JP6666108B2 - Driver - Google Patents

Description

  The present invention relates to a device for rotating an object.

  As a device for rotating an object, there is, for example, a rotary table driven by an electric motor (Patent Document 1).

JP-A-5-31641

  A rotary table as described in Patent Literature 1 is used exclusively for industrial uses such as machining and work, and is often designed to rotate a specific object. For this reason, it has been difficult to easily rotate the object regardless of the object in a general home or to display a moving commodity display.

  In addition, robots are being developed in various fields such as industrial use and medical / welfare use. For example, industrial robots are robots that perform work on behalf of humans. The basic configuration of an industrial robot is an arm and a joint. The joint is an important element that supports the arm and imparts a predetermined movement to the arm by a motor such as a motor. A robot performs an intended operation by combining a plurality of such joints and arms and controlling the movement of each joint.

  The production of such a robot is based on a wide variety of needs for each customer, and the development of a robot as a so-called custom product is usually performed from scratch. This includes motor selection or development, control circuit design and development, program development, and mechanical element development. Therefore, even a robot that requires only a simple movement requires a great deal of cost and time. Under such circumstances, although there is a considerable need for robots, there is a reality that these large costs and time become a bottleneck, and that the robots do not spread widely as a result.

  In view of these circumstances, an object of the present invention is to provide a device that can impart motion to an object with easy control and that can be a general-purpose mechanical element that functions as a joint.

  Therefore, in order to solve the above-mentioned problems, the present invention provides the following driving bodies. That is, the first pedestal for fixing the object, the second pedestal for fixing other objects, and a connecting portion that connects the first pedestal and the second pedestal so as to move relatively. A driving body for relatively driving an object fixed to the first pedestal and the second pedestal, wherein the first pedestal and / or the second pedestal are provided inside the first pedestal via the connecting portion. A motor for moving the motor and the second pedestal relative to each other, a communication unit for acquiring a control signal, and a microcomputer for controlling the motor based on the control signal acquired via the communication unit. And so on.

  ADVANTAGE OF THE INVENTION According to this invention, while being able to give a motion to a target object by easy control, the drive body which can serve as a mechanical element which generally performs the function of a joint can be provided.

FIG. 4 is a conceptual diagram illustrating an example of a use mode of the driving body according to the first embodiment. FIG. 4 is a conceptual diagram illustrating an example of a driving body according to the first embodiment. FIG. 2 is a block diagram illustrating an example of a driving body according to the first embodiment. Conceptual diagram showing an example of a GUI when a driver is operated by a smartphone Conceptual diagram showing an aspect in which two driving bodies are used by being connected by a columnar member A conceptual diagram showing an outline of a driving body according to a second embodiment. FIG. 4 is a block diagram illustrating an example of a driving body according to a second embodiment. FIG. 9 is a flowchart showing an example of the flow of the operation of the driver according to the second embodiment. FIG. 13 is a block diagram illustrating an example of a driving body according to a third embodiment. A conceptual diagram showing an example of a mode for recording and reproducing the movement of the second pedestal. Diagram showing a series of flows for recording the movement of a driving body via an information terminal and reproducing the recorded movement

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that the present invention is not limited to these embodiments at all, and can be implemented in various modes without departing from the gist thereof.

The first embodiment mainly relates to claims 1 and 2. The second embodiment mainly relates to claims 3, 6 to 8, and the like. The third embodiment mainly relates to claims 4 to 6 and the like.
<First embodiment>
<Overview>

