KR101961375B1 - Robot for Communication - Google Patents

Abstract

A communication robot according to the present invention includes a case, a motion motor for generating a rotational force, a motion assembly for converting the rotational force of the motion motor into a motion having a predetermined movement path, And an attachment member provided to move and see.

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 the communication between people and objects, there is a problem that when the communication robot provides information to the user, there is no motion like a gesture, the user's concentration is low or the user's attention can not be efficiently reminded. 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 challenge is to solve this problem and implement cost effective motion mechanisms.

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 provide an efficient structure capable of effectively attaching another object to the outside of a communication robot.

In order to solve the first and second problems, a communication robot according to the present invention comprises a case, a motion motor for generating a rotational force, a motion assembly for converting the rotational force of the motion motor into a motion having a predetermined movement path, And an attachment member provided to move the inner side of the case to face the motion assembly.

In order to solve the first and second problems, a communication robot according to the present invention includes a case, a motion driving unit for providing a driving force, a motion assembly for converting a driving force of the motion driving unit into a motion having a predetermined movement path, And an attachment member that is disposed inside the case and moves to the predetermined movement path by the motion assembly to change the magnetic field outside the case.

The attachment member may be provided to move the attachment object attached to the outer surface of the case.

The communication robot may further include the attachment object, and one of the attachment member and the attachment object may include a magnet and the other may include a substance that is pulled by the magnet.

In order to achieve the fourth object, the attachment member rotates around the rotation axis of the motion, and the outer surface of the case at each position on the movement track of the attachment member forms an inclined surface projecting forward as the rotation axis is closer to the motion rotation axis can do.

In order to achieve the fourth object, the extension direction of the motion rotation axis includes forward and backward components, and the movement track of the attachment member may be within an upper 180-degree area centered on the motion rotation axis.

The attachment member may rotate about a motion rotation axis, and the extension direction of the motion rotation axis may include a forward and backward component. For the fourth problem, the outer surface of the case at each position on the movement path of the attachment member may form an inclined surface that protrudes forward as it goes downward on a vertical section in the vertical direction.

In order to solve the first and second problems, the motion assembly may include a main body which rotates by the rotational force of the motion motor, and a follower which supports the attachment member and reciprocates by the main body have. One of the main body and the follower includes a guide, and the other of the main body and the follower may include a guide contact moving along the guide.

In order to solve the first and second problems, the motion assembly may include a main body for rotating and a follower for rotating along a motion rotation axis. Wherein the main body includes a rotation axis coupling portion that receives rotation force of the motion motor and rotates about the motion driving axis, a centrifugal portion extending from the rotation axis coupling portion in a direction away from the motion driving axis, And a guide contact protruding in a direction perpendicular to an imaginary plane in which the rotation orbit of the rotation guide is disposed. Wherein the follower includes a guide formed in a groove extending along a relative movement range of the guide contact portion with respect to the follower and the guide contact portion being inserted into the groove, A guide coupling portion connecting the motion axis coupling portion and the guide, and a fixed body fixing the attachment member at a position spaced apart from the motion rotation axis.

In order to solve the third problem, the motion assembly includes a main body for rotating and a follower for rotating around a rotation axis of the motion, the case being rotatable about a tilting rotary shaft, The robot may include a tilting shaft for providing the motion rotation axis and the tilting rotation axis.

In order to solve the third problem, the communication robot includes a supporting body for rotatably supporting the tilting shaft, a tilting driving unit for providing a driving force for rotating the tilting shaft, a tilting shaft connecting the tilting shaft and the case And a tilting frame coupled to the tilting shaft and the case. In addition, the motion motor may be fixed to the tilting frame.

In order to solve the third problem, the case is provided to be rotatable about a tilting rotary shaft, and the case, the motion motor, the motion assembly, and the attachment member may be integrally rotated about the tilting rotary shaft .

By moving an attachment object such as a memo board or a decorative object through a predetermined movement path, a dynamic appearance can be produced, and the user's attention is strongly encouraged, and the memory for the information can be strongly imprinted to the user. Further, there is an effect that the concentration of the user on the communication robot can be increased.

In addition, by providing an efficient structure in which the communication robot can perform motion, the communication robot has the effect of giving the living robot the same feeling as the living robot. That is, it has an effect of adding emotional elements in the communication process between the user and the communication robot.

Further, there is an effect that the operation can be diversified by the minimum number of driving parts.

By rotating the case, the motion motor, the motion assembly, and the attachment member integrally, the relative movement path of the attachment member with respect to the case can be prevented from being changed even if the motion drive unit is driven during movement such as rotation of the case .

In addition, the outer surface of the case at each position on the moving track of the attachment member may form an inclined surface projecting forward as the motion rotation axis is closer to the motion rotation axis, so that the attachment object can be supported at an oblique angle with respect to the case, It is possible to make the display more efficient in view of the user.

Further, when the load of the object to be attached, which is in contact with the 'sloped surface' formed on the outer surface of the case, is divided by the vertical direction component and the parallel direction component with respect to the outer surface of the case, (For example, magnetic force) acting on the attachment object by the attachment member with the component having a non-zero value acting in the inner direction of the case, the additional force (the outer surface of the load In the vertical direction). Therefore, even if the tensile force acting by the attaching member is the same, when the inclined surface of the case is provided, it is possible to attach the attached object having a larger load to the outer surface of the case, .

By providing the tilting shaft that provides the motion rotation axis and the tilting rotation axis, it is possible to increase the structural efficiency because there is little addition of a structure for increasing the possible operation pattern. Specifically, when the case rotates about the tilting shaft in a normal direction and at the same time, the follower rotates around the tilting shaft, and when viewed from the outside, It is possible to produce a motion that is tilted. In addition, when the case rotates about the tilting shaft in the forward direction and simultaneously moves the follower about the tilting shaft in the forward direction, the moving path of the object is much larger when viewed from the outside, It is possible to make the object moving motion appear more prominent. Further, it is also possible to perform only one of the operation of rotating the case about the tilting shaft and the operation of rotating the follower about the tilting shaft, thereby realizing various operation patterns as a whole.

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 a perspective view of the communication robot 1 of Fig. 4 viewed from a different angle.
Fig. 6 is an elevational view of the communication robot 1 of Fig. 4 viewed from the front.
Fig. 7 is a cross-sectional view of the communication robot 1 of Fig. 6 taken along the line A1-A1 ';
8 is an exploded perspective view of the communication robot 1 of Fig.
9A is a perspective view showing the lower body 100 of FIG. FIG. 9B is a perspective view of the communication robot 1 of FIG. 9A viewed from a different angle.
Fig. 10 is a cross-sectional view of the lower body 100 of Fig. 9A cut vertically along line B1-B1 '.
11A is a perspective view showing an assembly of the spin body 200, the tilting frame 310, the tilting shaft 350, the motion driving unit 370, and the motion assemblies 380 and 390 of FIG. 11B is a perspective view of the assembly of FIG.
Figure 12 is an exploded perspective view of the assembly of Figure 11a.
13 is a perspective view showing the tilting front case 320 of FIG.
FIG. 14 is a perspective view showing the tilting rear case 330 of FIG.
15 is a perspective view of the display body 400 of FIG.
16 is an exploded perspective view of the display body 400 of FIG.
17 is a cross-sectional perspective view of the communication robot 1 of Fig. 7 cut horizontally along the line A2-A2 '.
Figs. 18A to 18C are elevation views of the rear side of the assembly of Fig. 11A, showing the mechanism in which the tilting frame 310 is rotated by the rotation of the tilting driven gear 255 and the tilting driven gear 358. Fig.
19A to 19C are elevational views of the communication robot 1 of FIG. 4 as viewed from the front and show a mechanism in which the tilting cases 320 and 330 rotate by the rotation of the tilting driven gear 255 and the tilting driven gear 358 Fig. Figs. 19A to 19C show appearance of the appearance corresponding to the arrangement state of the tilting frame 310 of Figs. 18A to 18C, respectively.
Figs. 20A to 20D are elevation views of a front view of the assembly of Fig. 11A, showing the mechanism by which the attachment member 397 is moved by operation of the motion assemblies 380 and 390. Fig.
Figs. 21A to 21D are elevation views of the communication robot 1 of Fig. 4 as viewed from the front, and show the mechanisms in which the attachment object 80 on the outside of the cases 320 and 330 moves by the operation of the motion assemblies 380 and 390 Fig. Figs. 21A to 21D show the appearance of the appearance corresponding to the arrangement state of the attachment member 397 of Figs. 20A to 20D, respectively.
Fig. 22 is a cross-sectional view of a part of the communication robot 1 of Fig. 21A cut vertically along the line B2-B2 '.
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 remote controllable home 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 information can be received by the communication robot 1 over the network through the communication module 31 and the output unit 40 or the driving unit 60 can be controlled based on the received information.

