CN217123194U - Head assembly of robot and robot - Google Patents

Abstract

The application relates to the technical field of robots and provides a head assembly of a robot and the robot. The head assembly of the robot comprises a head and a pitching mechanism, wherein the head comprises a first connecting shaft and a second connecting shaft which are coaxially arranged; the pitching mechanism comprises: a base adapted to be mounted to a body of a robot; the first bevel gear is rotatably arranged on the base; the second bevel gear is fixed on the first connecting shaft and meshed with the first bevel gear; the damping rotating shaft comprises a fixing piece and a moving piece which can rotate relatively, the fixing piece is fixed on the base, and the moving piece is fixedly connected with the second connecting shaft. The head assembly utilizes the damping of the damping rotating shaft to balance the deflection moment caused by the weight of the head, thereby reducing or eliminating the problems of shaking and shaking caused by the return backlash to the pitching motion. For the reduction gearbox of the motor, the damping rotating shaft can reduce or even eliminate the influence of the return back clearance of the damping rotating shaft, so that the precision requirement on the reduction gearbox can be reduced, and the preparation cost of the pitching mechanism is reduced.

Description

Head assembly of robot and robot

Technical Field

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

Background

With the development of science and technology, robots have been widely applied to industries such as families, medical treatment, catering, buildings and the like, and bring convenience to life and production of people. Particularly, the number of components integrated on the head of the robot is more and more, and the components comprise hardware such as a display screen, a volume key, a microphone array, a photographing module, a sensor and the like; for example, the photographing module needs to adjust the angle according to the photographing object, so that the head of the robot needs to perform pitching motion, and the recognition area is adjusted. The robot of the related art generally directly drives the robot head to perform a pitching motion by using a speed reduction motor. But because of the problem of gear machining precision of the gear motor, a gear back clearance exists, and the back clearance can cause rotation return difference in the transmission process; the return difference can cause the head of the robot to shake, shake and the like in the pitching motion process, and the pitching transmission experience is influenced.

Disclosure of Invention

The present application is directed to solving at least one of the technical problems occurring in the related art. Therefore, the application provides a head assembly of a robot, wherein the head of the head assembly is arranged on a base through a damping rotating shaft, and the problems of shaking and shaking caused by the back clearance of a return stroke to the pitching motion of the head can be reduced or eliminated.

The application also provides a robot.

According to the head assembly of the robot of the embodiment of the first aspect of the application, the head assembly comprises a head and a pitching mechanism, wherein the head comprises a first connecting shaft and a second connecting shaft which are coaxially arranged; the pitch mechanism includes:

a base adapted to be mounted to a body of a robot;

the first bevel gear is rotatably arranged on the base;

the second bevel gear is fixed on the first connecting shaft and meshed with the first bevel gear;

the damping rotating shaft comprises a fixing piece and a moving piece, wherein the fixing piece and the moving piece can rotate relatively, the fixing piece is fixed on the base, and the moving piece is fixedly connected with the second connecting shaft.

According to the head assembly of the robot, the deflection moment caused by the weight of the head is balanced by the damping of the damping rotating shaft, so that the problems of shaking and shaking caused by the pitching motion of the head due to the return back clearance (such as the return back clearance of a reduction gearbox) are reduced or eliminated. For the reduction gearbox of the motor, the damping rotating shaft can reduce or even eliminate the influence of the return back clearance of the damping rotating shaft, so that the precision requirement on the reduction gearbox can be reduced, and the preparation cost of the pitching mechanism is reduced.

According to an embodiment of the application, the damping rotating shaft and the second connecting shaft are both hollow to form a threading groove of a cable, and the base is formed with a wiring hole of the cable.

According to an embodiment of the application, the pitch mechanism further comprises:

the first bearing seat is fixed on the base;

the first bearing is connected with the second bevel gear;

a first bearing cover coupled to the first bearing housing and adapted to mount the first bearing to the first bearing housing.

According to an embodiment of the application, the pitch mechanism further comprises:

and the protective cover covers the first bevel gear, the first bearing seat, the first bearing cover and the second bevel gear.

According to an embodiment of the application, the pitch mechanism further comprises:

the mounting bracket is fixed on the base and is provided with a first flange plate;

the mounting is provided with the second ring flange, first ring flange with the second ring flange sets up relatively and is fixed.

