Robot and robot manufacturing method

Abstract

To provide a robot that facilitates a work of fitting an outer covering thereto while improving design property.SOLUTION: A robot 200 includes: an outer covering 201; a decoration part provided on an outside of the outer covering 201 while being exposed to the outside to decorate the outer covering 201; a first engaging part 260 provided on an inside of the outer covering 201 while corresponding to the decoration part; a body part 207 covered by the decoration part 201; and a first part to be engaged 241 provided in the body part 207 and engaging the decoration part 201 with the body part 207 by engaging with the first engaging part 260.SELECTED DRAWING: Figure 2

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 robot provided with an exterior covering that covers the main body. [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, the protruding attachment portion for attaching the exterior is exposed on the outside of the exterior, resulting in a poor design of the robot. To improve the design of the robot, it is conceivable to attach the attachment portion to the inside of the exterior. However, in this case, when the main body is covered with the exterior and then the exterior is attached to the main body, the position of the attachment portion becomes difficult to determine, which makes the robot manufacturing process, including the work of attaching the exterior, more complicated.

[0005] The present invention has been made to solve the above-mentioned problems, and aims to provide a robot that can easily perform exterior attachment work while improving the design of the robot, and a method for manufacturing the robot. [Means for solving the problem]

[0006] The robot according to the present invention includes an exterior, a decorative part that decorates the exterior and is provided in an exposed state outside the exterior, and a decorative part that decorates the exterior. At a position that is approximately the same as the position ofa first engaging portion provided on the outer casing, a main body portion covered by the outer casing, and a first engaged portion provided on the main body portion and engaging with the first engaging portion to lock the outer casing to the main body portion, The aforementioned The main body includes a trunk portion that is placed on a support surface via the exterior, and a head portion that is movably connected to the trunk portion, and the first engageable portion is provided on the head portion of the main body portion and engages with the first engaging portion to engage the exterior to the head portion, and further includes a second engaging portion provided on the exterior, and a second engageable portion that engages with the second engaging portion to engage the exterior to the trunk portion. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a robot that allows easy attachment of an exterior while improving the design of the robot, 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 cross-sectional view of a robot according to an embodiment of the present invention. [Figure 3] 1 is a perspective view for explaining a main body of a robot according to an embodiment of the present invention; [Figure 4] FIG. 3 is an enlarged view of part “IV” in FIG. 2. [Figure 5] 1A and 1B are diagrams showing an engagement plate 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 6] 3 is a cross-sectional view focusing on a portion "VI" in FIG. 2 when the protrusion and the insertion hole are not engaged with each other. [Figure 7] 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, the description will be made with reference to the front and rear directions in FIG.

[0010] (Embodiment) As shown in FIG. 1, the robot 200 according to the embodiment is a pet robot modeled after a small animal. Two decorative parts 202, each having a decorative portion modeled after the eyes of a small animal, are provided on the front side of the robot 200. In this way, the front side of the robot 200 forms the face of the small animal. As shown in FIG. 2, the robot 200 has a main body 207 and an exterior 201 that covers the main body 207.

[0011] 2 and 3, main body 207 has head 204, body 206 provided behind head 204, and connecting part 205 connecting head 204 and body 206. Main body 207 is made of, for example, synthetic resin, and is colored light pink so as not to give the user a mechanical impression.

[0012] Head 204, which constitutes part of main body 207, corresponds to the head of robot 200, which resembles a small animal. Two insertion holes 242 serving as first engaged portions are formed in the front of head 204, into which decorative parts 202 (FIG. 1) resembling the eyes of a small animal are inserted, as shown in FIG. 3. Two convex parts 241 serving as first engaged portions that engage with first engaging portions (engagement plates 260 (FIG. 2)) provided on exterior 201 (FIG. 2) are attached above and corresponding to the two insertion holes 242. By engaging the first engaging portions provided on exterior 201 (FIG. 2) with the first engaged portions attached to head 204, exterior 201 (FIG. 2) can be moved in accordance with the movement of main body 207. Details of these first engaging portions and first engaged portions will be described later.