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 240, 250, and 370. The plurality of driving units 240, 250, and 370 may be independently driven or simultaneously driven to enable complex motion.

The driving unit 60 includes a spin driving unit 240 that provides power to rotate the spinning body 200 about the spinning 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 240. [

The driving unit 60 includes a motion driving unit 370 that provides power to move the attachment object 80 attached to the outside of the communication robot 1. [ The motion driving unit 370 can provide power to rotate the attachment member 397 about the motion rotation axis Om2. The motion driving unit 370 can be rotated about the spin rotation axis Os by the spin driving unit 240. The motion driving unit 370 can be tilted to one side 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 216 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 may include a motion angle sensing unit (not shown) that senses an angle (inclined angle) of the attachment member 397 rotated about the motion rotation axis Om2.

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 activates the tilting drive unit 60 to operate the upper portion to tilt leftward (or backwardly) with respect to the lower portion .

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 display body 400 is the direction of the user detected by the direction sensor.

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 8, the overall structure of the communication robot 1 will be described below.

The communication robot 1 includes a tilting body 300 in which the upper portion 308 is tiltably supported by the spin body 200 with respect to the lower portion 306. [ The tilting body 300 may be rotated around the tilting rotational axis Ot to implement the tilting motion. The communication robot 1 includes support bodies 100 and 200 for rotatably supporting the tilting body 300. [ 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 display body 400 disposed on the tilting body 300 and outputting an image.

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

The display body 400 and the tilting body 300 rotate together with the spin body 200. The tilting body 300 is inclined in a direction crossing the direction in which the display body 400 is viewed. For example, when the display body 400 is viewed from the front, the tilting body is tilted in the left-right direction. The display body 400 can change the image output direction to the specific direction toward the user by means of the spin body 200. The display body 400 is configured to hold the image output direction in the specific direction, It is possible to perform a predetermined motion that tilts in a direction perpendicular to the direction of the vehicle.

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, the display body 400 will be described with reference to a situation in which the display body 400 is disposed facing forward. The fact that the display body 400 looks forward may mean that the display body 400 sees one of the front, the front upward, and the front downward. In this embodiment, the display body 400 is arranged 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 display 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 display 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, and 13c can be formed. The first to third microphone holes 13a, 13b, and 13c are formed at positions corresponding to the first to third microphones 432a, 432b, and 432c, respectively. Two microphone holes 13a and 13b are arranged on the left and right of the display 401, respectively. Two microphone holes 13a and 13b are formed on the front surface of the display body 400. [ The microphone hole 13c is formed on the rear side of the communication robot 1.

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 display body 400. The optical signal irradiating direction of the remote control module 33 may be provided in the front direction of the display body 400. [ The remote control module 33 may be disposed at a front portion of the display body 400. [

On the outer surface of the communication robot 1, an exhaust port 14 is formed. The exhaust port 14 may be realized by a plurality of fine holes grouped together. Two exhaust ports 14a and 14b may be arranged in the left and right direction, respectively. A fan (not shown) may be disposed at a position inside the communication robot 1 corresponding to the vent 14.

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 motion attachment portion 18 capable of attaching the attachment object 80 by a movable attachment member 397. [ The motion attaching portion 18 is disposed on the outer surface of the communication robot 1. [ The motion attachment portion 18 can be disposed on the front surface of the communication robot 1. [ The motion attachment portion 18 may be disposed on the lower side of the tilting cases 320 and 330. [

Two motion attaching portions 18a and 18b may be provided movably together. The two motion attaching part motion attaching parts 18a and 18b are disposed apart from each other. The two motion attachment portion motion attachment portions 18a and 18b are disposed at positions corresponding to the two attachment members 397a and 397b.

4 shows the attachment corresponding portion M which is the movement trajectory of the motion attachment portion 18. As shown in Fig. The attachment corresponding portion M shows a path through which the attachment object 80 can move while being attached to the outer surface of the case 320. The attachment corresponding portion M is formed in a curved shape. The attachment corresponding portion M may be provided in a convex arc shape upward.

The communication robot 1 may include fixed attachment portions 19a and 19b capable of attaching the attachment object 80 by attachment members 325a, 325b, 325c and 325d such as magnets fixed at any one position The fixed attachment portions 19a and 19b may include a pair of fixed attachment portions 19a1 and 19a2 disposed on the right side of the communication robot 1. [ The fixed attachment portions 19a and 19b may include a pair of fixed attachment portions 19b1 and 19b2 disposed on the left side of the communication robot 1. [

The communication robot 1 includes a case 121, 123, 220, 320, The cases 121, 123, 220, 320, and 330 form an appearance along the periphery of the communication robot 1. [

The lower body 100 includes lower cases 121 and 123 which form an outer appearance along the periphery of the lower body 100. The spin body 200 includes a spin case 220 which forms an outer appearance along the periphery of the spin body 200. The tilting body 300 includes a tilting case 320, 330 that forms an outer appearance along the periphery of the tilting body 300.

The lower cases 121 and 123 include side surfaces 121 forming a circumferential surface. The side portion 121 of the lower case is formed extending in the circumferential direction around the spin rotation axis Os. The side surface portion 121 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 cases 121 and 123 include a bottom portion 123 forming a bottom surface. The bottom surface 123 of the lower case is provided with a slip prevention part 131 for preventing the communication robot 1 from slipping. The slip prevention part 131 may be made of a material having a high frictional force such as a rubber material.

The spin case 220 is disposed above the side portion 121 of the lower case. The spin case 220 is formed extending in the circumferential direction around the spin rotation axis Os. The spin case 220 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 spin case 220 forms a curved surface convex in the centrifugal direction on a virtual vertical section on which the spin rotation axis Os is disposed.

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 display body 400 is fixed to the tilting front case 320.

The lower portions 306 of the tilting cases 320 and 330 are disposed to overlap with the spin case 220. The outer surface 209 of one portion of either the spin case 220 or the tilting case 320 or 330 is provided so as to overlap with the inner surface 309 of another portion.

On the cross section perpendicular to the spin rotation axis Os, the overlapping outer surface 209 and inner surface 309 may be formed concentrically. The overlapping outer surface 209 and the inner surface 309 on the section perpendicular to the spin rotation axis Os concentrically form any state in which the tilting cases 330 and 330 are rotated around the tilting rotary axis Ot .

The spin case 220 and the tilting cases 320 and 330 are integrally rotated about the spin rotation axis Os. Portions of the outer surface 209 and the inner surface 309 facing each other are maintained as they are when the spin body 200 is rotated.

The area where the outer surface 209 and the inner surface 309 overlap with each other is changed as the tilting body 300 tilts. Specifically, when the tilting body 300 is tilted to the right, the area where the outer surface 209 and the inner surface 309 overlap with each other at the right side of the communication robot 1 becomes large, The area where the outer surface 209 and the inner surface 309 overlap with each other becomes small. On the contrary, when the tilting body 300 is tilted to the left, the area where the outer surface 209 and the inner surface 309 overlap each other at the left side of the communication robot 1 becomes larger, The area where the surface 209 and the inner surface 309 overlap with each other becomes small.

