Pitching rotating assembly, head assembly of robot and robot
By using mechanical position adjustment components and encoder motors in robot joints, the problem of motion position correspondence caused by photoelectric switch loss is solved, the motion accuracy is improved and the structure is simplified.
Patent Information
- Application Number
- CN202420269858.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-02
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2034-02-02
AI Technical Summary
The movement of the robot joints is lost due to the loss of power of the photoelectric switch, resulting in the movement position that cannot correspond to the encoder code value, affecting the accuracy of the motion.
The position adjustment components in mechanical form are combined with the motor with an encoder to re-correlate the rotation position of the motor and the mechanical positioning of the position adjustment components to avoid position deviations and to avoid the use of detection components such as photoelectric switches.
The movement accuracy of the pitch rotation assembly is improved, and the rotational over-range problem caused by the loss of power of the photoelectric switch is avoided, and the structure is simplified and the volume is reduced.
Smart Images
Figure CN222450362U_ABST
Abstract
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 rotational movement of robot joints usually uses photoelectric switches and encoders. Photoelectric switches can detect whether the joint has reached a specific position or triggered an event. For example, when the joint moves into place, the photoelectric switch can detect the occlusion of the light beam, thereby triggering a signal. The signal of the photoelectric switch can be used in combination with the feedback signal of the encoder. By analyzing the time relationship between the photoelectric switch signal and the encoder signal, it can be determined whether the robot has reached the target position, exceeded the limit, or an abnormal situation has occurred.
[0003] If the photoelectric switch loses power accidentally, the movement of the robot joint will not correspond to the code value of the encoder, which will affect the movement accuracy of the robot joint. 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, which adopts a mechanical position adjustment component to avoid the problem that the movement position of the pitch rotation assembly and the code value of the motor encoder cannot correspond when the conventional position detection element, such as the photoelectric switch, loses power.
[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 motor, wherein the motor is provided with an encoder;
[0009] A pitch assembly, comprising a pitch base and a pitch bracket, wherein the pitch base is coupled to the pitch bracket through the motor power;
[0010] a rotating assembly, the rotating assembly being coupled to the pitch assembly through the power of the motor;
[0011] The position adjustment component is arranged between the pitch base and the pitch bracket, and / or between the rotating assembly and the pitch assembly.
[0012] According to the pitch rotation assembly of the embodiment of the utility model, by providing a position adjustment component and a motor with an encoder, the rotation position of the motor is re-aligned with the mechanical positioning of the position adjustment component, which effectively avoids the problem of position deviation caused by gaps between components or wear of components due to long-term use of the pitch rotation assembly, resulting in the rotation angle of the motor and the actual rotation angle between the components moving relative to each other not corresponding to each other, and effectively improves the movement accuracy of the pitch rotation assembly; and through the mechanical positioning of the position adjustment component, there is no need to provide photoelectric switches and other detection elements on the pitch rotation assembly to detect the relative position between the pitch base and the pitch bracket, or between the pitch assembly and the rotation assembly, which avoids the situation where the motor cannot obtain the signal of the photoelectric switch and the position relationship between the components moving relative to each other when the photoelectric switch and other detection elements lose power, resulting in damage to the pitch rotation assembly due to rotation out of range; there is no need to provide a placement space for components such as photoelectric switches, which simplifies the structure of the pitch rotation assembly and effectively reduces the volume of the pitch rotation assembly.
[0013] According to an embodiment of the present utility model, the pitch base is rotatably connected to the rotating assembly, and the position adjustment component is arranged between the rotating assembly and the pitch base.
[0014] or,
[0015] The rotating assembly is rotatably connected to the pitch bracket, and the position adjustment component is arranged between the rotating assembly and the pitch bracket.
[0016] According to an embodiment of the present utility model, the position adjustment component includes at least one of the following:
[0017] a limiting component, wherein the limiting component is adapted to limit a pitch angle between the pitch base and the pitch bracket, and / or a rotation angle between the rotation assembly and the pitch assembly;
[0018] A reset component is adapted to determine a zero position between the pitch base and the pitch bracket, and / or a zero position between the rotation assembly and the pitch assembly.
