阅读说明：本技术 限位装置、机械臂及机器人 (Limiting device, mechanical arm and robot ) 是由 靳宇 周国麟 于 2019-04-12 设计创作，主要内容包括：一种限位装置(100)、机械臂(300、410)以及机器人(400),该限位装置包括相对旋转的第一旋转件(110)和第二旋转件(120),第一旋转件设置有阻挡区(130)以及弹性件(140),第二旋转件设置有止挡件(150),弹性件包括弹性嵌设于第一旋转件上的弹性本体(141)、凸出弹性本体的凸臂(142)以及凸出弹性本体且延伸至阻挡区的限位臂(143),在弹性件与第一旋转件同步运动时,限位臂的至少一端与阻挡区的两端部(1301、1302)呈远离设置,同时在第一旋转件联动弹性件相对第二旋转件旋转超过预定角度后,止挡件止挡凸臂而使弹性件停止相对第二旋转件旋转,此时第一旋转件若继续按照原方向相对第二旋转件旋转,则弹性件将沿着阻挡区相对第一旋转件转动而使限位臂抵接阻挡区端部。通过该限位装置能够避免机械臂在零位丢失后过度旋转。(A limiting device (100), mechanical arms (300, 410) and a robot (400) comprises a first rotating part (110) and a second rotating part (120) which rotate relatively, the first rotating part is provided with a blocking area (130) and an elastic part (140), the second rotating part is provided with a blocking part (150), the elastic part comprises an elastic body (141) which is elastically embedded on the first rotating part, a convex arm (142) which protrudes out of the elastic body and a limiting arm (143) which protrudes out of the elastic body and extends to the blocking area, when the elastic part and the first rotating part move synchronously, at least one end of the limiting arm and two end parts (1301, 1302) of the blocking area are far away from each other, and after the first rotating part is linked with the elastic part and rotates relative to the second rotating part beyond a preset angle, the blocking part stops the convex arm to enable the elastic part to stop rotating relative to the second rotating part, at the moment, if the first rotating part continues to rotate relative to the second rotating part according to the original direction, the elastic member will rotate along the blocking area relative to the first rotating member to make the limiting arm abut against the end of the blocking area. The mechanical arm can be prevented from excessively rotating after the zero position loss through the limiting device.)

1. A spacing device, comprising:

a first rotating member and a second rotating member, the first rotating member rotating relative to the second rotating member, the first rotating member being provided with a blocking area extending in a rotating direction of the first rotating member relative to the second rotating member, the second rotating member being provided with a stopper provided in the rotating direction of the first rotating member relative to the second rotating member;

the elastic piece comprises an elastic body which is elastically embedded on the first rotating piece, a convex arm which protrudes out of the elastic body and a limiting arm which protrudes out of the elastic body and extends to the blocking area, and when the elastic piece and the first rotating piece move synchronously, at least one end of the limiting arm is far away from two end parts of the blocking area;

after the first rotating part is linked with the elastic part and rotates relative to the second rotating part by more than a preset angle, the convex arm is stopped by the stop part to enable the elastic part to stop rotating relative to the second rotating part, and at the moment, if the first rotating part continues to rotate relative to the second rotating part according to the original direction, the elastic part moves relative to the first rotating part along the blocking area to enable the limiting arm to abut against one end part of the blocking area.

2. The spacing device of claim 1,

the first rotating piece is sleeved outside the second rotating piece;

the stop part is a tappet eccentrically arranged on the radial surface of the second rotating part;

the first rotating piece comprises a circumferential wall, an annular groove and an arc-shaped groove which is further sunken in the annular groove are arranged on the inner side of the circumferential wall, and the blocking area is the arc-shaped groove;

the elastic piece is a slip ring, the slip ring comprises an elastic body, a convex arm and a convex arm, the elastic body is embedded in the annular groove and is arc-shaped, the convex arm protrudes from the inner ring of the elastic body, and the convex arm protrudes from the outer ring of the elastic body and extends into the arc-shaped groove.

3. The spacing device of claim 2,

spacing arm stretches into the arc recess and with the lateral wall and the diapire of arc recess form the interval in order to avoid the friction.

