KR20240034628A - Robot - Google Patents

Abstract

The present invention relates to a robot, comprising a robot body, a leg portion coupled to the robot body, a wheel rotatably coupled to the leg portion, and one arm pivotably coupled to both sides of the robot body, By rotating the arm, various movements such as touching the ground can be implemented, and by combining it with a function module, the function of the robot can be expanded or changed.

Description

ROBOT

The present invention relates to robots. More specifically, it is about a robot that can provide various services according to the user's command input.

Recently, with the advancement of robot technology, the use of robots is increasing not only in industrial fields but also at home.

Household robots are robots that perform household tasks on behalf of people, such as helping with housework such as cleaning or controlling home appliances, or robots that use artificial intelligence (AI) to act as a user's assistant or provide training to the user. , or robots that replace companion animals.

However, conventional household robots have limitations in that they only perform one of the above functions and cannot perform various functions depending on the user's needs or circumstances.

Meanwhile, there are robots that perform functions while fixed in a specific location, as well as mobile robots that can move. In particular, in the case of robots used at home, mobile robots that replace the user or move around the house following the user are mainly used.

Among mobile robots, two-wheeled robots with two wheels have the advantage of being easy to store as they occupy a small amount of ground space, and have a small turning radius when the robot changes direction, making them easy to use in homes with relatively limited space. .

Meanwhile, US published patent US 2020-0362972A1 (2020.11.19) discloses a mobile robot that moves using a pair of legs equipped with wheels.

The mobile robot above can move by rotating wheels provided on a pair of legs while lifting an object using an arm.

However, the arm of the above mobile robot only has the function of lifting objects and has a limitation in that the function of the robot cannot be expanded through the arm.

In addition, in order to maintain balance while the mobile robot is running or stopping, the main body to which the leg parts are coupled rotates in a pendulum shape, and a counter-balance is rotated in response to the rotation of the main body to maintain balance.

Therefore, the above mobile robot must operate a motor to continuously rotate the wheels and counterweight in order to maintain a stable posture. In this case, the mobile robot has a limitation in that it must continue to consume electrical energy even when the robot is stationary or waiting.

Meanwhile, Japanese registered utility model JP3136601U (2007.10.10) discloses a walking toy that can raise the body.

The walking toy above can raise its torso by rotating its two arms and two legs while lying on the ground.

However, the above walking toy has a limitation in that the two arms are separated from each other and each touches the ground, so the posture cannot be maintained with the torso resting on the torso.

In addition, the arm of the walking toy does not have a structure that can be combined with other objects, so there is a limitation in adding functions other than the toy.

The present invention was created to improve the conventional problems as described above, and its purpose is to provide a robot with an arm that performs various functions according to the situation or user's commands.

Additionally, the purpose is to provide a robot that can change a function in use to a new function or add a new function to a function in use.

Additionally, the purpose is to provide a robot that can minimize power consumption while remaining in place or waiting.

Additionally, the purpose is to provide a robot that can get up from the ground after falling.

Additionally, the purpose is to provide a robot that can express its emotions by expressing facial expressions and movements depending on the situation.

Additionally, the purpose is to provide a robot whose display can be changed depending on the shape of the display cover.

In order to achieve the above-described object, the robot according to the present invention includes: a robot body; Leg portion coupled to the robot body; A wheel rotatably coupled to the leg portion; and one arm pivotably coupled to both sides of the robot body.

At this time, the arm may include a rotation coupling portion rotatably coupled to both sides of the robot body and a connection portion connecting a pair of the rotation coupling portions to each other.

The arm may rotate integrally with the rotary coupling portion and the connection portion using the rotary coupling portion as a rotation axis.

The arm may be detachably coupled to a function module that is coupled to the robot body and provides a function to the robot body.

A connection terminal electrically connected to the function module may be disposed in the connection part.

A detachable part that is detachably coupled to the function module may be disposed in the connection part.

The arm may be in contact with the ground and support the robot body together with the wheel.

The leg portion includes a first link coupled to the robot body; a second link coupled to the robot body; and a third link coupled to the first link and the second link and coupled to the wheel portion.

At this time, the rotation radius of the arm may be longer than the maximum length of the first link and shorter than the maximum length of the leg portion. Accordingly, the end of the arm can be placed closer to the ground than the first link.

Meanwhile, when the robot falls and at least a portion of the robot body touches the ground, the arm and the wheel may rotate to raise the robot body.

Alternatively, when the robot falls and at least a portion of the third link touches the ground, the arm and the wheel may rotate to raise the robot body.

The robot according to the present invention includes a display disposed on the robot body and displaying the status of the robot body; and a robot mask that is detachably coupled to the robot body and covers the display.

The display may change the shape displayed when the robot mask is combined depending on the shape of the mask.

The robot mask may include a mask function portion that provides a function to the robot body when combined with the robot body.

As described above, according to the robot according to the present invention, various movements can be implemented by rotating both sides of the robot body and one arm provided to be pivotable, and the function of the robot can be expanded or changed. .

In addition, a function module can be coupled to the front or rear of the robot body according to the user's command or situation, and various functions can be performed through the function module.

Alternatively, a function module can be coupled to the lower side of the robot body according to the user's command or situation, and various functions can be performed through the function module.

Additionally, by replacing the robot mask that is detachably coupled to the robot body, the design of the robot can be changed or new functions can be added.

In addition, since a space for the function module to be combined is formed between a pair of wheels and leg portions, there is an advantage that the overall volume does not increase significantly even when the robot body and the function module are combined.

Additionally, when the function module is coupled to the robot body, the function module also comes into contact with the ground, which has the effect of easily maintaining the balance of the robot.

Additionally, when the robot is stopped in place, the rotation of the wheels can be stopped and the arm can be rotated so that the arm touches the ground. This has the effect of minimizing power consumption due to driving the wheel.

In addition, the arm can stand up while touching the ground when the robot falls, which has the effect of allowing the robot to stand up more stably and maintain its balance.

1A and 1B are perspective views for explaining a robot according to an embodiment of the present invention.
2A and 2B are front views of a robot according to an embodiment of the present invention.
Figure 3 is a side view of a robot according to an embodiment of the present invention.
Figure 4 is a rear view of a robot according to an embodiment of the present invention.
Figure 5 is a top view of a robot according to an embodiment of the present invention.
Figure 6 is a bottom view of a robot according to an embodiment of the present invention.
Figure 7 is a perspective view of a robot according to an embodiment of the present invention viewed from different angles.
Figure 8 is a partial cutaway view for explaining power transmission for rotating an arm in a robot according to an embodiment of the present invention.
Figure 9 is a top view of a robot according to an embodiment of the present invention.
Figure 10 is a diagram for explaining the arm of a robot according to another embodiment of the present invention.
FIG. 11 is a diagram for explaining a state in which the attachable and detachable portion of the arm in FIG. 10 is rotated.
Figure 12 is a bottom view to explain an embodiment of a robot with a charging terminal according to an embodiment of the present invention.
Figures 13a and 13b are diagrams to explain a structure in which the rotation of the arm is restricted.
FIGS. 14A and 14B are diagrams for explaining another embodiment of FIGS. 13A and 13B.
Figure 15 is a diagram for explaining a state in which a robot is waiting without moving according to an embodiment of the present invention.
Figure 16 is a side view of Figure 15.
Figures 17a and 17b are diagrams for explaining operations that occur when a robot falls forward according to an embodiment of the present invention.
Figures 18a and 18b are diagrams for explaining operations that occur when a robot falls backwards according to an embodiment of the present invention.
Figures 19 and 20 are diagrams for explaining a state in which a robot is combined with a function module according to an embodiment of the present invention.
Figure 21 is a perspective view to explain a functional module in a robot according to an embodiment of the present invention.
Figure 22 is a diagram for explaining a state in which a robot body and a functional module are combined in a robot according to an embodiment of the present invention.
Figures 23a and 23b are diagrams for explaining the coupling relationship between a robot mask and a robot body in a robot according to an embodiment of the present invention.
Figure 24 is a diagram for explaining a state in which a robot mask is separated from a robot according to an embodiment of the present invention.
Figure 25 is a diagram for explaining the structure of a robot mask in a robot according to an embodiment of the present invention.
Figures 26 to 29 are diagrams for explaining the state in which various functions are added to the robot mask in the robot according to the present invention.
Figure 30 is a block diagram for explaining the control configuration of a robot according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, and should be interpreted as including all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

1A to 12 show a perspective view, front view, side view, rear view, top view, bottom view, and drawings for explaining the arm of the robot of the robot according to an embodiment of the present invention.

With reference to FIGS. 1A to 12, the robot 1 according to an embodiment of the present invention is described as follows.

The robot 1 according to an embodiment of the present invention is placed on the floor and moves along the floor B. Accordingly, hereinafter, the vertical direction will be determined based on the state in which the robot 1 is placed on the floor.

In addition, the side where the obstacle detection camera 610, which will be described later, is placed is designated as the front of the robot 1. In addition, the description will be made by setting the direction opposite to the front as the rear of the robot 1.

The 'lowest part' of each configuration described in the embodiment of the present invention may be the lowest-located part of each configuration when the robot 1 according to the embodiment of the present invention is placed on the floor and used, or the bottom It may be the closest part to .

The robot 1 according to an embodiment of the present invention includes a robot body 100, a leg portion 200, a wheel portion 300, an arm 400, and a robot mask 500. At this time, the leg part 200 is coupled to the robot body 100, and the wheel part 300 is coupled to the leg part 200. Additionally, arms 400 are pivotably coupled to both sides of the robot body 100. Additionally, a robot mask 500 is detachably coupled to the robot body 100.

robot body

1A to 12, the robot body 100 in the robot 1 according to an embodiment of the present invention is described as follows.

Each part that makes up the robot 1 may be combined with the robot body 100. For example, the robot mask 500 may be detachably coupled to the robot body 100. Additionally, an arm 400 is pivotably coupled to the robot body 100. Arms 400 are pivotably coupled to both ends of the robot body 100. The robot body 100 may be combined with the function module 900 through the arm 400 or the robot body 100 may be directly combined with the function module 900 to perform additional functions. Additionally, the robot body 100 can implement a waiting posture to save power or a standing posture when it falls through the arm 400.

Some parts that make up the robot 1 may be accommodated inside the robot body 100.

The main body housing 110 may form the outer shape of the robot main body 100. The internal space of the main housing 110 can accommodate one or more motors, including a suspension motor (MS), one or more sensors, and a battery 800.

Additionally, although not shown, at least one bumper may be provided inside the main body housing 110.

The bumper may be provided to be movable relative to the main housing 110. For example, the bumper may be coupled to the main body housing 110 to enable reciprocating movement along the front-to-back direction of the main body housing 110.

The bumper may be coupled along part or the entire front edge of the main body housing 110. Additionally, the bumper may be disposed on the inner rear side of the main body housing 110.

With this configuration, when the robot 1 collides with another object or person, the bumper absorbs the shock applied to the robot body 100 and protects the robot body 100 and the parts accommodated inside the robot body 100. It can be protected.

A pair of leg portions 200 are coupled to the inside of the main housing 110. The pair of leg portions 200 may penetrate the main housing 110 and be exposed to the outside.

Specifically, the first link 210 and the second link 220 may be rotatably coupled to the inside of the main housing 110. For example, a link frame (not shown) in which the first link 210 and the second link 220 are linked may be provided inside the main housing 110.

Additionally, a suspension motor (MS) may be accommodated inside the main body housing 110. For example, a suspension motor (MS) may be disposed on a link frame (not shown). The suspension motor MS may be connected to the first link 210.

A pair of leg guide holes 111 may be formed in the main body 110. For example, a pair of leg guide holes 111 may be formed side by side along the front-to-back direction of the main body housing 110.

With this configuration, the leg portion 200 can rotate along the leg guide hole 111 and guide the rotational movement range of the leg portion 200.

The main housing 110 may have a horizontal width (or diameter) greater than its vertical height. for example. The main housing 110 may be formed in a shape similar to an ellipsoid.

This robot body 100 helps the robot 1 achieve a stable structure and can provide an advantageous structure for maintaining balance when the robot 1 moves (runs).

The robot body 100 may be placed vertically above the wheel 310, which will be described later. The load of the robot body 100 may be transmitted to the wheel 310 through the leg portion 200, and the wheel 310 may support the leg portion 200 and the robot body 100. With this configuration, the wheel 310 can stably support the load of the robot body 100.

The robot body 100 may include a display 120. The display 120 may be combined with the main housing 110. The display 120 may be formed in a flat shape. The display 120 may be arranged at a predetermined angle relative to the ground. For example, the display 120 may be placed in a position facing upward from the front. With this configuration, when the robot 1 approaches the user, the display 120 can be visible when the user looks at the robot 1.

Meanwhile, the display 120 can visually convey information about the operating state of the robot 1 to the user.

The display 120 is one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED). It can be formed as an element.