[0013] The body 206 has a shape that is long in the front-rear direction, and is placed on a placement surface 101 such as a floor or a table via the exterior 201, as shown in FIG. 2. As shown in FIG. 3, the body 206 is provided with two convex parts 241 as second engaged parts at the rear, similar to those provided on the head 204. Like the first engaged parts, the convex parts 241 as second engaged parts engage with second engaging parts (engagement plates (FIG. 2)) provided on the exterior 201 (FIG. 2). The configurations of these second engaging parts and second engaged parts are similar to the configurations of the first engaging part and first engaged part described above. When the first engaging part and the second engaging part are not particularly distinguished, they are simply referred to as engaging parts. When the first engaged part and the second engaged part are not particularly distinguished, they are simply referred to as engaged parts.

[0014] As shown in FIG. 2, the connecting unit 205 connects the rear end of the head 204 and the front end of the body 206. The connecting unit 205 is provided with a twist motor 221 and an up-down motor 222. As shown in FIG. 3, the twist motor 221 rotates the head 204 in the direction of arrow Y2 around an axis 102 extending in the front-to-rear direction. By moving the head 204 in this manner, the robot 200 imitating a small animal shown in FIG. 1 can be made to move as if tilting its head. Furthermore, as shown in FIG. 2, the up-down motor 222 rotates the head 204 in the direction of arrow Y1 around an axis 103 extending parallel to the direction through the figure. By moving the head 204 in this manner, the robot 200 imitating a small animal shown in FIG. 1 can be made to move as if shaking its head up and down. The connecting portion 205 connects the head portion 204 and the body portion 206 so that the head portion 204 can move on two axes, that is, on rotation by the twist motor 221 and on rotation by the up-down motor 222 .

[0015] As shown in FIG. 1 , the exterior 201 is elongated in the front-rear direction and has a bag-like shape capable of accommodating the main body 207 ( FIG. 2 ). As shown in FIG. 4 , the exterior 201 is formed by overlapping a sheet-like outer fabric 251 and a sheet-like lining 252 and sewing them together at multiple locations using thread 253. By sewing the outer fabric 251 and the lining 252 together at multiple locations using thread 253, the outer fabric 251 and the lining 252 can be handled as a single unit without slippage. As shown in FIGS. 1 and 2 , the outer fabric 251 is made of an artificial pile fabric that resembles the fur 203 of a small animal. This allows the feel of the robot 200 to resemble that of a small animal. Note that the fur 203 shown in FIGS. 1 and 2 is omitted in FIGS. 4 and 6 to avoid overcomplicating the drawings. The lining 252 is made of a woven fabric made of synthetic fibers. The lining 252 may be made of natural leather, artificial leather, a synthetic resin sheet material, a rubber sheet material, or a cloth made of natural fibers. Also, as shown in FIG. 2, an engagement plate 260 is provided on the inside of the exterior 201 as an engagement portion.

[0016] 1, a line fastener 208 is attached to the rear of exterior 201. With main body 207 (FIG. 2) housed inside exterior 201, sliding slider 208a to a closed state maintains main body 207 (FIG. 2) housed inside. On the other hand, sliding slider 208a to open line fastener 208 allows main body 207 (FIG. 2) housed inside to be removed or main body 207 (FIG. 2) to be housed inside exterior 201.

[0017] As shown in FIGS. 2 and 3 , the exterior 201 is moved in response to the movement of the main body 207 caused by the driving of the twist motor 221 and the up-down motor 222, allowing the robot 200, which resembles a small animal, to move as if it were alive. To achieve this, the exterior 201 is appropriately engaged with the main body 207 using first and second engaging portions and first and second engaged portions, allowing the exterior 201 to follow the movement of the main body 207. Next, a configuration for engaging the exterior 201 with the main body 207 housed inside the exterior 201 will be described in detail. Note that, as shown in FIG. 2 , all four convex parts 241 provided on the main body 207 have the same configuration, and all four engaging plates 260 provided on the exterior 201 also have the same configuration. Therefore, the configurations of the convex parts 241 and engaging plates 260 at part “IV” in FIG. 2 will be described below.

