Robot and method for manufacturing a robot

Abstract

The present invention provides a robot that can improve the efficiency of assembling the exterior parts to the main body, and a method for manufacturing the robot. [Solution] The robot comprises an outer casing, a main body 20, and a plate-shaped member 30 (fixing member). The main body 20 is covered by the outer casing and is provided with screw holes (mounting parts), a first projection 22-1 (engaging part), and a second projection 22-2 (engaging part). The plate-shaped member 30 is fixed to the inner surface of the outer casing and has a through hole 31 (mounting part) positioned at the location where the screw holes (mounting parts) are formed, a hole 32-1 (engaged part) into which the first projection 22-1 engages, and a notch 32-2 (engaged part) into which the second projection 22-2 engages. The plate-shaped member 30 is positioned relative to the main body 20 by the engagement of the first projection 22-1 and the second projection 22-2 in the hole 32-1 and the notch 32-2.

Description

Technical Field

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

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the robot described in Patent Document 1, the exterior part is fixed to the main body part by using screws. With such a structure, although the efficiency in assembly is not good, there is room for improvement in the assemblability of the fixing method.

[0005] The present invention has been made to solve the above problems, and an object thereof is to provide a robot and a method for manufacturing the robot that can improve the efficiency of assembling an exterior part to a main body part.

Means for Solving the Problems

[0006] The robot according to the present invention includes an exterior part, a main body part covered by the exterior part and provided with an attachment part and an engagement part, a mounting part fixed to the inner surface of the exterior part and disposed at a position where the attachment part is formed, and a mating part with which the engagement part is engaged, and a fixing member formed with the mating part. By engaging the engagement part with the mating part, the positioning of the fixing member with respect to the main body part is achieved. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a robot that can improve the efficiency of assembling the exterior parts to the main body, and a method for manufacturing the robot. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view of a robot according to Embodiment 1 of the present invention. [Figure 2] This is a cross-sectional view of the robot according to Embodiment 1. [Figure 3] This is a cross-sectional view of the robot according to Embodiment 1. [Figure 4] This is a cross-sectional view showing the wire fastener according to Embodiment 1 in an open state. [Figure 5] This is a perspective view showing the positional relationship of the plate-shaped members according to Embodiment 1. [Figure 6] (a) is an enlarged view of section "VI" in Figure 3, and (b) is an enlarged view of section "VI" in Figure 4. [Figure 7] This is a rear view showing the wire fastener according to Embodiment 1 in an open state. [Figure 8] This is a diagram showing a plate-shaped member according to Embodiment 1. [Figure 9] (a) to (c) are perspective views showing the method for attaching the plate-shaped member according to Embodiment 1. [Figure 10] This is a magnified view of the "X" section in Figure 3. [Figure 11] This figure shows a plate-shaped member and a convex part according to Embodiment 1, where (a) is a perspective view of the parts not engaged with each other, and (b) is a perspective view of the parts engaged with each other. [Figure 12] This is an enlarged view corresponding to section "XII" in Figure 3, and is a cross-sectional view when the protruding portion and the insertion hole are not engaged. [Figure 13] This is a flowchart illustrating a method for manufacturing a robot according to an embodiment of the present invention. [Figure 14](a) is a cross-sectional view for explaining the effect of the plate-like member according to Embodiment 1. (b) is a cross-sectional view taken along the line A-A of (a). [Figure 15] (a) is a cross-sectional view for explaining the effect of the plate-like member according to Embodiment 2. (b) is a cross-sectional view for explaining the effect of the plate-like member according to Embodiment 2. [Figure 16] It is an exploded perspective view of the main body part, the plate-like member, and the mounting member according to Embodiment 3. [Figure 17] (a) is a cross-sectional view for explaining the effect of the plate-like member according to Embodiment 3. (b) is a cross-sectional view for explaining the effect of the plate-like member according to Embodiment 3. [Figure 18] (a) is a perspective view showing the positional relationship of the plate-like member according to Embodiment 4. (b) is a cross-sectional view of the main body part and the exterior part etc. according to Embodiment 4. [Figure 19] It is a perspective view showing the positional relationship of the plate-like member according to Embodiment 5.

Mode for Carrying Out the Invention

[0009] Embodiment 1. Hereinafter, Embodiment 1 of the present invention will be described with reference to the drawings. For the sake of easy understanding of Embodiment 1, XYZ coordinates orthogonal to each other are set and referred to as appropriate. The Y-axis direction of the XYZ coordinates is the front-rear direction of the robot 1 modeled after a small animal, and the -Y-axis direction in the Y-axis direction is the front, and the +Y-axis direction in the Y-axis direction is the rear of the robot 1. Also, the Z-axis direction is the height direction of the robot 1, and the X-axis direction is the width direction of the robot 1.

[0010] As shown in FIGS. 1 and 2, the robot 1 has two decorative parts 70 having a decoration part modeled after the eyes of a small animal provided on the front side. The front side of the robot 1 constitutes the face portion of the small animal. The robot 1 includes an exterior part 10, a main body part 20 covered by the exterior part 10, a plate-like member 30 (fixing member), a screw 40 (mounting member), a plate-like member 50, a convex part 60, and a decorative part 70.

[0011] The main body 20 is made of, for example, white synthetic resin and has a body part 20a, a head part 20b, and a connecting part 20c as shown in FIGS. 2 to 4. The body part 20a has a shape that is long in the front-rear direction (Y-axis direction) and is placed on a placement surface 101 such as a floor or a table via an exterior part 10. A label indicating serial number, rating, or authentication standard as individual information is attached to the rear surface of the body part 20a. A power button (not shown) is provided behind the body part 20a. Further, as shown in FIGS. 5 and 6, a screw hole 21 (mounting part), a first protrusion 22-1 (engaging part), and a second protrusion 22-2 (engaging part) are formed behind the body part 20a.