4. The spacing device of claim 2,

the symmetry axis of the convex arm is coincident with the symmetry axis of the limiting arm.

5. The spacing device of claim 2,

the circumferential wall is provided with through windows opposite to the arc-shaped groove, the number of the windows is one, and the windows extend from one end part of the arc-shaped groove to the other end part.

6. The spacing device of claim 2,

the circumferential wall is just right arc groove department is equipped with the window that link up, the quantity of window is two, two the window is just right respectively two tip settings of arc groove, when first rotating member is rotatory relatively the second rotating member makes spacing arm get into as rotatory ultralimit suggestion when the window.

7. The spacing device of claim 6,

the limiting arm is provided with a mark part, the mark part is a color block area which is arranged on the side wall of the limiting arm far away from one side of the elastic body, and the color of the color block area is different from that of the elastic body.

8. The spacing device of claim 1,

the second rotating piece is sleeved on the outer side of the first rotating piece;

the first rotating member comprises a first circumferential wall, the second rotating member comprises a second circumferential wall, and the first circumferential wall is surrounded by the second circumferential wall;

the stop piece is a tappet which is arranged inside the second circumferential wall and protrudes towards the first circumferential wall, the outer side of the first circumferential wall is provided with an annular groove and an arc-shaped groove which is further sunken into the annular groove, and the stop area is the arc-shaped groove;

the elastic piece is a slip ring, the slip ring comprises an elastic body, a convex arm and a convex arm, the elastic body is embedded in the annular groove and is arc-shaped, the convex arm protrudes from the inner ring of the elastic body, and the convex arm protrudes from the outer ring of the elastic body and extends into the arc-shaped groove.

9. A robot arm, comprising:

an adjacent first member component and a second member component, the first member component rotating relative to the second member component, the first member component being provided with a blocking area extending in a direction of rotation of the first member component relative to the second member component, the second member component or a connection member connected to the second member component being provided with a stopper provided in a direction of rotation of the first member component relative to the second member component;

the elastic piece comprises an elastic body which is elastically embedded on the first member assembly, a convex arm which protrudes out of the elastic body and a limiting arm which protrudes out of the elastic body and extends to the blocking area, and when the elastic piece and the first member assembly move synchronously, at least one end of the limiting arm is far away from two end parts of the blocking area;

after the first member assembly is linked with the elastic member and rotates relative to the second member assembly by more than a preset angle, the convex arm is stopped by the stop member to enable the elastic member to stop rotating relative to the second member assembly, and at the moment, if the first member assembly continues to rotate relative to the second member assembly in the original direction, the elastic member moves relative to the first member assembly along the blocking area to enable the limiting arm to abut against one end of the blocking area.

10. The robotic arm of claim 9,

the stop is a tappet eccentrically arranged on the radial surface of the second joint member;

the first member assembly comprises a circumferential wall, the inner side of the circumferential wall is provided with an annular groove and an arc-shaped groove which is further sunken in the annular groove, and the blocking area is the arc-shaped groove;

the elastic piece is a slip ring, the slip ring comprises an elastic body, a convex arm and a convex arm, the elastic body is embedded in the annular groove and is arc-shaped, the convex arm protrudes from the inner ring of the elastic body, and the convex arm protrudes from the outer ring of the elastic body and extends into the arc-shaped groove.

11. The robotic arm of claim 10,

spacing arm stretches into the arc recess and with the lateral wall and the diapire of arc recess form the interval in order to avoid the friction.

12. The robotic arm of claim 10,

the symmetry axis of the convex arm is coincident with the symmetry axis of the limiting arm.

13. The robotic arm of claim 10,

the circumferential wall is provided with through windows opposite to the arc-shaped groove, the number of the windows is one, and the windows extend from one end part of the arc-shaped groove to the other end part.

14. The robotic arm of claim 10,

the circumferential wall is provided with two through windows opposite to the arc-shaped groove, the two windows are respectively opposite to two end parts of the arc-shaped groove, and when the first member assembly rotates relative to the second member assembly to enable the limiting arm to enter the window, the limiting arm serves as a rotation overrun prompt.