[0018] As shown in FIG. 4, an engagement plate 260 serving as a second engagement portion is sewn to the inside of the exterior casing 201. The engagement plate 260 is made of polyamide 6 (PA6) with a thickness t of 0.5 mm, for example, and is formed into a disk shape as shown in FIG. 5(a). The diameter of the engagement plate 260 is, for example, 16 mm. A round hole 260a is formed in the center of the engagement plate 260 as a fitting hole through which the convex part 241 is inserted and fitted. As shown in FIG. 4, the engagement plate 260 is sewn only to the lining 252 of the exterior casing 201 with thread 254, and is not sewn to the outer fabric 251. The engagement plate 260 is sewn to the lining 252 before the lining 252 and the outer fabric 251 are sewn together. As described above, the engagement plate 260 has a disk shape without any steps, and the thickness t of the engagement plate 260 is 0.5 mm. Therefore, there is no large step between the engagement plate 260 and the lining 252 that would cause problems when sewing the former 260 to the latter 252 with a sewing machine. Therefore, the engagement plate 260 is sewn using a sewing machine, taking into consideration ease of sewing. For example, as shown in FIG. 5, the engagement plate 260 is sewn to the lining 252 along two parallel, straight lines L1 and L2 that sandwich the round hole 260a. As described above, by setting the diameter of the engagement plate 260 to 16 mm, a stitching distance sufficient to ensure the stitching strength of the engagement plate 260 can be ensured. Here, the stitching distance refers to the length of the portion of the engagement plate 260 sewn with the thread 254, i.e., the sum of the lengths of the lines L1 and L2.

[0019] As shown in FIG. 4, a convex part 241 is attached to the body 206, which constitutes a part of the main body 207, as a second engaged part that engages with the engaging plate 260. As shown in FIG. 5(a), the convex part 241 has a head 241a with a Phillips groove 241d formed therein, a cylindrical spacer part 241b, and a shaft part 241c with an external thread. As shown in FIG. 4, the body 206 is also formed with an insertion hole 207a with an internal thread into which the external thread of the shaft part 241c is threaded. The head 241a is a large-diameter part having the largest diameter in the convex part 241. The spacer part 241b, which is sandwiched between the head 241a and the shaft part 241c, is a small-diameter part with a diameter smaller than that of the head 241a, and its diameter is larger than that of the insertion hole 207a. Therefore, when the convex part 241 is tightened into the insertion hole 207a with the screwdriver, the lower end 241e of the spacer portion 241b shown in FIG. 5(a) eventually abuts against the body portion 206, and further tightening is no longer possible. In this way, the attachment of the convex part 241 to the body portion 206 is completed by tightening the convex part 241 to the body portion 206 until the lower end 241e of the spacer portion 241b abuts against the body portion 206. As shown in FIG. 4 and FIG. 5(b), the convex part 241 after attachment protrudes from the body portion 206 by a height equal to the sum of the heights of the head portion 241a and the spacer portion 241b. Note that the head portion 241a has a bulging shape such that its diameter is smallest at both ends in the length direction of the convex part 241 and largest in the center portion in the length direction. The diameter of the portion of the head 241a that connects to the spacer portion 241b is equal to the diameter of the cylindrical spacer portion 241b.

[0020] The diameter of the round hole 260a formed in the engagement plate 260 is approximately 0.2 mm smaller than the diameter of the spacer portion 241b of the convex part 241. When engaging the engagement plate 260 having such a round hole 260a formed therein with the convex part 241, first, as shown by arrow Y3 in FIG. 5(a), the engagement plate 260 is brought close to the convex part 241. Next, the round hole 260a formed in the engagement plate 260 is pressed against the head part 241a, and is made to climb over the head part 241a, which is the large diameter part. Then, as shown in FIG. 5(b), the round hole 260a is fitted into the spacer portion 241b, which is the small diameter part. Because the engagement plate 260 is made of a material that has some elasticity, the round hole 260a can climb over the head part 241a, which is the large diameter part. As shown in FIGS. 4 and 5(b), the round hole 260a of the engagement plate 260 that has climbed over the head 241a fits into the spacer portion 241b, which has a diameter larger than the diameter of the round hole 260a. This completes the process of engaging the engagement plate 260 and the convex part 241. In this way, the round hole 260a of the engagement plate 260 fits snugly into the spacer portion 241b of the convex part 241, and the head 241a, which is the large diameter portion, is located above it. This makes it possible to firmly secure the engagement between the engagement plate 260 and the convex part 241, and the engagement between the engagement plate 260 and the convex part 241 will not be easily released unless the operation of removing the engagement plate 260 and the convex part 241 is performed with the clear intention of releasing the engagement.