According to an embodiment of the application, one of the first flange plate and the second flange plate is provided with a positioning protrusion, and the other flange plate is provided with a positioning notch matched with the positioning protrusion.

According to an embodiment of the application, the moving part is provided with a third flange plate, the second connecting shaft is provided with a fourth flange plate, and the third flange plate and the fourth flange plate are arranged relatively and fixed.

According to one embodiment of the application, the pitch mechanism comprises:

a driving unit mounted on the base;

the first bevel gear is dynamically coupled to an output of the drive unit.

A robot according to an embodiment of the second aspect of the present application, comprising:

a head assembly of the robot;

fuselage and chassis.

According to the robot of the embodiment of the present application, since the robot includes the head assembly of the robot, all technical effects of the head assembly of the robot are achieved, and the details are not repeated herein.

According to an embodiment of the application, the damping pivot with the second connecting axle all forms the dress groove of wearing of cable, just under the condition that the base is formed with the wire hole of cable, at least part cable of robot wears to locate wear the dress groove with the wire hole, just the cable is connected the head, the fuselage with the chassis.

Additional aspects and advantages of the present application 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 present application.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or related technologies of the present application, the drawings needed to be used in the description of the embodiments or related technologies are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is an exploded view of an assembled schematic view of a pitch mechanism provided in an embodiment of the present application;

FIG. 2 is an enlarged partial schematic view at A of FIG. 1;

FIG. 3 is a schematic view of an assembly of a pitch mechanism provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of a pitch mechanism provided in an embodiment of the present application;

fig. 5 is a second schematic structural diagram of a pitch mechanism provided in the embodiment of the present application;

fig. 6 is a third schematic structural diagram of a pitching mechanism provided in the embodiment of the present application;

FIG. 7 is a partially assembled schematic view of a pitch mechanism provided in an embodiment of the present application;

FIG. 8 is an exploded view of an assembled schematic view of a damping spindle provided in accordance with an embodiment of the present application;

FIG. 9 is an enlarged partial schematic view at B of FIG. 8;

FIG. 10 is a schematic view of an assembly of a damping spindle according to an embodiment of the present application;

fig. 11 is a second assembly view of the damping spindle according to the embodiment of the present application.

Reference numerals:

130. a head portion;

291. a pitch mechanism;

2911. a motor; 29111. an output shaft; 2912. a base; 29121. a base plate; 29122. a support frame; 29123. a support plate; 29124. positioning pins; 2913. a first bevel gear;

2915. a first connecting shaft; 29151. a limiting hole; 2916. a second connecting shaft; 29161. a fixed section; 29162. a free section; 29163. a fourth flange plate;

400. a second bevel gear; 4001. a bevel gear section; 4002. a first limiting surface; 4003. a second limiting surface; 4004. a connecting portion; 4005. a boss;

401. a first bearing housing; 402. a first bearing; 403. a first bearing cover; 4031. a first limiting part; 4032. a second limiting part; 404. a trigger; 405. a first limit switch; 406. a second limit switch; 407. a second bearing housing; 408. a second bearing; 409. a second bearing cover; 410. a driver; 411. magnetic steel; 413. a baffle plate;

500. a damping rotating shaft; 501. a movable member; 5011. a third flange plate; 502. a fixing member; 5021. a second flange plate; 50211. positioning the notch; 503. a groove is arranged in a penetrating way; 504. a wiring hole; 505. a protective cover; 506. mounting a bracket; 5061. a first flange plate; 50611. positioning the projection; 5062. positioning holes; 507. a cable.

Detailed Description

Embodiments of the present application will be described in further detail below with reference to the drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the embodiments of the present application. 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 the description of the embodiments of the present application, it should be noted that the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, unless explicitly stated or limited otherwise; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.

In the embodiments of the present application, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 an embodiment of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer 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, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

According to the embodiment of the application, the robot can work semi-autonomously or fully autonomously, and can be suitable for families, markets, restaurants and the like, and the specific application scene is not limited. Based on different application scenes of the robot, the robot can be divided into a family service robot, a welcome tour guide robot, a food ordering and delivery robot or a disinfection robot, and the specific type is not limited.