The display 120 may display information such as operating time information of the robot 1 and power information of the battery 800.

Depending on the embodiment, the display 120 may be the input unit 125. That is, the display 120 can receive control commands input from the user. For example, the display 120 may be a touch screen that visually shows the operating state and allows control commands to be input from the user.

The facial expression of the robot 1 may be displayed on the display 120. Alternatively, the eyes of the robot 1 may be displayed on the display 120. The current state of the robot 1 may be personified and expressed as emotions through the shape of the face or the shape of the eyes displayed on the display 120. For example, when a user returns home after going out, a smiling facial expression or smiling eye shape may be displayed on the display 120. This has the effect of giving the user a feeling of communion with the robot 1.

Depending on the embodiment, as shown in FIG. 12, a charging terminal 130 may be disposed in the main housing 110. For example, the charging terminal 130 may be placed facing the ground. As an example, the charging terminal 130 may be arranged to face the ground. As another example, the charging terminal 130 may be disposed at a predetermined angle with the ground. With this configuration, when the robot 1 is combined with a robot charging base (not shown), the charging terminal 130 may be in contact with a terminal provided on the robot charging base (not shown).

The charging terminal 130 may be electrically connected to a robot charging base (not shown). With this configuration, the robot 1 can receive power through the charging terminal 130. Power supplied to the charging terminal 130 may be supplied to the battery 800. Additionally, the robot 1 can receive an electrical signal through the charging terminal 130. The control unit 700 can receive the electrical signal transmitted through the charging terminal 130.

Depending on the embodiment, a microphone 140 may be disposed in the main housing 110. A plurality of microphones 140 may be disposed in the main housing 110 . For example, four microphones 140 may be placed on the upper side of the main housing 110. With this configuration, the microphone 140 can detect sounds coming from various directions and can detect the location of the sound source.

Depending on the embodiment, as shown in FIG. 6, a module coupling portion 150 may be disposed at the lower portion of the main housing 110. The module coupling portion 150 is detachably coupled to the function module 900. Specifically, the module coupling unit 150 may be selectively coupled to or separated from the function module 900.

As an example, the module coupling unit 150 is configured in the form of an electromagnet and can selectively apply magnetic force (attractive force) to the functional module 900 depending on the supply of power. As another example, the module coupling portion 150 may be configured to be hook-coupled with the coupling portion 930 of the function module 900. In this case, the coupling force between the robot body 100 and the functional module 900 can be strengthened.

At this time, a connection terminal may be disposed in the module coupling portion 150. With this configuration, the module coupling part 150 can be coupled to the attaching and detaching part of the metal material (or electromagnet) provided in the function module 900 at the correct position, and the connection terminal is provided in the function module 900. It has the effect of guiding it to make contact with the corresponding terminal at the correct position.

The connection terminal may be electrically connected to the function module 900. The connection terminal may be electrically connected by contacting a corresponding terminal provided in the function module 900.

With this configuration, power from the robot body 100 can be supplied to the function module 900 through the connection terminal. Additionally, the robot body 100 can transmit and receive electrical signals to the function module 900 through the connection terminal.

Meanwhile, a detailed description of the function module 900 will be described later.

Additionally, a manipulation unit 160 may be disposed in the main housing 110. For example, the manipulation unit 160 may be disposed at the rear of the main housing 110.

The manipulation unit 160 can be operated by the user, and the power of the robot 1 can be turned on/off by manipulating the manipulation unit 160.

The manipulation unit 160 may be provided to be pushable on the main body housing 110 or may be provided to pivot in the left and right directions depending on the embodiment.

For example, the manipulation unit 160 may be a button. Accordingly, when the robot 1 is turned off (off) and the user pushes the manipulation unit 160 and the manipulation unit 160 is pressed, the robot 1 can be turned on. Also, when the robot 1 is turned on and the user pushes the manipulation unit 160, the robot 1 can be turned off.

Obstacle detection camera(610)Obstacle detection camera(610)

Meanwhile, an obstacle detection camera 610 may be placed in the front of the main housing 110. Depending on the embodiment, a plurality of obstacle detection cameras 610 may be arranged. For example, the first detection camera 611 may be placed at the front lower part of the main body housing 110, and the second detection camera 612 may be placed at the front upper part of the main body housing 110. At this time, the obstacle detection camera 610 may be placed on the center line passing through the center of the main body housing 110 in the left and right directions. With this configuration, the obstacle detection camera 610 can detect objects or people placed in front of the robot 1.

Additionally, an IR sensor 620 may be disposed in the main body housing 110. Depending on the embodiment, a plurality of IR sensors 620 may be arranged. For example, the first IR sensor 621 may be placed in the front lower part of the main body housing 110, and the second IR sensor 622 may be placed in the rear of the main body housing 110. With this configuration, the IR sensor 620 can detect the location of a light source that generates infrared rays.

The IR sensor 620 may be placed close to the obstacle detection camera 610. For example, an obstacle detection camera 610 may be placed between a pair of IR sensors 620. As another example, the first IR sensor 621 may be placed directly below the first obstacle detection camera 611.

With this arrangement, the IR sensor 620 can detect the light emitted by the lamp of the function module 900 or the robot charging stand (not shown), and when the robot body 100 approaches the lamp, the obstacle detection camera 610 may detect the shape of the function module 900 or the robot charging base (not shown).

Leg part

With reference to FIGS. 1A to 12 , the leg portion 200 in the robot 1 according to an embodiment of the present invention is described as follows.

The leg portion 200 is coupled to the robot body 100 and can support the robot body 100. For example, a pair of leg portions 200 are provided and each is coupled to the inside of the main body housing 110. A pair of leg portions 200 may be arranged symmetrically (line symmetrically) with each other. At this time, at least a portion of the leg portion 200 is disposed closer to the ground than the robot body 100. Accordingly, the robot body 100 can travel while standing on the ground by the pair of leg portions 200. That is, gravity applied to the robot body 100 can be supported by the leg portion 200, and the height of the robot body 100 can be maintained.

The leg portion 200 includes an upper leg and a lower leg. At this time, the upper leg is rotatably coupled to the robot body 100 and the lower leg. The upper leg may be disposed higher than the lower leg. In other words, the upper leg can be said to correspond to a person's thigh, and the lower leg can be said to correspond to a person's shin.

Meanwhile, the upper leg includes a first link 210 and a second link 220. At this time, the first link 210 and the second link 220 are rotatably coupled to the robot body 100 and the third link 230, respectively. That is, the first link 210 and the second link 220 are linked to the robot body 100 and the third link 230, respectively.

Depending on the embodiment, the first link 210 and the second link 220 are disposed inside the upper link cover and are not exposed to the outside. The upper link cover is formed in the form of a kind of corrugated pipe to accommodate the first link 210 and the second link 220, and can be extended and contracted in length according to the rotation of the upper leg.

The first link 210 is link-coupled to the left and right sides of the robot body 100.

The first link 210 is connected to the suspension motor (MS). For example, the first link 210 may be connected to the shaft of the suspension motor MS directly or through a gear. With this configuration, the first link 210 receives driving force from the suspension motor (MS).

The first link 210 is formed in a frame shape, and a suspension motor (MS) is connected to one longitudinal side, and a third link 230 is connected to the other longitudinal side. At this time, one side of the first link 210 connected to the suspension motor MS may be disposed farther from the ground than the other side connected to the third link 230.

One side of the first link 210 is coupled to a leg support (not shown) provided inside the main housing 110. The first link 210 may be rotatably coupled to the leg support. For example, one side of the first link 210 may be formed in a disk shape or disk shape. Accordingly, one side of the first link 210 may pass through the leg support and be connected to the suspension motor MS.

One side of the first link 210 is connected to the suspension motor (MS). For example, one side of the first link 210 may be fixedly coupled to the shaft of the suspension motor MS. With this configuration, when the suspension motor MS is driven, one side of the first link 210 may be rotated in conjunction with the rotation of the shaft of the suspension motor MS.

The other side of the first link 210 is rotatably coupled to the third link 230. For example, a through hole may be formed on the other side of the first link 210. A shaft may be rotatably coupled to the through hole. Both longitudinal ends of the shaft may be coupled to the third link 230.

With this configuration, the shaft may be the axis around which the first link 210 and/or the third link 230 rotates. Accordingly, the first link 210 and the third link 230 may be connected to enable relative rotation.

Although not shown, the leg portion 200 may further include a gravity compensation portion. The gravity compensation unit compensates for the robot body 100 to come down vertically due to gravity. That is, the gravity compensation unit provides force to support the robot body 100.

For example, the gravity compensator may be a torsion spring. The gravity compensator may be wound to surround the outer circumference of the first link 210. Additionally, one end of the gravity compensator may be inserted into the first link 210 and fixedly coupled to the first link 210, and the other end of the gravity compensator may be inserted into the third link 230 and fixedly coupled to the first link 210.

The gravity compensator applies force (rotational force) in a direction in which the angle between the first link 210 and the third link 230 increases. For example, both ends of the gravity compensator are retracted in advance so as to apply a restoring force in the direction in which the angle between the first link 210 and the third link 230 increases. Therefore, even if gravity is applied to the robot body 100 while the robot 1 is placed on the ground, the angle between the first link 210 and the third link 230 can be maintained within a predetermined angle range.

With this configuration, the robot body 100 can be prevented from descending toward the ground even if the suspension motor MS is not driven. Therefore, there is an effect of preventing energy loss due to driving the suspension motor (MS) by the gravity compensation unit and maintaining the height of the robot body 100 above a predetermined distance from the ground.

The second link 220 is linked to the left and right sides of the robot body 100. For example, the second link 220 may be link-coupled to a leg support (not shown) provided inside the main body housing 110. That is, the second link 220 may be coupled to the leg support (not shown) to which the first link 210 is coupled.

The second link 220 is formed in a frame shape, and one longitudinal side is coupled to a leg support (not shown), and the other longitudinal side is coupled to a third link 230.

A wire may be accommodated in the second link 220. For example, a space in which an electric wire can be accommodated may be formed inside the second link 220. Therefore, power from the battery 800 can be supplied to the wheel unit 300 through electric wires. At the same time, it is possible to prevent the wires from being exposed to the outside.

One side of the second link 220 is rotatably coupled to the leg support. For example, although not shown, a shaft coupled to the leg support may be coupled through one side of the second link 220. A hollow may be formed in the shaft. Electric wires can pass through the hollow. With this configuration, it is possible to prevent the wire supplying power from the battery 800 to the wheel motor (MW) from being exposed to the outside.

The other side of the second link 220 is rotatably coupled to the third link 230. Specifically, the other end of the second link 220 is rotatably coupled to the third link 230 through a shaft. For example, the other side of the second link 220 may be formed in a disk shape, and the shaft may be coupled thereto. Additionally, both ends of the shaft in the longitudinal direction may be coupled to the third link 230. With this configuration, the shaft may be the axis around which the second link 220 and/or the third link 230 rotates. Accordingly, the second link 220 and the third link 230 can be connected to enable relative rotation.

The third link 230 is link-coupled with the first link 210 and the second link 220, and is coupled with the wheel portion 300.

The third link 230 is formed in a frame shape, and the first link 210 and the second link 220 are coupled to one longitudinal side, and the wheel portion 300 is coupled to the other longitudinal side.

One side of the third link 230 in the longitudinal direction is link-coupled with the first link 210 and the second link 220. For example, a space may be formed on one side of the third link 230 to accommodate the first link 210 and the second link 220. That is, one side of the third link 230 can be formed in the form of a pair of parallel frames, and the first link 210 and the second link 220 can be accommodated in the space between the pair of frames. .

Here, two shafts may be arranged side by side between a pair of frames. That is, both ends of each of the two shafts may be coupled to a pair of frames. And each shaft may pass through the first link 210 and the second link 220. At this time, the first link 210 may be disposed in front and lower than the second link 220. That is, the shaft penetrating the first link 210 may be placed closer to the wheel 310 than the shaft penetrating the second link 220.

Accordingly, the first link 210 and the second link 220 may each be coupled to the third link 230 so as to be capable of relative rotation.

The other side of the third link 230 in the longitudinal direction is coupled to the wheel portion 300. The other side of the third link 230 in the longitudinal direction may be formed to cover at least a portion of the wheel 310. For example, the other side of the third link 230 in the longitudinal direction may be formed to cover the rotation center of the wheel 310, and a space may be formed inside to rotatably accommodate the wheel 310. there is.

Additionally, a wheel motor MW may be accommodated inside the other longitudinal side of the third link 230.

With this configuration, the wheel 310 and the wheel motor MW can be accommodated on the other side of the third link 230 in the longitudinal direction, and the wheel 310 can be rotatably coupled.

