robot

Abstract

To reduce a load on a drive part caused by an exterior cladding.SOLUTION: Convex components 241A are provided on a head part 204 of a robot 200. In addition, convex components 241B are provided on a drum part 206. Engagement plates 260A and engagement plates 260B provided in an exterior cladding 201 engage with the corresponding convex components 241A and the corresponding convex components 241B respectively, and thereby the exterior cladding 201 of the robot 200 is fixed to a housing part 207. Each of the convex components 241A and each of the convex components 241B are provided on each of side surfaces of the head part 204 and each of side surfaces of the body part 206, the side surfaces being surfaces substantially perpendicular to an axis 102 around which the head part 204 can rotate with respect to the body part 206.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to robot .

Background Art

[0002] In order to make a robot a familiar presence like a pet, for example, Patent Document 1 discloses a robot provided with an exterior covering a housing portion. Further, in a robot imitating a living creature such as a dog or a cat, in order to make it look like a real living creature, the housing portion is covered with a stretchable exterior.

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, a plurality of attachment portions provided at different positions are provided on the housing portion, and the exterior is fixed to the housing portion by the plurality of attachment portions. Here, when a stretchable exterior is fixed to the housing portion by such a plurality of attachment portions, depending on the movement of the robot, the exterior is pulled between one attachment portion and the other attachment portion. Therefore, there is a problem that the tension of the exterior inhibits the movement of the robot and the load on a drive unit such as a motor increases.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide robot which can reduce the load on the drive unit caused by the exterior.

Means for Solving the Problems

[0006] The robot according to the present invention is a robot having a biological appearance, comprising an outer casing formed in the shape of a bag, and a housing portion housed inside the outer casing, wherein the housing portion comprises a first housing portion corresponding to the head and a second housing portion corresponding to the torso, wherein the first housing portion is connected to the second housing portion in the front-rear direction and the first housing portion is connected to the second housing portion so as to be rotatable in the up-down direction, and the outer casing comprises both sides of the first housing portion in the left-right direction 1 Engagement position and a predetermined second engagement position in the second housing portion , or the left and right sides of the second housing portion 1 Engagement position and a predetermined second engagement position in the first housing portion It is engaged with the housing portion by a predetermined engagement structure, At the first engagement position The aforementioned predetermined engagement structure comprises a flat plate with a round hole and a screw member into which a screw shaft is inserted through the round hole in a screw hole provided in the housing, and the flat plate is sewn to the exterior such that the stitching lines are a pair of parallel straight lines and the round hole is located between the stitching lines. [Effects of the Invention]

[0007] According to the present invention, the load on the drive unit caused by the exterior can be reduced. [Brief explanation of the drawing]

[0008] [Figure 1] This is a perspective view of a robot according to an embodiment of the present invention. [Figure 2] This is a cross-sectional view perpendicular to the left-right direction of a robot according to an embodiment of the present invention. [Figure 3] This is a cross-sectional view perpendicular to the vertical direction of a robot according to an embodiment of the present invention. [Figure 4] This is a partial cross-sectional view taken along the dashed line XX' in Figure 2. [Figure 5] This is a perspective view illustrating the housing portion of a robot according to an embodiment of the present invention. [Figure 6] This is an enlarged view of section "VI" in Figure 3. [Figure 7]This figure shows an engagement plate and a convex part according to an embodiment of the present invention, where (a) is a perspective view of the engagement plate and the convex part in a state where they are not engaged with each other, and (b) is a perspective view of the engagement plate and the convex part in a state where they are engaged with each other. [Figure 8] These figures illustrate the effects of a robot according to an embodiment of the present invention. (a) is a cross-sectional view of a robot in which a convex part is provided at a different position than the robot according to an embodiment of the present invention, and (b) is a cross-sectional view of the robot shown in (a) when its head is rotated downwards. [Figure 9] This figure illustrates the effects of a robot according to an embodiment of the present invention; (a) is a cross-sectional view of the robot, and (b) is a cross-sectional view when the head of the robot is rotated downwards. [Figure 10] These figures illustrate the effects of a robot according to an embodiment of the present invention. (a) and (b) show the lengths of the exterior of a conventional robot's head before and after rotation, while (c) and (d) show the lengths of the exterior of a robot according to an embodiment of the present invention before and after rotation. [Figure 11] This diagram illustrates the mechanism by which the rotation of the engagement plate mitigates the stretching of the exterior. (a) is a cross-sectional view showing a robot according to an embodiment of the present invention in its initial state, (b) is a cross-sectional view showing the robot's head rotated assuming the engagement plate does not rotate, and (c) is a cross-sectional view showing the robot's head rotated according to an embodiment of the present invention. [Figure 12] This is a cross-sectional view perpendicular to the left-right direction of a modified robot according to the present invention. [Figure 13] This is a cross-sectional view perpendicular to the left-right direction of a modified robot according to the present invention. [Figure 14] This is a perspective view illustrating the housing portion of a robot according to a modified example of the present invention. [Modes for carrying out the invention]

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. For the sake of easier understanding of the embodiments, the front, back, left, and right directions in Figure 1 will be referenced as appropriate.

