CN117921741A - Pitching rotation assembly, head assembly of robot and robot - Google Patents

Abstract

The invention relates to the technical field of robots, and provides a pitching rotating assembly, a head assembly of a robot and the robot, wherein the pitching rotating assembly comprises a pitching assembly and a rotating assembly, the pitching assembly comprises a pitching base, a pitching bracket and a first driving component, and the first driving component is dynamically coupled with the pitching bracket; the rotating assembly comprises a rotating base and a second driving component, and the second driving component is dynamically coupled with the pitching assembly; the rotating base is provided with a threading hole, and the threading hole and the second driving part are coaxially arranged and are suitable for the wire harness to pass through. Through setting up the through wires hole, at every single move rotary component rotary motion's in-process, guarantee that be located the internal pencil length of robot and position are invariable all the time, avoided the internal pencil of robot to be pulled at every single move rotary component motion in-process, cause the pencil to break away from the interface of the internal component of body (such as power, controller etc.) and influence pencil life's problem.

Description

Pitching rotation assembly, head assembly of robot and robot

Technical Field

The invention relates to the technical field of robots, in particular to a pitching rotating assembly, a head assembly of a robot and the robot.

Background

The head part of the robot is connected with the body of the robot through a pitching rotating assembly, the pitching rotating assembly controls the head part of the robot to do pitching rotating motion relative to the body so as to achieve the anthropomorphic effect, elements such as a screen, a camera, a microphone, touch keys and the like are integrated on the head part and used for carrying out man-machine interaction with a user, wire harnesses such as power supply wires and signal transmission wires of the elements are usually arranged inside the robot for attractive appearance, and the head part enters the body through the pitching rotating assembly.

During the rotational movement of the pitch rotation assembly, the wire harness inside the robot body is pulled, and there is a problem in that the wire harness is easily detached from the interface of the internal components of the robot body.

Disclosure of Invention

The present invention is directed to solving at least one of the technical problems existing in the related art. Therefore, the pitching rotating assembly is provided with the threading hole and the second driving part which are coaxially arranged, so that the length of a wire harness entering the robot body from the threading hole to an element interface is ensured to be unchanged all the time, the detachment probability of the wire harness from the element interface is reduced, and the service life of the wire harness is prolonged.

The invention also provides a head assembly of the robot.

The invention further provides a robot.

A pitch rotation assembly according to an embodiment of the first aspect of the invention comprises:

A pitch assembly comprising a pitch mount, a pitch bracket, and a first drive component that is dynamically coupled to the pitch bracket;

A rotating assembly comprising a rotating base and a second drive member, the second drive member being dynamically coupled to the pitch assembly;

the rotating base is provided with a threading hole, and the threading hole and the second driving part are coaxially arranged and are suitable for the wire harness to pass through.

According to the pitching rotating assembly provided by the embodiment of the invention, the threading hole is formed, and as the interface of the element in the head assembly of the robot is unchanged all the time in the rotating process of the pitching rotating assembly, the distance from the output axis of the second driving part, namely the length of the wire harness outside the robot body (namely the wire harness with the element in the head assembly connected to the threading hole) is unchanged all the time in the rotating process of the pitching rotating assembly, so that the wire harness inside the robot body cannot be pulled, the length and the position of the wire harness inside the robot body are ensured to be unchanged all the time, and the problems that the wire harness is pulled in the moving process of the pitching rotating assembly, the wire harness is separated from the interface of the element (such as a power supply and a controller) inside the robot body, and the service life of the wire harness is influenced are avoided.

According to one embodiment of the invention, the pitch rotation assembly further comprises:

The first fixing piece is arranged on the pitching base and is suitable for fixing the position, corresponding to the wire harness, on the pitching base;

and the second fixing piece is arranged on the rotating base and is suitable for fixing the position, corresponding to the position, of the wire harness on the output shaft line of the second driving component.

According to one embodiment of the invention, the swivel base comprises a base plate provided with the threading aperture and a mounting frame,

The first fixing piece is fixed at the bottom of the pitching base,

And/or the number of the groups of groups,

The second fixing piece is fixed at the threading hole, and the second driving part is installed on the installation frame.

According to one embodiment of the invention, the harness comprises a first harness section, a second harness section and a third harness section connected in sequence, the first harness section extending along the output axis of the first driving part, the third harness section extending along the output axis of the second driving part, the second harness section being secured between the first and second fixtures.