Meanwhile, a sensor capable of measuring the distance to the ground may be provided on the other side of the third link 230 in the longitudinal direction. As an example, the sensor may be a Time of Flight sensor (ToF sensor). With this configuration, the control unit 700 can determine whether the wheel 310 is in contact with the ground. As another example, a first cliff sensor 671 may be placed at the front bottom of the third link 230, and a second cliff sensor 672 may be placed at the rear top of the third link 230. With this configuration, the distance between the third link 230 and wheel 310 and the ground B can be measured. Additionally, it is also possible to calculate the angle between the third link 230 and the ground through the distance difference between the first cliff sensor 671 and the second cliff sensor 672.

Meanwhile, the leg portion 200 may be provided with a stopper 240. The stopper 240 may be placed inside the main housing 110. The stopper 240 may be disposed adjacent to the rotational coupling portion 410 of the arm 400. For example, the stopper 240 may be disposed inside the inner peripheral surface of the rotational coupling portion 410 formed in a cylindrical shape.

As an example, the stopper 240 may be placed on a leg support (not shown). As another example, the stopper 240 may be placed on the first link 210.

The stopper 240 may be formed to protrude toward the rotation coupling portion 410. For example, the stopper 240 may have a predetermined thickness and may be formed to protrude in the form of an arch arranged in concentric circles. At this time, the outer peripheral surface of the stopper 240 may be disposed toward the upper front side of the robot 1, and the inner peripheral surface of the stopper 240 may be disposed toward the rear lower side of the stopper.

The stopper 240 may be supported in contact with the rotating protrusion 480 of the arm 400, which will be described later. For example, the rotation protrusion 480 protruding on the inner peripheral surface of the rotation coupling portion 410 rotates together with the rotation of the arm 400, and when the arm 400 is rotated to a predetermined position, the rotation protrusion 480 can come into contact with

With this configuration, the stopper 240 can limit the rotation angle of the arm 400 when the arm 400 rotates.

Looking at the balance by the leg portion 200 as a whole, the first link 210 and the second link 220 are rotatably coupled to the link frame (not shown) provided inside the robot body 100, The first link 210 and the second link 220 are linked with the third link 230. That is, the robot 1 has a structure that supports the robot body 100 through a four-bar link consisting of a link frame (not shown), a first link 210, a second link 220, and a third link 230. has

And, the leg unit 200 generates a restoring force in the direction in which the gravity compensation unit lifts the robot body 100. Accordingly, even when the suspension motor MS is not driven, the pair of leg parts 200 can maintain the state in which the robot body 100 is lifted to a predetermined height from the ground.

Meanwhile, the robot 1 according to an embodiment of the present invention uses a suspension motor when lifting one of the pair of wheels 310 to overcome an obstacle or lowering the height of the robot body 100 for charging, etc. (MS) can be operated to maintain balance.

When the suspension motor MS is driven, the first link 210 rotates around the motor coupling portion 212 and the link coupling portion 213 moves upward. And, the third link 230 moves according to the rotation of the first link 210. And, the second link 220 is pushed by the third link 230 and rotates. As a result, one end of the third link 230 may be moved rearward, and the other end of the third link 230 may be moved upward.

With this configuration, even if the wheel 310 is moved up and down, the range of movement of the wheel 310 in the forward and backward directions can be limited. Therefore, the robot 1 can maintain its balance stably.

Therefore, the robot 1 according to the present invention has the effect of being able to overcome obstacles of various heights by using a four-bar link structure.

wheel part

With reference to FIGS. 1A to 12 , the wheel portion 300 in the robot 1 according to an embodiment of the present invention is described as follows.

The wheel unit 300 is rotatably coupled to the leg unit 200 and can roll on the ground to move the robot body 100 and the leg unit 200.

The wheel unit 300 includes a wheel 310 that contacts the ground and rolls over the ground.

The wheel 310 is provided to have a predetermined radius and a predetermined width along the axial direction. When the robot 1 is viewed from the front, at least a portion of the robot body 100 and the leg portion 200 may be disposed on the vertically upper side of the wheel 310.

Although not shown, the wheel 310 may include a wheel frame formed in a circular shape. The wheel frame may be formed in a cylindrical shape with one side open toward the shaft of the wheel motor MW. Through this, the weight of the wheel frame 311 can be reduced.

However, when the wheel frame is formed into a cylindrical shape, the overall rigidity of the wheel frame may be reduced. Taking this into consideration, ribs (not shown) that reinforce rigidity may be formed on the inner and outer surfaces of the wheel frame, respectively.

Tires are coupled to the outer circumference of the wheel frame. The tire may be formed into an annular shape with a diameter that can fit on the outer peripheral surface of the wheel frame.

Grooves in a predetermined pattern may be formed on the outer peripheral surface of the tire to improve tire grip.

In one embodiment, the tire may be made of an elastic rubber material.

The wheel motor (MW) may provide driving force to the wheel 310. The wheel motor (MW) can generate rotational force by receiving power from the battery 800.

The wheel motor MW may be accommodated inside the other side of the third link 230. And, the shaft of the wheel motor MW may be coupled to the wheel 310. That is, the wheel motor (MW) may be an in-wheel motor.

With this configuration, when the wheel motor MW is driven, the wheel 310 can rotate and roll along the ground, and the robot 1 can move along the ground.

cancer

1A to 12, the arm 400 in the robot 1 according to an embodiment of the present invention is described as follows.

The arm 400 may be pivotably coupled to both sides of the robot body 100. For example, the arm 400 is coupled to both axial (longitudinal) ends of the ellipsoid-shaped robot body 100 and rotates with both axial ends of the robot body 100 as one rotation axis. It can mean the whole.

Specifically, the arm 400 includes a rotational coupling portion 410 and a connecting portion 420.

The rotational coupler 410 may be rotatably coupled to both sides of the robot body 100. A pair of rotation coupling parts 410 may be provided and coupled to both sides of the robot body 100 in the left and right directions to enable relative rotation. At this time, the pair of rotational coupling parts 410 may rotate in conjunction with each other. That is, the pair of rotational couplers 410 rotate simultaneously with each other, and the angle of rotation may be the same. However, when viewed from the robot body 100, the rotation directions of the pair of rotational coupling parts 410 may be opposite to each other. That is, when viewed with the robot body 100 as a reference, if the rotational coupling part 410 on one side rotates clockwise, the rotary coupling part 410 on the other side may rotate counterclockwise.

The rotational coupler 410 may be formed in a shape that can cover both ends of the robot body 100 in the left and right directions. For example, the rotational coupler 410 may be formed in a cylindrical shape with a predetermined thickness. At this time, both left and right ends of the robot body 100 may be disposed to face the rotation center of the rotary coupling unit 410.

That is, to describe the state in which the rotational coupling part 410 is coupled to the robot body 100, assuming that the robot main body 100 is a human face, the rotary coupling part 410 is a pair of earplugs or headphones. It may have a shape similar to a piece.

As shown in FIG. 8, the arm motor (MA) of the robot 1 according to one embodiment may be disposed inside the main body housing 110. Alternatively, depending on the embodiment, the arm motor (MA) may be disposed inside the rotary coupling part.

The arm motor (MA) may be connected to the arm 400 and provide driving force to the arm 400. More specifically, the final output end of the shaft or gear of the arm motor (MA) is connected to the rotation coupling portion 410. For example, as shown in FIG. 4, the shaft of the arm motor (MA) may be connected to the reducer 460, and the reducer 460 may be connected to the driven gear 470.

The reducer 460 is composed of at least one gear, and transmits the rotational force applied from the arm motor (MA) to the driven gear 470, and can reduce the rotational speed of the driven gear 470 through the gear ratio. Through this, the precise rotation of the arm 400 can be controlled and the arm 400 can provide relatively large force.

The driven gear 470 may be coupled with the rotational coupling portion 410 and rotated integrally. The driven gear 470 is meshed with the output end of the reducer 460 and can receive the rotational power of the arm motor (MA).

With this configuration, when the arm motor (MA) operates, the rotary coupling portion 410 can be rotated.

Two arm motors (MA) may be provided and each connected to a pair of rotation coupling parts 410. As another example, one arm motor (MA) may be provided and connected to any one of the rotation coupling units 410.

With this configuration, when the arm motor MA is operated, the pair of rotary coupling parts 410 are interlocked and rotate together, and the connecting part 420 is rotated together according to the rotation of the rotary coupling parts 410. That is, according to the present invention, the rotary coupling portion 410 and the connecting portion 420 of the arm 400 can be rotated integrally with the arm shaft of the rotary coupling portion 410 as a rotation axis.

Meanwhile, a speaker 450 may be disposed outside the rotary coupling portion 410. That is, speakers 450 may be disposed in each of the pair of rotation coupling parts 410 in directions opposite to the direction in which the robot body 100 is disposed. Accordingly, the speakers 450 may be disposed at positions covering both sides of the main housing 110 in the left and right directions.

The speaker 450 can transmit information about the robot 1 as sound. The source of the sound transmitted by the speaker 450 may be sound data previously stored in the robot 1. For example, the pre-stored sound data may be voice data of the robot 1. For example, the pre-stored sound data may be a notification sound that guides the status of the robot 1. Meanwhile, the source of the sound transmitted by the speaker 450 may be sound data received through the communication unit 710.

Meanwhile, in the case of a conventional robot, similar to a human arm, a pair of arms are provided on both sides of the main body to move objects or perform specific tasks.

However, when a pair of arms is provided as described above, each arm may move separately, and the load applied to both sides of the robot may vary accordingly. Therefore, a problem may occur where the robot leans to one side and falls.

Additionally, when the robot falls, it is possible to try to stand up with the arm touching the ground. However, since both arms rotate separately and touch the ground, there is a limit to the possibility that the robot may lose balance in the process of standing up and fall again. there is.

On the other hand, in the case of a robot that transports objects or performs a specific task through one arm, the load of the transported object or the impact that may occur when performing the task is concentrated only on one arm, which may lead to damage to the arm. There is.

To solve this problem, the robot 1 according to an embodiment of the present invention is configured with one arm 400 rotatably coupled to both sides of the robot body 100.

The connecting portion 420 may connect a pair of rotational coupling portions 410 to each other. The connecting portion 420 can connect a pair of rotational coupling portions 410 covering both left and right sides of the robot body 100 so that they rotate together.

The connecting portion 420 connects a pair of rotational coupling portions 410 to each other and may be formed to be rotatable about the robot body 100. Specifically, the connection portion 420 may be formed in the form of a frame in which both ends in the longitudinal direction are bent and extended. At this time, both ends of the bent and extended connecting portion 420 may be arranged side by side and connected to a pair of rotational coupling portions 410. As an example, the connection portion 420 may be formed in a '∩' shape. As another example, the connection portion 420 may be formed in an arch shape.

When explaining the state in which the arm 400 is coupled to the robot body 100, assuming that the robot body 100 is a human face, the connection portion 420 may have a shape similar to a headband hair band. That is, assuming that the robot body 100 is a human face, the arm 400 may appear in a shape similar to headphones.

With this configuration, the pair of rotational coupling portions 410 are integrally connected to the connecting portion 420, so that the entire arm 400 can be rotated together with the rotational coupling portion 410 as the center of rotation.

Meanwhile, the rotation radius of the arm 400 may be longer than the maximum length of the first link 210 and shorter than the maximum length of the leg portion 200. Specifically, the shortest distance from the rotation center of the rotary coupling part 410 to the outer end of the connecting part 420 may be longer than the maximum length of the first link 210 and shorter than the maximum length of the leg part 200.

With this configuration, when the arm 400 is rotated, at least a portion of the arm 400 can be placed closer to the ground than the first link 210.

Meanwhile, the arm 400 further includes a rotation protrusion 480 protruding from the inner peripheral surface of the rotation coupling portion 410.

The rotary protrusion 480 is formed to protrude from the inner peripheral surface of the rotary coupling portion 410, and is formed in a shape where the circumferential width becomes narrower as it moves from the inner peripheral surface of the rotary coupling portion 410 toward the center of rotation of the rotary coupling portion 410. (see Figure 13a).

The rotation protrusion 480 may rotate together with the rotation coupling portion 410 and the connection portion 420. That is, when the rotary coupling part 410 and the connecting part 420 are rotated, the rotary protrusion 480 is rotated by the same rotation angle as the rotary coupling part 410 and the connecting part 420.

The rotating protrusion 480 may be supported by contacting the stopper 240 as the arm 400 rotates. For example, when the connection part 420 passes through the rear of the robot body 100 and rotates closer to the ground than the first link 210, the rotation protrusion 480 may contact the stopper 240 (FIG. 13b) reference).

With this configuration, when the arm 400 is rotated to a predetermined position, the stopper 240 and the rotation protrusion 480 are contacted and supported, thereby limiting the rotation of the arm 400.

In addition, there is an effect of maintaining the posture of the arm 400 and the leg portion 200 while maintaining the state in which the stopper 240 and the rotating protrusion 480 support each other.

If a user's special command or a preset situation does not occur, the outer end of the arm 400 may be placed farther from the ground than the robot body 100. With this configuration, the user can easily transport the robot 1 by holding the arm 400. In other words, the arm 400 can function as a handle that can be held by the user.