[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 having a decorative part 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 constitutes the face portion of the small animal. As shown in FIGS. 2 and 3, the robot 200 has a housing portion 207 and an exterior 201 that covers the housing portion 207. In FIGS. 2 and 3, for the sake of clarity of the drawing, the hatching is omitted.

[0011] As shown in FIGS. 2 and 3, the housing portion 207 has a head portion 204 as a first housing portion, a body portion 206 as a second housing portion provided behind the head portion 204, and a connecting portion 205 that connects the head portion 204 and the body portion 206. The housing portion 207 is made of, for example, synthetic resin and is colored in a light pink color so as not to give the user a mechanical impression.

[0012] As shown in FIG. 2, the connecting portion 205 that constitutes a part of the housing portion 207 connects the rear end portion of the head portion 204 and the front end portion of the body portion 206. A motor 222 as a drive portion of the robot 200 is provided in the connecting portion 205. As shown in FIG. 2, the motor 222 rotates the head portion 204 in the direction indicated by the arrow Y1 about a virtual axis 102 as a first rotation axis extending in the direction (depth direction) penetrating the figure. By operating the head portion 204 in this way, the robot 200 modeled after the small animal shown in FIG. 1 can be made to perform an operation as if it is nodding 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 be operated by the rotation of the motor 222.

[0013] Here, the connection structure between the head 204 and the connecting portion 205 will be described using FIG. 4. FIG. 4 is a partial cross-sectional view when the robot 200 is cut along the dashed line XX' in FIG. 2. The motor 222 is housed within the case 2051 of the connecting portion 205. The motor 222 has a coil 2221 and a drive shaft 2222 arranged concentrically with the shaft 102. The left and right end portions of the drive shaft 2222 are respectively exposed to the outside of the left and right sides of the connecting portion 205 through the left and right holes provided in the left and right side walls of the case 2051, and are integrally attached to the disc-shaped horns 2223. The left and right horns 2223 are respectively fixed to the left and right side walls of the case 2041 of the head 204 by four screws 2042, and each screw 2042 extends in the axial direction (i.e., the left and right direction) of the drive shaft 2222.

[0014] Also, ring-shaped rubbers 2043 are respectively provided at portions of the left and right side walls of the case 2041 through which the screws 2042 penetrate. The screws 2042 are inserted into the central through-holes of the rubbers 2043, and the heads of the screws 2042 contact the edges of the through-holes of the rubbers 2043 from the outside. When the motor 222 is driven and the drive shaft 2222 rotates, the case 2041 (head 204) fixed by the screws 2042 can be rotated via the horns 2223. Here, even when an external force is applied to the head 204 in a direction substantially orthogonal to the drive shaft 2222, the impact caused by this external force can be absorbed by the rubber 2043, preventing damage to the motor 222. Note that instead of the rubber 2043, a material such as a resin with high shock absorbency may be used.

[0015] The head 204, which constitutes part of the housing 207, is the part corresponding to the head of the robot 200, which is modeled after a small animal. As shown in Figures 2, 3, and 5, on the left and right sides of the head 204, at positions within a specific range from the axis 102 (for example, within 3 centimeters from the axis 102), a convex part 241A is attached as a first engaged part that engages with a first engaging part (engaging plate 260A) provided on the outer casing 201. The left and right sides of the head 204 are surfaces that are substantially perpendicular to the axis 102, from which the head 204 can rotate relative to the body 206. By engaging the first engaging part (engaging plate 260A) provided on the outer casing 201 with the first engaged part (convex part 241A) attached to the head 204, the outer casing 201 can be locked to the housing 207, and consequently, the outer casing 201 can be moved in accordance with the operation of the housing 207. Details of these first engaging part and first engaged part will be described later.