A pitch mechanism 291 (hereinafter, simply referred to as pitch mechanism 291) of a robot head (hereinafter, also simply referred to as head 130), a robot head assembly, and a robot according to an embodiment of the present application will be described below with reference to fig. 1 to 11.

According to an embodiment of the first aspect of the present application, a pitch mechanism 291 of a robot head 130 is provided, please refer to fig. 1. The pitch mechanism 291 includes, among other things, a base 2912, a first bevel gear 2913, and a second bevel gear 400. The base 2912 is used to be mounted to the body of the robot. The base 2912 includes a bottom plate 29121, a support bracket 29122, and a support plate 29123, and further, the bottom plate 29121 may be mounted to the body, a mounting space (for example, for mounting a driving unit) may be formed between the bottom plate 29121 and the support bracket 29122, and a mounting space for other components of the pitch mechanism 291 may be formed above the support plate 29123. Of course, the structure of the base 2912 is not limited to the examples given herein, as long as the assembly requirements of the pitch mechanism 291 (connecting the robot head 130 and the robot body) are satisfied.

According to an embodiment of the present application, the first bevel gear 2913 and the second bevel gear 400 are engaged, and both the first bevel gear 2913 and the second bevel gear 400 are directly or indirectly mounted to the base 2912. Wherein the first bevel gear 2913 is a driving wheel, the second bevel gear 400 is a driven wheel, and the second bevel gear 400 is for fixing to the robot head 130. The first bevel gear 2913 may drive the second bevel gear 400 to rotate back and forth between the first limit position and the second limit position, and then the second bevel gear 400 drives the head 130 to perform a pitching motion between the maximum elevation angle and the maximum depression angle.

According to an embodiment of the present application, "the base 2912 is used to be mounted to the body of the robot" includes a case where the base 2912 is directly mounted to the body of the robot, and also includes a case where the base 2912 is indirectly mounted to the body of the robot through a rotation mechanism or other components. When the base 2912 is mounted to the robot through the rotating mechanism, the robot head 130 may perform a pitching motion under the driving of the pitching mechanism 291, and may perform a rotating motion under the driving of the rotating mechanism. The rotating mechanism may be any rotating driving structure disclosed in the prior art, for example, the rotating mechanism may be a rotating base driven by a rotating motor, and the base 2912 may be mounted on the rotating base, which is not limited to the above specific structural forms. According to the embodiment of the present application, because the bevel gear (without limitation, "bevel gear" refers to at least one of the first bevel gear 2913 and the second bevel gear 400) performs the reversing, the first bevel gear 2913 is not coaxial with the second bevel gear 400, and the first bevel gear 2913 may occupy the space of the neck, which may greatly reduce the occupation of the space of the head 130, and facilitate the layout of the components inside the head 130.

In one embodiment, the transmission ratio of the first bevel gear 2913 and the second bevel gear 400 is greater than one, which in turn may provide a greater pitch transmission torque for the head 130 at this time. Under this kind of circumstances, drive head 130 every single move through bevel gear, can provide big output torque and satisfy the transmission demand of every single move under the less circumstances of occupation space. Specifically, when the second bevel gear may have more teeth along the circumference than the first bevel gear 2913, a first deceleration is added between the first bevel gear 2913 and the second bevel gear 400, so that the same driving force may provide a larger pitch driving torque for the head 130, and the method is more suitable for a situation that a large pitch driving is required.

In one embodiment, the first bevel gear 2913 and the second bevel gear 400 have an axis intersection angle of ninety degrees, at which time the first bevel gear 2913 and the second bevel gear 400 may effect a ninety degree reversal. Of course, the intersection angle of the first bevel gear 2913 and the second bevel gear 400 is not limited to the example, and may be any other suitable angle.

