Robot and method of producing robot

Abstract

To provide a robot having improved usability, and a method of producing the robot.SOLUTION: A robot 1 comprises: an exterior part 10; a body 20 which is covered with the exterior part 10 and in which a screw hole 21 is provided; a fixing member 30 which is provided at a position where the member can be fixed to the screw hole 21 on an inner surface of the exterior part 10, and in which a through hole is formed; and a screw 40 which is fitted to the screw hole 21 to be fixed to the fixing member 30 with respect to the body 20. The screw hole 21 is provided on the side of one end of the body 20. The fixing member 30 has one end thereof disposed on the inner surface of the exterior part 10 in a non-fixed state and the other end fixed to the inner surface of the exterior body 10.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a robot and a method for manufacturing a robot. [Background technology]

[0002] In order to make the robot as familiar as a pet, for example, Patent Document 1 discloses a pet robot provided with a detachable exterior part that covers the main body of the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-191276 Summary of the Invention [Problem to be solved by the invention]

[0004] In the robot described in Patent Document 1, when the exterior part is removed, the driving part of the pet robot may be exposed. Also, when part of the exterior part is removed, the assembly and maintenance of the robot may be difficult. As a result, there is a problem in the ease of handling of the pet robot intended for interaction with users.

[0005] The present invention has been made to solve the above-mentioned problems, and has an object to provide a robot that can be easily handled, and a method for manufacturing the robot. [Means for solving the problem]

[0006] The robot of the present invention comprises an exterior part, a main body part covered by the exterior part and provided with an attachment part, a fixing member provided on the inner surface of the exterior part in a position where it can be fixed to the attachment part and having a through hole formed therein, and an attachment member for fixing the fixing member to the main body part by being attached to the attachment part, wherein the attachment part is provided near one end of the main body part, and one end of the fixing member is arranged in an unfixed state relative to the inner surface of the exterior part and the other end is fixed to the inner surface of the exterior part. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a robot that can be easily handled, and a method for manufacturing the robot. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a perspective view of a robot according to an embodiment of the present invention. [Figure 2] 1 is a perspective view for explaining a main body of a robot according to an embodiment of the present invention; [Figure 3] 1 is a cross-sectional view of a robot according to an embodiment of the present invention. [Figure 4] 1 is a cross-sectional view showing a state in which the linear fastener according to an embodiment of the present invention is opened. [Figure 5] FIG. 2 is a perspective view showing the positional relationship of plate-like members according to the embodiment of the present invention. [Figure 6] 3. (a) is an enlarged view of the "VI" portion in FIG. 3, and (b) is an enlarged view of the "VI" portion in FIG. [Figure 7] FIG. 2 is a rear view showing the line fastener according to the embodiment of the present invention in an open state. [Figure 8] 1A and 1B are diagrams showing a plate-shaped member and a thread according to an embodiment of the present invention. [Figure 9] FIG. 4 is an enlarged view of the portion “IX” in FIG. [Figure 10]1A and 1B are diagrams showing a plate-shaped member and a convex part according to an embodiment of the present invention, in which FIG. 1A is a perspective view showing a state in which they are not engaged with each other, and FIG. 1B is a perspective view showing a state in which they are engaged with each other. [Figure 11] 1(a) to 1(c) are perspective views showing a method for attaching a plate-like member according to an embodiment of the present invention. [Figure 12] 4 is a cross-sectional view focusing on the portion "XI" in FIG. 3 when the protrusion and the insertion hole are not engaged with each other. [Figure 13] 1 is a flowchart showing a method for manufacturing a robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. To facilitate understanding of the embodiments, mutually orthogonal XYZ coordinates will be set and referenced as appropriate. In Figure 1, the Y axis direction is the front-to-back direction, the -Y axis direction is the front, and the +Y axis direction is the rear.

[0010] As shown in Figures 1 and 2, the robot 1 according to the embodiment is a pet robot modeled after a small animal. Two decorative components 70, each having a decorative portion modeled after the eyes of a small animal, are provided on the front side of the robot 1. In this way, the front side of the robot 1 forms the face of the small animal. As shown in Figures 3 and 4, the robot 1 comprises an exterior portion 10, a main body portion 20 covered by the exterior portion 10, a plate-shaped member 30 (fixing member), a screw 40 (mounting portion), a plate-shaped member 50 (other-side fixing member), and a convex part 60 (other-side mounting member).

[0011] 2 to 4, the main body 20 has a body 20a, a head 20b provided in front of the body 20a, and a connecting part 20c connecting the body 20a and the head 20b. The main body 20 is made of, for example, a synthetic resin and is colored light pink so as not to give the user a mechanical impression.