[0016] The body portion 206, which constitutes part of the housing portion 207, has a shape like a rectangular parallelepiped that is long in the front-to-back direction, and as shown in Figure 2, it is placed on a mounting surface 101 such as a floor or table via the outer casing 201. As shown in Figures 2, 3, and 5, the left and right sides of the body portion 206 are each provided with convex parts 241B as second engaging parts, similar to those provided on the head portion 204. The left and right sides of the body portion 206 to which the convex parts 241B are attached are surfaces that are substantially perpendicular to the axis 102 on which the body portion 206 can rotate relative to the head portion 204. Similar to the first engaging part, the convex part 241B as the second engaging part engages with a second engaging part (engaging plate 260B) provided on the outer casing 201. The configuration of these second engaging portion (engaging plate 260B) and second engaged portion (convex part 241B) is the same as the configuration of the first engaging portion (engaging plate 260A) and first engaged portion (convex part 241A) described above. In the following description, the first engaging portion (engaging plate 260A) and the second engaging portion (engaging plate 260B) will be collectively referred to simply as the engaging portion (engaging plate 260). Similarly, the first engaged portion (convex part 241A) and the second engaged portion (convex part 241B) will be collectively referred to simply as the engaged portion (convex part 241).

[0017] As shown in Figures 1 and 2, the exterior 201 is elongated in the front-to-back direction and has a stretchable, bag-like shape that can accommodate the housing 207 inside. As shown in Figure 6, the exterior 201 is formed by overlapping a sheet-like outer fabric 251 and a lining 252 and sewing them together at multiple points using thread 253. By sewing the outer fabric 251 and the lining 252 together at multiple points using thread 253 in this way, it is possible to handle them as a single unit without causing any shifting between the outer fabric 251 and the lining 252. It is desirable that the sewing points between the outer fabric 251 and the lining 252 be located at places other than between the engaging plates 260A and 260B. This is because if sewing points are located between the engaging plates 260A and 260B, the stretching of the exterior 201 due to the rotation of the head 204 will increase, which may increase the load on the motor 222. As shown in Figures 1-3, the outer fabric 251 is made of an artificial pile fabric that mimics the fur 203 of a small animal. This makes the texture of the robot 200 similar to that of a small animal. Note that in Figure 6, the illustration of the fur 203 shown in Figures 1-3 is omitted to avoid complicating the drawing. The lining 252 is made of a woven fabric made of synthetic fibers. Alternatively, the lining 252 may be made of natural leather, artificial leather, a sheet material made of synthetic resin, a sheet material made of rubber, or a fabric made of natural fibers. Also, as shown in Figures 2 and 3, engaging plates 260A and 260B are provided on the inside of the outer casing 201 as engaging parts. The engaging plates 260A and 260B engage with the corresponding convex parts 241A and 241B, thereby locking (fixing) the outer casing 201 to the housing 207.

[0018] As shown in Figure 1, a wire fastener 208 is attached to the rear of the outer casing 201. With the housing unit 207 (Figure 2) housed inside the outer casing 201, sliding the slider 208a of the wire fastener 208 closes the wire fastener 208, thus maintaining the housing unit 207 (Figure 2) housed inside the outer casing 201. On the other hand, sliding the slider 208a opens the wire fastener 208, allowing the housing unit 207 (Figure 2) to be inserted into and removed from the outer casing 201.

[0019] As shown in Figures 2 and 3, the exterior 201 moves in response to the movement of the housing 207 caused by the drive of the motor 222, making the robot 200, which imitates a small animal, move as if it were alive. To achieve this, the exterior 201 is properly locked to the housing 207 using the first and second engaging parts and the first and second engaged parts, so that the exterior 201 follows the movement of the housing 207.

[0020] Next, the configuration for locking the outer casing 201 to the housing portion 207 housed inside the outer casing 201 will be described in detail. As shown in Figure 3, the four convex parts 241 (241A, 241B) provided on the housing portion 207 all have the same configuration, and the four engaging plates 260 (260A, 260B) provided on the outer casing 201 all have the same configuration. Therefore, the configuration of the convex parts 241 and engaging plates 260 in section "VI" of Figure 3 will be described below.

[0021] As shown in Figure 6, an engagement plate 260, which serves as a second engagement part, is sewn to the inside of the outer casing 201. The engagement plate 260 is made of polyamide 6 (PA6), for example, with a thickness t=0.5 mm, and is formed into a disc shape as shown in Figure 7(a). The diameter of the engagement plate 260 is, for example, 16 mm. In addition, a round hole 260a is formed in the center of the engagement plate 260 as a fitting hole through which a convex part 241 is inserted and fitted. As shown in Figure 6, this engagement plate 260 is sewn only to the lining 252 of the outer casing 201 using thread 254, and not 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, since the engaging plate 260 is a disc shape without any steps and the thickness t of the engaging plate 260 is 0.5 mm, there is no large step between the engaging plate 260 and the lining 252 that would cause problems when sewing the engaging plate 260 to the lining 252 with a sewing machine. For this reason, the engaging plate 260 is sewn on using a sewing machine, taking into consideration the ease of the work. The engaging plate 260 is sewn to the lining 252 along two parallel straight lines L1 and L2 that straddle the round hole 260a, as shown in Figures 7(a) and (b). As described above, by making the diameter of the engaging plate 260 16 mm, it is possible to secure a sewing distance sufficient to ensure the sewing strength of the engaging plate 260. Here, the sewing distance is the length of the part to which the engaging plate 260 is sewn with thread 254, that is, the sum of the lengths of lines L1 and L2.

