KR101961376B1 - Robot for Communication - Google Patents

Abstract

The communication robot according to the present invention includes a supporting body disposed on the lower side, a tilting body supported on the supporting body so as to be able to tilt, and an upper body supported on the tilting body to output an image.

Description

Communication Robot {Robot for Communication}

The present invention relates to a communication robot for informing a user of information.

Internet of Things (IoT) is an intelligent technology and service that connects objects based on the Internet and communicates information between people, things, things and things.

The technologies for implementing the Internet of things include 'sensing technology' for sensing information by sensing the surroundings (object or environment), 'network technology' for connecting objects to the Internet, and 'service interface technology' for processing information .

Mutual information communication between objects and objects means that devices connected to the Internet communicate with each other without any human intervention.

On the other hand, mutual information communication between people and objects requires means by which objects give information to human beings. To this end, visual or auditory means that can be perceived by humans are utilized. In addition, communication robots capable of mutual information communication with people are being developed.

It is a known fact that the role of gesture or eye contact is great in communication between people and people. However, in communication between people and objects, when a communication robot provides visual or auditory information to a user, there is no action such as an operation to actively direct the output direction to a user and an operation such as a gesture, There is a problem in that it can not be efficiently ventilated. The first problem is solving this problem.

In order to solve the first problem, if communication robots are implemented with complicated multi-level motions of the same level as humans, there is a problem that the production costs and product prices are increased and the possibility of practical use is lowered. The second problem is solving this problem and realizing the overall operation mechanism of the cost effective communication robot.

A third object of the present invention is to diversify the operation pattern and the operation direction of the communication robot with a minimum number of driving units.

A fourth object of the present invention is to relate the image output direction of the display to the operation of the communication robot and effectively transmit visual information to the user.

A fifth object of the present invention is to provide a neat appearance and improve the durability of a product even in the course of operation of the communication robot.

A sixth object of the present invention is to increase the stability of the operation of the communication robot, reduce the risk of occurrence of danger such as rollover, and guide the operation stably.

A seventh object of the present invention is to implement an operation mechanism that stably transmits rotational force to each component and minimizes local stress on a specific component.

An eighth object of the present invention is to remotely control a peripheral device of a communication robot conveniently.

In order to solve the first to third problems, the communication robot according to the present invention comprises a support body disposed on the lower side, a tilting body supported on the support body so as to be able to tilt, And an upper body for outputting an image.

In order to solve the first to third problems, the support body may include a lower body disposed on the lower side and a spin body supported on the lower body so as to be rotatable about a spin rotation axis extending in the vertical direction . The tilting body can be supported on the spin body in an inclined motion.

In order to solve the fourth problem, the communication robot may include a direction sensor for sensing a direction of a user with respect to the communication robot. The communication robot controls the spin body to rotate so that the image output direction of the upper body is the direction of the user detected by the direction sensor, and at least one of the tilting body and the upper body is tilted And a control unit for controlling the control unit.

In order to solve the fifth problem, the lower body may include a lower case that forms an outer appearance along the periphery of the support body. The tilting body may include a tilting case that forms an outer appearance along the periphery of the tilting body. The outer surface of one portion of one of the lower case and the tilting case may be overlapped with the inner surface of another portion.

The tilting body may be rotated around a tilting rotary shaft to be tilted. In order to solve the fifth problem, even if the tilting body rotates about the spin rotation axis and is arranged so as to face in any direction, on the cross section perpendicular to the tilting rotation axis, the superimposed outer and inner surfaces, As shown in FIG.

In order to solve the second problem, the communication robot may include a spin driven gear fixed to one of the lower body and the spin body and forming a gear along a circumferential direction about the spin rotation axis have. The communication robot may include a spin driven gear that rotates about a rotation axis fixed to the other of the lower body and the spin body and forms a gear for meshing with the gear of the spin driven gear.

In order to solve the fourth problem, the communication robot may include a direction sensor for sensing a direction of a user with respect to the communication robot. The communication robot may further include a controller for controlling at least one of the tilting body and the upper body to be tilted so that the image output direction of the upper body may be the direction of the user detected by the direction detection sensor have.

In order to solve the third problem, the tilting body may be inclined upward relative to the lower portion, and the upper body may be disposed on the upper portion of the tilting body.

In order to solve the fourth problem, when at least one of the tilting body and the upper body is tilted, the image output direction of the upper body may be changed in the vertical direction.

In order to solve the second and third problems, the tilting body is tilted about the tilting rotary shaft to be tilted, and the upper body is rotated about the upper rotary axis different from the tilting rotary shaft to be tilted have.

In order to solve the fourth problem, at least one of the tilting rotary shaft and the upper rotary shaft may extend in a direction transverse to the image output direction of the upper body.

In order to solve the third problem, the tilting rotary shaft is arranged on a virtual first horizontal plane, and the upper rotary shaft is arranged on a virtual second horizontal plane arranged on the upper side of the first horizontal plane .

In order to solve the third and fourth problems, the tilting rotary shaft and the upper rotary shaft may be arranged parallel to each other.

In order to solve the second and third problems, the communication robot may include a tilting shaft supported by the support body and an upper shaft supported by the tilting body. The tilting body may be tilted by rotating about the tilting shaft, and the upper body may be tilted by rotating about the upper shaft.

In order to solve the second and third problems, the tilting body includes a tilting base fixed to the tilting shaft, a centrifugal extension part having one end fixed to the tilting base and extending in a direction away from the central axis of the tilting shaft, And an upper base fixed to the other end of the centrifugal extension and supporting the upper shaft.

In order to solve the seventh problem, the communication robot may include a tilting case fixed to both ends of the tilting shaft and connected to both ends of the upper shaft and tilting integrally with the tilting body.

In order to solve the fifth problem, the supporting body includes a lower case forming an outer appearance along the periphery of the supporting body, and the tilting body includes a tilting case forming an outer appearance along the periphery of the tilting body The outer surface of one portion of one of the lower case and the tilting case may be overlapped with the inner surface of another portion.

The upper body may be disposed on the upper side of the tilting body. In order to solve the sixth problem, when the tilting body tilts forward and backward, the front surface of the middle portion of the tilting body includes a recessed portion rearward in a state where the tilting body is tilted forward to the maximum The rear surface of the middle portion of the tilting body may include a forwardly recessed portion in a state where the tilting body is inclined to the rear side to the maximum.

In order to solve the second and third problems, the communication robot may include an upper shaft supported by the tilting body. Also, the upper body may be tilted by rotating about the upper shaft. The upper body includes an upper case forming an outer appearance of the upper body, and the tilting body may include a tilting case forming an outer appearance of the tilting body. The upper shaft may include two connecting members disposed at one end and the other end of the upper shaft, respectively. Each of the two connecting members is fixedly coupled to the upper case and is rotatably coupled with the tilting case.

In order to solve the fifth problem, an outer surface of a part of the upper case may be provided so as to overlap an inner surface of a part of the tilting case.

In order to solve the second, third and seventh problems, the connecting member includes a tilting case connecting portion extending through the upper case and extending in an inner side direction of the tilting case, And an upper case fixing portion extending in a direction away from the upper case fixing portion.

In order to solve the eighth aspect, the communication robot may include a remote control module disposed in the upper body and transmitting an optical signal for controlling a predetermined peripheral device.

The communication robot provides an efficient structure for outputting visual information and performing motion at the same time, thereby giving the communication robot the feeling of being like a living creature. That is, it has an effect of adding emotional elements in the communication process between the user and the communication robot.

There is an effect of efficiently recognizing the image output contents of the upper body to the user by providing a structure in which various motions can be performed. Further, the communication robots can strongly attract the user's attention in the process of transmitting information, and can strongly imprint the memory of the information to the user.

There is an effect that the concentration of the user on the communication robot can be increased by changing the image output direction to a specific direction toward the user. Through the operation of the spin body, the image output direction can be changed so as to face the position of the user on the horizontal plane. Also, the tilting body or the upper body may be tilted so that the image output direction is vertically changed so as to face the user's face position on the vertical line.

The tilting rotary shaft and the upper rotary shaft are disposed in parallel with each other so that the display can be moved closer and farther from the user while maintaining the image output direction in a specific direction toward the user. There is an effect that a predetermined motion can be implemented while maintaining a good angle for the user to recognize the information.

By arranging the tilting rotary shaft and the upper rotary shaft in parallel with each other, there is an effect that the range in which the image output direction can be rotated up and down becomes large.

The operation of the spinning body, the operation of the tilting body, and the operation of the upper body can be realized independently and also can be implemented in a complex manner, thereby diversifying the operation with the minimum number of driving parts. In addition, the image output direction can be varied, and the image output position can be varied to enable dynamic motion with minimum operation.

The outer surface of the communication robot can be seamlessly connected even when the tilting body is tilted or the spin body performs a spin operation by being overlapped with a part of the tilting case and a part of the lower case, It has the effect of creating a neat appearance and protecting internal parts.

The outer surface and the inner surface of the lower case and the tilting case are overlapped to have a radius of curvature about the tilting rotary shaft on a section perpendicular to the tilting rotary shaft, Is guided by the superimposed outer and inner surfaces. In addition, rotation of the tilting body around the tilting rotary shaft is not disturbed by the superimposed outer and inner surfaces. Further, even when the spin body rotates with respect to the lower body, the rotation of the spin body is guided by the superimposed outer and inner surfaces.

Also, the possibility of overturning, which may be caused by an inertial force generated in a direction in which the upper portion of the tilting case is tilted, occurs when the tilting motion of the tilting body occurs through the outer surface shape of the tilting case. Also, there is an effect of reducing the risk of overturning caused by the movement of the center of gravity in a state where the tilting body is inclined to the maximum.

There is an effect that the direction of the optical signal irradiation of the remote control module can be changed according to the direction of the peripheral device in accordance with the operation of the communication robot through the remote control module disposed in the upper body.

