

[0065] like Figure 9 As shown, in some embodiments, the control switch 170, the power supply 180, and the drive 130 form a closed circuit. The control switch 170 is electrically connected to both the limit trigger 140 and the drive 130.

[0066] In this embodiment, for example, the limit trigger 140 is normally closed. The controller 160 receives the signal from the limit trigger 140. At this time, the control switch 170 is closed, and the power supply 180 and the drive unit 130 are connected, forming a closed circuit, and the drive unit 130 operates normally. The control switch 170 normally provides a command signal to the drive unit 130, and the drive unit 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 limit trigger 140 is triggered and opens. At this time, the control switch 170 receives the opening signal from the limit trigger 140, and the control switch 170 also opens. The power supply 180 and the drive unit 130 are not connected, and the drive unit 130 stops working.

[0067] Of course, the limit trigger 140 can also be set to the open state. The control switch 170 is used to receive the signal from the limit trigger 140. At this time, the control switch 170 is closed, the power supply 180 and the drive unit 130 are connected, forming a closed circuit, and the drive unit 130 works normally. The control switch 170 normally gives the drive unit 130 a command signal, and the drive unit 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 limit trigger 140 is triggered and the limit trigger 140 is closed. At this time, the control switch 170 receives the closing signal from the trigger 150, the control switch 170 is opened, the power supply 180 and the drive unit 130 are not connected, and the drive unit 130 stops working. In some embodiments, the robot joint limit structure 100 includes a controller 160 and a relay. The controller 160 has a control circuit for controlling the drive unit 130, the relay is located on the control circuit, and the limit trigger 140 is used to control the switch of the relay.

[0068] The limit trigger 140 is a switch that controls the relay. When energized, the switch closes, providing a small current to the relay, which is in the energized state, forming a circuit between the power supply 180 and the drive unit 130, and the drive unit 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 limit trigger 140 is triggered, the relay loses current and disconnects, thereby stopping the drive unit 130 from working.

[0069] For example, the controller 160 is a circuit board with a control circuit for the drive element 130. This control circuit sends commands to the drive element 130 to start / stop it and adjust its speed. A relay is an "automatic switch" that uses a small current to control a large current. When the limit trigger 140 is not triggered, a small current is supplied to the relay, causing it to engage and forming a circuit between the power supply 180 and the drive element 130, allowing the drive element 130 to operate normally. When the limit trigger 140 is triggered, the relay loses current, disconnects, and the drive element 130 stops working.

[0070] Embodiments of this application also provide a robot, including the robot joint limiting structure 100 in any of the above embodiments.

[0071] In the robot provided in this embodiment, when the second joint body 120 rotates at an angle greater than a preset angle relative to the first joint body 110, the limit trigger 140 is triggered, thereby causing the drive component 130 to stop working. At this time, the second joint body 120 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.

[0072] In some embodiments, exemplarily, the robot is a biomimetic robot, such as a humanoid robot, where the first joint body 110 is the thigh and the second joint body 120 is the lower leg, with the lower leg moving relative to the thigh. As another example, the first joint body 110 is the upper arm and the second joint body 120 is the forearm, with the forearm rotating relative to the upper arm. However, this is not the only possibility; in other embodiments, the first joint body 110 may be other moving parts on the humanoid robot, and the second joint body 120 may be other parts that move relative to the first joint body 110.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0074] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A robot joint limiting structure, characterized in that, include: The first joint body has a mounting hole, and a guide part is provided on the wall of the mounting hole; The second joint body is rotatably connected to the first joint body. The second joint body has a connection hole, and a first spiral part is provided on the wall of the connection hole. A driving component is connected to the first joint body and the second joint body respectively. Under the driving action of the driving component, the second joint body can rotate relative to the first joint body by a preset angle. A limit trigger is disposed on the first joint body and electrically connected to the driving component; The trigger has a second spiral part that mates with the first spiral part and a sliding part that mates with the guide part. A portion of the trigger passes through the mounting hole, and the trigger is movable along the rotation axis of the second joint body and the first joint body. Specifically, when the rotation angle of the second joint body relative to the first joint body is greater than the preset angle, the trigger element triggers the limit trigger.

2. The robot joint limiting structure according to claim 1, characterized in that, The trigger includes a main body and a first trigger portion, and the second spiral portion is arranged circumferentially along the main body; The sliding part is disposed at one end of the main body facing the limit trigger, the sliding part extends from the end of the main body in a direction away from the main body, and the sliding part is movably disposed on the guide part; The first triggering part and the sliding part are both disposed at the same end of the main body, and the first triggering part can abut against and trigger the limit trigger.

3. The robot joint limiting structure according to claim 2, characterized in that, The limit trigger includes a switch body and a switch button. The switch button is movably disposed on the switch body and is used to trigger the switch body to turn on or off. The switch button is disposed opposite to the first triggering part.

4. The robot joint limiting structure according to claim 3, characterized in that, The trigger further includes a second trigger portion, which is disposed at the end of the sliding portion away from the main body, and the second trigger portion extends along the end of the sliding portion toward the switch body; The limit trigger also includes a lever, which is rotatably disposed on the switch body. The lever includes a first end and a second end opposite to each other. The first end is located between the switch button and the first trigger part, and the second trigger part is disposed close to the second trigger part. The second trigger part can abut against the second end so that the first end can press the switch button. The first trigger portion can abut against the first end portion so that the first end portion can be the switch button.

5. The robot joint limiting structure according to claim 4, characterized in that, The switch body is provided with a support, and the lever is rotatably connected to the support.

6. The robot joint limiting structure according to claim 5, characterized in that, The lever is provided with a support rod, and the support rod is rotatably connected to the support. The support is provided with a limiting part, which is located on the side of the support rod away from the switch body.

7. The robot joint limiting structure according to claim 6, characterized in that, The limiting part abuts against the side of the support rod away from the switch body.

8. The robot joint limiting structure according to any one of claims 3 to 6, characterized in that, The limit trigger also includes a housing with an opening facing the mounting hole, the switch body and the switch button are located inside the housing, and the housing is connected to the first joint body.

9. The robot joint limiting structure according to any one of claims 1 to 7, characterized in that, Along the radial direction of the mounting hole, a plurality of guide portions are provided on the hole wall of the mounting hole; The sliding part is provided in multiple ways along the circumference of the trigger member, and the number of the sliding parts is equal to the number of the guide parts.

10. The robot joint limiting structure according to claim 1, characterized in that, The first joint body also has a through hole; The drive unit includes a housing and an output end. The housing is connected to the first joint body, and the output end passes through the through hole and is connected to the second joint body.

11. The robot joint limiting structure according to claim 1, characterized in that, The robot joint limiting structure includes a controller, which is electrically connected to both the drive unit and the limit trigger. The controller has a control circuit for controlling the drive unit, and the limit trigger is located on the control circuit; or The robot joint limiting structure includes a controller and a relay. The controller has a control circuit for controlling the drive unit, the relay is located on the control circuit, and the limit trigger is used to control the switching of the relay.

12. A robot, characterized in that, The robot joint limiting structure includes any one of claims 1 to 11.

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