On the section perpendicular to the tilting axis of rotation Ot, the overlapping outer surface 209 and inner surface 309 have a radius of curvature centered on the tilting axis of rotation Ot. The turning operation about the tilting rotational axis Ot of the tilting body 300 is guided by the overlapping outer surface 209 and inner surface 309. [

The outer surface 209 of one part of the spin case 220 overlaps with the inner surface 309 of one part of the tilting cases 320 and 330 on the section perpendicular to the tilting rotary axis Ot Respectively. The upper ends of the lower cases 121 and 123 protrude in a centrifugal direction from the lower end of the spin case 220 to form a stopping protrusion 121a. When the tilting body 300 tilts to one side, the one lower end of the tilting cases 320 and 330 is restricted by the engagement protrusions 121a, so that the tilting motion of the tilting body 300 Limit can be implemented. The stopping protrusion 121a is formed to extend in the circumferential direction so that the limit of the tilting operation is realized even if the tilting body 300 tilts in a state of relative rotation with respect to the lower body 100. [

The left surface of the intermediate portion 307 of the tilting body 300 includes a portion recessed to the right in a state where the tilting body 300 is tilted to the maximum by the limit. The right side surface of the intermediate portion 307 of the tilting body 300 includes a depressed portion to the left 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 front, the left surface of the intermediate portion 307 of the tilting body 300 is tilted upwardly to the right even when the tilting body 300 is tilted to the maximum leftward And includes depressed portions. When the tilting body 300 is viewed from the front, the right side surface of the intermediate portion 307 of the tilting body 300 is inclined upward and downward even when the tilting body 300 is tilted to the maximum right, . 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 attachment object 80 can be attached to the outside of the cases 121, 123, 220, 320, And contacts the outside of the case 121, 123, 220, 320, and 330 of the attachment object 80. In this embodiment, the attachment object 80 can be arranged in contact with the outside of the tilting cases 320 and 330. [

Referring to FIGS. 7 to 10, the structure of the lower body 100 will be described as follows.

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 includes a core 110. The core 110 is inserted into the spin body 200. The core 110 is inserted into the lower body insertion portion 220b of the spin body 200. The core 110 may be formed in a shape having a plurality of circular cylinders whose bottom faces are circles having different diameters. The core 110 may be formed as a rotating body around the spin rotation axis Os.

A core hole 110a is formed in the center of the core 110. [ The core hole 110a is formed by being recessed downward from the center of the upper side of the core 110. [ The core hole 110a extends along the spin rotation axis Os.

The core 110 includes a spindle driven gear support portion 111 for fixing the spindle driven gear 151. The spindle driven gear support portion 111 is formed in a cylindrical shape as a whole. The spin driven gear support portion 111 is disposed on the lower side of the core 110.

The core 110 includes a first sensing gear support portion 113 for fixing the first sensing gear 153. The first sensing gear support portion 113 is formed in a cylindrical shape as a whole. The first sensing gear support portion 113 is disposed on the upper side of the core 110. The first sensing gear support portion 113 is disposed above the spin driven gear support portion 111.

The first sensing gear support portion 113 is formed smaller than the spin driven gear support portion 111 when viewed from above. The spindle driven gear support portion 111 has a cylindrical shape with a relatively large diameter circle as a bottom surface, and the first detection gear support portion 113 has a cylindrical shape with a bottom having a relatively small diameter. The spindle driven gear support portion 111 and the first sense gear support portion 113 are arranged so as to align their centers along the spin rotation axis Os. The spindle driven gear support portion 111 and the first sense gear support portion 113 may be integrally formed.

The lower body 100 includes a base 120 disposed below the core 110. The base 120 supports the core 110. The base 120 transfers the load of the communication robot 1 to an external floor. The base 120 is disposed to be exposed to the outside. The side surface portion 121 and the bottom surface portion 123 of the base 120 constitute the lower case 121, 123. The upper surface portion 125 of the base 120 is coupled to the upper end of the side surface portion 121.

The slip prevention part 131 is disposed on the bottom part 123 of the base 120. The power connection part 133 is disposed on the side part 121 of the base 120.

The wireless charging modules 141 and 143 are disposed in the lower body 100. A wireless charging coil 141 is interposed between the base 120 and the core 110. The wireless charging coil 141 is formed in a ring shape. The wireless charging coil 141 is disposed between the upper surface portion 125 of the base 120 and the lower surface of the spin driven gear support portion 111. The wireless charging unit 143 is disposed at an inner central portion of the lower body 100. A hole may be formed at the center of the upper surface portion 125 of the base 120 and a wireless charging portion 143 may be mounted on the hole of the upper surface portion 125. The wireless charging unit 143 can be fixed to the base 120 by the fastening member 175.

The lower body 100 includes a spin driven gear 151 fixed to the lower body 100. The spin follower gear 151 forms a gear tooth along the circumferential direction around the spin rotation axis Os. The spin driven gear 151 has a hole formed at the center thereof. The lower portion of the first sensing gear support portion 113 is disposed so as to pass through the hole of the spin driven gear 151. The lower surface of the spin driven gear 151 is in contact with the upper surface of the spin driven gear support portion 111. [ A plurality of gear engagement holes 151a are formed in the spindle driven gear 151 so as to be spaced from one another along the circumferential direction. A fastening member 171 such as a screw is fixed to the spin driven gear support portion 111 through the gear engagement hole 151a. The spindle driven gear 151 is fixed to the spindle driven gear support portion 111.

The lower body 100 includes a first sensing gear 153 fixed to the lower body 100. The first sensing gear 153 forms a gear tooth along the circumferential direction around the spin rotation axis Os.

Although not shown in the figure, in another embodiment, the spin driven gear 151 may also function as the first sense gear 153, so that the spin driven gear 151 may be referred to as the first sense gear 153 . In this case, the second sensing gear 214, which will be described later, is provided to be rotated by being engaged with the spin driven gear 151.

In this embodiment, the lower body 100 includes a first sensing gear 153 separately from the spin driven gear 151. [ The first sensing gear 153 has a hole formed at the center thereof. The core hole 110a is connected to the hole of the first sensing gear 153. The lower surface of the first sensing gear 153 is in contact with the upper surface of the first sensing gear support portion 113. The first sensing gear 153 is formed with a plurality of gear engagement holes 153a spaced from each other along the circumferential direction. A fastening member 173 such as a screw passes through the gear engagement hole 153a and is fixed to the first sensing gear support portion 113. [ The first sensing gear 153 is fixed to the first sensing gear support portion 113.

The first sensing gear 153 is formed smaller in diameter than the spin driven gear 151 when viewed from above. The first detection gear 153 is disposed on the upper side of the spin driven gear 151.

A first bearing 161 interposed between the lower body 100 and the spin body 200 is provided. The first bearing 161 rotatably supports the spin body 200. The first bearing 161 is formed to extend in the circumferential direction along the outer surface of the core 110. The first bearing 161 is disposed on the lower side of the spin driven gear 151. The first bearing 161 is disposed between the outer surface of the spin driven gear support 111 and the inner surface of the spin case 220.

7, 8 and 11A to 12, the structure of the spin body 200 will be described below.

The spin body 200 is rotatably supported by the lower body 100. The spin body 200 is disposed on the upper side of the base 120. The spin body 200 is disposed to receive the core 110 therein.

The spin case 220 is disposed on the lower side of the spin body 200. At the center of the spin case 220, a hole penetrating in the vertical direction is formed. The upper end of the hole of the spin case 220 is formed larger than the lower end. The lower portion of the hole of the spin case 220 forms a lower body insertion portion 220b. The lower body inserting portion 220b can be defined as an inner space of the spin case 220 and the spin driven gear 151 of the lower body 100 is inserted into the lower body inserting portion 220b. A plurality of fastening holes 220a are formed at the upper end of the spin case 220. A fastening member such as a screw penetrates the support frame 231 to be described later and is fixed to the fastening hole 220a. The spin case 220 is fixed to the support frame 231.

The first bearing connection portion 225 is disposed on the inner surface of the spin case 220. A plurality of first bearing connecting portions 225 may be disposed apart from each other along the circumferential direction. The first bearing connection part 225 is engaged with the first bearing 161.