[0019] According to an embodiment of the present utility model, the limiting component includes a first limiting portion and a second limiting portion that are relatively rotatable, and the first limiting portion and the second limiting portion are in contact to define a first limit position and a second limit position.
[0020] According to one embodiment of the utility model, one of the first limiting portion and the second limiting portion is a limiting groove, and the other is a limiting protrusion, and the limiting protrusion is suitable for switching between a first limit position and a second limit position along the limiting groove, and in the first limit position, the limiting protrusion contacts the side wall of the first end of the limiting groove, and in the second limit position, the limiting protrusion contacts the side wall of the second end of the limiting groove.
[0021] According to an embodiment of the present utility model, the limiting component includes at least one of the following:
[0022] A first limiting component is installed between the pitch base and the pitch bracket, and the angle between the first limit position and the second limit position of the first limiting component is -20° to +50°;
[0023] The second limiting component is installed between the rotating component and the pitching component, and the angle between the first limit position and the second limit position of the second limiting component is -100° to +100°.
[0024] According to an embodiment of the present utility model, the reset component is arranged corresponding to the middle of the limiting groove and the limiting protrusion.
[0025] According to an embodiment of the utility model, the reset component includes a first positioning groove, a second positioning groove and a positioning piece, the first positioning groove is arranged on the limiting protrusion, and the second positioning groove is arranged on the limiting groove corresponding to the first positioning groove;
[0026] The positioning piece is suitable for being inserted into the first positioning groove and the second positioning groove.
[0027] According to one embodiment of the utility model, the pitch base is fixedly connected to the motor, the output shaft of the motor is connected to the pitch bracket, and / or the rotating assembly includes a rotating base, the rotating base is fixedly connected to the motor, and the output shaft of the motor is connected to the pitch assembly.
[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 technical effect of the head assembly of the robot according to the embodiment of the utility model corresponds to the technical effect of the pitch rotation assembly of the embodiment of the first aspect, and will not be repeated here.
[0030] The robot according to the embodiment of the third aspect of the utility model includes the head assembly of the robot mentioned above.
[0031] The technical effect of the robot according to the embodiment of the utility model corresponds to the technical effect of the pitch rotation assembly of the embodiment of the first aspect, and will not be repeated here.
[0032] The above one or more technical solutions in the embodiments of the utility model have at least one of the following technical effects:
[0033] The pitch rotation assembly of the utility model takes a position adjustment component provided between the pitch base and the pitch bracket as an example. The position adjustment component is suitable for mechanically positioning the relative position between the pitch base and the pitch bracket. The motor corresponding to the position adjustment component controls the relative movement of the pitch base and the pitch bracket. The output shaft of the motor rotates until the position adjustment component between the pitch base and the pitch bracket reaches the positioning position. The corresponding relationship between the rotation angle of the output shaft of the motor and the code value of the motor can be calculated. Based on the corresponding relationship between the rotation angle of the motor and the code value, the rotation speed of the motor is controlled by the encoder of the motor to achieve precise control of the rotation position of the motor.
[0034] The encoder provides fine control over the movement of the pitch rotation assembly. By reading and parsing the encoder, the current position or angle information between the pitch base and the pitch bracket can be obtained in real time, so that the motor's rotation speed, acceleration and stop position can be accurately controlled to meet specific application requirements. For example, when approaching the positioning position of the position adjustment component, the motor speed can be reduced in advance, and the motor can be controlled to stop when it reaches the code value of the corresponding positioning position to achieve accurate positioning.
[0035] The position adjustment component can also be arranged between the rotating assembly and the pitch assembly to adjust the relative position between the rotating assembly and the pitch assembly, so as to achieve precise control of the motor rotation position in combination with the motor.