[0012] Three screw holes 21 (mounting parts) are formed at an end near the rear of the body part 20a. The plate-shaped member 30 provided on the exterior part 10 and the screw holes 21 formed in the body part 20a are engaged by a screw 40 which is a Y-shaped pin, a special screw. Thereby, in the first embodiment, the exterior part 10 can be moved in accordance with the operation of the main body 20. The first protrusions 22-1 (engaging parts) are provided near each of the three screw holes 21 and thus three are formed. In the first embodiment, the first protrusion 22-1 is formed to protrude from the surface of the body part 20a and has a cylindrical shape with a circular cross section. The second protrusions 22-2 (engaging parts) are provided near each of the three screw holes 21 and thus three are formed. In the first embodiment, the second protrusion 22-2 is formed in a shape composed of a cylindrical part 22-2a and a protruding part 22-2b that protrudes in the radial direction from the cylindrical part 22-2a. Therefore, in the first embodiment, the second protrusion 22-2 is formed in a shape different from that of the first protrusion 22-1.

[0013] As shown in Figures 1 and 2, the head 20b is the part corresponding to the head of the robot 1, which is modeled after a small animal. The head 20b has two insertion holes 20b1 formed at the front, into which decorative parts 70, which are modeled after the eyes of a small animal, are inserted. In addition, two convex parts 60 that engage with a plate-shaped member 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-shaped member 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 conjunction with the movement of the main body part 20.

[0014] The connecting section 20c connects the rear end of the head 20b to the front end of the body section 20a. The connecting section 20c is equipped with a twist motor 23 and an up-and-down motor 24. As shown in Figure 2, the twist motor 23 rotates the head 20b in the direction of arrow Y2 around an axis 102 extending in the front-to-back direction. By operating the head 20b in this way, the robot 1, which is modeled after a small animal, can be made to perform a motion as if tilting its head. The up-and-down motor 24 rotates the head 20b in the direction indicated by arrow Y1 around an axis 103 parallel to the X-axis direction, as shown in Figures 3 and 4. By operating the head 20b in this way, the robot 1, which is modeled after a small animal as shown in Figure 1, can perform a motion as if shaking its head up and down. In summary, the connecting section 20c connects the head 20b and the body section 20a so that the head 20b can operate on two axes: rotation by the twist motor 23 and rotation by the up-and-down motor 24.

[0015] As shown in Figures 3 and 4, the outer casing 10 is elongated in the front-to-back direction, has an opening at the rear, and is shaped like a bag that can accommodate the main body 20 inside. As shown in Figure 6, this outer casing 10 is formed by overlapping a sheet-like outer fabric 11 and a lining 12. As shown in Figures 1 and 3, the outer fabric 11 is made of an artificial pile fabric that mimics the fur 14 of a small animal. This makes the feel of the robot 1 similar to the feel of a small animal's fur. However, the material of the outer fabric 11 is not limited to this. The outer fabric 11 may be made of a material other than a pile fabric. However, from the viewpoint of the feel of the robot 1, it is preferable that the outer fabric 11 is made of a pile fabric. Note that in Figure 6 and the later-described Figures 10 and 12, the illustration of the fur 14 has been omitted to avoid complicating the drawings. The lining 12 is made of a woven fabric made of synthetic fibers. However, the material of the lining 12 is not limited to this. The lining 12 may be made of natural leather, artificial leather, synthetic resin sheet material, rubber sheet material, or fabric made of natural fibers. The outer fabric 11 and the lining 12 are sewn together with thread 13 at a location near the head 20b of the main body 20, as shown in Figure 10, which will be described later. In addition, plate-shaped members 30 and 50 are sewn to the inside of the outer casing 10, as shown in Figures 3 and 4.

[0016] As shown in Figures 1 and 3, a wire fastener 18 (fastener part) is attached to the rear of the outer casing 10, which serves as a fastener part that can open and close the opening of the outer casing 10. When the main body 20 is housed inside the outer casing 10, sliding the slider 18a to close it maintains the housed state of the main body 20. On the other hand, by sliding the slider 18a to open the wire fastener 18, an opening is formed, allowing the main body 20 housed inside to be removed or the main body 20 to be housed inside the outer casing 10. With the wire fastener 18 open, as shown in Figures 4 and 7, the outer casing 10 can be rolled up and a part of the outer casing 10 can be removed from the main body 20. In the opening created when the wire fastener 18 is opened and a part of the outer casing 10 is removed from the main body 20, the label 300 showing product information and the power button 301 are positioned to be exposed to the outside through the opening.

[0017] As described above, the main body 20 and exterior 10 are formed such that, as shown in Figures 2 and 3, the exterior 10 is operated in response to the movement of the main body 20 caused by the driving of the twist motor 23 and the up / down motor 24, thereby making the robot 1, which imitates a small animal, move as if it were alive. To this end, the exterior 10 is properly locked to the main body 20 using decorative parts 70, plate-shaped members 50, insertion holes 20b1 and convex parts 60, so that the exterior 10 follows the movement of the main body 20. Furthermore, by inserting screws 40 into the through holes 31 of the plate-shaped members 30 and screwing them into the screw holes 21 of the torso 20a, the exterior 10 is properly locked to the main body 20, so that the exterior 10 follows the movement of the main body 20.

[0018] Next, a method for securing the outer casing 10 to the main body 20 housed inside the outer casing 10 will be described. Note that the three screw holes 21 provided in the main body 20 shown in Figures 2 and 3 all have the same configuration, and the two convex parts 60 provided in the main body 20 have the same configuration. Furthermore, the three plate-like members 30 and the two plate-like members 50 provided in the outer casing 10 also have the same configuration. Therefore, the configurations of the screw holes 21 and plate-like members 30 shown in section "VI" of Figures 3 and 4, and the convex parts 60 and plate-like members 50 shown in section "X" will be described below.

[0019] The plate-shaped member 30 (fixing member) is a snap provided on the inner surface of the outer casing 10 at a position where it can be fixed into the screw hole 21, as shown in Figures 3 and 4. More specifically, the plate-shaped member 30 is sewn to the inside of the outer casing 10. The plate-shaped member 30 is formed from, for example, polyamide 6 (PA6) with a thickness t=0.5 mm. As shown in Figure 8, the plate-shaped member 30 is formed to be symmetrical (left-right symmetrical) with respect to a center line L3 parallel to the Z-axis direction. The plate-shaped member 30 has a hole-forming portion 35 and a sewn portion 36.

