Robot joint limiting mechanism and robot
By introducing a combination of a protruding structure and a push rod trigger into the robot joint limiting device, the hard contact failure problem of purely mechanical limiting structures is solved, resulting in a longer service life and higher safety.
Patent Information
- Application Number
- CN202423137850.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-18
- Publication Date
- 2025-12-05
- Estimated Expiration
- 2034-12-18
AI Technical Summary
Existing robot joint limiting devices use a purely mechanical structure, which leads to a high risk of hard contact failure and may damage structural components and the environment.
It adopts a combined design including a first structural component, a second structural component, a drive mechanism, a trigger, a push rod, and an elastic component. The protruding structure pushes the push rod to trigger the trigger, thereby controlling the drive mechanism to stop working and avoiding hard collisions.
It extends the service life of the limiting structure, improves safety, and avoids damage to structural components and environmental impact.
Smart Images
Figure CN223630381U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the technical field of position limiting, more particularly to a robot joint position limiting mechanism and robot. BACKGROUND
[0002] In the field of robots, each movement joint is controlled by a servo, and the control system indirectly controls the actions of each body structure by controlling the movement of the servo, so that the robot can realize the target function according to the control intention. However, the movement of each local component of the robot body has a certain movement range, and it needs to work within the specified movement range. Once the specified movement range is exceeded, the robot may be damaged locally or damage the surrounding environment, or even injure people nearby.
[0003] In order to ensure the movement range of each component, in addition to the precise control of the controller, a limiting device is also added to the moving component. The current limiting device is a hard limiting structure with a limiting block, or a limiting block with a rubber buffer structure, to limit the movement range, which is a pure mechanical structure. The pure mechanical structure is destructive, and when two parts are in hard contact, the weaker one will increase the risk of failure with the increase of working times, and even the moving part will break through the limiting device, causing damage to itself and the environment. SUMMARY
[0004] The purpose of the embodiment of the utility model is to provide a robot joint position limiting mechanism and robot, to solve the technical problem of increasing risk of limiting failure caused by hard contact of mechanical structure limiting and long-term use in the prior art.
[0005] To achieve the above purpose, the technical scheme adopted by the utility model is: a robot joint position limiting mechanism is provided, which comprises a first structure, a second structure rotatably connected with the first structure, a driving mechanism for relatively rotating the first structure and the second structure, a trigger fixed to the first structure, a push rod slidingly arranged on the first structure, an elastic member, and a control assembly. The second structure has a protruding structure for pushing the push rod, the push rod is used for triggering the trigger, the elastic member is located between the first structure 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 the signal of the trigger and transmitting an instruction to the driving mechanism according to the signal.
[0006] Optionally, the first structure comprises a first connecting portion, a second connecting portion and a third connecting portion connected in sequence, the first connecting portion and the third connecting portion are arranged at intervals, the housing of the driving mechanism is fixedly connected with the first connecting portion, one side of the second structure is connected with the movement output end of the driving mechanism, and the other side of the second structure is rotationally supported on the third connecting portion; the two ends of the push rod respectively extend into the first connecting portion and the third connecting portion, and the trigger is fixed on the first connecting portion or the third connecting portion.
[0007] Optionally, the first connecting portion is provided with a first mounting hole, the third connecting portion is provided with a third mounting hole, the two ends of the push rod are located in the first mounting hole and the third mounting hole respectively, and the trigger comprises 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 press 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 press 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 for pushing the middle part 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 arranged on the push rod, the thrust bearing is fixedly connected with the push rod, and the thrust bearing is pushed by the protruding structure.
[0012] Optionally, the push rod is protruded radially outward to form a stepped structure for the protruding structure to push.
[0013] Optionally, the second structure has a cam surface arranged around the rotation axis thereof, the cam surface has a base circle surface perpendicular to the length direction of the push rod, the push rod is in contact with the base circle surface, and the protruding structure is located on the base circle surface.
[0014] Optionally, the number of the protruding structures is two, and the protruding structures are circumferentially arranged at intervals on the cam surface.
[0015] Optionally, the control assembly comprises 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 for controlling the switch of the relay; or,
[0016] The control assembly includes a controller having a control circuit for controlling the drive mechanism, and the trigger is located on the control circuit.
[0017] The utility model also provides a robot, including the robot joint position limiting mechanism of above.