According to one embodiment of the invention, the pitch base is provided with a running pipe, which is arranged coaxially with the first drive member, and in which the first harness section is arranged.

According to one embodiment of the invention, the second harness segment comprises a first sub-harness segment and a second sub-harness segment, a corner is formed between the first sub-harness segment and the second sub-harness segment, and the corner is avoided from the second driving part or the mounting frame.

According to one embodiment of the present invention, the wire harness further includes a fourth wire harness segment, the fourth wire harness, the first wire harness segment, the second wire harness segment, and the third wire harness segment being connected in sequence;

the pitching rotation assembly further comprises a third fixing piece, and the third fixing piece is suitable for fixing the position, corresponding to the fourth wire harness section, on the pitching support.

According to one embodiment of the invention, the first fixing member and the second fixing member each include: the wire harness fixing device comprises a first fixing part and a second fixing part, wherein the first fixing part is clamped with the second fixing part and forms a wire passing hole, and the wire passing hole is suitable for the wire harness to pass through.

According to one embodiment of the invention, the second fixing part comprises two clamping arms and a connecting plate, wherein first ends of the two clamping arms are respectively fixed on the connecting plate, second ends of the clamping arms can move relatively, a clamping joint is arranged at the second ends of the clamping arms, and a first limiting surface and a second limiting surface which are arranged relatively are arranged on the clamping joint;

the first fixing part comprises a wiring board, and a clamping groove is formed in the wiring board corresponding to the clamping connector;

The first limiting surface and the second limiting surface are respectively positioned at two sides of the clamping groove along the inserting direction of the clamping connector.

A head assembly of a robot according to an embodiment of the second aspect of the invention comprises a pitch rotation assembly as described above.

The technical effects of the head assembly of the robot according to the embodiment of the present invention correspond to those of the pitch rotation assembly of the embodiment of the first aspect, and will not be described here again.

A robot according to an embodiment of the third aspect of the present invention comprises a head assembly as described above for the robot or comprises a pitch rotation assembly as described above.

The beneficial effects of the robot according to the embodiment of the present invention are similar to those of the pitch rotation assembly according to the embodiment of the first aspect of the present invention, and will not be described here again.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is an exploded view of a pitch rotation assembly provided by an embodiment of the present invention;

FIG. 2 is a schematic view of a pitch rotation assembly provided by an embodiment of the present invention;

FIG. 3 is a schematic structural view of a first fixing member according to an embodiment of the present invention;

FIG. 4 is a schematic view of a connection structure of a pitch rotation assembly according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a connection structure of a pitch rotation assembly provided by an embodiment of the present invention.

Reference numerals:

100. A pitch assembly; 110. a pitch base; 111. a wiring tube; 112. a wire inlet; 113. a limit part; 120. a pitch bracket; 121. a connecting frame; 1211. a first positioning pin; 1212. positioning a shaft; 1213. a second connection hole; 122. a first fixing frame; 1221. a first positioning hole; 1222. a positioning groove; 1223. a second via; 123. the second fixing frame; 1231. a second positioning pin; 1232. a first connection hole; 124. a limit groove; 130. a first driving part;

200. A rotating assembly; 210. a rotating base; 211. a bottom plate; 212. a mounting frame; 213. a mounting groove; 214. a threading hole; 220. a second driving part;

301. A wire through hole; 310. a first fixing member; 320. a second fixing member; 330. a first fixing member; 331. a clamping arm; 332. a connecting plate; 340. a second fixing member; 341. a wiring board; 342. a fixing plate; 360. a clamping joint; 361. a first limiting surface; 362. the second limiting surface; 370. a clamping groove; 380. a third fixing member;

400. A bearing; 500. a lock nut; 600. a cover plate; 610. a second positioning hole; 620. a first via;

700. a wire harness; 710. a first strand segment; 720. a second wire harness segment; 721. a first sub-harness segment; 722. a second sub-harness segment; 730. a third strand segment; 740. a fourth wire harness segment;

800. A head part.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.

In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

As shown in connection with fig. 1-2, a pitch rotation assembly according to an embodiment of the first aspect of the present invention comprises a pitch assembly 100 and a rotation assembly 200, the pitch assembly 100 comprising a pitch chassis 110, a pitch bracket 120 and a first drive member 130, the first drive member 130 being dynamically coupled to the pitch bracket 120; the swivel assembly 200 includes a swivel base 210 and a second drive member 220, the second drive member 220 being dynamically coupled to the pitch assembly 100; the rotating base 210 is provided with a threading hole 214, and the threading hole 214 is coaxially arranged with the second driving part 220 and is suitable for passing the wire harness 700.