FIG. 1 is a diagram illustrating an example of a use mode of the driving body according to the present embodiment. As shown in the figure, the ikebana 0101, which is an exhibit, is placed on the exhibition stand 0102 via the driving body 0103 of the present embodiment. The state of the driving body 0103 is shown in an enlarged manner within a dotted ellipse in the figure. As shown, the first pedestal 0105 of the driving body is placed on an exhibition stand, and a plate with flowers is placed on the second pedestal 0106. The first pedestal and the second pedestal that constitute this driving body are configured to move relatively, and the second pedestal is rotated with respect to the first pedestal that is fixed by being placed on the exhibition table. Ikebana rotates. By rotating the ikebana, the viewer can view the ikebana from various angles. Then, operations such as the direction and speed of rotation and the angle of rotation can be performed by an information terminal such as the smartphone 0104.
<Structure>

  FIG. 2A is a conceptual diagram illustrating an example of the driving body according to the present embodiment. The driving body 0200 includes a first pedestal 0201 and a second pedestal 0202. As shown in the figure, screw holes 0203 are provided on the upper surface and side surfaces of the first pedestal and the second pedestal, for example, for attaching a columnar member for interconnecting with another driving body. FIG. 2B is a diagram showing the driving body from the viewing direction shown in the drawing. As shown in FIG. 2B, a screw hole 0204 is also provided on the bottom surface of the first pedestal 0201. A plate-shaped weight having a male screw for attachment can be attached to the screw hole on the bottom surface. Usability is improved by making the diameters of the screw holes the same. The first pedestal and the second pedestal are configured to move relatively by the connecting portion. For example, when the first pedestal is fixed on a table or the like, the second pedestal rotates with respect to the first pedestal as illustrated. Then, by placing an object such as the flower arrangement shown in FIG. 1 on the second pedestal, the flower arrangement can be turned.

  FIG. 3 is a block diagram showing an example of the driving body according to the present embodiment. As shown, the driving body 0300 includes a first pedestal 0301, a second pedestal 0302, and a connecting portion 0303 that connects the first pedestal and the second pedestal so as to relatively move. The first pedestal has a motor 0304, a microcomputer 0305, and a communication unit 0306.

  The first pedestal 0301 has a function of fixing an object. The object is, for example, a fixed object such as a display stand. By fixing the first pedestal to a display stand or the like, the second pedestal 0302 can be moved with respect to the display stand.

  There can be various means for fixing the object. For example, you may fix with a screw etc. It may be fixed by a magnet. Moreover, you may fix using a holding tool, such as a clamp. Alternatively, the weight may be fixed by attaching the weight.

  The second pedestal functions to fix another object. Other objects include, for example, exhibits and products as shown in FIG. The means for fixing other objects is the same as the means on the first pedestal.

  The connecting portion 0303 connects the first pedestal and the second pedestal so as to relatively move. As a means for the connection, for example, a rotating shaft for transmitting the rotation of the rotor of the motor may be mentioned. If the first pedestal has a motor, the rotation axis of the motor is fixed to the second pedestal. The first pedestal and the second pedestal are connected by the rotating shaft, and the second pedestal fixed to the rotating shaft rotates with respect to the first pedestal by the rotation of the rotating shaft transmitting the rotation of the motor. .

  The rotation shaft fixed to any of the pedestals may indirectly transmit the rotation of the motor. For example, transmission may be performed via a torque limiter for preventing damage to a gear, a speed reducer, and a motor due to overload.

  The motor 0304 has a function of relatively moving the first pedestal and the second pedestal via the connecting portion. There are various types of motors including a DC motor and an AC motor, but the type is not particularly limited. However, a DC motor is preferable for simple configuration. This is because the DC motor is easy to control because the rotation speed is linearly proportional to the applied voltage and the rotation torque is linearly proportional to the input current. Further, a motor with a servo mechanism may be used from the viewpoint of controlling the movement of the first pedestal and the second pedestal.

  The communication unit 0306 has a function of acquiring a control signal. The control signal is a signal for controlling the driving of the motor, and is also a signal for controlling the relative movement between the first pedestal and the second pedestal. The communication for acquiring the control signal may be, for example, short-range wireless communication, Internet communication, IrDA, or the like.

