Robot joint, robot, and motion control method for robot joint
By introducing a combination of limiting and triggering components into the robot joint, soft contact is achieved for limiting, which solves the problems of component failure and environmental damage caused by hard contact, and improves the reliability and safety of the robot joint.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- UBTECH ROBOTICS CORP LTD
- Filing Date
- 2024-12-28
- Publication Date
- 2026-05-21
AI Technical Summary
Existing robot joint limiting devices use a hard contact structure, which can easily lead to component failure and environmental damage, affecting the user experience.
The design employs a combination of limiters and triggers. The trigger controls the drive to stop working, achieving soft contact for limiting and preventing moving parts from exceeding their range of motion.
It effectively prevents damage to robot joints and the surrounding environment, improving product reliability and safety.
Smart Images
Figure CN2024143546_21052026_PF_FP_ABST
Abstract
Description
Robot joints, robots, and methods for controlling robot joint motion
[0001] This application claims priority to Chinese Patent Application No. 202411635322.3, filed on November 15, 2024, entitled "Robot Joint, Robot and Robot Joint Motion Control Method", the entire contents of which are incorporated herein by reference. Technical Field
[0002] This application relates to the field of robotics, and in particular to a robot joint, a robot, and a method for controlling the motion of the robot joint. Background Technology
[0003] With the development of technology, robots are being used more and more widely, bringing great convenience to people's lives and production. In the field of robotics, each joint is controlled by servo motors. 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 intention. Each part of the robot's body has a certain range of motion, and it works within the prescribed range. However, once it exceeds the prescribed range of motion, the robot may suffer local damage or damage to the surrounding environment, or even cause harm to people nearby.
[0004] 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 usage, and the moving part may even break through the limit device, causing damage to itself and the environment, thus affecting the robot's user experience. Technical issues
[0005] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a robot joint, a robot, and a method for controlling the motion of the robot joint. Technical solutions
[0006] To achieve the above objectives, the technical solution adopted in this application is as follows:
[0007] In a first aspect, embodiments of this application provide a robot joint, the robot joint comprising:
[0008] First joint body;
[0009] Drive components;
[0010] The second joint body is rotatably connected to the first joint body and connected to the driving member. Under the action of the driving member, the second joint body rotates relative to the first joint body by a preset angle.
[0011] A limiting member is fixed to the first joint body, and the limiting member has a receiving cavity and an opening communicating with the receiving cavity;
[0012] A trigger element is disposed within the receiving cavity, and the trigger element at least partially protrudes from the opening;
[0013] When the angle of rotation of the second joint body relative to the first joint body is greater than the preset angle, the second joint body abuts against and presses the trigger, and the trigger controls the drive to stop working.
[0014] The robot joint provided in this application has a second joint body rotatably connected to the first joint body. Under the action of a drive component, the second joint body rotates relative to the first joint body. Simultaneously, a trigger component is provided on the limiting component. Thus, when the angle of rotation of the second joint body relative to the first joint body is greater than a preset angle, the second joint body abuts against and presses the trigger component. The trigger component controls the drive component to stop working. At this time, the second joint body stops rotating, which is equivalent to achieving soft contact limiting the moving parts, ensuring the effectiveness of the limiting, 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.
[0015] In addition, the robot joint according to this application may also have the following additional technical features:
[0016] In one embodiment of the first aspect, the trigger includes:
[0017] A trigger body is disposed in the receiving cavity, and the trigger body has a mounting cavity;
[0018] A trigger button is movably disposed in the mounting cavity, and the trigger button at least partially protrudes from the opening.
[0019] In one embodiment of the first aspect, the travel distance of the trigger button relative to the trigger body is S mm, and the size of the trigger button protruding from the opening is D mm, satisfying the relationship: S≥D.
[0020] In one embodiment of the first aspect, the limiting member and the first joint body are integrally formed.
[0021] In one embodiment of the first aspect, an abutment surface is provided on the second joint body at the position where it abuts the trigger.
[0022] In one embodiment of the first aspect, the limiting member has a wiring hole communicating with the receiving cavity. The wiring hole is oriented in a first direction, and the opening is oriented in a second direction. The first direction and the second direction are set at an angle R, satisfying the relationship: 0°<R≤180°.
[0023] In one embodiment of the first aspect, the driving member includes a fixed part and an output part, the output part being rotatably disposed on the fixed part, the fixed part being fixedly connected to the first joint body, and the output part being connected to the second joint body to drive the second joint body to rotate relative to the first joint body.
