Pitching rotating assembly, head assembly of robot and robot

Abstract

The utility model relates to the technical field of robots, and provides a pitching rotating assembly, a head assembly of a robot and the robot, the pitching rotating assembly comprises a pitching assembly and a rotating assembly, the pitching assembly comprises a pitching base, a pitching support and a first driving part, the pitching base is provided with a wiring pipe, and the wiring pipe and the first driving part are coaxially arranged; the rotating assembly comprises a rotating base and a second driving part, and the second driving part is dynamically coupled to the pitching assembly. Taking application of the pitching rotating assembly to the robot as an example, a pitching base is fixed to the body of the robot, a pitching support is connected with a head part, and it is guaranteed that a wire harness located in the head part always rotates around the output axis of a first driving part through a wiring pipe coaxially arranged on the first driving part; therefore, the length of the wire harness in the head part is not changed all the time, and the problems that the wire harness in the head part is pulled in the moving process of the pitching rotating assembly, the wire harness is separated from an interface of an element, and the service life of the wire harness is affected are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a pitch rotation component, a robot head component and a robot. Background Art

[0002] The head part of the robot is connected to the body of the robot through a pitch rotation assembly. The pitch rotation assembly controls the head part to perform pitch rotation movement relative to the body to achieve an anthropomorphic effect. The head part is integrated with components such as a screen, camera, microphone, touch buttons, etc. for human-computer interaction with the user. The power supply wires and signal transmission wires of these components are usually set inside the robot for aesthetics, and enter the body from the head part through the pitch rotation assembly.

[0003] During the pitching movement of the pitch rotation assembly, the wiring harness will be pulled, and there is a problem that the wiring harness is easy to detach from the interface of the internal components of the robot, and the wiring harness is also easy to be entangled in the pitch rotation assembly and affect the operation of the pitch rotation assembly. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a pitch rotation assembly, in which a wiring tube is arranged to guide the wiring of the wiring harness to prevent the wiring harness from being entangled on the pitch rotation assembly, and the wiring tube is coaxially arranged with the first driving component to ensure that the length of the wiring harness extending from the wiring tube to the component interface remains unchanged, thereby reducing the probability of the wiring harness detaching from the component interface and increasing the service life of the wiring harness.

[0005] The utility model also provides a head component of a robot.

[0006] The utility model also provides a robot.

[0007] According to the first embodiment of the present invention, the pitch rotation assembly includes:

[0008] A pitch assembly, the pitch assembly comprising a pitch base, a pitch bracket and a first driving component, the pitch base being provided with a wiring tube, and the wiring tube being coaxially arranged with the first driving component;

[0009] The rotating assembly includes a rotating base and a second driving component, wherein the second driving component is dynamically coupled to the pitch assembly.

[0010] According to the pitch rotation assembly of the embodiment of the utility model, a wiring tube is provided to ensure that the wiring harness is at least partially confined in the wiring tube when passing through the pitch rotation assembly, thereby reducing the probability of the wiring harness being entangled on the pitch rotation assembly during the movement of the pitch rotation assembly; and the distance between each element in the head component and the output axis of the first drive component remains unchanged during the pitch movement of the head component. The wiring tube coaxially arranged with the first drive component ensures that the wiring harness located in the head component always rotates around the output axis of the first drive component, so that the length of the wiring harness in the head component remains unchanged, thereby avoiding the wiring harness in the head component being pulled during the movement of the pitch rotation assembly, causing the wiring harness to detach from the interface of the element and affecting the service life of the wiring harness.

[0011] According to an embodiment of the utility model, the wiring tube is provided with a wire inlet, and the wire inlet is arranged at one end of the wiring tube close to the second driving component.

[0012] According to an embodiment of the present utility model, the pitch rotation assembly further includes a fixing member, which is disposed on at least one of the rotation base and the pitch base and is suitable for fixing the wire harness.

[0013] According to an embodiment of the utility model, the fixing piece is provided with a wire through hole, and the wire through hole is suitable for the wire harness to pass through;

[0014] The fixing member is arranged at the bottom of the pitch base.

[0015] and / or,

[0016] The fixing member is arranged on the inner side of the wiring tube, and the wire passing hole of the fixing member coincides with the axis of the wiring tube.

[0017] According to an embodiment of the utility model, the fixing member includes a first fixing component and a second fixing component, and the first fixing component and the second fixing component are clamped together by a clamping portion to form the wire passing hole.