According to the embodiment of the present application, the robot is generally automatically tilted, and then the first bevel gear 2913 is connected to a driving unit (the driving unit is a motor 2911 in fig. 1), and then the driving unit can drive the head 130 to automatically tilt through the first bevel gear 2913 and the second bevel gear 400. Of course, the possibility of the first bevel gear 2913 being manually rotated to effect angular adjustment of the robot head 130 is not excluded. When a driving unit is provided, the driving unit is mounted to the base 2912, and an output portion of the driving unit is power-coupled to the first bevel gear 2913 to rotate the first bevel gear 2913. The driving unit may be, but is not limited to, a motor 2911, and in particular, a motor 2911 having a reduction gear ratio and a reduction gear box, where the first bevel gear 2913 is connected to the output shaft 29111 of the motor 2911.

In fig. 1, a circular hole (not labeled) is formed in the supporting plate 29123 for assembling the motor 2911; the motor 2911 is fixed on the supporting plate 29123, the output shaft 29111 of the motor extends above the supporting plate 29123, and the first bevel gear 2913 is fixedly connected with the output shaft 29111 of the motor 2911. In fig. 1, the output shaft 29111 is a non-rotating body, for example, the cross section of the output shaft 29111 is similar to a "D" shape, the cross section of the inner hole of the corresponding first bevel gear 2913 is also similar to a "D" shape, and the output shaft 29111 is in fit connection with the inner hole of the first bevel gear 2913, so that the output shaft 29111 can drive the first bevel gear 2913 to rotate.

In one embodiment, referring to fig. 1, the pitch mechanism 291 further includes a first bearing housing 401, a first bearing 402, and a first bearing cover 403. Here, the first bearing housing 401 is fixed to the base 2912, the first bearing cover 403 is connected to the first bearing housing 401, and an installation space of the first bearing 402 is formed between the first bearing housing 401 and the first bearing cover 403. On the basis, the second bevel gear 400 is connected to the first bearing 402, and the first bearing 402 is mounted to the first bearing seat 401, so that the second bevel gear 400 is mounted to the base 2912 and can rotate relative to the base 2912. The outer ring of the first bearing 402 is fixed relative to the first bearing seat 401, the inner ring of the first bearing 402 is fixedly connected to the second bevel gear 400, and when the second bevel gear 400 rotates, the inner ring of the first bearing 402 is driven to rotate relative to the outer ring.

In fig. 2, the second bevel gear 400 includes a cylindrical connecting portion 4004, and the first bearing 402 is fitted around the connecting portion 4004. Of course, the head portion 130 may be provided with a first coupling shaft 2915 having a cylindrical shape (to be described in detail later), and the first bearing 402 may be fitted around the first coupling shaft 2915.

Referring to fig. 2, a boss 4005 is disposed at an end of the second bevel gear 400, the head 130 is provided with a limiting hole 29151 matching with the boss 4005, and the boss 4005 and the limiting hole 29151 are both non-rotating bodies, so that after the boss 4005 is inserted into the limiting hole 29151, the second bevel gear 400 can drive the head 130 to rotate together. On this basis, the second bevel gear 400 and the first connecting shaft 2915 are connected by a screw member, and the fixing effect of the second bevel gear 400 and the head 130 can be ensured. Of course, the positions of the boss 4005 and the limiting hole 29151 may be interchanged, and in this case, the limiting hole 29151 is formed at the end of the second bevel gear 400, and the boss 4005 is provided at the head 130. The structural form of the boss 4005 and the stopper hole 29151 is not limited, and may be a non-rotating body. In fig. 2, the boss 4005 and the limiting hole 29151 are configured to be symmetrical about the center, but the boss 4005 and the limiting hole 29151 may also be configured to have a fool-proof feature, so that the relative position of the second bevel gear 400 and the first connecting shaft 2915 may be determined to limit the pitch angle of the head 130.

In fig. 2, second bevel gear 400 includes a bevel gear segment 4001, and according to an embodiment of the present application, a central angle corresponding to bevel gear segment 4001 is determined by a pitch angle of head 130. For example, when the head 130 is tilted in an angular range of ninety degrees, the central angle of the bevel gear segment 4001 may be not less than ninety degrees. When the central angle of the bevel gear segment 4001 is equal to or slightly larger than the pitch angle of the head 130, the manufacturing cost of the second bevel gear 400 can be controlled. Further, the purpose of the position limitation (which will be described in detail later) is achieved by a position limitation surface (in a non-limiting case, the position limitation surface refers to at least one of the first position limitation surface 4002 and the second position limitation surface 4003) provided on the second bevel gear 400 itself.

