US 11,708,882 B2
Head mechanism and robot
Liang Huang, Shenzhen (CN); Hongyu Ding, Shenzhen (CN); Jianxin Pang, Shenzhen (CN); and Youjun Xiong, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Jul. 29, 2020, as Appl. No. 16/941,579.
Claims priority of application No. 201922490424.1 (CN), filed on Dec. 30, 2019.
Prior Publication US 2021/0199183 A1, Jul. 1, 2021
Int. Cl. F16H 21/54 (2006.01); B25J 17/00 (2006.01); B25J 9/12 (2006.01); B25J 17/02 (2006.01); B25J 9/10 (2006.01)
CPC F16H 21/54 (2013.01) [B25J 9/126 (2013.01); B25J 17/00 (2013.01); B25J 17/0266 (2013.01); B25J 9/106 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A head mechanism comprising:
a base connectable to a body of a robot;
a mounting member arranged above the base;
a connecting member rotatably connected to the base and the mounting member, the connecting member, together with the mounting member, rotatable relative to the base about a first axis, the mounting member rotatable relative to the connecting member about a second axis, wherein the first axis and the second axis extend in different directions; and
two first actuating mechanisms fixed to the base, the two first actuating mechanisms configured to drive the mounting member to rotate with respect to the base;
wherein the connecting member comprises a main body defining a hollow space, a first pair of shafts, and a second pair of shafts, the base comprises a support member, the main body is rotatably connected to the support member through the first pair of shafts, the mounting member comprises two arms that are spaced apart from each other, the two arms are partly received in the hollow space of the main body and rotatably connected to the main body through the second pair of shafts;
wherein one of the arms comprises a first limit stop that is configured to stop motion of the mounting member when the first limit stop comes into contact with the main body, the support member comprises a second limit stop that is configured to stop motion of the main body when the second limit stop comes into contact with the main body.