[0018] The robot joint position limiting mechanism and the robot provided by the utility model have the advantages that compared with the prior art, the robot joint position limiting mechanism comprises a first structural member, a second structural member, a drive 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 drive 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, the push rod correspondingly triggers the trigger, and then sends a signal to a control assembly, so that the drive mechanism stops working. BRIEF DESCRIPTION OF DRAWINGS
[0019] In order to more clearly illustrate the technical scheme in the embodiments of the utility model, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced as follows, obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creative labor.
[0020] Figure 1 The utility model provides a robot joint position limiting mechanism's perspective structure for the embodiment of the utility model Figure 1 ;
[0021] Figure 2 The utility model provides a robot joint position limiting mechanism's perspective structure for the embodiment of the utility model Figure 2 ;
[0022] Figure 3 For Figure 2 The local enlarged view of A in the embodiment of the utility model;
[0023] Figure 4 The utility model provides a robot joint position limiting mechanism's perspective structure for the embodiment of the utility model
[0024] Figure 5 For Figure 4a local enlarged view at B;
[0025] Figure 6 a partial structural view of the second structural member provided by the embodiment of the present utility model.
[0026] In the drawings, various reference numerals refer to various similarly situated items:
[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 circle 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 utility model clearer and more apparent, the present utility model will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and do not limit the present utility model.
[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 terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present utility model and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present utility model.
[0031] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "multiple" is two or more, unless otherwise specifically limited.
[0032] In the field of robots, each movement joint is controlled by a servo, and the control system indirectly controls the action 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 action of each local component of the robot body has a certain movement range, and needs to work within the specified movement range. Once the specified movement range is exceeded, the robot may be partially damaged or damage the surrounding environment, or even injure the surrounding people.
[0033] In order to ensure the movement range of each component, in addition to the precise control of the controller, a limiting device is added to the moving component. The current limiting device is a hard limiting structure of a limiting block, or a limiting block plus a rubber buffer structure, to limit the movement range, that is, a pure mechanical structure. The pure mechanical structure is destructive, and when two pieces are in hard contact, the weaker one of the two pieces will increase the risk of failure with the increase of the number of work, and even the moving component will break through the limiting device, causing damage to itself and the environment.
[0034] In order to alleviate and solve the above technical problems, the robot joint limiting mechanism provided in the embodiments of the present application comprises a first structure 10, a second structure 20, a driving mechanism 30, a trigger 43, a push rod 41, a elastic member 44 and a control assembly. The driving mechanism 30 allows the first structure 10 and the second structure 20 to rotate relative to each other. When the relative position of the first structure 10 and the second structure 20 reaches the limit position, the protruding structure 212 on the second structure 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 structure by hard collision of the limiting structure, so as to protect the structure, and the structure will not be damaged even after long-term use, and the structural strength is high.
[0035] The robot joint limiting mechanism provided in the embodiments of the present application will be described.
[0036] Please refer to Figures 1 to 3 , the robot joint limiting mechanism comprises a first structure 10, a second structure 20 rotatably connected with the first structure 10, a driving mechanism 30 for relatively rotating the first structure 10 and the second structure 20, a trigger 43 fixed to the first structure 10, a push rod 41 slidingly arranged on the first structure 10, an elastic member 44 and a control assembly. The second structure 20 has a protruding structure 212 for pushing the push rod 41, the push rod 41 is used for triggering the trigger 43, the elastic member 44 is located between the first structure 10 and the push rod 41, the control assembly is electrically connected with the driving mechanism 30 and the trigger 43, and the control assembly is used for receiving a signal of the trigger 43 and transmitting an instruction to the driving mechanism 30 according to the signal.
[0037] The first structural member 10 is a structural member in a robot joint, which can be a large arm structural member, a small arm structural member, a large leg structural member, a small leg structural member, etc. The first structural member 10 can be a single part or can be connected by multiple parts.
[0038] The second structural member 20 is also a structural member in a robot joint, which can be a large arm structural member, a small arm structural member, a large leg structural member, a small leg structural member, etc. The second structural member 20 can be a single part or can be connected by multiple parts. The first structural member 10 and the second structural member 20 can rotate relative to each other to realize the rotation between robot joints, such as the rotation connection between a large arm structural member and a small arm structural member, the rotation connection between a large leg structural member and a small leg structural member, the rotation connection between a small leg structural member and a foot plate structural member, etc. The second structural member 20 has a protruding structure 212, which changes position when the second structural member 20 rotates relative to the first structural member 10. 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 relative to the first structural member 10, or the driving mechanism 30 can drive the first structural member 10 to rotate relative to the second structural member 20. For the convenience of explanation and understanding, the following embodiment takes the driving mechanism 30 driving the second structural member 20 to rotate relative to the first structural member 10 as an example for description. The driving mechanism 30 can be a joint rudder or the like structure, which can output rotary motion.