1 illustrates a network system in accordance with an embodiment of the present invention.
2 illustrates a network system according to another embodiment of the present invention.
3 is a block diagram showing functions of the communication robot 1 according to an embodiment of the present invention.
4 is a perspective view showing the communication robot 1 according to an embodiment of the present invention.
5 is an elevational view of the communication robot 1 of Fig. 4 as seen from the rear side.
Fig. 6 is an elevational view of the communication robot 1 of Fig. 4 as seen from the left side.
Fig. 7 is an elevational view of the communication robot 1 of Fig. 4 viewed from the front. Fig.
Fig. 8 is a cross-sectional view of the communication robot 1 of Fig. 7 taken along the line A1-A1 ';
9 is a cross-sectional view of the communication robot 1 of Fig. 8 taken along line A2-A2 '.
10 is an exploded perspective view of the communication robot 1 of Fig.
11 is a perspective view showing the lower body 100 of FIG.
12 is an exploded perspective view of the lower body 100 of FIG.
13 is a perspective view showing an assembly of the spin body 200, the tilting shaft 350, the tilting frame 310, the upper shaft 450 and the upper frame 420 of FIG.
14 is a perspective view of the spin body 200 of FIG.
FIG. 15 is a perspective view showing an assembly of the tilting shaft 350, the tilting frame 310, the upper shaft 450, and the upper frame 420 shown in FIG.
Figure 16 is an exploded perspective view of the assembly of Figure 15;
17 is a perspective view showing the tilting rear case 330 of FIG.
FIG. 18 is a perspective view showing an assembly of the tilting front case 320, the upper case 410, and the connecting member 460 of FIG.
Figure 19 is an exploded perspective view of the assembly of Figure 18;
20 is a cross-sectional perspective view of the communication robot 1 of FIG. 6 cut horizontally along the line B1-B1 ', showing the mechanism by which the spin body 200 is rotated by driving the spin driving unit 140. FIG.
Fig. 21 is an elevational view seen from the left side of the communication robot 1 of Fig. 4, showing a state in which the tilting body 300 is not tilted but standing upright.
Figs. 21, 22A and 22B are elevational views of the communication robot 1 of Fig. 4 as viewed from the left side. When the tilting drive unit 250 drives the tilting body 300 to rotate around the tilting rotary axis Ot Fig. 22A shows a state in which the tilting body 300 is tilted forward (in a counterclockwise direction), FIG. 22B shows a state in which the tilting body 300 is tilted And shows a state of being inclined rearward (clockwise rotation).
Fig. 21, Fig. 23A and Fig. 23B are elevational views of the communication robot 1 of Fig. 4 as viewed from the left side. When the upper drive unit 340 is driven to rotate the upper body 400 about the upper rotation axis Ou Fig. 23A shows a state in which the upper body 400 is inclined downward (in a counterclockwise direction), FIG. 23B shows a state in which the upper body 400 is inclined downward And shows a state of being tilted upward (rotated clockwise).
Expressions indicating directions such as " front / rear / left / right / upper / lower " referred to below are referred to as front (F), rear (R), left (Le) (R), phase (U), and bottom (D), but this is for the purpose of clarifying the present invention only and the directions are defined differently depending on where the reference is placed Of course it is possible.

The term "first, second, third, or the like" preceding the term of the components mentioned below is intended only to avoid confusion of the referred components, and it is to be understood that the order, It is irrelevant to the mainstream relationship. For example, a communication robot including only the second component without the first component can be implemented.

Refers to the circumferential direction around the spin rotation axis Os and the term " centrifugal direction " means the direction away from the spin rotation axis Os, and the term " Os). The "circumferential direction", "centrifugal direction", and "centrifugal opposite direction" as used herein are based on the condition that the tilting body 300 is not tilted and standing upright.

Hereinafter, the predetermined network will be described by taking a home network as an example, but it is not necessarily limited thereto.

1 illustrates a home network system according to an embodiment of the present invention.

Referring to FIG. 1, a home network system according to an embodiment of the present invention includes an accessory 2, 3a, 3b, a gateway 4, A router (Access Point) 7, and a communication robot (hub robot) 1. In addition, the home network system may further include a server 8 and a terminal 6.

The network may be constructed based on technologies such as Wi-Fi, Ethernet, zigbee, z-wave, bluetooth, and the like. The accessories 2, 3a, and 3b, the gateway 4, the router 7, and the communication robot 1 may include a communication module connectable to the network according to a predetermined communication protocol.

Depending on the configuration of the network, a communication module included in each of the devices (2, 3a, 3b, 4, 7, 1) constituting the network system is determined. It is also possible for the apparatus to have a plurality of communication modules according to the communication method between the apparatus and the network or between the apparatuses.

The accessory 2, 3a, 3b comprises at least one communication module for connection with the network. The communication module communicates with a predetermined network.

The accessory (2,3a, 3b) may comprise a sensor module for sensing a predetermined circumstance. The accessory (2,3a, 3b) may include a control module that performs a specific function that affects the surrounding environment. The accessory (2,3a, 3b) may include a remote control module for transmitting an optical signal (for example, an infrared signal) for controlling a predetermined peripheral device.

The accessory (2,3a, 3b) with the sensor module can be used as an air sensor, a humidity sensor, a temperature sensor, a radiation sensor, a heat sensor, a gas sensor, an air quality sensor, , A sleep sensor (eg, attached to a user's pajamas or underwear and sensing cocolei, apnea, and cockpit while the user is sleeping), proximity sensor, illuminance sensor, acceleration sensor, magnetic sensor, gravity sensor, gyroscope sensor, An image sensor, a motion sensor, an RGB sensor, an infrared sensor, an ultrasonic sensor, a remote sensing sensor, an SAR, a radar, an optical sensor (for example, an image sensor, an image sensor) .

The accessory (2, 3a, 3b) with the control module is provided with smart lighting for controlling the lighting, a smart plug for controlling the application and the degree of the power supply, a smart temperature regulator for controlling the operation and intensity of the boiler or the air conditioner , And a smart gas lock that controls whether or not the gas is shut off.

The accessories (2,3a, 3b) having a remote control module include an infrared LED or the like that emits an infrared (IR) signal to a remotely controllable household appliance or the like.

The accessories (for example, 3a and 3b) can be installed only for the purpose set to perform a predetermined performance. For example, the accessory 3a is a video camera and the accessory 3b is a smart plug.

The accessory 2 according to an embodiment of the present invention may be provided so as to be installed at any position desired by the user. Further, it can be provided so as to be utilized for various purposes. For example, the accessory 2 may be attached to an external object such as a household appliance, a door, a window or a wall.

The gateway 4 mediates communication between the one or more accessory 2, 3b and the router 7. The gateway 4 communicates wirelessly with the accessory 2. The gateway 4 communicates with the router 7 by wire or wirelessly. For example, the communication between the gateway 4 and the router 7 may be based on Ethernet or wi-fi.

The router 7 may be connected to the server 8 via wired or wireless communication. The server 8 is connectable via the Internet. And can communicate with the server 8 through various terminals 6 connected to the Internet. The terminal 6 may be a mobile terminal such as a PC (personal computer) or a smart phone.

The accessory 2, 3b may be provided for communicating with the gateway 4. As another example, the accessory 3a may be provided to communicate directly with the router 7 without going through the gateway 4.

The router 7 may be provided to directly communicate with the accessory 3a or other device 5 equipped with the communication module without going through the gateway 4. [ These devices 5 and 3a are preferably equipped with a Wi-Fi communication module so that they can communicate directly with the router 7 without passing through the gateway 4.

The communication robot 1 may be connected to the router 7 via a wired (e.g., Ethernet) or wireless (e.g., wi-fi) communication. Communication between the communication robot 1 and the accessories 2 and 3b can be performed via the gateway 4 and the router 7 and communication between the communication robot 1 and the accessories 3 ) Or other devices (5) can be communicated with each other.

Specifically, a signal transmitted from the accessory 2 or 3b can be transmitted to the communication robot 1 via the gateway 4 and the router 7 in turn, and the signal transmitted from the communication robot 1 can be transmitted to the router 7 and the gateway 4 in that order to the accessory 2, 3b. As another example, a signal transmitted from the accessory 3a or other device 5 can be transmitted to the communication robot 1 via the router 7, and the signal transmitted from the communication robot 1 is transmitted to the router 7, To the accessory (3a) or other device (5).

For example, information acquired by the sensor module of the accessory 2, 3a, 3b may be transmitted to the server 8, the terminal 6, or the communication robot 1 via the network. It is also possible that a signal for controlling the sensor module, the control module or the remote control module from the server 8, the communication robot 1 or the terminal 6 is transmitted to the accessory 2. The transmission of such a signal is made via the gateway 4 and / or the router 7.

The communication between the accessory 2, 3a, 3b and the communication robot 1 can be performed by only the gateway 4 and the router 7. For example, even when the home network is disconnected from an external communication network such as the Internet, communication between the accessory 2, 3a, 3b and the communication robot 1 is possible.

Information transmitted from the communication robot 1 or the accessory 2 can be stored in the server 8 when the communication robot 1 is connected to the server 8 via the router 7. [ The information stored in the server 8 can be received by the terminal 6 connected to the server 8.

Information transmitted from the terminal 6 can also be transmitted to the communication robot 1 or the accessory 2 via the server 8. A smart phone, which is a widely used terminal, provides a convenient UI based on a graphic. Therefore, it is possible to control the communication robot 1 and / or the accessory 2 via the UI, or to control the communication robot 1, And / or the information received from the accessory 2 can be processed and displayed. In addition, by updating the application installed in the smartphone, functions that can be implemented through the communication robot 1 and / or the accessory 2 can be extended.

Although not shown in the figure, the communication robot 1 and the terminal 6 can directly communicate with each other regardless of the server 8. For example, the communication robot 1 and the terminal 6 can directly communicate with each other by using the Blue-Tooth method.

On the other hand, it is also possible to control the accessory 2 or process and display the information received from the accessory 2 without using the terminal 6 alone.

The communication robot (1) includes an input unit (50) for receiving a command for controlling the communication robot (1). The input unit 50 may receive a command for controlling the accessory 2. [ The input unit 50 may include a switch 15 or a touch-type display. The input unit 50 may include a microphone 432. When the communication robot 1 is provided with the microphone 432, the control unit 20 of the communication robot 1 can recognize the user's voice inputted through the microphone 432 and extract the instruction.

2 illustrates a home network system according to another embodiment of the present invention.

The home network system according to another embodiment of the present invention is different from the above embodiment in that the gateway 4 is not provided and the function that the gateway 4 performs is the communication robot 1, And the other features are substantially the same as in the case of the above-described embodiment.

Referring to FIG. 3, the functional configuration of the communication robot 1 will be described below.

The communication robot 1 may include a control unit 20 for controlling at least one function of the communication robot 1. [ Of course, the control unit 20 may be provided in the server 8 or the terminal 6, and in this case, the present invention can be implemented using a network.

 The communication robot 1 may include a communication module 31 for communicating with a predetermined network. The communication module 31 may include a Wi-Fi module, a Bluetooth module, an occupancy module, a geo-wave module, and the like. The communication module 31 may vary depending on what type of communication method of a device to directly communicate.

The communication module 31 communicates with a predetermined network. Communication of the communication module 31 with a predetermined network means that the communication module 31 is connected to the router 7, the gateway 4, the accessories 2, 3a and 3b, the server 8 and the terminal 6). ≪ / RTI >

The information obtained from the input unit 50 through the communication module 31 can be transmitted over the network. The output unit 40, the driving unit 60 or the remote control module 33 can be controlled based on the received information by the communication robot 31 via the communication module 31 have.

The communication robot 1 may include a storage unit 36 for storing information acquired through the drive sensing unit 70. [ The storage unit 36 may store information received from the network N through the communication module 31. [ The storage unit 36 may store instructions from the input unit 50. [

The communication robot 1 includes a power supply device 38 for supplying power to each configuration. The power supply 38 may include a battery 439. The battery 439 may be provided for charging. The power supply unit 38 may include a power connection unit 133 capable of connecting an external wired power cable. The power connection 133 may be implemented as a socket. The power supply 38 may include a wireless charging module 141, 143 that can charge the battery 439. The wireless charging modules 141 and 143 may include a wireless charging unit 143 for sending the wireless charging coil 1 electricity to the battery 439.