15. The robotic arm of claim 14,

the limiting arm is provided with a mark part, the mark part is a color block area which is arranged on the side wall of the limiting arm far away from one side of the elastic body, and the color of the color block area is different from that of the elastic body.

16. The robotic arm of claim 9,

the second member component is sleeved outside the first member component;

the first member assembly comprises a first circumferential wall, the second member assembly comprises a second circumferential wall, the first circumferential wall is surrounded by the second circumferential wall;

the stop piece is a tappet which is arranged inside the second circumferential wall and protrudes towards the first circumferential wall, the outer side of the first circumferential wall is provided with an annular groove and an arc-shaped groove which is further sunken into the annular groove, and the stop area is the arc-shaped groove;

the elastic piece is a slip ring, the slip ring comprises an elastic body, a convex arm and a convex arm, the elastic body is embedded in the annular groove and is arc-shaped, the convex arm protrudes from the inner ring of the elastic body, and the convex arm protrudes from the outer ring of the elastic body and extends into the arc-shaped groove.

17. A robot comprising a robot arm as claimed in any one of claims 9-16.

Technical Field

The application relates to the technical field of robots, in particular to a limiting device, a mechanical arm and a robot.

Background

The robot is a multi-joint manipulator or a multi-degree-of-freedom robot device applied in multiple fields, is driven by a motor, can automatically execute work, and realizes various functions by self power and control capacity. The rotation angle of each joint of the robot is limited within a certain range, and for the joint, when the sum of the rotation-allowable angles in the positive and negative directions does not exceed 360 degrees, the actual rotation angle of the current joint can be directly judged from the appearance, but if the sum of the rotation-allowable angles in the positive and negative directions exceeds 360 degrees, the actual rotation angle of the current joint is difficult to confirm only by the appearance. For example, when the joint is rotated to two positions of +180 ° and-180 °, the robot assumes a completely identical appearance in these two positions, since two adjacent limbs have moved exactly 360 ° relative to each other.

Usually, the zero position is lost after the motor encoder is powered off halfway, if the actual rotation angle of the joint cannot be judged from the appearance after the zero position is lost, misjudgment is easy to occur after the motor encoder is powered on again, the zero position is mistaken for the position of 360 degrees or 360 degrees, the joint rotation exceeds the limit range, and finally the internal structure of the robot is damaged.

Disclosure of Invention

The main technical problem who solves of this application provides a stop device, arm and robot, can avoid the arm to lose the back at the zero-bit excessively rotatory.

In order to solve the technical problem, the application adopts a technical scheme that: providing a spacing device comprising: a first rotating member and a second rotating member, the first rotating member rotating relative to the second rotating member, the first rotating member being provided with a blocking area extending in a rotating direction of the first rotating member relative to the second rotating member, the second rotating member being provided with a stopper provided in the rotating direction of the first rotating member relative to the second rotating member; the elastic piece comprises an elastic body which is elastically embedded on the first rotating piece, a convex arm which protrudes out of the elastic body and a limiting arm which protrudes out of the elastic body and extends to the blocking area, and when the elastic piece and the first rotating piece move synchronously, at least one end of the limiting arm is far away from two end parts of the blocking area; after the first rotating part is linked with the elastic part and rotates relative to the second rotating part by more than a preset angle, the convex arm is stopped by the stop part to enable the elastic part to stop rotating relative to the second rotating part, and at the moment, if the first rotating part continues to rotate relative to the second rotating part according to the original direction, the elastic part moves relative to the first rotating part along the blocking area to enable the limiting arm to abut against one end part of the blocking area.

In order to solve the technical problem, the application adopts a technical scheme that: providing a robotic arm comprising: an adjacent first member component and a second member component, the first member component rotating relative to the second member component, the first member component being provided with a blocking area extending in a direction of rotation of the first member component relative to the second member component, the second member component or a connection member connected to the second member component being provided with a stopper provided in a direction of rotation of the first member component relative to the second member component; the elastic piece comprises an elastic body which is elastically embedded on the first member assembly, a convex arm which protrudes out of the elastic body and a limiting arm which protrudes out of the elastic body and extends to the blocking area, and when the elastic piece and the first member assembly move synchronously, at least one end of the limiting arm is far away from two end parts of the blocking area; after the first member assembly is linked with the elastic member and rotates relative to the second member assembly by more than a preset angle, the convex arm is stopped by the stop member to enable the elastic member to stop rotating relative to the second member assembly, and at the moment, if the first member assembly continues to move relative to the second member assembly in the original direction, the elastic member rotates relative to the first member assembly along the blocking area to enable the limiting arm to abut against one end of the blocking area.