[0020] The hole-forming portion 35 has a through hole 31 (mounting portion), a hole 32-1 (engaged portion), a notch 32-2 (engaged portion), and a notch 32-3. A screw 40 (mounting member) is inserted through the through hole 31. This through hole 31 is formed to penetrate the plate-shaped member 30 in the thickness direction (Z-axis direction). In this embodiment 1, the through hole 31 is a circular hole with a perfect circle in its XY cross-section. The first projection 22-1 (engaged portion) of the main body portion 20 is fitted into the hole 32-1 (engaged portion). More specifically, in this embodiment 1, the first projection 22-1 of the main body portion 20 is press-fitted into the hole 32-1. By adjusting this press-fitting force, the plate-shaped member 30 can be positioned in the thickness direction (Z-axis direction). Also, the hole 32-1 is formed to penetrate the plate-shaped member 30 in the thickness direction (Z-axis direction). In this embodiment 1, hole 32-1 is a circular hole with a perfect circle in its XY cross-section. In Figure 8, hole 32-1 is formed at a position further outward on the +Y side than the position where the through hole 31 is formed. The second projection 22-2 (engaging portion) of the main body 20 is fitted into the notch 32-2 (engaged portion). In this embodiment 1, the second projection 22-2 of the main body 20 is fitted into the notch 32-2 in a non-press-fit state. This notch 32-2 is formed to penetrate through the plate-shaped member 30 in the thickness direction (Z-axis direction) and is also formed by cutting out a section. In Figure 8, this notch 32-2 is formed at a position further outward on the +X side than the position where the through hole 31 is formed. Furthermore, in this embodiment 1, the notch 32-2 is formed in a shape that allows the second projection 22-2 to be fitted into it. Therefore, in this embodiment 1, the notch 32-2 is formed in a shape different from that of the hole 32-1. The notch 32-3 is formed to penetrate the plate-like member 30 in the thickness direction (Z-axis direction) and is also formed by cutting out a section. In Figure 8, this notch 32-3 is formed at a position further outward on the -X side than the position where the through hole 31 is formed. In this embodiment 1, unlike the notch 32-2, this notch 32-3 is not used for fitting protrusions or the like.

[0021] As shown in Figures 6 and 8, the sewn portion 36 is the part to which thread 15 is sewn to the outer part 10. This sewn portion 36 is sewn only to the lining 12 of the outer part 10 using thread 15, and not to the outer fabric 11. The sewing of the sewn portion 36 to the lining 12 is done before the lining 12 and the outer fabric 11 are sewn together. As described above, since the plate-shaped member 30 is a plate without any steps and the thickness t of the plate-shaped member 30 is 0.5 mm, there is no large step between the plate-shaped member 30 and the lining 12 that would cause problems when sewing the sewn portion 36 of the plate-shaped member 30 to the lining 12 with a sewing machine. For this reason, the sewing of the sewn portion 36 of the plate-shaped member 30 is done using a sewing machine, taking into consideration the ease of the work.

[0022] The screw 40 (mounting member) is a component used to fix the plate-shaped member 30 to the main body 20 by being screwed into the screw hole 21 (mounting part). As shown in Figure 5, the screw hole 21 into which the screw 40 is screwed is formed near the upper rear and near the sides on both sides of the body 20a (the +X side and the -X side). The diameter of the through hole 31 into which the screw 40 is inserted is larger than the diameter of the shaft of the screw 40 and smaller than the diameter of the head of the screw 40. Furthermore, the diameter of the through hole 31 into which the screw 40 is inserted is formed to be large enough that the plate-shaped member 30 does not come off the screw 40 even if the plate-shaped member 30 deforms.

[0023] Next, the method for fixing the plate-shaped member 30 to the main body 20 will be explained using Figure 9. First, as shown in Figure 9(a), the worker inserts the first projection 22-1 formed on the main body 20 into the hole 32-1 formed on the plate-shaped member 30. This allows the worker to position the plate-shaped member 30 relative to the main body 20. In this embodiment 1, the first projection 22-1 of the main body 20 is press-fitted into the hole 32-1. Therefore, by adjusting this press-fitting force, the worker can also position the plate-shaped member 30 in the thickness direction (Z-axis direction). The worker then inserts the second projection 22-2 formed on the main body 20 into the notch 32-2 formed on the plate-shaped member 30. This prevents the plate-shaped member 30 from rotating around the X-axis relative to the main body 20. By fitting the first projection 22-1 into the hole 32-1 and the second projection 22-2 into the notch 32-2, the through hole 31 of the plate-shaped member 30 is positioned coaxially with respect to the screw hole 21, as shown in Figure 9(b). This aligns the through hole 31 of the plate-shaped member 30 with the screw hole 21 of the main body 20.

[0024] Next, the worker inserts the screw 40 into the through hole 31 of the plate-shaped member 30 and then screws it into the screw hole 21 of the main body 20. Then, as shown in Figure 9(c), the head of the screw 40 is pressed against the plate-shaped member 30. This completes the process of fixing the plate-shaped member 30 to the main body 20. The plate-shaped member 30 is fixed to the main body 20 by the screw 40. Therefore, unless the screw 40 is removed with the clear intention of removing the plate-shaped member 30 from the body 20a, the plate-shaped member 30 will not easily come off the main body 20. Furthermore, the screw 40 is a Y-shaped pin and cannot be removed without using a special screwdriver. Also, as shown in Figure 2, there are three screw holes 21 formed in the body 20a of the main body 20. And, as shown in Figure 3, the plate-shaped member 30 is sewn onto the outer casing 10 that covers the main body 20 at positions corresponding to each screw hole 21. In other words, the exterior part 10 and the main body part 20 are attached at a total of three points using the plate-shaped member 30 and screw holes 21. By attaching the exterior part 10 at multiple points in this way, the exterior part 10 can be made to follow the movement of the main body part 20, making the robot 1, which is modeled after a small animal, move as if it were alive.