The communication robot 1 includes an output unit 40 for informing a user of information. The output unit 40 includes a display 401 for visually outputting information. The output unit 40 may include a speaker 406 that outputs information audibly.

The communication robot 1 includes an input unit 50 through which a user can directly input an instruction or the like without passing through the communication module 31. [

The input unit 50 may include a switch 15. The switch 15 may include a power switch for turning on / off the power supply of the communication robot 1. [ The switch 15 may include a function switch for setting the function of the communication robot 1, pairing with a predetermined network, or pairing with the terminal 6. [ It is possible to set various commands to be given to the communication robot 1 through a combination of the pressing time of the function switch and / or the number of continuous pressing times. The switch 15 may include a reset switch that can reset a predetermined setting of the communication robot 1. [ The switch 15 may include a sleep switch for switching the communication robot 1 to a power-saving state or a non-power-saving state.

The input unit 50 includes a camera 12 for sensing an external visual image. The camera 12 may acquire an image for recognizing the user. The camera 12 may acquire an image for recognizing the direction of the user. The image information acquired by the camera 12 may be stored in the storage unit 36. [

The input unit 50 includes a microphone 432 for sensing an external sound. In order to recognize the position of the sound source, the input unit 50 may include a plurality of microphones 432. The sound source can be the position of the user's face. The input unit 50 may include three microphones 432a, 432b, and 432c for recognizing the position of a sound source on a plane. The input unit 50 may include four microphones 432a, 432b, 432c, and 432d for recognizing the position of a sound source in space. The sound information obtained by the microphone 432 or the location information of the user may be stored in the storage unit 36. [

The communication robot 1 may include a direction sensor (not shown) for sensing the direction of the user with respect to the communication robot 1. [ The direction sensor may include a camera 12 and / or a plurality of microphones 432.

The communication robot 1 may include a remote control module 33 for transmitting an optical signal (for example, an infrared signal) for controlling a predetermined peripheral device. 'Peripheral device' means a peripheral device capable of remote control. For example, the predetermined peripheral device is a washing machine, a refrigerator, an air conditioner, a robot cleaner, a TV, etc., which can be controlled by a remote controller. The remote control module 33 may include a light emitting unit (not shown) that emits a predetermined optical signal for controlling a predetermined peripheral device. For example, the light emitting unit may be an LED that emits infrared rays. The direction in which the remote control module 33 irradiates the optical signal can be changed according to the operation of the communication robot 1. [ Accordingly, the optical signal irradiation direction of the remote control module 33 can be changed in the direction of the specific device requiring the remote control, and the specific device can be controlled by the optical signal.

The communication robot 1 includes a driving unit 60 for performing motion. The communication robot 1 performs the motion with the output contents of the display 401 of the communication robot 1 or the output contents of the speaker 406 to give the living creature the same feeling. The motion of the communication robot 1 by the driving unit 60 is effective for the user to efficiently output contents of the output unit 40 to the user as if the role of the gesture (motion) As shown in FIG. The motion of the communication robot 1 by the driving unit 60 is for adding emotional elements in the communication process between the user and the communication robot 1. [

The driving unit 60 may include a plurality of driving units 140, 250, and 340. The plurality of drivers 140, 250, and 340 may be independently driven or simultaneously driven to enable complex motion.

The driving unit 60 includes a spin driving unit 140 that provides power to rotate the spin body 200 about the spin rotation axis Os extending in the vertical direction with respect to the lower body 100.

The driving unit 60 includes a tilting driving unit 250 that provides power to the supporting bodies 100 and 200 so that the tilting body 300 tilts to one side. The tilting drive unit 250 can provide power to rotate the tilting body 300 about the tilting rotational axis Ot. The tilt driving unit 250 can be rotated about the spin rotation axis Os by the spin driving unit 140. [

The driving unit 60 includes an upper driving unit 340 that provides power to tilt the upper body 400 to one side with respect to the tilting body. The upper driving unit 340 can provide power to rotate the upper body 400 around the upper rotational axis Ou. The upper driving unit 340 can be rotated about the spin rotation axis Os by the spin driving unit 140. [ The upper driving unit 340 can be rotated about the tilting rotary shaft Ot by the tilting driving unit 250. [

The communication robot 1 includes a drive sensing unit 70 capable of sensing the current motion state of the driving unit 60. [ The drive sensing unit 70 includes a spin angle sensing unit 106 that senses an angle of rotation of the upper portion (spin body 200) with respect to the lower portion (lower body 100) about the spin rotation axis Os, . The drive sensing unit 70 includes a tilting angle sensing unit 218 for sensing an angle (tilted angle) of the rotation of the upper portion 308 with respect to the lower portion 306 about the tilting rotary axis Ot . The drive sensing unit 70 includes an upper rotation angle sensing unit 408 sensing an angle (an inclined angle) of rotation of the upper body 400 about the upper rotation axis Ou.

The control unit 20 controls the communication module 31. The control unit 20 can control the communication module 31 based on the control information received from the input unit 50. [ The control unit 20 can control the communication module 31 to store the information received from the network in the storage unit 36. [ The control unit 20 can control the information stored in the storage unit 36 to be transmitted to the network through the communication module 31. [

The control unit 20 can receive control information from the input unit 50. [ The control unit 20 can control the output unit 40 to output predetermined information. The control unit 20 can control the driving unit 60 to operate together with the information output of the output unit 40. [

For example, the control unit 20 recognizes who the user is based on the image acquired by the camera 12, and can operate the output unit 40 and the driving unit 60 based on the recognition. If the recognized user matches the preset user, the control unit 20 displays an image smile on the display 401 and operates the tilting drive unit 60 to tilt the tilting body 300 back and forth (or to the left and right) . In this case, it is also possible to operate the upper body 400 simultaneously in the forward and backward directions. Further, the upper body 400 may be rotated such that the image output direction is continuously directed to the user's face while the upper body 400 rotates in a direction opposite to the direction in which the tilting body 300 is rotated.

As another example, the control unit 20 may recognize the face position of the user based on the direction detection sensor, and operate the output unit 40 and the driving unit 60 based on the recognition result. The control unit 20 displays predetermined information on the display 401 and operates the spin driving unit 60 to operate the display 401 to face the user's face. The control unit 20 can control the spin body 200 to rotate so that the image output direction of the upper body 400 is the direction of the user detected by the direction sensor. Thus, the image output direction can be changed in the left-right direction. The control unit 20 controls at least one of the tilting body 300 and the upper body 400 to be tilted so that the image output direction of the upper body 400 is the direction of the user detected by the direction detection sensor . Thus, the image output direction can be changed in the vertical direction. For example, the user can recognize the face position of the user on the spatial coordinate system through the four microphones 432a, 432b, 432c, and 432d, and the control unit 20 can recognize the image output direction of the upper body 400, It is possible to control the spin body 200 to be rotated and at least one of the tilting body 300 and the upper body 400 to be tilted.

The control unit 20 can control the operation of the driving unit 60 based on the control information received from the network through the communication module 31. [ The control unit 20 can control the driving unit 60 based on the control information received from the input unit 50. [ The control unit 20 can control the driving unit 60 based on the control information stored in the storage unit 36. [

Referring to Figs. 4 to 10, the overall structure of the communication robot 1 will be described below.

The communication robot 1 includes support bodies 100 and 200 arranged on the lower side. The support bodies 100 and 200 support the tilting body 300 in a rotatable manner. The support bodies 100, 200 can be placed on the outer bottom surface. The support bodies 100 and 200 include a lower body 100 disposed on the lower side and a spin body 200 supported on the lower body 100 so as to be rotatable about a spin rotation axis Os extending in the vertical direction .

The communication robot 1 includes a tilting body 300 which is supported by the support bodies 100 and 200 such that the upper portion 308 is inclined relative to the lower portion 306. [ The tilting body 200 is supported on the spin body 200 so as to be inclined. The tilting body 300 may be rotated around the tilting rotational axis Ot to implement the tilting motion.

The communication robot 1 includes an upper body 400 supported by a tilting body 300 and outputting an image. The upper body 400 is supported on the tilting body 300 so as to be inclined. The upper body 400 may be rotated about the upper rotation axis Ou to implement the tilting motion.

The tilting body 300 may be tilted in the left-right direction or tilted in the front-rear direction. The tilting body 300 can be rotated about the spin rotation axis Os together with the spin body 200. In this case, the tilting motion direction of the tilting body 300 can be changed.

The upper body 400 may be provided facing forward, but it is not limited thereto. The upper body 400 can be rotated about the spin rotation axis Os together with the spin body 200. In this case, the direction in which the upper body 400 is viewed can be changed. The upper body 400 can be inclined together with the tilting body 300, and in this case, the direction in which the upper body 400 is viewed can be changed.

The upper body 400 and the tilting body 300 rotate together with the spin body 200. Accordingly, the image output direction of the upper body 400 can be changed to be directed to the position of the user on the horizontal plane by the spin body 200.

The upper rotation axis Ou is different from the tilting rotation axis Ot. Thus, the communication robot 1 can perform more various motions.

At least one of the tilting rotary shaft Ot and the upper rotary shaft Ou extends in a direction transverse to the image output direction of the upper body 400. [ When the at least one of the tilting body 300 and the upper body 400 tilts, the image output direction of the upper body 400 is changed in the vertical direction.

For example, the upper body 400 can be rotated about the tilting rotary axis Ot with a rotation operation about the tilting rotary axis Ot of the tilting body 300. The tilting body 300 is inclined in the direction in which the upper body 400 is viewed and in the opposite direction. When the upper body 400 is viewed from the front, the tilting body is inclined in the forward and backward directions. The tilting operation of the tilting body 300 with respect to the supporting bodies 100 and 200 can change the vertical direction so that the image output direction of the upper body 400 faces the face position of the user on the vertical line.

As another example, the upper body 400 can be rotated around the upper rotational axis Ou. The upper body 400 is rotated about the upper rotation axis Ou so that the direction of the upper body 400 is changed in the vertical direction. The tilting operation of the upper body 400 with respect to the tilting body 300 can change the vertical direction so that the image output direction of the upper body 400 faces the face position of the user on the vertical line.

The tilting body 300 is provided so that the upper portion 308 is tiltable with respect to the lower portion 306. The upper body 400 is disposed on the upper portion 308 of the tilting body 300. As a result, the moving distance of the rotational motion around the tilting rotational axis Ot of the upper body 400 can be increased compared to the rotational angle of the rotational motion around the tilting rotational axis Ot of the tilting body 300 .

The tilting rotary shaft Ot may be disposed on the imaginary first horizontal plane. And the upper rotation axis Ou may be disposed on a virtual second horizontal plane disposed on the upper side of the first horizontal plane. Thus, there is an effect that the changeable range of the image output direction of the upper body 400 is widened without risk of overturning.