[0012] The body 20a is elongated in the front-to-rear direction and is placed on a placement surface 101, such as a floor or a table, via the exterior 10. Three screw holes 21 (mounting portions) are formed in the body 20a. As shown in FIGS. 5 and 6, the screw holes 21 are formed near one end (the end on the +Y side) of the body 20a. By engaging a plate-shaped member 30, which is a fixing member provided on the exterior 10 (see FIG. 3), with the screw holes 21 formed in the body 20a using a special screw 40, which is a Y-shaped pin, the exterior 10 (see FIG. 3) can be moved in accordance with the operation of the main body 20. A label indicating individual information such as a serial number, rating, or certification standard is attached to the rear of the body 20a. A power button is provided on the rear of the body 20a.

[0013] As shown in FIGS. 1 to 3, the head 20b is a part corresponding to the head of the robot 1, which is modeled after a small animal. Two insertion holes 20b1 are formed in the front of the head 20b, into which decorative parts 70 modeled after the eyes of a small animal are inserted. Two convex parts 60 that engage with plate-like members 50 provided on the exterior part 10 are attached above the two insertion holes 20b1, corresponding to the two insertion holes 20b1. By engaging the plate-like members 50 provided on the exterior part 10 with the convex parts 60 attached to the head 20b, the exterior part 10 can be moved in accordance with the operation of the main body part 20. Details of the plate-like members 50, convex parts 60, and decorative parts 70 will be described later.

[0014] The connecting portion 20c connects the rear end of the head 20b to the front end of the body 20a. The connecting portion 20c is provided with a twist motor 23 and an up-down motor 24. As shown in FIG. 2, the twist motor 23 rotates the head 20b in the direction of arrow Y2 around an axis 102 extending in the front-to-rear direction. By moving the head 20b in this manner, the robot 1 imitating a small animal shown in FIG. 1 can be made to move as if tilting its head. Furthermore, as shown in FIG. 3, the up-down motor 24 rotates the head 20b in the direction of arrow Y1 around an axis 103 parallel to the X-axis direction. By moving the head 20b in this manner, the robot 1 imitating a small animal shown in FIG. 1 can be made to move as if shaking its head up and down. As described above, the connecting portion 20c connects the head 20b to the body 20a so that the head 20b can move on two axes: the rotation by the twist motor 23 and the rotation by the up-down motor 24.

[0015] As shown in FIG. 1, the exterior part 10 is long in the front-rear direction, has an opening at the rear, and is bag-shaped so as to accommodate the main body part 20 (see FIG. 3) therein. As shown in FIG. 6, the exterior part 10 is formed by overlapping sheet-like outer fabric 11 and lining fabric 12 and sewing them together at multiple locations using thread 13. By sewing the outer fabric 11 and lining fabric 12 together at multiple locations using thread 13, the outer fabric 11 and lining fabric 12 can be handled as a single unit without slippage between them. As shown in FIGS. 1 and 3, the outer fabric 11 is made of an artificial pile fabric simulating the fur 14 of a small animal. This allows the feel of the robot 1 to resemble that of a small animal. Note that the fur 14 shown in FIGS. 1 and 3 is omitted in FIG. 6 and FIGS. 9 and 11 (described later) to avoid complicating the drawings. The lining fabric 12 is made of a woven fabric made of synthetic fibers. The lining 12 may be made of natural leather, artificial leather, a synthetic resin sheet material, a rubber sheet material, or a cloth made of natural fibers. Furthermore, as shown in Figures 3 and 4, plate-like members 30 and 50 are provided on the inside of the exterior part 10.

[0016] As shown in FIGS. 1 and 3 , a line fastener 18 (fastener portion) is attached to the rear of the exterior unit 10 as a fastener portion capable of opening and closing the opening of the exterior unit 10. With the main body unit 20 housed inside the exterior unit 10, sliding the slider 18a to a closed state maintains the housed state of the main body unit 20. On the other hand, sliding the slider 18a to open the line fastener 18 forms an opening, allowing the main body unit 20 housed inside to be removed or housed inside the exterior unit 10. With the line fastener 18 open, as shown in FIGS. 4 and 7 , the exterior unit 10 can be rolled up to remove a portion of the exterior unit 10 from the main body unit 20. When the line fastener 18 is opened and a portion of the exterior unit 10 is removed from the main body unit 20, a label 300 displaying product information and a power button 301 are positioned so as to be exposed to the outside through the opening.

[0017] As shown in FIGS. 2 and 3 , the exterior part 10 is moved in response to the movement of the main body part 20 caused by the driving of the twist motor 23 and the up-down motor 24, thereby allowing the robot 1, which resembles a small animal, to move as if it were alive. To achieve this, the exterior part 10 is appropriately engaged with the main body part 20 using the decorative part 70, the plate-like member 50, the insertion hole 20b1, and the convex part 60, allowing the exterior part 10 to follow the movement of the main body part 20. Furthermore, by inserting a screw 40 into the through hole 31 of the plate-like member 30 and fitting it into the screw hole 21 of the trunk part 20a, the exterior part 10 is appropriately engaged with the main body part 20, allowing the exterior part 10 to follow the movement of the main body part 20. Next, the configuration for engaging the exterior part 10 with the main body part 20 housed inside the exterior part 10 will be described in detail. 2 and 3 all have the same configuration, the two convex parts 60 provided on the main body 20 have the same configuration, and the three plate-like members 30 and two plate-like members 50 provided on the exterior 10 also have the same configuration. Therefore, the following will describe the configurations of the convex part 60 and plate-like member 50 in the "IX" portion of Figures 3 and 4, and the screw holes 21 and plate-like member 30 in the "VI" portion.