[0025] As shown in Figures 10 and 11, the plate-shaped member 50 is a snap provided on the inner surface of the outer casing 10 at a position where it can be fixed into the insertion hole 22. More specifically, the plate-shaped member 50 is sewn to the inside of the outer casing 10. The plate-shaped member 50 is formed from, for example, polyamide 6 (PA6) with a thickness t=0.5 mm. The plate-shaped member 50 is formed, for example, in a disc shape. The diameter of the plate-shaped member 50 is, for example, 16 mm. Also, a round hole 50a is formed in the center of the plate-shaped member 50 through which a convex part 60 is inserted and fitted. As shown in Figure 10, this plate-shaped member 50 is sewn only to the lining 12 of the outer casing 10 using thread 15, and is not sewn to the outer fabric 11. The sewing of the plate-shaped member 50 to the lining 12 is done using a sewing machine before the lining 12 and the outer fabric 11 are sewn together, similar to the plate-shaped member 30. The plate-shaped member 50 is sewn to the lining 12 along two parallel straight lines L1 and L2 that straddle the round hole 50a, as shown in Figure 11(a). As described above, by making the diameter of the plate-shaped member 50 16 mm, it is possible to secure a sewing distance sufficient to ensure the sewing strength of the plate-shaped member 50. Here, the sewing distance is the length of the part to which the plate-shaped member 50 is sewn with thread 15, that is, the sum of the lengths of lines L1 and L2.

[0026] As shown in Figures 10 and 11, the convex part 60 is a screw-like component used to fix the plate-shaped member 30 to the main body 20 by being screwed into the insertion hole 22. As shown in Figure 11(a), the convex part 60 has a head 61 with a Phillips groove 64, a cylindrical connecting part 62, and a shaft part 63 with a male thread. Also, as shown in Figure 10, the body part 20a has an insertion hole 52 into which the male thread of the shaft part 63 is screwed. The head 61 has the largest diameter of the convex part 60. The connecting part 62, which is provided between the head 61 and the shaft part 63, has a smaller diameter than the head 61, but its diameter is larger than the diameter 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 connecting part 62 shown in Figure 11(a) will eventually come into contact with the main body 20, and further tightening will not be possible. In this way, the convex part 60 is tightened to the main body 20 until the lower end 62a of the connecting part 62 abuts against the main body 20, thereby completing the attachment of the convex part 60 to the main body 20. As shown in Figure 10, the attached convex part 60 protrudes from the main body 20 by a height equal to the sum of the height of the head 61 and the height of the connecting part 62. The head 61 has a bulge shape, as shown in Figures 10 and 11(b), such that the diameter is smallest at both ends in the longitudinal direction of the convex part 60 and largest in the central part in the longitudinal direction. The diameter of the part of the head 61 that connects to the connecting part 62 is equal to the diameter of the cylindrical connecting part 62.

[0027] The diameter of the circular hole 50a formed in the plate-shaped member 50 is approximately 0.2 mm smaller than the diameter of the connecting portion 62 of the convex part 60. When engaging the plate-shaped member 50 with the convex part 60, first, as shown by arrow Y3 in Figure 11(a), the plate-shaped member 50 is brought closer to the convex part 60. Next, the circular hole 50a formed in the plate-shaped member 50 is pressed against the head 61, allowing it to move over the head 61, which is the larger diameter portion. Then, as shown in Figure 11(b), the circular hole 50a is fitted into the connecting portion 62, which is the smaller diameter portion. Since the plate-shaped member 50 is made of a material with some elasticity, the circular hole 50a can move over the head 61, which is the larger diameter portion. The circular hole 50a of the plate-shaped member 50 that has moved over the head 61 is fitted into the connecting portion 62, which has a larger diameter than the circular hole 50a, as shown in Figures 10 and 11(b). This completes the process 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 fitted snugly with the connecting portion 62 of the convex part 60, and the large-diameter head portion 61 is positioned above it. As a result, the engagement between the plate-shaped member 50 and the convex part 60 is made strong, and the engagement between the plate-shaped member 50 and the convex part 60 will not be easily released unless there is a clear intention to release the engagement and remove the plate-shaped member 50 and the convex part 60.

[0028] As shown in Figure 2, these convex parts 60 are provided at two locations on the head 20b of the main body 20. Then, as shown in Figure 3, plate-shaped members 50 are sewn onto the outer casing 10 that covers the main body 20 at positions corresponding to each convex part 60. By attaching the outer casing 10 at multiple locations in this way, the outer casing 10 can be made to follow the movement of the main body 20, allowing the robot 1, which imitates a small animal, to perform movements as if it were alive.

[0029] As shown in Figure 3, the decorative part 70 is a part that mimics the eye of a small animal. In the robot 1, the exterior part 10 can be locked to the main body part 20 by inserting the decorative part 70 into the insertion hole 20b1 formed in the head 20b, thereby roughly positioning the two. The decorative part 70 is made of synthetic resin, for example, black, to match the color of the small animal's eye. As shown in Figure 12, the decorative part 70 has a hemispherical decorative part 70a and a protruding part 70b that extends from the decorative part 70a and protrudes from the inside of the exterior part 10. The exterior part 10 has a through hole 16 for the protruding part 70b to pass through. The decorative part 70 is inserted into the through hole 16 with the decorative part 70a facing the surface 11 side and the protruding part 70b facing the through hole 16. As a result, the decorative part 70a is provided exposed on the outside of the exterior part 10, decorating the exterior part 10 as a part that mimics the eye of a small animal. Furthermore, a washer 17 is fitted onto the protruding portion 70b that penetrates the exterior portion 10 and protrudes from the inside. The washer 17 has a claw portion 17a that catches on the screw of the protruding portion 70b. This prevents the decorative part 70 from falling off the exterior portion 10.

[0030] On the other hand, the head portion 20b, which constitutes part of the main body portion 20, has an insertion hole 20b1 into which the protruding portion 70b of the decorative part 70 is inserted. As a result, the protruding portion 70b is inserted into and engages with the insertion hole 20b1. The diameter of the insertion hole 20b1 is the same as or slightly larger than the diameter of the protruding portion 70b. This allows the protruding portion 70b to be easily inserted into and removed from the insertion hole 20b1. By inserting the protruding portion 70b into the insertion hole 20b1, the outer casing portion 10 is locked to the main body portion 20, preventing misalignment between the outer casing portion 10 and the main body portion 20 when attaching or detaching the outer casing portion 10. Furthermore, the positioning of the outer casing portion 10 and the main body portion 20 can be determined, preventing situations where the positional relationship between the outer casing portion 10 and the main body portion 20 is lost during the attachment or detachment of the outer casing portion 10. This makes it easy to attach and detach the outer casing portion 10.