Also, if a special command from the user or a preset situation does not occur, the arm 400 may be placed rearward of the robot mask 500. This is to prevent the robot mask 500 from being covered by the arm 400 when the user looks at the robot 1.

Meanwhile, when a special command from the user or a preset situation occurs, the arm 400 can rotate and implement various functions. Hereinafter, various functions implemented according to the rotation of the arm 400 will be described.

Meanwhile, FIGS. 13A to 16 illustrate a state in which a robot is waiting without moving according to an embodiment of the present invention.

As shown in FIGS. 13A to 16, the robot 1 of the present invention can rotate the arm 400 toward the ground. For example, the arm 400 may be rotated from the upper side of the robot body 100 to the rear lower side of the robot body 100. That is, the arm 400 can be rotated backward by the operation of the arm motor (MA).

The arm 400 is rotated so that the lower end of the first link 210 and the lower end of the second link 220 are closer to the ground. Also, at least a portion of the arm 400 may be disposed closer to the ground than the upper end of the third link 230.

Along with this or prior to the rotation of the arm 400, the leg portion 200 may be moved to lower the posture of the robot 1. That is, the angle between the first link 210 and the third link 230 and the angle between the second link 220 and the third link 230 may be narrowed.

Therefore, when viewed as a whole, the robot body 100 descends toward the ground, and the arm 400 moves more than the joint portion where the first link 210, the second link 220, and the third link 230 are coupled to each other. The outer end may be positioned closer to the ground. This may look similar to the robot 1 squatting down.

At this time, the rotating protrusion 480 of the arm 400 may be in contact with the stopper 240 to support each other, and further rotation of the arm 400 may be restricted.

Through this operation, the overall center of gravity of the robot 1 can be lowered. Additionally, as the arm 400 rotates backward, the overall center of gravity of the robot 1 may move rearward.

Therefore, even if the operation of the wheel motor (MW) is stopped and the wheel 310 does not rotate, the robot 1 may tilt backward and the lower end of the pair of wheels 310 and the arm 400 may contact the ground. there is.

At this time, the load of the robot body 100 presses the leg portion 200 and at the same time, the rotating protrusion 480 and the stopper 240 contact and support each other, thereby preventing the leg portion 200 from unfolding. That is, when the pair of wheels 310 and the lower ends of the arm 400 come into contact with the ground, the robot 1 can maintain its posture without driving a separate motor.

As a result, through the operation of the robot 1 as described above, one arm 400 and a pair of wheels 310 can contact the ground, and the robot body 100 can be supported at three points.

Therefore, according to the present invention, when the robot 1 does not need to move or is waiting in place, it can maintain its posture by touching the ground with the arm 400 and the wheel 310 without driving the wheel motor (MW). There is an effect of minimizing the power consumption of the robot 1.

This has the effect of significantly reducing power consumption compared to a conventional two-wheeled robot that must continuously rotate a pair of wheels in order to stop in place and wait.

Alternatively, even if the robot is laid down or sits down on the ground to reduce power waste, there is a limitation in that a large amount of energy must be momentarily applied to the wheels and/or arms in order to implement the operation of raising the robot again.

In comparison, according to the present invention, since the robot 1 is maintained in a state of touching the ground through the arm 400, the robot 1 can stand up again with a simple action of the arm 400 pushing the ground. This has the effect of minimizing power waste.

Meanwhile, FIGS. 14A and 14B show another embodiment of the arm rotation protrusion and the leg stopper.

In order to avoid redundant description, the configuration and effects of the robot 1 according to an embodiment of the present invention are the same as those of the robot 1, except for content specifically described in this embodiment, so this may be used.

In this embodiment, the rotary protrusion 480' protrudes from the rotary coupling part 410 and rotates together with the rotary coupling part 410. At this time, the rotation protrusion 480 ′ may be formed to protrude from the rotation coupling portion 410 toward the inside of the robot body 100.

Additionally, in this embodiment, the stopper 240' may be formed in a groove shape in the first link 210. Accordingly, the stopper 240 ′ may rotate along with the rotation of the first link 210 .

At this time, the path along which the stopper 240' rotates and the path along which the rotary protrusion 480' rotates may intersect at at least one point, and at this intersection, the rotary protrusion 480' is accommodated in the stopper 240'. They can support each other.

That is, when the robot 1 starts a waiting operation without moving, the leg unit 200 rotates the first link 210 to lower the posture of the robot 1, and the stopper 240 ′ is positioned at the intersection. Can be rotated up to At the same time, as the rotary coupling part 410 and the connecting part 420 rotate, the rotary protrusion 480' is also rotated, so that the rotary protrusion 480' can be rotated against the stopper 240'.

Accordingly, the rotating protrusion 480' and the stopper 240' are supported by being inserted into each other, and the robot 1 can maintain its posture without driving a separate motor.

Meanwhile, FIGS. 17A and 17B show diagrams to explain operations that occur when a robot falls forward according to an embodiment of the present invention.

As shown in FIGS. 17A and 17B, the robot 1 may rotate the arm 400 toward the ground while the robot falls forward. For example, the arm 400 may be rotated from the upper side of the robot body 100 to the front lower side of the robot body 100. That is, the arm 400 can be rotated forward by the operation of the arm motor (MA).

During this process, the arm 400 may be in contact with the ground. When the robot 1 falls forward, at least a portion of the front surface of the robot body 100 and the pair of wheels 310 come into contact with the ground. Here, when the arm 400 is rotated toward the front of the robot body 100, the outer end of the arm 400 is in contact with the ground.

Along with the rotation of the arm 400, the wheel 310 may be rotated in the direction in which the robot 1 moves forward. That is, the pair of wheels 310 can be rotated in a direction where the distance from the arm 400 becomes shorter.

Through this operation, the arm 400 touches the ground and lifts the robot body 100 away from the ground, and at the same time, the wheel 310 moves forward and digs into the lower side of the robot body 100. Accordingly, the robot body 100 can be lifted to its original position.

Therefore, according to the robot 1 of the present invention, since one arm can stand up while touching the ground, it is possible to prevent the robot 1 from shaking or falling again in the process of getting up, and it is possible to prevent the robot 1 from shaking or falling again in the process of getting up, and it is possible to prevent the robot 1 from shaking or falling again in the process of getting up. The power generated can be minimized.

When a conventional two-wheeled robot falls, a pair of wheels must be momentarily rotated strongly and then the robot must continue to move forward and backward to maintain balance.

To solve this problem, there is a method of touching the ground using the arms provided on the left and right sides of the robot. However, since the positions where a pair of arms contact the ground are different, the force points that touch the ground for the robot to stand up are different. As a result, shaking may occur as the robot stands up. In this case, there is a limit to the robot falling over again.

In contrast, according to the present invention, one arm 400 coupled to both left and right sides of the robot body 100 has a constant contact point with the ground. Moreover, since at least a portion of the outer end of the arm 400 is formed in the form of a surface parallel to the ground along the left and right directions, a relatively large area can be in contact with the ground.

Therefore, during the process of lifting the robot body 100, the robot body 100 can rise stably without shaking and maintain its balance.

In addition, the robot 1 can be started by simply applying a certain rotational force to the arm 400 and the pair of wheels 310 without the need to momentarily apply a strong rotational force to the wheels, thereby preventing damage to the motor. It has the effect of reducing overall power consumption.

Meanwhile, FIGS. 18A and 18B show diagrams to explain operations that occur when a robot falls backwards according to an embodiment of the present invention.

As shown in FIGS. 18A and 18B, the robot 1 may rotate the arm 400 toward the ground while the robot falls backwards. For example, the arm 400 may be rotated from the upper side of the robot body 100 to the rear lower side of the robot body 100. That is, the arm 400 can be rotated backward by the operation of the arm motor (MA).

During this process, the arm 400 may be in contact with the ground. When the robot 1 falls backwards, a portion of the third link comes into contact with the ground. Here, when the arm 400 is rotated toward the rear of the robot body 100, the outer end of the arm 400 is in contact with the ground.

Along with the rotation of the arm 400, the wheel 310 may be rotated in the direction in which the robot 1 moves backward. That is, the pair of wheels 310 can be rotated in a direction where the distance from the arm 400 becomes shorter.

Through this operation, the robot body 100 and the third link 230 can be lifted while the arm 400 touches the ground and the wheel 310 moves backward. Accordingly, the robot body 100 can be lifted to its original position.

Therefore, according to the robot 1 of the present invention, since one arm can stand up while touching the ground, it is possible to prevent the robot 1 from shaking or falling again in the process of getting up, and it is possible to prevent the robot 1 from shaking or falling again in the process of getting up, and it is possible to prevent the robot 1 from shaking or falling again in the process of getting up. The power generated can be minimized.

Additionally, according to the present invention, one arm 400 coupled to both left and right sides of the robot body 100 has a constant point of contact with the ground. Moreover, since at least a portion of the outer end of the arm 400 is formed in the form of a surface parallel to the ground along the left and right directions, a relatively large area can be in contact with the ground.

Therefore, during the process of lifting the robot body 100, the robot body 100 can rise stably without shaking and maintain its balance.

In addition, the robot 1 can be started by simply applying a certain rotational force to the arm 400 and the pair of wheels 310 without the need to momentarily apply a strong rotational force to the wheels, thereby preventing damage to the motor. It has the effect of reducing overall power consumption.

In addition, in the case of the present invention, the rotation direction of the arm 400 and the wheel 310 can be changed to allow the robot 1 to stand up not only when the robot 1 falls forward but also when it falls backward. You can.

19 and 20 show drawings to explain a state in which a robot according to an embodiment of the present invention is combined with a functional module.

As shown in FIGS. 19 and 20, depending on the embodiment, the arm 400 of the robot 1 may be detachably coupled to the function module 900. Specifically, the arm 400 rotates so that the detachable structure provided in the arm 400 can be brought closer to the detachable structure provided in each function module 900, and the detachable structures can be coupled to each other.

To this end, as shown in FIGS. 3 and 5, the arm 400 of the robot 1 according to an embodiment of the present invention includes a detachable part 430 and a connection terminal 440 to be combined with the function module 900. ) may further be included.

The detachable part 430 is disposed on the connection part 420. Specifically, the detachable part 430 is disposed on the outer surface of the connecting part 420. Here, the outer surface of the connection part 420 may mean a surface disposed in a direction opposite to the direction from the connection part 420 to the robot body 100.

With this configuration, the detachable part 430 can be exposed to the outside of the robot 100 with the robot body 100 as the center to facilitate contact with an object accessed from the outside of the robot 1.

The detachable part 430 is detachably coupled to the function module 900. Specifically, the detachable part 430 may be selectively coupled to or separated from the function module 900.

The detachable part 430 is configured in the form of an electromagnet and can selectively apply magnetic force (attractive force) to the function module 900 according to the supply of power.

For example, the detachable part 430 may be configured in the form of a circular electromagnet. With this configuration, the detachable part 430 can form a uniform magnetic field over a wide area and be stably coupled to the functional module 900.

Additionally, a pair of detachable parts 430 may be arranged at a predetermined distance apart. At this time, a connection terminal 440 may be disposed between the pair of removable parts 430. With this configuration, the pair of detachable parts 430 can be coupled to the detachable part of the metal material (or electromagnet) provided in the function module 900 at the correct position, and the connection terminal 440 is connected to the function module ( It has the effect of guiding it to contact the corresponding terminal provided in 900) at the correct position.

The connection terminal 440 may be electrically connected to the function module 900. The connection terminal 440 may be electrically connected by contacting a corresponding terminal provided in the function module 900.

In this embodiment, the connection terminal 440 may be arranged to include a terminal capable of supplying power to the function module 900 and a terminal capable of transmitting and receiving signals to the function module 900. For example, the connection terminal 440 may be provided with a pogo pin including two power pins and four signal pins.

With this configuration, power from the robot body 100 can be supplied to the function module 900 through the connection terminal 440. Additionally, the robot body 100 can transmit and receive electrical signals to the function module 900 through the connection terminal 440.

Meanwhile, a detailed description of the function module 900 will be described later.

Meanwhile, Figures 10 and 11 show drawings to explain another embodiment of an arm in a robot according to the present invention.

With reference to FIGS. 10 and 11 , the arm 1400 according to another embodiment of the present invention is described as follows.

In order to avoid repeated explanation, since the structure and effect are the same as the arm 400 according to an embodiment of the present invention, except for content specifically described in this embodiment, this may be used.

The arm 1400 of this embodiment further includes a terminal rotation unit 1460 and a conversion motor (MC) that provides rotational force to the terminal rotation unit 1460.

The terminal rotating part 1460 is rotatably coupled to the connecting part 1420. As an example, the terminal rotating part 1460 may be formed in a plate shape with a predetermined thickness, and a detachable part 1430 and a connection terminal 1440 may be disposed on one side.

The terminal rotating part 1460 may form the appearance of the arm 1400 together with the connecting part 1420. Rotation shafts coupled to the connection portion 1420 may be provided at both ends of the terminal rotation portion 1460 in the longitudinal direction.

