Robot

Abstract

The present invention relates to a robot, and the robot according to an embodiment of the present invention may include: a robot body in which a motor and a battery are accommodated; a leg part for supporting the robot main body; a wheel part rotatably coupled to the leg part and rolling on the ground; arms rotatably coupled to both side surfaces of the robot body; and a coupling part which is disposed on the arm and which separably couples the arm to a functional module that moves together with the robot body.

Description

Technical Field

[0001] The present invention relates to a robot. More specifically, the present invention relates to a robot that can be detachably coupled to a functional module that provides various functions to a user. Background Art

[0002] In recent years, with the development of robot technology, the frequency of using robots not only in the industrial field but also at home has been gradually increasing.

[0003] Regarding home robots, there are robots that help with housework such as cleaning or control home appliances to perform household chores on behalf of people, or robots that utilize artificial intelligence (AI) to play the role of a user's secretary or provide education to the user, or robots that replace pets, and so on.

[0004] However, existing home robots have the limitation of only performing one of the above functions and being unable to perform various functions according to the needs or conditions of the user.

[0005] On the other hand, regarding robots, in addition to robots that perform functions in a state fixed to a specific position, there are also mobile robots that can move. In particular, home robots mainly use mobile robots that move instead of or with the user at home.

[0006] Among mobile robots, two-wheeled robots having two wheels have the advantage of being easy to store because they occupy a small area, and also have the advantage of being easy to use at home where the space is relatively narrow because the turning radius when the robot turns is small.

[0007] On the other hand, Korean Patent Publication No. 10-2017-0048815 discloses a robot including a cleaning head and a mounted robot arm.

[0008] The robot can use a docking part to couple or separate the cleaning head and the robot arm. However, the robot only has the function of docking and coupling the docking part of the robot arm with a groove provided in the cleaning head. At this time, in the case where the weight of the cleaning head is heavy, etc., even if the robot arm and the cleaning head are coupled, there is a limitation that they are easily separated when lifting the cleaning head.

[0009] In addition, when the robot falls, there is a limitation that the docking part may come into contact with the ground and be contaminated or damaged.

[0010] On the other hand, U.S. Patent Publication No. 2019-0258523 discloses a robot including a lifting device for lifting other objects, but does not disclose the structure for coupling the lifting device to other objects. Summary of the Invention

[0011] Problems to be Solved by the Invention

[0012] The present invention is proposed to improve the above-mentioned existing problems. The object of the present invention is to provide a robot having an arm detachably coupled to a function module that provides various functions to a user.

[0013] In addition, the object of the present invention is to provide a robot that can prevent the joint portion coupled to the function module from contacting the ground and being contaminated or damaged.

[0014] In addition, the object of the present invention is to provide a robot detachably coupled to a function module using magnetism.

[0015] In addition, the object of the present invention is to provide a robot that can be snap-fitted to a function module using a hook structure.

[0016] In addition, the object of the present invention is to provide a robot that can be stably coupled to a function module using elasticity.

[0017] In addition, the object of the present invention is to provide a robot that can be electrically connected to a function module to transmit and receive signals to and from each other.

[0018] Technical Solutions for Solving the Problems

[0019] To solve the above problems, the robot of the present invention may include: a robot main body that houses a motor and a battery therein; leg portions that support the robot main body; wheel portions rotatably coupled to the leg portions and rolling on the ground; arms rotatably coupled to both side surfaces of the robot main body; and a coupling portion disposed on the arms to detachably couple the arms to a function module that moves together with the robot main body.

[0020] The coupling portion may include a loading and unloading member that is detachably coupled to the function module using magnetism.

[0021] The coupling portion may include a snap-fitting member that snap-fits to the function module at a position corresponding to the function module.

[0022] The function module may include: a module main body disposed at a position corresponding to the robot main body; and a hook rotatably coupled to the module main body, the hook being inserted into a latching groove formed in the snap-fitting member and being latched; and an elastic portion that provides an elastic force to the rotation of the hook to keep the hook in a state of being latched in the latching groove.

[0023] The coupling part may include a loading and unloading member, which is detachably coupled to the functional module by magnetism. As the loading and unloading member is coupled to the functional module by magnetic attraction, the hook can be pressed by the engaging member to rotate and inserted into the engaging groove and be locked.

[0024] The coupling part may include connection terminals electrically connected to the functional module.

[0025] The coupling part may be arranged outside the rotation radius of the arm.

[0026] To solve the above problems, a robot according to the present invention may include: a robot main body that houses a motor and a battery therein; leg parts that support the robot main body; wheel parts that are rotatably coupled to the leg parts and roll on the ground; an arm that includes a pair of rotary coupling parts, a connection part, a rotating body, and a rotary motor. The pair of rotary coupling parts are rotatably coupled to both side surfaces of the robot main body. The connection part connects the pair of rotary coupling parts to each other. The rotating body is rotatably arranged with the connection part as a rotation axis. The rotary motor provides a rotational force to the rotating body; and a coupling part that is rotatably integrated with the rotating body and detachably couples the rotating body to a functional module that moves together with the robot main body.

[0027] The coupling part may include a loading and unloading member, which is detachably coupled to the functional module by magnetism.

[0028] The coupling part may include an engaging member that engages and couples with the functional module at a position corresponding to the functional module.

[0029] The functional module may include: a module main body arranged at a position corresponding to the robot main body; a hook rotatably coupled to the module main body. The hook is inserted into an engaging groove formed in the engaging member and is locked; and an elastic part that provides an elastic force for the rotation of the hook so that the hook remains in a state of being locked in the engaging groove. The hook can be disengaged from the engaging groove during the rotation of the rotating body.

[0030] The coupling part may include connection terminals electrically connected to the functional module.

[0031] Advantages of the Invention

[0032] As described above, the robot according to the present invention has the effect of being able to detachably couple a functional module to the front or rear of the robot main body according to a user's instruction or situation and being able to perform various functions through the functional module.

[0033] In addition, the present invention has the effect that the joint portion combined with the functional module can be exposed to the outside or hidden inside by rotation, and in the case where the robot falls, it can prevent the joint portion from contacting the ground and being contaminated or damaged.

[0034] In addition, the present invention has the effect that a loading and unloading member made of metal or an electromagnet can be arranged on the arm, so that the robot and the functional module can be detachably combined magnetically.

[0035] In addition, the present invention has the effect that the hook rotated by the engaging member rotates inward to the engaging groove under the action of elastic force, so that the robot and the functional module are stably hooked.

[0036] In addition, the present invention has the effect that even without an additional drive source, the robot and the functional module can be detachably combined with each other by the magnetic attraction generated between the loading and unloading member and the loading and unloading portion.

[0037] In addition, the present invention has the effect that the robot and the functional module are electrically connected by using connection terminals, so that power supply to the robot or the functional module can be realized, and communication can be realized by transmitting and receiving signals to and from each other. Description of the Drawings

[0038] Figure 1 is a perspective view of the robot for explaining an embodiment of the present invention.

[0039] Figure 2 is a front view of the robot according to an embodiment of the present invention.

[0040] Figure 3 is a perspective view of the robot according to an embodiment of the present invention observed from another angle.

[0041] Figure 4 is a partial cross-sectional view for explaining the power transmission for rotating the arm in the robot according to an embodiment of the present invention.

[0042] Figure 5 is a top view of the robot according to an embodiment of the present invention.

[0043] Figure 6 is a bottom view of the robot according to an embodiment of the present invention.

[0044] Figure 7a and Figure 7b is a view for explaining the structure for restricting the rotation of the arm.

[0045] Figure 8a and Figure 8b is for explaining Figure 7a and Figure 7b another embodiment of.

[0046] Figure 9It is a diagram for explaining the state in which the robot according to the embodiment of the present invention does not move and is in a standby state.

[0047] Figure 10 It is Figure 9 a side view of.

[0048] Figure 11a and Figure 11b are diagrams for explaining the actions of the robot according to the embodiment of the present invention to stand up from a state of falling forward.

[0049] Figure 12a and Figure 12b are diagrams for explaining the actions of the robot according to the embodiment of the present invention to stand up from a state of falling backward.

[0050] Figure 13 is a diagram for explaining the combination relationship between the robot mask and the robot body in the robot according to the embodiment of the present invention.

[0051] Figure 14 and Figure 15 are diagrams for explaining the state in which the robot according to the embodiment of the present invention is combined with a functional module.

[0052] Figure 16 is a perspective view of the joint part of the robot according to the embodiment of the present invention.

[0053] Figures 17a to 17c is a diagram for explaining the process of the rotating body of the robot according to the embodiment of the present invention rotating.

[0054] Figures 18a to 18c is a diagram for explaining the process of the joint part of the robot according to the embodiment of the present invention being combined with a functional module.

[0055] Figure 19 and Figure 20 is a perspective view of the functional module combined with the robot according to the embodiment of the present invention.

[0056] Figure 21 is an enlarged view for explaining the detailed structure of the functional module combined with the robot according to the embodiment of the present invention.

[0057] Figure 22 is a block diagram for explaining the control structure of the robot according to an embodiment of the present invention. Detailed implementation manners

[0058] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0059] The present invention can be variously modified and can have various embodiments. Accordingly, specific embodiments are shown in the drawings and are described in detail herein. This is not intended to limit the present invention to the specific embodiments, but should be construed as including all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention.

[0060] Figure 1 A perspective view of a robot for explaining an embodiment of the present invention is shown. Figure 2 A front view of the robot according to an embodiment of the present invention is shown. Figure 3 A perspective view of the robot according to an embodiment of the present invention as viewed from another angle is shown. Figure 4 A partial cross-sectional view showing the power transmission for rotating an arm in the robot according to an embodiment of the present invention is shown. Figure 5 A top view of the robot according to an embodiment of the present invention is shown. Figure 6 A bottom view of the robot according to an embodiment of the present invention is shown.

[0061] Hereinafter, with reference to Figures 1 to 6 , the robot 1 according to an embodiment of the present invention will be described.

[0062] The robot 1 according to an embodiment of the present invention is configured to be placed on a floor and move along the floor surface. Accordingly, hereinafter, the up and down directions will be defined based on the state in which the robot 1 is placed on the floor and described.

[0063] In addition, the side on which a mapping camera 610 described later is disposed will be defined as the front of the robot 1 and described. Further, the opposite direction of the front will be defined as the rear of the robot 1 and described.

[0064] The "lowest part" of each component described in the embodiment of the present invention may be the lowest part of each component when the robot 1 according to the embodiment of the present invention is placed on the floor for use, or may be the part closest to the floor.

[0065] The robot 1 according to an embodiment of the present invention includes a robot main body 100, leg parts 200, wheel parts 300, an arm 400, and a robot mask 500. At this time, the leg parts 200 are coupled to the robot main body 100, and the wheel parts 300 are coupled to the leg parts 200. In addition, the arm 400 is pivotally coupled to both side surfaces of the robot main body 100. And, the robot mask 500 is detachably coupled to the robot main body 100.

[0066] Robot main body

[0067] Hereinafter, with reference to Figures 1 to 6 , the robot main body 100 of the robot 1 according to an embodiment of the present invention will be described.

[0068] The various components that make up the robot 1 can be incorporated into the robot main body 100. For example, a robot face mask 500 can be detachably attached to the robot main body 100. Additionally, an arm 400 can be pivotally attached to the robot main body 100. The arm 400 can be pivotally attached to both side ends of the robot main body 100. The robot main body 100 can perform additional functions by combining with a functional module 900 using the arm 400. Additionally, the robot main body 100 can use the arm 400 to assume a standby position for power saving and a posture to stand up when it falls.

[0069] Some of the components that make up the robot 1 can be housed inside the robot main body 100.

[0070] The main body cover 110 can form the outer shape of the robot main body 100. Inside the internal space of the main body cover 110, one or more motors including a suspension motor MS, one or more sensors, and a battery B can be housed.

[0071] Additionally, although not shown, at least one buffer can be provided inside the main body cover 110.

[0072] The buffer can be arranged to be able to move relative to the main body cover 110. For example, the buffer can be attached to the main body cover 110 so as to be able to reciprocate in the front - rear direction of the main body cover 110.