[0018] As shown in FIG. 3, the plate-shaped member 30 is a snap provided on the inner surface of the exterior part 10 at a position where it can be fixed to the screw hole 21. Similarly, the plate-shaped member 50 is a snap provided on the inner surface of the exterior part 10 at a position where it can be fixed to the insertion hole 22. More specifically, the plate-shaped member 30 as a fixing member and the plate-shaped member 50 as the other-side fixing member are sewn to the inside of the exterior part 10. The plate-shaped members 30 and 50 are made of polyamide 6 (PA6) with a thickness t of 0.5 mm, for example, and are formed into a disk shape as shown in FIGS. 8 to 10. The diameter of the plate-shaped members 30 and 50 is, for example, 16 mm. A through-hole 31 through which a screw 40 is inserted is formed in the center of the plate-shaped member 30. A round hole 50a (other-side through-hole) is formed in the center of the plate-shaped member 50 as a fitting hole through which the convex part 60 is inserted and fitted. As shown in Figures 6 and 9, the plate-like members 30, 50 are sewn using thread 15 only to the lining 12 of the exterior part 10, and are not sewn to the outer fabric 11. The plate-like members 30, 50 are sewn to the lining 12 before the lining 12 and the outer fabric 11 are sewn together. As described above, the plate-like members 30, 50 are disk-shaped with no steps, and the thickness t of the plate-like members 30, 50 is 0.5 mm. Therefore, no large steps are created between the plate-like members 30, 50 and the lining 12 that would cause problems when sewing the plate-like members 30, 50 to the lining 12 with a sewing machine. Therefore, the plate-like members 30, 50 are sewn using a sewing machine, taking ease of operation into consideration.

[0019] The plate-like member 30 is sewn to the lining 12 on the inner surface of the exterior part 10 so that one end 30a of the plate-like member 30 is disposed in an unfixed state relative to the inner surface of the exterior part 10, and the other end 30b is fixed to the inner surface of the exterior part 10, as shown in Figures 6 and 8, for example. The through-hole 31 of the plate-like member 30 is formed between the one end 30a and the other end 30b of the plate-like member 30.

[0020] As shown in Fig. 5, three screw holes 21 are formed in the body portion 20a. The screw holes 21 are formed on the upper surface at the rear and on both side surfaces (side surfaces in the X-axis direction) of the body portion 20a. Furthermore, the plate-like member 30 provided on the exterior portion 10 (see Fig. 3) and the body portion 20a are inserted into the through-holes 31 of the plate-like member 30 and then fixed by screws 40 that are screwed into the screw holes 21 of the body portion 20a.

[0021] The diameter of the through hole 31 formed in the plate-shaped member 30 is larger than the diameter of the threaded portion of the screw 40 and smaller than the diameter of the head of the screw 40 where the Y-shaped groove is formed. The diameter of the through hole 31 is large enough that the head of the screw 40 will not come out of the through hole 31 even if the plate-shaped member 30 is deformed. When fixing the plate-shaped member 30 to the body portion 20a, as shown in FIG. 11(a), the plate-shaped member 30 is pressed against the body portion 20a to align the through hole 31 of the plate-shaped member 30 with the screw hole 21 of the body portion 20a. Next, as shown in FIG. 11(b), the screw 40 is inserted into the through hole 31 of the plate-shaped member 30 and then screwed into the screw hole 21 of the body portion 20a. Then, as shown in FIG. 11(c), the head of the screw 40 is pressed against the plate-shaped member 30. This completes the process of engaging the plate-shaped member 30 with the body portion 20a. The plate-shaped member 30 is fixed to the body portion 20a by the heads of the screws 40. Therefore, the plate-shaped member 30 cannot be easily removed from the body portion 20a unless the screw 40 is removed with the clear intention of removing the plate-shaped member 30 from the body portion 20a. Furthermore, the screw 40 is a Y-shaped pin and cannot be removed without a dedicated screwdriver.

[0022] As shown in Fig. 2, three such screw holes 21 are formed in the trunk 20a of the main body 20. Then, as shown in Fig. 3, plate-like members 30 are sewn to the exterior 10 that covers the main body 20 at positions corresponding to the screw holes 21. That is, the exterior 10 and the main body 20 are attached at a total of three locations using the plate-like members 30 and the screw holes 21. By attaching the exterior 10 at multiple locations in this way, the exterior 10 can be made to follow the movement of the main body 20, and the robot 1 that imitates a small animal can be made to move as if it were alive.