[0040] The trigger 43 is an electrical component. The trigger 43 has a press switch 432, which can be pressed under the action of 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 press switch 432 is fixed to the first structural member 10.
[0041] The push rod 41 is a rod-shaped structure, which is slidingly arranged 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 positions of the first structural member 10 and the second structural member 20 reach 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 a trigger signal is transmitted to the control assembly, which 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 a force to push the push rod 41 away from the trigger 43. Therefore, in the process of the rotation of the second structural member 20, when the convex structure 212 is not in contact with the push rod 41, the pressing switch 432 of the trigger 43 is away from the push rod 41 under the elastic force of the elastic member 44, and the second structural member 20 is in a predetermined stroke, so that the driving mechanism 30 continues to keep moving; in the process of the rotation of the second structural member 20, when the convex structure 212 is in contact with the push rod 41, the second structural member 20 reaches the limit position, the convex structure 212 compresses the elastic member 44, the push rod 41 is in contact with the pressing switch 432 of the trigger 43, and then the trigger 43 is triggered, and the driving mechanism 30 stops moving.
[0043] The control assembly is electrically connected with the driving mechanism 30 and the trigger 43, and is used for receiving a signal of the trigger 43 and transmitting an instruction to the driving mechanism 30 according to the signal. Specifically, when the first structural member 10 and the second structural member 20 are relatively rotated to the limit position, the convex structure 212 pushes the push rod 41, 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, the signal that the trigger 43 is triggered is transmitted to the control assembly, and the control assembly sends an instruction to stop the driving mechanism 30 from working according to the trigger signal.
[0044] The robot joint limiting mechanism in the above embodiment comprises the first structural member 10, the second structural member 20, the driving mechanism 30, the trigger 43 and the push rod 41, the second structural member 20 and the first structural member 10 are relatively rotated by the driving mechanism 30, when the second structural member 20 reaches the limit position relative to the first structural member 10, the convex structure 212 on the second structural member 20 pushes the push rod 41, the push rod 41 correspondingly triggers the trigger 43, and then sends a signal to the control assembly, so that the driving mechanism 30 stops working. In this way, the convex structure 212 and the push rod 41 cooperate to press the trigger 43 when the second structural member 20 reaches the limit position, and the working of the driving mechanism 30 is stopped. Since the convex height of the convex structure 212 is controllable, the push rod 41 will not collide with the trigger 43 hard, and the trigger 43 will not be damaged. The robot joint limiting structure in the utility model does not adopt a pure mechanical limiting structure, and does not limit the rotation of the structural member through the collision of the limiting structure, so that the service life is longer, the limiting structure will not break through the limit position due to structural damage, and the safety is higher.
[0045] In some embodiments of the utility model, please refer to Figure 1 , Figure 2 and Figure 4The first structure 10 comprises 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 in a spaced manner, the housing of the driving mechanism 30 is fixedly connected with the first connecting portion 11, one side of the second structure 20 is connected with the movement output end of the driving mechanism 30, and the other side of the second structure 20 is rotationally supported on the third connecting portion 13; both 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 on 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, the second connecting portion 12 and the third connecting portion 13 are connected at an angle, the first connecting portion 11 and the second connecting portion 12 are arranged in a relative and spaced manner, the first structure 10 is arranged in a U shape, and one end of the second structure 20 is located between the first connecting portion 11 and the third connecting portion 13. The movement output end of the driving mechanism 30 can output rotary movement to drive the second structure 20 to rotate. Since both ends of the push rod 41 extend into the first connecting portion 11 and the third connecting portion 13 respectively, both ends of the push rod 41 are positioned by the first structure 10 and can slide relative to the first structure 10 along the length direction of the push rod 41.
[0046] By arranging the first structure 10 as 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 structure 10. When the push rod 41 is pushed by the protruding structure 212, at least part of the push rod 41 is closer and closer to the trigger 43, and the trigger 43 can be pressed.