The spin body 200 includes a support frame 231. The support frame 231 is formed as a plate having a thickness in the vertical direction as a whole. When viewed from above, the support frame 231 is formed in a circular shape as a whole.

The support frame 231 is disposed at the upper end of the spin case 220. The support frame 231 includes a spin case fixing portion 231c for fixing the spin case 220. [ A plurality of spin case securing portions 231c are formed at positions corresponding to the plurality of fastening holes 220a. The spin case fixing portion 231c forms a hole penetrating the support frame 231 in the vertical direction, and the fastening member passes through the hole and is inserted and fixed in the fastening hole 220a.

The support frame 231 is disposed below the motor PCB 211 to be described later. The support frame 231 includes a PCB fixing portion 231b for fixing the motor PCB 211. [ A plurality of PCB fixing portions 231b are formed at positions corresponding to the plurality of fastening holes 211a of the motor PCB. The PCB fixing portion 231b forms a depressed groove from the upper side to the lower side of the support frame 231, and the fastening member passes through the fastening hole 211a and is inserted and fixed in the groove.

A first sensing gear arrangement hole 231a penetrating the support frame 231 in the vertical direction is formed. The first sensing gear 153 is inserted through the first sensing gear arrangement hole 231a and disposed on the upper side of the support frame 231. [ The first sensing gear support portion 113 is arranged to pass through the first sensing gear arrangement hole 231a. The second sensing gear 214, which will be described later, is disposed on the upper side of the support frame 231, and meshes with the first sensing gear 153 and rotates. The first sensing gear 153 and the second sensing gear 214 are disposed between the support frame 231 and the motor PCB.

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 forward and backward directions. 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 263 for rotatably supporting the tilting shaft 350. The tilting bearing support portion 263 supports the tilting shaft support portion 232 and the tilting shaft 350, . The tilting bearing 263 is disposed in the tilting shaft through hole 233. The first tilting shaft support portion 232 is provided with a first tilting bearing 263a and the second tilting shaft support portion 232 is provided with a second tilting bearing 263b.

The spin body 200 includes a spin motor support portion 234 for supporting the spin motor 241. The spin motor support portion 234 is fixed to the support frame 231. And the lower end of the spin motor support portion 234 is fixed to the upper surface of the support frame 231. [ The spin motor support portion 234 is formed so as to protrude upward from the support frame 231. The spin motor support portion 234 forms a recess recessed from the upper side to the lower side, and the spin motor 241 is inserted into the groove of the spin motor support portion 234. The spin motor support portion 234 is disposed at an edge portion of the support frame 231.

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 lower end of the tilting motor support portion 235 is fixed to the upper surface of the support frame 231. [ The tilting motor support portion 235 is formed so as to protrude upward from the support frame 231. The tilting motor support portion 235 forms a depressed groove in the front and rear direction, and a tilting motor 251 is inserted and arranged in the groove of the tilting motor support portion 235. The tilting motor support portion 235 is disposed at one side of the tilting shaft support portion 232 in the left and right direction.

The spin body 200 includes a spin driving unit 240 that provides a driving force for rotating the spin body 200 relative to the lower body 100. The spin driving unit 240 includes a spin motor 241 fixed to the spin body 200. The spin body 200 rotates by the driving force of the spin motor 241. The spin motor shaft 243 of the spin motor 241 is protruded downward. The spin motor shaft 243 is arranged to penetrate the support frame 231 in the up and down direction.

The spin body 200 includes a spin driven gear 245 rotated by a spin motor 241. The spinning driven gear 245 is rotated by a spin motor 241 about a rotating shaft 243 fixed to the spinning body 200.

As another example, the spindle driven gear is fixed to the spin body 200, 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 about a rotation axis fixed to the lower body 100, and forms a gear for meshing with the gear of the spin driven gear. In this case, the spin driver 240 is disposed in the lower body 100.

The rotational axis 243 of the spin driven gear 245 may be a spin motor axis 243. In this case, the rotational axis of the spindle gear 245 is connected to the spindle motor shaft 243 and the spindle motor shaft 243. The spindle gear 245 may be rotated by other gears or belts coupled to the spindle motor shaft 243, Respectively.

The spin driven gear 245 is disposed below the support frame 231. The spin driven gear 245 is arranged to engage with the spin driven gear 151. The spin driven gear 245 forms a gear that meshes with the gear of the spin driven gear 151.

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 may be disposed to protrude in the front-rear direction. The tilting motor shaft 253 is disposed to penetrate the tilting motor support portion 235 in the front-rear 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 spur gear 255 is disposed on the upper side of the support frame 231. 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 range in which the tilting body 300 is rotatable with respect to the spin body 200 is limited within a predetermined angle. The tilting spur gear 255 can form the gear teeth only to such an extent that the tilting body 300 can be rotated within the predetermined angle. Further, the tilting driven gear 358 can form the gear teeth only to such an extent that the tilting body 300 can be rotated within the predetermined angle. The gear of the tilting driven gear 255 is formed only within a predetermined angle about the rotational axis 253 of the tilting driven gear 255 and the gear of the tilting driven gear 358 is formed only inside the tilting driven gear 358, Is formed only within a predetermined angle about the rotational axis Ot of the rotor.

A motor PCB 211 for controlling at least one of a plurality of motors 241, 251, and 371 is provided. The motor PCB 211 can control the driving of the spin motor 241. [ The motor PCB 211 can control the driving of the tilting motor 251. [ And the motor PCB 211 can control the driving of the motion motor 371.

The motor PCB 211 is formed as a plate having a thickness in the vertical direction as a whole. The motor PCB 211 is disposed above the support frame 231. The motor PCB 211 forms an opening through which the tilting shaft support portion 232, the spin motor support portion 234 and the tilting motor support portion 235 pass. The motor PCB 211 is fixed to the support frame 231. The motor PCB 211 has the plurality of fastening holes 211a formed therein.

The spin body 200 includes a second sensing gear 214 that rotates about a rotation axis 215 fixed to the spin body 200. The second sensing gear 214 forms a gear that meshes with the gear of the first sensing gear 153.

As another example, the first sensing gear may be fixed to the spin body 200, and the gear teeth may be formed along the circumferential direction about the spin rotation axis Os. In this case, the second sensing gear rotates around a rotation axis fixed to the lower body 100, and forms a gear that meshes with the gear of the first sensing gear. In this case, the spin angle sensing unit is disposed in the lower body 100.

In this embodiment, the rotation shaft 215 of the second sensing gear 214 protrudes upward from the support frame 231. [ The end surface of the rotation shaft 215 has a D-shaped cross section. The rotation shaft 215 is arranged to pass through the motor PCB 211.

And the spin angle sensing unit 216 is fixed to the upper side of the motor PCB 211. The spin angle sensing unit 216 senses the rotation angle of the second sensing gear 214. The rotation angle of the spin body 200 with respect to the lower body 100 can be sensed. The spin angle sensing unit 216 forms a gear shaft insertion hole 216a penetrating in the vertical direction. The rotation shaft 215 of the second sensing gear 214 is inserted into the gear shaft insertion hole 216a.

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 front surface 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 tilting angle sensing portion 218 forms a hole penetrating in the front and rear direction, and the tilting shaft 350 is disposed passing through the hole of the tilting angle sensing portion 218.

A second bearing 261 interposed between the lower body 100 and the spin body 200 is provided. The support frame 231 is formed with an annular rib extending downward along the circumference of the first sensing gear arrangement hole 231a and a second bearing 261 is disposed on the inner surface of the rib. The second bearing 261 rotatably supports the spin body 200. The second bearing 261 is formed to extend in the circumferential direction along the outer surface of the core 110. The second bearing 261 is disposed below the first sensing gear 153. The second bearing 261 is disposed between the outer surface of the first sensing gear support portion 113 and the support frame 231.

7, 8 and 11A to 14, the structure of the tilting body 300 will be described below.

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 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 spin driving unit 240 and a tilting driving unit 250 are disposed in the inner space 300a.