  The microcomputer 0305 has a function of controlling the motor based on a control signal obtained via the communication unit. The configuration of the microcomputer may include at least a CPU, a memory capable of holding programs and the like, an oscillating element for a timer, and an interface for transmitting and receiving signals to and from the communication unit.

  By controlling the motor, the microcomputer controls, for example, the speed of the relative rotational movement between the first pedestal and the second pedestal, the rotational angle, the rotational direction, and the like. The control of the speed and the direction can be performed by, for example, a PWM method (pulse width modulation method). The angle can be controlled by providing an angle sensor on the rotation axis and feeding back a detection signal. Further, a transmission for changing the rotational torque according to the weight of the object fixed to the first pedestal or the second pedestal may be provided, and the transmission may be controlled.

  The control signal is a signal for operating a means for controlling such a motor, and is obtained from an information terminal such as a PC or a smartphone via a communication unit. These information terminals hold and execute a program for generating or transmitting a control signal for controlling the above-described rotation speed, rotation angle, rotation direction, etc. A control signal is transmitted. In addition to using a PC or a smartphone, for example, a control signal may be obtained from a dedicated remote controller for controlling the present driving body.

  FIG. 4A is a conceptual diagram illustrating an example of a GUI when a driver is operated by a touch panel of a smartphone. In this example, the operations of “position” 0401 and “rotation” 0402 are performed by two sliders. The operation of the position will be described with reference to FIG. In the position operation, the relative position between the first pedestal and the second pedestal can be determined within an arbitrary movable range. The case where the movable range is set to 120 ° is shown. For example, when the driver performs the function of a joint of a robot arm, such an angle is often set as the movable range. The range from the left end to the right end of the slider is 120 °. By moving the slider, the position of the first pedestal or the second pedestal can be relatively moved within the movable range. Note that the movable range can be set to 360 °. FIG. 4C is a conceptual diagram for explaining a rotation operation. As shown in the figure, the rotary slider can control the relative rotation direction and speed between the first pedestal and the second pedestal.

  As a power source for driving the motor and operating the microcomputer, a DC power source such as a battery is preferable in order to operate the driving body wirelessly with a simple configuration. The motor is driven to supply power to a microcomputer and a communication unit described later. Further, a configuration may be employed in which a rechargeable battery such as a secondary battery can be accommodated in the above-described screw-fixable weight, and power can be supplied from the battery. Further, power may be supplied from an external power supply such as a commercial power supply. Alternatively, a USB connector may be provided on the first pedestal or the second pedestal so that power can be supplied from an information terminal such as a commercial power supply or a PC. At the same time, it is also preferable that the information terminal be configured to be able to exchange signals with the information terminal via a USB connector.

  Although the description has been made with reference to the example of the rotating motion as the relative motion between the first pedestal and the second pedestal, the present invention is not limited to this, and the present invention can be applied to move in various modes. For example, the second pedestal may swing up and down, vibrate, or swing left and right with respect to the first pedestal by converting the rotational motion of the motor with a cam. Further, the second pedestal may revolve with respect to the first pedestal using a planetary gear. Further, the second pedestal may be moved using a link mechanism.

  The articulated robot can be easily configured by connecting a plurality of driving bodies with a columnar member or the like. FIG. 5 is a conceptual diagram showing a mode in which two driving bodies are connected and used by a columnar member. It is assumed that the first pedestal 0503 of one driving body 0501 in the drawing is fixed to a base or a floor. Then, the second pedestal 0504 rotates with respect to the fixed first pedestal 0503. In addition, one end of a columnar member 0505 for connecting to the first pedestal 0507 of another driving body 0502 is fitted to the second pedestal 0504 by a screw 0506 after being fitted into a guide groove. The other end of this columnar member is attached to the first pedestal 0507 of the other driving body 0502 by screws. Another columnar member 0509 for connection is attached to the second pedestal 0508 of the other driver.