[0022] As shown in Figure 6, a convex part 241 is attached to the side of the body portion 206, which constitutes part of the housing portion 207, as a second engaged portion that engages with the engaging plate 260. As shown in Figure 7(a), the convex part 241 has a threaded portion 241a with a Phillips groove 241d, a cylindrical spacer portion 241b, and a shaft portion 241c with a male thread. Also, as shown in Figure 6, an insertion hole 207a with a female thread that the male thread of the shaft portion 241c screws into is formed on the side of the body portion 206 in a direction perpendicular to the side. The threaded portion 241a is the large-diameter portion, having the largest diameter among the convex part 241. The spacer portion 241b, sandwiched between the threaded portion 241a and the shaft portion 241c, is a small-diameter portion with a smaller diameter than the threaded portion 241a, and its diameter is larger than the diameter of the insertion hole 207a. Therefore, as the convex part 241 is tightened into the insertion hole 207a with a screwdriver, the lower end 241e of the spacer portion 241b shown in Figure 7(a) will eventually come into contact with the body portion 206, and further tightening will not be 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 comes into contact with the body portion 206. Here, as mentioned above, the convex part 241 is attached to the side of the body portion 206 by screwing the shaft portion 241c into the insertion hole 207a formed perpendicular to the side surface of the body portion 206. Therefore, the longitudinal direction of the convex part 241 is perpendicular to the side surface of the body portion 206, that is, approximately parallel to the shaft 102 (Figures 2, 3, 5). As shown in Figure 6, the installed convex part 241 protrudes from the body part 206 by a height equal to the sum of the height of the threaded portion 241a and the height of the spacer portion 241b. The threaded portion 241a has a bulge shape, as shown in Figures 6 and 7(b), with the smallest diameter at both ends in the longitudinal direction of the convex part 241 and the largest diameter in the central part in the longitudinal direction. The maximum diameter of the threaded portion 241a is, for example, about 0.5 mm larger than the diameter of the spacer portion 241b. Also, the diameter of the portion of the threaded portion 241a that connects to the spacer portion 241b is equal to the diameter of the cylindrical spacer portion 241b.

[0023] The diameter of the circular hole 260a formed in the engagement plate 260 is, for example, about 0.2 mm smaller than the diameter of the spacer portion 241b of the convex part 241. When engaging the engagement plate 260 with the convex part 241, first, as shown by arrow Y2 in Figure 7(a), the engagement plate 260 is brought close to the convex part 241. Next, the circular hole 260a formed in the engagement plate 260 is pressed against the threaded portion 241a, allowing the larger diameter threaded portion 241a to move over the circular hole 260a. Then, as shown in Figure 7(b), the circular hole 260a is fitted into the smaller diameter spacer portion 241b. Since the engagement plate 260 is made of a material with some elasticity, the circular hole 260a can move over the larger diameter threaded portion 241a. As shown in Figures 6 and 7(b), the round hole 260a of the engaging plate 260, which has overcome the threaded portion 241a, fits into the spacer portion 241b, which has a larger diameter than the round hole 260a. This completes the process of engaging the engaging plate 260 with the convex component 241. In this way, the round hole 260a of the engaging plate 260 is fitted snugly with the spacer portion 241b of the convex component 241, and the larger diameter threaded portion 241a is positioned above it. Therefore, the engagement between the engaging plate 260 and the convex component 241 is made strong, and the engagement between the engaging plate 260 and the convex component 241 will not be easily released unless there is a clear intention to release the engagement by removing the engaging plate 260 and the convex component 241.

[0024] Furthermore, the surface of the spacer portion 241b of the convex part 241 is polished and smooth. Therefore, the engaging plate 260 can rotate in the direction shown in Y3 (Figure 2) around the convex part 241, whose longitudinal direction is approximately parallel to the axis 102, while maintaining its engagement with the convex part 241.