The tilting rotary shaft Ot and the upper rotary shaft Ou are arranged parallel to each other. When the tilting rotary shaft Ot and the upper rotary shaft Ou are parallel to each other, the following special operation becomes possible.

For example, the tilting body 300 may be rotated clockwise around the tilting rotary shaft Ot and the upper body 400 may be rotated counterclockwise about the upper rotary shaft Ou. Alternatively, the tilting body 300 may be rotated counterclockwise about the tilting rotary shaft Ot and the upper body 400 may be rotated clockwise about the upper rotary shaft Ou. This enables motion to move the display away from and away from the user while maintaining the image output direction in a specific direction toward the user.

As another example, the tilting body 300 may be rotated in the clockwise direction about the tilting rotary shaft Ot and the upper body 400 may be rotated in the clockwise direction about the upper rotary shaft Ou. Alternatively, the tilting body 300 may rotate in the counterclockwise direction about the tilting rotational axis Ot and the upper body 400 may rotate in the counterclockwise direction about the upper rotational axis Ou. Accordingly, the range in which the image output direction of the upper body 400 can be rotated up and down can be maximized.

Meanwhile, with the sound reproduction of music or the like coming from the speaker 406, the driving units of the present invention may be operated and the communication robot 1 may be controlled in a predetermined motion. In addition, if a specific sound such as music is detected by the microphone 432, the driving units of the present invention operate and the communication robot 1 may be controlled to perform a predetermined motion. This makes it possible to produce a feeling that the communication robot 1 is dancing.

Hereinafter, a description will be given on the basis of a situation in which the upper body 400 is disposed facing forward. The fact that the upper body 400 looks forward means that the upper body 400 sees one of the front, the front upward, and the front downward. In the present embodiment, the upper body 400 is disposed so as to face upward in the forward direction. The display 401 forms a downward sloped surface.

The spin body 200 is disposed on the upper side of the lower body 100. The tilting body 300 is disposed on the upper side of the support bodies 100 and 200. The tilting body 300 is disposed on the upper side of the spin body 200. The upper body 400 is disposed on the upper portion 308 of the tilting body 300.

The camera 12 is disposed on the upper side of the front face of the communication robot 1. [ A camera 12 is disposed on the front surface of the upper body 400. A camera 12 is disposed above the display 401. The camera 12 senses an image in the direction in which the display 401 is viewed.

A microphone hole 13 for detecting sound of a plurality of microphones 432 disposed inside the communication robot 1 is formed. A plurality of microphone holes 13a, 13b, 13c, and 13d may be formed. The first to fourth microphone holes 13a, 13b, 13c, and 13d are formed at positions corresponding to the first to fourth microphones 432a, 432b, 432c, and 432d, respectively. Two microphone holes 13a and 13b are arranged on the left and right of the display 401, respectively. Two microphone holes (13a, 13b) are formed on the front surface of the upper body (400). The other two microphone holes 13c and 13d are formed on the rear side of the communication robot 1 so as to be spaced apart from each other.

A plurality of microphones 432 are disposed apart from each other along the circumferential direction. A plurality of microphone holes (13) are disposed apart from each other along the circumferential direction. The number of the microphone 432 and the number of the microphone holes 13 need not be limited to the present embodiment.

The remote control module 33 is disposed in the upper body 400. The optical signal irradiation direction of the remote control module 33 may be provided in the front direction of the upper body 400. The remote control module 33 is disposed on the lower side of the display 401. The remote control module 33 may be disposed at a front portion of the upper body 400.

An exhaust port (not shown) may be formed on the outer surface of the communication robot 1. [ The exhaust port can be realized by a plurality of fine holes grouped together. A fan (not shown) may be disposed at a position inside the communication robot 1 corresponding to the exhaust port.

A hole (not shown) may be formed on the outer surface of the communication robot 1 to allow the sound of the speaker 406 to pass therethrough.

The switch 15 is disposed on the outer surface of the communication robot 1. [ The switch 15 may be disposed on the rear side of the communication robot 1. [

The communication robot 1 may include a light emitting portion 17 through which light irradiated by an LED or the like is transmitted. The light emitting portion 17 may be disposed at a position separate from the display 401. The light emitting portion 17 can be disposed on the front surface of the communication robot 1. [ The light emitting portion 17 may be disposed in the middle portion 307 of the tilting cases 320 and 330.

The communication robot 1 includes a case 130, 320, 330, The cases 130, 320, 330 and 410 form an appearance along the periphery of the communication robot 1. [

The support bodies 100 and 200 include a lower case 130 that forms an outer appearance along the perimeter of the support bodies 100 and 200. The lower body 100 includes a lower case 130 that forms an outer appearance along the periphery of the lower body 100. The tilting body 300 includes a tilting case 320, 330 that forms an outer appearance of the tilting body 300. The tilting cases 320 and 330 form an outer appearance along the circumference of the tilting body 300.

The lower case 130 includes a side surface portion 131 forming a peripheral surface. The side portion 131 of the lower case is formed to extend in the circumferential direction around the spin rotation axis Os. The side portion 131 of the lower case forms a surface away from the spin rotation axis Os toward the upper side on a virtual vertical section on which the spin rotation axis Os is disposed.

The lower case 130 includes a bottom portion 132 forming a bottom surface. A slip prevention part (not shown) for preventing slipping of the communication robot 1 may be disposed on the bottom part 132 of the lower case. The slip prevention part may be made of a material having a high frictional force such as a rubber material.

The tilting cases 320 and 330 include a lower portion 306 that forms a curved surface convex in the centrifugal direction. The tilting cases 320 and 330 include an intermediate portion 307 which forms a concave curved surface in a direction opposite to the centrifugal direction. The tilting cases 320 and 330 include an upper portion 308 which forms a curved surface convex in the centrifugal direction.

The tilting cases 320 and 330 form curved surfaces that are convex in the centrifugal direction at the lower portion 306 on the imaginary vertical section on which the spin rotation axis Os is disposed and curved surfaces that are recessed in the direction opposite to the centrifugal direction in the middle portion 307 And forms a convexly curved surface at the upper side portion 308 in the centrifugal direction. The largest value of the distance between the surface of the lower portion 306 and the spin rotation axis Os is larger than the largest value of the distance between the surface of the upper portion 308 and the spin rotation axis Os. The upper side of the upper portion 308 forms a convex curved surface upward.

The tilting cases 320 and 330 include a tilting front case 320 forming a front surface. The tilting cases 320 and 330 include a tilting rear case 330 forming a rear surface. The upper body 400 is disposed on the tilting front case 320.

In this embodiment, the spin body 200 does not have a case that forms the outer surface of the communication robot 1. [ The lower case 130 and the tilting cases 320 and 330 are disposed so as to overlap with each other and the spin body 200 is disposed in the inner space formed by the lower case 130 and the tilting cases 320 and 330.

The lower portions 306 of the tilting cases 320 and 330 are disposed to overlap with the lower case 130. The outer surface of one of the lower case 130 and the tilting case 320 or 330 is provided so as to overlap the inner surface of the other one of the lower case and the tilting case.

The overlapping outer surface 109 and inner surface 309 on the cross section perpendicular to the spin rotation axis Os may be formed concentrically. Even when the tilting cases 320 and 330 are rotated together with the spin body 200 about the spin rotation axis Os, the overlapping outer surface 109 and the inner surface (309) may be formed concentrically. The overlapping outer surface 109 and the inner surface 309 on the cross section perpendicular to the spin rotation axis Os concentrically form any state in which the tilting cases 320 and 330 are rotated about the tilting rotary axis Ot .

The spin body 200 and the tilting cases 320 and 330 are integrally rotated about the spin rotation axis Os. When the spin body 200 is rotated, portions of the outer surface 109 and the inner surface 309 facing each other move relative to each other.

The area where the outer surface 109 and the inner surface 309 overlap each other is changed as the tilting body 300 tilts. Specifically, when the tilting body 300 is tilted forward, the area where the outer surface 109 and the inner surface 309 overlap each other in the front portion of the communication robot 1 becomes large, The area where the outer surface 109 and the inner surface 309 overlap with each other becomes small. On the contrary, when the tilting body 300 is inclined rearward, the area where the outer surface 109 and the inner surface 309 overlap with each other at the rear portion of the communication robot 1 becomes large, The area where the outer surface 109 and the inner surface 309 overlap with each other becomes small.

On the section perpendicular to the tilting rotary axis Ot, the overlapping outer surface 109 and inner surface 309 have a radius of curvature centered on the tilting rotary axis Ot. The overlapping outer surface 109 and the inner surface 309 on the section perpendicular to the tilting rotary axis Ot are tilted on the tilting rotary axis Ot in any state that the tilting body 300 is rotated about the spin rotation axis Os, As shown in FIG. The rotation operation about the tilting rotational axis Ot of the tilting body 300 is guided by the overlapping outer surface 109 and inner surface 309. [

The outer surface 109 of one portion of the lower case 130 is overlapped with the inner surface 309 of one portion of the tilting cases 320 and 330 on a section perpendicular to the tilting rotary axis Ot Respectively.

The communication robot 1 may have a limit of tilting operation of the tilting body 300. [ For example, the tilting body 300 may be provided with a latching jaw (not shown) for contacting the upper end of the lower case 130 when the tilting body 300 is tilted to one side. As another example, when the tilting body 300 is tilted to one side, the lower ends of the tilting cases 320 and 330 may be in contact with each other (not shown).

The front surface of the middle portion 307 of the tilting body 300 includes a rearwardly recessed portion in a state where the tilting body 300 is tilted to the maximum by the limit. The rear surface of the intermediate portion 307 of the tilting body 300 includes a forwardly recessed portion in a state where the tilting body 300 is tilted to the maximum by the limit. Specifically, when the tilting body 300 is viewed from the left side, the front surface of the intermediate portion 307 of the tilting body 300 is inclined upward in the backward direction even when the tilting body 300 is tilted forward And includes depressed portions. When the tilting body 300 is viewed from the left side, the rear surface of the intermediate portion 307 of the tilting body 300 is inclined upward and forward, . The degree of depression of the depressed portion and the limit of the tilting operation can be provided so as to satisfy such conditions. Thereby, there is an effect of reducing the possibility of overturning which may be caused by the inertial force generated in the tilting direction of the upper portion 308 when the tilting operation is performed. Also, there is an effect of reducing the risk of overturning caused by the movement of the center of gravity in a state where the tilting body 300 is tilted to the maximum.

The construction of the lower body 100 will be described with reference to FIGS. 8 to 12. FIG.

The lower body 100 may be placed on the outer bottom surface. The lower body 100 rotatably supports the spin body 200.

The lower body 100 forms a core hole 100a forming a space extending in the vertical direction in the center portion. The core hole 100a is recessed from the upper side to the lower side of the lower body 100. The core hole 100a extends along the spin rotation axis Os.