  As described above, various movements can be performed by connecting the one driving body and the other driving body while changing the direction of the rotation axis. In order to enable various connections, it is preferable to provide screw holes and guide grooves so that connection column members can be attached at least in each of the x-axis, y-axis, and z-axis directions. By connecting the driving bodies in this manner, a robot arm or the like that moves arbitrarily can be easily configured.

  When they are connected by a columnar member, the balance as a whole may be unstable and the vehicle may easily fall. Therefore, it is also preferable that a counterweight for balancing is mounted. For example, a male screw may be provided on the counterweight so that it can be screwed into a screw hole for attaching a connecting columnar member. Such a counterweight can also be used as a weight when a driver is installed on a table or a floor.

  The columnar member may have a function of electrically connecting the driving bodies as well as a function of connecting the driving bodies as described above. For example, a cable for enabling transmission / reception of a signal, transmission / reception of electric power, and the like is provided inside the columnar member, and a connector that is electrically connected by attaching the columnar member is provided on the driving body and the columnar member.

  The information terminal may be configured such that a plurality of drivers can be grouped and controlled integrally. For example, when two driving bodies are connected as shown in FIG. 5, a reproduction control signal including a reproduction timing for each reproduction program for controlling one driving body and another driving body. And so on.

The first pedestal and the second pedestal that constitute the driving body of the present embodiment are relative, and each component provided in the above-described first pedestal is replaced with the first pedestal or the second pedestal together with the first pedestal. The first pedestal may include some of the components, and the second pedestal may include other components.
<Effect>

The driving body according to the present embodiment includes a configuration for moving the first pedestal and the second pedestal relative to each other in a controllable manner. Therefore, by simply fixing (attaching) the objects to the first pedestal and the second pedestal, it is possible to easily move the objects in a controllable manner.
<Embodiment 2>
<Overview>

The driving body according to the present embodiment is characterized in that it can record a motion due to a force applied to the first pedestal or the second pedestal and reproduce the recorded motion. FIG. 6 is a conceptual diagram showing an outline of the driving body of the present embodiment. FIG. 6A shows a mode in which the first pedestal or the second pedestal is moved by hand force and the movement is recorded. As shown in the figure, a “record” button 0603 provided on the first pedestal 0601 is pressed, and the second pedestal 0602 is turned by hand. Then, the movement of the second pedestal turned by hand is recorded. FIG. 5B shows a mode of reproducing the recorded motion. As shown, when a “play” button 0604 provided on the first pedestal 0601 is pressed, the second pedestal 0602 reproduces the recorded movement. The movement may be reproduced not only once but also repeatedly. As described above, since a hand-turned motion can be recorded, a desired motion can be intuitively recorded.
<Structure>

  FIG. 7 is a block diagram showing an example of the driving body of the present embodiment. As shown, the driving body 0700 of the present embodiment includes a first pedestal 0701, a second pedestal 0702, and a connecting portion 0703, and the first pedestal includes a motor 0704, a microcomputer 0705, and a communication unit 0706. , And The microcomputer has a recording control signal acquisition unit 0707 and a reproduction control unit 0708. Since the present driving body is based on the driving body of the first embodiment, the description of the function of the configuration having the same name as this will be omitted.

  The recording control signal acquiring means 0707 provided in the microcomputer has a function of acquiring a recording control signal which is a control signal for recording the movement of the first pedestal and / or the second pedestal due to the applied force. The recording control signal includes, for example, a signal in which an output voltage generated by rotation of a rotating shaft of a motor via a connecting portion by an applied force is recorded together with an elapsed time from when a recording button is pressed. Can be Another example is a signal obtained by recording a detection signal of an angle sensor connected to a rotation shaft of a motor together with an elapsed time from when a recording button is pressed. Such a recording control signal is stored in the memory of the microcomputer. Further, the output voltage value generated by the applied force and the detection signal of the angle sensor may be digitized by an A / D converter or the like and then stored in the memory.