The conversion motor (MC) may be connected to the terminal rotator 1460 and provide rotational force to the terminal rotator 1460. More specifically, the final output end of the shaft or gear of the conversion motor (MC) is connected to the terminal rotation unit 1460.

With this configuration, when the switching motor (MC) operates, the terminal rotary unit 1460 rotates.

When the terminal rotating unit 1460 is rotated, the surface exposed to the outside may be changed. Specifically, one surface of the terminal rotation unit 1460 on which the detachable unit 1430 and the connection terminal 1440 are disposed may be exposed to the outside. And, when the terminal rotating part 1460 is rotated, the detachable part 1430 and the connection terminal 1440 can be hidden in the internal space of the connection part 1420.

With this configuration, when the combination of the arm 1400 and the function module 900 is not necessary, the detachable part 1430 and the connection terminal 1440 can be hidden inside the connection part 1420.

In particular, when the robot 1 falls, it is necessary to rotate the arm 1400 so that the connection part 1420 touches the ground. In this case, the detachable part 1430 and the connection terminal 1440 contact the ground. As a result, contamination or damage may occur.

Therefore, according to the arm 1400 of this embodiment, it is possible to prevent the detachable part 1430 and the connection terminal 1440 from being exposed to the outside through rotation of the terminal rotating part 1460. Additionally, contamination or damage to the detachable portion 1430 and the connection terminal 1440 can be prevented.

robot mask

Figures 23A and 23B show drawings to explain the coupling relationship between the robot mask and the robot body in the robot according to an embodiment of the present invention, and Figure 24 shows the robot mask being separated from the robot according to an embodiment of the present invention. A drawing for explaining the current state is shown, and FIG. 25 shows a drawing for explaining the structure of a robot mask in a robot according to an embodiment of the present invention.

As shown in FIGS. 23A to 25 , the robot 1 according to an embodiment of the present invention may further include a robot mask 500.

The robot mask 500 is detachably coupled to the robot body 100 and can cover the display 120. The robot mask 500 can be combined with the robot body 100 to configure the exterior of the robot 1.

The robot mask 500 includes a mask body 510, a coupling magnet 520, a mask communication unit 530, a mask function unit 540, and a window 550.

The mask body 510 constitutes the exterior of the robot mask 500. For example, based on the state in which the robot mask 500 and the robot body 100 are combined, the outer surface of the mask body 510 exposed to the outside may be formed in a curved shape with a predetermined curvature.

And the inner surface of the mask body 510 facing the robot body 100 may be formed in a shape corresponding to the shape of the robot body 100. For example, the inner surface of the mask body 510 may be formed in a flat shape corresponding to the shape of the display 120, and the side walls may be formed to protrude on the outside to accommodate a portion of the main body housing 110. Accordingly, the inner surface of the mask body 510 may be formed in the form of an oval-shaped plane and side walls surrounding it.

The coupling magnet 520 is disposed on the mask body 510 and is detachably coupled to the robot body 100.

Specifically, at least one coupling magnet 520 is disposed on a side wall protruding from the inner surface of the mask body 510. For example, four coupling magnets 520 may be arranged. With this configuration, even if shaking occurs in the robot body 100, at least one coupling magnet 520 is in contact with the robot body 100, preventing the robot mask 500 from being separated from the robot body 100. It can be prevented.

Additionally, the coupling magnet 520 generates magnetic force (attractive force) and is detachably coupled to the robot body 100. With this configuration, the coupling magnet 520 can couple the main housing 110 and the mask main body 510 through magnetic force, and when the user applies an external force of a predetermined size or more, the main housing 110 and the mask main body ( 510) can be separated.

The mask communication unit 530 is disposed on the mask body 510 and can transmit and receive information with the robot body 100. Specifically, the mask communication unit 530 may communicate with the communication unit 710 provided in the robot body 100.

The mask communication unit 530 may support wireless communication with the robot body 100. A short-distance communication module may be provided as a wireless communication module to support wireless communication.

Short-distance communication may be, for example, Near Field Communication (NFC) communication.

Information about the shape of the robot mask 500 and the functions provided in the robot mask 500 can be transmitted to the robot body 100 through the mask communication unit 530. Additionally, the mask communication unit 530 can receive control commands from the control unit 700 provided in the robot body 100.

Therefore, the control unit 700 can control the mask function unit 540 of the robot mask 500 through communication between the mask communication unit 530 and the communication unit 710.

Meanwhile, the robot mask 500 can receive power from the robot body 100. Although not shown, the robot mask 500 may be provided with a terminal that can be electrically connected to the robot body 100.

When combined with the robot body 100, the robot mask 500 may include a mask function unit 540 that provides a function to the robot body 100.

The mask functional portion 540 may be disposed on the mask body 510. For example, the mask functional portion 540 may be disposed on top of the mask body 510. That is, when the robot mask 500 is coupled to the robot main body 100, at least a portion of the mask functional unit 540 may be disposed farther from the ground than the robot main body 100.

With this configuration, when the user looks at the robot 1, the mask function portion 540 can be clearly visible to the user. Additionally, when the user reaches out to the robot 1, the user's hand can easily reach the mask function unit 540.

The mask functional unit 540 may be provided in various forms depending on its function.

When a plurality of robot masks 500 each including different mask functional units 540 are provided, the user can add services provided by the robot 1 according to the present invention by replacing the robot masks 500 as needed. You can change it.

For example, when the robot mask 2500 including the mask function portion 2540 according to the first embodiment is coupled to the robot body 100, the robot 1 charges the user's mobile phone and transports it to a necessary place. It is possible to provide a service that operates the mobile phone according to voice commands (see Figure 26).

As another example, when the robot mask 3500 including the mask function unit 3540 according to the second embodiment is coupled to the robot body 100, the robot 1 can play the sound needed by the user through the speaker. (See Figure 27).

As another example, when the robot mask 4500 including the mask function portion 4540 according to the third embodiment is combined with the robot body 100, the robot 1 can provide the necessary atmosphere at a party, etc. through a lighting device. (See Figure 28).

As another example, when the robot mask 5500 including the mask function portion 5540 according to the fourth embodiment is combined with the robot body 100, the robot 1 can provide a service of taking pictures or taking videos through a camera. (see Figure 29).

Hereinafter, service provision of the robot mask 500 of the robot 1 according to each embodiment will be described with reference to each drawing.

FIG. 26 shows a diagram for explaining a first embodiment of a robot mask.

As shown in FIG. 26, the mask functional unit 2540 may be a carrier assembly.

The carrier assembly may be provided with a storage stand for storing objects. Specifically, the storage stand may be in the form of a box with an open top and a space formed inside.

The robot 1 can transport objects stored in the space inside the storage stand.

The robot 1 can move according to the user's voice command and transport the items stored in the storage stand to a necessary location.

Specifically, the robot 1 can transport the items by placing them on the storage stand and then moving according to a command to move to a specific place in the house.

The robot 1 can move according to a preset algorithm and transport items stored in the storage stand to a necessary location.

Specifically, when the robot 1 detects a weight of a certain size or more on the storage stand, it recognizes that an object has been placed and moves to a specific location, and when the weight is removed, it returns to its original position, continuously placing the object in a specific location. Delivery is possible (continuous delivery of drinks, food, etc. from the kitchen to the table).

A pressure sensor (not shown) equipped with a load cell or the like may be placed on the bottom of the storage stand to detect the weight of an object.

An anti-slip pad (not shown) may be placed on the bottom of the storage stand to prevent stored items from slipping. The anti-slip pad may be made of a material with strong friction, such as silicone, which is excellent at preventing slipping, or PU (polyurethane), which is mainly made of artificial leather, but is not limited to this.

The anti-slip pad has multiple protrusions made of a high-friction material such as silicone or PU (polyurethane), which is mainly made of artificial leather, to further maximize friction.

A wireless charging device (not shown) that can charge a terminal such as a user's mobile phone may be placed on the bottom of the storage stand. A terminal, such as a user's mobile phone, can be placed on the bottom of the storage stand and charged wirelessly. A power transmitter (not shown) that transmits power wirelessly is provided on the bottom of the storage stand.

The wireless power transmission and reception method is not limited, and for example, magnetic induction method, magnetic resonance method, microwave method, etc. are possible. If the wireless power method is a magnetic induction method or a magnetic resonance method, the power transmitter may be a transmission coil, and if the wireless power method is a microwave method, the power transmitter may be a transmission antenna.

When the carrier assembly is used in the robot 1 of the present invention, devices such as mobile phones that require wireless charging can be charged through the storage stand, providing convenience to the user by eliminating the need to use a separate charging device.

An engraving (not shown) may be formed on the lower surface of the storage stand to accommodate a mobile phone.

The engraving formed on the bottom of the storage stand, together with the aforementioned non-slip pad, prevents the mobile phone from slipping and serves to accommodate it more stably.

A light emitting unit (not shown) is disposed on the outside of the carrier assembly so that the user can visually check the wireless charging amount of the mobile phone accommodated inside the storage stand.

For example, a light emitting unit (not shown) may be placed on the front of the carrier assembly and emit red when charging and blue when fully charged, allowing the user to visually check the charging status of the mobile phone.

A short-range communication module (not shown) or a long-distance communication module (not shown) may be provided on the bottom of the storage stand for communication with the stored mobile phone.

The robot 1 can transmit and receive information by communicating with a stored mobile phone through the short-range communication module or long-distance communication module disposed on the lower surface of the storage stand.

The storage stand may be equipped with a display (not shown), a camera (not shown), a microphone (not shown), or a speaker (not shown).

Descriptions of the display (not shown), microphone (not shown), or speaker (not shown) that may be provided on the storage stand refer to the descriptions of the display 120, microphone 140, and speaker 450.

The robot 1 can play sound through a speaker so that the user can hear it, based on information received from the mobile phone stored in the storage stand.

For example, when a call is made to a mobile phone stored in a storage stand, the robot 1 can move near the user and allow the user to make a voice or video call without directly operating the mobile phone.

For example, the robot 1 may play video and/or audio that the mobile phone can play according to the user's instructions, allowing the user to listen to music or watch a video without directly operating the mobile phone. You can.

Figure 27 shows a diagram for explaining a second embodiment of a robot mask.

As shown in FIG. 27, the mask functional unit 3540 may be a speaker assembly.

The speaker assembly may be equipped with a speaker capable of providing sound.

The speaker can transmit information about the robot 1 as sound. The source of the sound transmitted by the speaker may be sound data previously stored in the robot 1. For example, the pre-stored sound data may be voice data of the robot 1. For example, the pre-stored sound data may be a notification sound that guides the status of the robot 1.

Meanwhile, the source of the sound transmitted by the speaker may be sound data received through the mask communication unit 530. That is, the speaker assembly may be sound data of the control unit 700 received through the mask communication unit 530.

With this configuration, the speaker provided in the robot mask 3500 of this embodiment can transmit sound together with the pair of speakers 450 disposed on the arm 400. For example, the speaker provided in the robot mask 3500 may be a woofer speaker.

Therefore, when the robot mask 3500 including the speaker assembly is coupled to the robot body 100, the pair of speakers 450 serve as the left speaker and the right speaker, respectively, and the speakers provided in the robot mask 3500 It can act as a woofer speaker responsible for reproducing low sounds.

As a result, according to this embodiment, when the robot mask 3500 including the speaker assembly is coupled to the robot body 100, the robot 1 can provide a 2.1 channel speaker function.

Figure 28 shows a diagram for explaining a third embodiment of a robot mask.

As shown in FIG. 28, the mask functional unit 4540 may be a mirror ball assembly.

A lighting device that emits light may be disposed in the mirror ball assembly.

The lighting device may include a plurality of lights and a light source. For example, a lighting device including a plurality of light sources may be formed in a spherical shape and provided to provide lighting in various directions and in various colors.

The mirror ball assembly is provided with a lighting motor (not shown) that provides power to rotate the lighting device up and down or left and right, thereby controlling the operation of the lighting device.

Meanwhile, the mirror ball assembly can receive control commands from the control unit 700 through the mask communication unit 530.

Therefore, when the robot mask 4500 including the mirror ball assembly is coupled to the robot body 100, not only the sound source is reproduced through the speaker 450, but also the operation of the lighting device can be controlled according to the sound source, and the user's By controlling the operation of lighting devices according to motion information, it is possible to provide an effect that stimulates the atmosphere at event venues, various parties, and clubs.

FIG. 29 shows a diagram for explaining a fourth embodiment of a robot mask.

As shown in FIG. 29, the mask functional unit 5540 may be a camera assembly.

The camera assembly may include a camera that takes photos or videos.

The camera can recognize the user's location by photographing the front of the robot 1. For this purpose, the camera may include an RGB module and a Depth module.

The Depth module can obtain depth information of the image. For example, depth information may be obtained by measuring the delay or phase shift of a modulated optical signal for all pixels of a captured image to obtain travel time information.