A tilting shaft 350 supported by the spin body 200 is provided. 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 to extend in the front-rear 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 and the tilting frame 310. Using the tilting bearing 263, the tilting shaft 350 is rotatably disposed with respect to the tilting shaft support portion 232. The tilting shaft 350 is fixed to the tilting frame 310 by using the fixing pin 356 and the tilting shaft 350 is rotated integrally with the tilting frame 310.

The tilting shaft 350 includes a central portion 351 disposed between both ends. The central portion 351 is disposed through the tilting frame 310. The center portion 351 is disposed to pass through the shaft insertion hole 312 of the tilting frame 310. The central portion 351 has fixing pin insertion holes 351a and 351b. The fixing pin insertion holes 351a and 351b are formed through the tilting shaft 350 in a direction perpendicular to the tilting rotational axis Ot. The fixing pin through holes 311a and 311b of the tilting frame 310 are formed to be connected to the fixing pin insertion holes 351a and 351b in a state where the tilting frame 350 is assembled with the tilting frame 310. [ The fixing pin 356 is arranged to pass through the fixing pin through holes 311a and 311b and the fixing pin insertion holes 351a and 351b and the tilting frame 310 and the tilting shaft 350 are integrally rotated. Two fixing pins 356 may be provided. The first fixing pin 356a is arranged to pass through the first fixing pin through hole 311a and the first fixing pin insertion hole 351a. The second fixing pin 356b is disposed to pass through the second fixing pin through hole 311b and the second fixing pin insertion hole 351b.

The fixing pin 356 includes a head portion and a fin portion. The head portion of the fixing pin 356 is formed thicker than the fin portion. The fixing pin 356 is arranged long in the left-right direction. The fixing pin 356 is arranged to pass through the tilting frame 310 and the tilting shaft 350.

The first end portion 353 and the second end portion 355 of the tilting shaft 350 are fixed to the tilting cases 320 and 330, respectively. The first end portion 353 is fixed to the tilting rear case 330. The second end portion 355 is fixed to the tilting front case 320. The first end portion 353 and the second end portion 355 are inserted and fixed in the tilting shaft insertion groove 302 of the tilting cases 320 and 330. The first end 353 and the second end 355 are formed to be D-shaped in cross section. The first end portion 353 and the second end portion 355 rotate integrally with the tilting cases 320 and 330. The first end 353 projects to the rear side, and the second end 355 projects forward.

The tilting shaft 350 includes a gear insertion portion 352 in which a tilting driven gear 358 is disposed. The gear insertion portion 352 is disposed so as to pass through the tilting driven gear 358. The gear insertion portion 352 has a D-shaped cross section. The gear insertion portion 352 is rotated integrally with the tilting driven gear 358. [ The tilting driven gear 358 forms a gear that meshes with the gear of the tilting driven gear 255. [ In this embodiment, the gear insertion portion 352 is disposed so as to connect between the first end portion 353 and the central portion 351. The gear insertion portion 352 is disposed on the rear side of the second tilting shaft support portion 232b. The tilting driven gear 358 is disposed on the rear side of the second tilting shaft support portion 232b.

The tilting shaft 350 may be a rotating shaft of a follower 390 to be described later. The tilting shaft 350 includes a follower insert 354 connected to the follower 390. The follower insertion portion 354 is disposed through the follower 390. The follower insertion portion 354 is disposed passing through the hole of the motion axis coupling portion 393 of the follower 390. In this embodiment, the follower insertion portion 354 is disposed between the second end portion 355 and the middle portion 351.

The tilting shaft 350 includes a sensing shaft portion 359 which is arranged to pass through the tilting angle sensing portion 218. [ In the present embodiment, the detection shaft portion 359 is disposed between the center portion 351 and the follower insertion portion 354. [ The tilt angle sensing unit 218 senses the rotation of the sensing shaft 359 and can sense the angle at which the tilting body 300 is rotated with respect to the spin body 200. [

The tilting body 300 includes a tilting frame 310 fixed to the tilting shaft 350. The tilting frame 310 is supported by a tilting shaft 350.

The tilting frame 310 includes a tilting shaft penetration portion 311 through which the tilting shaft 350 penetrates. The tilting shaft penetration portion 311 is disposed on the lower side of the tilting frame 310. The tilting shaft penetration portion 311 is engaged with the tilting shaft 350 at the front portion and the rear portion, respectively, and the middle portion is opened to expose a part of the tilting shaft 350. The tilting shaft penetration portion 311 is formed with a shaft insertion hole 312 penetrating in the front-rear direction. The tilting shaft penetration portion 311 is formed with fixing pin through holes 311a and 311b which penetrate through the shaft insertion hole 312.

The tilting frame 310 includes a centrifugal extension portion 313 connected to the tilting shaft penetration portion 311 and extending in a direction away from the tilting rotation axis Ot. The centrifugal extension portion 313 is disposed on the upper side of the tilting shaft penetration portion 311. The centrifugal extension portion 313 extends upward from the tilting shaft penetration portion 311. The centrifugal extension part 313 is provided with a tilting case fixing part 313a for fixing the tilting cases 320 and 330. The tilting case fixing portion 313a can form a fastening hole. The tilting frame fastening members 304 penetrate the centrifugal extension portion 313 through the fastening holes and the both ends can be fixed to the tilting cases 320 and 330 respectively (see FIG. 7).

The tilting body 300 includes a motion motor support portion 315 for supporting the motion motor 371. The motion motor support portion 315 is fixed to the tilting frame 310. One side of the motion motor support portion 315 is fixed to the centrifugal extension portion 313. One side of the left and right side surfaces of the motion motor support portion 315 is fixed to the centrifugal extension portion 313. The motion motor support portion 315 is formed so as to protrude in one direction of the left and right direction of the centrifugal extension portion 313. The motion motor support portion 315 rotates integrally with the tilting body 300. The motion motor support portion 315 forms a recess recessed forward from the rear side and a motion motor 371 is inserted into the groove of the motion motor support portion 315. A motor shaft through hole 315a through which the motor shaft 373 of the motion motor 371 passes is formed in the motion motor support portion 315. [ The motor shaft through hole 315a is formed through the front surface of the motion motor support portion 315 in the front-rear direction. The motor shaft 373 projects forward.

The tilting body 300 includes a tilting case 320, 330 fixed to the tilting frame 310. The tilting cases 320 and 330 form an outer appearance. The tilting cases 320 and 330 support the display body 400.

The tilting cases 320 and 330 are formed with two grooves 302a and 302b into which the opposite ends 355 and 353 of the tilting shaft 350 are respectively inserted. The tilting front case 320 is formed with a tilting-shaft insertion groove 302a into which the second end 355 of the tilting shaft 350 is inserted. The tilting rear case 330 is formed with a tilting-shaft insertion groove 302b into which the first end 353 of the tilting shaft 350 is inserted.

A tilting frame fixing part 303 fixed to the tilting frame 310 is formed on the tilting cases 320 and 330. The tilting front case 320 is formed with a first tilting frame fixing portion 303a protruding rearward from the inner side. A groove recessed forward can be formed at the center of the rear end of the first tilting frame fixing portion 303a. A second tilting frame fixing portion 303b protruding forward from the inner side surface is formed in the rear tilting case 330. [ A hole penetrating the center of the second tilting frame fixing portion 303b in the longitudinal direction can be formed. The tilting frame fastening member 304 sequentially passes through the second tilting frame fixing portion 303b and the tilting frame 310 and is fixed to the first tilting frame fixing portion 303a.

The tilting frame fixing portion 303 is disposed apart from the tilting-shaft insertion groove 302. The tilting frame fixing portion 303 is disposed apart from the tilting shaft insertion groove 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 a display body seating portion 320a. The display body seating portion 320a is formed in a circular shape.

A plurality of display body fixing parts 321 are disposed along the rim of the display body mounting part 320a. The display body fixing part 321 is fixed to the tilting front case 320 and is fastened to the display body 400 by a fastening member such as a screw. In this embodiment, the three display body fixing parts 321a, 321b, and 321c are spaced apart from each other at regular intervals.