[0021] As shown in Fig. 3, two such convex parts 241 are provided as first engaged parts on the head 204 of the main body 207, and two are provided as second engaged parts on the trunk 206. Engagement plates 260 are sewn onto the exterior 201 covering the main body 207 at positions corresponding to the convex parts 241, as shown in Fig. 2. That is, the exterior 201 and the main body 207 are attached at a total of four locations using the engagement plates 260 and the convex parts 241. Attaching the exterior 201 at multiple locations in this manner allows the exterior 201 to follow the movement of the main body 207, and allows the robot 200 modeled after a small animal to move as if it were alive.

[0022] In addition, as shown in FIG. 2, in the robot 200, the exterior 201 can be engaged with the main body 207 by inserting a decorative part 202 resembling the eyes of a small animal into an insertion hole 242 serving as a first engaged part formed in the head 204, thereby roughly positioning the two parts. The decorative part 202 is made of, for example, a black synthetic resin to match the color of the small animal's eyes. As shown in FIG. 6, the decorative part 202 has a hemispherical decorative part 202a and a protruding part 202b serving as a first engaged part that extends from the decorative part 202a and protrudes from the inside of the exterior 201. A through-hole 201a is formed in the exterior 201 to allow the protruding part 202b to pass through. The decorative part 202 is positioned so that the decorative part 202a faces the outer fabric 251, and the protruding part 202b is inserted into the through-hole 201a. As a result, decorative portion 202a is provided in an exposed state on the outside of exterior casing 201, and decorates exterior 201 as a portion resembling the eyes of a small animal. In addition, washer 209 is fitted to protruding portion 202b that penetrates exterior 201 and protrudes from the inside. Washer 209 has claw portion 209a that catches on the thread of protruding portion 202b. This prevents decorative part 202 from falling off exterior 201.

[0023] Meanwhile, as shown in FIG. 6 , the head 204, which constitutes part of the main body 207, has an insertion hole 242 into which the protrusion 202b of the decorative component 202 is inserted. The protrusion 202b is inserted and engaged with the insertion hole 242. The diameter of the insertion hole 242 is the same as or slightly larger than the diameter of the protrusion 202b. This allows the protrusion 202b to be easily inserted and removed from the insertion hole 242. By inserting the protrusion 202b into the insertion hole 242, the exterior casing 201 is locked to the main body 207, preventing misalignment between the exterior casing 201 and the main body 207 when attaching or detaching the exterior 201. This also allows for positioning of the exterior casing 201 and the main body 207, preventing a situation in which the relative positions of the exterior 201 and the main body 207 become unclear during the attachment or detachment of the exterior 201. This facilitates the attachment and detachment of the exterior 201.

[0024] Next, a manufacturing method of the robot 200 will be described with reference to FIG. 7. First, the cloth constituting the outer fabric 251 of the exterior casing 201 and the cloth constituting the lining 252 are cut to a predetermined shape (step S11). Next, a plate made of polyamide 6 (PA6) with a thickness t = 0.5 mm is punched into a circle, and a round hole 260a is formed in the center, through which the convex part 241 is inserted, as shown in FIG. 5(a), to create four engagement plates 260 (step S12). Next, using a sewing machine, the created engagement plates 260 are sewn to each of four predetermined locations on the lining 252 (step S13). The engagement plates 260 are sewn in step S13 by passing a thread 254 (FIG. 4) through the engagement plate 260 and the lining 252 while piercing a sewing needle through the engagement plate 260. As shown in FIG. 5, the stitching locations on the engagement plate 260 are on two parallel, straight lines L1 and L2 that sandwich the round hole 260a. Next, the outer fabric 251 and the lining fabric 252 are overlapped, and two through-holes 201a (see FIG. 6) are formed through the outer fabric 251 and the lining fabric 252. The decorative components 202 are then attached to the through-holes 201a (step S14). The decorative components 202 are attached by inserting the protruding portions 202b of the decorative components 202 into the through-holes 201a with the decorative portions 202a facing the outer fabric 251, and fitting washers 209 onto the protruding portions 202b protruding from the lining fabric 252. Next, the outer fabric 251 and the lining fabric 252 are sewn together to form a bag shape (step S15). Finally, the wire fasteners 208 shown in FIG. 1 are attached (step S16). This completes the creation of the exterior 201. In this way, by executing steps S11 to S16, the exterior 201 can be created.