The lower body 100 forms a spindle driven gear arrangement space 100b. The spindle driven gear arrangement space 100b is formed at the center of the lower body 100. [ The spin-driven gear arrangement space 100b and the core hole 100a are connected. The core hole 100a is disposed below the spin driven gear arrangement space 100b. And the spindle driven gear 241 is inserted and arranged in the spindle driven gear arrangement space 100b.

The lower body 100 includes a spin angle sensing unit 106 for sensing a rotation angle of the spin body 200 with respect to the lower body 100. The spin angle sensing unit 106 senses the rotation angle of the spin driven gear 241. The spin angle sensing unit 106 is disposed below the spin driven gear 241. The spin angle sensing unit 106 may be fixed to the spin driver support unit 150.

The lower case 130 forms a peripheral surface and a lower surface of the lower body 100. The lower case 130 is formed in a circular shape when viewed from above. The lower case 130 includes a side portion 131 forming a circumferential surface of the lower body 100. The lower case 130 includes a bottom portion 132 forming a bottom surface of the lower body 100. The lower case 130 forms a lower case inner space 130a. Various power supply units 38 may be disposed in the lower case inner space 130a.

The lower body 100 includes a weight member 110 that allows the center of gravity of the communication robot 1 to be maximally lower. The weight member 110 may be made of a material having a higher density than other members. The weight member 110 may be made of a metal material filled in the hollow member. The weight member 110 is disposed in the lower case inner space 130a. The weight member 110 is disposed above the bottom surface portion 132 of the lower case 130. The spin driver support portion 150 is disposed above the weight member 110. The weight member 110 includes a coupling portion 119 that engages with the spin driver support portion 150. The spin body supporting portion 160, the spin driving portion supporting portion 150, and the weight member 110 can be triple-fastened by a fastening member such as a screw.

A center hole 110a vertically penetrating the center portion of the weight member 110 is formed. The center hole 110a is connected to the core hole 100a. The center hole 110a is disposed below the core hole 100a. The center hole 110a is disposed on the spin rotation axis Os. The first bearing 261 is inserted into the center hole 110a. The circumferential surface defining the center hole 110a is disposed in contact with the first bearing 261. [

In the weight member 110, a spin motor arrangement space 110b in which the spin motor 141 is disposed is formed. The spin motor arrangement space 110b is formed at one side of the center hole 110a. The spin motor arrangement space 110b may be formed by recessing the upper surface of the weight member 110 downward.

The lower body 100 includes a spin driving part supporter 150 for supporting the spin driving part 140. The spin driver support portion 150 is disposed on the upper side of the weight member 110. The core hole 100a is formed at the center of the spin driver support portion 150. [ The second bearing 262 is inserted into the core hole 100a. The circumferential surface defining the core hole 100a is disposed in contact with the second bearing 262. [

The spindle driven gear arrangement space 100b is formed in the spin driver support portion 150. [ The spin drive support 150 includes a spin driven gear housing 151 that receives the spin driven gear 241. The spin-driven gear housing 151 includes a lower portion 151a that defines a lower surface of the spin-driven gear arrangement space 100b. The spin-driven gear housing 151 includes a side wall portion 151b that defines a peripheral surface of the spin-driven gear arrangement space 100b.

The spin driving part supporter 150 forms the spindle gear positioning space 150a in which the spin driven gear 145 is disposed. The spin drive support 150 includes a spin drive gear housing 155 that forms a spin transfer gear arrangement space 150a. The spindle gear housing 155 forms an opening in the direction in which the rotational axis of the spindle gear 145 extends and the spindle gear 145 is inserted through the opening of the spindle gear housing 155. The spin driven gear housing 155 is disposed on one side of the spin driven gear housing 151. The spindle gear housing 155 and the side wall 151b are formed with an exposure hole 150b for connecting the spindle drive gear arrangement space 100b and the spindle drive gear arrangement space 150a. The gear of the spin driven gear 145 is exposed in the spindle driven gear arrangement space 100b through the exposure hole 150b and the gear of the spin driven gear 241 and the gear of the spin driven gear 145 are engaged with each other have.

The spin drive support 150 includes a spin motor support 157 that provides a fixed end for supporting the spin motor 141. The spin motor support portion 157 is formed by protruding downward from the spin driven gear housing 151.

The lower body 100 includes a spin driving unit 140 that provides a driving force for rotating the spin body 200 relative to the lower body 100. The spin driving unit 140 includes a spin motor 141 fixed to the lower body 100. The spin body 200 is rotated by the driving force of the spin motor 141. The motor shaft of the spin motor 141 is horizontally protruded. The motor shaft of the spin motor 141 may be disposed in the spin motor arrangement space 100b of the weight member 110. [

The lower body 100 includes a spin driven gear 145 rotated by a spin motor 141. The spin driven gear 145 is rotated by a spin motor 141 about a rotation axis fixed to the lower body 100. The spin driving unit 140 includes a fixing bracket 147 for fixing the spin motor 141 to the lower body 100.

The spin driven gear 145 forms a gear that meshes with the spin driven gear 241. The rotational axis of the spin driven gear 145 may be arranged horizontally. The spin driven gear 145 may be a worm gear.

Specifically, the motor shaft of the spin motor 141 rotates and the belt wheel (belt pulley) 143a fixed to the motor shaft is rotated. As the belt wheel 143a is rotated, the belt wound around the belt wheel 143a (143b) transmits the rotational force to the other belt wheel (143c). The belt wheel 143c is fixed to the rotating shaft of the spin driven gear 145. When the belt wheel 143c is rotated, the spin driven gear 145 is rotated.

The spin motor support portion 157 includes a fastening portion 159 for engaging the weight member 110 and the spin body support portion 160.

The lower body 100 includes a spin body support portion 160 for rotatably supporting the spin body 200. The spin body support 160 is coupled to the third bearing 263. The spin body supporting portion 160 is disposed above the spin driving portion supporting portion 150. The spin driving part supporter 150 defines a part of the upper surface of the spin driven gear arrangement space 100b. The spindle driven gear arrangement space 100b is coupled to the spindle driven gear housing 151. [ The spin body support part 160 includes a coupling part 169 for coupling to the spin driving part support part 150.

The spin body supporting portion 160 is formed with a spin body through hole 160a penetrating the center portion vertically. The spin body support 160 includes a bearing support 161 extending along the circumferential direction. The bearing support portion 161 extends around the periphery of the spin body through hole 160a. The bearing support portion 161 is formed in a ring shape. The inner surface of the bearing support portion 161 is disposed in contact with the third bearing 263.

The structure of the spin body 200 will be described with reference to FIGS. 8, 9, 10, 13, and 14. FIG.

The spin body 200 is rotatably supported by the lower body 100. The spin body 200 is disposed on the upper side of the lower body 100. The spin body 200 is disposed below the tilting body 300. The spin body 200 is disposed between the lower body 100 and the tilting body 300.

The spin body 200 includes a core portion 234 extending along the spin rotation axis Os. The core portion 234 is accommodated in the lower body 100. The core portion 234 is formed protruding downward from the support frame 231. The core portion 234 is formed in a circular shape when viewed from the lower side. The core portion 234 is disposed through the center hole 110a, the core hole 100a, and the spin body through hole 160a.

Bearings 261, 262, and 263 interposed between the lower body 100 and the spin body 200 are provided. The first bearing 261 is disposed on the lower side of the core portion 234. The second bearing 262 is disposed above the first bearing. The third bearing 263 is disposed on the upper side of the core portion 234. The first bearing 261 is interposed between the core portion 234 and the weight member 110. The second bearing 262 is interposed between the core portion 234 and the spin driver support portion 150. The third bearing 263 is interposed between the core portion 234 and the spin body support portion 160. The bearings 261, 262 and 263 rotatably support the spin body 200.

The spin body 200 includes a spin driven gear 241 fixed to the spin body 200. The spin driven gear 241 forms a gear tooth along the circumferential direction around the spin rotation axis Os. The spin driven gear 241 has a hole formed at the center thereof. The spin driven gear 241 is disposed between the plurality of bearings 262, 263. The core portion 234 is disposed passing through the hole of the spin driven gear 241. The spin driven gear 241 is fixed to the core portion 234. When the spinning driven gear 241 rotates, the core portion 234 is rotated together. When the spin driven gear 145 rotates, the spin driven gear 241 connected to the spin driven gear 145 is rotated, and the spin body 200 is rotated with respect to the lower body 100.

As another example, the spindle driven gear is fixed to the lower body 100, and gear teeth can be formed along the circumferential direction about the spin rotation axis Os. In this case, the spin driven gear is rotated by a spin motor around a rotation axis fixed to the spin body 200, and forms a gear which meshes with the gear of the spin driven gear. In this case, the spin driver is disposed in the spin body 200.

The spin body 200 includes a support frame 231 fixed to the upper end of the core portion 234. The support frame 231 may be formed as a plate having a thickness in the vertical direction as a whole.

The spin body 200 includes a tilting shaft support portion 232 for supporting the tilting shaft 350. The tilting shaft support portion 232 may include a first tilting shaft support portion 232a and a second tilting shaft support portion 232b facing each other. The tilting shaft support portion 232 is fixed to the support frame 231. And the lower end of the tilting shaft support portion 232 is fixed to the upper surface of the support frame 231. [ The tilting shaft support portion 232 protrudes upward from the support frame 231. The tilting shaft support portion 232 may be formed in a plate shape that forms a thickness in the left-right direction. The tilting shaft support portion 232 is formed with a tilting shaft through hole 233 passing through the tilting rotary shaft Ot. The first tilting shaft support portion 232 has a first tilting shaft through hole 233a and the second tilting shaft support portion 232 has a second tilting shaft through hole 233b. The tilting shaft 350 is disposed to pass through the tilting shaft through hole 233.

The tilting bearing support portion 232 is provided with a tilting bearing 363 for rotatably supporting the tilting shaft 350. The tilting bearing support portion 363 is supported by the tilting shaft support portion 232 and the tilting shaft 350, . The tilting bearing 363 is disposed in the tilting shaft through hole 233. The first tilting shaft support portion 232 is provided with a first tilting bearing 363a and the second tilting shaft support portion 232 is provided with a second tilting bearing 363b and a third tilting bearing 363c.

The tilting angle sensing portion 218 is fixed to one side of the tilting shaft support portion 232. In this embodiment, the tilting angle sensing portion 218 is disposed on the upper side of the first tilting shaft support portion 232a. The tilting angle sensing unit 218 senses the rotation angle of the tilting shaft 350. The tilting angle sensing unit 218 may sense an angle at which the tilting body 300 rotates with respect to the spin body 200.

The spin body 200 includes a tilting motor support portion 235 for supporting the tilting motor 251. The tilting motor support portion 235 is fixed to the support frame 231. The tilting motor support portion 235 is fixed to the tilting shaft support portion 232. The tilting motor support portion 235 forms a space for accommodating the tilting driven gear 255 therein. A tilting shaft through hole 233 and a tilting driven gear 255 are accommodated in the tilting shaft through hole 233 and the tilting shaft 255 is inserted into the tilting shaft through hole 233, Exposed. The tilting motor support portion 235 is disposed on one side of the front and rear direction of the tilting shaft support portion 232. In this embodiment, the tilting motor support portion 235 is fixed to the second tilting shaft support portion 232b.