[0047] In some embodiments, the second connecting portion 12 can be connected with other joint servos to drive the first structure 10, the second structure 20 and the driving mechanism 30 to rotate together.
[0048] In some embodiments of the utility model, please refer to Figure 4 and Figure 5The first connecting portion 11 is provided with a first mounting hole 111, and the third connecting portion 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. The trigger 43 comprises a trigger body 431 and a press switch 432. The push rod 41 is at least partially located between the first connecting portion 11 and the third connecting portion 13. The first connecting portion 11 is provided with the first mounting hole 111 on the side facing the third connecting portion 13. The third connecting portion 13 is provided with the third mounting hole 131 on the side facing the first connecting portion 11. The first mounting hole 111 can penetrate the first connecting portion 11 along the thickness direction of the first connecting portion 11 (the first mounting hole 111 is a through hole) or not penetrate the first connecting portion 11 (the first mounting hole 111 is a blind hole). The third mounting hole 131 can penetrate the third connecting portion 13 along the thickness direction of the third connecting portion 13 (the third mounting hole 131 is a through hole) or not penetrate the third connecting portion 13 (the third mounting hole 131 is a blind hole). When the press 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. Thus, when the push rod 41 moves, the first mounting hole 111 and the third mounting hole 131 can support and guide the two ends of the push rod 41 respectively, so that the sliding of the push rod 41 is more stable.
[0050] In some embodiments, referring to 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 press switch 432. One end of the elastic member 44 abuts against 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. The trigger 43 is fixed in the first mounting hole 111 of the first connecting portion 11 and can be connected and fixed by thread connection, interference fit, etc. It can be understood that one end of the elastic member 44 is fixed, detachably connected or contacted to the trigger body 431 or the first connecting portion 11. It can be understood that the other end of the elastic member 44 is fixed, detachably connected or contacted to the end of the push rod 41. When the push rod 41 is pushed, the elastic member 44 is compressed, the end of the push rod 41 gradually approaches the trigger 43, and the trigger 43 can be pressed. 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 end of the push rod 41 pushes the trigger 43, and no other triggering structure is needed, so the push rod 41 is simple in structure. Moreover, the elastic member 44 is sleeved on the outer periphery of the press switch 432, and the press switch 432 can 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 press switch 432, 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. The one end of the elastic member 44 abutting against the trigger body 431 or the third connecting portion 13 can be understood as that the one end of the elastic member 44 is fixed, detachably connected or contacted to the trigger body 431 or the third connecting portion 13. The other end of the elastic member 44 abutting against the end of the push rod 41 can be understood as that the other end of the elastic member 44 is fixed, detachably connected or contacted to the end of the push rod 41. When the push rod 41 is pushed, the elastic member 44 is compressed, the end of the push rod 41 gradually approaches the trigger 43, and then the trigger 43 can be pressed. When the push rod 41 is in a normal state, the elastic member 44 pushes the push rod 41 away from the trigger 43.
[0053] The end of the push rod 41 pushes the trigger 43, and no other triggering structure is needed, so the push rod 41 is simple in structure. Moreover, the elastic member 44 is sleeved on the outer periphery of the press switch 432, and the press switch 432 can guide the expansion and contraction of the elastic member 44.
[0054] In some embodiments of the utility model, please refer to Figures 2 to 4 The protruding structure 212 is used for pushing 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 the length, that is, the position between the first connecting portion 11 and the third connecting portion 13, and the protruding structure 212 is also located between the first connecting portion 11 and the third connecting portion 13, so as to abut against the middle part of the push rod 41.
[0055] In some embodiments of the utility model, the protruding structure 212 is used for pushing the end of the push rod 41, and specifically, the protruding structure 212 can be used for pushing any one end of the push rod 41. The present embodiment includes the following two cases: one end of the push rod 41 passes 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 the direction away from the third connecting portion 13 to form a first extension structure, and the protruding structure 212 is used for pushing the first extension structure; the other end of the push rod 41 passes 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 the direction away from the first connecting portion 11 to form a third extension structure, and the protruding structure 212 is used for pushing the third extension structure.
[0056] Wherein, the convex structure 212 can contact with any position of the push rod 41, push the push rod 41 along the length direction of the push rod 41, the above is only an example of the push rod 41 push position, and does not limit the utility model.