In the pitching rotation assembly according to the embodiment of the present invention, the second driving component 220 is fixed on the rotation base 210, and the second driving component 220 drives the pitching assembly 100 to perform rotation motion around the output axis of the second driving component 220, where the second driving component 220 may be connected to the pitching base 110 of the pitching assembly 100, and the pitching support 120 is driven by the pitching base 110 to jointly rotate around the output axis of the second driving component 220, or may be connected to the pitching support 120 of the pitching assembly 100, and the pitching support 120 drives the pitching support 110 to jointly rotate around the output axis of the second driving component 220. The first driving part 130 is fixed on the pitching base 110, and the first driving part 130 drives the pitching support 120 to rotate around the output axis of the first driving part 130, so that pitching motion of the pitching support 120 is realized.

Taking the example that the pitching rotation assembly is applied to a robot, the pitching base 110 is fixed on the body of the robot, the pitching bracket 120 is connected with the head part 800 of the robot, and the second driving part 220 drives the pitching assembly 100 to do rotation motion, so that the head part 800 of the robot rotates around the body, and the head part 800 visually swings left and right relative to the body; the first driving part 130 drives the pitching support 120 to perform pitching motion, and drives the head part 800 to perform pitching motion relative to the body, which is visually represented as an up-and-down swing of the head part 800 relative to the body.

The wire harness 700, such as signal wires and power wires, in the body of the robot is connected to elements (e.g., screen, camera, etc.) of the head unit 800 after passing through the threading hole 214.

According to the pitching rotating assembly provided by the embodiment of the invention, the threading hole 214 is arranged, so that the distance from the interface of the element in the head part 800 to the output axis of the second driving part 220 is always unchanged in the rotating process of the pitching rotating assembly, namely the length of the wire harness outside the robot body (namely the wire harness with the element in the head part 800 connected to the threading hole 214) is always unchanged in the rotating process of the pitching rotating assembly, and further the wire harness inside the robot body cannot be pulled, the length and the position of the wire harness inside the robot body are always unchanged, and the problems that the wire harness is pulled in the moving process of the pitching rotating assembly, so that the wire harness is separated from the interface of the element (such as a power supply and a controller) inside the robot body and the service life of the wire harness is influenced are avoided.

In this embodiment, the "the threading hole 214 is coaxially disposed with the second driving member 220" may be understood that the axis of the threading hole 214 is coaxially disposed with the output axis of the second driving member 220, and the second driving member 220 may be a gear motor, and the output axis of the second driving member 220 may be an axis of an output shaft of the gear motor, or an axis of an output shaft of the gear motor formed after passing through a transmission structure (e.g. through a gear set).

In this embodiment, the pitching rotation component may also be applied to a device that needs to implement relative pitching motion and rotation motion between internal components, such as a mechanical arm, an aircraft, and a medical device.

In one embodiment, the pitch rotation assembly further comprises a first mount 310 and a second mount 320; the first fixing piece 310 is arranged on the pitching base 110 and is suitable for fixing the position corresponding to the wire harness 700 on the pitching base 110; the second fixing member 320 is disposed on the rotating base 210, and is adapted to fix the position of the wire harness 700 corresponding to the position on the output shaft of the second driving member 220.

Referring to fig. 1, when the second driving member 220 drives the rotating base 210 to perform a rotating motion, the first fixing member 310 is driven to rotate around the output axis of the second driving member 220, that is, the first fixing member 310 moves relative to the second fixing member 320 fixed to the rotating base 210, and a distance between the first fixing member 310 and the second fixing member 320 changes during the moving process, and the distance change between the first fixing member 310 and the second fixing member 320 is compensated by bending or stretching of the wire harness 700. Taking the pitch rotation assembly as an example, the pitch rotation assembly is installed on the robot, only a space is required to be formed at a position between the corresponding first fixing piece 310 and the second fixing piece 320 to accommodate the bent or stretched wire harness 700, and the length change of the wire harness 700 between the first fixing piece 310 and the elements in the head part 800 and the length change of the wire harness 700 between the second fixing piece 320 and the body of the robot are not caused, so that the connection between the interfaces of the elements (cameras, microphones and the like) in the head part 800 and the wire harness 700 and the connection between the interfaces of the elements (power supply, controllers and the like) in the body and the wire harness 700 are ensured to be stable.