In order to solve the above technical problem, another technical solution adopted by the present application is: a robot is provided, which comprises the mechanical arm.

The beneficial effect of this application is: the limiting device comprises a stopping part arranged on a second rotating part, a blocking area and an elastic part arranged on a first rotating part relative to the second rotating part, wherein the elastic part comprises an elastic body, a convex arm protruding out of the elastic body and a limiting arm protruding out of the elastic body and extending to the blocking area, when the elastic part and the first rotating part move synchronously, at least one end of the limiting arm is far away from two end parts of the blocking area, after the first rotating part is linked with the elastic part and rotates relative to the second rotating part beyond a preset angle, the convex arm is stopped by the stopping part to enable the elastic part to stop rotating relative to the second rotating part, at the moment, if the first rotating part continues to rotate relative to the second rotating part according to the original direction, the elastic part rotates relative to the first rotating part along the blocking area to enable the limiting arm to abut against one end part of the blocking area, so as to avoid the first rotating part from excessively rotating relative to the second rotating part, therefore, when the limiting device is used for the mechanical arm, for example, when the two arthropod bodies are respectively connected with the first rotating part and the second rotating part, the two arthropod bodies can be prevented from excessively rotating, so that after the zero position is lost, even if misjudgment occurs because the rotating angle of the mechanical arm cannot be seen from the appearance, the limiting device can also ensure that the mechanical arm cannot excessively rotate, and the mechanical arm is protected.

Drawings

FIG. 1 is a schematic structural view of an embodiment of a spacing device according to the present application;

FIG. 2 is an exploded view of the spacing device of FIG. 1;

FIG. 3 is an exploded view of the first rotating member of FIG. 1;

FIG. 4 is a schematic view of an application scenario in which a first rotating member is rotated relative to a second rotating member;

FIG. 5 is a schematic diagram of a portion of a first rotating member in an application scenario;

FIG. 6 is a schematic view of an exploded view of a spacing device in an application scenario;

FIG. 7 is a schematic cross-sectional view of an elastic body elastically embedded in a ring-shaped groove in an application scenario;

FIG. 8 is a schematic cross-sectional view of an alternative application scenario in which the elastomeric body is resiliently embedded within the annular groove;

FIG. 9 is a schematic view of a first rotating member rotating relative to a second rotating member in another application scenario;

FIG. 10 is a schematic view of a first rotating member rotating relative to a second rotating member in another application scenario;

FIG. 11 is a schematic view of a first rotating member rotating relative to a second rotating member in another application scenario;

FIG. 12 is a schematic view of a first rotating member rotating relative to a second rotating member in another application scenario;

FIG. 13 is a schematic view of the exploded structure of the robotic arm of the present application;

fig. 14 is an exploded view of the first member subassembly of fig. 13;

fig. 15 is a schematic structural view of the second member assembly of fig. 13;

fig. 16 is a schematic structural view of the robot of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1 to 3, fig. 1 is a schematic structural view of an embodiment of a spacing device according to the present application, fig. 2 is a schematic exploded view of the spacing device in fig. 1, and fig. 3 is a schematic exploded structural view of a first rotating member in fig. 1. This stop device 100 includes: the first rotating member 110, the second rotating member 120, the blocking region 130 disposed on the first rotating member 110, the elastic member 140 elastically embedded on the first rotating member 110, and the stopper 150 disposed on the second rotating member 120.

The first rotating member 110 and the second rotating member 120 are sleeved with each other and can rotate relatively, specifically, the first rotating member 110 can rotate forward and backward relative to the second rotating member 120, and the angles of the first rotating member 110 rotating in the forward and backward directions relative to the second rotating member 120 are added up to more than 360 °. The blocking region 130 is disposed on the first rotating member 110, extends in a rotation direction of the first rotating member 110 relative to the second rotating member 120, and has a first end 1301 and a second end 1302.