[0025] Next, the created exterior 201 is attached to the main body 207. First, the fastener 208 shown in FIG. 1 is opened, and the exterior 201 is turned inside out so that the outer bristles 203 are on the inside (step S17). This allows the protrusion 202b (FIG. 6) of the decorative component 202 protruding from the lining 252 and the engagement plate 260 (FIG. 4) sewn to the lining 252 to be easily seen. Next, the portion of the exterior 201 to which the decorative component 202 is attached is turned inside out, and each of the two protrusions 202b protruding from the lining 252 is inserted into the corresponding insertion holes 242 shown in FIG. 3 (step S18). This allows the protrusions 202b protruding from the exterior 201 to be aligned with the insertion holes 242 formed in the head 204, allowing for rough positioning of the exterior 201 and the main body 207. Furthermore, by inserting the protruding protrusion 202b into the insertion hole 242, the exterior casing 201 can be locked to the main body 207 while still positioned, preventing misalignment between them. Note that the protrusion 202b becomes invisible when the exterior 201 is turned inside out. However, because the protrusion 202b is an extension of the decorative portion 202a, the position of the protrusion 202b can be recognized if the decorative portion 202a on the front side is visible. Therefore, even when the exterior casing 201 is turned inside out, it is easy to insert the protrusion 202b into the insertion hole 242.

[0026] Next, an engaging plate 260 (the engaging plate 260 arranged directly above the ornament 202 in FIG. 2) serving as a first engaging portion provided near the decorative component 202 is engaged with a convex component 241 serving as a first engaged portion provided on the head component 204 (step S19). To engage the engaging plate 260 with the convex component 241, first, the engaging plate 260 is caused to climb over the head component 241a, which is the large diameter portion, while being pressed against the head component 241a through a round hole 260a formed in the engaging plate 260. Next, as shown in FIG. 5(b), the round hole 260a is fitted into the spacer component 241b, which is the small diameter portion, thereby engaging the engaging plate 260 with the convex component 241.

[0027] Next, while turning the inverted exterior sheath 201 inside out, the main body 207 is successively covered with the exterior sheath 201 from the front to the rear (step S20). Subsequently, an engaging plate 260 serving as a second engaging portion provided at the rear end of the exterior sheath 201 shown in FIG. 2 is engaged with a convex part 241 serving as a second engaged portion provided at the rear end of the trunk 206 (step S21). Next, the entire main body 207 is covered with the exterior sheath 201, and finally, the wire fastener 208 is closed (step S22). In this manner, by performing steps S17 to S22, the exterior sheath 201 is attached to the main body 207, and the robot 200 is manufactured.

[0028] As described above, since the exterior 201 is made of cloth, dirt gradually accumulates as the robot 200 is used. Therefore, in order to wash the exterior 201, the exterior 201 is removed and attached. Note that the method for removing the exterior 201 is to follow the reverse procedure of the procedure for attaching the exterior 201 described above. Then, by attaching the washed exterior 201 to the main body 207 according to the above procedure, the clean robot 200 can be used.

[0029] According to the above embodiment, the engagement plate 260 serving as the engagement portion is provided on the inside of the exterior casing 201. This prevents the engagement plate 260 from being visible to the user, and does not impair the design of the robot 200. Furthermore, the engagement plate 260 is not sewn to the outer fabric 251, but is sewn only to the lining 252. Therefore, the thread 254 used to sew the engagement plate 260 does not appear on the surface of the robot 200, and does not impair the design of the robot. This makes it possible to realize a robot with improved design compared to conventional robots.

[0030] Additionally, an engaging plate 260 serving as a first engaging portion is provided at a position corresponding to the decorative component 202. Here, "provided at a corresponding position" means, for example, that the engaging plate 260 is provided in a one-to-one relationship with the decorative component 202 and in the vicinity of the decorative component 202. By providing the engaging plate 260 in this manner, the position of the decorative component 202 can be ascertained simply by visually checking the position of the decorative component 202, without visually checking the engaging plate 260 serving as the first engaging portion. This allows the first engaging portion to smoothly engage with the first engaged portion. This facilitates the installation of the exterior cladding 201.