[0025] As shown in Figure 3, two of these convex parts 241 are provided on the head 204 of the housing 207 as first engaging parts (convex parts 241A), and two are provided on the body 206 as second engaging parts (convex parts 241B). Engagement plates 260A and B are sewn onto the outer casing 201 covering the housing 207 at positions corresponding to each of the convex parts 241A and B, as shown in Figures 2 and 3. That is, the outer casing 201 and the housing 207 are attached, for example, at a total of four locations using the engagement plates 260A and B and the convex parts 241A and B. By attaching the outer casing 201 at multiple locations in this way, the outer casing 201 can follow the movement of the housing 207, allowing the robot 200, which mimics a small animal, to perform movements that appear almost lifelike. Note that the attachment points between the outer casing 201 and the housing 207 are not limited to four locations, but are arbitrary within the scope of the present invention.

[0026] (effect) Next, the effects of the present invention will be explained. Unlike the robot 200 shown in Figure 2 and other figures relating to the embodiments of the present invention described above, the robot 2000 shown in Figure 8 has a convex part 241A on the front of the head 204 and a convex part 241B on the rear upper surface of the torso 206. Furthermore, engagement plates 260A and B are sewn onto the outer casing 201 that covers the housing 207 of the robot 2000 at positions corresponding to the convex parts 241A and B, and the outer casing 201 is attached to the housing 207 by the engagement of the corresponding convex parts 241A and B with the engagement plates 260A and B. Note that in Figure 8, in order to avoid complicating the diagram, the entire outer casing 201 is not shown, and the outer casing 201 between engagement plate 260A and engagement plate 260B is represented by a dotted line. The robot 2000 has the same configuration as the robot 200 relating to the embodiments of the present invention, except that the positions of the convex parts 241 and engagement plates 260 are different.

[0027] Now, consider the case where the head 204 of the robot 2000 rotates downward from the state shown in Figure 8(a) to the state shown in Figure 8(b). In this case, the outer casing 201 attached to the engagement plate 260A of the head 204 is wrapped downward along the head 204. As a result, the outer casing 201 between the engagement plate 260A and the engagement plate 260B, shown by the dotted line, becomes much longer compared to the state shown in Figure 8(a), and it can be seen that the outer casing 201 is greatly stretched. Therefore, in the state shown in Figure 8(b), a large tension is generated in the outer casing 201, and this tension becomes a load on the motor 222, hindering the movement of the robot 2000.

[0028] In contrast, in the robot 200 according to an embodiment of the present invention, as shown in Figure 9(a), convex parts 241A and 241B are provided on the sides of the head 204 and the body 206, respectively, and the outer casing 201 (not shown) is fixed to the housing 207 by the engagement of the corresponding engagement plates 260A and 260B. Therefore, as shown in Figure 9(b), even if the head 204 of the robot 200 rotates in the same way, the elongation of the outer casing 201 between the engagement plate 260A and the engagement plate 260B, shown by the dotted line, is significantly less compared to the robot 2000 shown in Figures 8(a) and (b).

[0029] Furthermore, when the head 204 rotates relative to the body 206 from the state shown in Figure 9(a) to the state shown in Figure 9(b), the outer casing 201 is pulled between the engaging plates 260A and 260B. As a result, the engaging plate 260A rotates clockwise around the convex part 241A, and the engaging plate 260B rotates counterclockwise around the convex part 241B. Therefore, the rotation of the engaging plates 260A and B can alleviate the stretching of the outer casing 201 sewn to the engaging plates 260A and B. Consequently, even when the robot 200 changes from the state shown in Figure 9(a) to the state shown in Figure 9(b), no large tension is generated in the outer casing 201, and the tension in the outer casing 201 does not become a load on the motor 222 and hinder the movement of the robot 200.

[0030] Here, using Figure 10, we will explain the difference in the amount of elongation of the outer casing 201 due to the rotation of the head 204 in robot 2000 and robot 200. Figure 10(a) shows the length of the outer casing 201 between engagement plate 260A and engagement plate 260B (dotted line in Figure 8(a)) when the head 204 of robot 2000 is not rotating, shown as a straight line. Figure 10(b) shows the length of the outer casing 201 between engagement plate 260A and engagement plate 260B (dotted line in Figure 8(b)) when the head 204 of robot 2000 is rotating, shown as a straight line.

[0031] Figure 10(c) shows the length of the outer casing 201 between engagement plate 260A and engagement plate 260B (dotted line in Figure 9(a)) as a straight line when the head 204 of the robot 200 is not rotating. Figure 10(d) shows the length of the outer casing 201 between engagement plate 260A and engagement plate 260B (dotted line in Figure 9(b)) as a straight line when the head 204 of the robot 200 is rotating.