According to an embodiment of the present invention, the rotating base 210 includes a base plate 211 and a mounting bracket 212, the base plate 211 is provided with a threading hole 214, and the wire harness 700 sequentially passes through the threading hole 214, the first fixing member 310, and the second fixing member 320.

In one embodiment, as shown in connection with fig. 1, the first fixing member 310 is fixed to the bottom of the pitch base 110, that is, the wire harness section corresponding to the bottom of the pitch base 110 is not free, so that the wire harness section can be prevented from entering between the pitch base 110 and the rotation base 210 when the pitch base 110 and the rotation base 210 are relatively rotated.

In one embodiment, the second fixing member 320 is fixed at the threading hole 214, and the second driving part 220 is mounted to the mounting frame 212.

In this embodiment, the threading hole 214 is coaxial with the output axis of the second driving member 220, that is, the wire harness section corresponding to the threading hole 214 is not free, so that the wire harness section can be prevented from entering between the pitch base 110 and the rotation base 210 when the pitch base 110 and the rotation base 210 are relatively rotated. Of course, the second fixing member 320 may not be fixed to the output shaft of the second driving part 220, for example, it is also possible that the second fixing member 320 is fixed to the mounting frame 212, and the wire harness between the first fixing member 310 and the second fixing member 320 is short. The second fixing member 320 is disposed at the threading hole 214, which is beneficial to prolonging the length of the wire harness between the first fixing member 310 and the second fixing member 320, thereby improving the fatigue resistance thereof.

In one embodiment, the mounting bracket 212 is provided with a mounting slot 213, the mounting slot 213 is provided with a second drive member 220 therein, and the slot opening of the mounting slot 213 is higher than the second drive member 220.

Referring to fig. 1, the second driving part 220 is buried in the second mounting groove 213, and the surface of the second driving part 220 is lower than the outer circumference of the mounting bracket 212, thereby securing the protection of the mounting bracket 212 to the second driving part 220.

In this embodiment, the mounting frame 212 is disposed perpendicular to the bottom plate 211, and in other embodiments, the mounting frame 212 may form an acute angle or an obtuse angle with the bottom plate 211.

According to one embodiment of the present invention, the wire harness 700 includes a first wire harness segment 710, a second wire harness segment 720 and a third wire harness segment 730 connected in sequence, the first wire harness segment 710 extending along the output axis of the first driving part 130, the third wire harness segment 730 extending along the output axis of the second driving part 220, the second wire harness segment 720 being fixed between the first fixing member 310 and the second fixing member 320.

In this embodiment, the first fixing member 310 rotates around the output axis of the second driving component 220, the distance from the first fixing member 310 to the second fixing member 320 is constant, in theory, the length of the second wire harness section 720 is not changed, but since the wire harness 700 is formed by a plurality of wires, each wire cannot be ensured to intersect with the output axis of the first driving component 130 or the second driving component 220 in actual installation, therefore, the change of part of wires in the second wire harness section 720 causes the change of the length of the second wire harness section 720, and by setting the extending directions of the first wire harness section 710 and the third wire harness section 730, the wires of the second wire harness section 720 are ensured to be as close to the output axis of the first driving component 130 or the second driving component 220 as possible, so that the length change of the second wire harness section 720 is minimized, and the space required by the pitch rotation assembly in installation of the wire harness 700 is effectively reduced.

Of course, the second fixing member 320 is as close to the end of the third wire harness segment 730 (the end connected to the second wire harness segment 720) as possible, and the first fixing member 310 is as close to the end of the first wire harness segment 710 (the end connected to the second wire harness segment 720) as possible, so that the second wire harness segment 720 located between the first fixing member 310 and the second fixing member 320 is ensured to be as long as possible, and further, the length of the remaining second wire harness segment 720 is ensured to be enough to meet the compensation requirement in the movement process of the pitching rotation assembly.

In this embodiment, the first driving member 130 may be a gear motor, and the "output axis of the first driving member 130" may be an axis of an output shaft of the gear motor, or an axis of an output shaft of the gear motor formed after passing through a transmission structure (e.g. through a gear set).

In this embodiment, the second driving member 220 may be a gear motor, and the "output axis of the second driving member 220" may be understood as an axis of an output shaft of the gear motor, or may be an axis formed by passing an output shaft of the gear motor through a transmission structure (e.g. through a gear set).