[0073] The buffer can be attached along a part or the whole of the front edge of the main body cover 110. Additionally, the buffer can be arranged at the rear side inside the main body cover 110.

[0074] With the above - described configuration, when the robot 1 collides with other objects or people, the buffer can protect the robot main body 100 and the components housed inside the robot main body 100 by absorbing the impact applied to the robot main body 100.

[0075] A pair of leg portions 200 are attached inside the main body cover 110. The pair of leg portions 200 can penetrate through the main body cover 110 and be exposed to the outside.

[0076] Specifically, a first link 210 and a second link 220 can be rotatably attached inside the main body cover 110. For example, a link frame (not shown) that is link - connected to the first link 210 and the second link 220 can be provided inside the main body cover 110.

[0077] Also, a suspension motor MS can be housed inside the main body cover 110. For example, the suspension motor MS can be arranged in the link frame (not shown). The suspension motor MS can be connected to the first link 210.

[0078] A pair of leg guiding holes 111 may be formed in the main body cover 110. For example, the pair of leg guiding holes 111 may be formed in parallel along the front-rear direction of the main body cover 110.

[0079] With such a configuration, the leg part 200 can rotate and move along the leg guiding holes 111, and the rotation movement range of the leg part 200 can be guided.

[0080] The main body cover 110 may be configured in a shape where the width (or diameter) in the horizontal direction is larger than the height in the vertical direction. For example, the main body cover 110 may be formed in a shape similar to an ellipsoid.

[0081] Such a robot main body 100 helps the robot 1 to form a stable structure and can provide a structure that is beneficial for the robot 1 to maintain balance during movement (travel).

[0082] The robot main body 100 may be disposed vertically above the wheel 310 described later. The load of the robot main body 100 can be transmitted to the wheel 310 through the leg part 200, and the wheel 310 can support the leg part 200 and the robot main body 100. With the above-described configuration, the wheel 310 can stably support the load of the robot main body 100.

[0083] The robot main body 100 may include a display 120. The display 120 may be combined with the main body cover 110. The display 120 may be formed in a flat plate shape. The display 120 may be disposed at a predetermined angle with respect to the ground. For example, the display 120 may be disposed at a position facing the upper front side. With such a configuration, when the robot 1 approaches the user, if the user looks at the robot 1, the display 120 can be seen.

[0084] On the other hand, the display 120 can visually transmit information about the operating state of the robot 1 to the user.

[0085] The display 120 may be formed of any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0086] The display 120 can display information such as the operating time information of the robot 1 and the battery B power information.

[0087] According to an embodiment, the display 120 may be the input unit 125. That is, the display 120 may receive control instructions input by a user. For example, the display 120 may be a touch screen that visually displays an operating state and receives control instructions input by a user.

[0088] On the display 120, the facial expression of the robot 1 may be displayed. Alternatively, the eyes of the robot 1 may be displayed on the display 120. Through the facial shape or eye shape displayed on the display 120, the current state of the robot 1 can be anthropomorphized and displayed in terms of emotion. For example, when the user returns home after going out, a smiling face expression or smiling eye shape may be displayed on the display 120. Thereby, it has the effect of making the user feel like communicating with the robot 1.

[0089] A charging terminal 130 may be disposed on the main body cover 110. For example, the charging terminal 130 may be disposed facing the ground. As an example, the charging terminal 130 may be disposed facing the ground. As another example, the charging terminal 130 may be disposed at a predetermined angle with respect to the ground. With such a configuration, when the robot 1 is coupled to a robot charging stand (not shown), the charging terminal 130 can contact a terminal provided on the robot charging stand (not shown).

[0090] The charging terminal 130 may be electrically connected to a robot charging stand (not shown). With such a configuration, the robot 1 can receive power through the charging terminal 130. The power supplied to the charging terminal 130 may be supplied to the battery B. In addition, the robot 1 can receive an electrical signal through the charging terminal 130. The control unit 700 may receive the electrical signal transmitted through the charging terminal 130.

[0091] On the other hand, a mapping camera 610 may be disposed at the lower front of the main body cover 110. For example, the mapping camera 610 may be disposed on the center line passing through the left - right direction center of the main body cover 110. With such a configuration, the mapping camera 610 can detect objects or people disposed in front of the robot 1.

[0092] In addition, an IR sensor 620 may be disposed at the lower front of the main body cover 110. For example, a pair of IR sensors (620) may be disposed at a predetermined interval in the left - right direction. With such a configuration, the IR sensor 620 can detect the position of a light source that generates infrared rays.

[0093] The IR sensor 620 may be disposed close to the mapping camera 610. For example, the mapping camera 610 may be disposed between a pair of IR sensors 620.

[0094] With such a configuration, the IR sensor 620 can detect the light irradiated by the lamp of the functional module 900 or the robot charging base (not shown). If the robot main body 100 approaches the lamp, the mapping camera 610 can detect the shape of the functional module 900 or the robot charging base (not shown).

[0095] Leg support part

[0096] Hereinafter, with reference to Figures 1 to 6 , the leg part 200 of the robot 1 according to an embodiment of the present invention will be described.

[0097] The leg part 200 can be coupled to the robot main body 100 and support the robot main body 100. For example, a pair of leg parts 200 are provided and are respectively coupled inside the main body cover 110. The pair of leg parts 200 can be arranged symmetrically (line-symmetric) with respect to each other. At this time, at least a part of the leg part 200 is arranged closer to the ground than the robot main body 100. Therefore, the robot main body 100 can travel in a form standing on the ground by using the pair of leg parts 200. That is, the gravity applied to the robot main body 100 can be supported by the leg part 200, and the height of the robot main body 100 can be maintained.

[0098] The leg part 200 includes a first link 210, a second link 220, and a third link 230. At this time, the first link 210 and the second link 220 are respectively rotatably coupled to the robot main body 100 and the third link 230. That is, the first link 210 and the second link 220 are respectively link-coupled to the robot main body 100 and the third link 230.

[0099] The first link 210 is link-coupled to the left and right sides inside the robot main body 100.

[0100] The first link 210 is connected to the suspension motor MS. For example, the first link 210 can be directly or through a gear connected to the shaft of the suspension motor MS. With such a configuration, the first link 210 receives a driving force from the suspension motor MS.

[0101] The first link 210 is formed in a frame shape. The suspension motor MS is connected to one side in the length direction of the first link 210, and the third link 230 is coupled to the other side in the length direction. At this time, the side of the first link 210 connected to the suspension motor MS is arranged farther from the ground than the other side of the first link 210 coupled to the third link 230.

[0102] One side of the first link 210 is coupled to a leg support portion (not shown) provided inside the main body cover 110. The first link 210 may be rotatably coupled to the leg support portion. For example, one side of the first link 210 may be formed in a disk shape or a disc shape. Therefore, one side of the first link 210 may pass through the leg support portion and be connected to the suspension motor MS.

[0103] 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 such a configuration, when the suspension motor MS is driven, one side of the first link 210 may rotate in conjunction with the rotation of the shaft of the suspension motor MS.

[0104] The other side of the first connecting rod 210 is rotatably coupled to the third connecting rod 230. For example, a through hole may be formed on the other side of the first connecting rod 210. A shaft may be rotatably passed through the through hole. Both ends of the shaft in the longitudinal direction may be coupled to the third connecting rod 230.

[0105] By such a configuration, the shaft may be an axis about which the first link 210 and / or the third link 230 rotate. Therefore, the first link 210 and the third link 230 may be connected to be relatively rotatable.

[0106] Although not shown, the leg unit 200 may further include a gravity compensation unit that compensates for the vertical downward descent of the robot body 100 due to gravity. That is, the gravity compensation unit provides a force to support the robot body 100 .

[0107] For example, the gravity compensation part may be a torsion spring. The gravity compensation part may be wound to surround the outer peripheral surface of the first connecting rod 210. In addition, one end of the gravity compensation part may be inserted and fixedly coupled to the first connecting rod 210, and the other end of the gravity compensation part may be inserted and fixedly coupled to the third connecting rod 230.

[0108] The gravity compensation part applies a force (rotational force) in the direction in which the angle between the first link 210 and the third link 230 increases. For example, both end portions of the gravity compensation part are tightened in advance 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 when the robot 1 is placed on the ground, the angle between the first link 210 and the third link 230 can be kept within a specified angle range.

[0109] With such a configuration, even when the suspension motor MS is not driven, it is possible to prevent the robot body 100 from descending toward the ground side. Therefore, the gravity compensation unit has the effect of not only preventing energy loss caused by the driving of the suspension motor MS, but also keeping the height of the robot body 100 above a specified distance from the ground.

[0110] The second link 220 is link-coupled to the left and right sides inside the robot body 100. For example, the second link 220 may be link-coupled to a leg support portion (not shown) provided inside the main body cover 110. That is, the second link 220 may be coupled to the leg support portion (not shown) together with the first link 210.

[0111] The second link 220 is formed in a frame shape, and a leg support portion (not shown) is coupled to one side in the length direction of the second link 220, and a third link 230 is coupled to the other side in the length direction.

[0112] Wires may be accommodated in the second link 220. For example, a space capable of accommodating wires may be formed inside the second link 220. Therefore, the power of the battery B can be supplied to the wheel unit 300 through the wires. At the same time, it is possible to prevent the wires from being exposed to the outside.

[0113] One side of the second link 220 is rotatably coupled to the leg support portion. For example, although not shown, a shaft coupled to the leg support portion may penetrate and be coupled to one side of the second link 220. A hollow portion may be formed in the shaft. The wires may pass through the hollow portion. With such a configuration, it is possible to prevent the wires for supplying power from the battery B to the wheel motor MW from being exposed to the outside.

[0114] The other side of the second link 220 is rotatably coupled to the third link 230. Specifically, the other end portion of the second link 220 may be rotatably coupled to the third link 230 using a shaft. For example, the other side of the second link 220 may be formed in a disk shape, and the shaft may penetrate and be coupled to the other side of the second link 220. And both end portions in the length direction of the shaft may be coupled to the third link 230. With such a configuration, the shaft can be an axis for the rotation of the second link 220 and / or the third link 230. Therefore, the second link 220 and the third link 230 can be rotatably connected to each other.

[0115] The third link 230 is link-coupled to the first link 210 and the second link 220, and is coupled to the wheel unit 300.

[0116] The third link 230 is formed in a frame shape, and the first link 210 and the second link 220 are coupled to one side in the length direction of the third link 230, and the wheel unit 300 is coupled to the other side in the length direction.

[0117] One side in the longitudinal direction of the third link 230 is linked to 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 may be formed in a pair of parallel frame forms, and the first link 210 and the second link 220 may be accommodated in the space between the pair of frames.

[0118] Here, two shafts may be arranged in parallel between the pair of frames. That is, both end portions of each of the two shafts may be linked to the pair of frames. And the shafts may respectively penetrate the first link 210 and the second link 220. At this time, the first link 210 may be arranged at a position more forward and lower than the second link 220. That is, the shaft penetrating the first link 210 may be closer to the wheel 310 than the shaft penetrating the second link 220.

[0119] Therefore, the first link 210 and the second link 220 may be respectively rotatably linked to the third link 230.

[0120] The other side in the longitudinal direction of the third link 230 is linked to the wheel portion 300. The other side in the longitudinal direction of the third link 230 may be formed to cover at least a part of the wheel 310. For example, the other side in the longitudinal direction of the third link 230 may be formed to cover the rotation center of the wheel 310, and a space capable of rotatably accommodating the wheel 310 may be formed inside it.

[0121] In addition, the wheel motor MW may be accommodated inside the other side in the longitudinal direction of the third link 230.

[0122] With such a configuration, the wheel 310 and the wheel motor MW may be accommodated on the other side in the longitudinal direction of the third link 230, and the wheel 310 may be rotatably linked to the other side in the longitudinal direction of the third link 230.

[0123] On the other hand, a sensor capable of measuring the distance to the ground may be provided on the other side in the longitudinal direction of the third link 230. For example, the sensor may be a ToF sensor (Time of Flight sensor). With such a configuration, the control unit 700 may determine whether the wheel 310 is in contact with the ground.