The RGB module can acquire color images (image images). Edge characteristics, color distribution, frequency characteristics or wavelet transform, etc. can be extracted from the color image.

The robot 1 obtains distance information about the object to be recognized through depth information in the front image captured by the camera, and calculates the boundary characteristics extracted from the color image to determine whether a user exists in front and/or The location can be recognized.

The camera can photograph the user through the user's voice command. For example, if the user commands to take a picture with his or her voice, the camera can take the picture. Additionally, if the user commands video recording by voice, the camera can start recording video. Additionally, when the user commands the end of video recording by voice, the camera can end video recording.

At this time, the robot 1 can recognize the user's location and move along with the user. Additionally, the robot 1 can change the position and angle of the camera toward the user's face.

Therefore, according to this embodiment, the robot 1 can provide a service that follows the user and takes pictures according to the user's command.

Meanwhile, the robot mask 500 according to an embodiment of the present invention, when combined with the robot body 100, may include a window 550 that exposes the image displayed on the display 120 to the outside.

The window 550 may be disposed on the mask body 510. Specifically, the window 550 is disposed through the mask body 510, and may be disposed at a position facing the display 120 when the robot mask 500 is coupled to the robot body 100.

The window 550 may be formed of a material that allows light to pass through. For example, the window 550 may be formed of a transparent material.

Meanwhile, when the robot mask 500 is coupled to the robot body 100, the face and expression can be displayed on the display 120.

The robot 1 may display facial shapes such as eyes, nose, and mouth on the display 120 to make the user feel that the robot is expressing emotions.

The robot 1 may display a preset image on the display 120 to depict facial expressions, allowing the user to recognize that the robot is expressing emotions.

For example, when the user returns home, the robot 1 may display a smiling face on the display 120 to show happiness.

As another example, when the robot 1 detects a cliff and escapes the risk of falling, the robot 1 may display a surprised face and surprised eye expression on the display 120.

As another example, when the user calls the robot 1, the robot 1 may stare at the user and display a curious facial expression on the display 120. The robot 1 can be set to detect and respond when a user calls with a specific pronunciation.

As another example, if the robot 1 cannot understand the user's command, the robot 1 displays '?' on the display 120. A curious facial expression can be displayed along with symbols such as, etc.

As another example, when the user continuously orders service to the robot 1, a difficult facial expression may be displayed along with a picture representing sweat.

As another example, if the user does not give a command to the robot 1 for more than a preset time, a sleeping facial expression may be displayed.

In addition to the examples above, the robot 1 can express various emotions on the display 721, and the expressions that can be displayed can be improved or added through software updates, etc.

In this way, the robot 1 can provide a pet robot service that displays emotions and communicates with the user, and has the effect of providing emotional stability to the user.

As described above, the robot 1 can visually display emotions by displaying facial expressions on the display 120, and can also display emotions through voice output from the speaker 450.

For example, a laughing sound, a surprised sound, etc. may be output in response to the facial expression displayed on the display 120.

Additionally, as described above, the robot 1 can visually display emotions by displaying facial expressions on the display 120, and can also display emotions through rotation of the arm 400.

For example, a smiling expression can be displayed on the display 120 and an emotion can be displayed by shaking the arm 400.

Meanwhile, the shape displayed on the display 120 when the robot mask 500 is combined may change depending on the shape of the robot mask 500.

Specifically, the control unit 700 of the robot 1 may receive information about the shape of the mask 500 through the mask communication unit 530. For example, information about the shape is recorded in each robot mask 500, and the control unit 700 receives information about the shape of the robot mask 500 from the mask communication unit 530 of the robot mask 500. can do. At this time, the memory 720 stores graphic user interface (GUI: Graphic User Interface, hereinafter referred to as 'GUI') information according to the shape of each mask 500. Additionally, the control unit 700 can control the display 120 to display a GUI corresponding to the shape of the robot mask 500. Therefore, in a state where the robot mask 500 and the robot body 100 are combined, the display 120 can display a GUI, and the GUI displayed on the display 120 passes through the window 550 and displays the robot mask 500. ) can be seen from the outside.

Meanwhile, the user can directly select the GUI through the input unit 125. Additionally, the control unit 700 can control the GUI input from the user to be displayed on the display 120.

With this configuration, the user can purchase a robot mask 500 that suits his or her taste or customize the appearance of the robot 1 by selecting the user's preferred GUI.

function module

The robot 1 of the present invention includes a function module 900. The function module 900 is a component that provides various functions to the robot 1 by being coupled to the robot body 100 through the arm 400.

As an example, the function module 900 may be detachably coupled to the arm 400.

Although not shown, the function module 900 may be provided with a structure corresponding to the detachable part 430 and the connection terminal 440 of the arm 400. For example, the function module 900 may be provided with a detachable part that is detachably coupled to the detachable part 430 of the arm 400. Additionally, the function module 900 may be provided with a corresponding terminal (not shown) corresponding to the connection terminal 440 of the arm 400. The corresponding terminal can receive power from the robot body 100 by contacting the connection terminal 440 and can transmit and receive electrical signals to and from the robot body 100.

As another example, the function module 900 may be detachably coupled to the robot body 100. The function module 900 may be detachably coupled to the lower part of the robot body 100. Specifically, the function module 900 may be coupled to the module coupling portion 150 disposed at the lower portion of the robot body 100.

In particular, in the case of the robot 1 of the present invention, it is a two-wheeled robot, and a space for the function module 900 is formed between a pair of wheels 310 and the leg portion 200, so the robot body 100 ) has the advantage that the overall volume does not increase significantly even when the functional module 900 is combined.

In addition, through this arrangement, when the function module 900 is coupled to the robot body 100, not only the pair of wheels 310 but also the function module 900 can be in contact with the ground B, and the ground (B) B) and the robot 1 can be contacted and the number of supported points and the supported area can be increased. Therefore, the functional module 900 of the present invention has the effect of easily maintaining the balance of the robot 1 by being combined with the robot body 100.

Although not shown, the function module 900 may be provided with a structure corresponding to the module coupling portion 150 of the robot body 100. For example, the function module 900 may be provided with a coupling portion 930 that is detachably coupled to the module coupling portion 150 of the robot body 100. Additionally, the function module 900 may be provided with a corresponding terminal corresponding to the terminal of the robot body 100. The corresponding terminal can receive power from the robot body 100 by contacting a terminal of the robot body 100, and can transmit and receive electrical signals to and from the robot body 100.

Although not shown, the function module 900 may be provided with a lamp. The lamp may inform the location of the function module 900 through light emission. For example, the lamp may be an infrared (IR) light emitting diode (LED). With this configuration, the IR sensor 620 disposed on the robot body 100 can detect the position of the function module 900, and the robot body 100 can travel toward the function module 900.

The function module 900 may include various configurations depending on its function.

When different function modules 900 are provided, the user can add or change the service provided by the robot 1 according to the present invention by replacing the function module 900 of the arm 400 as needed.

For example, as shown in FIG. 19, the function module 900 may be a transport module 910. The transport module 910 may include a support plate capable of supporting an object and a transport wheel that is coupled to the lower side of the support plate and rolls over the ground.

The support plate is provided so that objects can be placed on the upper part. For example, the support plate may be formed in the form of a block with a predetermined thickness, and may provide a space on the upper side where objects can be placed.

Additionally, an anti-slip pad may be disposed on the upper surface of the support plate to prevent the placed object from slipping. The anti-slip pad may be made of a material with strong friction, such as silicone, which is excellent at preventing slipping, or PU (polyurethane), which is mainly made of artificial leather, but is not limited to this.

The anti-slip pad has multiple protrusions made of a high-friction material such as silicone or PU (polyurethane), which is mainly made of artificial leather, to further maximize friction.

The transport wheel is coupled to the lower side of the support plate and can roll on the ground.

Meanwhile, depending on the embodiment, the transport module 910 may further include a motor (not shown) that provides power to the transport wheel. When the motor (not shown) of the transport module 910 operates, a heavier object can be moved.

Meanwhile, in this embodiment, the transport module 910 may be coupled to the rear of the robot body 100. When the transport module 910 is coupled to the rear of the robot main body 100, the robot main body 100 is placed in front of the transport module 910 and can guide the movement direction of the transport module 910. That is, the transport module 910 can be moved along the movement direction of the robot body 100. When viewed by a user, the robot body 100 may appear to be moving while dragging the transport module 910 through the arm 400.

In contrast, in this embodiment, the transport module 910 may be coupled to the front of the robot body 100. When the transport module 910 is coupled to the front of the robot body 100, the robot main body 100 is placed behind the transport module 910 and can push and move the transport module 910.

As another example, as shown in FIG. 20, the function module 900 may be a cleaning module 920.

The cleaning module 920 may include a module body, a suction nozzle, and a dust bin. With this configuration, when the function module 900 is coupled to the arm 400, the robot 1 can perform dry cleaning.

The module body may be detachably coupled to the arm 400. For example, the module body may be formed in a hexahedral shape with a predetermined volume, and a flow path through which dust can be sucked may be formed inside.

A suction nozzle (not shown) that can suck in dust may be provided on the bottom of the module body. Additionally, a dust bin that can store sucked dust may be placed inside the module body. A motor (not shown) that provides air suction may be provided inside the module body. At this time, a wheel may be provided on the bottom of the module body. Additionally, an agitator may be provided on the bottom of the module body. Additionally, side brushes may be further provided on the bottom of the module body. Additionally, a motor that provides driving force to the agitator and/or wheel may be further provided inside the module body.

Meanwhile, in this embodiment, the cleaning module 920 may be coupled to the front of the robot body 100. When the cleaning module 920 is coupled to the front of the robot main body 100, the robot main body 100 is placed behind the cleaning module 920 and can move together with the cleaning module 920. The cleaning module 920 may change its traveling direction according to the movement of the robot body 100. When viewed by a user, it may appear as if the robot body 100 pushes the cleaning module 920 through the arm 400 and cleans it.

Meanwhile, as shown in FIG. 22, the function module 900 according to another embodiment can also be coupled to the lower part of the robot body 100. At this time, the robot body 100 is placed above the function module 900 and can move together with the function module 900. The function module 900 can change the traveling direction according to the movement of the robot body 100. When viewed by a user, it may appear as if the robot body 100 is riding on the function module 900 and cleaning.

At this time, as shown in FIG. 21, the function module 900 may be a cleaning module 920′. The cleaning module 920′ includes a module body 921, a suction nozzle 922, and a coupling portion 923.

The module body 921 may be detachably coupled to the robot body 100 through a coupling portion 923. Although not shown, a flow path through which dust can be sucked may be formed inside the module body 921.

A suction nozzle 922 capable of sucking dust may be provided in front of the module body 921. Additionally, a dust bin capable of storing sucked dust may be placed inside the module body 921. A motor (not shown) that provides air suction may be provided inside the module body 921. At this time, a wheel may be provided on the bottom of the module body 921. also,

The suction nozzle 922 can suck air and dust while moving along the ground (floor surface). A suction port may be formed on the bottom of the suction nozzle 922. Additionally, an agitator may be provided around the intake port. Additionally, a motor that provides driving force to the agitator and/or wheel may be further provided inside the module body 921.

The coupling portion 923 is disposed on the upper part of the module body 921 and is coupled to the robot body 100. Specifically, the coupling portion 923 may be disposed on the upper front side of the module body 921. The coupling portion 923 may be detachably coupled to the module coupling portion 150 of the module body 921. For example, the coupling portion 923 may include at least a portion made of a metal material or an electromagnet. As another example, the coupling portion 923 may be hook-coupled to the module body 921, including a hook. In this case, the coupling force between the module body 921 and the robot body 100 can be strengthened.

Meanwhile, the functional module 900 may be configured to be heavier at the rear than at the front where the suction nozzle 922 is located based on the coupling portion 923. Although not shown, a motor that is relatively heavy compared to other components may be placed at the rear of the module body 921. In addition, although not shown, in this embodiment, a weight to increase the weight of the function module 900 may be further disposed at the inner rear of the module body 910.

Accordingly, the function module 900 is combined with the robot body 100 and can be lifted together when the robot body 100 moves upward.

When the function module 900 is lifted by the robot body 100, the front end of the function module 900 may be lifted higher than the rear end.

Although not shown, as another example, the function module 900 may include a pair of mops that rotate around a rotation axis and a water tank that stores water supplied to the mops. With this configuration, when the function module 900 is coupled to the robot body 100, the robot 1 can perform wet cleaning.

Although not shown, as another example, the functional module 900 may include an arm and a gripper. With this configuration, when the function module 900 is coupled to the robot body 100, the gripper can pick up a mobile phone or a large object and transport it to another location.

control configuration

Figure 30 shows a block diagram for explaining the control configuration of a robot according to an embodiment of the present invention.