[0024] Secondly, this application also provides a robot, including the robot joints described in any of the above embodiments.
[0025] The robot provided in this application has the aforementioned robot joints. This robot includes the robot joints described in any of the preceding embodiments, and therefore possesses all the beneficial effects of the aforementioned robot joints, which will not be elaborated upon here.
[0026] In one embodiment of the second aspect, the robot further includes a controller electrically connected to the trigger and the drive, the controller being used to control the operation of the drive.
[0027] In one embodiment of the second aspect, the robot further includes a control switch and a power supply, the control switch, the power supply, and the drive unit forming a closed circuit;
[0028] The control switch is electrically connected to the trigger.
[0029] In one embodiment of the second aspect, the robot further includes a torso to which the first joint body is fixed.
[0030] Thirdly, this application also provides a robot joint motion control method, applied to the robot described in any of the above embodiments, the control method comprising:
[0031] Obtain the angle by which the driving component drives the second joint body to rotate relative to the first joint body;
[0032] Determine whether the acquired angle is greater than the preset angle;
[0033] If so, then control the drive unit to stop working;
[0034] If not, then control the drive unit to operate normally. Beneficial effects
[0035] The robot joint motion control method provided in this application controls the drive component to stop working when the angle of rotation of the second joint body relative to the first joint body is greater than a preset angle. At this time, the second joint body 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. Attached Figure Description
[0036] 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.
[0037] Figure 1 shows a one-view perspective three-dimensional structural diagram of a robot joint provided in some embodiments of this application;
[0038] Figure 2 shows a schematic diagram of the robot joint in Figure 1 from one perspective.
[0039] Figure 3 shows a schematic cross-sectional view of the structure along the AA direction as shown in Figure 2;
[0040] Figure 4 shows a schematic cross-sectional view of the structure along the BB direction as shown in Figure 2;
[0041] Figure 5 shows an enlarged structural schematic diagram of section C shown in Figure 4;
[0042] Figure 6 shows a schematic diagram of the robot joint removing the second joint body according to some embodiments of this application;
[0043] Figure 7 shows a schematic diagram of an embodiment of the present application in which the first joint body and the limiting member are integrally formed;
[0044] Figure 8 shows an enlarged structural schematic diagram of part D shown in Figure 7;
[0045] Figure 9 shows a three-dimensional structural diagram of the structure shown in Figure 7;
[0046] Figure 10 shows a schematic diagram of the trigger element in one embodiment of this application;
[0047] Figure 11 shows a schematic diagram of the control principle of a robot provided in another embodiment of this application;
[0048] Figure 12 shows a flowchart of a robot joint motion control method in some embodiments of this application.
[0049] Key component symbols: 100-Robot joint; 110-First joint body; 120-Second joint body; 121-Abutting surface; 130-Driver; 131-Fixing part; 132-Output part; 140-Limiting part; 141-Receiving cavity; 142-Opening; 143-Wiring hole; 150-Trigger; 151-Trigger body; 152-Trigger button; 200-Robot; 210-Controller; 220-Control switch; 230-Power supply; 240-Fault warning unit; x-First direction; y-Second direction. Embodiments of the present invention
[0050] 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.
[0051] 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.
[0052] 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.
[0053] 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.
[0054] 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.
[0055] Each component of a robot's body has a certain range of motion, and it operates within this defined range. However, if it exceeds this range, the robot may suffer localized damage, harm the surrounding environment, or even injure people nearby.
[0056] 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.
[0057] The inventors discovered that hard contact between the two components can cause the weaker component to fail more easily with repeated use, and the moving parts may even break through the limiting device, causing damage to themselves and the environment, thus affecting the robot's user experience.
[0058] To address the aforementioned technical problems, embodiments of this application provide a robot joint 100, which is mainly applied to a robot 200.
[0059] As shown in Figures 1 and 2, the robot joint 100 includes a first joint body 110, a drive component 130, a second joint body 120, a limiting component 140, and a trigger component 150.
[0060] As shown in Figure 4, the second joint body 120 is rotatably connected to the first joint body 110 and connected to the driving member 130. Under the action of the driving member 130, the second joint body 120 rotates relative to the first joint body 110 by a preset angle. That is, when the driving member 130 is working normally, it drives the second joint body 120 to rotate relative to the first joint body 110 by a preset angle.
[0061] The limiting member 140 is fixed to the first joint body 110, and the limiting member 140 has a receiving cavity 141 and an opening 142 communicating with the receiving cavity 141. The trigger member 150 is disposed in the receiving cavity 141, and the trigger member 150 at least partially protrudes from the opening 142.