[0032] The difference in length between the straight line shown in Figure 10(a) and the straight line shown in Figure 10(b) represents the amount by which the outer casing 201 stretches due to the rotation of the robot 2000's head 204. Similarly, the difference between the straight line shown in Figure 10(c) and the straight line shown in Figure 10(d) represents the amount by which the outer casing 201 stretches due to the rotation of the robot 200's head 204.

[0033] Therefore, as is clear from Figure 10, in the robot 200 according to the embodiment of the present invention, the amount by which the outer casing 201 stretches due to the rotation of the head 204 is significantly less compared to the robot 2000, and the load on the motor 222 due to the stretching of the outer casing 201 can be reduced.

[0034] Next, using Figure 11, we will explain in more detail the mechanism by which the rotation of the engaging plate 260 mitigates the stretching of the outer casing 201. Note that in Figure 11, the engaging plate 260A is shown enlarged compared to its actual size for easier understanding. As mentioned above, the outer casing 201 is attached to the engaging plate 260A along two parallel lines L1 and L2. The ends of lines L1 and L2 are designated as the seam points A and B. In Figure 11, the outer casing 201 between the seam points A and B of the engaging plate 260A and the engaging plate 260B is shown by a dotted line, and its reference numeral is omitted.

[0035] Here, we consider the case where the robot's head 204 rotates 90 degrees downward from the initial state shown in Figure 11(a). The initial state refers to the state where the rotation angle of the head 204 relative to the body 206 of the robot 200 is the initial angle (0 degrees), that is, the state in which the head 204 of the robot 200 has not rotated. Unlike in this embodiment, if we assume that the engagement plate 260A is engaged with the convex part 241A in a way that prevents rotation, the state of the robot 200 will be as shown in Figure 11(b). In this state, the seam A moves away from the engagement plate 260B within the engagement plate 260A, so the outer casing 201 stretches considerably between the seam A and the engagement plate 260B, as shown by the dotted line in Figure 11(b).

[0036] In contrast, when the head 204 rotates 90 degrees downward, the engagement plate 260 rotates clockwise (right rotation) around the convex part 241A as shown in Figure 11 (right rotation) due to being pulled by the outer casing 201, so the state of the robot 200 is as shown in Figure 11(c). In this state, compared to Figure 11(b), the stitching point A moves within the engagement plate 260A toward the engagement plate 260B on the body part 206 side. Therefore, compared to the case in Figure 11(b) where the engagement plate 260A does not rotate, the stretching of the outer casing 201 between the stitching point A and the engagement plate 260B is mitigated. That is, the rotation of the engagement plate 260A can suppress the stretching of the outer casing 201, and the load on the motor 222 can be reduced. Note that at stitching point B, there is no difference in the stretching of the outer casing 201 between the state in Figure 11(b) where the engagement plate A does not rotate and the state in Figure 11(c) where it rotates.

[0037] As described above, according to the embodiment, the head portion 204, which is the first housing portion, is provided with a convex part 241A, which is the first engaged portion. The body portion 206, which is the second housing portion, is provided with a convex part 241B, which is the first engaged portion. The engagement plate 260A, which is the first engaged portion, and the engagement plate 260B, which is the second engaged portion, provided on the exterior 201, engage with the corresponding convex parts 241A and 241B, respectively, thereby locking (fixing) the exterior 201 of the robot 200 to the housing portion 207. Here, the head portion 204 is rotatably connected to the body portion 206 about an axis 102, and the convex parts 241A and 241B are provided on the side surfaces of the head portion 204 and the body portion 206, respectively, which are surfaces substantially perpendicular to this axis 102 (Figures 2, 3, and 5). Therefore, even if the head 204 of the robot 200 rotates relative to the body 206 around the axis 102, the length over which the outer casing 201 is pulled between the engaging plate 260A and the engaging plate 260B can be minimized, preventing the tension generated in the outer casing 201 from becoming a load and hindering the movement of the robot 200. In other words, according to the above embodiment, it is possible to reduce the load on the drive unit (motor 222) caused by the outer casing 201 of the robot 200.

[0038] Furthermore, according to the above embodiment, the engaging plates 260 (engaging plates 260A and 260B) are rotatable around the convex part 241, which is a rotation axis substantially parallel to the axis 102, relative to the corresponding convex part 241 (convex part 241A and convex part 241B) (Figure 2). This rotation can mitigate the elongation of the outer casing 201 between the engaging plates 260A and 260B. As a result, the load on the drive unit (motor 222) caused by the outer casing 201 can be further reduced.