[0036] According to the pitch rotation assembly of the embodiment of the utility model, by providing a position adjustment component and a motor with an encoder, the rotation position of the motor is re-aligned with the mechanical positioning of the position adjustment component, which effectively avoids the problem of position deviation caused by gaps between components or wear of components due to long-term use of the pitch rotation assembly, resulting in the rotation angle of the motor and the actual rotation angle between the components moving relative to each other not corresponding to each other, and effectively improves the movement accuracy of the pitch rotation assembly; and through the mechanical positioning of the position adjustment component, there is no need to provide photoelectric switches and other detection elements on the pitch rotation assembly to detect the relative position between the pitch base and the pitch bracket, or between the pitch assembly and the rotation assembly, which avoids the situation where the motor cannot obtain the signal of the photoelectric switch and the position relationship between the components moving relative to each other when the photoelectric switch and other detection elements lose power, resulting in damage to the pitch rotation assembly due to rotation out of range; there is no need to provide a placement space for components such as photoelectric switches, which simplifies the structure of the pitch rotation assembly and effectively reduces the volume of the pitch rotation assembly.
[0037] 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
[0038] 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.
[0039] Figure 1 It is an exploded view of the pitch rotation assembly provided by the embodiment of the utility model;
[0040] Figure 2 This is one of the structural schematic diagrams of the position adjustment component of the pitch rotation assembly provided in the embodiment of the utility model;
[0041] Figure 3 This is the second structural schematic diagram of the position adjustment component of the pitch rotation assembly provided in the embodiment of the utility model;
[0042] Figure 4 This is the third structural schematic diagram of the position adjustment component of the pitch rotation assembly provided by the embodiment of the utility model;
[0043] Reference numerals:
[0044] 100, pitch assembly; 110, pitch base; 120, pitch bracket; 121, connecting frame;
[0045] 200, rotating assembly; 210, rotating base;
[0046] 300, position adjustment component; 310, limiting component; 311, first limiting portion; 312, second limiting portion; 313, limiting groove; 3131, first end; 3132, second end; 314, limiting protrusion; 320, reset component; 321, first positioning groove; 322, second positioning groove;
[0047] 400. Motor. DETAILED DESCRIPTION
[0048] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.
[0049] 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.
[0050] 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.
[0051] 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.
[0052] 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.
[0053] Combination Figure 1As shown, the pitch rotation assembly according to the embodiment of the first aspect of the utility model includes: a motor, a pitch assembly 100, a rotation assembly 200 and a position adjustment component 300, and the motor 400 is provided with an encoder; the pitch assembly 100 includes a pitch base 110 and a pitch bracket 120; the pitch base 110 is coupled to the pitch bracket 120 through motor power; the rotation assembly 200, the rotation assembly 200 is coupled to the pitch assembly 100 through motor power; the position adjustment component 300 can be arranged between the pitch base 110 and the pitch bracket 120, and can also be arranged between the rotation assembly 200 and the pitch assembly 100, and can also be arranged between the pitch base 110 and the pitch bracket 120 and between the rotation assembly 200 and the pitch assembly 100 at the same time.
[0054] The pitch rotation assembly of the embodiment of the utility model takes the position adjustment component 300 provided between the pitch base 110 and the pitch bracket 120 as an example. The position adjustment component 300 is suitable for mechanically positioning the relative position between the pitch base 110 and the pitch bracket 120. The motor 400 corresponding to the position adjustment component 300 controls the relative movement of the pitch base 110 and the pitch bracket 120. The output shaft of the motor 400 rotates until the position adjustment component 300 between the pitch base 110 and the pitch bracket 120 reaches the positioning position. The corresponding relationship between the output shaft rotation angle of the motor 400 and the code value of the motor 400 can be calculated. Based on the corresponding relationship between the rotation angle of the motor 400 and the code value, the rotation speed of the motor 400 is controlled by the encoder of the motor 400 to achieve precise control of the rotation position of the motor 400.
[0055] The encoder provides fine control over the movement of the pitch rotation assembly. By reading and parsing the encoder, the current position or angle information between the pitch base 110 and the pitch bracket 120 can be obtained in real time, so that the rotation speed, acceleration and stop position of the motor 400 can be accurately controlled to meet specific application requirements. For example, when approaching the positioning position of the position adjustment component 300, the speed of the motor 400 can be reduced in advance, and the motor 400 can be controlled to stop when it reaches the code value corresponding to the positioning position, thereby achieving accurate positioning.