[0023] The plate-like member 50 is sewn to the lining 12, for example, along two parallel straight lines L1 and L2 that sandwich a round hole 50a, as shown in Figure 10(a). As described above, by setting the diameter of the plate-like member 50 to 16 mm, a stitching distance sufficient to ensure the stitching strength of the plate-like member 50 can be ensured. Here, the stitching distance refers to the length of the portion of the plate-like member 50 sewn with the thread 15, i.e., the sum of the lengths of the lines L1 and L2.

[0024] As shown in FIG. 9, a convex part 60 that engages with the plate-like member 50 is attached to the body 20a that constitutes part of the main body 20. As shown in FIG. 10(a), the convex part 60 has a head 61 with a Phillips groove 64, a cylindrical spacer 62, and a shaft 63 with external threads. Also, as shown in FIG. 9, the body 20a has an insertion hole 22 as the other-side mounting portion with an internal thread that engages with the external thread of the shaft 63. The head 61 is the large-diameter part with the largest diameter in the convex part 60. The spacer 62, sandwiched between the head 61 and the shaft 63, is a small-diameter part with a diameter smaller than that of the head 61, and its diameter is larger than that of the insertion hole 22. Therefore, when the convex part 60 is tightened into the insertion hole 22 with a screwdriver, the lower end 62a of the spacer 62 shown in FIG. 10(a) eventually abuts against the body 20a, preventing further tightening. In this way, the attachment of the convex part 60 to the body part 20a is completed by tightening the convex part 60 to the body part 20a until the lower end 62a of the spacer part 62 abuts against the body part 20a. As shown in FIG. 9, the attached convex part 60 protrudes from the body part 20a by a height equal to the sum of the heights of the head part 61 and the spacer part 62. As shown in FIGS. 9 and 10(b), the head part 61 has a bulging shape such that the diameter is smallest at both ends in the length direction of the convex part 60 and largest in the center in the length direction. The diameter of the part of the head part 61 that connects to the spacer part 62 is equal to the diameter of the cylindrical spacer part 62.

[0025] The diameter of the round hole 50a formed in the plate-shaped member 50 is approximately 0.2 mm smaller than the diameter of the spacer portion 62 of the convex part 60. When engaging the plate-shaped member 50 having such a round hole 50a formed therein with the convex part 60, first, the plate-shaped member 50 is brought close to the convex part 60 as shown by arrow Y3 in FIG. 10(a). Next, the round hole 50a formed in the plate-shaped member 50 is pressed against the head 61, and is caused to climb over the head 61, which is the large-diameter portion. Then, as shown in FIG. 10(b), the round hole 50a is fitted into the spacer portion 62, which is the small-diameter portion. Because the plate-shaped member 50 is made of a material with some elasticity, the round hole 50a can climb over the head 61, which is the large-diameter portion. After climbing over the head 61, the round hole 50a of the plate-shaped member 50 is fitted into the spacer portion 62, which has a diameter larger than the diameter of the round hole 50a, as shown in FIGS. 9 and 10(b). This completes the operation of engaging the plate-shaped member 50 with the convex part 60. In this way, the round hole 50a of the plate-shaped member 50 is tightly fitted with the spacer part 62 of the convex part 60, and the head part 61, which is the large diameter part, is disposed above it. This makes it possible to firmly secure the engagement between the plate-shaped member 50 and the convex part 60, and the engagement between the plate-shaped member 50 and the convex part 60 will not be easily released unless the operation of removing the plate-shaped member 50 and the convex part 60 is performed with the clear intention of releasing the engagement.

[0026] As shown in Fig. 2, two such convex parts 60 are provided on the head 20b of the main body 20. Then, as shown in Fig. 3, plate-like members 50 are sewn to the exterior 10 that covers the main body 20 at positions corresponding to the respective convex parts 60. That is, the exterior 10 and the main body 20 are attached at a total of two locations using the plate-like members 50 and the convex parts 60. By attaching the exterior 10 at multiple locations in this way, the exterior 10 can be made to follow the movement of the main body 20, and the robot 1 that imitates a small animal can be made to move as if it were alive.

[0027] Furthermore, in the robot 1, as shown in FIG. 3 , the exterior part 10 can be locked to the main body part 20 by inserting a decorative part 70 resembling the eyes of a small animal into an insertion hole 20b1 formed in the head part 20b, thereby roughly positioning the two parts. The decorative part 70 is made of, for example, a black synthetic resin to match the color of the small animal's eyes. The decorative part 70 has a hemispherical decorative part 70a and a protruding part 70b extending from the decorative part 70a and protruding from the inside of the exterior part 10. A through hole 16 is formed in the exterior part 10 to allow the protruding part 70b to pass through. The decorative part 70 is positioned so that the decorative part 70a faces the outer fabric 11, and the protruding part 70b is inserted into the through hole 16. As a result, the decorative part 70a is exposed on the outside of the exterior part 10 and decorates the exterior part 10 as a part resembling the eyes of a small animal. A washer 17 is fitted to protrusion 70b that penetrates exterior part 10 and protrudes from the inside. Washer 17 has claws 17a that catch on the threads of protrusion 70b. This prevents decorative part 70 from falling off exterior part 10.