[0031] Next, the manufacturing method of robot 1 will be explained with reference to Figure 13. First, the worker cuts the fabric constituting the outer fabric 11 and the fabric constituting the lining 12 of the outer part 10 into predetermined shapes (step S11). Subsequently, the worker punches out a circular shape from a polyamide 6 (PA6) plate with a thickness of t=0.5 mm, and forms a through hole 31 through which a screw 40 is inserted, or a round hole 50a through which a convex part 60 is inserted, as shown in Figures 8 and 11(a). This creates three plate-shaped members 30 and two plate-shaped members 50 (step S12). Subsequently, as shown in Figure 6, the worker uses a sewing machine to sew the created plate-shaped members 30 to three predetermined locations on the lining 12. Also, as shown in Figure 10, the worker sews the created plate-shaped members 50 to two predetermined locations on the lining 12 (step S13). Next, the worker attaches the wire fastener 18 shown in Figure 1 (step S14). Then, the worker sews the outer fabric 11 and the lining 12 together to form a bag (step S15). Next, as shown in Figure 12, the worker overlaps the outer fabric 11 and the lining 12 to form two through holes 16 that penetrate the outer fabric 11 and the lining 12, and attaches the decorative parts 70 to the through holes 16 (step S16). This completes the creation of the outer part 10. In this way, the outer part 10 can be created by performing steps S11 to S16.

[0032] Next, the worker attaches the completed exterior part 10 to the main body part 20. First, the worker opens the wire fastener 18 shown in Figure 1 and turns the exterior part 10 inside out so that the outer fur 14 is on the inside (step S17). Then, as shown in Figure 12, the worker turns the part of the exterior part 10 to which the decorative parts 70 are attached right side out and inserts each of the two protruding parts 70b protruding from the lining 12 into the corresponding insertion holes 20b1 shown in Figure 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, enabling a rough positioning of the exterior part 10 and the main body part 20. Furthermore, by inserting the protruding parts 70b into the insertion holes 20b1, the exterior part 10 can be locked to the main body part 20 from the positioned state, preventing any misalignment between the two. Note that when the exterior part 10 is turned right side out, the protruding parts 70b become invisible. However, since the protruding portion 70b is a part that extends from the decorative portion 70a, the position of the protruding portion 70b can be recognized if the decorative portion 70a on the front side is visible. Therefore, even if the outer casing 10 is turned over, it is easy to insert the protruding portion 70b into the insertion hole 20b1. Next, the worker engages the plate-shaped member 50 with the convex part 60 (step S19). As shown in Figure 11(a), the engagement of the plate-shaped member 50 with the convex part 60 is first achieved by pressing the round hole 50a formed in the plate-shaped member 50 against the head 61 and allowing it to pass over the head 61, which is the large diameter portion. Next, as shown in Figure 11(b), the plate-shaped member 50 is engaged with the convex part 60 by fitting the round hole 50a into the connecting portion 62, which is the small diameter portion. Next, the worker turns the inverted outer casing 10 over and covers the main body 20 with the outer casing 10 sequentially from the front to the rear (step S20). Next, as shown in Figures 3 and 4, the worker secures the plate-shaped member 30, which is provided at the rear end of the exterior part 10, with the screw 40, which is provided at the rear end of the body part 20a (step S21). Subsequently, the worker covers the entire body part 20 with the exterior part 10 and finally closes the wire fastener 18 (step S22). By performing steps S17 to S22, the exterior part 10 is attached to the body part 20 and the robot 1 is completed.

[0033] As described above, in the robot 1 according to this embodiment 1, as shown in Figures 8 and 14(a), the first projection 22-1 of the main body 20 engages with the hole 32-1 formed in the plate-shaped member 30, thereby positioning the plate-shaped member 30 relative to the main body 20. As a result, the through hole 31 of the plate-shaped member 30 is more easily positioned coaxially with respect to the screw hole 21. This makes it easier to insert the screw 40 into the through hole 31 of the plate-shaped member 30 and screw it into the screw hole 21 in this embodiment 1. As a result, a robot 1 can be provided that can improve the efficiency of assembling the exterior part 10 to the main body 20.

[0034] Furthermore, in the robot 1 according to this embodiment 1, the first projection 22-1 of the main body 20 is press-fitted into the hole 32-1 formed in the plate-shaped member 30. By adjusting this press-fitting force, the positioning of the plate-shaped member 30 in the thickness direction can be easily performed. As a result, the efficiency of assembling the exterior part 10 to the main body 20 can be improved.

[0035] Furthermore, in this embodiment 1, as shown in Figures 8 and 14(b), the second projection 22-2 of the main body 20 engages with the notch 32-2 formed in the plate-shaped member 30, thereby preventing the plate-shaped member 30 from rotating around the Z-axis relative to the main body 20. This makes it easier to insert the screw 40 into the through hole 31 of the plate-shaped member 30 and screw it into the screw hole 21. As a result, the efficiency of assembling the exterior part 10 to the main body 20 can be improved.

[0036] For example, if a plate-shaped member 30 without the notch 32-2 and a main body 20 without the second projection 22-2 are used, the rotation of the plate-shaped member 30 around the Z-axis relative to the main body 20 is not prevented, and the plate-shaped member 30A becomes more likely to rotate around the first projection 22-1. As a result, the through hole 31 of the plate-shaped member 30 becomes less likely to be coaxial with the screw hole 21. Consequently, it becomes difficult to screw the screw 40 into the screw hole 21 formed in the main body 20. This, in turn, reduces the efficiency of assembling the exterior part 10 to the main body 20.

[0037] In contrast, in the robot 1 according to this embodiment 1, as shown in Figures 8 and 14(b), the second projection 22-2 of the main body 20 engages with the notch 32-2 formed in the plate-shaped member 30, thereby preventing the plate-shaped member 30 from rotating around the Z-axis relative to the main body 20. As a result, the through hole 31 of the plate-shaped member 30 is more easily positioned coaxially with respect to the screw hole 21. This makes it easier to screw the screw 40 into the screw hole 21 formed in the main body 20. Consequently, the efficiency of assembling the exterior part 10 to the main body 20 can be improved.