The spin body 200 includes a tilting driving unit 250 that provides a driving force to rotate the tilting body 300 with respect to the spin body 200. The tilting driving unit 250 includes a tilting motor 251 fixed to the spin body 200. The tilting body 300 rotates by the driving force of the tilting motor 251. The tilting body 300 receives the driving force of the tilting motor 251 to implement the tilting motion. The tilting motor shaft 253 of the tilting motor 251 can be extended in the vertical direction.

The spin body 200 includes a tilting driven gear 255 rotated by a tilting motor 251. The tilting spur gear 255 is rotated by a tilting motor 251 about a rotation axis 253 fixed to the spin body 200. The rotating shaft 253 of the tilting driven gear 255 may be a tilting motor shaft 253. Alternatively, the tilting spur gear 255 may be rotated by another gear or a belt coupled to the tilting motor shaft 253. In this case, the rotation axis of the tilting spur gear 255 is connected to the tilting motor shaft 253 Respectively.

The tilting spindle gear 255 is disposed on one side of the tilting shaft support portion 232. The tilting driven gear 255 is arranged to engage with the tilting driven gear 358. The tilting driven gear 255 forms a gear that meshes with the gear of the tilting driven gear 358. [ The tilting spur gear 255 may be a worm gear. The communication robot 1 may be provided with a motor PCB (not shown) for controlling at least one of the motors 141, 251, and 341.

The construction of the tilting body 300 will be described with reference to FIGS. 8 to 10, 13, and 15 to 19. FIG.

The tilting body 300 is rotatably supported by the support bodies 100 and 200. The tilting body 300 is rotatably supported by the spin body 200. The tilting body 300 is rotated about the tilting shaft 350 to be tilted. The range in which the tilting body 300 is rotatable with respect to the spin body 200 is limited within a predetermined angle. The tilting body 300 is disposed above the spin body 200. The tilting body 300 forms an inner space 300a. The inner space 300a is defined by the tilting cases 320 and 330. [ A tilting driving unit 250 and an upper driving unit 340 are disposed in the inner space 300a.

A tilting shaft 350 supported by the supporting bodies 100 and 200 is provided. The tilting shaft 350 is supported by the spin body 200. The tilting body 300 is rotated about the tilting shaft 350 to implement the tilting operation. The tilting shaft 350 is disposed along the tilting rotational axis Ot. The tilting shaft 350 is formed extending in the left-right direction. The tilting shaft 350 is supported by the tilting shaft support portion 232. The tilting shaft 350 is disposed through the tilting shaft support portion 232. The tilting frame 310 may constitute a part of the tilting shaft 350. Using the tilting bearings 363a, 363b, and 363c, the tilting shaft 350 is rotatably disposed with respect to the tilting shaft support portion 232. [

The tilting shaft 350 may be an assembly in which a plurality of parts are combined. The middle portion of the tilting shaft 350 is formed integrally with the tilting frame 310. The middle portion of the tilting shaft 350 is formed integrally with the tilting base 311. [ Different components are combined in the left-right direction of the lower portion of the tilting base 311 to implement the tilting shaft 350 as a whole. The middle portion of the tilting shaft 350 means a portion disposed between the two tilting shaft supports 232a and 232b.

The tilting shaft 350 includes two support parts 351 protruding from the tilting base 311 in the lateral direction. The support part 351 is a part for transmitting the load of the tilting shaft 350 to the spin body 200. The support part 351 is supported by the tilting shaft support part 232. The support part 351 is inserted into the tilting shaft through hole 233. A tilting bearing 363 is disposed in contact with the periphery of the support part 351. A first tilting bearing 363a is interposed between the first tilting shaft support portion 232a and one support portion 351. [ A second tilting bearing 363b is interposed between the second tilting shaft support portion 232b and the other support portion 351.

The tilting shaft 350 includes a sensing plate 352 coupled to a support part 351 on one side. The detection plate 352 is rotated integrally with the tilting shaft 350. [ The sensing plate 352 is disposed on one side of the tilting shaft support portion 232. The tilting angle sensing unit 218 senses the rotation of the sensing plate 352 and senses the rotation angle of the tilting body 300 with respect to the spin body 200.

The tilting shaft 350 includes a first end 353 coupled to one (right) support part 351. One end (left end) of the first end portion 353 is fixed to the right support portion 351 and the other end (right end) is fixed to the tilting cases 320 and 330. [ The first end portion 353 includes a connecting shaft portion 353c extending along the tilting rotational axis Ot. The first end portion 353 includes a tilting case fixing portion 353a formed at the right end of the connecting shaft portion 353c. The tilting case fixing portion 353a extends in the direction away from the tilting rotary shaft Ot around the connecting shaft portion 353c. When the tilting shaft 350 is rotated, rotational force is transmitted to the tilting cases 320 and 330 by the tilting case fixing portion 353a. The first end portion 353 includes a tilting frame fixing portion 353b formed at the left end of the connecting shaft portion 353c. The tilting frame fixing portion 353b is fixed to the support part 351. [ When the tilting shaft 350 is rotated, a rotational force is transmitted to the tilting frame 310 by the tilting frame fixing portion 353b.

The tilting shaft 350 includes a gear shaft part 354 to which the tilting driven gear 358 is fixed. The tilting driven gear 358 forms a gear that meshes with the gear of the tilting driven gear 255. [ The gear of the tilting driven gear 358 is formed along the periphery of the gear shaft part 354 about the tilting rotational axis Ot. One end of the gear shaft part 354 is fixed to the left support part 351 and the other end is fixed to the second end part 355. The gear shaft part 354 includes a tilting frame fixing part 354a formed at the right end and coupled to the support part 351. [ The gear shaft portion 354 includes a second end fixing portion 354b formed at the left end and coupled to the second end portion 355. [ When the tilting driven gear 255 is rotated by the rotational force of the tilting driving unit 250, the rotational force is transmitted to the tilting shaft 350 by the tilting frame fixing unit 354a and the second end fixing unit 354b.

The gear shaft part 354 is inserted into the tilting shaft through hole 233b. A third tilting bearing 363c is interposed between the gear shaft part 354 and the tilting shaft support part 232b.

The tilting shaft 350 includes a second end 355 coupled to the gear shaft part 354. One end (right end) of the second end portion 355 is fixed to the left end of the gear shaft part 354 and the other end (left end) thereof is fixed to the tilting cases 320 and 330. The second end portion 355 includes a connecting shaft portion 355c extending along the tilting rotational axis Ot. The second end portion 355 includes a tilting case fixing portion 355a formed at the left end of the connecting shaft portion 355c. The tilting case fixing portion 355a extends in the direction away from the tilting rotary shaft Ot around the connecting shaft portion 355c. When the tilting shaft 350 is rotated, the rotational force is transmitted to the tilting cases 320 and 330 by the tilting case fixing portion 355a. The second end portion 355 includes a gear shaft fixing portion 355b formed at the right end of the connecting shaft portion 355c. The gear shaft fixing portion 355b is fixed to the support part 351. [

The tilting body 300 includes a tilting frame 310 that rotates integrally with the tilting shaft 350. The tilting frame 310 is supported by a tilting shaft 350.

The tilting frame 310 includes a tilting base 311 constituting a part of the tilting shaft 350. The tilting base 311 is disposed on the lower side of the tilting frame 310. The tilting base 311 is fixed to the tilting shaft 350.

The tilting frame 310 includes a centrifugal extension 314 protruding from the tilting base 311. The centrifugal extension 314 extends in a direction away from the tilting rotary axis Ot. The centrifugal extension portion 314 protrudes upward from the tilting base 311. One end (lower end) of the centrifugal extension 314 is fixed to the tilting base 311 and extends in a direction away from the center axis Ot of the tilting shaft 350. [ The centrifugal extension 314 may be formed in a cylindrical shape.

The tilting frame 310 includes an upper base 317 fixed to the other end (upper end) of the centrifugal extension 314. The upper base 317 is disposed at the opposite end of the centrifugal extension 314 on the side farther from the tilting rotary shaft Ot. The upper base 317 supports the upper shaft 450.

The upper base 317 includes an upper shaft supporting portion 317a for rotatably supporting the upper shaft 450. [ The upper shaft support portion 317a is formed so as to protrude upward from the upper base 317. [ The upper base 317 is protruded in a direction away from the tilting rotary shaft Ot. The upper shaft supporting portion 317a is formed with an upper shaft through hole 317c through which the upper shaft 450 passes. The upper shaft through hole 317c passes through the upper shaft supporting portion 317a in the left-right direction. And two upper shaft support portions 317a1 and 317a2 spaced apart from each other in the left-right direction. The upper shaft support 317a is provided with an upper shaft bearing 317b. The upper shaft bearing 317b is interposed between the upper shaft supporting portion 317a and the through hole inserting portions 420b and 420c of the upper frame 420. [

The tilting body 300 includes an upper driving part 340 that provides a driving force to rotate the upper body 400 with respect to the tilting body 300. The upper driving unit 340 includes an upper motor 341 fixed to the tilting body 300. The upper body 400 is rotated by the driving force of the upper motor 341. [ The motor shaft of the upper motor 341 is projected in the left-right direction. The upper motor 341 is fixed to the upper base 317. The upper base 317 includes an upper motor support portion 317d for supporting and fixing the upper motor 341. [ The upper motor 341 is disposed between the two upper shaft supporting portions 317a.

 The tilting body 300 includes a driven belt wheel 345 rotated by an upper motor 341. The main belt wheel 345 is rotated by the upper motor 341 about a rotation axis fixed to the tilting body 300. [

The motor shaft of the upper motor 341 is rotated and the main belt wheel 345 fixed to the motor shaft is rotated and the main belt wheel 345 is rotated to rotate the upper belt 346 wound on the main belt wheel 345, And transmits the rotational force to the driven belt wheel 441. [ The driven belt wheel 441 is fixed to the upper shaft 450. When the driven belt wheel 441 is rotated, the upper shaft 450 is rotated. That is, the upper shaft 450 is rotated by the upper motor 341.

The tilting body 300 may include a plurality of drivers 140, 250, and 340 or a battery 305 that supplies power to the display 401. The battery 305 may be fixed to the tilting frame 310.

The tilting body 300 includes a tilting case 320, 330 fixed to the tilting shaft 350. The tilting cases 320 and 330 form an outer appearance. The tilting cases 320 and 330 are fixed to both ends of the tilting shaft 350. The tilting cases 320 and 330 are connected to both ends of the upper shaft 450. The tilting cases 320 and 330 support both ends of the upper shaft 450 in a rotatable manner. The tilting cases 320 and 330 tilt integrally with the tilting body 300.