[0056] The position adjustment component 300 may also be disposed between the rotating assembly 200 and the pitch assembly 100 to adjust the relative position between the rotating assembly 200 and the pitch assembly 100 so as to achieve precise control of the rotation position of the motor 400 in combination with the motor 400 .
[0057] According to the pitch rotation assembly of the embodiment of the utility model, by providing a position adjustment component 300 and a motor 400 with an encoder, the rotation position of the motor 400 is re-aligned with the mechanical positioning of the position adjustment component 300, effectively avoiding the problem that the rotation angle of the motor 400 and the actual rotation angle of the components moving relative to each other cannot correspond due to the gap between the components or the wear of the components caused by long-term use of the pitch rotation assembly, and effectively improving the movement accuracy of the pitch rotation assembly; and through the mechanical positioning of the position adjustment component 300, there is no need to set a detection element such as a photoelectric switch on the pitch rotation assembly to detect the relative position between the pitch base 110 and the pitch bracket 120, or between the pitch assembly 100 and the rotation assembly 200, avoiding the situation that the motor 400 cannot obtain the signal of the photoelectric switch when the detection element such as the photoelectric switch loses power, and cannot obtain the position relationship between the components moving relative to each other, resulting in the damage of the pitch rotation assembly due to the rotation out of the range; there is no need to set a placement space for components such as photoelectric switches, simplifying the structure of the pitch rotation assembly, and effectively reducing the volume of the pitch rotation assembly.
[0058] In one embodiment, in combination Figure 1 As shown, the pitch base 110 is rotatably connected to the rotating assembly 200, and a position adjustment component 300 is provided between the rotating assembly 200 and the pitch base 110. The pitch assembly 100 rotates relative to the rotating assembly 200. Taking the pitch rotating assembly applied to a robot as an example, one end of the rotating assembly 200 is fixed to the body of the robot, and the other end is connected to the pitch base 110 of the pitch assembly 100. The pitch base 110 is connected to the head assembly of the robot through the pitch bracket 120, thereby realizing the rotational movement of the head assembly relative to the body.
[0059] In this embodiment, the pitch rotation assembly further includes a connecting frame 121 , and the pitch bracket 120 is connected to the head assembly of the robot via the connecting frame 121 .
[0060] In one embodiment, the rotating assembly 200 is rotatably connected to the pitch bracket 120, and a position adjustment component 300 is provided between the rotating assembly 200 and the pitch bracket 120. Taking the pitch rotating assembly applied to a robot as an example, the pitch base 110 is fixed to the body of the robot and connected to one end of the rotating assembly 200 through the pitch bracket 120. The rotating assembly 200 is rotatable relative to the pitch bracket 120, and the other end of the rotating assembly 200 is connected to the head assembly of the robot, thereby realizing the rotational movement of the head assembly relative to the body.
[0061] According to an embodiment of the present invention, the position adjustment component 300 includes at least one of a limit component 310 and a reset component 320. The position adjustment component 300 between the pitch base 110 and the pitch bracket 120 is taken as an example to illustrate the working principle of the limit component 310 and the reset component 320.
[0062] Combination Figure 2 and Figure 3 As shown, the limiting component 310 is suitable for limiting the pitch angle between the pitch base 110 and the pitch bracket 120 , that is, limiting the relative rotatable angle range of the pitch base 110 and the pitch bracket 120 .
[0063] In this embodiment, the pitch rotation assembly includes a positioning step before use, that is, when the pitch base 110 and the pitch bracket 120 move relative to each other, the limit limit position of the limit component 310 corresponds to the code value of the motor 400.
[0064] Furthermore, during the operation of the pitch rotation assembly, the current position or angle information between the pitch base 110 and the pitch bracket 120 can be obtained in real time by reading and analyzing the encoder, so that the rotation speed, acceleration and stop position of the motor 400 can be accurately controlled to meet specific application requirements. For example, when approaching the extreme limit position, the speed of the motor 400 can be reduced in advance, and the motor 400 can be controlled to stop when it is about to reach the code value of the extreme limit position of the corresponding limit component 310, so as to prevent the pitch base 110 and the pitch bracket 120 from colliding with each other during the operation of the pitch rotation assembly, thereby reducing the service life.
