Safety limiting device of mechanical arm

Abstract

The utility model belongs to the technical field of mechanical arm accessories, and particularly relates to a safety limiting device of a mechanical arm. A rotating seat for bearing the mechanical arm is arranged on the rotating table; a first driving end connected with the rotating seat is arranged in the rotating table, and a plurality of angle limiting strip holes are formed in the surface of the rotating table; the angle limiting strip holes are distributed in the radial direction of the rotating table. A pull block is arranged at the end part of the outer side of the rotating seat; the pull block is connected with the elastic limiting block; the elastic limiting block is located in any angle limiting hole. A pull block capable of being horizontally adjusted is arranged on a rotating seat, and the pull block is connected with an elastic limiting block; meanwhile, a plurality of angle limiting strip-shaped holes are formed in the rotating table, and the length ranges of the angle limiting strip-shaped holes are different; by operating the pull block, the elastic limiting block can be located in the limiting strip hole of any angle, moving spaces in different length ranges are achieved, and then the rotating base can have different rotating angle ranges.

Description

Technical Field

[0001] This utility model relates to a safety limiting device, specifically a safety limiting device for a robotic arm, and belongs to the technical field of robotic arm accessories. Background Technology

[0002] Robotic arms, due to their flexibility and precision, have been widely used in various industries. The horizontal rotation of multiple joints in a robotic arm is typically controlled by motors. However, factors such as control precision and motor quality can cause the robotic arm to malfunction, potentially leading to excessive horizontal rotation and collisions with workpieces or supports, resulting in damage. Therefore, limiting the movement angle of the robotic arm is necessary as a safety measure. However, existing technologies for limiting the movement angle of robotic arms are usually limited to a certain range, which is quite restrictive. For example, Chinese Patent Document CN111788046B discloses a limiting device, robotic arm, and robot. This patent uses the cooperation of rotating components to stop the rotation of the rotating components after exceeding a predetermined angle through a stop. However, the position of the stop in this patent is fixed, so the predetermined rotation angle is also fixed. When installed on a robotic arm, it can only be used for a specific type of workpiece, resulting in poor adaptability to the entire production process.

[0003] Therefore, further improvements are needed. Utility Model Content

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and propose a safety limiting device for a robotic arm. This device offers a variety of angle range options, a wide range of applications, convenient and quick adjustment, and a simple and reasonable structure.

[0005] A safety limiting device for a robotic arm includes a rotating platform; a rotating seat for supporting the robotic arm is provided on the rotating platform; a first driving end connected to the rotating seat is provided inside the rotating platform; a plurality of angle limiting strip holes are provided on the surface of the rotating platform; the angle limiting strip holes are distributed radially along the rotating platform; a pull block is provided at the outer end of the rotating seat; the pull block is connected to an elastic limiting block; the elastic limiting block is located within any angle limiting hole.

[0006] Furthermore, a concave groove is provided at the inner end of the pull block; a sliding groove is provided on one side of the rotating seat opposite the pull block; the pull block is slidably connected in the sliding groove.

[0007] Furthermore, the pull block has protrusions on both sides; the inner wall of the slide groove has a guide groove; the protrusions slide within the guide groove.

[0008] Furthermore, a spring is provided inside the guide groove; the spring is connected to the protrusion; and the elastic limiting block is disposed between the concave grooves.

[0009] Furthermore, the two sides of the elastic limiting block are rotatably connected between the concave grooves via a rotating shaft; a torsion spring is provided on the rotating shaft; the end of the elastic limiting block is a wedge-shaped end; a support rod is provided on the outer side of the rotating shaft; a fan-shaped plate is provided on the inner side of the concave groove; an arc-shaped groove is provided in the fan-shaped plate; and the support rod is slidably connected in the arc-shaped groove.

[0010] Furthermore, the angle limiting strip hole is arc-shaped; the length of each angle limiting strip hole gradually increases or decreases outward.

[0011] Furthermore, a pull rod is provided inside the pull block; the pull rod passes through the interior of the pull block and is connected to the elastic limiting block; a hinge seat is provided on the upper part of the elastic limiting block; the pull rod is connected to the hinge seat.

[0012] This utility model has the following advantages: by setting a horizontally adjustable pull block on the rotating seat, the pull block is connected to the elastic limiting block; at the same time, a number of angle limiting strip holes are set on the rotating table, and the length range of each angle limiting hole is different; by operating the pull block, the elastic limiting block can be placed in any angle limiting strip hole, with different length ranges of activity space, thereby enabling the rotating seat to have different rotation angle ranges.

[0013] Meanwhile, the lever is easy to operate. Simply pull the lever outward to switch the elastic limit block into each different angle limit strip hole. Moreover, by operating the lever inside the lever, the elastic limit block can be disengaged from the angle limit strip hole, allowing the lever to move inward and reset to the innermost end. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0015] Figure 2 This is a top view of the structure between the pull block and the rotating seat.

[0016] Figure 3 This is a schematic diagram of the cross-sectional structure between the pull block and the rotating seat.

[0017] Figure 4 This is a schematic diagram of the structure between the elastic limit block and the tie rod.