  Further, the recording control signal may be transmitted to the information terminal via the communication unit, and the information terminal may hold the recording control signal. In addition, a server device that receives recording control signals from a plurality of such information terminals and performs processing such as holding, management, processing, librarying, and distribution of recording control signals to drivers and information terminals is provided. It is also preferable to make the coating. In addition, the driving body may be configured to directly transmit the recording control signal to the above-described server device without passing through the information terminal.

  To start recording, pressing the recording button as shown, or applying a predetermined movement (for example, turning 90 degrees clockwise and then turning 90 degrees counterclockwise) to the first pedestal or the second pedestal. And so on. The recording is stopped by pressing the recording button again or by detecting that no force is applied for a certain period of time. Note that an operation input button for stopping recording may be provided. Further, as described in the third embodiment, the recording may be started or stopped by an operation from the information terminal.

  The reproduction control means 0708 provided in the microcomputer has a function of controlling the motor so as to reproduce the recorded motion based on the recording control signal. For example, a recording control signal stored in a memory is read out, and based on a recording control signal corresponding to a recorded movement, a transition according to a time course of an output voltage or an input current to a motor for reproducing the movement is programmed. The motor is controlled based on the program (hereinafter, such a program may be referred to as a reproduction program). Note that the recording control unit may perform the processing up to the generation of the reproduction program for reproducing the motion, and the reproduction control unit may execute only the reproduction program generated by the recording control unit.

  The microcomputer may be configured to be able to hold a plurality of recording control signals or a plurality of reproduction programs generated based on the recording control signals. Then, the reproduction control means can reproduce the motion recorded in the recording control signal or the like by controlling the motor based on the stored recording control signal or the reproduction program.

  The first pedestal and the second pedestal shown in FIG. 6 are formed in an octagonal prism shape with four corners of a quadrangular prism dropped. By forming in this way, it is preferable to know how much one of the pedestals has been rotated by 90 degrees when it is turned by hand. Alternatively, the first and second pedestals may be marked such that both graduations sign at predetermined positions, such as dial graduations. In addition, when a recording start trigger such as pressing a recording button is received, the first pedestal or the second pedestal is controlled to move to a position where the above-mentioned marks are both coded, and the movement is recorded from that position. May be configured.

FIG. 8 is a flowchart illustrating an example of the flow of the operation of the driver according to the present embodiment. As shown in the drawing, it is determined whether or not to record a motion (S0801). When a determination result of recording is obtained by an operation input such as pressing of a recording button or the like, the movement by the applied force is recorded as a control signal (S0802). Then, a recording control signal which is a recorded control signal is obtained (S0803). When recording further motion, acquisition of the recording control signal is repeated. If the result of the decision not to record is obtained, the process proceeds to a decision as to whether or not to reproduce the recorded motion (S0804). If the result of the determination that reproduction is to be performed is obtained by an operation input such as pressing of the reproduction button, the motor is controlled so as to reproduce the recorded motion (S0805). Return. If the result of the determination that reproduction is not to be performed is obtained, the process ends.
<Effect>

According to the present embodiment, it is possible to cause the driving body to record and reproduce the motion, and to record the motion as a control signal.
<Embodiment 3>
<Overview>

This embodiment is based on Embodiment 1 or 2, and is characterized in that the recording and reproduction of the movement of the first pedestal or the second pedestal shown in Embodiment 2 are performed via an external information terminal. Thus, for example, even when the driving body is installed in a place that is out of reach, such as in a show window, an operation for reproduction can be remotely performed.
<Structure>

  FIG. 9 is a block diagram showing an example of the driving body of the present embodiment. As shown, the driving body 0900 of the present embodiment includes a first pedestal 0901, a second pedestal 0902, and a connecting portion 0903. The first pedestal includes a motor 0904, a microcomputer 0905, and a communication portion 0906. And the microcomputer includes a recording control signal acquisition unit 0907 and a reproduction control unit 0908. The information terminal 0910 has an acquisition instruction signal transmitting unit 0911, a recording control signal acquiring unit 0912, and a reproduction instruction signal transmitting unit 0913. Here, each configuration of the information terminal and matters related thereto will be described, and a redundant description of the function of the configuration having the same name as the configuration of the driving body of the first or second embodiment will be omitted.