[0038] Furthermore, in this embodiment 1, as shown in Figure 6, the plate-shaped member 30 has a hole-forming portion 35 that is not fixed to the inner surface of the outer casing 10, while the sewing portion 36 is fixed to the inner surface of the outer casing 10. Therefore, when a part of the outer casing 10 is peeled away from the main body 20, the screws 40 that are screwed into the screw holes 21 can be exposed to the outside. This makes it possible to provide a robot 1 that can improve the efficiency of assembling the outer casing 10 to the main body 20.

[0039] Furthermore, in this embodiment 1, the plate-shaped members 30 and 50 can be easily formed, for example, by punching out a flat polyamide 6 (PA6) with a thickness t=0.5 mm using press processing. This makes it possible to reduce manufacturing costs.

[0040] Furthermore, in this embodiment 1, as shown in Figure 8, the plate-shaped member 30 is formed symmetrically with respect to a center line L3 parallel to the Z-axis direction. Therefore, as shown in Figure 14, the worker can attach the plate-shaped member 30 to the exterior part 10 without having to worry about which side of the plate-shaped member 30 is facing up or down. This improves the efficiency of assembling the exterior part 10 to the main body part 20.

[0041] Embodiment 2. In the above embodiment 1, as shown in Figure 8, both a hole 32-1 having a positioning function and a notch 32-2 having a rotation-preventing function are formed. However, it is not limited to this. Hereinafter, a plate-shaped member 30-2 according to embodiment 2, in which neither the hole 32-1 nor the notch 32-2 is formed, will be described with reference to Figure 15.

[0042] As shown in Figure 15(a), the plate-shaped member 30-2 is formed symmetrically with respect to a center line L3 parallel to the Y-axis direction. This plate-shaped member 30-2 has a through hole 31 (mounting portion) and a hole 32-1 (engaged portion) formed therein. Unlike the plate-shaped member 30 according to Embodiment 1, this plate-shaped member 30-2 does not have a notch 32-2 formed therein.

[0043] A screw 40 is inserted through the through hole 31. The through hole 31 is formed to penetrate the plate-shaped member 30 in the thickness direction (Z-axis direction). The through hole 31 is a circular hole with an XY cross-section that is a perfect circle. The first projection 22-1 of the main body 20 is fitted into the hole 32-1 (engaged portion). Specifically, in this embodiment 2, the first projection 22-1 of the main body 20 is press-fitted into the hole 32-1. By adjusting this press-fitting force, the positioning of the plate-shaped member 30 in the thickness direction (Z-axis direction) can be adjusted. The hole 32-1 is formed to penetrate the plate-shaped member 30 in the thickness direction (Z-axis direction). In this embodiment 2, the hole 32-1 is a circular hole with an oval cross-section that is an elongated circle. In Figure 15(a), this hole 32-1 is formed at a position further outward on the +Y side than the position where the through hole 31 is formed.

[0044] The main body portion 20 has a screw hole 21 (mounting portion) and a first projection 22-1 (engaging portion). Unlike Embodiment 1, the main body portion 20 in Embodiment 2 does not have a second projection 22-2.

[0045] In Figure 15(b), the screw hole 21 (mounting portion) is used to fix the plate-shaped member 30-2 to the main body portion 20 by a screw 40. In this embodiment 1, the first projection 22-1 (engaging portion) is formed to protrude from the surface of the main body portion 20 and is formed in a cylindrical shape with an oval cross-section in the XY region.

[0046] As described above, in this embodiment 2, as shown in Figure 15, the first projection 22-1 of the main body 20 engages with the hole 32-1 formed in the plate-shaped member 30-2, thereby positioning the plate-shaped member 30 relative to the main body 20. As a result, the through hole 31 of the plate-shaped member 30 is more easily positioned coaxially with respect to the screw hole 21. This makes it easier to insert the screw 40 into the through hole 31 of the plate-shaped member 30 and screw it into the screw hole 21 in this embodiment 1. As a result, the efficiency of assembling the exterior part 10 to the main body 20 can be improved.

[0047] Furthermore, in this second embodiment, the hole 32-1 in the plate-shaped member 30-2 is a circular hole with an oval XY cross-section. The first projection 22-1 is formed in a cylindrical shape with an oval XY cross-section. Therefore, the first projection 22-1 of the main body 20 engages with the hole 32-1 of the plate-shaped member 30-2, thereby preventing the plate-shaped member 30 from rotating around the Z-axis relative to the main body 20. In other words, the hole 32-1 and the first projection 22-1 engage with each other, providing both a positioning function and a rotation prevention function. As a result, in this first embodiment, the formation of the notch 32-2 is unnecessary, and the screw 40 can be easily inserted into the through hole 31 of the plate-shaped member 30 and screwed into the screw hole 21. Consequently, the efficiency of assembling the exterior part 10 to the main body 20 can be improved. Furthermore, in this second embodiment, other effects equivalent to those of the first embodiment can be achieved.

[0048] In this second embodiment, the hole 32-1 in the plate-shaped member 30-2 is a circular hole with an oval cross-section in the XY direction. The first projection 22-1 is formed in a cylindrical shape with an oval cross-section in the XY direction. This prevents the plate-shaped member 30 from rotating around the Z-axis relative to the main body 20. However, the shapes of the hole 32-1 and the first projection 22-1 are not limited to these. As long as the engagement of the first projection 22-1 with the hole 32-1 prevents rotation around the Z-axis, the shapes of the hole 32-1 and the first projection 22-1 may be formed in a shape other than that shown in this second embodiment.

[0049] Embodiment 3. In the above embodiment 1, as shown in Figure 8, the holes 32-1 and notches 32-2, which have positioning and rotation-preventing functions, are formed in the plate-shaped member 30 at positions different from the positions where the through holes 31 for the screws 40 are formed. However, the embodiment is not limited to this. Hereinafter, a plate-shaped member 30-3 according to embodiment 3, in which the positioning and rotation-preventing functions are formed at the same position as the through holes 31, will be described with reference to Figures 16 and 17.