[0124] On the other hand, a stopper 240 may be provided on the leg portion 200. The stopper 240 may be arranged inside the main body cover 110. The stopper 240 may be arranged adjacent to the rotation joint portion 410 of the arm 400. For example, the stopper 240 may be arranged inside the inner peripheral surface of the rotation joint portion 410 formed in a cylindrical shape.

[0125] As an example, the stopper 240 can be disposed on a leg support portion (not shown). As another example, the stopper 240 can be disposed on the first link 210.

[0126] The stopper 240 can be formed in a shape protruding toward the rotary coupling portion 410. For example, the stopper 240 has a predetermined thickness and can be formed to protrude in an arch shape disposed on concentric circles. At this time, the outer circumferential surface of the stopper 240 can be disposed on the upper front side of the robot 1, and the inner circumferential surface of the stopper 240 can be disposed on the lower rear side of the stopper.

[0127] The stopper 240 can contact and support a rotary projection 480 of the arm 400 described later. For example, the rotary projection 480 protruding on the inner circumferential surface of the rotary coupling portion 410 can rotate together with the rotation of the arm 400, and can contact the rotary projection 480 when the arm 400 rotates to a predetermined position.

[0128] With such a configuration, the stopper 240 can limit the rotation angle of the arm 400 when the arm 400 rotates.

[0129] When overall observing the balance based on the leg portion 200, the first link 210 and the second link 220 are rotatably coupled to a link frame (not shown) provided inside the robot main body 100, and the first link 210 and the second link 220 are link-coupled to the third link 230. That is, the robot 1 has a structure that supports the robot main body 100 using a four-link mechanism composed of a link frame (not shown), the first link 210, the second link 220, and the third link 230.

[0130] Moreover, the leg portion 200 generates a restoring force in the direction of lifting the robot main body 100 toward the gravity compensation portion. Therefore, even in a state where the suspension motor MS is not driven, a state where a pair of leg portions 200 lift the robot main body 100 to a predetermined height from the ground can be maintained.

[0131] On the other hand, when lifting any one of a pair of wheels 310 to cross an obstacle, or when lowering the height of the robot main body 100 for charging or the like, the robot 1 according to an embodiment of the present invention can maintain balance by driving the suspension motor MS.

[0132] If the suspension motor MS is driven, the link coupling portion 213 moves upward as the first link 210 rotates about the motor coupling portion 212. And the third link 230 moves as the first link 210 rotates. In addition, the second link 220 is pushed by the third link 230 and rotates. As a result, one end portion of the third link 230 can move rearward, and the other end portion of the third link 230 can move upward.

[0133] With the above-described configuration, even if the wheel 310 is moved in the vertical direction, the range of movement of the wheel 310 in the front-rear direction can be restricted. Therefore, the robot 1 can stably maintain its balance.

[0134] Thus, the robot 1 according to the present invention has the effect of being able to cross obstacles of various heights using the four-bar link structure.

[0135] Wheel part

[0136] Hereinafter, with reference to Figures 1 to 6 , the wheel unit 300 of the robot 1 according to an embodiment of the present invention will be described.

[0137] The wheel unit 300 may be rotatably coupled to the leg unit 200 and roll on the ground to move the robot main body 100 and the leg unit 200.

[0138] The wheel unit 300 includes a wheel 310 that contacts the ground and rolls on the ground.

[0139] The wheel 310 is provided with a predetermined radius and has a predetermined width along the axial direction. When the robot 1 is viewed from the front, at least a part of the robot main body 100 and the leg unit 200 may be disposed above the wheel 310 in the vertical direction.

[0140] 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 that opens to one side of the axis of the wheel motor MW. Thereby, the weight of the wheel frame 311 can be reduced.

[0141] However, when the wheel frame is formed in a cylindrical shape, the overall rigidity of the wheel frame may decrease. Considering this, ribs (not shown) for strengthening the rigidity may be formed on the inner side and the outer side of the wheel frame, respectively.

[0142] A tire is coupled to the outer peripheral surface of the wheel frame. The tire may be formed in an annular shape having a diameter capable of fitting over the outer peripheral surface of the wheel frame.

[0143] On the outer peripheral surface of the tire, grooves having a predetermined pattern may be recessed to improve the grip of the tire.

[0144] In one embodiment, the tire may be formed of an elastic rubber material.

[0145] The wheel motor MW may provide driving force to the wheel 310. The wheel motor MW may generate a rotational force by receiving power from the battery B.

[0146] 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.

[0147] With such a configuration, when the wheel motor MW is driven, the wheel 310 can roll along the ground while rotating, and thus the robot 1 can move along the ground.

[0148] arm

[0149] Below, refer to Figures 1 to 6 , an arm 400 of the robot 1 according to an embodiment of the present invention is described.

[0150] The arm 400 may be pivotally coupled to both sides of the robot body 100. For example, the arm 400 may be a rotating body coupled to both ends of the axial direction (length direction) of the ellipsoidal robot body 100 and rotating with the both ends of the axial direction of the robot body 100 as a rotation axis.

[0151] Specifically, the arm 400 includes a rotation coupling portion 410 , a connection portion 420 , a rotating body 430 , and a rotation motor 440 .

[0152] The rotating joint 410 can be rotatably coupled to the two side surfaces of the robot body 100. A pair of rotating joints 410 are provided, and can be relatively rotatably coupled to the left and right sides of the robot body 100. At this time, the pair of rotating joints 410 can rotate in conjunction with each other. That is, the pair of rotating joints 410 rotate simultaneously with each other, and the rotation angles can also be the same. However, when observed with the robot body 100 as a reference, the rotation directions of the pair of rotating joints 410 can be opposite to each other. That is, when observed with the robot body 100 as a reference, if the rotating joint 410 on one side rotates in the clockwise direction, the rotating joint 410 on the other side can rotate in the counterclockwise direction.

[0153] The rotating joint 410 may be formed into a shape that can cover both ends of the robot body 100 in the left and right directions. For example, the rotating joint 410 may be formed into a cylindrical shape having a predetermined thickness. In this case, both ends of the robot body 100 in the left and right directions may be arranged facing each other with the rotation center of the rotating joint 410.

[0154] That is, when observing the state in which the rotational coupling part 410 is coupled to the robot body 100 , if it is assumed that the robot body 100 is a human face, the rotational coupling part 410 may be shaped like a pair of earplugs or earpieces of a headphone.

[0155] like Figure 4 As shown, in the robot 1 of the embodiment, the arm motor MA may be disposed inside the main body cover 110. Different from this, according to the embodiment, the arm motor MA may also be disposed inside the rotary joint.

[0156] 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, Figure 4 As shown, 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 .

[0157] The reducer 460 is composed of at least one gear, transmits the rotation force applied by the arm motor MA to the driven gear 470, and reduces the rotation speed of the driven gear 470 through the gear ratio. Thus, the rotation of the arm 400 can be accurately controlled, and the arm 400 can provide a larger force.

[0158] The driven gear 470 may be coupled to the rotation coupling part 410 and rotate integrally. The driven gear 470 may mesh with the output end of the speed reducer 460 and receive the rotational power of the arm motor MA.

[0159] With such a configuration, when the arm motor MA is operated, the rotation coupling portion 410 can rotate.

[0160] Two arm motors MA may be provided, and each of them may be connected to a pair of rotation coupling parts 410. As another example, one arm motor MA may be provided, and may be connected to any one of the rotation coupling parts 410.

[0161] With such a configuration, when the arm motor MA is operated, the pair of rotating joints 410 rotate together, and the connecting portion 420 rotates together with the rotation of the rotating joint 410. That is, according to the present invention, the rotating joint 410 and the connecting portion 420 of the arm 400 can rotate integrally with the arm shaft of the rotating joint 410 as the rotation axis.

[0162] On the other hand, the speaker 450 may be arranged outside the rotating joint 410. That is, the speaker 450 may be arranged in the opposite direction of the direction in which the robot body 100 is arranged in the pair of rotating joints 410. Therefore, the speaker 450 may be arranged at the positions covering both sides in the left and right direction of the body cover 110.

[0163] The speaker 450 can send information of the robot 1 in the form of sound. The source of the sound sent by the speaker 450 may be sound data pre-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 for guiding the status of the robot 1. On the other hand, the source of the sound sent by the speaker 450 may be sound data received through the communication unit 710.

[0164] On the other hand, in the case of existing robots, similar to a human arm, a pair of arms are provided on both sides of the main body, and can move objects or perform specific operations.

[0165] However, in the case where a pair of arms are provided as described above, each arm can move independently, so the loads applied to both sides of the robot may be different. Therefore, there may be a problem that the robot tilts to one side and falls.

[0166] In addition, in the state where the robot has fallen, although an attempt can be made to stand up by supporting the ground with the arms, since the arms on both sides rotate independently to support the ground, there is a problem that the robot may lose balance and fall again during the process of standing up.

[0167] On the other hand, in the case of a robot that uses one arm to carry objects or perform specific operations, the load of the carried object or the impact that may occur during operation is only concentrated on one arm, resulting in the limitation that the arm may be damaged.

[0168] To solve this problem, the robot 1 according to an embodiment of the present invention is configured such that one arm 400 is rotatably coupled to both sides of the robot main body 100.

[0169] The connecting portion 420 can connect the pair of rotational coupling portions 410 to each other. The connecting portion 420 can connect a pair of rotational coupling portions 410 that cover both sides in the left - right direction of the robot main body 100 to rotate them together.

[0170] The connecting portion 420 can be formed in a shape that connects the pair of rotational coupling portions 410 to each other and is rotatable about the robot main body 100. Specifically, the connecting portion 420 can be formed in a frame shape in which both end portions in the length direction are bent and extended. At this time, both end portions of the connecting portion 420 formed by bending and extending can be arranged in parallel with each other and connected to the pair of rotational coupling portions 410. As an example, the connecting portion 420 can be formed in an "∩" shape. As another example, the connecting portion 420 can also be formed in an arch shape.

[0171] When observing the state where the arm 400 is coupled to the robot main body 100, if the robot main body 100 is assumed to be a human face, the connecting portion 420 can be a shape similar to the headband of a headset. That is, when the robot main body 100 is assumed to be a human face, the arm 400 is in a shape similar to a headset.

[0172] With such a configuration, the pair of rotational coupling portions 410 are integrally connected to the connecting portion 420, and the entire arm 400 can rotate together with the rotational coupling portion 410 as the rotation center.

[0173] On the other hand, the radius of rotation of the arm 400 can be greater than the maximum length of the first link 210 and less than the maximum length of the leg portion 200. Specifically, the shortest distance from the center of rotation of the rotary joint 410 to the outer end of the connecting portion 420 can be greater than the maximum length of the first link 210 and less than the maximum length of the leg portion 200.

[0174] With such a configuration, if the arm 400 rotates, at least a part of the arm 400 can be disposed closer to the ground than the first link 210.

[0175] On the other hand, the arm 400 further includes a rotary projection 480 protruding from the inner peripheral surface of the rotary joint 410.

[0176] The rotary projection 480 can be formed to protrude from the inner peripheral surface of the rotary joint 410, and can be formed in a shape in which the circumferential width becomes narrower as it approaches the center of rotation of the rotary joint 410 from the inner peripheral surface of the rotary joint 410 (see Figure 7a ).

[0177] The rotary projection 480 can rotate together with the rotary joint 410 and the connecting portion 420. That is, when the rotary joint 410 and the connecting portion 420 rotate, the rotary projection 480 rotates by the same rotation angle as the rotary joint 410 and the connecting portion 420.

[0178] As the arm 400 rotates, the rotary projection 480 can be supported by contacting the stopper 240. For example, when the connecting portion 420 rotates to pass behind the robot body 100 and is closer to the ground than the first link 210, the rotary projection 480 can contact the stopper 240 (see Figure 7b ).

[0179] With such a configuration, when the arm 400 rotates to a specified position, the stopper 240 and the rotary projection 480 contact and support each other, thereby restricting the rotation of the arm 400.

[0180] In addition, it has the effect of maintaining the posture of the arm 400 and the leg portion 200 while maintaining the state where the stopper 240 and the rotary projection 480 support each other.

[0181] In the absence of a special instruction from the user or without a preset situation occurring, the outer end of the arm 400 can be disposed at a position farther from the ground than the robot body 100. With such a configuration, the user can easily carry the robot 1 by grasping the arm 400. That is, the arm 400 can function as a handle that can be held by the user.