[0018] According to one embodiment of the utility model, the clamping portion includes a clamping joint and a clamping groove, one of the first fixing component and the second fixing component is provided with the clamping joint, and the other is provided with the clamping groove, the clamping joint is provided with a first limiting surface and a second limiting surface, the first limiting surface is arranged opposite to the second limiting surface, and the first limiting surface and the second limiting surface are respectively located on both sides of the clamping groove along the insertion direction of the clamping joint.

[0019] According to an embodiment of the utility model, the wiring tube and the rotating base are integrally formed;

[0020] and / or,

[0021] The pitch bracket is installed on the wiring tube through a bearing.

[0022] According to an embodiment of the utility model, when the pitch bracket is installed on the wiring tube through the bearing, the wiring tube is provided with a limiting portion, and a locking nut is fixedly connected to one end of the wiring tube away from the first driving component, and the locking nut and the limiting portion limit the two ends of the inner ring of the bearing;

[0023] The pitch bracket is provided with a limiting groove, and a cover plate is fixedly connected to the pitch bracket corresponding to the limiting groove, and the limiting groove and the cover plate limit the two ends of the outer ring of the bearing.

[0024] According to one embodiment of the utility model, the pitch bracket comprises:

[0025] A connecting frame, the connecting frame is coaxially arranged with the output axis of the first driving component and is suitable for rotating around the output axis;

[0026] a first fixing frame, the first fixing frame being fixedly connected to the connecting frame;

[0027] A second fixing frame, wherein the second fixing frame is installed on the wiring tube through the bearing, and the first fixing frame and the second fixing frame are located on both sides of the second driving component.

[0028] The head assembly of the robot according to the embodiment of the second aspect of the utility model includes the pitch rotation assembly as described above.

[0029] The beneficial effects of the head assembly of the robot according to the embodiment of the utility model are similar to those of the pitch rotation assembly of the embodiment of the first aspect of the utility model, and will not be described in detail here.

[0030] The robot according to the embodiment of the third aspect of the utility model includes the pitch rotation component as described above, or the head component of the robot.

[0031] The beneficial effects of the robot according to the embodiment of the utility model are similar to those of the pitch rotation assembly of the embodiment of the first aspect of the utility model, and will not be described in detail here.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is an exploded view of the pitch rotation assembly provided by the embodiment of the utility model;

[0035] Figure 2 It is a structural schematic diagram of a pitch rotation assembly provided by an embodiment of the utility model;

[0036] Figure 3 It is a structural schematic diagram of a fixing member provided in an embodiment of the utility model.

[0037] Reference numerals:

[0038] 100, pitch assembly; 110, pitch base; 111, wiring tube; 112, wire inlet; 113, limiter; 120, pitch bracket; 121, connecting frame; 122, first fixing frame; 123, second fixing frame; 124, limiter groove; 130, first driving component;

[0039] 200, rotating assembly; 210, rotating base; 220, second driving component;

[0040] 300, fixing member; 301, wire hole; 330, first fixing member; 340, second fixing member; 350, clamping part; 360, clamping joint; 361, first limiting surface; 362, second limiting surface; 370, clamping groove;

[0041] 400, bearing; 500, locking nut; 600, cover plate; 700, wiring harness; 800, head component. DETAILED DESCRIPTION

[0042] The following is a further detailed description of the implementation of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0043] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0044] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0045] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0047] Combination Figure 1 to Figure 2As shown, the pitch rotation assembly according to the first embodiment of the utility model includes a pitch assembly 100 and a rotation assembly 200, wherein the pitch assembly 100 includes a pitch base 110, a pitch bracket 120 and a first driving component 130, wherein the pitch base 110 is provided with a wiring tube 111, and the wiring tube 111 is coaxially arranged with the first driving component 130. The rotation assembly 200 includes a rotation base 210 and a second driving component 220, and the second driving component 220 is dynamically coupled to the pitch assembly 100.

[0048] In the pitch rotation assembly of the embodiment of the utility model, a second driving component 220 is fixed on the rotating base 210, and the second driving component 220 drives the pitch assembly 100 as a whole to rotate around the output axis of the second driving component 220, wherein the second driving component 220 can be connected to the pitch base 110 of the pitch assembly 100, and the pitch bracket 120 is driven to rotate around the output axis of the second driving component 220 through the pitch base 110, or it can be connected to the pitch bracket 120 of the pitch assembly 100, and the pitch base 110 is driven to rotate around the output axis of the second driving component 220 through the pitch bracket 120. A first driving component 130 is fixed to the pitch base 110, and the first driving component 130 drives the pitch bracket 120 to rotate around the output axis of the first driving component 130, so as to realize the pitch movement of the pitch bracket 120.