The elastic member 140 includes an elastic body 141, a protruding arm 142 protruding from the elastic body 141, and a limiting arm 143 protruding from the elastic body 141, wherein the limiting arm 143 extends into the blocking area 130 on the first rotating member 110, and the limiting arm 143 can only move along the blocking area 130 and cannot move into an area outside the blocking area 130. When no external force is applied, the elastic member 140 can move synchronously with the first rotating member 110 due to elastic tension, and when the elastic member 140 moves synchronously with the first rotating member 110, at least one end of the limiting arm 143 of the elastic member 140 is away from the first end 1301 and the second end 1302 of the blocking area 130, and when an external force is applied to the elastic member 140 alone, the elastic member 140 can move relative to the first rotating member 110. The elastic member 140 may be a metal member having a small thickness and a certain elasticity.

The stopper 150 is disposed in a rotation direction of the first rotation member 110 relative to the second rotation member 120, and when the first rotation member 110 rotates relative to the second rotation member 120 by more than a predetermined angle, the stopper 150 abuts against the protruding arm 142 of the elastic member 140 to prevent the elastic member 140 from continuing to rotate relative to the second rotation member 120 in the original direction.

Specifically, when the limiting device 100 of the present application is in operation, if the first rotating member 110 normally rotates relative to the second rotating member 120, the elastic member 140 keeps moving synchronously with the first rotating member 110 due to the elastic tension, that is, the first rotating member 110 is linked with the elastic member 140 to rotate relative to the second rotating member 120. When the first rotating member 110 rotates forward or backward relative to the second rotating member 120 by more than a predetermined angle, the stop member 150 is disposed in the rotating direction of the first rotating member 110 relative to the second rotating member 120, so that the protruding arm 142 of the elastic member 140 is stopped by the stop member 150, and the elastic member 140 is prevented from rotating in the original direction relative to the second rotating member 120. At this time, if the first rotating member 110 continues to rotate relative to the second rotating member 120 in the original direction, the elastic member 140 will be moved relative to the first rotating member 110 by the force of the stopper 150, and since the limiting arm 143 of the elastic member 140 extends into the blocking region 130, the elastic member 140 will rotate relative to the first rotating member 110 along the blocking region 130, and after the elastic member 140 rotates a certain angle relative to the first rotating member 110 along the blocking region 130, the limiting arm 143 will abut against the first end 1301 or the second end 1302 of the blocking region 130, and finally the first rotating member 110 will be prevented from continuing to rotate relative to the second rotating member 120 in the original direction, so as to limit the maximum angle of forward or reverse rotation of the first rotating member 110 relative to the second rotating member 120.

It can be understood that, when the elastic member 140 and the first rotating member 110 keep moving synchronously, if only one end of the limiting arm 142 is far away from the first end 1301 and the second end 1302 of the blocking area 130, the elastic member 140 will move relative to the first rotating member 110 only when the first rotating member 110 rotates in a specific direction relative to the second rotating member 120, that is, even if the first rotating member 110 rotates in another direction relative to the second rotating member 120, the elastic member 140 will not move relative to the first rotating member 110 due to the abutment of the protruding arm 142 and the blocking area 130 even if the first rotating member 110 receives an acting force. If the two ends of the protruding arm 142 are away from the first end 1301 and the second end 1302 of the blocking area 130, the elastic element 140 will move relative to the first rotating element 110 after the acting force is applied to the first rotating element 110 no matter the first rotating element 110 rotates in the forward direction or the reverse direction relative to the second rotating element 120. For convenience of illustration, the two ends of the protruding arm 142 are disposed away from the first end 1301 and the second end 1302 of the blocking area 130.

In which the limiting device 100 of the present application can be used on a robot arm of a robot, and in particular, the first rotating member 110 and the second rotating member 120 are respectively connected with two adjacent members, so as to limit the maximum angle of relative rotation between the two adjacent members. Specifically, when the robot causes zero loss due to power failure and the like, even if misjudgment occurs due to the fact that the appearance cannot see the rotation angle of the mechanical arm at the moment, the limiting device 100 can ensure that the mechanical arm cannot excessively rotate, and finally the internal structure of the robot is protected.