  The information terminal 0901 corresponds to a terminal device such as a PC or a smart phone which has been mentioned as a control signal acquisition source in the first embodiment.

  The acquisition instruction signal transmitting unit 0911 has a function of transmitting an acquisition instruction signal, which is a signal for causing the microcomputer to acquire a recording control signal, to the microcomputer. In the second embodiment, the recording control signal is acquired by an operation such as pressing a “record” button provided on the driving body. However, the microcomputer receives the acquisition instruction signal transmitted from the information terminal, and the recording control signal of the microcomputer is received. The acquisition unit acquires the recording control signal. Therefore, it is not necessary to provide operation receiving means for recording or the like in the driving body. However, the present embodiment does not prevent the driving body from including the operation receiving unit.

  Hereinafter, description will be made with reference to FIG. 10 in addition to FIG. 9. FIG. 10A is a conceptual diagram showing an example of a mode of recording the movement of the second pedestal by the acquisition instruction signal transmitting means. As shown in the figure, a “record” button 1002 is arranged on the display screen of the smartphone 1001 as an information terminal, and an acquisition instruction signal is transmitted by touching the “record” button 1002. Then, when the receiving unit provided on the first pedestal 1003 receives the acquisition instruction signal, the microcomputer acquires a recording control signal for recording the movement of the second pedestal 1004 by turning by hand.

  The microcomputer transmits the obtained recording control signal to the information terminal via the communication unit. This allows the information terminal to hold the received recording control signal. In addition, since the microcomputer does not need to hold the recording control signal, the use area of the memory can be suppressed, and it is sufficient to provide a low-capacity memory. In addition, since a button need not be provided as shown in the figure, a simple design can be achieved.

  The recording control signal acquisition unit 0912 provided in the information terminal has a function of acquiring the transmitted recording control signal. By acquiring the recording control signal, it can be held. Further, the recording control signal acquisition unit may be configured to acquire the recording control signals transmitted from the plurality of drivers. By associating the recording control signal with the driver that has acquired and transmitted the recording control signal, the recording control signal for each driver can be acquired and held.

  A SIM card may be used to identify the driver. The SIM card is a communication IC card to which a unique ID is assigned, and by including this in a component of the communication unit of the driving body, the driving body that is a transmission source of a recording control signal or the like can be identified. .

  The reproduction instruction signal transmitting means 0913 provided in the information terminal transmits a reproduction instruction signal, which is a signal for controlling the motor so that the microcomputer reproduces the recorded motion based on the obtained recording control signal, to the microcomputer of the driving body. It has a function to do.

  FIG. 10B is a conceptual diagram showing an example of a mode of moving the second pedestal of the driving body by transmitting a reproduction instruction signal. As shown in the figure, a “play” button 1005 is arranged on the display screen of the smartphone 1001 as an information terminal, and a playback instruction signal is transmitted by touching the “play” button 1005. The microcomputer provided in the first pedestal 1003 controls the motor based on the reproduction instruction signal received via the receiving unit, and thereby the second pedestal 1004 reproduces the recorded movement. In addition, a button (for example, a “repeat” button) for repeating playback of the recorded motion is arranged on the screen of the smartphone, and the microcomputer performs control for repeatedly reproducing the recorded motion by pressing the button. You may.

  When the microcomputer of the destination driver holds a recording control signal and a reproduction program for reproducing the recorded motion, the reproduction instruction signal reproduces the driver to make the motion based on the recording control signal. It may be a signal instructing the control means. When the microcomputer does not hold a recording control signal or a reproduction program, the information terminal transmits a reproduction instruction signal together with the recording control signal acquired or the reproduction program generated based on the recording control signal.