[0050] The main body portion 20 has a screw hole 21 (mounting portion) and a second projection 22-2 (engaging portion). Unlike Embodiment 1, the main body portion 20 in Embodiment 2 does not have the first projection 22-1.

[0051] In Figure 16, the screw hole 21 (mounting portion) is used to fix the plate-shaped member 30-3 to the main body portion 20 by a screw 40. In this embodiment 3, the second projection 22-2 (engaging portion) is formed to protrude from the surface of the main body portion 20 and has a cylindrical portion 22-2a and a projection 22-2b that protrudes radially from the cylindrical portion 22-2a. In addition, a screw hole 21 is provided on the upper surface of the second projection 22-2.

[0052] As shown in Figures 17(a) and 17(b), the plate-shaped member 30-3 is formed symmetrically with respect to a center line L3 parallel to the Y-axis direction. Through holes 31 (mounting portion, engaging portion) are formed in this plate-shaped member 30-3. Unlike the plate-shaped member 30 according to Embodiment 1, this plate-shaped member 30-3 does not have holes 32-1 and notches 32-2 formed therein.

[0053] The second projection 22-2 is fitted into the through hole 31. The through hole 31 is formed to penetrate through the plate-like member 30-3 in the thickness direction (Z-axis direction). The through hole 31 is formed with a cross-sectional shape that allows the second projection 22-2 to fit into it.

[0054] As described above, in this embodiment 3, as shown in Figures 16 and 17, the second projection 22-2 of the main body 20 engages with the through hole 31 formed in the plate-shaped member 30-3, thereby positioning the plate-shaped member 30-3 relative to the main body 20. For this reason, the through hole 31 of the plate-shaped member 30 is positioned coaxially with respect to the screw hole 21. This makes it easier to screw the screw 40 into the screw hole 21 in this embodiment 3. As a result, the efficiency of assembling the exterior part 10 to the main body 20 can be improved.

[0055] Furthermore, in this third embodiment, the second projection 22-2 is fitted into the through hole 31 of the plate-shaped member 30-3 so as not to rotate around the Z-axis. This prevents the plate-shaped member 30-3 from rotating around the Z-axis relative to the main body 20. As a result, in this third embodiment, the formation of the hole 32-1 and the notch 32-2 is unnecessary, and the screw 40 can be easily screwed into the screw hole 21. Consequently, the efficiency of assembling the exterior part 10 to the main body 20 can be improved. In addition, this third embodiment can achieve the same effects as in the first embodiment.

[0056] Embodiment 4. In the above embodiment 1, as shown in Figure 5, the rear end of the fuselage portion 20a is simplified to a rectangular prism shape as an example. However, the rear end of the fuselage portion 20a may be formed in a shape other than a rectangular prism. Hereinafter, embodiment 4, in which the shape of the fuselage portion 20a is different, will be described with reference to Figure 18.

[0057] As shown in Figure 18(a), the body portion 20a is formed in a non-rectangular prism shape with the Y-axis direction as the column axis and the outer circumferential surface 25 around the Y-axis direction being a substantially curved surface. The rear end surface 26 on the +Y side of the body portion 20a has a main surface 26a and a spherical projection 26b that protrudes from the main surface 26a. Because the projection 26b protrudes from the main surface 26a, a part of the main surface 26a is formed to be recessed compared to the projection 26b. In addition, the rear end surface 26 has a plate-shaped member placement surface 26c for arranging one of the three plate-shaped members 30. As shown in Figure 18(b), the plate-shaped member placement surface 26c is formed, for example, as a flat plane to facilitate the attachment of the plate-shaped member 30. Furthermore, the plate-shaped member placement surface 26c is provided at an inclination with respect to the XY plane. In this fourth embodiment, a screw hole 21 (mounting portion), a first projection 22-1 (engaging portion), and a second projection 22-2 (engaging portion) are formed on the plate-shaped member placement surface 26c. The screw hole 21, the first projection 22-1, and the second projection 22-2 are formed in the same shape as those in the first embodiment. In this fourth embodiment, the plate-shaped member 30 placed on the plate-shaped member placement surface 26c is positioned with its end on the hole-forming portion 35 side inclined downwards. In this fourth embodiment, compared to the first embodiment, in which the rear end of the body portion 20a is formed in a rectangular prism shape, the exterior portion does not get caught on the corners of the body portion 20 when removing or attaching it to the main body portion 20. Therefore, the efficiency of assembling the exterior portion 10 to the main body portion 20 can be improved. Furthermore, since a portion of the main surface 26a is formed to be recessed compared to the protruding portion 26b, when the user touches the pet robot with the exterior covering attached to the main body 20, the feeling of foreign objects such as screws and protrusions can be reduced. In addition, the same effects as in Embodiment 1 can be achieved in Embodiment 4.

[0058] Embodiment 5. In the above embodiment 1, as shown in Figure 5, the rear end of the fuselage portion 20a is simplified and illustrated as a rectangular prism shape. One of the three plate-shaped members 30 is positioned on the +Z side of the rear end of the fuselage portion 20a. However, the position of the plate-shaped member 30 is not limited to this. The plate-shaped member 30 may be positioned on the +Y side of the rear end of the fuselage portion 20a, as shown in Figure 19. The same effects as in embodiment 1 can be achieved in embodiment 5 as well.

[0059] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above.

[0060] For example, in the above embodiment 1, as shown in Figure 8, the main body 20 has two protrusions as engaging parts: a first protrusion 22-1 and a second protrusion 22-2. However, it is not limited to this. The main body 20 may have three or more protrusions as engaging parts.

[0061] Furthermore, in the above embodiment 1, the plate-shaped member 30 has one hole 32-1 and two notches 32-2 and 32-3 formed as engaging portions. However, it is not limited to this. The plate-shaped member 30 may also have one hole 32-1 and one notch 32-2 formed as engaging portions.

[0062] Furthermore, in the above embodiment 1, the plate-shaped member 30 has a hole formed therein for the first projection 22-1 to fit into. However, it is not limited to this. The plate-shaped member 30 may have a notch instead of a hole formed therein for the first projection 22-1 to fit into.

[0063] Furthermore, in the above embodiment 1, the plate-shaped member 30 has a notch formed therein for the second projection 22-2 to fit into. However, it is not limited to this. The plate-shaped member 30 may have a hole instead of a notch formed therein for the second projection 22-2 to fit into.