According to one embodiment of the invention, as shown in connection with fig. 1, the pitch base 110 is provided with a runner 111, the runner 111 being arranged coaxially with the first drive member 130, a first harness section 710 being provided in the runner 111. By providing the cabling pipe 111, it is ensured that the first wire harness segment 710 is confined in the cabling pipe 111, reducing the probability that the wire harness 700 will wind up on the pitch rotation assembly during movement of the pitch rotation assembly.

In one embodiment, the wire pipe 111 is provided with a wire inlet 112, and the wire inlet 112 is provided at an end of the wire pipe 111 near the second driving part 220.

In this embodiment, the wire inlet 112 is close to the second driving component 220, that is, close to the output axis of the second driving component 220, and the wire harness 700 enters the wire inlet 112 after passing out from the through hole of the rotating base 210, so that the length change amount of the second wire harness section 720 is smaller as the wire inlet 112 is closer to the output axis, thereby effectively avoiding the wire harness 700 from being pulled, and avoiding the second wire harness section 720 from being excessively long and winding on the pitching rotating assembly to affect the movement thereof.

In one embodiment, the wiring tube 111 is integrally formed with the swivel base 210. Reducing the manufacturing cost of the pitch rotation assembly.

In one embodiment, the pitch bracket 120 is mounted to the spool 111 by bearings 400. The wiring pipe 111 supports the pitch bracket 120.

In one embodiment, referring to fig. 2, fig. 4 and fig. 5, the wire tube 111 is provided with a limiting portion 113, one end of the wire tube 111 facing away from the first driving component 130 is fixedly connected with a lock nut 500, and the lock nut 500 and the limiting portion 113 limit two ends of the inner ring of the bearing 400.

In this embodiment, a thread is disposed at one end of the wiring tube 111 facing away from the first driving component 130, and the lock nut 500 moves toward the limiting portion 113 along the thread until the bearing 400 is clamped, so as to fix the inner ring of the bearing 400 to the wiring tube 111, and prevent the bearing 400 from falling out from the wiring tube 111 during the movement of the pitching rotation component.

In this embodiment, the wiring tube 111 includes two tube sections with different diameters, a shaft shoulder is formed at the connection position between the tube sections, and the shaft shoulder forms the limiting portion 113, and in other embodiments, the limiting portion 113 may be an irregular protrusion or the like disposed on the surface of the wiring tube 111, which is suitable for abutting against the inner ring of the bearing 400.

In this embodiment, the pitch bracket 120 is provided with a limiting groove 124, and the corresponding limiting groove 124 is fixedly connected with a cover plate 600 on the pitch bracket 120, and the limiting groove 124 and the cover plate 600 limit two ends of the outer ring of the bearing 400.

In this embodiment, as shown in fig. 2,4 and 5, the bearing 400 is embedded in the limiting groove 124, and the cover plate 600 is fixedly connected with the pitching support 120 after being covered in the limiting groove 124, so as to prevent the outer ring of the bearing 400 from being separated from the pitching support 120. The surface of the pitching support 120 is provided with a second positioning pin 1231, the cover plate 600 is provided with a second positioning hole 610 corresponding to the second positioning pin 1231, and the cover plate 600 and the pitching support 120 are pre-fixed by matching two second positioning pins 1231 with the second positioning holes 610, and the relative rotation between the two is limited. Of course, the second positioning pins 1231 may be disposed on the cover 600, and the second positioning holes 610 may be disposed on the pitch bracket 120 correspondingly.

The pitching support 120 is further provided with a first connecting hole 1232, the cover plate 600 is provided with a first through hole 620 corresponding to the first connecting hole 1232, after the pitching support 120 and the cover plate 600 are pre-fixed through the second positioning pin 1231 and the second positioning hole 610, the first connecting hole 1232 and the first through hole 620 are fixed through connecting components such as bolts and screws, and the fixed connection of the pitching support 120 and the cover plate 600 is achieved. In this embodiment, the number of the first connection holes 1232 is four, and the first connection holes 1232 are disposed around the output shaft of the first driving part 130, but the number and positions of the first connection holes 1232 may be adjusted according to the actual shape of the pitch bracket 120, etc.

According to one embodiment of the present invention, the pitch bracket 120 comprises a connection frame 121, a first fixing frame 122 and a second fixing frame 123, the connection frame 121 being coaxially arranged with the output axis of the first driving part 130 and adapted to rotate around the output axis; the first fixing frame 122 is fixedly connected to the connecting frame 121; the second mount 123 is mounted to the wiring tube 111 via a bearing 400.