Referring to FIG. 24, the robot 1 according to an embodiment of the present invention may include a sensor unit 600, a control unit 700, a communication unit 710, a memory 720, a battery 800, a motor unit, and an interface unit. You can.

The components shown in the block diagram of FIG. 24 are not essential for implementing the robot 1, so the robot 1 described herein may have more or fewer components than the components listed above. You can.

First, the control unit 700 can control the overall operation of the robot 1. The control unit 700 can control the robot 1 to perform various functions according to setting information stored in the memory 720, which will be described later.

The control unit 700 may be disposed on the robot body 100. More specifically, the control unit 700 may be mounted and provided on a PCB disposed inside the main body housing 110.

The control unit 700 may include all types of devices that can process data, such as a processor. Here, 'processor' may mean, for example, a data processing device built into hardware that has a physically structured circuit to perform a function expressed by code or instructions included in a program. Examples of data processing devices built into hardware include a microprocessor, central processing unit (CPU), processor core, multiprocessor, and application-specific integrated (ASIC). circuit) and FPGA (field programmable gate array), etc., but the scope of the present invention is not limited thereto.

The control unit 700 may receive information about the external environment of the robot 1 from at least one component of the sensor unit 600, which will be described later. At this time, the information about the external environment may be, for example, information such as the temperature, humidity, and amount of dust in the room where the robot 1 runs. Or, for example, it could be cliff information. Or, for example, it may be indoor map information. Of course, information about the external environment is not limited to the above examples.

The control unit 700 may receive information about the current state of the robot 1 from at least one component of the sensor unit 600, which will be described later. At this time, the current state may be, for example, tilt information of the robot body 100. Or, for example, it may be information about the separation state between the wheel 310 and the ground. Or, for example, it may be location information of a wheel motor (MW). Or, for example, it may be location information of the suspension motor (MS). Of course, information about the current state of the robot 1 is not limited to the above-described examples.

The control unit 700 may transmit a drive control command to at least one of the components of the motor unit, which will be described later. For example, the rotation of the wheel motor (MW) can be controlled to drive the robot 1. Or, for example, the rotation of the wheel motor (MW) can be controlled to maintain the horizontal posture of the robot 1. Or, for example, the rotation of the suspension motor (MS) can be controlled to maintain the horizontal posture of the robot 1.

The control unit 700 may receive a user's command through at least one of the components of the interface unit, which will be described later. For example, the command may be a command to turn on/off the robot 1. Or, for example, the command may be a command for manually controlling various functions of the robot 1.

The control unit 700 may output information related to the robot 1 through at least one of the components of the interface unit, which will be described later. For example, the output information may be visual information. Or, for example, the output information may be auditory information.

The motor unit includes at least one motor and can provide driving force to components connected to each motor.

The motor unit may include a wheel motor (MW) that provides driving force to the left and right wheels 310. More specifically, the motor unit includes a first wheel motor (MW1) that transmits driving force to the wheel 310 disposed on one side in the left and right directions, and a second wheel motor (MW2) that transmits driving force to the wheel 310 disposed on the other side in the left and right directions. ) may include.

Wheel motors MW may be disposed in each wheel unit 300. More specifically, the wheel motor MW may be accommodated inside the third link 230.

The wheel motor (MW) is connected to the wheel 310. More specifically, the final output end of the shaft or gear of the first wheel motor MW1 is connected to the wheel 310 disposed on one side in the left and right directions. The final output end of the shaft or gear of the second wheel motor MW2 is connected to the wheel 310 disposed on the other side in the left and right directions. Each of the left and right wheel motors (MW) is driven and rotates according to the control command of the control unit 700, and the robot 1 runs along the ground due to the rotation of the wheel 310 according to the rotation of the wheel motor (MW). .

The motor unit may include a suspension motor (MS) that provides driving force to the left and right leg units 200. More specifically, the motor unit includes a first suspension motor (MS1) that transmits driving force to the leg portion 200 disposed on one side in the left and right directions, and a second suspension motor that transmits driving force to the leg portion 200 disposed on the other side in the left and right directions. (MS2) may be included.

The suspension motor (MS) may be disposed on the robot body 100. More specifically, the suspension motors MS may be accommodated inside the main body housing 110, respectively.

The suspension motor (MS) is connected to the first link (210). More specifically, the final output end of the shaft or gear of the first suspension motor MS1 is connected to the first link 210 disposed on one side in the left and right directions. The final output end of the shaft or gear of the second suspension motor MS2 is connected to the first link 210 disposed on the other side in the left and right directions. Each of the left and right suspension motors (MS) is driven and rotates according to the control command of the control unit 700, and the first link 210 rotates according to the rotation of the suspension motor (MS) and the first link 210 connected to the first link 210 As the three links 230 rotate, the angle between the first link 210 and the third link 230 may change.

Through this, the robot 1 can lift or lower the wheel 310 and maintain a horizontal posture when climbing an obstacle or driving on a curved surface. Alternatively, the robot body 100 can move downward or upward.

The motor unit may include an arm motor (MA) that provides rotational force to the arm 400.

The arm motor (MA) may be disposed on the robot body 100. More specifically, at least one arm motor (MA) may be accommodated inside the main body housing 110.

The arm motor (MA) is driven and rotates according to the control command of the control unit 700, and the rotation coupling part 410 rotates according to the rotation of the arm motor (MA), and a connection unit ( As 420 rotates, the arm 400 can pivot and move with respect to the robot body 100.

Through this, the robot 1 can rotate the arm 400, and the arm 400 can be rotated to be combined with the function module 900. Alternatively, the arm 400 may be able to touch the ground by rotating the arm 400.

The sensor unit 600 includes at least one sensor, and each sensor can measure or sense information about the external environment of the robot 1 and/or information about the current state of the robot 1.

The sensor unit 600 may include an obstacle detection camera 610.

The obstacle detection camera 610 is provided to detect obstacles existing indoors where the robot 1 drives and to map the structure of the indoor space.

To this end, the obstacle detection camera 610 may be placed in front of the robot body 100. More specifically, the obstacle detection camera 610 may be placed in the front of the main housing 110.

Meanwhile, depending on the embodiment, a plurality of obstacle detection cameras 610 may be arranged. For example, the first detection camera 611 may be placed at the front lower part of the main body housing 110, and the second detection camera 612 may be placed at the front upper part of the main body housing 110. With this configuration, the obstacle detection camera 610 can detect objects or people placed in front of the robot 1.

The obstacle detection camera 610 can detect an obstacle (T) and the distance to the obstacle (T). For example, the first detection camera 611 may be a depth camera.

The obstacle detection camera 610 can photograph the interior while driving to perform SLAM (Simultaneous Localization and Mapping). For example, the second detection camera 612 may be an RGB camera.

Depth cameras and RGB cameras can calculate the distance by calculating the time it takes for the irradiated light to reflect and return after irradiating light.

The control unit 700 may implement SLAM based on information about the surrounding environment captured by the obstacle detection camera 610 and information about the current location of the robot 1.

Meanwhile, the method in which the robot 1 according to an embodiment of the present invention implements SLAM may be implemented only with the obstacle detection camera 610, but is not limited to this. For example, the robot 1 may implement SLAM by further utilizing additional sensors. The additional sensor may be, for example, a Laser Distance Sensor (LDS).

The sensor unit 600 may include an IR sensor 620 for detecting infrared rays.

The IR sensor 620 may be an IR camera that detects infrared light.

The IR sensor 620 may be disposed on the robot body 100. More specifically, the IR sensor 620 may be placed in the front of the main body housing 110. The IR sensor 620 may be placed left and right with the obstacle detection camera 610.

Meanwhile, depending on the embodiment, a plurality of IR sensors 620 may be arranged. For example, the first IR sensor 621 may be placed in the front lower part of the main body housing 110, and the second IR sensor 622 may be placed in the rear of the main body housing 110. With this configuration, the positions of light sources placed in various directions can be detected.

The IR sensor 620 may be placed close to the obstacle detection camera 610. For example, the first IR sensor 621 may be placed directly below the first obstacle detection camera 611.

With this arrangement, the IR sensor 620 can detect the light emitted by the lamp of the function module 900 or the robot charging stand (not shown), and when the robot body 100 approaches the lamp, the obstacle detection camera 610 may detect the shape of the function module 900 or the robot charging base (not shown).

The IR sensor 620 can detect infrared light emitted by an IR LED provided in a specific module and access the module. For example, the module may be a charging stand for charging the robot 1. For example, the module may be a function module 900 that is detachably provided on the arm 400.

The controller 700 may control the IR sensor 620 to start detecting the IR LED when the charging state of the robot 1 is below a preset level. The control unit 700 may control the IR sensor 620 to start detecting the IR LED when a command to find a specific module is received from the user.

The sensor unit 600 may include a wheel motor sensor 630.

The wheel motor sensor 630 can measure the position of the wheel motor (MW). For example, the wheel motor sensor 630 may be an encoder. As is well known, the encoder can detect the position of the motor and also detect the rotational speed of the motor.

The wheel motor sensor 630 may be disposed on the left and right wheel motors (MW), respectively. More specifically, the wheel motor sensor 630 may be connected to the final output end of the shaft or gear of the wheel motor MW and may be accommodated inside the third link 230 together with the wheel motor MW.

The sensor unit 600 may include an arm motor sensor 640.

The arm motor sensor 640 can measure the position of the arm motor (MA). As an example, the arm motor sensor 640 may be an encoder. As is well known, the encoder can detect the position of the motor and also detect the rotational speed of the motor. As another example, the arm motor sensor 640 may be a photo sensor. As is well known, the photo sensor can measure the degree of rotation of the arm motor (MA) or the degree to which the arm 400 rotates.

The arm motor sensor 640 may be disposed on the arm motor (MA). More specifically, the arm motor sensor 640 is connected to the final output end of the shaft or gear of the arm motor (MA) and is accommodated inside the main body housing 110 or the rotation coupling unit 410 together with the arm motor (MA). You can.

The suspension motor sensor 650 can measure the position of the leg portion 200. For example, the suspension motor sensor 650 may be a photo sensor. As is well known, the photo sensor can measure the degree of rotation of the suspension motor MS or the degree of rotation of the first link 210.

The suspension motor sensor 650 may be placed close to the suspension motor (MS). More specifically, the suspension motor sensor 650 may be accommodated inside the main housing 110 together with the suspension motor (MS).

The sensor unit 600 may include an IMU sensor 660.

The IMU sensor 660 can measure the tilt angle of the robot body 100.

As is well known, the IMU (Inertial Measurement Unit) sensor 660 is a sensor incorporating a 3-axis acceleration sensor, a 3-axis gyro sensor, and a geomagnetic sensor, and is also referred to as an inertial measurement sensor.

A 3-axis acceleration sensor is a sensor that detects the gravitational acceleration of an object in a stationary state. Since gravitational acceleration varies depending on the angle at which an object is tilted, the tilt angle is obtained by measuring the gravitational acceleration. However, there is a disadvantage that the correct value cannot be obtained in a moving acceleration state rather than a stationary state.

A 3-axis gyro sensor is a sensor that measures angular velocity. Integrating the angular velocity over time gives the tilt angle. However, continuous errors occur in the angular velocity measured by the gyro sensor due to noise and other reasons, and due to these errors, errors in the integral value accumulate and occur over time.

As a result, when a long period of time passes in a stationary standby state, the tilt of the robot 1 can be accurately measured by the acceleration sensor, but an error occurs by the gyro sensor. When driving, the robot 1 can measure an accurate tilt value using a gyro sensor, but cannot obtain the correct value using an acceleration sensor.

Using the IMU sensor 660 can compensate for the shortcomings of the acceleration sensor and gyro sensor described above.

This specification will now describe an embodiment in which the IMU sensor 660 is provided.

The IMU sensor 660 may be placed on the robot body 100. More specifically, the IMU sensor 660 may be placed adjacent to the control unit 700. The IMU sensor 660 may be mounted and provided on a PCB inside the robot body 100. In order to improve measurement accuracy of tilt angle and direction, the IMU sensor 660 is preferably placed close to the central area of the robot body 100.

The IMU sensor 660 can measure at least one of the three-axis acceleration, three-axis angular velocity, and three-axis geomagnetic data of the robot body 100 and transmit it to the control unit 700.

The control unit 700 may calculate the tilted direction and tilt angle of the robot body 100 using at least one of acceleration, angular velocity, and geomagnetic data received from the IMU sensor 660. Based on this, the controller 700 can perform control to maintain the horizontal posture of the robot body 100, which will be described later.

The sensor unit 600 may include a cliff sensor 670 to detect a cliff.

The cliff sensor 670 may be configured to detect the distance to the ground in front of which the robot 1 runs. The cliff sensor 670 can be configured in various ways within a range that can detect the relative distance between the point where the cliff sensor 670 is formed and the ground.

For example, the cliff sensor 670 may include a light emitting unit that emits light and a light receiving unit that receives reflected light. The cliff sensor 670 may be made of an infrared sensor.