The tilting cases 320 and 330 include tilting shaft fixing portions 302a and 302b to which both end portions 353a and 355a of the tilting shaft 350 are fixed. The tilting cases 320 and 330 include a connecting member support portion 321 for rotatably supporting the connecting member 460. The connecting member supporting portion 321 may protrude from the inner surface of the tilting cases 320 and 330. The upper shaft 450 and the tilting cases 320 and 330 are rotatably connected to each other by the connecting member 460. [ The upper shaft 450 tilts together with the tilting frame 310 so that when the tilting frame 310 rotates around the tilting rotary axis Ot, both ends of the upper shaft 450 are tilted by the tilting cases 320 and 330, Thereby transmitting the rotational force of the tilting frame 310. [ When the upper shaft 450 rotates about the upper rotational axis Ou, the upper shaft 450 moves relative to the tilting cases 320 and 330 and the upper shaft 450 rotates relative to the tilting cases 320 and 330 Do not transmit torque.

The connecting member support portion 321 is disposed apart from the tilting shaft fixing portion 302. The connecting member support portion 321 is disposed apart from the tilting shaft fixing portion 302 in a direction away from the tilting rotary shaft Ot. Accordingly, when the tilting frame 310 rotates, the rotational force of the tilting frame 310 can be efficiently transmitted to the tilting cases 320 and 330.

An opening is formed on the upper side of the tilting front case 320. The opening portion is formed to penetrate the tilting front case 320 in the front-rear direction. The opening portion serves as an upper body seat portion 320a. The upper body seating portion 320a is formed in a circular shape.

The tilting front case 320 includes a display frame portion 327 for covering the periphery of the upper body seating portion 320a.

The rear case coupling portion 328 is formed in the tilting front case 320. The front case coupling portion 338 is formed in the tilting rear case 330. The rear case coupling portion 328 and the front case coupling portion 338 are contacted and fixed to each other.

The configuration of the upper body 400 will be described with reference to FIGS. 8 to 10, 15, 16, 18, and 19.

The upper body 400 can be arranged such that the display 401 is tilted with respect to the front. The upper body 400 is rotatably supported by the tilting body 300. The upper body 400 may be fixed to the connecting member 460 and rotated together with the upper shaft 450. The upper body 400 is rotated about the upper shaft 450 to be tilted. The upper body 400 is provided with the upper frame 420 so that the upper body 400 can be rotated with respect to the tilting body 300 by only the connecting member 460 without the upper frame 420. In this case, .

An upper shaft 450 supported by the tilting body 300 is provided. The upper body 400 rotates about the upper shaft 450 to implement the tilting motion. The upper shaft 450 is disposed along the upper rotation axis Ou. The upper shaft 450 is formed to extend in the left-right direction. The upper shaft 450 is supported by the upper shaft support portion 317a. The upper shaft 450 is disposed so as to pass through the upper shaft support portion 317a.

The upper shaft 450 includes a central portion 451 disposed between both ends. The central portion 451 is disposed to pass through the upper frame 420. The central portion 451 is disposed to pass through the upper shaft through hole 420a of the upper frame 420. The cross section of the central portion 451 is formed into a D shape. The upper shaft through hole 420a is formed so as to coincide with the end surface of the center portion 451 so that the upper frame 420 and the upper shaft 450 are integrally rotated.

The first end portion 453 and the second end portion 455 of the upper shaft 450 are rotatably connected to the tilting cases 420 and 330, respectively. The first end portion 453 and the second end portion 455 are fixed to two connecting members 460a and 460b, respectively. The first end portion 453 is fixed to the first connecting member 460a. And the second end portion 455 is fixed to the second linking member 460b. The first end portion 453 and the second end portion 455 are inserted and fixed into the shaft insertion groove 463a of the shaft connecting portion 463 of the connecting member 460. [ The first end 453 and the second end 455 rotate integrally with the connecting members 460a and 460b. The first end 453 protrudes to the right and the second end 455 protrudes to the left.

The upper shaft 450 includes a gear insertion portion 452 in which the driven belt wheel 441 is disposed. The gear inserting portion 452 is disposed through the driven belt wheel 441. The gear insertion portion 452 has a D-shaped cross section. The gear inserting portion 452 is rotated integrally with the driven belt wheel 441. The driven belt wheel 441 is rotated by the upper belt 346 wound around the driven belt wheel 441. [ In this embodiment, the gear inserting portion 452 is disposed so as to connect between the first end portion 453 and the center portion 451.

The upper shaft 450 includes a sensing plate inserting portion 454 disposed through the sensing plate 457. In this embodiment, the detection plate inserting portion 454 is disposed between the center portion 451 and the second end portion 455. [ When the sensing plate inserting portion 454 is rotated, the sensing plate 457 rotates together. The upper rotation angle sensing unit 408 senses the rotation of the sensing plate 457 to sense the angle of rotation of the upper body 400 with respect to the tilting body 300. [

The upper body 400 includes an upper case 410 which forms an outer appearance of the upper body 400. [

The outer surface of one portion of any one of the upper case 410 and the tilting cases 320 and 330 is provided so as to overlap with the inner surface of the other one portion. In this embodiment, the outer surface of one portion of the upper case 410 is provided so as to overlap with the inner surface of one portion of the tilting cases 320 and 330.

The upper case 410 includes a transmissive portion 411 through which light emitted from the display panel 431 is transmitted. The upper case 410 includes a display housing 415 that supports the transmissive portion 411.

The transmissive portion 411 is formed in a plate shape having a thickness in the image output direction. The transmissive portion 411 is formed in a circular shape when viewed from the image output direction. A microphone hole 411b is formed in the transmission portion 411 to allow sound to be sensed by the microphone 432 to pass therethrough. A plurality of microphone holes 411b1 and 411b2 corresponding to the plurality of microphones 432a and 432b are formed in the transmission portion 411. The external light passes through the transmission portion 411 and the camera 12 transmits an image Can be detected.

The display housing 415 accommodates the display panel 431 and the PCB 433 therein. The display housing 415 includes a transmissive seating surface 416 on which the back side of the transmissive portion 411 is seated. The transparent portion mounting surface 416 is formed in a circular shape when viewed from the image output direction. The display housing 415 includes an outer side portion 418 formed along the periphery of the transmissive seating surface 416. The outer side surface portion 418 protrudes rearward from the transmission side seating surface 416. A part of the outer side surface portion 418 is inserted into the inside of the tilting cases 320 and 330. The rear end portion of the outer side surface portion 418 is arranged to overlap with the tilting cases 320 and 330.

A camera mounting hole 415a is formed in the display housing 415. The display housing 415 is provided with a microphone hole 415b through which the sound sensed by the microphone 432 passes. A plurality of microphone holes 415b1 and 415b2 corresponding to the plurality of microphones 432a and 432b are formed in the transmission portion 411. [ The microphone hole 411b of the transmission portion and the microphone hole 415b of the display housing are connected to each other. The display housing 415 is formed with a display hole 415c through which the light emitted from the display panel 431 passes.

The display housing 415 includes a shaft securing portion 419 coupled with the connecting member 460. The shaft fixing portion 419 is fixed to the connecting member 460 so that the upper body 400 is rotated together with the connecting member 460. The shaft fixing portion 419 is provided with a through hole 419a penetrating in the left and right direction. The connecting member 460 is arranged to pass through the through hole 419a.

The upper body 400 includes a display panel 431 for outputting an image. The upper body 400 includes a microphone 432 for sensing sound. The upper body 400 may include a plurality of microphones 432a and 432b. The upper body 400 includes a PCB 433 on which the display panel 431 is mounted. The PCB 433 controls the output of the display panel 431. The PCB 433 may be fixed to the display housing 415 or may be fixed to the upper frame 420.

The upper body 400 includes an upper frame 420 supported by the upper shaft 450. The upper frame 420 rotates together with the upper shaft 450 about the upper rotation axis Ou. An upper shaft through hole 420a penetrating the upper frame 420 in the left and right direction is formed. The upper shaft 450 is inserted into the upper shaft through hole 420a and is coupled to the upper shaft 450. [ Through-hole inserting portions 420b and 420c are formed in the left and right direction of the upper frame 420, respectively. The through-hole inserting portions 420b and 420c protrude along the upper rotation axis Ou. The through-hole inserting portions 420b and 420c are inserted into two upper shaft through holes 317c, respectively. And the upper shaft through hole 420a is formed through the center of the through hole inserting portions 420b and 420c. An upper shaft bearing 317b is interposed between the through hole inserting portions 420b and 420c and the upper shaft supporting portion 317a.

The upper frame 420 includes an upper shaft support portion 423 through which the upper shaft 450 passes. The upper shaft support portion 423 is disposed in contact with the upper shaft 450. The upper shaft support portion 423 extends along the upper rotation axis Ou. An upper shaft through hole 420a is formed in the upper shaft support portion 423. The upper frame 420 includes a display arrangement portion 421 fixed to the upper shaft support portion 423. The PCB 433 may be disposed on the display arrangement unit 421. [ The upper frame 420 includes an upper weight member 425 disposed at a position spaced away from the direction in which the display arrangement portion 421 is projected. The upper weight member 425 is intended to reduce the weight difference between the front portion and the rear portion of the upper body 400 based on the upper rotational axis Ou.

Although the upper frame 420 described above is provided in this embodiment, the rotational force of the upper shaft 450 can be transmitted to the upper body 400 by the connecting member 460, which will be described later, 420). ≪ / RTI >

The upper body 400 includes two connecting members 460a and 460b disposed at one end and the other end of the upper shaft 450, respectively. The two connecting members 460a and 460b are fixedly coupled to the upper case 410, respectively. The two connecting members 460a and 460b are rotatably engaged with the tilting cases 320 and 330, respectively. And the right connecting member 460a is fixed to the first end 453 of the upper shaft 450. [ And the left connecting member 460b is fixed to the second end 455 of the upper shaft 450. [

The connecting member 460 includes a tilting case connecting portion 461 extending through the upper case 410 and extending in the inner side direction of the tilting cases 320 and 330. The tilting case connecting portion 461 is arranged passing through the through hole 419a. The tilting case connecting portion 461 is rotatably connected to the tilting cases 320 and 330. The tilting case connecting portion 461 is formed with a support portion insertion groove 461a. The connecting member support portion 321 is inserted into the support portion insertion groove 461a.

The connecting member 460 includes an upper case fixing portion 462 extending in the direction away from the central axis Ou of the upper shaft 450 than the tilting case connecting portion 461. [ The upper case fixing portion 462 is fixed to the upper case 410. The upper case fixing portion 462 is engaged with the shaft fixing portion 419 so that the connecting member 460 and the upper case 410 are integrally rotated.

The connecting member 460 includes an axial connecting portion 463 fixed to the upper shaft 450. The shaft connecting portion 463 is fixed to the end of the upper shaft 450. An axial connecting portion 463 is disposed between the two connecting members 460a and 460b. The shaft connecting portion 463 is formed with a shaft insertion groove 463a. The distal end of the upper shaft 450 is inserted and fixed in the shaft insertion groove 463a.

Referring to FIG. 20, the spin operation by the spin driving unit 140 will be described below.