In this embodiment, as shown in fig. 1,2, 4 and 5, the first driving component 130 drives the connecting frame 121 to rotate, drives the first fixing frame 122 to rotate, and the first fixing frame 122 and the second fixing frame 123 are simultaneously connected with external components (such as the head component 800 of the robot), and the first fixing frame 122 drives the second fixing frame 123 to rotate through the external component, so as to realize the integral pitching motion of the pitching rotating component.

The first fixing frame 122 and the second fixing frame 123 are located at two sides of the output axis of the second driving component 220, so that the center of gravity of the pitching assembly 100 is close to the output axis of the second driving component 220, and the problem that the pitching rotation motion is unstable due to overlarge single-side bearing of the pitching rotation assembly is prevented.

In this embodiment, one end of the connecting frame 121 is connected to the output shaft of the first driving component 130, the other end is fixed to the first fixing frame 122, a first positioning pin 1211 and a positioning shaft 1212 are disposed at the fixed end of the connecting frame 121 and the first fixing frame 122, a first positioning hole 1221 is disposed on the first fixing frame 122 corresponding to the first positioning pin 1211, a positioning slot 1222 is disposed corresponding to the positioning shaft 1212, and the first positioning pin 1211 cooperates with the first positioning hole 1221 and the positioning shaft 1212 cooperates with the positioning slot 1222 to realize the pre-fixing of the connecting frame 121 and the first fixing frame 122.

Of course, the first positioning pin 1211 or the positioning shaft 1212 may be provided on the first fixing frame 122, and the first positioning hole 1221 and the positioning groove 1222 may be provided on the connecting frame 121.

In this embodiment, the connecting frame 121 is provided with two first positioning pins 1211 and one positioning shaft 1212, and the diameter of the positioning shaft 1212 is larger than that of the first positioning pins 1211, and after coarse positioning is achieved through the positioning shaft 1212, the first positioning pins 1211 are used for fine positioning, so that the assembly process is optimized, and the installation difficulty of workers is reduced.

In this embodiment, the connecting frame 121 is further provided with a second connecting hole 1213, the first fixing frame 122 is provided with a second through hole 1223 corresponding to the second connecting hole 1213, and after the connecting frame 121 and the first fixing frame 122 are pre-fixed by the first positioning pin 1211 and the first positioning hole 1221, the second connecting hole 1213 and the second through hole 1223 are fixed by a connecting component such as a bolt, a screw, etc., so as to realize the fixed connection between the connecting frame 121 and the first fixing frame 122. Of course, the inner wall of the second connection hole 1213 or the second via hole 1223 may be provided with threads facilitating connection using screws.

In the present embodiment, the number of the second connection holes 1213 is four, and the second connection holes 1213 are disposed around the output shaft of the first driving part 130, but the number and positions of the second connection holes 1213 may be adjusted according to the actual shape of the connection frame 121, etc. Of course, the second connecting hole 1213 may be directly opened on the first positioning pin 1211, parallel or coaxial with the axis of the first positioning pin 1211, or may be provided on the connecting frame 121 alone without being provided on the first positioning pin 1211.

According to one embodiment of the present invention, as shown in connection with fig. 1, the second harness segment 720 includes a first sub-harness segment 721 and a second sub-harness segment 722, and a corner is formed between the first sub-harness segment 721 and the second sub-harness segment 722, the corner being clear of the second driving member 220 or the mounting bracket 212. Avoiding interference or collision between the second wire harness segment 720 and the second driving part 220 or the mounting rack 212 when the pitching base 110 rotates relative to the rotating base 210, effectively improving the service life of the second wire harness segment 720.

In the present embodiment, the first sub-harness segment 721 extends downward to the corner in the vertical direction from one end of the first harness segment 710, and the second sub-harness segment 722 is deflected from the first sub-harness segment 721 toward the output axis direction of the second driving member 220, and enters into the threading hole 214; in other embodiments, the second wire harness segment 720 may be configured according to the specific shape and location of the second drive member 220 and the mounting bracket 212, such as providing more corners for avoidance.

According to one embodiment of the present invention, the wire harness 700 further includes a fourth wire harness segment 740, the first wire harness segment 710, the second wire harness segment 720 and the third wire harness segment 730 being connected in sequence; as shown in fig. 1, for example, when the pitch rotation assembly is applied to a robot, the wire harness 700 is connected to the head part 800 from the inside of the body of the robot, and is sequentially a third wire harness segment 730, a second wire harness segment 720, a first wire harness segment 710 and a fourth wire harness segment 740, wherein the fourth wire harness segment 740 is completely located in the head part 800, the pitch rotation assembly further comprises a third fixing member 380, and the third fixing member 380 is suitable for fixing the fourth wire harness segment 740 and the corresponding position thereof to the pitch bracket 120, so that the fourth wire harness segment 740 is prevented from swinging in the head part 800 when the pitch rotation assembly moves, the fourth wire harness segment 740 is influenced to be connected with an element interface, and the element is prevented from being damaged by impact.