[0039] Furthermore, according to the above embodiment, the convex part 241 comprises a spacer portion 241b which is a small diameter portion and a threaded portion 241a which is a large diameter portion, and the engaging plate 260 is rotatable relative to the convex part 241 with the spacer portion 241b fitted into the round hole 260a which is a fitting hole. Therefore, the threaded portion 241a acts as a stopper, preventing the engaging plate 260 from falling off the convex part 241 during rotation.

[0040] Furthermore, according to the above embodiment, the convex part 241A is provided at a position within a specific range from the axis 102 (for example, within the range close to the axis 102 on the side of the head 204). This makes it possible to suppress the relative amount of movement between the convex parts 241A and B as the head 204 rotates relative to the body 206, and to reduce the elongation of the outer casing 201 between the convex parts 241A and B.

[0041] Furthermore, according to the above embodiment, the stitching points between the outer fabric 251 and the lining 252 of the exterior 201 are provided with thread 253, except between the engaging plate 260A and the engaging plate 260B. This suppresses the stretching of the exterior 201 due to the rotation of the head 204 and reduces the load on the drive unit (motor 222).

[0042] (modified version) This invention is not limited to the above embodiments, and various modifications and applications are possible. In the above embodiments, an engaging plate 260, formed by punching a circular shape out of a plate made of polyamide 6 (PA6), was used as the engaging portion (first and second engaging portion) sewn to the exterior 201, but the material and shape of the engaging portion can be arbitrarily selected. For example, it may be made of a synthetic resin such as polycarbonate. Alternatively, a cloth made of chemical fibers such as polyester cut into a circle may be used, or a cloth made of natural fibers such as cotton or wool may be used, or a rubber sheet material may be used. Furthermore, the shape of the engaging portion may be flat, or it may be a rectangular plate shape such as a triangular plate or a square plate. In addition, in the above embodiments, a circular hole 260a, which is a through hole, is provided in the engaging plate 260, but instead of a circular hole 260a, a recess may be provided, and a convex member 261 may engage with the recess.

[0043] Furthermore, as shown in Figure 12, the convex part 241A may be provided on the side of the head 204 on the line segment L3 connecting the convex part 241B and the shaft 102 in the initial state of the robot 200 (when the head 204 is not rotated). In this way, when the head 204 of the robot 200 rotates from its initial state, the outer casing 201 fixed between the convex parts 241A and B will always stretch. Therefore, it is possible to prevent the outer casing 201 from loosening due to the rotation of the head 204, which would worsen the ability of the outer casing 201 to follow the housing 207. Also, as shown in Figure 13, if two convex parts 241B are provided on the side of the body 206, the convex part 241A may be provided at an intermediate position between the line segments L4 and L5 connecting each convex part 241B and the shaft 102, or at a position between the line segments L4 and L5. In this way, even if the head 204 rotates up and down, tension can be applied to the outer casing 201 in a balanced manner.

[0044] In the above embodiment, both the convex part 241A and the convex part 241B were provided on the side of the head 204 and the side of the body 206, which are surfaces substantially perpendicular to the axis 102 (Figures 2, 3, and 5). However, only one of the convex part 241A and the convex part 241B may be provided on the side of the head 204 or the side of the body 206, while the other is provided on a surface other than the side of the head 204 or the body 206. Furthermore, a surface substantially perpendicular to the axis 102 can be defined as, for example, a surface inclined at an angle of 85 to 95 degrees with respect to the axis 102. Even if the surface is not perfectly perpendicular to the axis 102, providing the convex part 241 on a surface that is somewhat perpendicular can reduce the elongation of the exterior 201 when the head 204 rotates around the axis 102.

[0045] Furthermore, if the housing portion 207 is curved, the same effect can be obtained by providing the convex part 241 on the surface of the housing portion 207 where the tangent plane is approximately perpendicular to the axis 102. For example, in the case of a robot having a cylindrical body portion 206 as shown in Figure 14, the convex part 241B is provided on the surface of the body portion 206 where the tangent plane, indicated by the dotted line, is approximately perpendicular to the axis 102.

[0046] Furthermore, in the above embodiment, both the engaging plate 260A and the engaging plate 260B are configured to rotate around an axis substantially parallel to the axis 102 relative to the corresponding convex part 241 (Figure 2). However, the robot 200 may be configured such that only one of the engaging plate 260A and the engaging plate 260B is rotatable around an axis substantially parallel to the axis 102, while the other does not rotate. Here, an axis substantially parallel to the axis 102 can be defined, for example, as an axis inclined within a range of ±45 degrees relative to the axis 102. Even if the axis is not perfectly parallel to the axis 102, if the engaging plate 260 is engaged with the convex part 241 so as to rotate around an axis that is somewhat parallel, it is possible to rotate the engaging plate 260 in a way that reduces the elongation of the outer casing 201 when the head 204 rotates around the axis 102.