[0031] Furthermore, decorative part 202 has decorative portion 202a that resembles the eyes of a small animal. This not only facilitates engagement between the first engaging portion and the first engaged portion, but also enhances the design of robot 200 by providing decoration.

[0032] Furthermore, since the elastic engagement plate 260 deforms in the same manner without resisting deformation of the exterior sheath 201, it is possible to prevent excessive force from being applied to the attachment means of the engagement plate 260 (in this embodiment, the thread 254 shown in Figure 4), thereby preventing damage to the exterior sheath 201 or damage to the attachment means that causes the engagement plate 260 to come off the exterior sheath 201.

[0033] Furthermore, since the thickness t of the engagement plate 260 is set to 0.5 mm, no large step that could cause problems is created between the engagement plate 260 and the lining 252 when sewing them together with a sewing machine. Furthermore, since the engagement plate 260 is formed in a flat plate shape and has no irregularities, sewing to the engagement plate 260 can be performed directly from above the engagement plate 260 using a sewing machine. This improves work efficiency. Furthermore, sewing precision and sewing strength can be made uniform, thereby improving quality. Furthermore, since there is no need to previously form holes in the engagement plate 260 for threading when sewing, the engagement plate 260 can be simplified in structure, thereby reducing manufacturing costs.

[0034] Furthermore, the engagement plate 260 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.

[0035] Furthermore, when engaging the engagement plate 260 with the convex part 241, the large-diameter head 241a is passed through the round hole 260a of the engagement plate 260, and the round hole 260a of the engagement plate 260 is fitted tightly into the spacer part 241b. This allows the engagement plate 260 and the convex part 241 to be firmly engaged, preventing problems such as the exterior 201 coming off while the robot 200 is operating.

[0036] Furthermore, protrusion 202b protrudes from the inside of exterior 201 to which decorative component 202 is fixed. Head 204 is also provided with insertion hole 242, through which protrusion 202b of decorative component 202 can be easily inserted and removed. As a result, by inserting protrusion 202b into insertion hole 242, protrusion 202b protruding from exterior 201 can be aligned with insertion hole 242 formed in head 204, allowing for rough positioning of exterior 201 and main body 207. Furthermore, by inserting protruding protrusion 202b into insertion hole 242, exterior 201 and main body 207 can be locked together after they have been positioned, preventing misalignment between them during the installation of exterior 201.

[0037] Furthermore, the exterior 201 can be locked to the main body 207 by the simple operation of passing the head 241a, which is the large diameter portion of the convex part 241, through the round hole 260a of the engagement plate 260 sewn to the inside of the exterior 201. Therefore, the work of attaching and detaching the exterior 201 can be easily performed.

[0038] This 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 casing 201 are formed by punching out the engaging plate 260 made of polyamide 6 (PA6) into a circular shape. However, the material and shape of the engaging portion can be selected arbitrarily. For example, it may be made of a synthetic resin such as polycarbonate. Alternatively, it may be made of a cloth made of a chemical fiber such as polyester cut into a circle, or a cloth made of a natural fiber such as cotton or wool, or a rubber sheet material. Furthermore, the shape of the engaging portion may be any shape as long as it is flat, and it may also be a rectangular plate such as a triangular plate or a square plate.

[0039] Furthermore, although the stitching positions of the engagement plate 260 on the exterior casing 201 have been described as being along two parallel lines L1 and L2 as shown in Fig. 5, other stitching positions may also be used. For example, in addition to lines L1 and L2, a line perpendicular to lines L1 and L2 may be added as a stitching position. Note that the added line, like lines L1 and L2, is set at a position that avoids the circular holes 260a of the engagement plate 260. Alternatively, stitching positions may be provided circumferentially along the outer shape of the disk-shaped engagement plate 260.

[0040] Furthermore, the method of attaching the engagement plate 260 to the exterior 201 is not limited to sewing with a sewing machine. For example, the engagement plate 260 may be sewn by hand, or the engagement plate 260 may be adhered by applying adhesive to the periphery of the round hole 260a. When sewing the engagement plate 260 by hand, it is sufficient to form a hole in the engagement plate 260 in advance for passing a needle through. This makes it easy to perform the sewing work by hand.

[0041] Furthermore, although the thickness t of the engagement plate 260 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 described above, if the engagement plate 260 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 engagement plate formed so that the thickness varies depending on the location may be used.