[0057] In some embodiments of the utility model, please refer to Figure 3 And Figure 5 The push rod 41 is provided with the thrust bearing 42, the thrust bearing 42 is fixedly connected with the push rod 41, and the thrust bearing 42 is pushed by the convex structure 212.The thrust bearing 42 is a special bearing for bearing axial force, that is, the bearing for bearing the force parallel to the direction of the shaft (the length direction of the push rod 41), and the thrust bearing 42 is also called the thrust bearing.The push rod 41 passes through the thrust bearing 42 and is fixedly connected with the thrust bearing 42 by interference fit or other connecting modes.
[0058] The setting of the thrust bearing 42 can make the axial force that the push rod 41 can bear be greater, so as to avoid that the direct axial pushing of the push rod 41 leads to the damage of the push rod 41.
[0059] In some embodiments of the utility model, the push rod 41 is radially outwardly convex and forms a step structure for the convex structure 212 to push.The step structure is convexly arranged on the surface of the push rod 41, and the surface of the step structure is pressed by the convex structure 212, so that the push rod 41 can move along the length direction.
[0060] Optionally, the step structure can be a ring-shaped step circumferentially surrounding the push rod 41, or a plurality of square steps circumferentially surrounding the ring-shaped and being spacedly distributed.
[0061] In some embodiments of the utility model, please refer to Figure 6, the second structure 20 has a cam surface 21 arranged around the rotation axis of the second structure 20, the cam surface 21 has a base circle surface 211 perpendicular to the length direction of the push rod 41, the push rod 41 is in contact with the base circle surface 211, and the protruding structure 212 is arranged on the base circle surface 211. The rotation axis of the second structure 20 relative to the first structure 10 is the rotation axis of the second structure 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 structure 20. The length direction of the push rod 41 is coaxially arranged with the rotation axis of the second structure 20, and the cam surface 21 includes the base circle surface 211 and the surface of the protruding structure 212. When the second structure 20 rotates within a predetermined range, the base circle surface 211 is in contact with the push rod 41 (the thrust bearing 42) under the action of the elastic member 44; when the second structure 20 rotates to the limit position, the surface of the protruding structure 212 is in contact with the push rod 41 (the thrust bearing 42), the elastic member 44 is compressed, one end of the push rod 41 presses the trigger 43, a trigger signal is transmitted to the control assembly, and the control assembly 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 structure 20, so that the cam surface 21 also rotates correspondingly when the second structure 20 rotates, and the position of the protruding structure 212 is easier to calculate and design.
[0063] In some embodiments, the number of protruding structures 212 is two, and the two protruding structures 212 are circumferentially arranged on the cam surface 21. The second structure 20 has two limit positions when rotating, one of the two protruding structures 212 pushes the push rod 41 when the second structure 20 reaches one of the limit positions, so that the trigger 43 is triggered, and the other protruding structure 212 pushes the push rod 41 when the second structure 20 reaches the other limit position, so that the trigger 43 is triggered.
[0064] In some embodiments of the utility model, the trigger 43 is in a normally closed state, that is, the trigger 43 is in a closed state when not triggered, the push rod 41 presses the trigger 43 when the protruding structure 212 pushes the push rod 41, so that the trigger 43 is triggered, at this time, the trigger 43 is in an open state, and correspondingly, 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, so that the service life of the trigger 43 is longer, and the safety performance is higher.
[0065] In some embodiments of the utility model, the trigger 43 is in a normally open state, that is, the trigger 43 is in an open state when not triggered, the push rod 41 presses the trigger 43 when the protruding structure 212 pushes the push rod 41, so that the trigger 43 is triggered, at this time, the trigger 43 is in a closed state, and correspondingly, the driving mechanism 30 is disconnected.
[0066] In some embodiments of the utility model, control assembly includes controller and relay, controller has control circuit for controlling drive mechanism 30, relay is located on control circuit, trigger 43 is used for controlling switch of relay. Controller is generally circuit board, control circuit of drive mechanism 30 is formed on circuit board, the control circuit is used to send instruction to drive mechanism 30, realizes the start-stop and the adjustment of rotational speed of drive mechanism 30. Relay is a kind of electric control device, it is actually a "automatic switch" for controlling large current operation with small current. When trigger 43 is not triggered, small current is provided to relay, relay is attracted, and power supply and drive mechanism 30 form loop, and drive mechanism 30 works normally;When trigger 43 is triggered, relay loses current, and is disconnected, and then drive mechanism 30 loses power.
[0067] By the setting of relay, large current operation can be controlled by small current, and safety performance is higher.