[0065] The resetting component 320 is adapted to determine a zero position between the pitch base 110 and the pitch bracket 120 .
[0066] In this embodiment, the pitch rotation assembly includes a reset step before use, that is, when the pitch base 110 and the pitch bracket 120 move relative to each other, the positioning point of the reset component 320 corresponds to the zero position between the pitch base 110 and the pitch bracket 120, and the zero position corresponds to the code value of the motor 400. This makes the rotation angle of the motor 400 the same as the actual relative movement angle of the pitch base 110 and the pitch bracket 120, and avoids the rotation of the motor 400 of the pitch rotation assembly after long-term operation not corresponding to the actual relative movement angle of the pitch base 110 and the pitch bracket 120, which affects the accuracy of the pitch rotation assembly during movement.
[0067] The working principle of the position adjustment component 300 between the rotating assembly 200 and the pitch assembly 100 is similar to that between the pitch base 110 and the pitch bracket 120, and will not be repeated here.
[0068] According to an embodiment of the present invention, the limiting component 310 includes a first limiting portion 311 and a second limiting portion 312 that are relatively rotatable. The first limiting portion 311 and the second limiting portion 312 are in contact with each other to define a first limit position and a second limit position.
[0069] In this embodiment, combined with Figure 2 and Figure 3 As shown, the pitch angle and rotation angle of the pitch rotation assembly are limited by the first limit position and the second limit position, and a mechanical limit is adopted to prevent the relative movement between the pitch base 110 and the pitch bracket 120 of the pitch rotation assembly from exceeding the limited pitch angle, or the relative movement between the rotation assembly 200 and the pitch assembly 100 from exceeding the limited rotation angle, resulting in collision and damage of the components connected to each other of the pitch assembly and the rotation assembly 200. For example, when the pitch rotation assembly is installed on a robot, the pitch angle or rotation angle exceeds the limited pitch angle or rotation angle, resulting in a collision between the head assembly and the body.
[0070] In this embodiment, the pitch rotation assembly includes a positioning step before use, that is, the first limit position and the second limit position of the limit component 310 correspond to different code values of the motor 400 when the pitch base 110 and the pitch bracket 120 move relative to each other. In this way, the rotation speed, acceleration and stop position of the motor 400 can be accurately controlled to meet specific application requirements. For example, when approaching the first limit position or the second limit position, the speed of the motor 400 can be reduced in advance, and the motor 400 can be controlled to stop when it is about to reach the code value of the limit position corresponding to the limit component 310, so as to prevent the first limit part 311 and the second limit part 312 from colliding during the operation of the pitch rotation assembly, thereby reducing the service life.
[0071] According to one embodiment of the utility model, one of the first limiting portion 311 and the second limiting portion 312 is a limiting groove 313, and the other is a limiting protrusion 314. The limiting protrusion 314 is suitable for switching between a first limit position and a second limit position along the limiting groove 313. In the first limit position, the limiting protrusion 314 contacts the side wall of the first end 3131 of the limiting groove 313. In the second limit position, the limiting protrusion 314 contacts the side wall of the second end 3132 of the limiting groove 313.
[0072] In this embodiment, combined with Figure 2 and 3 As shown, taking the first limiting portion 311 as the limiting protrusion 314 and the second limiting portion 312 as the limiting groove 313 as an example, the limiting protrusion 314 is inserted into the limiting groove 313 and slides along the groove of the limiting groove 313 from the first limit position to the second limit position, and the side walls of the first end 3131 and the second end 3132 of the limiting groove 313 limit the sliding of the limiting protrusion 314 to limit the pitch angle between the pitch base 110 and the pitch bracket 120.
[0073] In other embodiments, the second limiting portion 312 may be configured as a limiting protrusion 314 , and the first limiting portion 311 may be configured as a limiting groove 313 .