For example, the cliff sensor 670 may be placed on the robot body 100. More specifically, the cliff sensor 660 may be placed inside the robot body 100.

Alternatively, the cliff sensor 670 may be disposed on the third link 230. For example, the first cliff sensor 671 may be disposed at the front lower side of the third link 230, and the second cliff sensor 672 may be disposed at the rear upper side of the third link 230. With this configuration, the distance between the third link 230 and wheel 310 and the ground B can be measured. Additionally, it is also possible to calculate the angle between the third link 230 and the ground through the distance difference between the first cliff sensor 671 and the second cliff sensor 672.

The cliff sensor 670 may radiate light toward the front floor surface of the robot 1. The cliff sensor 670 can detect in advance whether a cliff exists in front of the robot 1 in its direction of travel.

The light emitting unit of the cliff sensor 670 may radiate light diagonally toward the front floor surface. The light receiving unit of the cliff sensor 670 may receive light reflected and incident from the floor surface. The distance between the ground in front and the cliff sensor 670 can be measured based on the difference between the time of light irradiation and the time of reception.

If the distance measured by the cliff sensor 670 exceeds a preset value or exceeds a predetermined range, the ground in front may suddenly become lower. With this principle, cliffs can be detected.

When a cliff is detected ahead, the control unit 700 may control the wheel motor MW so that the robot 1 moves while avoiding the detected cliff. At this time, control of the wheel motor MW may be stop control. Alternatively, control of the wheel motor MW may be control of switching the rotation direction.

The sensor unit 600 may include a contact detection sensor 675.

The contact detection sensor 675 can detect whether the wheel 310 is in contact with the ground.

The contact detection sensor 675 may include a TOF sensor that measures the separation distance between the wheel 310 of the robot 1 and the ground. The TOF sensor may be a 3D camera with TOF (Time OF Flight) technology applied. As is well known, TOF technology is a technology that measures the distance to an object based on the round-trip flight time in which light irradiated toward the object is reflected and returned.

The TOF sensor may be placed in the wheel portion 300. For example, the contact detection sensor 675 may be disposed on the left and right third links 230, respectively. It can be determined whether the wheel 310 is in contact with the ground through the distance to the ground measured by the TOF sensor. If the distance measured by the TOF sensor is less than a preset distance (or less than the lower limit of the preset distance range), the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor is more than a preset distance (or more than the upper limit of the preset distance range), the wheel 310 is separated from the ground.

The contact detection sensor 675 may include a load cell that measures the amount of force applied to some components of the robot 1.

As is well known, when force is applied to a load cell, the resistance value of the strain gauge provided on the surface changes. At this time, the amount of force applied to the load cell can be measured through the change in the resistance value.

The load cell may be placed on the leg portion 200. Preferably, the load cells may be placed on the left and right third links 230, respectively. While the wheel 310 is in contact with the floor, the third link 230 is deformed by a normal force applied from the ground. The measured value of the load cell appears as a value different from the initial value depending on the deformation of the third link 230. Through this, it can be determined whether the wheel 310 is in contact with the ground.

The sensor unit 600 may include an environmental sensor 680.

The environmental sensor 680 may be configured to measure various environmental conditions outside the robot 1, that is, inside the house where the robot 1 drives. The environmental sensor 680 may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

As an example, the environmental sensor 680 may be placed on the robot body 100. More specifically, the environmental sensor 680 may be placed at the rear of the robot body 100.

As another example, the environmental sensor 680 may be placed on the arm 400. More specifically, the environmental sensor 680 may be placed in the connection portion 420.

In a possible embodiment, information measured by environmental sensor 680 may be visually displayed on display 120.

The sensor unit 600 may include a side sensor 690.

The side sensor 690 can measure the distance to obstacles, including walls.

The side sensor 690 may be configured to detect the distance from the wall on the side along which the robot 1 travels. The side sensor 690 can be configured in various ways within a range that can detect the relative distance between the point where the side sensor 690 is placed and the obstacle.

For example, the side sensor 690 may include a light emitting unit that emits light and a light receiving unit that receives reflected light. The side sensor 690 may be made of an infrared sensor.

Side sensors 690 may be placed on both sides of the robot 1. For example, the side sensor 690 may be disposed on the outer surface of the third link 230 of the leg portion 200.

The interface unit includes at least one component for interaction between the user and the robot 1, and each component may be provided to input a command from the user and/or output information to the user.

The interface unit may include a microphone 140.

The microphone 140 is a component that recognizes the user's voice, and may be provided in plural numbers. A plurality of microphones 140 may be disposed in the main housing 110 . For example, four microphones 140 may be placed on the upper side of the main housing 110.

The voice signal received by the microphone 140 can be used to track the user's location. At this time, a known sound source tracking algorithm may be applied. For example, the sound source tracking algorithm may be a three-point measurement method (triangulation method) using the time difference in which the plurality of microphones 140 receive voice signals. The principle is that the position of the voice source is calculated by using the position of each microphone 140 and the speed of the sound wave.

Meanwhile, if the microphone 140 and the above-described obstacle detection camera 610 cooperate with each other, the robot 1 can be implemented to find the user's location even when the user calls the robot 1 from a distance.

The interface unit may include a speaker 450.

The speaker 450 may be placed on the arm 400. For example, the speaker 450 may be placed in the rotational coupling portion 410 of the arm 400. The speakers 450 may be disposed at positions covering both sides of the main housing 110 in the left and right directions.

The speaker 450 can transmit information about the robot 1 as sound. The source of the sound transmitted by the speaker 450 may be sound data previously stored in the robot 1. For example, the pre-stored sound data may be voice data of the robot 1. For example, the pre-stored sound data may be a notification sound that guides the status of the robot 1. Meanwhile, the source of the sound transmitted by the speaker 450 may be sound data received through the communication unit 710.

The interface unit may include a display 120 and an input unit 125.

The display 120 may include a display disposed in one or more modules. The display 120 may be placed on the upper front side of the robot body 100.

The display 120 is one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED). It can be formed as an element.

Information such as operating time information of the robot 1 and power information of the battery 800 may be displayed on the display 120.

The facial expression of the robot 1 may be displayed on the display 120. Alternatively, the eyes of the robot 1 may be displayed on the display 120. The current state of the robot 1 may be personified and expressed as emotions through the shape of the face or the shape of the eyes displayed on the display 120. For example, when a user returns home after going out, a smiling facial expression or smiling eye shape may be displayed on the display 120. This has the effect of giving the user a feeling of communion with the robot 1.

The input unit 125 may be configured to receive a control command for controlling the robot 1 from the user. For example, the control command may be a command to change various settings of the robot 1. For example, the settings may be voice volume, display brightness, power saving mode settings, etc.

The input unit 125 may be placed on the display 120.

The input unit 125 generates key input data that the user inputs to control the operation of the robot 1. To this end, the input unit 125 may be composed of a key pad, a dome switch, a touch pad (static pressure/electrostatic), etc. In particular, when the touch pad forms a mutual layer structure with the first display, it can be called a touch screen.

The communication unit 710 may be provided to transmit signals between each component within the robot 1. For example, the communication unit 710 may support CAN (Controller Area Network) communication. For example, the signal may be a control command transmitted from the control unit 700 to another component.

The communication unit 710 may support wireless communication with other devices existing outside the robot 1. A short-range communication module or a long-distance communication module may be provided as a wireless communication module to support wireless communication.

Short-distance communication may be, for example, Bluetooth communication, NFC (Near Field Communication) communication, etc.

Long-distance communications include, for example, Wireless LAN (WLAN), DLNA (Digital Living Network Alliance), Wibro (Wireless Broadband: Wibro), Wimax (World Interoperability for Microwave Access: Wimax), and GSM (Global System for Mobile communication). ), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access) , HSUPA (High Speed Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), LTEA (Long Term Evolution-Advanced), Wireless Mobile Broadband Service (WMBS), BLE (Bluetooth) Low Energy), Zigbee, RF (Radio Frequency), LoRa (Long Range), etc.

The memory 720 is a configuration in which various data for driving and operating the robot 1 are stored.

The memory 720 may store application programs for autonomous driving of the robot 1 and various related data. The memory 720 may also store each data sensed by the sensor unit 600 and may store setting information about various settings selected or input by the user.

The memory 720 may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. This memory 720 may include internal memory and/or external memory, volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, Non-volatile memory, such as NAND flash memory, or NOR flash memory, SSD. It may include a flash drive such as a compact flash (CF) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick, or a storage device such as an HDD.

The memory 720 may be included in the control unit 700 or may be provided as a separate component.

The battery 800 is configured to supply power to other components that make up the robot 1.

The battery 800 may be placed in the robot body 100. More specifically, the battery 800 may be accommodated inside the main housing 110. Although not shown, the battery 800 may be placed rearward of the suspension motor (MS).

The battery 800 can be charged by an external power source, and for this purpose, a charging terminal 130 for charging the battery 800 may be provided on one side of the robot body 100. As in the embodiment of the present invention, the charging terminal 130 may be disposed at the lower part of the robot body 100. Accordingly, the robot 1 can be easily coupled to the charging station by approaching the charging station and descending to seat the charging terminal 130 on the corresponding terminal of the charging station from the top.

Although the present invention has been described in detail through specific examples, this is for detailed explanation of the present invention, and the present invention is not limited thereto, and the present invention is intended to be understood by those skilled in the art within the technical spirit of the present invention. It is clear that modification or improvement is possible.

All simple modifications or changes of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be made clear by the appended claims.

1: robot
100: Robot body
200: Leg part
210: first link
220: second link
230: Third link
300: wheel part
310: wheel
400: cancer
410: Rotation joint
420: connection part
430: Detachable part
440: connection terminal
500: Robot Mask
540: With mask function
900: Function module
MS: suspension motor
MW: wheel motor
MA: arm motor

Claims (15)

A robot body with motors and batteries housed therein;
Leg parts provided on the robot body;
a wheel portion rotatably coupled to the leg portion and including a wheel that rolls over the ground;
An arm including a rotation coupling portion rotatably coupled to both sides of the robot body and a connection portion connecting a pair of the rotation coupling portions to each other;
Including,
The cancer is
A robot, wherein the rotary coupling part and the connection part are rotated integrally with the rotary coupling part as a rotation axis.
According to paragraph 1,
A function module coupled to the arm and moved together with the robot body;
It further includes,
In the connection part,
A robot characterized in that a connection terminal electrically connected to the function module is disposed.
According to paragraph 1,
A function module coupled to the arm and moved together with the robot body;
It further includes,
In the connection part,
A robot characterized in that a removable part is disposed that is detachably coupled to the function module.
According to claim 1,
The cancer is
A robot characterized in that it contacts the ground and supports the robot body.
According to paragraph 1,
The leg part,
a first link coupled to the robot body;
a second link coupled to the robot body; and
a third link coupled to the first link and the second link and coupled to the wheel portion;
Including,
The rotation radius of the arm is,
A robot characterized in that it is longer than the maximum length of the first link and shorter than the maximum length of the leg portion.
According to paragraph 1,
The leg part,
a first link coupled to the robot body;
a second link coupled to the robot body; and
a third link coupled to the first link and the second link and coupled to the wheel portion;
Including,
A robot wherein the arm is disposed closer to the ground than the first link, and when rotation of the wheel is stopped, the wheel and the arm come into contact with the ground to support the robot body.
According to paragraph 1,
A robot wherein when at least a portion of the robot body contacts the ground, the arm and the wheel rotate to raise the robot body.
According to paragraph 1,
The leg part,
a first link coupled to the robot body;
a second link coupled to the robot body; and
a third link coupled to the first link and the second link and coupled to the wheel portion;
Including,
A robot, wherein when at least a portion of the third link contacts the ground, the arm and the wheel rotate to raise the robot body.
According to paragraph 1,
A display disposed on the robot body and displaying the status of the robot body; and
a robot mask detachably coupled to the robot body and covering the display;
A robot further comprising:
According to clause 9,
The display is,
A robot wherein the shape displayed when the mask is combined changes depending on the shape of the mask.
According to clause 9,
The robot mask is,
A mask body coupled to the robot body; and
A mask function unit provided on the mask body and providing a function to the robot body when combined with the robot body;
Robots including.
According to paragraph 1,
a function module detachably coupled to the robot body and moved together with the robot body;
It further includes,
The function module is,
module body;
A coupling portion disposed on the upper part of the module body and coupled to the robot body;
Including,
The function module is,
A robot characterized in that the rear is heavier than the front where the suction nozzle is placed based on the coupling portion.
A robot body with motors and batteries housed therein;
A pair of leg parts coupled to the robot body and supporting the robot body;
A wheel coupled to the leg portion and in contact with the ground; and
One arm pivotably coupled to both sides of the robot body;
Robots including.
According to clause 13,
The cancer is
A robot characterized in that it is detachably coupled to a function module that moves together with the robot body.
According to clause 13,
The cancer is
A robot, characterized in that it is in contact with the ground and supports the robot body together with the wheels.