[0182] Also, in the absence of a special instruction from the user or without a preset situation occurring, the arm 400 can be configured at a position further back than the robot mask 500. This is to prevent the robot mask 500 from being blocked by the arm 400 when the user observes the robot 1.

[0183] On the other hand, when there is a special instruction from the user or without a preset situation occurring, the arm 400 can rotate to achieve various functions. Hereinafter, various functions achieved by the rotation of the arm 400 will be described.

[0184] On the other hand, in Figures 7a to 10 FIG. shows a state in which the robot for explaining an embodiment of the present invention does not move and is in a standby state.

[0185] As Figures 7a to 10 shown, the robot 1 of the present invention can rotate the arm 400 toward the ground. For example, the arm 400 can rotate from the upper side of the robot body 100 via the rear to the rear lower side of the robot body 100. That is, by the operation of the arm motor MA, the arm 400 can rotate backward.

[0186] The arm 400 rotates to be closer to the ground than the lower end portions of the first link 210 and the second link 220. And at least a part of the arm 400 can be disposed closer to the ground than the upper end portion of the third link 230.

[0187] At the same time or before the arm 400 rotates, the leg portions 200 can move to lower the posture of the robot 1. That is, the angles between the first link 210 and the third link 230 and between the second link 220 and the third link 230 can become narrower.

[0188] Therefore, overall, the robot body 100 descends toward the ground, and the outer end portion of the arm 400 can be disposed closer to the ground than the joint portions where the first link 210, the second link 220, and the third link 230 are joined to each other. This may look like the situation where the robot 1 scooches down.

[0189] At this time, the rotation projection 480 of the arm 400 can contact the stopper 240 and support each other, and can limit the further rotation of the arm 400.

[0190] By such an operation, the overall center of gravity of the robot 1 can be lowered. In addition, as the arm 400 rotates backward, the overall center of gravity of the robot 1 can move backward.

[0191] Therefore, even if the wheel motor MW stops operating and the wheels 310 do not rotate, the robot 1 can tilt backward so that the pair of wheels 310 and the lower end portion of the arm 400 contact the ground.

[0192] At this time, the load of the robot main body 100 presses the leg support part 200, and the rotation protrusion 480 and the stopper 240 are in contact with and support each other, so that the leg support part 200 can be prevented from straightening. That is, when the lower ends of the pair of wheels 310 and the arm 400 are in contact with the ground, the robot 1 can maintain its posture without additional driving of the motor.

[0193] As a result, through the operation of the robot 1 as described above, one arm 400 and a pair of wheels 310 can be in contact with the ground, and the robot main body 100 can be supported at three points.

[0194] Therefore, according to the present invention, there is an effect that when the robot 1 does not need to move or standby in place, even if the wheel motor MW is not driven, the arm 400 and the wheels 310 can be used to support the ground and maintain the posture, and the power consumption of the robot 1 can be minimized.

[0195] Compared with the case where an existing two-wheeled robot needs to continuously rotate a pair of wheels to stop and standby in place, this has the effect of significantly reducing power consumption.

[0196] Or, even when performing an action of lying down or sitting down the robot to reduce power waste, there are limitations as follows: in order to perform an action of making the robot stand up again, a large amount of energy needs to be instantaneously applied to the wheels and / or the arm.

[0197] In contrast, according to the present invention, since the robot 1 uses the arm 400 to maintain a state of supporting the ground, the robot 1 can stand up again only by a simple action of pushing the ground with the arm 400, thus having the effect of minimizing power waste.

[0198] On the other hand, in Figure 8a and Figure 8b Another embodiment of the rotation protrusion of the arm and the stopper of the leg support part is shown.

[0199] To avoid repeated description, except for the content specifically described in this embodiment, the configuration and effects of the robot 1 in the embodiment of the present invention are the same, so it can be cited in this embodiment.

[0200] In this embodiment, the rotation protrusion 480' protrudes from the rotation coupling part 410 and rotates together with the rotation coupling part 410. At this time, the rotation protrusion 480' can protrude from the rotation coupling part 410 toward the inside of the robot main body 100.

[0201] In addition, in this embodiment, the stopper 240' can be formed in the first link 210 in a groove shape. Therefore, the stopper 240' can rotate together with the rotation of the first link 210.

[0202] At this time, the paths along which the stopper 240` rotates and the rotation projection 480` rotates may cross at at least one point. At such a crossing point, the rotation projection 480` may be received in the stopper 240` and support each other.

[0203] That is, if the robot 1 starts a standby action without moving, the leg part 200 rotates the first link 210 to lower the posture of the robot 1, and the stopper 240` may rotate to the crossing point. At the same time, as the rotation coupling part 410 and the connection part 420 rotate, the rotation projection 480` also rotates together, so that the rotation projection 480` is received in the stopper 240`.

[0204] Therefore, the rotation projection 480` and the stopper 240` are engaged and supported with each other, so that the robot 1 can maintain its posture without additional motor drive.

[0205] On the other hand, in Figure 11a and Figure 11b are diagrams for explaining the action of the robot according to an embodiment of the present invention to stand up from a state of falling forward.

[0206] As Figure 11a and Figure 11b shown, in a state where the robot has fallen forward, the robot 1 may rotate the arm 400 toward the ground. For example, the arm 400 may rotate from the upper side of the robot body 100 to the front lower side of the robot body 100 via the front. That is, by the operation of the arm motor MA, the arm 400 may rotate forward.

[0207] During this process, the arm 400 may contact the ground. If the robot 1 falls forward, at least a part of the front surface of the robot body 100 and the pair of wheels 310 are in contact with the ground. Here, if the arm 400 rotates toward the front of the robot body 100, the outer end of the arm 400 contacts the ground.

[0208] As the above-mentioned arm 400 rotates, the wheels 310 may rotate in the direction in which the robot 1 advances. That is, the pair of wheels 310 may rotate in a direction closer to the arm 400.

[0209] Through such an action, the arm 400 can support the ground to lift the robot body 100 so that the robot body 100 is away from the ground, and at the same time the wheels 310 can advance and get into the lower side of the robot body 100. Therefore, the robot body 100 can be lifted to its original position.

[0210] Therefore, according to the robot 1 of the present invention, since it can use one arm to support the ground and stand up, it is possible to prevent the robot 1 from shaking or falling again during the process of standing up, and the power consumption during the process of realizing the standing-up action can be minimized.

[0211] In the case where an existing two-wheeled robot falls, it is necessary to instantaneously and powerfully rotate a pair of wheels and then continuously move the robot in the front-rear direction to achieve balance.

[0212] To solve this problem, although there is a method of using arms provided on the left and right of the robot to support the ground, since the positions where the pair of arms contact the ground are different from each other, the force points for the robot to support the ground in order to stand up are different from each other. As a result, the robot may shake when standing up. In this case, there is a problem that the robot may fall again.

[0213] In contrast, according to the present invention, the positions where one arm 400 coupled to the left and right sides of the robot main body 100 contacts the ground are constant. In particular, since the outer end portion of the arm 400 is formed in a surface shape that is at least partially parallel to the ground in the left-right direction, it can contact the ground with a larger area.

[0214] Therefore, during the process of lifting the robot main body 100, the robot main body 100 can rise stably and maintain balance without shaking.

[0215] In addition, since the robot 1 can be made to stand up only by applying a certain rotational force to the arm 400 and the pair of wheels 310 without instantaneously applying a powerful rotational force to the wheels, there is an effect that damage to the motor can be prevented and the overall power consumption can be reduced.

[0216] On the other hand, in Figure 12a and Figure 12b figures are shown for explaining the operation of the robot according to an embodiment of the present invention to stand up from a state of falling backward.

[0217] As Figure 12a and Figure 12b shown, in a state where the robot has fallen backward, the robot 1 can rotate the arm 400 toward the ground. For example, the arm 400 can rotate from the upper side of the robot main body 100 via the rear to the lower rear side of the robot main body 100. That is, by the operation of the arm motor MA, the arm 400 can rotate backward.

[0218] During this process, the arm 400 can contact the ground. If the robot 1 falls backward, a state where a part of the third link contacts the ground is formed. Here, if the arm 400 rotates toward the rear of the robot main body 100, the outer end portion of the arm 400 contacts the ground.

[0219] As the above-described arm 400 rotates, the wheels 310 can rotate in the direction in which the robot 1 retreats. That is, the pair of wheels 310 can rotate in the direction in which the distance from the arm 400 becomes closer.

[0220] Through such an operation, as the arm 400 supports the ground and the wheel 310 moves backward, the robot body 100 and the third link 230 can be lifted. Therefore, the robot body 100 can be lifted to its original position.

[0221] Therefore, in the robot 1 according to the present invention, since it can stand up by using one arm to support the ground, it is possible to prevent the robot 1 from shaking or falling down again during the standing-up process, and the power consumption during the process of realizing the standing-up operation can be minimized.

[0222] In addition, according to the present invention, the positions where one arm 400 combined with the left and right sides of the robot body 100 contacts the ground are constant. In particular, since the outer end portion of the arm 400 is formed in a surface shape that is at least partially parallel to the ground in the left-right direction, it can contact the ground with a larger area.

[0223] Therefore, during the process of lifting the robot body 100, the robot body 100 can rise stably and maintain balance without shaking.

[0224] In addition, since the robot 1 can stand up only by applying a predetermined rotational force to the arm 400 and the pair of wheels 310 without instantaneously applying a strong rotational force to the wheels, it has the effects of being able to prevent damage to the motor and reducing the overall power consumption.

[0225] In addition, in the case of the present invention, not only when the robot 1 falls forward, but also when it falls backward, the rotational directions of the arm 400 and the wheel 310 can be reversed to make the robot 1 stand up.

[0226] Figure 14 and Figure 15 FIG. shows a state in which a robot according to an embodiment of the present invention is combined with a functional module. Figures 17a to 17c FIG. shows a process of rotation of a rotating body of a robot according to an embodiment of the present invention.

[0227] As Figure 14 and Figure 15 shown, the arm 400 can be detachably combined with the functional module 900. Specifically, by rotating the arm 400, the coupling portion 800 provided on the arm 400 can be brought close to the coupling structure provided on the functional module 900, and the coupling portion 800 and the coupling structure of the functional module 900 can be coupled to each other.

[0228] For this purpose, as Figures 17a to 17b shown, the arm 400 of the robot 1 according to an embodiment of the present invention may further include a rotating body 430 and a rotating motor 440 to be combined with the functional module 900.

[0229] The rotating body 430 can be disposed in the connecting portion 420. Specifically, the rotating body 430 can be configured to be rotatable about the connecting portion 420 as the rotation axis. As an example, the rotating body 430 can be disposed inside the connecting portion 420. As another example, the rotating body 430 can be disposed outside the connecting portion 420 and connected to the connecting portion 420.

[0230] The rotating body 430 can be formed in a plate shape with a predetermined thickness, and the engaging portion 800 can be disposed on one surface. The rotating body 430 can be formed in a cylindrical shape with a predetermined length, and the engaging portion 800 can be disposed on one side. When the rotating body 430 is formed in a cylindrical shape, the rotating body 430 can be disposed parallel to the length direction of the connecting portion 420.

[0231] At this time, the rotating body 430 can be connected to the engaging portion 800 so that the engaging portion 800 can rotate integrally with the rotating body 430.

[0232] The rotating body 430 can form the appearance of the arm 400 together with the connecting portion 420. Rotation shafts for engaging with the connecting portion 420 can be provided at both end portions in the length direction of the rotating body 430. That is, the rotation shafts can be engaged with both end portions in the length direction of the rotating body 430 inside the connecting portion 420.

[0233] The rotation motor 440 can provide a rotational force to the rotating body 430. The rotation motor 440 can be connected to the rotating body 430 to provide a rotational force to the rotating body 430. More specifically, the final output end of the shaft or gear of the rotation motor 440 is connected to the rotating body 430.

[0234] With such a configuration, if the rotation motor 440 operates, the rotating body 430 can rotate.