[0042] Furthermore, although the spacer portion 241b of the convex part 241 has been described as being a part that is molded integrally with the convex part 241, it may also be a separate part from the convex part. This makes it possible to easily change the amount of protrusion of the convex part from the main body by preparing a plurality of spacer portions with different heights, and to attach the convex part in a manner suitable for the robot to which it is applied.

[0043] Furthermore, the convex part 241 serving as the engaged part is attached to the main body 207 by threading the male thread formed on the part into the female thread of the main body 207, but the attachment method is not limited to this. For example, the convex part can be integrally molded with the main body. This eliminates the need to attach the convex part to the main body.

[0044] Additionally, it has been explained that the diameter of insertion hole 242, into which protrusion 202b of decorative part 202 modeled after the eye of a small animal is inserted, is formed to be the same as or slightly larger than the diameter of protrusion 202b, thereby enabling protrusion 202b to be easily inserted and removed. However, the diameter of insertion hole 242 may be set to be slightly smaller than the diameter of protrusion 202b, or to become gradually (or stepwise) smaller the deeper into insertion hole 242. In this way, protrusion 202b can be press-fitted into insertion hole 242 to engage with the two, and exterior 201 can be locked to main body part 207 at the attachment point of decorative part 202.

[0045] Furthermore, two convex parts 241 that engage with the engagement plates 260 are provided on each of the head 204 and the body 206, but the number and locations of these engagement parts can be determined as desired depending on the robot to which it is applied. For example, if the exterior 201 and the head 204 can be sufficiently locked together by engaging the decorative part 202 with the insertion hole 242, then the engagement plates 260 corresponding to the convex parts 241 provided on the head 204 can be omitted. On the other hand, if the robot is applied to a large robot, more convex parts 241 and corresponding engagement plates 260 may be provided.

[0046] Furthermore, although the robot 200 has been described as simulating a small animal, the robot may be simulating any animal. For example, the robot may be simulating a large animal such as a rhinoceros. In this case, the decorative part may be simulating a rhinoceros horn.

[0047] Furthermore, the exterior 201 is not limited to a form that covers the entire main body 207, but may be a form that covers only a part of the main body 207. Furthermore, although the description has been given of the exterior 201 imitating the fur of a small animal, the exterior can be anything. For example, the exterior may be an imitation of clothing that is attached to a robot, or a banner displaying an advertisement.

[0048] Furthermore, although the outer fabric 251 and the lining 252 have been described as being sewn together using thread 253, they may be integrated together by other methods. For example, the outer fabric 251 and the lining 252 may be bonded together using an adhesive.

[0049] Furthermore, the means for fastening the exterior 201 to the main body 207 is realized by inserting a convex part, which is an engaged part provided on the main body 207, into a round hole formed in an engaging part provided on the exterior 201. However, other methods may be used for fastening the exterior 201 to the main body 207. For example, a hook with a curved tip may be attached to one of the exterior or the main body, and a loop made of a looped string may be attached to the other. The exterior is then fastened to the main body by hooking the hook onto the loop. Alternatively, the hook part of a hook-and-loop fastener may be attached to one of the exterior or the main body, and the loop part of the hook-and-loop fastener may be attached to the other. The exterior is then fastened to the main body by attaching the hook part to the loop part.

[0050] The present invention allows for various embodiments and modifications without departing from the broad spirit and scope of the present invention. Furthermore, the above-described embodiments are intended to illustrate 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. The invention as originally described in the claims of this application is set forth below.

[0051] (Addendum) (Appendix 1) The exterior and a decorative portion that decorates the exterior and is provided in an exposed state outside the exterior; a first engagement portion provided on the inside of the exterior so as to correspond to the decorative portion; a main body covered by the exterior; a first engaged portion provided on the main body portion and engaging with the first engaging portion to lock the exterior to the main body portion; A robot equipped with:

[0052] (Appendix 2) The decorative portion is an eye portion simulating an eye, the main body includes a trunk portion that is placed on a placement surface via the exterior, and a head portion that is movably connected to the trunk portion, the first engaged portion is provided on the head portion of the main body portion, and engages with the first engaging portion to lock the exterior to the head portion; a second engagement portion provided on the inside of the exterior; a second engaged portion provided at a portion of the body portion of the main body other than the portion connected to the head, and engaging with the second engaging portion to lock the exterior to the body portion, 1. A robot as described in Appendix 1.

