Robot
A robot includes a base, a first body provided above the base, a first gearing configured to rotate the first body about the base, a second body provided above the first body, a second gearing configured to tilt the second body about a tilting axis, an interface installed in at least one of the first body and the second body, a first gear mounted on the second body and tilted together with the second body, and a damper mounted on the first body. The damper includes a damping gear engaged with the first gear, and the first gear is tilted along an outer circumference of the damping gear.
1. A robot comprising:
a base;
a first body provided above the base;
spin gearing configured to rotate the first body with respect to the base;
a second body provided above the first body;
tilt gearing configured to tilt the second body about a tilting axis;
an interface accommodated in at least one of the first body and the second body;
a first gear connected to the second body and configured to rotate together with the second body; and
a damper mounted on the first body,
wherein the damper comprises a second gear engaged with the first gear and configured to rotate with the first gear, and the first gear is rotated about an outer circumference of the second gear,
wherein the first gear and the second gear are spaced apart from the tilting axis,
wherein the second gear is configured to be engaged with the first gear between the tilting axis and the first gear,
wherein the tilt gearing includes:
a first motor mounted on the first body;
a first driving gear configured to be rotated by the first motor; and
a first driven gear connected to the second body or a shaft about which the second body tilts, and
wherein a distance between a rotation axis of the second gear and the tilting axis is smaller than a distance between the tilting axis and the first gear.
2. The robot according to claim 1 , wherein a rotation axis of the second gear and the tilting axis are parallel to each other.
3. The robot according to claim 1 , wherein a rotation axis of the second gear is higher than the tilting axis.
4. The robot according to claim 1 , wherein a curvature radius of the second gear is smaller than a curvature radius of the first gear.
5. The robot according to claim 1 , wherein the first gear is an internal sector gear.
6. The robot according to claim 1 , wherein the second body comprises:
a second body base to which a shaft about which the second body tilts is connected; and
a second body housing connected to the second body base and defining a first space in which the second body base is accommodated.
7. The robot according to claim 6 , wherein the first gear is mounted on the second body base, and the interface is mounted on the second body housing.
8. The robot according to claim 7 , wherein the second body base comprises a first gear bracket that supports the first gear such that the first gear is meshed with the second gear.
9. The robot according to claim 1 , wherein the damper further comprises a second gear bracket mounted on the first body and configured to support the second gear.
10. The robot according to claim 9 , wherein the damper further comprises a damper body which is mounted on the second gear bracket and to which the second gear is rotatably connected.
11. The robot according to claim 9 , wherein a gear accommodation space in which the first gear and the second gear are accommodated is formed in the second body.
12. The robot according to claim 11 , wherein the gear accommodation space is larger than the second gear.
13. A robot comprising:
a base;
a first body provided above the base and configured to be rotatable with respect to the base;
a second body provided above the first body and configured to be tiltable with respect to the first body and the base about a tilting axis;
a gearing configured to tilt the second body about the tilting axis;
a damper provided in the second body,
wherein the damper includes:
a first gear attached to the second body;
a second gear attached to the first body and meshed with the first gear; and
a spring having a first end attached to the second gear and a second end attached to the first body,
wherein the gearing includes:
a first motor mounted on the first body;
a first driving gear configured to be rotated by the first motor; and
a first driven gear connected to the second body or a shaft about which the second body tilts,
wherein the first gear and the second gear are spaced apart from the tilting axis,
wherein the second gear is configured to be engaged with the first gear between the tilting axis and the first gear, and
wherein a distance between a rotation axis of the second gear and the tilting axis is smaller than a distance between the tilting axis and the first gear.
14. The robot according to claim 13 , wherein the first gear is an internal sector gear configured to be stationary with respect to the second body, and the second gear is configured to rotate with respect to the first body.
15. The robot according to claim 14 , wherein a rotation axis of the second gear is parallel to an axis about which the second body tilts.
16. The robot according to claim 15 , wherein the rotation axis of the second gear is higher than the axis about which the second body tilts.
17. The robot according to claim 16 , further comprising an interface provided on the second body, wherein the interface is configured to output information.
18. The robot according to 13 , wherein the second body includes a cavity to receive the first gear and the second gear.