[0028] Meanwhile, as shown in FIG. 12 , the head 20b, which constitutes part of the main body 20, has an insertion hole 20b1 into which the protrusion 70b of the decorative component 70 is inserted. The protrusion 70b is inserted and engaged with the insertion hole 20b1. The diameter of the insertion hole 20b1 is the same as or slightly larger than the diameter of the protrusion 70b. This allows the protrusion 70b to be easily inserted and removed from the insertion hole 20b1. By inserting the protrusion 70b into the insertion hole 20b1, the exterior part 10 is locked to the main body 20, preventing misalignment between the exterior part 10 and the main body 20 when attaching or removing the exterior part 10. Furthermore, this allows for positioning of the exterior part 10 and the main body 20, preventing a situation in which the relative positions of the exterior part 10 and the main body 20 become unclear during the attachment or removal of the exterior part 10. This facilitates the attachment or removal of the exterior part 10.

[0029] Next, a manufacturing method of the robot 1 will be described with reference to FIG. 13. First, the fabric constituting the outer fabric 11 of the exterior part 10 and the fabric constituting the lining 12 are cut into predetermined shapes (step S11). Next, a plate made of polyamide 6 (PA6) with a thickness t = 0.5 mm is punched into a circle, and as shown in FIGS. 8 and 10(a), a through-hole 31 into which a screw 40 is inserted or a round hole 50a into which a convex part 60 is inserted is formed in the center, thereby producing three plate-like members 30 and two plate-like members 50 (step S12). Next, using a sewing machine, the produced plate-like members 30 are sewn to three predetermined locations on the lining 12, and the produced plate-like members 50 are sewn to two predetermined locations on the lining 12 (step S13). In step S13, the plate-shaped member 30 is sewn by passing a sewing needle through the plate-shaped member 30 and threading the thread 15 (see FIG. 6) through the plate-shaped member 30 and the lining 12, while the plate-shaped member 50 is sewn by passing a sewing needle through the plate-shaped member 50 and threading the thread 15 (see FIG. 9) through the plate-shaped member 50 and the lining 12. The sewing location on the plate-shaped member 30 is one end 30a of the plate-shaped member 30, as shown in FIG. 8. The sewing location on the plate-shaped member 50 is on two parallel straight lines L1 and L2 that sandwich the round hole 50a, as shown in FIG. 10. Next, the outer fabric 11 and the lining 12 are overlapped, and two through-holes 16, shown in FIG. 12, that penetrate the outer fabric 11 and the lining 12 are formed, and decorative components 70 are attached to the through-holes 16 (step S14). The decorative part 70 is attached by inserting the protruding portion 70b of the decorative part 70 into the through-hole 16 with the decorative portion 70a positioned on the outer fabric 11 side, and fitting a washer 17 onto the protruding portion 70b protruding from the lining fabric 12. Next, the outer fabric 11 and the lining fabric 12 are sewn together to form a bag shape (step S15). Finally, the wire fastener 18 shown in FIG. 1 is attached (step S16). This completes the creation of the exterior part 10. In this way, the exterior part 10 can be created by performing steps S11 to S16.

[0030] Next, the created exterior part 10 is attached to the main body part 20. First, the fastener 18 shown in FIG. 1 is opened, and the exterior part 10 is turned inside out so that the outer bristles 14 are on the inside (step S17). This allows the protruding parts 70b of the decorative part 70 protruding from the lining 12 (see FIG. 11) and the plate-like members 30, 50 sewn to the lining 12 (see FIGS. 6 and 9) to be easily visible. Next, the part of the exterior part 10 to which the decorative part 70 is attached is turned inside out, and each of the two protruding parts 70b protruding from the lining 12 is inserted into the corresponding insertion holes 20b1 shown in FIG. 2 (step S18). This allows the protruding parts 70b protruding from the exterior part 10 to be aligned with the insertion holes 20b1 formed in the head part 20b, allowing for rough positioning of the exterior part 10 and the main body part 20. Furthermore, by inserting the protruding protrusion 70b into the insertion hole 20b1, the exterior unit 10 can be locked to the main body unit 20 from a positioned state, preventing misalignment between the two. Note that the protrusion 70b becomes invisible when the exterior unit 10 is turned inside out. However, because the protrusion 70b is an extension of the decorative unit 70a, the position of the protrusion 70b can be recognized if the decorative unit 70a on the front side is visible. Therefore, even when the exterior unit 10 is turned inside out, it is easy to insert the protrusion 70b into the insertion hole 20b1.