Referring to fig. 2 to 4, fig. 4 is a schematic view illustrating an application scenario in which the first rotating member 110 rotates relative to the second rotating member 120.

In the present embodiment, the first rotating member 110 is sleeved outside the second rotating member 120, and the stopper 150 is a tappet 150 eccentrically disposed on the radial surface 121 of the second rotating member 120. The first rotating member 110 includes a circumferential wall 111, an inner side of the circumferential wall 111 is provided with an annular groove 131 and an arc-shaped groove 132 further recessed in the annular groove 131, and the blocking area 130 is the arc-shaped groove 132. The elastic member 140 is a slip ring 140, and the slip ring 140 includes an arc-shaped elastic body 141 elastically embedded in the annular groove 131, a protruding arm 142 protruding from an inner ring of the elastic body 141, and a limiting arm 143 protruding from an outer ring of the elastic body 141 and extending into the arc-shaped groove 132. Wherein the stopper arm 143 extends into the arc groove 132 and forms a space with the side wall and the bottom wall of the arc groove 132 in order to reduce friction between the stopper arm 143 and the arc groove 132 when the elastic member 140 rotates with respect to the first rotating member 110.

Alternatively, in other application scenarios, as shown in fig. 5, the first rotating member 110 further includes a circular ring surface 112, and the circumferential wall 111 stands vertically from the outer circumference of the circular ring surface 112, in this case, the blocking area 130 may be disposed on the circular ring surface 112, in addition to the inner side of the circumferential wall 111. When the blocking area 130 is disposed on the circular ring surface 112, the extending direction of the protruding arm 142 is perpendicular to the circular ring surface 112, the stop member 150 is a baffle disposed on the inner peripheral wall of the second rotating member 120, and after the first rotating member 110 rotates forward or backward relative to the second rotating member 120 by more than a predetermined angle, the stop member 150 abuts against the protruding arm 142 to prevent the elastic member 140 from continuing to rotate relative to the second rotating member 120 according to the original direction.

In addition, although the blocking area is provided on the outer peripheral rotating member, the blocking area may be provided on the inner peripheral rotating member in other embodiments. Specifically, in an application scenario, as shown in fig. 6, when the second rotating member 210 is sleeved on the outside of the first rotating member 220, the first rotating member 220 includes a first circumferential wall 2201, the second rotating member 210 includes a second circumferential wall 2101, the first circumferential wall 2201 is surrounded by the second circumferential wall 2101, when the stop 250 is a tappet 250 disposed inside the second circumferential wall 2101 and protruding toward the first circumferential wall 2201, and the blocking zone 230 is disposed outside the first circumferential wall 2201, wherein the structure of the blocking zone 230 and the elastic member 240 is the same as that of the above embodiment, that is, when the outside of the first circumferential wall 2201 and the inside of the second circumferential wall 2101 have a predetermined distance, which can allow the elastic member 240 and the stop 250 to be accommodated between the first circumferential wall 2201 and the second circumferential wall 2101, in the application scenario of fig. 6, the distance between the first circumferential wall 2201 and the second circumferential wall 2101 is ensured by the arrangement of the boss a, that is, the side wall of the boss a is the first circumferential wall 2201, but in other application scenarios, the side wall of the socket part of the first rotating member 220 and the second rotating member 210 may be directly the first circumferential wall 2201 and the second circumferential wall 2101 instead of the boss a.

In summary, the application does not limit the position of the blocking area and the stop member, as long as the stop member can be abutted against the elastic member in the blocking area after the first rotating member rotates relative to the second rotating member in a certain direction over a predetermined angle. For convenience of description, the first rotating member 110 is sleeved outside the second rotating member 120, and the blocking area 130 is disposed inside the circumferential wall 111.