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

The tilting front case 320 is formed with a magnet mounting portion 325 for forming the fixed mounting portions 19a and 19b. The magnet seating portion 325 forms a groove into which the mounting members 325a, 325b, 325c, and 325d such as magnets are inserted and arranged. The two magnet seating portions 325 may be arranged in the left and right directions with respect to the center of the tilting front case 320, respectively. Two attachment members 325a and 325b (325c and 325d) are disposed on the two magnet seating portions 325, respectively.

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.

7, 8, and 20A to 22, the motion driver 370 and the motion assemblies 380 and 390 are provided so that the attachment member 397 moves to face the inner surface of the case. A case having an inner surface facing the attachment member 397 may be a component that forms an appearance. For example, the case having the inner surface facing the attachment member 397 may be the lower case 121, 123, the spin case 220, or the tilting case 320, 330.

In this embodiment, the case having the inner surface facing the attachment member 397 is described with reference to the tilting front case 320, but the present invention is not limited thereto. Hereinafter, the case having the inner surface facing the attachment member 397 is simply referred to as " case 320 ".

The case 320 may be movably provided. The case 320 may be provided to be rotatable. The case 320 may be rotatable about the tilting axis Ot. A tilting shaft 350 may be provided to provide a central axis for rotational movement of the case 320. The tilting frame 310 connects the tilting shaft 350 and the case 320 and connects with the tilting shaft 350 and the case 320.

A support body for movably supporting the case 320 is provided. In the present embodiment, the support body is composed of a combination of the lower body 100 and the spin body 200, but is not limited thereto. The support body may support the case 320 to be rotatable. The support body may support the case 320 so as to be rotatable around the tilting rotary shaft Ot. The support body may rotatably support the tilting shaft 350.

When the case 320 is moved, the attachment member 397 is provided to move integrally with the case 320. When the case 320 rotates, the attachment member 397 is provided so as to move integrally with the case 320. The point of the case 320 facing the attachment member 39 is kept constant regardless of the movement of the case 320 (spin operation, tilting operation, linear motion, etc.) in a state in which the motion drive unit 370 is not driven do. When the tilting shaft 350 is rotated, the case 320, the motion motor 371, the motion assemblies 380 and 390, and the attachment member 397 are integrally rotated. The relative movement path of the attachment member 397 with respect to the case 320 is not changed even if the motion driving unit 370 is driven during movement such as rotation of the case 320. [

The attachment member 397 moves along the inner surface of the case 320. The attachment member 397 can move in contact with the inner side surface, and can move while maintaining a fine gap with the inner side surface.

The inner surface of the case 320 may form a curved surface. The attachment member 397 can move while facing the curved surface.

The communication robot 1 includes a motion driving unit 370 that provides a driving force for moving the motion attaching portions 18a and 18b with respect to the case 320. [ In this embodiment, the motion driver 370 is fixed to the tilting body 300. The motion driver 370 includes a motion motor 371 for generating a rotational force. The motion motor 371 is fixed to the tilting frame 310. The motion motor shaft 373 may be provided so as to protrude forward.

And a motion assembly (380, 390) for converting the rotational force of the motion motor into a motion having a predetermined movement path. The motion assemblies 380 and 390 change the driving force of the motion driving unit 370 to a motion having a predetermined movement path. In this embodiment, the motion assemblies 380, 390 are disposed in the tilting body 300.

Any one of the attachment member 397 and the attachment object 80 may include a magnet (permanent magnet or electromagnet) and the other may include a substance (magnet or metal) pulled by the magnet. In one example, the attachment member 397 may be a magnet, and the attachment object 80 may be provided with a metal or a magnet. As another example, the attachment member 397 may be a metal or the like, and a magnet may be disposed on the attachment object 80. [

The attachment member 397 is disposed inside the case 320. The attachment member 397 is provided to move to face the inner surface of the case 320 by the motion assemblies 370 and 380. The attachment member 397 is provided to move by the motion assemblies 370 and 380 to move the attachment object 80 that contacts the outside of the case 320. [ The attachment member 397 moves by a predetermined movement path by the motion assemblies 370 and 380 to change the magnetic field field outside the case 320. [ The attachment member 397 is provided so as to move the attachment object 80 attached to the outer surface of the case 320.

The attachment member 397 may be formed to be relatively long in a vertical direction (first vertical direction) in the direction (facing direction) in which the inner surface of the case 320 is viewed. When the facing direction and the second vertical direction perpendicular to the first vertical direction are defined, the length of the attachment member 397 in the first vertical direction may be longer than the length of the second vertical direction. In this embodiment, at least two attachment members 397a, 397b are provided which are spaced apart from each other in the first vertical direction. The two attachment members 397a and 397b move and rotate integrally. As a result, not only the orbital motion but also the rotational motion of the attached object 80 can be controlled.

The attachment object 80 may be a decorative article for decorating the outside of the communication robot 1. [ The attachment object 80 may be an information board (for example, an electronic board or an apparatus for attaching paper) to be informed to the user. By moving the attachment object 80 in a predetermined movement path, it is possible to produce a dynamic appearance and attract the user's attention.

The predetermined movement path may be a linear motion path or a curved motion path. The predetermined movement path may be a rotational motion path or a reciprocating motion path. In the present embodiment, the predetermined movement path is a reciprocating curved path. The predetermined movement path may be a rotational motion about the motion rotation axis Om2. The predetermined movement path may be a rotational motion about the motion rotation axis Om2 and may be a motion within a certain rotation angle range. The tilting shaft 350 not only provides the tilting rotary axis Ot, but also can provide the motion rotation axis Om2.

When describing using a three-dimensional vector, the motion rotation axis Om2 may include forward and backward components (direction components of a three-dimensional vector). In this embodiment, the motion rotation axis Om2 extends in the front-rear direction.

The movement trajectory of the attachment member 397 corresponds to the predetermined movement path. The attachment member 397 rotates around the motion rotation axis Om2. The outer surface of the case 320 at each position on the movement trajectory of the attachment member 397 forms an inclined surface that protrudes forward as it approaches the motion rotation axis Om2. The attachment corresponding portion M forms an inclined surface that protrudes forward as it approaches the motion rotation axis Om2.

In the state in which the inclined surface of the case 320 is provided, the extending direction of the motion rotation axis Om2 will be described using a three-dimensional vector as follows. The extending direction of the motion rotation axis Om2 includes forward and backward components (direction components of the three-dimensional vector). Further, the moving track of the attachment member 397 may be within the upper 180-degree region centered on the motion rotation axis Om2. The attachment corresponding portion M may be within the upper 180 degree region centered on the motion rotation axis Om2. In this case, when the load of the attached object 80 which is in contact with the attachment corresponding portion M and is divided by the vertical direction component and the parallel direction component with respect to the outer surface of the case 320, The vertical direction component has a non-zero value and acts in the inner direction of the case 320. The vertical component of the load on the outer surface becomes equal to the tension (magnetic force) direction acting on the attachment object 80 by the attachment member 397. Therefore, even if the tensile force acting by the attachment member 397 is the same, it is possible to attach the attachment object 80 with a larger load to the attachment corresponding portion M when the inclined surface of the case 320 is provided It is effective.

In other respects, the outer surface of the case at each position on the moving track of the attachment member 397 forms an inclined surface that protrudes forward as it goes downward on a vertical section in the vertical direction. As described above, even when the tensile force acting by the attachment member 397 is the same, when the inclined surface of the case 320 is provided, the attachment object 80 having a larger load is attached to the attachment corresponding portion M There is an effect that can be made.

The motion assemblies 380 and 390 include a main body 380 that rotates by the rotational force of the motion motor 371. The motion assemblies 380 and 390 include a moving body 390 that is moved by the main body 380. One of the main body 380 and the follower body 390 includes a guide 391 and the other one of the main body 380 and the follower body 390 includes a guide contact portion 385). Although the guide contact portion 385 is disposed in the main body 380 and the guide 391 is disposed in the follower body 390 in the present embodiment, the present invention is not limited thereto.