[0031] Next, the plate-shaped member 50 provided near the decorative part 70 (the plate-shaped member 50 arranged directly above the decorative part 70 in FIG. 3) is engaged with the convex part 60 provided on the head part 20b as the first engaged part (step S19). To engage the plate-shaped member 50 with the convex part 60, first, the round hole 50a formed in the plate-shaped member 50 is pressed against the head part 61, causing the plate-shaped member 50 to climb over the head part 61, which is the large diameter part. Next, as shown in FIG. 10(b), the round hole 50a is fitted into the spacer part 62, which is the small diameter part, thereby engaging the plate-shaped member 50 with the convex part 60.

[0032] Next, while turning the inside-out exterior part 10 right-side up, the main body part 20 is successively covered with the exterior part 10 from the front side to the rear side (step S20). Subsequently, the plate-like member 50 serving as the other-side fixing member provided at the rear end part of the exterior part 10 shown in FIG. 3 is engaged with the convex part 60 serving as the other-side mounting member provided at the rear end part of the trunk part 20a (step S21). Next, the entire main body part 20 is covered with the exterior part 10, and finally the wire fasteners 18 are closed (step S22). In this way, by performing steps S17 to S22, the exterior part 10 is attached to the main body part 20, and the robot 1 is manufactured.

[0033] As described above, since the exterior part 10 is made of cloth, dirt gradually accumulates as the robot 1 is used. Therefore, in order to wash the exterior part 10, the exterior part 10 is removed and attached. Note that the method for removing the exterior part 10 can be performed by reversing the procedure for attaching the exterior part 10 described above. Then, by attaching the washed exterior part 10 to the main body part 20 according to the procedure described above, the cleaned robot 1 can be used. Therefore, it is possible to realize a robot 1 that is easier to handle than conventional robots.

[0034] As described above, in the robot 1 according to this embodiment, as shown in Fig. 6, one end 30a of the plate-like member 30 is disposed in an unfixed state relative to the inner surface of the exterior part 10, and the other end 30b is fixed to the inner surface of the exterior part 10. Therefore, as shown in Fig. 4, when a part of the exterior part 10 is peeled back from the main body part 20, the screws 40 screwed into the screw holes 21 can be exposed to the outside. This makes it possible to provide a robot 1 that is easier to handle.

[0035] In this embodiment, as shown in Fig. 6, a through hole 31 is formed between one end 30a and the other end 30b of the plate-shaped member 30. That is, in the plate-shaped member 30, the one end 30a is formed on the opposite side of the through hole 31 from the other end 30b. Therefore, as shown in Fig. 4, when a part of the exterior part 10 is peeled back from the main body part 20, it becomes possible to easily expose the screws 40 screwed into the screw holes 21 to the outside. This makes it possible to provide a robot 1 that is easier to handle.

[0036] 2 and 3, in this embodiment, three screw holes 21 are formed near one end of the main body 20 (the +Y side of the main body 20), and plate-like members 30 are attached to the screw holes 21 via screws 40. Two insertion holes 22 are formed near the other end of the main body 20 (the -Y side opposite the +Y side of the main body 20), and plate-like members 50 are attached to the insertion holes 22 via convex parts 60. This allows the plate-like members 30 and 50 to be arranged in a well-balanced manner. This makes it possible to efficiently transmit the movement of the main body 20 to the exterior 10.

[0037] In this embodiment, as shown in FIG. 5, the screw 40 is a Y-shaped pin, which is a special screw. Therefore, a user cannot turn the screw 40 with a common tool such as a Phillips head screwdriver or a flat head screwdriver. This makes it difficult for a user to accidentally remove the exterior unit 10 from the main body unit 20. It also makes it difficult for a user to remove the exterior unit 10 from the main body unit 20 and expose the drive portion of the main body unit 20. As a result, a robot 1 that can be easily handled can be provided.

[0038] 3 and 4, in the present embodiment, exterior part 10 has an opening that exposes one end of main body part 20 and screws 40 threaded into screw holes 21, and that is provided with openable and closable fasteners 18. Therefore, as shown in FIG. 7, by opening fasteners 18, the user can see label 300 and power button 301.

[0039] According to the above embodiment, the plate-like members 30, 50 are provided inside the exterior part 10. This prevents the plate-like members 30, 50 from being visible to the user, and does not impair the design of the robot 1. Furthermore, the plate-like members 30, 50 are not sewn to the outer fabric 11, but only to the lining fabric 12. Therefore, the thread 15 used to sew the plate-like members 30, 50 does not appear on the surface of the robot 1, and does not impair the design of the robot 1. This makes it possible to realize a robot 1 with improved design compared to conventional robots.

[0040] Furthermore, the elastic plate-like members 30, 50 deform in the same manner without resisting deformation of the exterior part 10, thereby preventing excessive force from acting on the attachment means of the plate-like members 30, 50 (in this embodiment, the thread 15 shown in Figures 6 and 9), thereby preventing damage to the exterior part 10 or damage to the attachment means that causes the plate-like members 30, 50 to come off the exterior part 10.