[0074] According to one embodiment of the utility model, the limiting component 310 includes at least one of a first limiting component and a second limiting component. The first limiting component is installed between the pitch base 110 and the pitch bracket 120 to limit the pitch angle of the pitch rotation assembly. The second limiting component is installed between the rotation assembly 200 and the pitch rotation assembly 100 to limit the rotation angle of the pitch rotation assembly. In one embodiment, the angle between the first limit position and the second limit position of the first limiting component is -20° to +50°, which is similar to the pitch angle of a human head. When the pitch rotation assembly is installed on a robot, the anthropomorphism of the robot's movement is better realized.
[0075] In one embodiment, the angle between the first limit position and the second limit position of the second limit component is -100° to +100°, which is approximately the rotation angle of a human head. When the pitch rotation assembly is installed on the robot, the anthropomorphic movement of the robot is better realized.
[0076] According to an embodiment of the present invention, the reset component 320 is disposed in the middle of the limiting groove 313 and the limiting protrusion 314 .
[0077] In this embodiment, combined with Figure 2 and 3 As shown, taking the reset component 320 being arranged between the pitch base 110 and the pitch bracket 120 as an example, the reset component 320 is arranged in the middle of the limiting groove 313 and the limiting protrusion 314, that is, it is located in the middle of the first extreme position and the second extreme position of the limiting component 310. At this position, the distance moved by the limiting protrusion 314 to the first extreme position and the distance moved by the limiting protrusion 314 to the second extreme position are the same. Therefore, the errors of the rotation angle and the pitch angle of the motor 400 are averaged on both sides of the reset component 320, avoiding excessive error on one side of the reset component 320, and effectively improving the operating accuracy of the pitch rotation assembly after the reset step.
[0078] In other embodiments, the reset component 320 may not be set at the middle position of the limit slot 313 to adapt to the use requirements of the pitch rotation assembly installed on different equipment. For example, taking the installation of the pitch rotation assembly on a robot as an example, when the pitch angle is -20° to +50°, the reset component 320 can be set to a position corresponding to 2 / 7 of the limit slot 313, that is, corresponding to 0° of the pitch angle, at which time the head assembly of the robot is horizontal.
[0079] According to an embodiment of the present invention, the reset component 320 includes a first positioning groove 321 , a second positioning groove 322 and a positioning sheet. The first positioning groove 321 is disposed on the limiting protrusion 314 , and the second positioning groove 322 is disposed on the limiting groove 313 corresponding to the first positioning groove 321 .
[0080] In this embodiment, combined with Figure 4 As shown, taking the reset component 320 being arranged between the rotating assembly 200 and the pitch assembly 100 as an example, the rotating assembly 200 and the pitch assembly 100 rotate relative to each other until the first positioning groove 321 is opposite to the second positioning groove 322, and the positioning piece is simultaneously inserted into the first positioning groove 321 and the second positioning groove 322, that is, the relative position of the rotating assembly 200 and the pitch assembly 100 is fixed, and the positioning point of the reset component 320 is determined.
[0081] By adopting a mechanical structure to determine the positioning point of the reset component 320 and making it correspond to the code value of the motor 400, it is avoided that when the detection element such as the photoelectric switch loses power, the motor 400 cannot obtain the signal of the photoelectric switch and cannot obtain the position relationship between the relatively moving components or parts, resulting in the pitch rotation component being unable to perform the reset step. The design of the positioning groove does not take up additional space, simplifies the structure of the pitch rotation component, and effectively reduces the volume of the pitch rotation component.
[0082] According to an embodiment of the present invention, the pitch base 110 is fixedly connected to the motor 400, and the output shaft of the motor 400 is connected to the pitch bracket 120. In this embodiment, Figure 1 As shown, the output shaft of the motor 400 is directly connected to the pitch bracket 120, which reduces the backlash introduced into the intermediate transmission link and effectively improves the transmission accuracy of the pitch motion of the pitch rotation assembly.