[0062] During the movement of robot joint 100, when the angle of rotation of the second joint body 120 relative to the first joint body 110 is greater than the preset angle, that is, when the drive component 130 fails or the controller 210 of the robot 200 fails or is misoperated, the rotation angle of the second joint body 120 is greater than the preset angle. At this time, the second joint body 120 abuts against and squeezes the trigger component 150, and the trigger component 150 controls the drive component 130 to stop working.
[0063] Understandably, if the preset angle is 60 degrees, when the second joint body 120 rotates relative to the first joint body 110 by an angle of 61 degrees, 65 degrees, etc., the second joint body 120 will touch the trigger 150, causing the trigger 150 to be activated, thereby controlling the drive 130 to stop working. Of course, the preset angle can be designed according to the range of motion of the robot joint 100, and the preset angle can also be 45 degrees, 50 degrees, 70 degrees, etc.
[0064] For example, the trigger 150 is directly mounted on the circuit of the drive 130. The trigger 150 is normally closed. When it is touched by the second joint body 120, the trigger 150 is disconnected, thereby disconnecting the drive 130 and stopping the drive 130 from working.
[0065] The robot joint 100 provided in the embodiments of this application has a second joint body 120 rotatably connected to a first joint body 110. Under the action of a drive member 130, the second joint body 120 rotates relative to the first joint body 110. At the same time, a trigger member 150 is provided on a limiting member 140. Thus, when the angle of rotation of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the second joint body 120 abuts against and presses the trigger member 150. The trigger member 150 controls the drive member 130 to stop working. At this time, the second joint body 120 stops rotating, which is equivalent to realizing the limiting soft contact of the moving part, ensuring the effectiveness of the limiting, and preventing the second joint body 120 (i.e., the moving part) from exceeding the range of motion and causing damage to the robot 200 and the surrounding environment. This protects the robot 200 itself and the surrounding environment and improves the reliability of the product.
[0066] As shown in Figure 10, in one embodiment, the trigger 150 includes a trigger body 151 and a trigger button 152. The trigger body 151 is disposed in the receiving cavity 141 and has a mounting cavity. The trigger button 152 is movably disposed in the mounting cavity, and the trigger button 152 at least partially protrudes from the opening 142. In this embodiment, the trigger button 152 at least partially protrudes from the outside of the opening 142, that is, at least a portion of the trigger button 152 is exposed outside the opening 142. This allows the second joint body 120 to contact the trigger button 152 when the angle of rotation relative to the first joint body 110 is greater than a preset angle, thereby causing the trigger 150 to send a control signal to the drive 130, causing the drive 130 to stop working.
[0067] As shown in Figures 4 and 5, in the embodiment where the trigger 150 includes a trigger body 151 and a trigger button 152, the travel distance of the trigger button 152 relative to the trigger body 151 is S mm, and the protrusion of the trigger button 152 out of the opening 142 is D mm, satisfying the relationship: S ≥ D. In this embodiment, the travel distance S of the trigger button 152 is greater than the protrusion D of the trigger button 152 out of the opening 142. Thus, when the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the second joint body 120 can abut against the trigger button 152, causing the trigger button 152 to retract and triggering the trigger 150. During this process, because S is greater than D, when the second joint body 120 presses the trigger button 152, the trigger button 152 will not make hard contact with the trigger body 151, preventing damage to the trigger button 152 and improving product reliability.
[0068] As shown in Figures 7 and 8, in one embodiment, the limiting member 140 and the first joint body 110 are integrally formed. In this embodiment, the limiting member 140 and the first joint body 110 are integrally formed, which facilitates manufacturing and improves production efficiency. In addition, the integral forming eliminates the need for a connecting structure between the limiting member 140 and the first joint body 110, thus increasing the structural strength between them.
[0069] As shown in Figure 1, in one embodiment, the second joint body 120 has an abutment surface 121 at the position where it abuts against the trigger 150. 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 abutment surface 121 of the second joint body 120 abuts against the trigger button 152, causing the trigger button 152 to retract. Simultaneously, an elastic layer can be provided on the surface of the abutment surface 121 to protect the trigger button 152; the elastic layer can be made of rubber material.