[0049] Taking the application of the pitch rotation assembly to a robot as an example, the pitch base 110 is fixed to the body of the robot, the pitch bracket 120 is connected to the head component 800, and the second driving component 220 drives the pitch assembly 100 to rotate, thereby realizing the rotational movement of the head component 800 around the body, which is visually reflected as the left and right swinging of the head component 800 relative to the body; the first driving component 130 drives the pitch bracket 120 to pitch, thereby driving the head component 800 to pitch relative to the body, which is visually reflected as the up and down swinging of the head component 800 relative to the body.

[0050] The wiring harness 700 including signal wires and power supply wires in the robot's body passes through the wiring tube 111 and is connected to the components of the head component 800 (such as a screen, a camera, etc.).

[0051] According to the pitch rotation assembly of the embodiment of the utility model, by setting the wiring tube 111, it is ensured that the wiring harness 700 is at least partially confined in the wiring tube 111 when passing through the pitch rotation assembly, thereby reducing the probability of the wiring harness 700 being entangled on the pitch rotation assembly during the movement of the pitch rotation assembly; and the distance between each component in the head component 800 and the output axis of the first drive component 130 remains unchanged during the pitch movement of the head component 800. The wiring tube 111 coaxially arranged with the first drive component 130 ensures that the wiring harness 700 located in the head component 800 always rotates around the output axis of the first drive component 130, so the length of the wiring harness 700 in the head component 800 remains unchanged, thereby avoiding the wiring harness 700 in the head component 800 being pulled during the movement of the pitch rotation assembly, causing the wiring harness 700 to detach from the interface of the component and affecting the service life of the wiring harness 700.

[0052] In this embodiment, "the wiring tube 111 and the first driving component 130 are coaxially arranged" can be understood as the axis of the wiring tube 111 is coaxially arranged with the output axis of the first driving component 130. The first driving component 130 can be a reduction motor, and the output axis of the first driving component 130 can be the axis of the output shaft of the reduction motor, or the axis formed by the output shaft of the reduction motor after passing through the transmission structure (such as through a gear set).

[0053] In this embodiment, the pitch rotation assembly can also be applied to devices such as robotic arms, aircraft, and medical equipment that require relative pitch and rotation movements between internal components.

[0054] In one embodiment, the wiring tube 111 is provided with a wiring inlet 112 , and the wiring inlet 112 is provided at one end of the wiring tube 111 close to the second driving component 220 .

[0055] In this embodiment, combined with Figure 1 As shown, 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. The wire harness 700 enters the wire inlet 112 after passing through the through hole of the rotating base 210 (this section of the wire harness 700 is defined as a rotating wire harness segment). Since the position of the through hole relative to the output axis of the second driving component 220 remains unchanged, and the wire inlet 112 rotates around the output axis, the position of the wire inlet 112 relative to the through hole changes in real time, thereby causing the length of the rotating wire harness segment to change. By setting the wire inlet 112 close to the second driving component 220, in the process of the second driving component 220 driving the pitch assembly 100 to rotate, the closer the wire inlet 112 is to the output axis, the smaller the change in the length of the rotating wire harness segment, which effectively prevents the wire harness 700 from being pulled, and prevents the rotating wire harness segment from being too long and winding around the pitch rotating assembly to affect its movement.

[0056] According to an embodiment of the present invention, the pitch rotation assembly includes a fixing member 300 . The fixing member 300 is disposed on at least one of the rotation base 210 and the pitch base 110 and is suitable for fixing the wire harness 700 .

[0057] In this embodiment, combined with Figure 1 As shown, the fixing member 300 fixes the wire harness 700 on the surface of the pitch base 110 or the rotating base 210 to prevent the wire harness 700 from swinging during the movement of the pitch rotating assembly.

[0058] In one embodiment, taking the application to a robot as an example, the fixing member 300 fixed to the rotating base 210 can ensure that one end of the wire harness segment from the fixing member 300 to the inside of the robot body is fixed by the fixing member 300, and the other end is fixed by the interface of the component inside the robot. During the movement of the pitch rotation component, this wire harness segment will not move, effectively improving the service life of the wire harness. Similarly, when the fixing member 300 is fixed to the pitch base 110, the two ends of the wire harness segment located in the head component 800 are fixed and not pulled, effectively improving the service life of the wire harness.

[0059] In one embodiment, the fixing member 300 is disposed at the bottom of the pitch base 110, and is combined with Figure 1 As shown, the wire harness segment corresponding to the bottom of the pitch base 110 is not free, thereby preventing the wire harness segment from entering between the pitch base 110 and the rotating base 210 when the pitch base 110 and the rotating base 210 rotate relative to each other.