  The playback instruction signal not only reproduces the motion at the same speed as the speed of the recorded motion, but also reproduces the motion at a different speed (moving faster or slower than the recorded motion). You may.

  When an ID for identifying the driver is attached to the obtained recording control signal, the ID is attached to the reproduction instruction signal, and the reproduction instruction signal is transmitted to the driver identified by the ID. . With this configuration, it is possible to transmit a reproduction instruction signal to each of the plurality of driving bodies, record a certain movement by combining the plurality of driving bodies, and reproduce the recorded movement by the driving bodies. be able to.

  The information terminal may be configured to hold the obtained recording control signal and a plurality of reproduction programs based on the recording control signal and make a database. This reduces the necessity of memorizing the motion each time the driver makes any motion, and makes it possible to reproduce a desired motion from the held motions.

  Further, the information terminal may be configured to be able to transmit the held recording control signal and a reproduction program based on the recording control signal to a plurality of drivers. According to this, for example, by arranging a plurality of driving bodies with pops on a product display stand of a retail store and transmitting the same recording control signal and the like to each driving body, each driving body makes a pop with the same movement. That is, the advertisement effect can be improved.

  FIG. 10 is a diagram showing a flow of a series of processes for recording the movement of the driving body via the information terminal and reproducing the recorded movement. In addition, a process including a server device that holds a recording control signal and the like is also shown. As described above, this server device can receive and control recording control signals from a plurality of information terminals, and can perform processing such as holding, management, processing, librarying, and distribution of recording control signals and the like to drivers and information terminals.

  As shown in the figure, first, the information terminal transmits an acquisition instruction signal to the microcomputer of the driving body via the communication unit of the first pedestal (step 1). The microcomputer that has received the acquisition instruction signal records the movement due to the force applied to the first pedestal or the second pedestal as a control signal (step 2). Then, a recording control signal, which is a recorded control signal, is obtained (step 3). At this time, the obtained recording control signal may be held. Then, the obtained recording control signal is transmitted to the information terminal (step 4). The information terminal may transmit the received recording control signal to the server device (Step 4 '). Further, the microcomputer of the driving body may directly transmit the obtained recording control signal to the server device (Step 4 ″).

  When reproducing the recorded motion, the information terminal transmits a reproduction instruction signal to the microcomputer of the driving body (step 5). The microcomputer that has received the reproduction instruction signal controls the motor based on the stored recording control signal and reproduces the recorded motion (step 6). When the microcomputer does not hold the recording control signal, the information terminal transmits the recording control signal to the microcomputer.

  Further, a case where a library of recording control signals held by the server device is used will be exemplified. For example, the information terminal transmits to the server device a “motion α distribution request signal” which is a signal requesting the server device to distribute a recording control signal for reproducing “motion α” selected from the library (step 7). ). The server device that has received the motion α distribution request signal transmits a “recording control signal α” for reproducing the “motion α” to the information terminal (step 8). The information terminal transmits the received “recording control signal α” to the microcomputer of the driving body (step 9). Further, by transmitting a reproduction instruction signal (step 10), the driving body reproduces “motion α” (step 11).

  Examples of using the driving body of the present embodiment in cooperation with an information terminal or a server device include the following modes. For example, there is a mode in which a sensor and a scarecrow using a driving body for a joint are linked via a server device or the like. A plurality of image sensors such as cameras are arranged around the main body of the scarecrow and the surroundings of the scarecrow, and an image or the like is transmitted to the server device. If the transmitted image is analyzed and a vermin or a suspicious person is recognized in the image, for example, an operation that the vermin or a suspicious person, etc. may be surprised against for each driver used in the scarecrow. The recording control signal and the reproduction instruction signal are transmitted as Scarecrow does. Each of the driving bodies receiving these operates in a surprising manner based on the recording control signal. By reflecting the sensing results of the various sensors on the movement of the driving body, more dynamic monitoring and repulsion can be performed.