[0053] (Appendix 3) At least one of the first and second engaging portions is provided with an engaging portion made of a plate-like member having a fitting hole formed therein that fits into the first engaged portion, and the periphery of the fitting hole of the engaging portion is sewn to the inside of the exterior, At least one of the first and second engaged portions corresponding to at least one of the first and second engaging portions is provided on the main body portion so as to protrude, and the protruding portion has a small diameter portion that fits into the fitting hole, and a large diameter portion that is passed through the fitting hole and has a diameter larger than that of the small diameter portion. 1. A robot as described in Appendix 2.

[0054] (Appendix 4) The first engagement portion includes a protrusion extending from the decorative portion, penetrating the exterior and protruding from the inside of the exterior, The first engaged portion is provided with an insertion hole formed in the main body portion, into which the protrusion is inserted and engaged. 4. The robot according to claim 1.

[0055] (Appendix 5) A method for manufacturing the robot according to claim 2, forming the second engaging portion from resin in a flat plate shape with a predetermined thickness and having a fitting hole that fits into the convex second engaged portion; a step of sewing the formed second engagement portion to the lining of the sheet-like exterior by piercing a needle of a sewing machine through a portion of the second engagement portion other than the fitting hole; a step of joining together a lining of the exterior, to which the second engagement portion is sewn and to which the first engagement portion is provided, and a sheet-like outer fabric of the exterior, to which the mesh portion is provided; a step of exposing the inner lining of the exterior, and then covering the head and the body with the exterior while exposing the outer lining of the exterior in a state in which the first engaging portion is engaged with the first engaged portion of the head; a step of engaging the second engaged portion provided on the body portion with the fitting hole of the second engaging portion by fitting the second engaged portion with the fitting hole of the second engaging portion in a state in which the head portion and the body portion are covered with the exterior; A method for manufacturing a robot, comprising: [Explanation of symbols]

[0056] 101: Placement surface; 102, 103: Shaft; 200: Robot; 201: Exterior; 201a: Through-hole; 202: Decorative part; 202a: Decorative part; 202b: Protruding part; 203: Bristles; 204: Head; 205: Connecting part; 206: Body part; 207: Main body part; 207a: Insertion hole; 208: Wire fastener; 208a: Slider; 209: Washer, 209a...claw portion, 221...motor, 222...up / down motor, 241...convex part, 241a...head, 241b...spacer portion, 241c...shaft portion, 241d...plus groove, 241e...lower end, 242...insertion hole, 251...surface, 252...lining, 253, 254...thread, 260...engagement plate, 260a...round hole, L1, L2...lines

Claims

1. The exterior and a decorative portion that decorates the exterior and is provided in an exposed state outside the exterior; a first engaging portion provided at a position substantially coinciding with the position of the decorative portion; a main body covered by the exterior; a first engaged portion provided on the main body portion and engaging with the first engaging portion to lock the exterior to the main body portion; Equipped with the main body includes a trunk portion that is placed on a placement surface via the exterior, and a head portion that is movably connected to the trunk portion, the first engaged portion is provided on the head portion of the main body portion and engages with the first engaging portion to lock the exterior to the head portion; a second engaging portion provided on the exterior; a second engaged portion that engages with the second engaging portion to lock the exterior to the body portion; A robot further equipped with:

2. At least one of the first and second engaging portions is provided with an engaging portion made of a plate-like member having a fitting hole formed therein that fits into the first engaged portion, and the periphery of the fitting hole of the engaging portion is sewn to the inside of the exterior, a convex part provided on the main body portion as at least one of the first and second engaged parts corresponding to at least one of the first and second engaging parts, the convex part having a small diameter part that fits into the fitting hole and a large diameter part that is passed through the fitting hole and has a diameter larger than that of the small diameter part, The robot of claim 1 .

3. The first engagement portion includes a protrusion extending from the decorative portion, penetrating the exterior and protruding from the inside of the exterior, The first engaged portion includes an insertion hole formed in the main body portion, into which the protrusion is inserted and engaged. The robot according to claim 1

4. The decorative portion is an eye portion simulating an eye. The robot according to any one of claims 1 to 3.

Images