[0064] Furthermore, in the above embodiment, plate-shaped members 30 and 50 formed by punching out a plate made of polyamide 6 (PA6) were used as engaging parts sewn to the exterior part 10, but the material and shape of the engaging parts can be arbitrarily selected. For example, they may be made of synthetic resin such as polycarbonate. Alternatively, a piece of cloth made of chemical fibers such as polyester may be used, or a piece of cloth made of natural fibers such as cotton or wool may be used, or a rubber sheet material may be used. In addition, the shape of the plate-shaped member 50 may be flat, or it may be a rectangular plate such as a triangular plate or a square plate.

[0065] Furthermore, in the above embodiment 1, the sewing position of the plate-shaped member 30 to the exterior part 10 was described as being the sewing portion 36 of the plate-shaped member 30, as shown in Figure 8. However, it is not limited to this. The sewing position of the plate-shaped member 30 to the exterior part 10 may be at other locations. For example, the sewing position of the plate-shaped member 30 to the exterior part 10 may be set at a position that avoids the through hole 31 of the plate-shaped member 30. Alternatively, it may be sewn circumferentially along the outer shape of the disc-shaped plate-shaped member 30.

[0066] Furthermore, the attachment of 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. Alternatively, adhesive may be applied around the round hole 50a to bond the plate-shaped member 30. When sewing the through hole 31 by hand, a hole for passing the needle through may be formed in the plate-shaped member 30 beforehand. This makes the sewing process by hand easier.

[0067] Furthermore, although the thickness t of the plate-like member 30 was explained as 0.5 mm, the thickness may be changed as appropriate, provided that no problems arise when sewing it with a sewing machine. Also, as mentioned above, if the plate-like 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 a plate with varying thicknesses in different locations may be used as the engaging plate.

[0068] Furthermore, although three screw holes 21 for fixing the plate-shaped member 30 to the body portion 20a are provided, the number and location of these screw holes 21 can be arbitrarily determined according to the robot 1 to which it is applied. For example, two screw holes 21 may be formed and two corresponding plate-shaped members 30 may be provided. Alternatively, four or more screw holes 21 may be formed and four or more corresponding plate-shaped members 30 may be provided.

[0069] Furthermore, although it was explained that Robot 1 is modeled after a small animal, what Robot 1 is modeled after is arbitrary. For example, Robot 1 may be modeled after a large animal such as a rhinoceros. In this case, the decorative parts may be modeled after a rhinoceros horn. Also, Robot 1 may be modeled after something other than an animal.

[0070] Furthermore, the exterior part 10 is not limited to covering the entire main body part 20, but may cover only a part of the main body part 20. Also, although it was explained that the exterior part 10 is modeled after the fur of a small animal, the material of the exterior is arbitrary. For example, the exterior may be modeled after clothing to be attached to the robot 1, or it may be a banner displaying an advertisement.

[0071] In this embodiment, the mounting member for fixing the plate-shaped member 30 to the main body 20 is described as a screw 40. The part to which the screw 40 is attached is described as a screw hole 21. However, it is not limited to this. The mounting member may be an engaging member other than a screw 40. The part to which the mounting member may be an engaging part other than a screw hole 21. Furthermore, the mounting member may be something other than one that is screwed into the screw hole 21 to engage. For example, the mounting member may be one that is fixed by double-sided tape, adhesive, heat welding, press-fit, or hook-fit.

[0072] In this embodiment, the mounting member for fixing the plate-shaped member 50 to the main body 20 is described as a convex part 60. The part to which the convex part 60 is attached is the insertion hole 22. However, it is not limited to this. The mounting member may be an engaging member other than the convex part 60. The part to which it is attached may be an engaging part other than the insertion hole 22. Furthermore, the mounting member may be something other than one that is screwed into and engages with the insertion hole 22.

[0073] The present invention can be implemented in various forms and modified without departing from the broad spirit and scope of the invention. The embodiments described above are for illustrative purposes only and do not limit the scope of the invention. [Explanation of Symbols]

[0074] 1...Robot, 10...Exterior part, 20...Main body part, 21...Screw hole (mounting part), 22-1...First projection (engaging part), 22-2...Second projection (engaging part), 30, 30-2, 30-3...Plate-shaped member (fixing member), 31...Through hole (mounting part), 32-1...Hole (engaging part), 32-2...Notch (engaging part)

Claims

1. Exterior parts and The main body portion is covered by the exterior portion and has a mounting portion and an engagement portion, The fixing member comprises a mounting portion fixed to the inner surface of the exterior portion and positioned at the location where the mounting portion is formed, and a mounting portion into which the engaging portion engages. A robot in which the fixing member is positioned relative to the main body by the engagement of the engaging portion with the engaged portion.

2. The robot according to claim 1, wherein the engaged portion is formed at a position different from the position where the mounting portion is formed on the fixing member.

3. The robot according to claim 1, wherein the engaging portion of the main body has a first projection and a second projection as the engaging portion.

4. The robot according to claim 3, wherein the fixing member has a first fitting portion into which the first projection fits, and a second fitting portion into which the second projection fits, as the engaging portion.

5. The robot according to claim 4, wherein either the first fitting portion or the second fitting portion is a hole and the other is a notch.

6. The robot according to claim 1, wherein the mounting portion is a screw hole into which the mounting member is screwed, thereby fixing the fixing member to the main body.

7. The robot according to claim 6, further comprising the mounting member for fixing the fixing member to the main body by being screwed into the screw hole.

8. A method for manufacturing the robot according to any one of claims 1 to 7, The fixing member is formed from resin into a flat plate of a predetermined thickness and has a mounting portion into which a mounting member consisting of a screw can be inserted. The steps include sewing the formed fixing member to the backing of the sheet-like exterior part by passing a sewing machine needle through the portion of the fixing member other than the mounting portion, After exposing the lining of the exterior part, the step of covering the main body with the exterior part while exposing the outer fabric of the exterior part, With the main body covered by the outer casing, the mounting portion provided on the main body and the mounting portion of the fixing member are engaged by the mounting member. A method for manufacturing robots, including

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