Patent ID: 9016158
Filing Date: 2015-04-28
Classification: A63H,B25J,F16H,Y10S,Y10T

Abstract:
1. A head structure of a robot comprising: a first motor and a second motor so supported side by side within a head of the robot as to position their output shafts coaxially; a first beam member that is driven by the first motor and of which one end is so fitted as to be rotatable around the output shafts and another end, extending in a perpendicular direction from the output shafts, is supported by a trunk of the robot; and a second beam member that is driven by the second motor and of which one end is so fitted as to be rotatable around the output shafts and another end, extending from the output shafts side by side with the first beam member, is supported by the trunk, wherein each of the other end of the first beam member and the other end of the second beam member is axially supported around a prescribed axis defined to be along the left-and-right direction of the trunk, wherein a differential mechanism makes revolving directions of the first beam member and the second beam member around the prescribed axis reverse to each other, and wherein the differential mechanism includes a bevel gear mechanism that makes the revolving directions of the first beam member and the second beam member around the prescribed axis reverse to each other.