According to one embodiment of the present invention, each of the first fixing member 310 and the second fixing member 320 includes: the first fixing member 330 and the second fixing member 340, the first fixing member 330 and the second fixing member 340 are clamped and form a wire through hole 301, and the wire through hole 301 is suitable for the wire harness 700 to pass through.

As shown in fig. 2 and fig. 3, taking the connection of the first fixing component 330 and the pitching base 110 as an example, the first fixing component 330 can be firstly mounted on the pitching base 110, then the wire harness 700 is lapped on the partial wire passing hole 301 on the first fixing component 330, and then the second fixing component 340 is clamped on the first fixing component 330, so that the mounting of the fixing component 300 and the wire harness 700 is not scratched, the specification of the first fixing component 330 is not required to be changed, the wire harnesses 700 with different thicknesses can be adapted only by changing the second fixing components 320 with different specifications, and the production cost is effectively reduced.

According to an embodiment of the present invention, the second fixing component 340 includes two clamping arms 331 and a connecting plate 332, wherein first ends of the two clamping arms 331 are respectively fixed to the connecting plate 332, second ends of the clamping arms 331 can relatively move, a clamping joint 360 is arranged at the second ends of the clamping arms 331, and a first limiting surface 361 and a second limiting surface 362 which are oppositely arranged are arranged on the clamping joint 360; the first fixing component 330 includes a wiring board 341, and a clamping groove 370 is disposed on the wiring board 341 corresponding to the clamping connector 360; the first limiting surface 361 and the second limiting surface 362 are respectively located at two sides of the clamping groove 370 along the insertion direction of the clamping connector 360.

Referring to fig. 3, the second fixing member 340 is in a "U" shape, the second end of the clamping arm 331 of the second fixing member 320 is provided with a clamping joint 360, the clamping joint 360 is correspondingly inserted into the clamping groove 370 on the first fixing member 330, during the insertion process, a user manually presses the clamping arm 331 of the second fixing member 340, so that the first limiting surface 361 passes through the clamping groove 370 along the insertion direction, when the clamping groove 370 is located between the first limiting surface 361 and the second limiting surface 362, the user releases the clamping arm 331 of the second fixing member 340, two arms of the second fixing member 340 rebound, the first limiting surface 361 and the clamping groove 370 are dislocated, limiting of the clamping groove 370 cannot be achieved through the clamping groove 370, and the second limiting surface 362 is identical, so that the second fixing member 340 is further fixed on the first fixing member 330.

Of course, the locking joint 360 may be provided on the first fixing member 330, and the locking groove 370 may be provided on the second fixing member 340.

In this embodiment, one of the first fixing member 330 and the second fixing member 340 is provided with a fixing plate 342, and the fixing plate 342 is connected to the pitch base 110 or the rotation base 210, and the specific shape of the fixing plate 342 and the position of the fixing plate 342 relative to the track plate 341 can be determined according to the positional relationship between the via 301 and the pitch base 110 or the rotation base 210, as shown in fig. 3, the first fixing member 310 is installed below the pitch base 110, so that the fixing plate 342 is correspondingly disposed and connected above the track plate 341 and is disposed at right angles to the track plate 341.

In this embodiment, the shapes of the first fixing member 310 and the second fixing member 320 may be different, as shown in fig. 2 and 3, the surface of the wiring board 341 of the first fixing member 310, which is attached to the wire harness 700, is flat, and the wiring board 341 (connected to the rotating base 210) of the second fixing member 320, which is adapted to the formation of the threading hole 214, is semi-cylindrical; of course, the shapes of the second fixing member 320 and the first fixing part 330 and the second fixing part 340 of the second fixing member 320 may be the same, thereby reducing the manufacturing and replacement costs of the parts.