[0060] In one embodiment, the fixing member 300 can also be fixed on the central axis of the wiring tube 111, and the wire hole 301 of the fixing member 300 coincides with the axis of the wiring tube 111. At this time, the wiring harness in the wiring tube 111 is arranged along the center of the wiring tube 111, and the fixing member 300 can limit the direction of the wiring harness segment.

[0061] According to an embodiment of the present invention, the fixing member 300 includes a first fixing component 330 and a second fixing component 340. The first fixing component 330 and the second fixing component 340 are clamped together by a clamping portion 350 to form a wire hole 301. Figure 2 and Figure 3 As shown, taking the connection between the first fixing component 330 and the pitch base 110 as an example, the first fixing component 330 can be installed to the pitch base 110 first, and then the wire harness can be placed on part of the wire passing hole 301 on the first fixing component 330, and then the second fixing component 340 can be snapped onto the first fixing component 330, so that the fixing component 300 and the wire harness can be installed without scratching. There is no need to change the specifications of the first fixing component 330, and wire harnesses of different thicknesses can be adapted by only changing the second fixing component 300 of different specifications, thereby effectively reducing production costs.

[0062] According to an embodiment of the present invention, the clamping portion 350 includes a clamping joint 360 and a clamping groove 370. Taking the clamping joint 360 being disposed on the second fixing member 340 as an example, Figure 3 As shown, the second fixing component 340 is in a "U" shape, and a clamping joint 360 is arranged on the ends of the two arms of the "U" shape. The clamping joint 360 is correspondingly inserted into the clamping groove 370 on the first fixing component 330. During the insertion process, the user manually presses the two arms of the second fixing component 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 two arms of the second fixing component 340, and the two arms of the second fixing component 340 rebound. The first limiting surface 361 is misaligned with the clamping groove 370 and cannot pass through the clamping groove 370, thereby limiting the clamping groove 370. The same is true for the second limiting surface 362.

[0063] Of course, the clamping joint 360 may also be provided on the first fixing component 330 , and the clamping groove 370 may be provided on the second fixing component 340 accordingly.

[0064] In one embodiment, the wiring tube 111 is integrally formed with the rotating base 210, thereby reducing the manufacturing cost of the pitch rotating assembly.

[0065] In one embodiment, the pitch bracket 120 is mounted on the wiring tube 111 through a bearing 400. The wiring tube 111 supports the pitch bracket 120.

[0066] In one embodiment, in combination Figure 2 As shown, the wiring tube 111 is provided with a limiting portion 113 , and one end of the wiring tube 111 away from the first driving component 130 is fixedly connected with a locking nut 500 , and the locking nut 500 and the limiting portion 113 limit both ends of the inner ring of the bearing 400 .

[0067] In this embodiment, a thread is provided at one end of the wiring tube 111 away from the first driving component 130, and the locking nut 500 moves along the thread toward the limiting portion 113 until the inner ring of the bearing 400 is clamped, thereby fixing the inner ring of the bearing 400 to the wiring tube 111, thereby preventing the bearing 400 from falling off the wiring tube 111 during the movement of the pitch rotation assembly.

[0068] In this embodiment, the wiring tube 111 includes two pipe sections with different diameters, and a shoulder is formed at the connection between the pipe sections, and the shoulder forms a limiting portion 113. In other embodiments, the limiting portion 113 can also be an irregular protrusion set on the surface of the wiring tube 111, which is suitable for abutting the inner ring of the bearing 400.

[0069] The pitch bracket 120 is provided with a limiting groove 124 , and a cover plate 600 is fixedly connected to the pitch bracket 120 corresponding to the limiting groove 124 . The limiting groove 124 and the cover plate 600 limit the two ends of the outer ring of the bearing 400 .

[0070] In this embodiment, combined with Figure 2 As shown, the bearing 400 is embedded in the limiting groove 124 , and the cover plate 600 is covered in the limiting groove 124 and fixedly connected to the pitch bracket 120 to prevent the outer ring of the bearing 400 from escaping from the pitch bracket 120 .

[0071] According to one embodiment of the utility model, the pitch bracket 120 includes a connecting frame 121, a first fixing frame 122 and a second fixing frame 123. The connecting frame 121 is coaxially arranged with the output axis of the first driving component 130 and is suitable for rotating around the output axis; the first fixing frame 122 is fixedly connected to the connecting frame 121; the second fixing frame 123 is installed on the wiring tube 111 through a bearing 400.