[0070] As shown in Figures 7, 8, and 9, in one embodiment, the limiting member 140 has a wiring hole 143 communicating with the receiving cavity 141. The wiring hole 143 is oriented in a first direction x, and the opening 142 is oriented in a second direction y. The first direction x and the second direction y are set at an angle R, satisfying the relationship: 0° < R ≤ 180°. In this embodiment, a cable can be passed through the wiring hole 143 and electrically connected to the trigger 150. Simultaneously, the cable is connected to the power supply 230 or circuit board of the robot 200 to provide power to the trigger 150. The first direction x and the second direction y are set at an angle, meaning they are not in the same direction, can be opposite, or form a preset angle between them, such as 5°, 12°, 90°, 120°, or 180°. This prevents the cable passing through the connection hole from obstructing the trigger button 152.
[0071] As shown in Figures 2, 3, and 6, in one embodiment, the drive member 130 includes a fixed portion 131 and an output portion 132. The output portion 132 is rotatably disposed on the fixed portion 131. The fixed portion 131 is fixedly connected to the first joint body 110, and the output portion 132 is connected to the second joint body 120 to drive the second joint body 120 to rotate relative to the first joint body 110. In this embodiment, the drive member 130 can be a servo motor or other power source. For example, the fixed portion 131 is fixedly connected to the first joint body 110 by bolts, and the output portion 132 is connected to the second joint body 120 so that when the output portion 132 rotates, it drives the second joint body 120 to rotate.
[0072] Embodiments of this application also provide a robot 200 (not shown in the figures), including the robot joint 100 described in any of the above embodiments.
[0073] The robot 200 provided in this embodiment has the aforementioned robot joint 100. The robot 200 includes the robot joint 100 described in any of the previous embodiments, and therefore possesses all the beneficial effects of the robot joint 100, which will not be elaborated upon here.
[0074] It should be noted that robot 200 can be humanoid robot 200, legged robot 200, etc.
[0075] As shown in Figure 11, in one embodiment, the robot 200 further includes a controller 210, which is electrically connected to the trigger 150 and the drive 130, respectively. The controller 210 is used to control the operation of the drive 130. In this embodiment, by configuring the controller 210, when the trigger 150 is triggered, a signal indicating that the drive 130 has failed or is malfunctioning is sent to the controller 210, and the controller 210 controls the drive 130 to stop working. Simultaneously, the controller 210 can control the drive 130 to achieve different rotational speeds to control the rotational speed of the second joint body 120.
[0076] As shown in Figure 11, in one embodiment, the robot 200 further includes a control switch 220 and a power supply 230, which together form a closed circuit with the control switch 220, the power supply 230, and the drive unit 130. The control switch 220 is electrically connected to the trigger unit 150.
[0077] In this embodiment, for example, the trigger 150 is normally closed. The control switch 220 is used to receive the signal from the trigger 150. At this time, the control switch 220 is closed, the power supply 230 and the drive unit 130 are connected, forming a closed circuit, and the drive unit 130 works normally. The control unit 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 second joint body 120 touches the trigger 150, the trigger 150 is disconnected, at this time, the control switch 220 receives the disconnection signal from the trigger 150, the control switch 220 is also disconnected, the power supply 230 and the drive unit 130 are not connected, and the drive unit 130 stops working.
[0078] Of course, the trigger 150 can also be set to the off state. The control switch 220 is used to receive the signal from the trigger 150. At this time, the control switch 220 is closed, the power supply 230 and the drive unit 130 are connected, forming a closed circuit, and the drive unit 130 works normally. The control unit 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 second joint body 120 touches the trigger 150, the trigger 150 closes, at this time the control switch 220 receives the closing signal of the trigger 150, the control switch 220 is opened, the power supply 230 and the drive unit 130 are not connected, and the drive unit 130 stops working.
[0079] In the embodiment of the control switch 220 described above, the control switch 220 can be a relay, and the trigger 150 is a switch that controls the relay. After being energized, the switch closes, providing a small current to the relay, and the relay is in the energized state, so that the power supply 230 and the drive 130 form a circuit, and the drive 130 works normally. When the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the second joint body 120 touches the switch, the relay loses current and disconnects, thereby causing the drive 130 to stop working.
[0080] Of course, in other embodiments, the trigger 150 may also be a micro switch or a limit switch, etc.
[0081] As shown in Figure 11, in the above embodiment, the robot also includes a fault reminder unit 240. When the rotation angle of the second joint body 120 relative to the first joint body 110 is greater than a preset angle, the second joint body 120 touches the trigger 150, the control switch 220 disconnects the circuit of the drive 130, or the controller 210 controls the drive 130 to stop working. At this time, the controller 210 records that the trigger 150 is touched, and the fault reminder unit 240 issues a reminder, such as through screen or sound output, to inform the operator of the failure mode and failure location.