The main body 380 rotates about the motion drive shaft Om1. The motion drive shaft Om1 is a separate axis from the motion rotation axis Om2. The motion drive shaft Om1 may be disposed parallel to the motion rotation axis Om2.

The main body 380 includes a rotating shaft coupling portion 381 for receiving the rotational force of the motion motor 371. The rotary shaft coupling portion 381 rotates about the motion drive shaft Om1. In this embodiment, the rotary shaft coupling portion 381 is fixed to the motor shaft 373, and the rotary shaft coupling portion 381 receives the rotational force of the motor shaft 373. In another embodiment, it is also possible to cause the rotational force to be transmitted to the rotary shaft coupling portion 381 through a separate gear, a belt, or the like coupled to the motor shaft 373.

The main body 380 includes a shaft portion 383 extending in the direction away from the motion drive shaft Om1 from the rotation shaft engagement portion 381. [ The centrifugal part 383 allows the rotation radius of the main body 380 to be increased. The centrifugal part 383 rotates around the motion drive shaft Om1.

The main body 380 includes a guide contact portion 385 protruding in a direction perpendicular to an imaginary plane in which the rotation orbit of the centrifugal portion 383 is disposed in the centrifugal portion 383. The guide contact 385 may be formed as a projection having a distal end. The guide contact portion 385 rotates about the motion drive shaft Om1.

The follower body 390 is provided movably along a predetermined movement path. The follower body 390 reciprocates by the main body 380. The follower 390 performs a curved movement. The driven body 390 can perform a curved reciprocating motion. The follower body 390 rotates. The follower body 390 rotates about the motion rotation axis Om2. The follower 390 supports the attachment member 397.

The follower 390 includes a guide 391 that defines a groove 391a that extends along the relative movement range of the guide contact 385 relative to the follower 390. The groove 391a may be elongated in one direction on a plane including the rotation orbit of the guide contact portion 385. [ The groove 391a may be formed to be long in the radial direction of the orbit of the guide contact portion 385. The guide 391 is disposed such that the guide contact portion 385 is inserted into the groove 391a.

The driven body 390 includes a motion axis coupling portion 393 coupled to a shaft that provides a motion rotation axis Om2. The motion axis coupling portion 393 rotates about a shaft which provides a motion rotation axis Om2. It is also possible that the shaft for providing the motion rotation axis Om2 is provided separately from the tilting shaft 350. [

In this embodiment, the shaft 350 that provides the motion rotation axis Om2 becomes the tilting shaft 350. This can increase the structural efficiency. The movement of the case 320 in the normal rotation about the tilting shaft 350 causes the follower body 390 to rotate in the reverse direction about the tilting shaft 350, (80) can produce a motion in which only the case (320) is tilted while maintaining the correct position.

The follower body 390 includes a guide connection portion 392 connecting the motion axis coupling portion 393 and the guide 391. The guide coupling portion 392 rotatably connects the motion shaft coupling portion 393 and the guide 391 together.

The moving body 390 includes a fixed body 396 for fixing the attachment member 397 at a position spaced apart from the motion rotation axis Om2. The fixed body 396 is disposed facing the inner surface of the case 320. The inner surface of the case 320 forms a curved surface, and a curved surface facing the inner surface of the fixed body 396 can be formed. An attachment member 397 is disposed on the surface of the fixed body 396 facing the inner surface. The attachment member 397 moves while facing the curved surface of the case 320. In the present embodiment, a plurality of attachment members 397a and 397b are disposed in the fixed body 396. [

The follower body 390 includes a fixed body connection portion 395 connecting the motion axis coupling portion 393 and the fixed body 396. The fixed body connection portion 395 rotatably connects the motion axis coupling portion 393 and the fixed body 396 together.

7, 8, 15 and 16, the structure of the display body 400 will be described below.

The display body 400 may be formed as a generally cylindrical shape. The display body 400 can be arranged such that the display 401 is tilted with respect to the front. The display body 400 is supported by the tilting cases 320 and 330. The display body 400 is fixed to the tilting cases 320 and 330 and moves integrally with the tilting cases 320 and 330.

The display body 400 includes a display front portion 410 covering the side of the image output direction. The display front portion 410 includes a transmissive portion 411 through which light emitted from the display panel 431 is transmitted. The display front portion 410 includes a display front case 415 that supports the transmission 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. The camera receiving hole 411a through which the camera 12 passes is formed in the transmitting portion 411. [ 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 display front case 415 covers the front surface of the display main part 430. The display front case 415 includes a transmitting portion seating surface 416 on which the back surface of the transmitting 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 front case 415 includes an outer side surface portion 418 formed along the periphery of the transmission side seating surface 416. The outer side surface portion 418 protrudes rearward from the transmission side seating surface 416. The outer side surface portion 418 forms a surface that becomes narrower toward the lower side when viewed from the left or right side. The rear end of the outer side surface portion 418 is coupled to the tilting cases 320 and 330. [

A camera mounting hole 415a is formed in the display front case 415. The camera seating hole 411a of the transmission portion and the camera seating hole 415a of the display front case are connected to each other. The display front case 415 is formed with a microphone hole 415b through which sounds heard by the microphone 432 pass. 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 front case are connected to each other. In the display front case 415, a display hole 415c through which the light emitted from the display panel 431 passes is formed.

The display front case 415 is provided with a front case fixing portion 419. The front case fixing portion 419 is disposed on the rear side of the display front case 415. The front case fixing portion 419 is engaged with the display body fixing portion 321 by the fastening member. The front case fixing portion 419, the display body fixing portion 321 and the display body fixing hole 459 are triple-fastened by the fastening member.

The display main body 430 is disposed inside the display body 400. The display main section 430 includes a display panel 431 for outputting an image. The display main section 430 includes a microphone 432 for sensing sound. The display main unit 430 may include a plurality of microphones 432a and 432b. The display main part 430 includes a first PCB 433 on which the display panel 431 is mounted. The first PCB 433 controls the output of the display panel 431. The display main part 430 includes a camera PCB 435 on which the camera 12 is seated and controls the camera 12. [ The display main unit 430 may include a battery 439 for supplying power to the display panel. The battery 439 may be charged by the power supplied from the power connection 133 or may be charged by the wireless charging modules 141 and 143. [ The display main part 430 includes a second PCB 437 to which the battery 439 is fixed. The second PCB 437 is disposed on the rear side of the first PCB 433. The camera PCB 435 is disposed between the first PCB 433 and the second PCB 437.

The display body 400 includes a display rear portion 450 for receiving the display main portion 430 therein. The display rear portion 450 forms an internal space 450a. The inner space 450a is defined by the display front portion 410 and the display rear portion 450. [

The display rear portion 450 includes a side wall portion 451 for covering the periphery of the display main portion 430. The display rear portion 450 includes a rear wall portion 453 for covering the rear portion of the display main portion 430. A plurality of display body fixing holes 459 are disposed apart from each other along the circumference of the side wall portion 451. The display rear portion 450 is fixed to the tilting cases 320 and 330.

Referring to FIG. 17, the spin operation by the spin driving unit 240 will be described below. In Fig. 17, when viewed from above, the first direction means one of clockwise and counterclockwise, and the second direction means one of clockwise and counterclockwise.

When the spinning driven gear 245 having the rotating shaft fixed to the spinning body 200 rotates in the first direction at the first angular velocity Ws1 (angle velocity), the spinning driven gear 245 is fixed to the lower body 100 And is revolved at the second angular velocity Ws2 in the first direction along the periphery of the spin driven gear 151. [ The spin center of the spinning driven gear 245 becomes the spin rotation axis Os. Since the rotary body of the spinning gear 245 is fixed to the spin body 200, the spin body 200 rotates in the first 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 first direction. Here, the spin body 200 and the tilting body 300 rotate about the spin rotation axis Os.

Referring to Figs. 18A to 19C, a tilting operation (tilting operation) by the tilting driver 250 will be described below. The states in Figs. 18A and 19A are defined as " normal charge ". 18A to 19C, the first direction means one of clockwise and counterclockwise directions, and the second direction means one of clockwise and counterclockwise directions.