[0068] In some embodiments of the utility model, control assembly includes controller, controller has control circuit for controlling drive mechanism 30, trigger 43 is located on control circuit, after trigger 43 is triggered, control circuit is directly disconnected, and drive mechanism 30 stops working.
[0069] The utility model also provides a kind of robot, and the robot includes the robot joint limiting mechanism in any embodiment described above. Robot can be industrial robot, service robot, humanoid robot etc. The number of robot joint limiting structure can be one or more.
[0070] The robot provided by the utility model adopts the above-mentioned robot joint limiting mechanism, and the robot joint limiting mechanism includes a first structural member 10, a second structural member 20, a drive 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 drive 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, which in turn triggers the trigger 43, and then sends a signal to the control assembly to stop the drive mechanism 30 from working. In this way, the protruding structure 212 and the push rod 41 cooperate to press the trigger 43 when the second structural member 20 reaches the limit position, stopping the drive mechanism 30 from working. Since the protruding height of the protruding structure 212 is controllable, the push rod 41 will not collide hard with the trigger 43 and will not damage the trigger 43. The robot joint limiting structure in the utility model does not use a pure mechanical limiting structure and does not limit the rotation of the structural member through collision of the limiting structure, so it has a long service life and will not break through the limit position due to structural damage, providing high safety.
[0071] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A robot joint limit mechanism, characterized by: The application relates to a trigger mechanism, which comprises a first structural part, a second structural part rotationally connected with the first structural part, a driving mechanism for relatively rotating the first structural part and the second structural part, a trigger fixed to the first structural part, a push rod slidingly arranged on the first structural part, an elastic member and a control assembly, the second structural part is provided with a convex structure for pushing the push rod, the push rod is used for triggering the trigger, the elastic member is arranged 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 a signal of the trigger and transmitting an instruction to the driving mechanism according to the signal.
2. The robotic joint limit mechanism of claim 1, wherein: The first structural part comprises a first connecting part, a second connecting part and a third connecting part which are sequentially connected, the first connecting part and the third connecting part are arranged at intervals, a housing of the driving mechanism is fixedly connected with the first connecting part, one side of the second structural part is connected with a motion output end of the driving mechanism, and the other side of the second structural part is rotationally supported on the third connecting part; both ends of the push rod respectively extend into the first connecting part and the third connecting part, and the trigger is fixed to the first connecting part or the third connecting part.
3. The robotic joint limit mechanism of claim 2, wherein: The first connecting part is provided with a first mounting hole, the third connecting part is provided with a third mounting hole, both ends of the push rod are located in the first mounting hole and the third mounting hole respectively, and the trigger comprises 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 press switch, one end of the elastic member abuts against the trigger body or the first connecting part, 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 press switch, one end of the elastic member abuts against the trigger body or the third connecting part, and the other end of the elastic member abuts against the end of the push rod.
4. The robotic joint limit mechanism of claim 2, wherein: The convex structure is used for pushing the middle part of the push rod, and the convex structure is located between the first connecting part and the third connecting part.
5. A robot joint limit mechanism according to any one of claims 1-4, characterized in that: A thrust bearing is arranged on the push rod, the thrust bearing is fixedly connected with the push rod, and the thrust bearing is pushed by the convex structure.
6. The robot joint limit mechanism of any of claims 1-4, wherein: The push rod is radially outwardly convex to form a step structure which is pushed by the convex structure.
7. The robotic joint limit mechanism of any of claims 1-4, wherein: The second structural part is provided with a cam surface around the rotation axis thereof, the cam surface is provided with a base circle surface which is perpendicular to the length direction of the push rod, the push rod is in contact with the base circle surface, and the convex structure is located on the base circle surface.
8. The robotic joint limit mechanism of claim 7, wherein: The number of the convex structures is two, and the convex structures are circumferentially arranged at intervals on the cam surface.
9. The robotic joint limit mechanism of any of claims 1-4, wherein: The control assembly comprises a controller and a relay, the controller is provided with a control circuit for controlling the driving mechanism, the relay is located on the control circuit, and the trigger is used for controlling the switch of the relay; or The control assembly comprises a controller, the controller is provided with a control circuit for controlling the driving mechanism, and the trigger is located on the control circuit.
10. A robot, characterized by: A robot joint limit mechanism comprising the robot joint limit mechanism of any one of claims 1-9.