In an application scenario, the number of the limiting arms 143 is one, and the symmetry axis of the limiting arms 143 coincides with the symmetry axis of the protruding arms 142. Optionally, in other application scenarios, the number of the limiting arms 143 may be two, and two limiting arms 143 are distributed on two sides of the protruding arm 142 and are symmetrical with respect to the protruding arm 142, at this time, when the first rotating member 110 rotates forward relative to the second rotating member 120 beyond the maximum limiting angle, one of the limiting arms 143 abuts against the blocking area 130, and when the first rotating member 110 rotates backward relative to the second rotating member 120 beyond the maximum limiting angle, the other limiting arm 143 abuts against the blocking area 130.

In order to avoid the sliding out of the elastic member 140 during the movement relative to the annular groove 131, in an application scenario, the annular groove 131 is a semi-closed groove with a large inside and a small outside, specifically, the width of the annular groove 131 is gradually reduced along the direction from the groove bottom to the notch, and the width of at least a part of the cross section of the elastic body 141 is larger than the notch width of the annular groove 131 so that the elastic body 141 cannot slide out of the annular groove 131. For example, the cross section of the annular groove 131 may be a shape having a width of the notch smaller than that of the groove bottom, such as a trapezoid as shown in fig. 7, and correspondingly, the cross section of the elastic body 141 may also be an upper width, i.e., a width of a portion close to the notch of the annular groove 131, and a lower width, i.e., a width of a portion close to the groove bottom of the annular groove 131, such as a cross section of the elastic body 141 may also be a trapezoid, which is embedded in the annular groove 131 as shown in fig. 7. Of course, in other application scenarios, the elastic body 141 may partially extend out of the annular groove 131, in which case the cross section of the elastic body 141 may have an hourglass shape, and the width of the middle narrowed portion of the elastic body 141 is smaller than the width of the notch of the annular groove 131, and the width of the portion of the elastic body 141 away from the notch of the annular groove 131 is larger than the width of the notch of the annular groove 131, as shown in fig. 8.

The operation of the stopper device 100 of the present application will be described in detail with reference to fig. 4, 9 and 10.

Referring to fig. 4, at this time, when the first rotating element 110 rotates forward or backward relative to the second rotating element 120 by no more than a predetermined angle, the elastic element 140 and the first rotating element 110 keep moving synchronously, and the limiting arm 143 of the elastic element 140 is disposed away from the first end 1301 and the second end 1302 of the blocking area 130.

Referring to fig. 9, at this time, the first rotating element 110 rotates counterclockwise by a certain angle relative to the second rotating element 120 on the basis of fig. 4, after the protruding arm 142 of the elastic element 140 is stopped by the stopper 150, the first rotating element 110 continues to rotate relative to the second rotating element 120 in the counterclockwise direction to make the elastic element 140 move clockwise relative to the first rotating element 110, so that the limiting arm 143 of the elastic element 140 abuts against the first end 1301 of the stopping area 130, and finally it is ensured that the first rotating element 110 cannot rotate relative to the second rotating element 120 in the counterclockwise direction.

Referring to fig. 10, at this time, the first rotating element 110 rotates clockwise relative to the second rotating element 120 by a certain angle on the basis of fig. 4, after the protruding arm 142 of the elastic element 140 is stopped by the stopper 150, the first rotating element 110 continues to rotate clockwise relative to the second rotating element 120 to enable the elastic element 140 to move counterclockwise relative to the first rotating element 110, so that the limiting arm 143 of the elastic element 140 abuts against the second end 1302 of the stopping area 130, and finally it is ensured that the first rotating element 110 cannot rotate clockwise relative to the second rotating element 120 any more.

Wherein the first rotating member 110 may stop rotating in the same direction with respect to the second rotating member 120 before the elastic member 140 collides with the blocking region 130 in order to reduce unnecessary loss. Referring to fig. 11, in an application scenario, through windows 113 are disposed on the circumferential wall 111 opposite to the arc-shaped groove 132, the number of the windows 113 is two, the two windows 113 are respectively disposed opposite to the first end 1301 and the second end 1302 of the arc-shaped groove 130, and when the first rotating member 110 rotates relative to the second rotating member 120 and the limiting arm 143 enters the window 113, the over-limit indication is performed. Specifically, two through windows 113 are disposed at the first end 1301 and the second end 1302 of the blocking area 130, so that an operator can observe whether the elastic member 140 is about to collide with the first rotating member 110 through the windows 113, and the device is stopped in time before collision, thereby reducing unnecessary loss. Optionally, in order to enable an operator to clearly observe the limiting arm 143 through the window 113, an identification portion 1431 is disposed on the limiting arm 143, the identification portion 1431 is a color block area 1431 disposed on a side wall of the limiting arm 143 away from the elastic body 141, and a color of the color block area 1431 is different from a color of the elastic body 141. For example, the color of the color block area 1431 is red, and the color of the elastic body 141 is gray.