In one embodiment, a first end of the bevel gear segment 4001 is formed with a first stop surface 4002 and a second end of the bevel gear segment 4001 is formed with a second stop surface 4003; the first bearing cap 403 is formed with a first retaining portion 4031 and a second retaining portion 4032; in the first limit position, the first limit surface 4002 is in limit fit with the first limit part 4031, and at this time, the second bevel gear 400 drives the head 130 to move to the maximum elevation position; in the second limit position, the second limiting surface 4003 and the second limiting portion 4032 are in limiting fit, and the second bevel gear 400 drives the head 130 to move to the maximum depression angle position. Of course, the second bevel gear 400 may be formed with a ring of bevel teeth.

Of course, even if the first stopper surface 4002 and the second stopper surface 4003 are not provided, the stopper can be realized by a stopper switch. For example, the second bevel gear 400 is fixedly connected with a trigger 404, and the base 2912 is provided with a first limit switch 405 and a second limit switch 406; in the first extreme position, the trigger 404 triggers the first limit switch 405; in the second extreme position, the trigger 404 triggers the second limit switch 406. At this time, the limit switch (when not defined, the limit switch refers to at least one of the first limit switch 405 and the second limit switch 406) is triggered by the trigger 404. Wherein, the limit switch can be but is not limited to adopt the form of photoelectric switch. When the limit switch fails, the cooperation between the upper limit surfaces and the corresponding limit portions can prevent the head 130 from continuing to pitch, so as to prevent damage to relevant parts of the robot.

Based on the above, the assembling relationship of the pitch mechanism 291 is obtained as shown in fig. 3.

In one embodiment, referring to fig. 4, a driver 410 is disposed on a side of the motor 2911 opposite to the first bevel gear 2913, and the driver 410 includes a magnetic encoder chip; the end of motor 2911 facing driver 410 is provided with magnetic steel 411, and the magnetic encoder chip cooperates with magnetic steel 411 to control the rotation of motor 2911. Furthermore, when the trigger 404 triggers the first limit switch 405 or the second limit switch 406, a trigger signal is sent to a corresponding control board of the robot, the control board sends a control signal to the driver 410 based on the trigger signal, and at this time, the magnetic encoder chip of the driver 410 is matched with the magnetic steel 411 to control the motor 2911 to stop rotating.

According to an embodiment of the present application, please refer to fig. 1 again, the pitch mechanism 291 further comprises a second bearing housing 407, a second bearing 408 and a second bearing cover 409. The second bearing housing 407 is fixed to the base 2912; the second bearing 408 is adapted to be connected to the robot head 130; a second bearing cover 409 is connected to the second bearing housing 407 and is adapted to mount the second bearing 408 to the second bearing housing 407. With reference to fig. 4 to 7, by providing two bearing blocks (without limitation, refer to at least one of the first bearing block 401 and the second bearing block 407) as fulcrums, stability of connection of the head 130 and the pitch mechanism 291 can be ensured, and a case where the head 130 is unbalanced on both sides does not occur. The head 130 may be provided with a second connecting shaft 2916 (described in detail later), and the second bearing 408 is sleeved on the second connecting shaft 2916, and on the basis, the outer ring of the second bearing 408 is fixedly installed between the second bearing seat 407 and the second bearing cover 409, and the inner ring of the second bearing 408 is fixed on the second connecting shaft 2916, so as to ensure that the head 130 can rotate relative to the base 2912.

According to an embodiment of the second aspect of the present application, there is provided a head assembly of a robot comprising a head 130 and a pitch mechanism 291 as in the embodiments of the first aspect.