There is also a mode in which a user's reaction or evaluation on a Web page or SNS is reflected on a dynamic display of a product or the like using a driving body. For example, the server device obtains an evaluation of the content on the Web page or the SNS relating to the product, and transmits a recording control signal or the like for causing the product display to display a motion corresponding to the obtained evaluation, to the driver. For example, if a mannequin that is moved by a driving body is put on clothes and displayed, and a positive evaluation is made on the clothes, a recording control signal for causing the mannequin to dance is transmitted to the driving body. And so on.
<Effect>

  According to the present embodiment, it is possible to control the movement of the driver by operating the information terminal.

0101 Ikebana 0102 Display stand 0103 Driver 0104 Smartphone

Claims (7)

A first pedestal for fixing an object, a second pedestal for fixing another object, and a connecting portion that connects the first pedestal and the second pedestal so as to relatively move, A driving body that relatively drives an object fixed to the first pedestal and the second pedestal,
Inside the first pedestal or / and the second pedestal,
A motor for relatively moving the first pedestal and the second pedestal via the connection unit, a communication unit for obtaining a control signal, and a motor for controlling the motor based on the control signal obtained via the communication unit Microcomputer,
The microcomputer is
Recording control signal acquiring means for acquiring a recording control signal which is a control signal for recording the movement of the first pedestal or / and the second pedestal by a force applied from the outside,
A reproduction control means for controlling a motor to reproduce the recorded motion based on the recording control signal .   The driving body according to claim 1, wherein the control signal is transmitted from an information terminal. 3. The driver according to claim 2 , wherein the information terminal includes an acquisition instruction signal transmitting unit that transmits an acquisition instruction signal, which is a signal for causing the microcomputer to acquire a recording control signal, to the microcomputer. The microcomputer transmits the recording control signal to the information terminal via a communication unit,
The information terminal,
A recording control signal acquisition unit for acquiring the transmitted recording control signal,
A reproduction instruction signal transmitting means for transmitting a reproduction instruction signal, which is a signal for causing the microcomputer to control a motor to reproduce the recorded movement based on the acquired recording control signal, to the microcomputer. 4. The driving body according to 3 . A driving body system comprising: the driving body according to any one of claims 3 to 4 dependent on claim 2 or claim 2; and the information terminal. A first pedestal, a second pedestal, and a connecting portion that connects the first pedestal and the second pedestal so as to relatively move,
The first pedestal and / or the second pedestal include a motor for relatively moving the first pedestal and the second pedestal via the connecting portion, and a microcomputer for controlling the motor, and the first pedestal and the second An operation method of a driving body that mutually drives an object fixed to a pedestal,
A recording step for recording the movement of the first pedestal or / and the second pedestal due to an externally applied force as a control signal;
A recording control signal acquisition step of acquiring a recording control signal that is a recorded control signal,
A reproduction control step of controlling a motor to reproduce the recorded motion based on the obtained recording control signal;
The operation method of the driver that causes the microcomputer to execute A first pedestal, a second pedestal, and a connecting portion that connects the first pedestal and the second pedestal so as to relatively move,
The first pedestal and / or the second pedestal include a motor for relatively moving the first pedestal and the second pedestal via the connecting portion, and a microcomputer for controlling the motor, and the first pedestal and the second A program for operating a driving body that mutually drives an object fixed to a pedestal,
A recording step of recording a movement of the first pedestal or / and the second pedestal due to an externally applied force as a control signal;
A recording control signal acquisition step of acquiring a recording control signal that is a recorded control signal,
A reproduction control step of controlling a motor to reproduce the recorded motion based on the obtained recording control signal;
A program that operates a driver that causes a microcomputer to execute

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