Robot and head thereof

Patent metadata

Field	Value
Publication number	US-10774908-B2
Application number	US-201916288117-A
Country	US
Kind code	B2
Filing date	Feb 28, 2019
Priority date	Dec 11, 2018
Publication date	Sep 15, 2020
Grant date	Sep 15, 2020

Abstract

A head of a robot includes a head housing, a lace panel connected to the head housing, a mask moveably connected to the head housing, a mounting frame arranged within the head housing, a first servo connected to the mounting frame, and a first transmission mechanism to transmit motion from the first servo to the mask so as to move the mask between a first position where the mask covers the face panel and a second position where the mask is lifted to expose the face panel.

First claim

What is claimed is:

1. A head of a robot comprising:
a head housing;
a face panel connected to the head housing;
a mask moveably connected to the head housing;
a mounting frame arranged within the head housing;
a first servo connected to the mounting frame; and
a first transmission mechanism configured to transmit motion from the first servo to the mask so as to move the mask between a first position where the mask covers the face panel and a second position where the mask is lifted to expose the face panel;
a second transmission mechanism configured to transmit motion from the first servo to the head housing to enable flexion or extension of the head housing relative to the robot.

2. The head according to claim 1 , further comprising a first output gear, wherein the first servo comprises an output shaft, the first output gear is coaxially connected to the output shaft, the first transmission mechanism comprises a rotating member rotatably connected to the mounting frame, an intermediate linking member rotatably connected to the mounting frame, a first linkage bar comprising two opposite ends rotatably connected to the rotating member and the intermediate linking member, a second linkage bar comprising two opposite ends rotatably connected to the mask and the intermediate linking member, and a third linkage bar comprising two opposite ends rotatably connected to the mask and the intermediate linking member, and the rotating member comprise a first gear engaged with the first output gear.

3. The head according to claim 2 , wherein the third linkage bar is U-shaped, a pivot axis between the third linkage bar and the intermediate linking member is located above a pivot axis between the second linkage bar and the intermediate linking member, and a pivot axis between the third linkage bar and the mask is located above a pivot axis between the second linkage bar and the mask.

4. The head according to claim 3 , wherein the first linkage bar comprises a first gear tooth portion adjacent to the third linkage bar, the third linkage bar comprises a second gear tooth portion adjacent to the first linkage bar, the first gear tooth portion is engaged with the second gear tooth portion.

5. The head according to claim 1 , further comprising a first output gear, wherein the first servo comprises an output shaft, the first output gear is coaxially connected to the output shaft, the second transmission mechanism comprises a mounting casing connected to the mounting frame, a driving shaft received in the mounting casing and coupled to the head housing, and a limiting mechanism, and the driving shaft comprises a second gear engaged with the first output gear.

6. The head according to claim 5 , wherein the limiting mechanism comprises a limiting member that comprises a protrusion, an elastic member compressed between the limiting member and the mounting casing, and a holder defining a cavity and a through hole, the limiting member is received in the cavity and the protrusion passes through the through hole, the limiting member, the holder and the driving shaft are coaxial with one another, the holder is received in the mounting casing, the driving shaft defines a concavity to receive the protrusion, the protrusion is movable in the concavity, when the protrusion comes into contact with an end of the concavity, rotation of the driving shaft is stopped.

7. The head according to claim 6 , wherein the holder comprises a shoulder configured to engage with the driving shaft such that the holder rotates together with the driving shaft, the holder comprises a sloped surface in the cavity, when the first output gear drives the third gear to rotate in a counterclockwise direction and the sloped surface stays in contact the protrusion, the protrusion is pushed to move axially away from the driving shaft, when the driving shaft comes into contact with the shoulder, the second gear and the third gear are circumferentially adjacent to each other.

8. The head according to claim 6 , wherein the protrusion comprises a first end face and a first inclined surface that intersects with the first end face and faces the driving shaft, the driving shaft comprises a second end face and a second inclined surface in a side facing the protrusion, the second end face intersects with the second inclined surface, when the second gear rotates in a counterclockwise direction as driven by the first output gear and the second inclined surface comes into contact with the first inclined surface, the protrusion is pushed to move axially away from the driving shaft; when the protrusion moves into the concavity as pushed by the elastic member and the first end face abuts against the second end face, the driving shaft is stopped from rotating in the counterclockwise direction.

9. The head according to claim 1 , further comprising a second servo mounted to the mounting frame, a third transmission mechanism to transmit motion from the second servo to the mounting frame to rotate the mounting frame to the right and left, and a support post fixed to a frame in a chest of the robot, the third transmission mechanism comprises a second output gear coaxially coupled to an output shaft of the second servo, and a transmission gear that meshes with the second output gear and is coaxially fixed to the support post.

10. A robot comprising a head, the head comprising:
a head housing;
a face panel connected to the head housing;
a mask moveably connected to the head housing;
a mounting frame arranged within the head housing;
a first servo connected to the mounting frame; and
a first transmission mechanism configured to transmit motion from the first servo to the mask so as to move the mask between a first position where the mask covers the face panel and a second position where the mask is lifted to expose the face panel;
a second transmission mechanism configured to transmit motion from the first servo to the head housing to enable flexion or extension of the head housing relative to the robot.

Assignees

• Ubtech Robotics Corp

Inventors

• Xiong Youjun
• Chen Xinpu
• Mao Zuyi
• Yang Gao
• Liu Defu

Classifications

• A63H11/00

  Self-movable toy figures · CPC title

• B25J9/126

  Rotary actuators · CPC title

• F16H19/001

  for conveying reciprocating or limited rotary motion · CPC title

• B25J9/102

  Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H) · CPC title

• F16H21/32 Primary

  with additional members comprising only pivoted links or arms · CPC title