[0072] In this embodiment, combined with Figure 1 and Figure 2 As shown, the first driving component 130 drives the connecting frame 121 to rotate, driving the first fixing frame 122 to rotate. The first fixing frame 122 and the second fixing frame 123 are simultaneously connected to an external component (such as the head component 800). The first fixing frame 122 drives the second fixing frame 123 to rotate through the external component, thereby realizing the overall pitch movement of the pitch rotation assembly.

[0073] The first fixing frame 122 and the second fixing frame 123 are located on both sides of the output axis of the second driving component 220, so that the center of gravity of the pitch assembly 100 is close to the output axis of the second driving component 220, preventing the pitch rotation assembly from bearing too much weight on one side, resulting in unstable pitch rotation motion.

[0074] The head assembly of the robot according to the embodiment of the second aspect of the utility model includes the pitch rotation assembly as described in the above embodiment.

[0075] The technical effect of the head assembly of the robot according to the embodiment of the utility model is similar to the technical effect of the pitch rotation assembly of the embodiment of the first aspect of the utility model, and will not be repeated here.

[0076] The robot according to the embodiment of the third aspect of the utility model includes the pitch rotation component as described in the above embodiment, or the head component of the robot as described in the above embodiment.

[0077] The technical effect of the robot according to the embodiment of the utility model is similar to the technical effect of the pitch rotation assembly of the embodiment of the first aspect of the utility model, and will not be repeated here.

[0078] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A pitch rotation assembly, characterized in that: include: A pitch assembly, the pitch assembly comprising a pitch base, a pitch bracket and a first driving component, the pitch base being provided with a wiring tube, and the wiring tube being coaxially arranged with the first driving component; The rotating assembly includes a rotating base and a second driving component, wherein the second driving component is dynamically coupled to the pitch assembly.

2. The pitch rotation assembly according to claim 1, characterized in that: The wiring tube is provided with a wire inlet, and the wire inlet is arranged at one end of the wiring tube close to the second driving component.

3. The pitch rotation assembly according to claim 1, characterized in that: The pitch rotation assembly further comprises a fixing member, which is arranged on at least one of the rotation base and the pitch base and is suitable for fixing the wire harness.

4. The pitch rotation assembly according to claim 3, characterized in that: The fixing piece is provided with a wire hole, and the wire hole is suitable for the wire harness to pass through; The fixing member is arranged at the bottom of the pitch base. and / or, The fixing member is arranged on the inner side of the wiring tube, and the wire passing hole of the fixing member coincides with the axis of the wiring tube.

5. The pitch rotation assembly according to claim 4, characterized in that: The fixing member includes: a first fixing component and a second fixing component, and the first fixing component and the second fixing component are clamped together through a clamping portion to form the wire passing hole.

6. The pitch rotation assembly according to claim 5, characterized in that: The clamping portion includes a clamping joint and a clamping groove, one of the first fixing component and the second fixing component is provided with the clamping joint, and the other is provided with the clamping groove, the clamping joint is provided with a first limiting surface and a second limiting surface, the first limiting surface and the second limiting surface are arranged opposite to each other, and the first limiting surface and the second limiting surface are respectively located on both sides of the clamping groove along the insertion direction of the clamping joint.

7. The pitch rotation assembly according to any one of claims 1 to 6, characterized in that: The wiring tube is integrally formed with the rotating base; and / or, The pitch bracket is installed on the wiring tube through a bearing.

8. The pitch rotation assembly according to claim 7, characterized in that: When the pitch bracket is installed on the wiring tube through the bearing, the wiring tube is provided with a limiting portion, and a locking nut is fixedly connected to one end of the wiring tube away from the first driving component, and the locking nut and the limiting portion limit the two ends of the inner ring of the bearing; The pitch bracket is provided with a limiting groove, and a cover plate is fixedly connected to the pitch bracket corresponding to the limiting groove, and the limiting groove and the cover plate limit the two ends of the outer ring of the bearing.

9. The pitch rotation assembly according to claim 7, characterized in that: The pitch bracket comprises: A connecting frame, the connecting frame is coaxially arranged with the output axis of the first driving component and is suitable for rotating around the output axis; a first fixing frame, the first fixing frame being fixedly connected to the connecting frame; A second fixing frame, wherein the second fixing frame is installed on the wiring tube through the bearing, and the first fixing frame and the second fixing frame are located on both sides of the second driving component.

10. A head assembly of a robot, characterized in that: Comprising the pitch rotation assembly as described in any one of claims 1 to 9.

11. A robot, characterized in that: It comprises the pitch rotation assembly as claimed in any one of claims 1 to 9, or the head assembly of the robot as claimed in claim 10.

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