In one embodiment, referring to fig. 7, the head 130 includes a first connection shaft 2915 and a second connection shaft 2916 which are coaxial, and the head 130 is connected to the base 2912 through the first connection shaft 2915 and the second connection shaft 2916, in this case, the stability of the installation of the head 130 on the base 2912 can be ensured. Specifically, the first connecting shaft 2915 and the second bevel gear 400 are fixedly connected, and both the first connecting shaft 2915 and the second bevel gear 400 can rotate relative to the base 2912; the second connection shaft 2916 is rotatably mounted to the base 2912. On this basis, the specific installation form of the first and second connection shafts 2915 and 2916 on the base 2912 is not limited as long as it can rotate relative to the base 2912. For example, the first and second connection shafts 2915 and 2916 may be mounted to the base 2912 through the first and second bearings 402 and 408, respectively, mentioned in the first aspect embodiment. For another example, in fig. 8 and 9, the second connection shaft 2916 may be mounted to the base 2912 through the damping shaft 500. Specifically, the damping rotating shaft 500 includes a fixed member 502 and a movable member 501, which are rotatable relative to each other, the fixed member 502 is fixed to the base 2912, and the movable member 501 is fixedly connected to the second connecting shaft 2916. When the head 130 rotates, the movable element 501 may be driven to rotate relative to the fixed element 502 by the second connection shaft 2916. The movable member 501 rotates forward or backward relative to the fixed member 502 with damping, and the damping value can be designed based on actual needs.

In fig. 1 and 7, when the second connection shaft 2916 is mounted to the base 2912 through the second bearing 408, the first connection shaft 2915 includes a fixed section 29161 and a free section 29162 having different diameters, wherein the free section 29162 has a smaller diameter, and the second bearing 408 is mounted to the free section 29162. The second bearing 408 and the free segment 29162 are mounted with a stop 413 at the end of the free segment 29162 to prevent axial movement of the second connection shaft 2916 relative to the base 2912 along itself.

In fig. 8, when the second connection shaft 2916 is mounted to the base 2912 through the above damping rotation shaft 500:

when the pitch mechanism 291 works, the self damping of the damping rotating shaft 500 is utilized to balance the yawing moment caused by the weight of the head 130, so that the problem of shaking and swaying caused by the return backlash (such as the return backlash of a reduction gearbox) to the pitch motion of the head 130 is reduced or eliminated. For the reduction gearbox of the motor 2911, the damping rotating shaft 500 can reduce or even eliminate the influence of the return backlash, so that the precision requirement on the reduction gearbox can be reduced, and the preparation cost of the pitching mechanism 291 is reduced.

If the damping design is large enough, the robot head 130 will remain in its stopped position at all times when the pitch mechanism 291 is not in operation because the yaw moment created by the weight of the head 130 is counteracted by the presence of the damping shaft 500 assembly.

According to the embodiment of the present application, please refer to fig. 10, the damping rotating shaft 500 and the second connecting shaft 2916 are both hollow, and the cable 507 of the robot can be routed from the damping rotating shaft 500 and the second connecting shaft 2916. The damping shaft 500 and the second connecting shaft 2916 may form a penetrating groove 503 coaxial with the pitching shaft of the head 130, and when the head 130 performs pitching motion, the length of the cable 507 in the penetrating groove 503 may not change, which is beneficial to protecting the cable 507.

In fig. 8, a wiring hole 504 is formed in a support plate 29123 of a base 2912, and a cable 507 passes through the insertion groove 503 and the wiring hole 504 to connect components of the head 130, a body (not shown), and a chassis (not shown).

According to an embodiment of the present application, when the second bevel gear 400 is mounted to the base 2912 through the first bearing housing 401, the first bearing 402 and the first bearing cover 403, the pitch mechanism 291 further includes a shield 505, see fig. 10 and 11, the shield 505 being disposed outside the first bevel gear 2913, the first bearing housing 401, the first bearing 402, the first bearing cover 403 and the second bevel gear 400. In this case, the shield 505 may not only prevent foreign objects from affecting the transmission effect of the bevel gear, but also prevent the cable 507 from being scratched during the movement of the gear.

Referring to fig. 8 and 9, the pitch mechanism 291 includes a mounting bracket 506, the mounting bracket 506 is fixed to the base 2912, and the mounting bracket 506 is formed with a first flange 5061; the fixing member 502 is provided with a second flange 5021, and the first flange 5061 and the second flange 5021 are oppositely arranged and fixed, for example, by using a screw member to fix the first flange 5061 and the second flange 5021. Of course, the installation manner between the fixing member 502 and the mounting bracket 506 of the damping rotating shaft 500 is not limited by the examples herein. Wherein one of the mounting bracket 506 and the base 2912 is provided with a positioning pin 29124 and the other is provided with a positioning hole 5062 that mates with the positioning pin 29124, upon which the mounting bracket 506 may be secured to the base 2912 using screws.