[0041] Furthermore, because the thickness t of the plate-like members 30, 50 is 0.5 mm, there is no large step between the plate-like members 30, 50 and the lining 12 that could cause problems when they are sewn together using a sewing machine. Furthermore, because the plate-like members 30, 50 are formed flat and have no irregularities, sewing to the plate-like members 30, 50 can be performed directly on top of the plate-like members 30, 50 using a sewing machine. This improves work efficiency. Furthermore, uniform sewing accuracy and sewing strength can be achieved, improving quality. Furthermore, because there is no need to previously form holes in the plate-like members 30, 50 for threading during sewing, the plate-like members 30, 50 can be simplified in structure, reducing manufacturing costs.

[0042] Furthermore, the plate-like members 30 and 50 can be easily formed by punching out a flat plate of polyamide 6 (PA6) having a thickness of 0.5 mm using a circular die by press working, which reduces manufacturing costs.

[0043] Furthermore, when fixing the plate-like member 30 to the body 20a, the plate-like member 30 is fixed to the body 20a by the heads of the screws 40. This allows the plate-like member 30 and the body 20a to be firmly fixed together, preventing problems such as the exterior 10 coming off during operation of the robot 1. This makes it possible to realize a robot 1 that is easier to handle than conventional robots.

[0044] A plate-like member 30 is fixed by screws 40 to the upper surface and both side surfaces of the rear portion near one end of the body portion 20a, and the other end 30b of the plate-like member 30 is fixed to the inner surface of the exterior portion 10. When the wire fasteners 18 are opened and the exterior portion 10 is lifted up, the entire exterior portion 10 does not come off the main body because the exterior portion 10 is fixed to the body portion 20a via the plate-like member 30. Therefore, it is possible to realize a robot 1 that is easier to handle than conventional robots.

[0045] When the wire fastener 18 is open, the label 300 and the power button 301 are exposed from the opening in the exterior part 10. Therefore, by opening the wire fastener 18, it becomes possible to check the label 300 and operate the power button 301, improving maintainability.

[0046] The present invention is not limited to the above-described embodiment, and various modifications and applications are possible. In the above-described embodiment, the engaging portions (first and second engaging portions) sewn to the exterior part 10 are formed by punching out plate-like members 30, 50 made of polyamide 6 (PA6) into a circular shape. However, the material and shape of the engaging portions can be selected arbitrarily. For example, they may be made of a synthetic resin such as polycarbonate. Alternatively, a circular cut piece of cloth made of chemical fibers such as polyester may be used, or a cloth made of natural fibers such as cotton or wool may be used, or a rubber sheet material may be used. Furthermore, the shape of the engaging portions may be any flat plate, and may also be a rectangular plate such as a triangular plate or a square plate.

[0047] Furthermore, although the position where the plate-shaped member 30 is sewn to the exterior part 10 is one end 30a of the plate-shaped member 30 as shown in Fig. 8, other sewing positions are also possible. The sewing positions of the plate-shaped member 30 to the exterior part 10 are set at positions that avoid the through-holes 31 of the plate-shaped member 30. Alternatively, sewing positions may be set circumferentially along the outer shape of the disk-shaped plate-shaped member 30.

[0048] Furthermore, the method of attaching the plate-shaped member 30 to the exterior part 10 is not limited to sewing with a sewing machine. For example, the plate-shaped member 30 may be sewn by hand, or adhesive may be applied around the round hole 50a to adhere the plate-shaped member 30. When sewing the through-hole 31 by hand, a hole for passing a needle may be formed in the plate-shaped member 30 in advance. This makes it easy to perform the sewing work by hand.

[0049] Furthermore, although the thickness t of the plate-shaped member 30 has been described as 0.5 mm, the thickness can be changed as long as there are no problems with sewing with a sewing machine. Furthermore, as mentioned above, if the plate-shaped member 30 is attached by hand sewing or adhesive bonding, the thickness restriction can be relaxed. For example, a thicker flat plate may be used, or an engaging plate formed to have different thicknesses in different locations may be used.

[0050] Furthermore, although three screw holes 21 for fastening to the plate-like member 30 are provided in the body portion 20a, the number and locations of these screw holes 21 can be determined arbitrarily depending on the robot 1 to which it is applied. For example, two screw holes 21 may be formed and two corresponding plate-like members 30 may be provided. Four or more screw holes 21 may be formed and four or more corresponding plate-like members 30 may be provided.

[0051] Furthermore, although the robot 1 has been described as imitating a small animal, the robot 1 may be imitated as anything. For example, the robot 1 may be imitated as a large animal such as a rhinoceros. In this case, the decorative part may be imitated as a rhinoceros horn.