In one embodiment, the first fixing member 330 may also be integrally formed with a component of the pitch rotation assembly (e.g., the pitch pedestal 110, the pitch bracket 120, the rotation pedestal 210, etc.), as shown in connection with fig. 2, the third fixing member 380 fixes the fourth harness segment 740 to the pitch bracket 120, wherein the second fixing member 340 of the third fixing member 380 is integrally formed with the pitch bracket 120, and the clamping grooves 370 are formed at both sides of the pitch bracket 120. Of course, in order to reduce the parts manufacturing and replacement costs, the third fixing member 380, the second fixing member 320, and the second fixing member 340 of the first fixing member 310 may be of a general specification.

A head assembly of a robot according to an embodiment of the second aspect of the invention comprises a pitch rotation assembly of the above-described embodiments.

The technical effects of the head assembly of the robot according to the embodiment of the present invention correspond to those of the pitch rotation assembly of the embodiment of the first aspect, and will not be described here again.

A robot according to an embodiment of the third aspect of the present invention comprises the head assembly of the robot of the above embodiment or the pitch rotation assembly of the above embodiment.

The technical effects of the robot according to the embodiment of the present invention correspond to those of the pitch rotation assembly according to the embodiment of the first aspect, and will not be described herein.

Finally, it should be noted that the above-mentioned embodiments are merely illustrative of the invention, and not limiting. While the invention has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and it is intended to be covered by the scope of the claims of the present invention.

Claims (11)

1. A pitch rotation assembly comprising:

A pitch assembly comprising a pitch mount, a pitch bracket, and a first drive component that is dynamically coupled to the pitch bracket;

A rotating assembly comprising a rotating base and a second drive member, the second drive member being dynamically coupled to the pitch assembly;

the rotating base is provided with a threading hole, and the threading hole and the second driving part are coaxially arranged and are suitable for the wire harness to pass through.

2. The pitch rotation assembly of claim 1, further comprising:

The first fixing piece is arranged on the pitching base and is suitable for fixing the position, corresponding to the wire harness, on the pitching base;

and the second fixing piece is arranged on the rotating base and is suitable for fixing the position, corresponding to the position, of the wire harness on the output shaft line of the second driving component.

3. The pitch rotation assembly of claim 2, wherein the rotation base comprises a base plate and a mounting bracket, the base plate being provided with the threading aperture,

The first fixing piece is fixed at the bottom of the pitching base,

And/or the number of the groups of groups,

The second fixing piece is fixed at the threading hole, and the second driving part is installed on the installation frame.

4. A pitch rotation assembly according to claim 3, wherein the harness comprises a first harness section, a second harness section and a third harness section connected in sequence, the first harness section extending along the output axis of the first drive member, the third harness section extending along the output axis of the second drive member, the second harness section being secured between the first and second fixtures.

5. The pitch rotation assembly of claim 4, wherein the pitch base is provided with a spool coaxially disposed with the first drive member, the spool having the first harness section disposed therein.

6. The pitch rotation assembly of claim 4, wherein the second harness segment comprises a first sub-harness segment and a second sub-harness segment, the first sub-harness segment and the second sub-harness segment forming a corner therebetween, the corner clear of the second drive member or the mounting bracket.

7. The pitch rotation assembly of claim 4, wherein the wire harness further comprises a fourth wire harness segment, the first wire harness segment, the second wire harness segment, and the third wire harness segment being connected in sequence;

the pitching rotation assembly further comprises a third fixing piece, and the third fixing piece is suitable for fixing the position, corresponding to the fourth wire harness section, on the pitching support.

8. The pitch rotation assembly of any one of claims 2-7, wherein the first mount and the second mount each comprise: the wire harness fixing device comprises a first fixing part and a second fixing part, wherein the first fixing part is clamped with the second fixing part and forms a wire passing hole, and the wire passing hole is suitable for the wire harness to pass through.

9. The pitching rotation assembly of claim 8, wherein the second fixing component comprises two clamping arms and a connecting plate, wherein first ends of the two clamping arms are respectively fixed on the connecting plate, second ends of the clamping arms can move relatively, a clamping joint is arranged at the second ends of the clamping arms, and a first limiting surface and a second limiting surface which are oppositely arranged are arranged on the clamping joint;

the first fixing part comprises a wiring board, and a clamping groove is formed in the wiring board corresponding to the clamping connector;

The first limiting surface and the second limiting surface are respectively positioned at two sides of the clamping groove along the inserting direction of the clamping connector.

10. A robotic head assembly comprising a pitch rotation assembly as claimed in any one of claims 1 to 9.

11. A robot comprising a head assembly of a robot as claimed in claim 10, or a pitch rotation assembly as claimed in any one of claims 1 to 9.