[0235] If the rotating body 430 rotates, the surface exposed to the outside can be switched. Specifically, the surface of the rotating body 430 on which the engaging portion 800 is disposed can be exposed to the outside. An opening portion (not shown) can be formed on one side of the connecting portion 420. When the rotating body 430 is disposed inside the connecting portion 420, if the rotating body 430 rotates, the engaging portion 800 can be exposed to the external space through the opening portion. In addition, if the rotating body 430 rotates, the engaging portion 800 can be hidden in the internal space of the connecting portion 1420.

[0236] With such a configuration, when the combination of the arm 400 and the functional module 900 is not required, the engaging portion 800 can be hidden inside the connecting portion 420.

[0237] In particular, when the robot 1 falls, the rotating arm 400 is required to support the ground with the connecting portion 420. At this time, the joint portion 800 may come into contact with the ground and be contaminated or damaged.

[0238] Therefore, according to the arm 400 of the present embodiment, it is possible to prevent the joint portion 800 from being exposed to the outside by the rotation of the rotating body 430. In addition, contamination or damage of the joint portion 800 can be prevented.

[0239] With such a configuration, the rotating body 430 can be exposed to the outer contour with the robot main body 100 as the center, so as to easily come into contact with the approaching object outside the robot 1.

[0240] The joint portion 800 can be combined with the functional module 900 in a state facing the outside of the rotation radius of the rotating joint portion 800. The joint portion 800 can be combined with the functional module 900. Specifically, the joint portion 800 can be combined with the functional module 900 in a state facing the outer side surface from the connecting portion 420. Here, the outer side surface of the connecting portion 420 can represent the surface arranged in the opposite direction to the direction facing the robot main body 100 from the connecting portion 420.

[0241] Joint part

[0242] Figure 16 A perspective view showing a joint portion of a robot for explaining an embodiment of the present invention is shown. Figures 17a to 17c A diagram showing a process of rotation of a rotating body of a robot for explaining an embodiment of the present invention is shown. Figures 18a to 18c A diagram showing a process of combination of a joint portion of a robot and a functional module for explaining an embodiment of the present invention is shown.

[0243] Hereinafter, the combination structure and combination process of the robot 1 and the functional module 900 will be specifically described.

[0244] The combination of the robot 1 of the embodiment of the present invention and the functional module 900 can be realized by using the joint portion 800. Specifically, the joint portion 800 can detachably combine the functional module 900 with the arm 400 of the robot 1.

[0245] Referring to Figure 16 , the joint portion 800 can be arranged on the arm 400. Specifically, the joint portion 800 can be arranged outside the rotation radius of the arm 400. For example, the rotating body 430 can be arranged on the outer side surface of the connecting portion 420. Here, the outer side surface of the connecting portion 420 can represent the surface arranged in the opposite direction to the direction facing the robot main body 100 from the connecting portion 420.

[0246] Referring to Figures 17a to 17c, the joint portion 800 can be disposed on the rotating body 430. The joint portion 800 can be disposed on one side of the rotating body 430 and exposed to the outside of the connecting portion 420.

[0247] Specifically, if the rotating body 430 rotates by using the rotating motor 440, the surface of the joint portion 800 exposed to the outside can be changed. Therefore, the joint portion 800 can be exposed to the outside of the connecting portion 420 or hidden in the internal space of the connecting portion 420 as the rotating body 430 rotates.

[0248] As an example, when the joint portion 800 is combined with the functional module 900, the rotating body 430 can maintain a rotating state so that the joint portion 800 faces the outside of the rotation radius of the rotating joint portion 800. As another example, when the joint portion 800 is combined with the functional module 900, the rotating joint portion 800 can maintain a rotating state so that the joint portion 800 faces the outside of the rotation radius of the rotating joint portion 800.

[0249] The joint portion 800 of the robot 1 according to the embodiment of the present invention may include a loading and unloading member 810, a engaging member 820, and a connection terminal 830 that can be detachably combined with the functional module 900. Correspondingly, a joint structure that can be combined with the joint portion 800 may be provided on the functional module 900.

[0250] At this time, the physical combination of the robot 1 and the functional module 900 can be achieved by using the loading and unloading member 810 and / or the engaging member 820, and the electrical combination can be achieved by using the connection terminal 830.

[0251] The joint portion 800 of the robot 1 according to the embodiment of the present invention may include a loading and unloading member 810. The loading and unloading member 810 can be detachably combined with the functional module 900. Specifically, the loading and unloading member 810 can be detachably combined with the functional module 900 by using magnetism. That is, the loading and unloading member 810 can be selectively combined with or separated from the functional module 900.

[0252] The loading and unloading member 810 can be formed in the form of an electromagnet and can selectively apply a magnetic force (attractive force) to the functional module 900 according to the supply of power.

[0253] For example, the loading and unloading member 810 can be configured in the form of a circular electromagnet. With such a configuration, the loading and unloading member 810 can form a uniform magnetic field in a wide area and can be stably combined with the functional module 900.

[0254] In addition, a pair of loading and unloading members 810 can be arranged at intervals with a specified distance.

[0255] At this time, an engaging member 820 and / or a connection terminal 830 may be disposed between a pair of attaching / detaching members 810. That is, the pair of attaching / detaching members 810 may be spaced apart with the engaging member 820 and / or a connection member therebetween.

[0256] With such a configuration, the following effects are achieved: guiding the pair of attaching / detaching members 810 so that they can be combined with the attaching / detaching portion 915 of the metal material (or electromagnet) provided in the functional module 900 at the correct position, and guiding the connection terminal 830 to contact the corresponding terminal 916 provided in the functional module 900 at the correct position.

[0257] The engaging portion 800 of the robot 1 according to an embodiment of the present invention may include an engaging member 820.

[0258] As Figures 18a to 18c shown, the engaging member 820 may be engaged and combined with the functional module 900 at corresponding positions.

[0259] Here, the "corresponding position" may indicate a position spaced a predetermined distance forward or backward from the robot main body 100 so that the engaging portion 800 and the functional module 900 can be combined. As an example, the "corresponding position" may indicate a position where the attaching / detaching portion 915 of the functional module 900 is located inside the magnetic field region formed by the magnetism of the attaching / detaching member 810.

[0260] The engaging member 820 may be engaged and combined with the functional module 900. To this end, the engaging member 820 may include an engaging member main body 821 and an engaging protrusion 822.

[0261] The engaging member main body 821 may be disposed at the connection portion 420. Therefore, the engaging member main body 821 may rotate integrally in linkage with the rotating body 430 and / or the rotating engaging portion 800.

[0262] A positioning groove 824 into which the hook 912 of the functional module 900 can be inserted may be formed in the engaging member 820. The hook 912 may be inserted into the positioning groove 824 and be caught by the positioning groove 824. Therefore, the robot according to an embodiment of the present invention has the effect that the robot 1 and the functional module 900 can be engaged and combined with each other only by the action of inserting the hook 912 into the positioning groove 824.

[0263] The engaging protrusion 822 may protrude from the engaging member main body 821. Therefore, if the hook 912 is inserted into the positioning groove 824 by a depth greater than a predetermined depth, it may be caught and supported by the inside of the engaging protrusion 822.

[0264] On the other hand, the engaging protrusion 822 may also protrude from the connection portion 420. That is, as long as a space such as the positioning groove 824 that can catch the hook 912 can be formed, the specific configuration and shape of the engaging protrusion 822 are not limited.

[0265] The engaging groove 824 can be formed by being recessed inward from the engaging member 820. The engaging groove 824 can be formed by being recessed downward from the upper side surface of the engaging member main body 821. Additionally, the engaging groove 824 can be formed by being recessed upward from the lower side surface of the engaging protrusion 822.

[0266] The engaging groove 824 can be composed of a first groove 824a and a second groove 824b. The first groove 824a can represent an entrance for the protruding portion 911a to enter the inside of the engaging member 820. The second groove 824b, as a space for the hook 912 to be caught, can represent the space formed between the engaging member main body 821 and the engaging protrusion 822.

[0267] Hereinafter, with reference to Figures 18a to 18c , the coupling structure of the functional module 900 coupled to the engaging member 820 of the robot 1 will be described.

[0268] Hereinafter, only the coupling structure of the functional module 900 coupled to the engaging member 820 of the robot 1 will be described. Later, the functional module 900 will be described in detail.

[0269] On the other hand, the functional module 900 coupled to the engaging member 820 described below is exemplified by the case of the handling module 910. The coupling structure described later is not limited to the handling module 910 and can also be applied to various functional modules 900 including the cleaning module 920.

[0270] The handling module 910 coupled to the engaging member 820 in the embodiment of the present invention may include a module main body 911, a hook 912, a shaft 913, an elastic portion 914, a loading and unloading portion 915, and corresponding terminals 916.

[0271] The module main body 911 can be formed in a hexahedron shape with a predetermined volume so as to be able to incorporate various components for enabling the handling module 910 to perform functions.

[0272] At this time, the module main body 911 can be disposed at a position corresponding to the robot main body 100. Here, the "corresponding position" can represent a position spaced a predetermined distance forward or backward from the robot main body 100 so that the coupling portion 800 and the handling module 910 can be coupled. As an example, the "corresponding position" can represent a position where the loading and unloading portion 915 of the handling module 910 is located inside the region of the magnetic field formed by the magnetic force of the loading and unloading member 810.

[0273] A protruding portion 911a protruding outward can be formed on the module main body 911. When the engaging member 820 is coupled to the functional module 900, the protruding portion 911a can be inserted into the first groove 824a.

[0274] At this time, the protruding portion 911a can be formed to have a width smaller than the width of the first groove 824a so as to be easily inserted into the first groove 824a. In addition, in a state where the protruding portion 911a is completely inserted, in order to prevent shaking caused by the separation between the hook 912 and the engaging convex portion 822, the maximum length of the protruding portion 911a can be formed to be smaller than the maximum depth of the first groove 824a.

[0275] The hook 912 can be rotatably coupled to the module body 911. Specifically, the hook 912 can be rotatably coupled to the protruding portion 911a of the module body 911. At this time, the hook 912 can rotate about an axis 913 coupled to the protruding portion 911a. Therefore, if the hook 912 is pressed by the engaging convex portion 822 and rotates, the hook 912 can be inserted into the inner side of the engaging groove 824 and be caught.

[0276] The functional module 900 can include an elastic portion 914 that provides an elastic force for the rotation of the hook 912 so that the hook 912 maintains a state of being caught by the engaging convex portion 822.

[0277] The elastic portion 914 can be a torsion spring. The elastic portion 914 can be wound to surround the outer side of the outer peripheral surface of the axis 913. Specifically, one end portion of the elastic portion 914 can be fixedly coupled to the axis 913, and the other end portion of the elastic portion 914 can be fixedly coupled to the hook 912.

[0278] At this time, if the hook 912 is inserted into the engaging groove 824 and rotates in one direction, an elastic force can be generated in the elastic portion 914. That is, the elastic portion 914 can apply a restoring force (elastic force) so that the hook 912 rotates in the opposite direction to the one direction. Therefore, the engaging member 820 and the functional module 900 can maintain a state of being coupled to the engaging groove 824.

[0279] On the other hand, hereinafter, with reference to Figures 18a to 18c , a process of coupling the engaging member 820 and the functional module 900 will be described.

[0280] First, if the protruding portion 911a of the module body 911 is inserted into the first groove 824a, the first contact surface 912a of the hook 912 is pressed by the engaging convex portion 822, so the hook 912 can rotate inward ( Figures 18a to 18c counterclockwise direction in Figures 18a to 18c ). At this time, the elastic portion 914 can apply an elastic force to the hook 912 in a direction that rotates the hook 912 outward again ( clockwise direction in

[0281] Figure 18c ). As Figure 18cRotating counterclockwise (in the counterclockwise direction in the figure), at least a part of the hook 912 can be disposed in the second groove 824b which is the inner space of the engaging groove 824. Therefore, when the robot 1 moves with the hook 912 rotated outward, the second contact surface 912b of the hook 912 is supported by the engaging surface 823 inside the engaging protrusion 822. Thus, the functional module 900 can move together with the robot 1 in front of or behind the robot 1.