Referring to fig. 12, in another application scenario, the number of the windows 113 is one, one window 113 is opposite to the arc-shaped groove 132, and the window 113 extends from the first end 1301 to the second end 1302 of the arc-shaped groove 132. Compared with fig. 8, in this application scenario, the window 113 exposes the position limiting arm 143, and the whole motion state of the position limiting arm 143 can be observed through the window 113, so that the device can be stopped in time before the elastic member 140 collides with the first rotating member 110.

Optionally, in another application scenario, the number of the windows 113 is two, at this time, the two windows 113 deviate from the arc-shaped groove 132 and are located at the same side of the arc-shaped groove 132, and the protruding arm 142 is provided with a protruding pillar (not shown) extending to one side of the window 113, when the first rotating member 110 normally rotates relative to the second rotating member 120, the protruding pillar is not in the window 113, and when the first rotating member 110 rotates relative to the second rotating member 120, the protruding pillar enters the window 113 as a rotation overrun prompt.

Referring to fig. 13, fig. 13 is a schematic view of an exploded structure of an embodiment of the robotic arm of the present application. The robot 300 includes a first member component 310 and a second member component 320 that are adjacent.

The first member component 310 and the second member component 320 are nested with each other and can rotate relative to each other, and specifically, the first member component 310 can rotate in the forward direction and the reverse direction relative to the second member component 320. Meanwhile, referring to fig. 14 and 15, fig. 14 is a schematic view of an exploded structure of the first sub-member assembly 310 in fig. 13, and fig. 15 is a schematic view of a structure of the second sub-member assembly 320 in fig. 13.

The first member component 310 is provided with a blocking area 330 and an elastic member 340 which is embedded elastically, the blocking area 330 extends in the rotation direction of the first member component 310 relative to the second member component 320, the second member component 320 or a connecting member (for example, a joint with the second member component 320) connected to the second member component 320 is provided with a stopper 350, and the stopper 350 is provided in the rotation direction of the first member component 310 relative to the second member component 320.

The elastic member 340 includes an elastic body 341 elastically embedded on the first member component 310, a protruding arm 342 protruding from the elastic body 341, a protruding elastic body 341, and a limiting arm 343 extending to the blocking area 330, wherein when the elastic member 340 and the first member component 310 move synchronously, at least one end of the limiting arm 343 is away from two ends of the blocking area 330.

After the first member component 310 is linked to the elastic component 340 and rotates relative to the second member component 320 by more than a predetermined angle, the protruding arm 342 is stopped by the stopper 350 to stop the rotation of the elastic component 340 relative to the second member component 320, and at this time, if the first member component 310 continues to rotate relative to the second member component 320 according to the original direction, the elastic component 340 will move relative to the first member component 310 along the blocking area 330 to make the limiting arm 343 abut against the end of the blocking area 330.

The mechanical arm 300 in the present application may further include a position limiting device in any one of the foregoing embodiments, and specifically, in this embodiment, the two joint members are connected by a first rotating member and a second rotating member in the position limiting device, that is, the blocking region 330, the elastic member 340, and the stopper 350 in this embodiment are the same as or similar to the blocking region, the elastic member, and the stopper in the foregoing embodiments of the position limiting device, and reference may be made to the foregoing embodiments of the position limiting device for details, which are not described herein again.

Referring to fig. 16, fig. 16 is a schematic structural diagram of an embodiment of the robot of the present application. The robot 400 includes a mechanical arm 410, the mechanical arm 410 is the mechanical arm 300 in any of the above embodiments, and specific structures can be referred to the above embodiments, which are not described herein again.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.