When the spin driven gear 145 having the rotary shaft fixed to the lower body 100 rotates at the first angular velocity Ws1 (angle velocity), the spin driven gear 241 rotates about the spin rotation axis Os in a specific rotational direction And rotates at the second angular velocity w2. At this time, since the lower body 100 is fixed in place and the spin driven gear 241 is fixed to the spin body 200, the spin body 200 rotates in the specific rotation direction at the second angular velocity Ws2 Spin). Also, since the tilting body 300 is supported by the spin body 200, the tilting body 300 also rotates (spins) at the second angular velocity Ws2 in the specific rotation direction. Here, the spin body 200 and the tilting body 300 rotate about the spin rotation axis Os. At this time, the tilting cases 320 and 330 fixed to the tilting body 300 rotate at the second angular velocity Ws2 in the specific rotation direction. The tilting cases 320 and 330 are rotated relative to the lower case 130.

The tilting operation (tilting operation) of the tilting body 300 by the tilting driver 250 will be described with reference to FIGS. 21 to 22B. The tilting state of the tilting body 300 shown in FIG. 21 with respect to the supporting bodies 100 and 200 is defined as a 'straight line'.

21 to 23B, the first direction means one of the clockwise direction and the counterclockwise direction, and the second direction means the other one of the clockwise direction and the counterclockwise direction.

The tilting driven gear 358 rotates at the first angular velocity Wt1 in the first direction while the tilting driven gear 255 rotates in the normal direction. Here, the tilting driven gear 358 rotates about the tilting rotational axis Ot. The tilting frame 310 rotates integrally with the tilting driven gear 358 while the tilting driven gear 358 rotates at the first angular velocity Wt1 in the first direction. Here, the tilting frame 310 rotates at the first angular velocity Wt1 in the first direction and rotates about the tilting rotational axis Ot. The tilting cases 320 and 330 fixed to the tilting frame 310 rotate integrally with the tilting frame 310. Here, the tilting cases 320 and 330 rotate at the first angular velocity Wt1 in the first direction and rotate about the tilting rotational axis Ot. At this time, if there is no rotational motion Wu of the upper body 400, the image output direction is directed downward relative to the normal posture. The upper body 400 is rotated about the upper rotation axis Ou with respect to the tilting body 300 independently of the rotation operation Wt of the tilting body 300 with respect to the support bodies 100 and 200, ) (See Figure 22A).

The tilting driven gear 358 rotates at the second angular velocity Wt2 in the second direction while the tilting driven gear 255 rotates in the reverse direction. Here, the tilting driven gear 358 rotates about the tilting rotational axis Ot. The tilting frame 310 rotates integrally with the tilting driven gear 358 while the tilting driven gear 358 rotates at the second angular velocity Wt2 in the second direction. Here, the tilting frame 310 rotates at the second angular velocity Wt2 in the second direction and rotates about the tilting rotational axis Ot. The tilting cases 320 and 330 fixed to the tilting frame 310 rotate integrally with the tilting frame 310. Here, the tilting cases 320 and 330 rotate at the second angular velocity Wt2 in the second direction and rotate about the tilting rotational axis Ot. At this time, if there is no rotational motion Wu of the upper body 400, the image output direction is directed upward relative to the normal posture. The upper body 400 is rotated about the upper rotation axis Ou with respect to the tilting body 300 independently of the rotation operation Wt of the tilting body 300 with respect to the support bodies 100 and 200, ) (See Figure 22B).

Referring to FIGS. 21, 23A, and 23B, the tilting operation (tilting operation) of the upper body 400 by the upper driver 340 will be described below. The inclination state of the upper body 400 of FIG. 21 with respect to the tilting body 300 is defined as a 'normal state'.

The driven belt wheel 441 rotates at the third angular velocity Wu1 in the first direction while the driven belt wheel 345 rotates in the normal direction. Here, the driven belt wheel 441 rotates about the upper rotational axis Ou. The upper shaft 450 rotates integrally with the driven belt wheel 441 while the driven belt wheel 441 rotates at the third angular velocity Wu1 in the first direction. Here, the upper shaft 450 rotates at the third angular velocity Wu1 in the first direction and rotates about the upper rotational axis Ou. The upper body 400 fixed to the upper shaft 450 rotates integrally with the upper shaft 450. Here, the upper body 400 rotates at the third angular velocity Wu1 in the first direction and rotates about the upper rotational axis Ou. At this time, if there is no rotational motion Wt of the tilting body 300, the image output direction is directed downward relative to the normal posture. The tilting body 300 is rotated about the tilting rotational axis Ot with respect to the support bodies 100 and 200 separately from the rotational operation Wu of the upper body 400 with respect to the tilting body 300. [ ) (See FIG. 23A).

During normal rotation, the driven belt wheel 441 rotates at the fourth angular velocity Wu2 in the second direction while the driven belt wheel 345 rotates in the reverse direction. Here, the driven belt wheel 441 rotates about the upper rotational axis Ou. The upper shaft 450 rotates integrally with the driven belt wheel 441 while the driven belt wheel 441 rotates at the fourth angular velocity Wu2 in the second direction. Here, the upper shaft 450 rotates at the fourth angular velocity Wu2 in the second direction and rotates about the upper rotational axis Ou. The upper body 400 fixed to the upper shaft 450 rotates integrally with the upper shaft 450. Here, the upper body 400 rotates at the fourth angular velocity Wu2 in the second direction and rotates about the upper rotational axis Ou. At this time, if there is no rotational motion Wt of the tilting body 300, the image output direction is directed upward relative to the normal posture. The tilting body 300 is rotated about the tilting rotational axis Ot with respect to the support bodies 100 and 200 separately from the rotational operation Wu of the upper body 400 with respect to the tilting body 300. [ ) (See FIG. 23B).

1: communication robot 100, 200: support body
100: Lower body 200: Spin body
300: tilting body 310: tilting frame
320, 330: tilting case 350: tilting shaft
400: Upper body 450: Upper shaft
Os: Spin rotating shaft Ot: Tilting rotating shaft
Ou: Upper rotary shaft

Claims (22)

A support body including a lower body disposed on a lower side and a spin body supported on the lower body so as to be rotatable about a spin rotation axis extending in a vertical direction;
A tilting body supported on the support body so as to be tilted;
An upper body supported by the tilting body so as to be inclined and outputting an image;
A spinning driven gear fixed to one of the lower body and the spin body and forming a gear along a circumferential direction about the spin rotation axis; And
And a spin driven gear rotating around a rotation axis fixed to the other of the lower body and the spin body and forming a gear for engaging with the gear of the spin driven gear. The method according to claim 1,
And the tilting body is supported on the spin body in an inclined motion. 3. The method of claim 2,
A direction sensor for sensing a direction of a user to the communication robot; And
And a controller for controlling the spin body to rotate and controlling at least one of the tilting body and the upper body to be tilted so as to make the image output direction of the upper body to be the direction of the user detected by the direction detecting sensor Communication robot. 3. The method of claim 2,
Wherein the lower body includes a lower case forming an outer appearance along the periphery of the support body,
Wherein the tilting body includes a tilting case that forms an outer appearance along the periphery of the tilting body,
Wherein the outer surface of one portion of one of the lower case and the tilting case is provided so as to overlap with the inner surface of another portion. 5. The method of claim 4,
Wherein the tilting body is tilted by rotating about a tilting rotary shaft,
Wherein the outer surface and the inner surface overlap each other on a section perpendicular to the tilting rotary shaft, regardless of whether the tilting body rotates about the spin rotation axis and is disposed so as to face in any direction, robot. delete The method according to claim 1,
A direction sensor for sensing a direction of a user to the communication robot; And
And a controller for controlling at least one of the tilting body and the upper body to be tilted so as to make the image output direction of the upper body be the direction of the user detected by the direction detecting sensor. The method according to claim 1,
Wherein the tilting body is provided with an upper portion tiltably operable with respect to a lower portion,
And the upper body is disposed on the upper side of the tilting body. The method according to claim 1,
Wherein when the at least one of the tilting body and the upper body tilts, the image output direction of the upper body is changed in the vertical direction. The method according to claim 1,
Wherein the tilting body is tilted by rotating about a tilting rotary shaft,
Wherein the upper body is rotated around the upper rotation axis different from the tilting rotary axis to implement a tilting motion. 11. The method of claim 10,
Wherein at least one of the tilting rotary shaft and the upper rotary shaft extends in a direction across an image output direction of the upper body. 11. The method of claim 10,
Wherein the tilting rotary shaft is arranged on a virtual first horizontal plane,
And the upper rotation shaft is disposed on a virtual second horizontal plane disposed on the upper side of the first horizontal plane. 11. The method of claim 10,
Wherein the tilting rotary shaft and the upper rotary shaft are arranged parallel to each other. The method according to claim 1,
A tilting shaft supported by the support body; And
And an upper shaft supported by the tilting body,
Wherein the tilting body is tilted by rotating about the tilting shaft,
Wherein the upper body rotates about the upper shaft to implement a tilting motion. 15. The method of claim 14,
The tilting body includes:
A tilting base fixed to the tilting shaft;
A centrifugal extension fixed at one end to the tilting base and extending in a direction away from the central axis of the tilting shaft; And
And an upper base fixed to the other end of the centrifugal extension portion and supporting the upper shaft. 15. The method of claim 14,
And a tilting case fixed to both ends of the tilting shaft and connected to both ends of the upper shaft to tilt integrally with the tilting body. The method according to claim 1,
Wherein the support body comprises a lower case forming an outer appearance along the periphery of the support body,
Wherein the tilting body includes a tilting case that forms an outer appearance along the periphery of the tilting body,
Wherein the outer surface of one portion of one of the lower case and the tilting case is provided so as to overlap with the inner surface of another portion. The method according to claim 1,
The upper body is disposed on the upper side of the tilting body,
Wherein the front surface of the middle portion of the tilting body includes a recessed portion rearward when the tilting body tilts forward and backward and the tilting body is tilted forward to the maximum, Wherein the rear surface of the middle portion of the tilting body in an inclined state includes a forwardly recessed portion. The method according to claim 1,
And an upper shaft supported by the tilting body,
Wherein the upper body is tilted by rotating about the upper shaft,
Wherein the upper body includes an upper case that forms an outer appearance of the upper body,
Wherein the tilting body includes a tilting case forming an outer appearance of the tilting body,
And two connecting members which are respectively disposed at one end and the other end of the upper shaft and are fixedly coupled to the upper case and are rotatably engaged with the tilting case. 20. The method of claim 19,
Wherein an outer surface of a part of the upper case is provided so as to overlap an inner surface of a part of the tilting case. 20. The method of claim 19,
The connecting member includes:
A tilting case connecting portion passing through the upper case and extending in an inner side direction of the tilting case; And
And an upper case fixing portion extending from the center shaft of the upper shaft in a direction away from the tilting case connection portion. The method according to claim 1,
And a remote control module disposed in the upper body for transmitting an optical signal for controlling a predetermined peripheral device.

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