[0282] On the other hand, the loading and unloading member 810 can be combined with the loading and unloading portion 915 of the metal material (or electromagnet) provided on the functional module 900 at an accurate position, and can guide the hook 912 of the engaging member 820 to be inserted into the accurate position of the engaging groove 824 provided on the functional module 900. That is, as the magnetic loading and unloading member 810 is combined with the functional module 900 under the action of magnetic attraction, the hook 912 can be pressed and rotated by the engaging protrusion 822, and at the same time, inserted into the engaging groove 824 and be caught.

[0283] Thus, there is an effect that even when the hook 912 moves linearly in the direction of being pressed by the engaging member 820, it can be stably caught in the engaging groove 824.

[0284] In addition, since the loading and unloading member 810 is combined with the loading and unloading portion 915 by magnetism, an attractive force can be generated between the loading and unloading portion 915 and the functional module 900. Thus, there is an effect that even without an additional driving source, the engaging member 820 can be engaged and combined with the functional module 900 under the action of the attractive force.

[0285] On the other hand, when it is desired to separate the engaging member 820 from the functional module 900, the engagement of the engaging member 820 can be released during the process of rotating the rotating body 430 to disengage the hook 912 from the engaging groove 824.

[0286] Specifically, in the state where the hook 912 is caught by the engaging protrusion 822, since the hook 912 cannot be separated from the engaging groove 824, by rotating the rotating body 430 to make the hook 912 disengage in the direction of the opening of the first groove 824a ( Figure 18c in the clockwise direction in the figure), the hook 912 can be separated from the engaging groove 824.

[0287] In addition, when it is desired to separate the engaging member 820 from the functional module 900, the engagement of the engaging member 820 can be released during the process of rotating the rotating joint portion 800 to disengage the hook 912 from the engaging groove 824.

[0288] Specifically, in the state where the hook 912 is caught by the engaging protrusion 822, since the hook 912 cannot be separated from the engaging groove 824, by rotating the rotating joint portion 800 to make the hook 912 disengage in the direction of the opening of the first groove 824a (Figure 18c disengage in the clockwise direction in [description] so that the hook 912 can be separated from the engaging groove 824.

[0289] On the other hand, although the above-described engaging member 820 has been described by way of example as being disposed at the joint portion 800 of the robot 1, conversely, a configuration having the same structure as the engaging member 820 can also be applied to the functional module 900, and a configuration having the same structure as the module body 911, the hook 912, the shaft 913, and the elastic portion 914 corresponding thereto can also be applied to the engaging member 820. If a configuration having the same structure as the above-described engaging member 820 is applied to the case of the functional module 900, its structure and effects are the same as those of the engaging member 820 of the embodiment of the present invention and the corresponding functional module 900, and thus it can be used as it is.

[0290] The connection terminal 830 of the robot 1 according to the embodiment of the present invention can be electrically connected to the functional module 900. Specifically, the connection terminal 830 can be in electrical connection by contacting a corresponding terminal 916 provided on the functional module 900.

[0291] A spring (not shown) can be coupled to the connection terminal 830 and / or the corresponding terminal 916 of the functional module 900. Specifically, the spring can be provided at the lower end of the connection terminal 830 and / or the corresponding terminal 916 so as to be elastically compressed when the connection terminal 830 and the corresponding terminal 916 press against each other.

[0292] The spring can apply a force (elastic force) in a direction that causes the connection terminal 830 and the corresponding terminal 916 to be in close contact with each other. Therefore, when the joint portion 800 is combined with the functional module 900, the spring is elastically compressed due to the connection terminal 830 and the corresponding terminal 916 pressing against each other, so that the close contact between the connection terminal 830 and the corresponding terminal 916 can be configured more stably.

[0293] In the present embodiment, the connection terminal 830 can be configured by a set of terminals capable of supplying power to the functional module 900 and terminals capable of transmitting and receiving signals with the functional module 900. For example, a pogo pin including two power pins and four signal pins can be provided on the connection terminal 830, but the number of the power pins and the signal pins is not limited. That is, a pogo pin including two power pins and two signal pins can also be provided on the connection terminal 830. At this time, in order to prevent a short circuit accident, a pair of the power pins can be spaced apart from each other along the length direction of the connection portion 420 with the signal pins interposed therebetween.

[0294] With such a configuration, the power supply of the robot main body 100 can be supplied to the functional module 900 through the connection terminal 830, or the power supply of the functional module 900 can be supplied to the robot main body 100. In addition, the robot main body 100 can transmit and receive electrical signals with the functional module 900 by using the connection terminal 830.

[0295] Functional module

[0296] Figure 19 and Figure 20 The perspective view of the functional module combined with the robot of the embodiment of the present invention is shown. Figure 21 The enlarged view for explaining the detailed configuration of the functional module combined with the robot of the embodiment of the present invention is shown.

[0297] Hereinafter, with reference to Figures 19 to 21 , the functional module 900 combined with the robot 1 of the embodiment of the present invention will be described.

[0298] The robot 1 of the embodiment of the present invention can be detachably combined with the functional module 900. At this time, the functional module 900 can be combined with the robot main body 100 through the arm 400 and is a constituent element that endows the robot 1 with various functions.

[0299] The functional module 900 can be detachably combined with the arm 400. Specifically, the functional module 900 can be detachably combined with the arm 400 by using the engaging portion 800 disposed on the arm 400.

[0300] As described above, a coupling structure corresponding to the loading and unloading member 810, the engaging member 820, and the connection terminal 830 of the engaging portion 800 can be provided in the functional module 900.

[0301] For example, a loading and unloading portion 915 that can be detachably combined with the loading and unloading member 810 of the engaging portion 800 by magnetism can be provided in the functional module 900.

[0302] In addition, a hook structure that is engaged with the engaging member 820 of the engaging portion 800 can be provided in the functional module 900.

[0303] In addition, a corresponding terminal 916 corresponding to the connection terminal 830 of the engaging portion 800 can be provided in the functional module 900. The corresponding terminal 916 can receive power from the robot main body 100 by contacting the connection terminal 830 and can transmit and receive electrical signals with the robot main body 100.

[0304] Although not shown, a lamp may be provided in the functional module 900. The lamp can emit light to indicate the position of the functional module 900. For example, the lamp can be an infrared (IR) LED (light emitting diode). With such a configuration, the IR sensor 620 disposed on the robot body 100 can detect the position of the functional module 900, and the robot body 100 can travel toward the functional module 900.

[0305] The functional module 900 may include various configurations according to its functions.

[0306] In the case of having functional modules 900 with different functions, the user can, as needed, add or change the services provided by the robot 1 of the present invention by replacing the functional module 900 with the arm 400.

[0307] As an example, as Figure 14 and Figure 19 shown, the functional module 900 can be a handling module 910. The handling module 910 may include: a tray capable of carrying an object; and handling wheels coupled to the lower side of the tray and rolling on the ground.

[0308] The tray is arranged such that an object can be placed on its upper part. For example, the tray is formed in a block shape with a predetermined thickness, and a space for placing an object can be provided on its upper side surface.

[0309] In addition, an anti-slip mat can be disposed on the upper side surface of the tray to prevent the object placed thereon from sliding. The anti-slip mat can be formed of a material with strong friction such as silicone resin or PU (PolyUrethane) mainly composed of artificial leather with excellent anti-slip performance, but is not limited thereto.

[0310] A plurality of protrusions formed of a material with strong friction such as PU (PolyUrethane) mainly composed of silicone resin or artificial leather are arranged on the anti-slip mat, so that the friction can be further maximized.

[0311] The handling wheels can be coupled to the lower side of the tray and roll on the ground.

[0312] On the other hand, according to an embodiment, the handling module 910 may further include a motor (not shown) for providing power to the handling wheels. If the motor (not shown) of the handling module 910 operates, there is an effect of being able to move a heavier object.

[0313] On the other hand, in the present embodiment, the handling module 910 may be incorporated at the rear of the robot main body 100. When the handling module 910 is incorporated at the rear of the robot main body 100, the robot main body 100 is disposed at a position more forward than the handling module 910, so as to be able to guide the moving direction of the handling module 910. That is, the handling module 910 may move along the moving direction of the robot main body 100. To the user, this may seem like the robot main body 100 uses the arm 400 to drag the handling module 910 to move.

[0314] In contrast, in the present embodiment, the handling module 910 may be incorporated in front of the robot main body 100. When the handling module 910 is incorporated in front of the robot main body 100, the robot main body 100 is disposed at a position more rearward than the handling module 910, so as to be able to push the handling module 910 to move.

[0315] As another example, as Figure 15 and Figure 20 shown, the functional module 900 may be the cleaning module 920.

[0316] The cleaning module 920 may include a module main body 921, a suction nozzle, and a dust collection bucket. With such a configuration, if the functional module 900 is incorporated into the arm 400, the robot 1 can perform dry cleaning.

[0317] The cleaning module 920 may be detachably coupled to the arm 400.

[0318] As an example, a loading and unloading portion 925 may be provided on the module main body 921 of the cleaning module 920, and the loading and unloading portion 925 is detachably coupled to the loading and unloading member 810 by magnetism. In addition, a corresponding terminal 926 electrically connected to the connection terminal 830 may be provided on the module main body 921 of the cleaning module 920.

[0319] In addition, the module main body 921 may be formed in a hexahedron shape with a predetermined volume, and a flow path capable of sucking dust may be formed inside thereof.

[0320] A suction nozzle (not shown) capable of sucking dust may be provided on the bottom surface of the module main body 921. And a dust collection bucket capable of storing the sucked dust may be disposed inside the module main body 921. A motor (not shown) for providing the suction force of air may be provided inside the module main body 921. At this time, wheels may be provided on the bottom surface of the module main body 921. In addition, a stirrer may be provided on the bottom surface of the module main body 921. In addition, side brushes may also be provided on the bottom surface of the module main body 921. And a motor for providing driving force to the stirrer and / or the wheels may also be provided inside the module main body 921.

[0321] On the other hand, in the present embodiment, the cleaning module 920 may be integrated in front of the robot main body 100. When the cleaning module 920 is integrated in front of the robot main body 100, the robot main body 100 is disposed at a position further rearward than the cleaning module 920 and may move together with the cleaning module 920. The cleaning module 920 may change the traveling direction according to the movement of the robot main body 100. To the user, this may seem like the robot main body 100 uses the arm 400 to push the cleaning module 920 for cleaning.

[0322] Differently, in the present embodiment, the cleaning module 920 may be integrated behind the robot main body 100. When the cleaning module 920 is integrated behind the robot main body 100, the robot main body 100 may be disposed at a position closer to the front than the cleaning module 920 and may guide the moving direction of the cleaning module 920. That is, the cleaning module 920 may move along the moving direction of the robot main body 100. To the user, this may seem like the robot main body 100 uses the arm 400 to pull the cleaning module 920 to move.

[0323] Although not shown, as another example, the functional module 900 may include: a pair of mops that rotate about a rotation axis; and a water bucket that stores water supplied to the mops. With such a configuration, if the functional module 900 is integrated with the robot main body 100, the robot 1 can perform wet cleaning.

[0324] Although not shown, as another example, the functional module 900 may include an arm and a clamp. With such a configuration, if the functional module 900 is integrated with the robot main body 100, the clamp can pick up a portable phone or a larger object and carry it to another location.

[0325] Robot face mask

[0326] Figure 13 The figure shows the combination relationship between the robot mask and the robot main body in the robot for explaining the embodiments of the present invention.

[0327] The robot 1 according to the embodiment of the present invention may further include a robot mask 500.

[0328] The robot mask 500 may be detachably combined with the robot main body 100 and may cover the display 120. The robot mask 500 may be combined with the robot main body 100 to form the appearance of the robot 1.

[0329] On the other hand, the robot mask 500 according to the embodiment of the present invention may include a window 550 that exposes the image displayed on the display 120 to the outside when the robot mask 500 is combined with the robot main body 100.

[0330] The window 550 can be configured on the mask body 510. Specifically, the window 550 can be configured to penetrate the mask body 510, and the window 550 can be configured at a position facing the display 120 when the robot mask 500 is coupled to the robot body 100.

[0331] The window 550 can be formed of a light-transmissive material. For example, the window 550 can be formed of a transparent material.

[0332] On the other hand, if the robot mask 500 is coupled to the robot body 100, the face and expression can be displayed on the display 120.