[0083] In one embodiment, the rotating assembly 200 includes a rotating base 210, the rotating base 210 is fixedly connected to the motor 400, and the output shaft of the motor 400 is connected to the pitch assembly 100. The output shaft of the motor 400 is directly connected to the pitch base 110 or the pitch bracket 120 of the pitch assembly 100, reducing the backlash introduced in the intermediate transmission link, and effectively improving the transmission accuracy of the rotational motion of the pitch rotating assembly.
[0084] The head assembly of the robot according to the embodiment of the second aspect of the utility model includes the pitch rotation assembly of the above embodiment.
[0085] The technical effect of the head assembly of the robot according to the embodiment of the utility model corresponds to the technical effect of the pitch rotation assembly of the embodiment of the first aspect, and will not be repeated here.
[0086] The robot according to the embodiment of the third aspect of the utility model includes the head assembly of the robot of the above embodiment.
[0087] The technical effect of the robot according to the embodiment of the utility model corresponds to the technical effect of the pitch rotation assembly of the embodiment of the first aspect, and will not be repeated here.
[0088] 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 motor, wherein the motor is provided with an encoder; A pitch assembly, comprising a pitch base and a pitch bracket, wherein the pitch base is coupled to the pitch bracket through the motor power; a rotating assembly, the rotating assembly being coupled to the pitch assembly through the power of the motor; The position adjustment component is arranged between the pitch base and the pitch bracket, and / or between the rotating assembly and the pitch assembly.
2. The pitch rotation assembly according to claim 1, characterized in that: The pitch base is rotatably connected to the rotating assembly, and the position adjustment component is arranged between the rotating assembly and the pitch base. or, The rotating assembly is rotatably connected to the pitch bracket, and the position adjustment component is arranged between the rotating assembly and the pitch bracket.
3. The pitch rotation assembly according to claim 1, characterized in that: The position adjustment component includes at least one of the following: a limiting component, wherein the limiting component is adapted to limit a pitch angle between the pitch base and the pitch bracket, and / or a rotation angle between the rotation assembly and the pitch assembly; A reset component is adapted to determine a zero position between the pitch base and the pitch bracket, and / or a zero position between the rotation assembly and the pitch assembly.
4. The pitch rotation assembly according to claim 3, characterized in that: The limiting component includes a first limiting portion and a second limiting portion that are relatively rotatable, and the first limiting portion and the second limiting portion are in contact with each other to define a first limit position and a second limit position.
5. The pitch rotation assembly according to claim 4, characterized in that: One of the first limiting portion and the second limiting portion is a limiting groove, and the other is a limiting protrusion, and the limiting protrusion is suitable for switching between a first limit position and a second limit position along the limiting groove. In the first limit position, the limiting protrusion contacts the side wall of the first end of the limiting groove, and in the second limit position, the limiting protrusion contacts the side wall of the second end of the limiting groove.
6. The pitch rotation assembly according to claim 4, characterized in that: The limiting component includes at least one of the following: A first limiting component is installed between the pitch base and the pitch bracket, and the angle between the first limit position and the second limit position of the first limiting component is -20° to +50°; The second limiting component is installed between the rotating component and the pitching component, and the angle between the first limit position and the second limit position of the second limiting component is -100° to +100°.
7. The pitch rotation assembly according to claim 5, characterized in that: The reset component is arranged corresponding to the middle of the limiting groove and the limiting protrusion.
8. The pitch rotation assembly according to claim 7, characterized in that: The reset component comprises a first positioning groove, a second positioning groove and a positioning sheet, the first positioning groove is arranged on the limiting protrusion, and the second positioning groove is arranged on the limiting groove corresponding to the first positioning groove; The positioning piece is suitable for being inserted into the first positioning groove and the second positioning groove.
9. The pitch rotation assembly according to any one of claims 1 to 8, characterized in that: The pitch base is fixedly connected to the motor, and the output shaft of the motor is connected to the pitch bracket, and / or the rotating assembly includes a rotating base, the rotating base is fixedly connected to the motor, and the output shaft of the motor is connected to the pitch assembly.
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: The invention comprises a head assembly of the robot as claimed in claim 10.