[0018] In the diagram: 1 is a rotating platform, 2 is a rotating seat, 2-1 is a sliding groove, 2-11 is a guide groove, 3 is an angle limiting strip hole, 4 is a pull block, 4-1 is a concave groove, 4-2 is a protrusion, 5 is an elastic limiting block, 6 is a spring, 7 is a support rod, 8 is a sector plate, 8-1 is an arc groove, and 9 is a pull rod. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0020] See Figures 1-4 This application discloses a safety limiting device for a robotic arm, including a rotating platform 1; a rotating seat 2 for supporting the robotic arm is provided on the rotating platform 1; a first driving end connected to the rotating seat 2 is provided inside the rotating platform 1; a plurality of angle limiting slots 3 are provided on the surface of the rotating platform 1; the angle limiting slots 3 are distributed radially along the rotating platform 1; a pull block 4 is provided at the outer end of the rotating seat 2; the pull block 4 is connected to an elastic limiting block 5; the elastic limiting block 5 is located in any angle limiting slot 3.

[0021] Furthermore, the inner end of the pull block 4 is provided with a concave groove 4-1; one side of the rotating seat 2 is provided with a sliding groove 2-1 opposite to the pull block 4; the pull block 4 is slidably connected in the sliding groove 2-1.

[0022] Furthermore, the pull block 4 has protrusions 4-2 on both sides; the inner wall of the slide groove 2-1 has a guide groove 2-11; the protrusions 4-2 slide within the guide groove 2-11.

[0023] Furthermore, a spring 6 is provided inside the guide groove 2-11; the spring 6 is connected to the protrusion 4-2; and the elastic limiting block 5 is disposed between the concave grooves 4-1.

[0024] Furthermore, the two sides of the elastic limiting block 5 are rotatably connected between the concave groove 4-1 via a rotating shaft 6; a torsion spring is provided on the rotating shaft 6; the end of the elastic limiting block 5 is a wedge-shaped end; a support rod 7 is provided on the outer side of the rotating shaft 6; a fan-shaped plate 8 is provided on the inner side of the concave groove 4-1; an arc-shaped groove 8-1 is provided in the fan-shaped plate 8; and the support rod 7 is slidably connected in the arc-shaped groove 8-1.

[0025] Furthermore, the angle limiting strip hole is arc-shaped; the length of each angle limiting strip hole gradually increases or decreases outward.

[0026] Furthermore, the pull block 4 is provided with a pull rod 9 inside; the pull rod 9 passes through the interior of the pull block 4 and is connected to the elastic limiting block 5; the upper part of the elastic limiting block 5 is provided with a hinge seat; the pull rod 4 is connected to the hinge seat.

[0027] Working principle: When the pull block 4 is pulled outward against the force of spring 6, the elastic limiting block 5, with its wedge-shaped bottom, rotates under the action of the side wall of the angle limiting hole 3. Upon entering the next angle limiting hole 3, it rotates in the opposite direction under the action of the torsion spring, entering the next angle limiting hole. Since the rotating seat 2 rotates relative to the rotating platform 1, the elastic limiting block 5 has different ranges of motion in different angle limiting holes 3, allowing the rotating seat 2 and the robotic arm to have different ranges of motion. Simultaneously, because the support rod 7 on the outside of the rotating shaft is connected to the arc-shaped groove 8-1, the elastic limiting block 5 can only rotate in one direction due to the limitation of the arc-shaped groove 8-1. Using this method, it can enter each angle limiting hole 3 sequentially from the inside out. When the pull block 4 needs to move inward and return to its innermost position, simply pull the pull rod 9 outward, causing the elastic limiting block 5 to rotate to a position away from the angle limiting hole 3. Simultaneously, under the action of spring 6, the pull block 4 and the elastic limiting block 5 can be reset.

[0028] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A safety limiting device of a mechanical arm, comprising a rotating table; a rotating seat for receiving the mechanical arm is arranged on the rotating table; a first driving end connected with the rotating seat is arranged in the rotating table, characterized in that: The surface of the rotating table is provided with a plurality of angle limiting strip holes; the angle limiting strip holes are distributed along the radial direction of the rotating table; the outer end of the rotating seat is provided with a pull block; the pull block is connected with an elastic limiting block; the elastic limiting block is located in any angle limiting hole.

2. The safety stop device for a robotic arm of claim 1, wherein: The inner end of the pull block is provided with a concave groove; one side of the rotating seat is provided with a sliding groove opposite to the pull block; the pull block is slidingly connected in the sliding groove.

3. The safety stop device of claim 2, wherein: The two sides of the pull block are provided with protrusions; the inner wall of the sliding groove is provided with guide grooves; the protrusions slidingly connect in the guide grooves.

4. The safety stop device of claim 3, wherein: The guide grooves are provided with springs; the springs are connected with the protrusions; the elastic limiting block is arranged between the concave grooves.

5. The safety stop device of claim 4, wherein: The two sides of the elastic limiting block are rotationally connected between the concave grooves through rotating shafts; the rotating shafts are provided with torsion springs; the end of the elastic limiting block is a wedge-shaped end; the outer side of the rotating shafts is provided with supporting rods; the inner side of the concave grooves is provided with sector plates; the sector plates are provided with arc-shaped grooves; the supporting rods are slidingly connected in the arc-shaped grooves.

6. The safety stop device of claim 5, wherein: The angle limiting strip holes are arc-shaped; the length of each angle limiting strip hole gradually increases or decreases outward.

7. The safety stop device of claim 6, wherein: The inner part of the pull block is provided with a pull rod; the pull rod penetrates through the inner part of the pull block and is connected with the elastic limiting block; the upper part of the elastic limiting block is provided with a hinged seat; the pull rod is connected with the hinged seat.

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