[0333] The robot 1 can display the appearance of the face such as eyes, nose, mouth, etc. on the display 120, enabling the user to feel that the robot is expressing emotions.

[0334] In this way, the robot 1 can provide a pet robot service that displays emotions to the user and interacts with the user, and has the effect of providing emotional stability for the user.

[0335] As described above, in addition to displaying facial expressions on the display 120 to visually display emotions, the robot 1 can also display emotions through the voice output of the speaker 450.

[0336] For example, laughter, exclamation sounds, etc. can be output corresponding to the expressions displayed on the display 120.

[0337] In addition, as described above, in addition to displaying facial expressions on the display 120 to visually display emotions, the robot 1 can display emotions through the rotation of the arm 400.

[0338] For example, while displaying a smiling expression on the display 120, the arm 400 can be waved to display emotions.

[0339] Control structure

[0340] In Figure 22 shows a block diagram of the control configuration of the robot for explaining an embodiment of the present invention.

[0341] Referring to Figure 22 , 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 B, a motor unit, and an interface unit.

[0342] For implementing the robot 1, Figure 22 the components shown in the block diagram are not essential, and the robot 1 described in this specification may have more or fewer components than those listed above.

[0343] First, the control unit 700 can control the overall movement of the robot 1. The control unit 700 can control the robot 1 to execute various functions according to the setting information stored in the memory 720 described later.

[0344] The control unit 700 can be disposed in the robot main body 100. More specifically, the control unit 700 can be installed and set on a PCB disposed inside the main body cover 110.

[0345] The control unit 700 can include all types of devices that can process data, such as a processor. Here, the "processor" can refer to, for example, a data processing device built into hardware, and the data processing device has a physical structure circuit for executing functions represented by codes or instructions included in a program. As an example of a data processing device built into hardware, it can include a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), and other processing devices, but the scope of the present invention is not limited thereto.

[0346] The control unit 700 can receive information about the external environment of the robot 1 from at least one of the components of the sensor unit 600 described later. At this time, the information about the external environment can be, for example, information such as the temperature, humidity, and dust amount in the room where the robot 1 travels. Or it can be, for example, cliff information. Or it can be, for example, indoor map information. Of course, the information about the external environment is not limited to the above examples.

[0347] The control unit 700 can receive information about the current state of the robot 1 from at least one of the components of the sensor unit 600 described later. At this time, the current state can be, for example, the inclination information of the robot main body 100. Or it can be, for example, information about the separated state between the wheel 310 and the ground. Or it can be, for example, the position information of the wheel motor MW. Or it can be, for example, the position information of the suspension motor MS. Of course, the information about the current state of the robot 1 is not limited to the above examples.

[0348] The control unit 700 can transmit drive control instructions to at least one component among the components of the motor unit described later. For example, it can control the rotation of the wheel motor MW for the travel of the robot 1. Or for example, it can control the rotation of the wheel motor MW to maintain the horizontal posture of the robot 1. Or for example, it can control the rotation of the suspension motor MS to maintain the horizontal posture of the robot 1.

[0349] The control unit 700 can receive instructions from the user through at least one component among the components of the interface unit described later. For example, the instruction can be an instruction for turning on / off the robot 1. Or for example, the instruction can be an instruction for manually controlling various functions of the robot 1.

[0350] The control unit 700 can output information related to the robot 1 through at least one component among the components of the interface unit described later. For example, the output information can be visual information. Or for example, the output information can be auditory information.

[0351] The motor unit can include at least one motor and provide driving force to the components connected to each motor.

[0352] The motor unit can include a wheel motor MW that provides driving force to the left wheel 310 and the right wheel 310. More specifically, the motor unit can include a first wheel motor MW1 that transmits driving force to the wheel 310 disposed on one side in the left-right direction and a second wheel motor MW2 that transmits driving force to the wheel 310 disposed on the other side in the left-right direction.

[0353] The wheel motors MW can be respectively disposed in the wheel unit 300. More specifically, the wheel motors MW can be accommodated inside the third link 230.

[0354] The wheel motors MW are connected to the wheels 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-right direction. 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-right direction. The left and right wheel motors MW are driven to rotate according to the control instructions of the control unit 700, and the robot 1 travels along the ground as the wheels 310 rotate with the rotation of the wheel motors MW.

[0355] The motor unit can include a suspension motor MS that provides driving force to the left leg unit 200 and the right leg unit 200. More specifically, the motor unit can include a first suspension motor MS1 that transmits driving force to the leg unit 200 disposed on one side in the left-right direction and a second suspension motor MS2 that transmits driving force to the leg unit 200 disposed on the other side in the left-right direction.

[0356] The suspension motor MS can be configured in the robot main body 100. More specifically, the suspension motors MS can be respectively accommodated inside the main body cover 110.

[0357] 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 - right direction. 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 - right direction. The respective suspension motors MS on the left and right sides are driven to rotate according to the control instruction of the control unit 700. The first link 210 rotates as the suspension motor MS rotates, and the third link 230 connected to the first link 210 rotates. As a result, the angle between the first link 210 and the third link 230 can be changed.

[0358] Thereby, the robot 1 can perform the action of raising or lowering the wheels 310, and can maintain a horizontal posture when climbing over obstacles or traveling on uneven ground. Or, the robot main body 100 can perform the action of moving down or up.

[0359] The motor unit may include an arm motor MA that provides a rotational force to the arm 400.

[0360] The arm motor MA can be configured in the robot main body 100. More specifically, at least one arm motor MA can be accommodated inside the main body cover 110.

[0361] The arm motor MA is driven to rotate according to the control instruction of the control unit 700. The rotation coupling part 410 rotates as the arm motor MA rotates, and rotates along with the connection part 420 integrally formed with the rotation coupling part 410. As a result, the arm 400 can pivot relative to the robot main body 100.

[0362] Thereby, the robot 1 can perform the action of rotating the arm 400, and can rotate the arm 400 to be combined with the functional module 900. Or, by rotating the arm 400, the arm 400 can support on the ground.

[0363] The sensor unit 600 includes at least one sensor, and each sensor can measure or detect information about the external environment of the robot 1 and / or information about the current state of the robot 1.

[0364] The sensor unit 600 may include a mapping camera 610.

[0365] The mapping camera 610 is provided for mapping the interior where the robot 1 travels.

[0366] For this purpose, the mapping camera 610 may be disposed in front of the robot main body 100. More specifically, the mapping camera 610 may be disposed in front of the main body cover 110.

[0367] For the execution of SLAM (Simultaneous Localization and Mapping), the mapping camera 610 may photograph the interior during travel. The control unit 700 may implement SLAM based on the information on the surrounding environment photographed by the mapping camera 610 and the information on the current position of the robot 1.

[0368] On the other hand, the method for the robot 1 of the embodiment of the present invention to implement SLAM may also be a method implemented only by the mapping camera 610, but is not limited thereto. For example, the robot 1 may further use an additionally provided sensor to implement SLAM. For example, the additional sensor may be an LDS (Laser Distance Sensor).

[0369] The sensor unit 600 may include an IR sensor 620 for detecting infrared rays.

[0370] The IR sensor 620 may be an IR camera that detects infrared (Infrared) light.

[0371] The IR sensor 620 may be disposed on the robot main body 100. More specifically, the IR sensor 620 may be disposed in front of the main body cover 110. The IR sensor 620 may be disposed left and right of the mapping camera 610.

[0372] The IR sensor 620 may approach the module by detecting the infrared light emitted by the IR LED provided in a specific module. For example, the module may be a charging stand for charging the robot 1. For example, the module may be a functional module 900 detachably provided on the arm 400.

[0373] The control unit 700 may be controlled such that the IR sensor 620 starts detecting the IR LED when the charging state of the robot 1 is below a preset level. The control unit 700 may be controlled such that the IR sensor 620 starts detecting the IR LED when an instruction to search for a specific module is received from the user.

[0374] The sensor unit 600 may include a wheel motor sensor 630.

[0375] The wheel motor sensor 630 may measure the position of the wheel motor MW. For example, the wheel motor sensor 630 may be an encoder. As is well known, an encoder may detect the position of a motor and may also detect the rotational speed of the motor.

[0376] The wheel motor sensors 630 can be respectively arranged on the left wheel motor MW and the right wheel motor MW. More specifically, the wheel motor sensors 630 can be connected to the shaft of the wheel motor MW or the final output end of the gear and accommodated together with the wheel motor MW inside the third link 230.

[0377] The sensor unit 600 can include an arm motor sensor 640.

[0378] The arm motor sensor 640 can measure the position of the arm motor MA. For example, the arm motor sensor 640 can be an encoder. As is well known, an encoder can detect the position of a motor and also detect the rotational speed of the motor.

[0379] The arm motor sensor 640 can be arranged on the arm motor MA. More specifically, the arm motor sensor 640 can be connected to the shaft of the arm motor MA or the final output end of the gear and accommodated together with the arm motor MA inside the main body cover 110 or the rotary joint 410.

[0380] The sensor unit 600 can include an IMU sensor 650.

[0381] The IMU sensor 650 can measure the tilt angle of the robot body 100.

[0382] As is well known, the IMU (Inertial Measurement Unit) sensor 650 is a sensor with a built-in three-axis acceleration sensor, a three-axis gyroscope sensor, and a geomagnetic sensor, and is also called an inertial measurement sensor.

[0383] The three-axis acceleration sensor is a sensor that detects the gravitational acceleration of an object in a stationary state. Since the gravitational acceleration changes according to the tilt angle of the object, if the gravitational acceleration is measured, the tilt angle can be obtained. However, there is a disadvantage that accurate values cannot be obtained in the accelerating state of movement in a non-stationary state.

[0384] The three-axis gyroscope sensor is a sensor that measures the angular velocity. When the angular velocity is integrated over the entire time, the tilt angle is obtained. However, due to noise, etc., the angular velocity measured by the gyroscope sensor has continuous errors, and due to these errors, they accumulate over time and cause errors in the integrated value.

[0385] As a result, when the robot 1 is in a stationary standby state for a long time, the tilt can be accurately measured by the acceleration sensor, but the gyroscope sensor generates errors. When driving, the robot 1 can measure the accurate tilt value through the gyroscope sensor, but cannot obtain accurate values through the acceleration sensor.

[0386] If an IMU sensor is used, the disadvantages of the above acceleration sensor and gyroscope sensor can be compensated for.

[0387] In the following description of this specification, embodiments provided with an IMU sensor will be described.

[0388] The IMU sensor can be disposed in the robot main body 100. More specifically, the IMU sensor can be disposed adjacent to the control unit 700. The IMU sensor can be mounted and set on a PCB inside the robot main body 100. Preferably, the IMU sensor is disposed close to the central region of the robot main body 100 to improve the measurement accuracy of the tilt angle and direction.

[0389] The IMU sensor can measure at least one of the triaxial acceleration, triaxial angular velocity, and triaxial geomagnetic data of the robot main body 100 and transmit it to the control unit 700.

[0390] The control unit 700 can calculate the direction and angle of tilt of the robot main body 100 by using at least one of the acceleration, angular velocity, and geomagnetic data received from the IMU sensor. The control unit 700 can perform the horizontal posture holding control of the robot main body 100 described later based on this.

[0391] The sensor unit 600 can include a cliff sensor 660 for detecting a cliff.

[0392] The cliff sensor 660 can detect the distance to the ground in front of the robot 1 traveling. The cliff sensor 660 can be configured in various ways as long as it can detect the relative distance between the position where the cliff sensor 660 is formed and the ground.

[0393] For example, the cliff sensor 660 can include: a light emitting unit that irradiates light; and a light receiving unit into which the reflected light is incident. The cliff sensor 660 can be constituted by an infrared sensor.

[0394] The cliff sensor 660 can be disposed in the robot main body 100. More specifically, the cliff sensor 660 can be disposed inside the robot main body 100. The cliff sensor 660 can irradiate light toward the front floor surface of the robot 1. The cliff sensor 660 can pre-detect whether there is a cliff in front of the traveling direction of the robot 1.