The tilting driven gear 358 rotates in the second direction at the second angular velocity Wt2 while the tilting driven gear 255 rotates in the first direction at the first angular velocity Wt1. 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 a second angular velocity Wt2 in the second direction and rotates about the tilting rotational axis Ot (refer to FIG. 18b). The tilting frame 310 fixed to the tilting frame 310 320, and 330 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 (see Fig. 19b)

The tilting driven gear 358 rotates in the first direction at the fourth angular velocity Wt4 while the tilting driven gear 255 rotates in the second direction at the third angular velocity Wt3. 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 fourth angular velocity Wt4 in the second direction. Here, the tilting frame 310 rotates at a fourth angular velocity Wt4 in the second direction and rotates about the tilting rotational axis Ot (refer to FIG. 18b). The tilting frame 310 fixed to the tilting frame 310 320, and 330 rotate integrally with the tilting frame 310. Here, the tilting cases 320 and 330 rotate at the fourth angular velocity Wt4 in the second direction and rotate around the tilting rotational axis Ot (see Fig. 19b)

20A to 22, the operation of the attachment member 397, the motion attachment portion 18, and the attachment object 80 will be described.

When the motion driving unit 370 is driven, the main moving body 380 rotates around the motion driving axis Om1. The main body 380 may be provided to be rotated only in the first direction. The guide contact portion 385 rotates in the first direction about the motion drive shaft Om1. The guide contact portion 385 reciprocates along the groove 391a and reciprocates relative to the guide 391 while the guide contact portion 385 rotates about the motion drive shaft Om1. Here, the guide 391 performs a curved reciprocating motion in which the forward rotation and the reverse rotation are repeated around the motion rotation axis Om2, and the attachment member 397 repeats the forward rotation and the reverse rotation about the motion rotation axis Om2 To make a curved reciprocating motion. Even if the main body 380 rotates at a constant angular velocity Wm1, the moving body 390 performs the above-mentioned curved reciprocating motion at the constantly varying angular velocity Wm2, and the attachment member 397, the motion attachment portion 18, The attached object 80 performs the above-mentioned curved reciprocating motion at the changing angular velocity Wm2. Here, the attachment member 397, the motion attachment portion 18, and the attachment object 80 are integrally formed with the follower body 390, The moving body 390, the attachment member 397, the motion attachment portion 18 and the attachment object 80 move relative to the case 320. (b2) Here, Here, the follower 390, the attachment member 397, the motion attachment unit 18, and the attachment object 80 are rotated at the same angular velocity Wm2 at each time point in the second direction.

20B and 21B, while the guide contact portion 385 is rotated 90 degrees (a1) in the first direction about the motion drive shaft Om1, the follower body 390 is moved in the center (B1)

20C and 21A, while the guide contact portion 385 starts to rotate in the first direction about 90 degrees (a2) about the motion drive shaft Om1 starting from the state shown in FIG. 20B, the follower body 390 (B2) in the second direction from the tilted state in one direction and stands upright.

20D and 21, while the guide contact portion 385 is rotated 90 degrees in the first direction (a3) around the motion drive shaft Om1 in the state of Fig. 20C, the follower body 390 is rotated at a predetermined angle Acute angle) range from the center to the second direction (b3)

While the guide contact portion 385 is not shown, while the guide contact portion 385 rotates 90 degrees in the first direction about the motion drive shaft Om1 in the state of Fig. 20D, the follower body 390 moves from the inclined state in the second direction to the first direction And is standing upright. Here, the main body 380 and the follower body 390 are restored to the initial state (the state shown in Fig. 20A). Here, the attachment member 397, the motion attachment portion 18, and the attachment object 80 are restored to the initial state (the state of Fig. 21A). When the main body 380 continues to rotate, the subsequent steps are the same as those repeatedly performed.

The rotational range of the attachment member 397 is limited to within a predetermined rotation angle. In this embodiment, the rotational range of the attachment member 397 is limited to an angle of rotation that is an acute angle of a predetermined value. The rotational range of the attachment member 397 corresponds to the range of rotational motion of the motion attachment portion 18 and the attachment object 80. [

1: communication robot 100, 200: support body
121, 123, 220, 320, 330: Case 100: Lower body
110: core 120: base
151: Spin driven gear 153: First sensing gear
200: spin body 214: second sensing gear
220: spin case 231: support frame
240: Spin drive unit 245: Spin driven gear
250: tilting drive unit 255: tilting main gear
300: tilting body 310: tilting frame
320, 330: tilting case 350: tilting shaft
370 motion driver 380, 390: motion assembly
380 Main body 390 Main body
397 attachment member 400: display body
Os: Spin rotating shaft Ot: Tilting rotating shaft
Om1: Motion drive shaft Om2: Motion rotation axis

Claims (12)

case;
A motion motor for generating a rotational force;
A motion assembly for converting the rotational force of the motion motor into a motion having a predetermined movement path; And
And an attachment member provided to move the inner side of the case to face the motion assembly,
Wherein the attachment member is provided so as to move an attachment object attached to an outer surface of the case. delete The method according to claim 1,
Further comprising the attachment object,
Wherein one of the attachment member and the attachment object includes a magnet and the other includes a substance that is pulled by the magnet. The method according to claim 1,
The attachment member is rotated about a motion rotation axis,
Wherein the outer surface of the case at each position on the moving track of the attachment member forms an inclined surface projecting forward as the motion rotation axis is closer to the motion rotation axis. 5. The method of claim 4,
Wherein the direction of extension of the motion rotation axis includes forward and backward components,
Wherein the movement trajectory of the attachment member is within an upper 180-degree region centered on the motion rotation axis. The method according to claim 1,
The attachment member is rotated about a motion rotation axis,
Wherein the direction of extension of the motion rotation axis includes forward and backward components,
Wherein the outer surface of the case at each position on the movement path of the attachment member forms an inclined surface that protrudes forward as it goes downward on a vertical section in the vertical direction. The method according to claim 1,
The motion assembly includes:
A main body which rotates by the rotational force of the motion motor; And
And a follower that supports the attachment member and reciprocates by the main body,
Wherein one of the main body and the follower includes a guide,
And the other one of the main body and the follower includes a guide contact portion that moves along the guide. The method according to claim 1,
Wherein the motion assembly includes a main body for rotating and a follower for rotating along a motion rotation axis,
The main body includes:
A rotation axis coupling unit that receives the rotation force of the motion motor and rotates about the motion drive axis;
A centrifugal portion extending from the rotary shaft coupling portion in a direction away from the motion drive shaft; And
And a guide contact portion protruding in a direction perpendicular to an imaginary plane in which the rotation orbit of the centrifugal portion is disposed in the centrifugal portion,
The follower
A guide which forms a groove extending along a relative movement range of the guide contact portion with respect to the follower, and in which the guide contact portion is inserted into the groove;
A motion axis coupling unit coupled to the shaft for providing the motion rotation axis;
A guide connecting portion connecting the motion axis connecting portion and the guide; And
And a fixed body for fixing the attachment member at a position spaced apart from the motion rotation axis. The method according to claim 1,
Wherein the motion assembly includes a main body for rotating and a follower for rotating about a motion rotation axis,
Wherein the case is rotatably provided around a tilting rotary shaft,
And a tilting shaft for providing the motion rotation axis and the tilting rotation axis. 10. The method of claim 9,
A support body rotatably supporting the tilting shaft;
A tilting driving unit for providing driving force for rotating the tilting shaft; And
And a tilting frame which connects the tilting shaft and the case and engages with the tilting shaft and the case,
And the motion motor is fixed to the tilting frame. The method according to claim 1,
Wherein the case is rotatably provided around a tilting rotary shaft,
Wherein the case, the motion motor, the motion assembly, and the attachment member are integrally rotated about the tilting rotary shaft. case;
A motion driving unit for providing driving force;
A motion assembly for converting the driving force of the motion driving unit into a motion having a predetermined movement path; And
And an attachment member which is disposed inside the case and moves to the predetermined movement path by the motion assembly to change the magnetic field outside the case.

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