In one embodiment, referring to fig. 8 and 9, one of the first flange 5061 and the second flange 5021 is provided with a positioning projection 50611, and the other is provided with a positioning notch 50211 which is matched with the positioning projection 50611. Further, the relative position between the fixture 502 and the mounting bracket 506 is defined by the positioning projection 50611 and the positioning notch 50211.

In one embodiment, referring to fig. 9, the movable member 501 is provided with a third flange 5011, the second connecting shaft 2916 is provided with a fourth flange 29163, and the third flange 5011 and the fourth flange 29163 are oppositely arranged and fixed, for example, by using a screw to fix the third flange 5011 and the fourth flange 29163. Of course, the connection manner between the second connection shaft 2916 and the movable member 501 of the damping rotation shaft 500 is not limited by examples herein.

In one embodiment, when the pitch mechanism 291 includes the first bearing 402 and the second bearing 408, the first bearing 402 is connected to the connection portion 4004 of the second bevel gear 400, and the second bearing 408 is connected to the second connection shaft 2916.

According to an embodiment of the third aspect of the present application, there is provided a robot including the above head assembly, and further including a body and a chassis. Wherein, the head assembly comprises a head 130 and a pitch mechanism 291, the head 130 is mounted on the body through the pitch mechanism 291, and the body is mounted on the chassis.

Finally, it should be noted that the above embodiments are only for illustrating the present application, and do not limit the present application. Although the present application has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application, and the technical solutions of the present application should be covered by the claims of the present application.

Claims (10)

1. A head assembly of a robot comprises a head and a pitching mechanism, and is characterized in that the head comprises a first connecting shaft and a second connecting shaft which are coaxially arranged; the pitch mechanism includes:

a base adapted to be mounted to a body of a robot;

the first bevel gear is rotatably arranged on the base;

the second bevel gear is fixed on the first connecting shaft and meshed with the first bevel gear;

the damping rotating shaft comprises a fixing piece and a moving piece, wherein the fixing piece and the moving piece can rotate relatively, the fixing piece is fixed on the base, and the moving piece is fixedly connected with the second connecting shaft.

2. The robot head assembly according to claim 1, wherein the damping shaft and the second connecting shaft are hollow to form a cable insertion groove, and the base is formed with a cable hole.

3. The robotic head assembly of claim 1, wherein said pitch mechanism further comprises:

the first bearing seat is fixed on the base;

the first bearing is connected with the second bevel gear;

a first bearing cover coupled to the first bearing housing and adapted to mount the first bearing to the first bearing housing.

4. The robotic head assembly of claim 3, wherein said pitch mechanism further comprises:

and the protective cover covers the first bevel gear, the first bearing seat, the first bearing cover and the second bevel gear.

5. The robotic head assembly of claim 1, wherein said pitch mechanism further comprises:

the mounting bracket is fixed on the base and is provided with a first flange plate;

the mounting is provided with the second ring flange, first ring flange with the second ring flange sets up relatively and is fixed.

6. The robot head assembly of claim 5, wherein one of the first flange and the second flange is provided with a positioning protrusion, and the other is provided with a positioning notch engaged with the positioning protrusion.

7. The robot head assembly of claim 1, wherein the movable member is provided with a third flange, the second connecting shaft is provided with a fourth flange, and the third flange and the fourth flange are oppositely arranged and fixed.

8. A head assembly for a robot according to any of claims 1 to 7, wherein the pitch mechanism comprises:

a driving unit mounted on the base;

the first bevel gear is dynamically coupled to an output of the drive unit.

9. A robot, comprising:

a head assembly of the robot of any one of claims 1 to 8;

the device comprises a machine body and a chassis, wherein two ends of the machine body are respectively connected with the chassis and the head assembly.

10. The robot of claim 9, wherein, in a case where the damping rotation shaft and the second connection shaft both form a cable insertion groove and the base is formed with a cable routing hole, at least a part of the cable of the robot is inserted into the insertion groove and the cable routing hole, and the cable connects the head, the body, and the chassis.

Images