[0082] In one embodiment, the robot 200 further includes a torso, for example, the first joint body 110 is fixed to the torso. For example, 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. Another example is that 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. Of course, in other embodiments, the first joint body 110 can also be other components on the robot 200, and the second joint body 120 can be other moving parts.
[0083] As shown in Figure 12, an embodiment of this application also provides a motion control method for a robot joint 100, applied to the robot 200 described in any of the above embodiments. The control method includes the following steps:
[0084] S100, obtain the angle by which the driving component 130 drives the second joint body 120 to rotate relative to the first joint body 110. For example, obtain the angle of rotation of the second joint body 120 relative to the first joint body 110 through the acquisition module, and send the angle to the controller 210 (processor) or the trigger 150.
[0085] S200, determine whether the acquired angle is greater than the preset angle. If the angle received by the controller 210 is greater than the preset angle, control the drive component 130 to stop working. If the angle received by the controller 210 is less than the preset angle, control the drive component 130 to work normally.
[0086] The robot joint 100 motion control method provided in this embodiment controls the drive component 130 to stop working when the second joint body 120 rotates at an angle greater than a preset angle relative to the first joint body 110. 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 200 and the surrounding environment, thereby protecting the robot 200 itself and the surrounding environment and improving the reliability of the product.
[0087] It should be noted that the robot 200 described above also includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the robot 200 to perform the above-described robot joint 100 motion control method or the functions of the various components in the robot 200 described above.
[0088] Embodiments of this application also provide a readable storage medium for storing the computer program used in the robot 200 described above. The readable storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
[0089] 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.
[0090] 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, characterized in that, include: First joint body; Drive components; The second joint body is rotatably connected to the first joint body and connected to the driving member. Under the action of the driving member, the second joint body rotates relative to the first joint body by a preset angle. A limiting member is fixed to the first joint body, and the limiting member has a receiving cavity and an opening communicating with the receiving cavity; A trigger element is disposed within the receiving cavity, and the trigger element at least partially protrudes from the opening; When the angle of rotation of the second joint body relative to the first joint body is greater than the preset angle, the second joint body abuts against and presses the trigger, and the trigger controls the drive to stop working.
2. The robot joint according to claim 1, characterized in that, The trigger includes: A trigger body is disposed in the receiving cavity, and the trigger body has a mounting cavity; A trigger button is movably disposed in the mounting cavity, and the trigger button at least partially protrudes from the opening.
3. The robot joint according to claim 2, characterized in that, The travel distance of the trigger button relative to the trigger body is S mm, and the size of the trigger button protruding from the opening is D mm, satisfying the relationship: S≥D.
4. The robot joint according to claim 1, characterized in that, The limiting component and the first joint body are integrally formed.
5. The robot joint according to any one of claims 1 to 4, characterized in that, The second joint body has an abutment surface at the position where it abuts the trigger.
6. The robot joint according to any one of claims 1 to 4, characterized in that, The limiting member has a wiring hole that communicates with the receiving cavity. The wiring hole is oriented in a first direction, and the opening is oriented in a second direction. The first direction and the second direction are set at an angle R, satisfying the relationship: 0°<R≤180°.
7. The robot joint according to claim 1, characterized in that, The driving component includes a fixed part and an output part. The output part is rotatably disposed on the fixed part. The fixed part is fixedly connected to the first joint body. The output part is connected to the second joint body to drive the second joint body to rotate relative to the first joint body.
8. A robot, characterized in that, The robot joint includes any one of claims 1 to 7.
9. The robot according to claim 8, characterized in that, The robot also includes a controller, which is electrically connected to the trigger and the drive, and is used to control the operation of the drive.
10. The robot according to claim 8, characterized in that, The robot also includes a control switch and a power supply, and the control switch, the power supply, and the drive unit form a closed circuit. The control switch is electrically connected to the trigger.
11. The robot according to claim 8, characterized in that, The robot also includes a body, to which the first joint body is fixed.
12. A method for controlling the joint motion of a robot, characterized in that, The control method, applied to the robot according to any one of claims 8 to 11, comprises: Obtain the angle by which the driving component drives the second joint body to rotate relative to the first joint body; Determine whether the acquired angle is greater than the preset angle; If so, then control the drive unit to stop working; If not, then control the drive unit to operate normally.