[0395] The light emitting unit of the cliff sensor 660 can irradiate light obliquely toward the front floor surface. The light receiving unit of the cliff sensor 660 can receive the light reflected from the floor surface and incident thereon. The distance between the front ground and the cliff sensor 660 can be measured based on the difference between the light irradiation time point and the reception time point.

[0396] When the distance measured by the cliff sensor 660 exceeds a preset specified value or exceeds a specified range, it may be the case where the ground suddenly drops in front. Through this principle, a cliff can be detected.

[0397] When a cliff is detected in front, the control unit 700 can control the wheel motor MW to make the robot 1 drive around the detected cliff. At this time, the control of the wheel motor MW can be a stop control. Or, the control of the wheel motor MW can be a rotation direction conversion control.

[0398] The sensor unit 600 may include a contact detection sensor 670.

[0399] The contact detection sensor 670 can detect whether the wheel 310 is in contact with the ground.

[0400] The contact detection sensor 670 may include a TOF sensor that measures the separation distance between the wheel 310 of the robot 1 and the ground. The TOF sensor can be a three-dimensional camera that applies TOF (Time OF Flight) technology. As is well known, TOF technology is a technology for measuring the distance to an object based on the round-trip flight time of light reflected from the object irradiated.

[0401] The TOF sensor can be arranged in the wheel part 300. For example, the contact detection sensors 670 can be respectively arranged on the left third link 230 and the right third link 230. Based on the distance to the ground measured by the TOF sensor, it can be determined whether the wheel 310 is in a state of contacting the ground. If the distance measured by the TOF sensor is less than a preset distance (or less than the lower limit value of a preset distance range), then it is a state where the wheel 310 is in contact with the ground. If the distance measured by the TOF sensor is equal to or greater than the preset distance (or greater than the upper limit value of a preset distance range), then it is a state where the wheel 310 is separated from the ground.

[0402] The contact detection sensor 670 may include a load cell that measures the magnitude of the force applied to a part of the structure of the robot 1.

[0403] As is well known, when a force is applied to the load cell, the resistance value of the strain gauge provided on the surface changes. At this time, the magnitude of the force applied to the load cell can be measured through the change in the resistance value.

[0404] The force sensor can be arranged on the leg part 200. Preferably, the force sensors can be respectively arranged on the left third link 230 and the right third link 230. In a state where the wheel 310 is in contact with the floor, the third link 230 is deformed by the vertical resistance force from the ground. The measured value of the force sensor shows a value different from the initial value according to the deformation of the third link 230. Thus, it is possible to determine whether the wheel 310 is in a state of contacting the ground.

[0405] The sensor unit 600 may include an environment sensor 680.

[0406] The environment sensor 680 may be configured to measure various environmental states outside the robot 1, that is, in the home where the robot 1 travels. The environment sensor 680 may include at least one of a temperature sensor, a humidity sensor, and a dust sensor.

[0407] The environment sensor 680 may be arranged on the robot main body 100. More specifically, the environment sensor 680 may be arranged at the rear of the robot main body 100. As a possible embodiment, the information measured by the environment sensor 680 may be visually displayed on the display 120.

[0408] The sensor unit 600 may include a side sensor 690.

[0409] The side sensor 690 may measure the distance to an obstacle including a wall or the like.

[0410] The side sensor 690 may detect the distance between the side of the robot 1 and the wall when the robot 1 is traveling. The side sensor 690 may be configured in various ways as long as it can detect the relative distance between the position where the side sensor 690 is arranged and the obstacle.

[0411] For example, the side sensor 690 may include: a light emitting part that irradiates light; and a light receiving part into which the reflected light enters. The side sensor 690 may be constituted by an infrared sensor.

[0412] The side sensor 690 may be arranged on both sides of the robot 1. For example, the side sensor 690 may be arranged on the outer side surface of the third link 230 of the leg part 200.

[0413] The interface unit includes at least one component for the interaction between the user and the robot 1, and each component may be set to receive instructions from the user and / or output information to the user.

[0414] The interface unit may include a microphone 140.

[0415] The microphone 140 is a component for recognizing the user's voice, and a plurality of them can be provided. A plurality of microphones 140 can be arranged in the main body cover 110. For example, four microphones 140 can be arranged on the upper side of the main body cover 110.

[0416] The voice signal received by the microphone 140 can be used for tracking the user's position. At this time, a well-known sound source tracking algorithm can be applied. For example, the sound source tracking algorithm can be a three-point measurement method (triangulation method) that utilizes the time difference of the voice signals received by a plurality of microphones 140. It is a principle of calculating the position of the voice source by using the positions of the respective microphones 140 and the speed of sound waves.

[0417] On the other hand, if the microphone 140 and the above-described mapping camera 610 cooperate with each other, it is possible to enable the robot 1 to find the user's position even when the user calls the robot 1 from a distance.

[0418] The interface unit may include a speaker 450.

[0419] The speaker 450 can be arranged on the arm 400. For example, the speaker 450 can be arranged at the rotational joint 410 of the arm 400. The speaker 450 can be respectively arranged at positions covering both the left and right sides of the main body cover 110.

[0420] The speaker 450 can send out the information of the robot 1 by sound. The source of the sound sent out by the speaker 450 can be the sound data pre-stored in the robot 1. For example, the pre-stored sound data can be the voice data of the robot 1. For example, the pre-stored sound data can be a notification sound for guiding the state of the robot 1. On the other hand, the source of the sound sent by the speaker 450 can be the sound data received through the communication unit 710.

[0421] The interface unit may include a display 120 and an input unit 125.

[0422] The display 120 may include a display configured in one or more modules. The display 120 can be arranged on the upper front side of the robot main body 100.

[0423] The display 120 can be formed by any one of a light emitting diode (LED), a liquid crystal display (LCD), a plasma display panel, and an organic light emitting diode (OLED).

[0424] The display 120 can display information such as the operation time information of the robot 1 and the battery B power information.

[0425] On the display 120, the facial expression of the robot 1 can be shown. Alternatively, the eyes of the robot 1 can be shown on the display 120. Through the facial shape or eye shape shown on the display 120, the current state of the robot 1 can be anthropomorphized and shown from an emotional aspect. For example, when the user returns home after going out, a smiling face expression or smiling eye shape can be shown on the display 120. Thereby, it has the effect of giving the user a feeling of communicating with the robot 1.

[0426] The input unit 125 can be configured to receive a control instruction for controlling the robot 1 from the user. For example, the control instruction can be an instruction to change various settings of the robot 1. For example, the settings can be voice volume, display brightness, power saving mode setting, etc.

[0427] The input unit 125 can be arranged on the display 120.

[0428] The input unit 125 generates key input data input by the user to control the movement of the robot 1. For this purpose, the input unit 125 can be composed of a keypad, a dome switch, a touchpad (static pressure / electrostatic), etc. In particular, when the touchpad and the first display form an interlayer structure, it can be called a touch screen.

[0429] The communication unit 710 can be provided for signal transmission between various components inside the robot 1. For example, the communication unit 710 can support CAN (Controller Area Network) communication. For example, the signal can be a control instruction transmitted from the control unit 700 to other components.

[0430] The communication unit 710 can support wireless communication with other devices existing outside the robot 1. As a wireless communication module for supporting wireless communication, a short-range communication module or a long-range communication module can be provided.

[0431] The short-range communication can be, for example, Bluetooth communication, NFC (Near Filed Communication) communication, etc.

[0432] The long-distance communication can be, for example, Wireless LAN (WLAN), DLNA (Digital Living Network Alliance), Wireless Broadband (Wibro), World Interoperability for Microwave Access (Wimax), Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband Code Division Multiple Access (WCDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTEA), Wireless Mobile Broadband Service (WMBS), Bluetooth Low Energy (BLE), Zigbee, Radio Frequency (RF), Long Range (LoRa), etc.

[0433] The memory 720 is a component that stores various data for driving and operating the robot 1.

[0434] In the memory 720, an application program for the autonomous driving of the robot 1 and various related data can be stored. The memory 720 can also store various data detected by the sensor unit 600, and can store setting information for various settings selected or input by the user, etc.

[0435] The memory 720 may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. Such a memory 720 may include built-in memory and / or external memory, may also include volatile memories such as DRAM, SRAM, or SDRAM, may also include non-volatile memories such as OTPROM (one time programmable ROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash memory, or NOR flash memory, may also include flash drives such as SSD, CF (compact flash) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick, or storage devices such as HDD.

[0436] The memory 720 may be included in the control unit 700 or may be provided as an independent component.

[0437] The battery B is configured to supply power to other components constituting the robot 1.

[0438] The battery B may be disposed in the robot main body 100. More specifically, the battery B may be housed inside the main body cover 110. Although not shown, the battery B may be disposed at a position more rearward than the suspension motor MS.

[0439] The battery B may be charged by an external power source. To this end, a charging terminal 130 for charging the battery B may be provided on one side of the robot main body 100. As in the embodiment of the present invention, the charging terminal 130 may be disposed at the lower part of the robot main body 100. Thus, the robot 1 can be easily coupled to the charging stand by approaching the charging stand and descending to place the charging terminal 130 on the corresponding terminal of the charging stand from above.

[0440] As described above, the specific embodiments of the present invention have been described in detail, but these are only for specifically illustrating the present invention, and the present invention is not limited thereto. Obviously, the present invention can be modified or improved by those of ordinary skill in the technical field to which the present invention pertains.

[0441] Simple modifications or changes to the present invention all fall within the scope of the present invention, and the specific protection scope of the present invention will become more clear through the scope of the appended claims.

Claims

1. A robot, characterized in that, comprising: a robot main body that houses a motor and a battery inside; leg portions that support the robot main body; wheel portions that are rotatably coupled to the leg portions and roll on the ground; arms that are rotatably coupled to both side surfaces of the robot main body; and a coupling portion that is disposed on the arms and detachably couples the arms to a function module that moves together with the robot main body.

2. The robot according to claim 1, characterized in that, the coupling portion includes a loading and unloading member that is detachably coupled to the function module by magnetism.

3. The robot according to claim 1, characterized in that, the coupling portion includes a latching member that latches with the function module at a position corresponding to the function module.

4. The robot according to claim 3, characterized in that, the function module includes: a module main body disposed at a position corresponding to the robot main body; a hook rotatably coupled to the module main body, the hook being inserted into and caught by a latching groove formed in the latching member; and an elastic portion that provides an elastic force for the rotation of the hook so that the hook remains caught in the latching groove.

5. The robot according to claim 4, characterized in that, the coupling portion includes a loading and unloading member that is detachably coupled to the function module by magnetism, as the loading and unloading member is coupled to the function module by magnetic attraction, the hook is pressed by the latching member to rotate and is inserted into and caught by the latching groove.

6. The robot according to claim 1, characterized in that, the coupling portion includes connection terminals electrically connected to the function module.

7. The robot according to claim 1, characterized in that, the coupling portion is disposed outside the rotation radius of the arms.

8. A robot, characterized in that, comprising: a robot main body that houses a motor and a battery inside; leg portions that support the robot main body; wheel portions that are rotatably coupled to the leg portions and roll on the ground; arms including a pair of rotary coupling portions, a connecting portion, a rotating body, and a rotary motor, the pair of rotary coupling portions being rotatably coupled to both side surfaces of the robot main body, the connecting portion connecting the pair of rotary coupling portions to each other, the rotating body being rotatably disposed about the connecting portion as a rotation axis, and the rotary motor providing a rotational force to the rotating body; and a coupling portion rotatably coupled to the rotating body integrally and detachably coupling the rotating body to a function module that moves together with the robot main body.

9. The robot according to claim 8, characterized in that, the coupling portion includes a loading and unloading member that is detachably coupled to the function module by magnetism.

10. The robot according to claim 8, characterized in that, the coupling portion includes a latching member that latches with the function module at a position corresponding to the function module.

11. The robot according to claim 10, characterized in that, the function module includes: The module main body is configured at a position corresponding to the robot main body; A hook is rotatably coupled to the module main body, and the hook is inserted into and engaged with a positioning groove formed in the engaging member; and An elastic part provides an elastic force for the rotation of the hook so that the hook remains in a state of being engaged with the positioning groove; The hook disengages from the positioning groove during the rotation of the rotating body.

12. The robot according to claim 8, wherein, The coupling part includes connection terminals electrically connected to the functional module.

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