[0052] Furthermore, the exterior part 10 is not limited to a form that covers the entire main body part 20, but may be a form that covers only a part of the main body part 20. Furthermore, although the exterior part 10 has been described as imitating the fur of a small animal, the exterior can be made of any material. For example, the exterior can be made to resemble clothing that is attached to the robot 1, or a banner displaying an advertisement.

[0053] Furthermore, although the outer fabric 11 and the lining 12 have been described as being sewn together using thread 13, they may be integrated together by other methods. For example, the outer fabric 11 and the lining 12 may be bonded together using an adhesive.

[0054] In addition, in this embodiment, the mounting member for fixing the plate-like member 30 to the main body 20 is described as a screw 40. Furthermore, the mounting portion to which the screw 40 is attached is described as a screw hole 21. However, this is not limited to this. The mounting member may be an engaging member other than the screw 40. Furthermore, the mounting portion may be an engaged portion other than the screw hole 21. Furthermore, the mounting member may be something other than one that is screwed into and engaged with the screw hole 21. For example, the mounting member may be one that is fixed by double-sided tape, adhesive, or heat welding, one that is press-fit, or one that is hook-fitted.

[0055] In addition, in this embodiment, the other-side mounting member for fixing the plate-like member 50 to the main body 20 is described as the convex part 60. Furthermore, the other-side mounted portion to which the convex part 60 is attached is the insertion hole 22. However, this is not limited to this. However, this is not limited to this. The other-side mounting member may be an engaging member other than the convex part 60. Furthermore, the other-side mounted portion may be an engaged portion other than the insertion hole 22. Furthermore, the other-side mounting member may be something other than one that is screwed into and engaged with the insertion hole 22.

[0056] The present invention allows various embodiments and modifications without departing from the broad spirit and scope of the present invention. Furthermore, the above-described embodiments are intended to explain the present invention and do not limit the scope of the present invention. That is, the scope of the present invention is defined by the claims, not the embodiments. Various modifications made within the scope of the claims and the meaning of the invention equivalent thereto are considered to be within the scope of the present invention. [Explanation of symbols]

[0057] 1 robot, 10 exterior part, 20 main body part, 21 screw hole (mounting part), 30 plate-like member (fixing member), 30a one end, 30b other end, 31 through hole, 40 screw (mounting member)

Claims

1. The exterior part and a main body portion provided with an attachment portion and covered by the exterior portion; a fixing member provided on an inner surface of the exterior portion at a position where the fixing member can be fixed to the mounting portion, and having a through hole formed therein; an attachment member that is attached to the attachment portion to fix the fixing member to the main body portion, The mounting portion is provided near one end of the main body portion, The fixing member has one end disposed in a non-fixed state relative to the inner surface of the exterior portion, and the other end fixed to the inner surface of the exterior portion.

2. 2. The robot according to claim 1, wherein the through hole is formed in the fixing member between the one end that is disposed in an unfixed state relative to the inner surface of the exterior portion and the other end that is fixed to the inner surface of the exterior portion.

3. The robot according to claim 1 , wherein the mounting portion is provided so that the mounting member attached to the mounting portion is exposed when a portion of the exterior portion is removed from the main body portion.

4. 4. The robot according to claim 3, wherein the exterior portion has an opening that exposes the one end of the main body portion and the attachment member attached to the attachment portion, and that has an openable and closable fastener portion.

5. The robot according to claim 1 , wherein the other end of the fixing member is fixed to the inner surface of the exterior portion by sewing.

6. The robot according to claim 1 , wherein the fixing member is fixed so that the mounting member is exposed when the exterior part on one end side is removed.

7. the attachment member is a screw, the mounting portion is a screw hole into which the screw is screwed and engaged, The robot according to claim 1 , wherein the screw is inserted into the through hole formed in the fixing member and then screwed into the screw hole, thereby fixing the fixing member to the main body.

8. The main body portion is provided with a second-side mounting portion near the second end opposite to the first end, a second-side fixing member provided on an inner surface of the exterior portion at a position fixable to the second-side mounting portion, the second-side fixing member having a second-side through hole formed therein; a second-side mounting member attached to the second-side mounting portion and having a head portion inserted into the second-side through-hole, thereby fixing the second-side fixing member to the main body portion; The robot according to claim 1 , wherein the other-side mounting portion is provided near the other end of the main body portion opposite the one end of the main body portion.

9. The method for manufacturing the robot according to claim 1 , forming the fixing member from resin into a flat plate shape having a predetermined thickness and having the through hole through which the mounting member can be inserted; a step of sewing the formed fixing member to the lining of the sheet-like exterior part while piercing the fixing member with a needle of a sewing machine through a portion other than the through-hole; a step of exposing the inner lining of the exterior part, and then covering the main body part with the exterior part while exposing the outer surface of the exterior part; a step of attaching the attachment member to the attachment portion provided on the main body portion in a state in which the main body portion is covered with the exterior portion; A method for manufacturing a robot comprising:

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