[0047] Furthermore, although the stitching positions for the engagement plate 260 to the exterior 201 were described as being on two parallel lines L1 and L2 as shown in Figure 7, other stitching positions are also possible. For example, in addition to lines L1 and L2, lines perpendicular to lines L1 and L2 may be added as stitching positions. The additional line should be set in a position that avoids the circular hole 260a of the engagement plate 260, similar to lines L1 and L2. Alternatively, stitching positions may be provided around the circumference of the disc-shaped engagement plate 260. In addition, the engagement plate 260 may be stitched to the exterior 201 using only one line L1.

[0048] Furthermore, the attachment of 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 adhesive may be applied around the round hole 260a to bond the engagement plate 260. When sewing the engagement plate 260 by hand, a hole for passing the needle through may be formed in the engagement plate 260 beforehand. This makes the sewing process by hand easier.

[0049] Furthermore, although the thickness t of the engagement plate 260 was explained as 0.5 mm, the thickness can be changed as long as it does not cause problems when sewing it on with a sewing machine. Also, as mentioned 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 with varying thicknesses in different places may be used.

[0050] Furthermore, although the spacer portion 241b of the convex part 241 was described as being integrally molded with the convex part 241, it may be a separate part from the convex part 241. By providing multiple spacer portions of different heights, the amount of protrusion of the convex part 241 from the housing portion 207 can be easily changed, and the convex part 241 can be attached in a manner suitable for the robot to which it is applied.

[0051] Furthermore, the convex part 241, which serves as the engaged part, was attached to the housing part 207 by screwing its own male threads into the female threads of the housing part 207, but the method of attachment is not limited to this method. For example, the convex part 241 can be integrally molded with the housing part 207. This eliminates the need to attach the convex part 241 to the housing part 207.

[0052] In the above embodiment, the engagement plate 260 is provided on the exterior 201 and the convex part 241 is provided on the housing, but the engagement plate 260 may be provided on the housing and the convex part 241 on the exterior 201. In this case, the engagement plate 260 becomes the engaged part and the convex part 241 becomes the engaging part.

[0053] Furthermore, although it has been explained that the robot 200 is modeled after a small animal, the object that the robot is modeled after is arbitrary. For example, the robot may be modeled after a large animal such as a rhinoceros. In this case, the decorative part 202 may be modeled after a rhinoceros horn. Moreover, the present invention is not limited to robots. For example, the present invention is also applicable to devices such as dolls and toys that have a housing having at least two rotatably connected parts and an expandable outer casing that covers the housing.

[0054] Furthermore, the exterior 201 is not limited to covering the entire housing 207, but may cover only a part of it. Also, although the exterior 201 was described as mimicking the fur of a small animal, the choice of what the exterior is based on is arbitrary. For example, the exterior could be modeled after clothing to be attached to a robot, or it could be a banner displaying an advertisement.

[0055] Furthermore, although it has been explained that the outer fabric 251 and the lining fabric 252 are sewn together using thread 253, they may be integrated by other means. For example, the outer fabric 251 and the lining fabric 252 may be bonded together using adhesive.

[0056] Furthermore, the means of securing the outer casing 201 to the housing portion 207 was achieved by inserting a convex part 241, which is an engaged part provided on the housing portion 207, into a round hole 260a formed in an engaging plate 260, which is an engaging part provided on the outer casing 201. However, other methods may be used to secure the outer casing 201 to the housing portion 207. For example, a hook with a bent tip may be attached to one of the outer casing 201 and the housing portion 207, and a loop made of string may be attached to the other. The outer casing 201 can then be secured to the housing portion 207 by hooking the hook onto the loop. Alternatively, the hook portion of a hook fastener may be attached to one of the outer casing 201 and the housing portion 207, and the loop portion of a hook fastener may be attached to the other. The outer casing 201 can then be secured to the housing portion 207 by attaching the hook portion to the loop portion.

[0057] This invention allows for various embodiments and modifications without departing from the broad spirit and scope of the invention. Furthermore, the embodiments described above are for illustrative purposes only and do not limit the scope of the invention. In other words, the scope of the invention is indicated not by the embodiments, but by the claims. Various modifications made within the scope of the claims and the equivalent meaning of the invention are considered to be within the scope of this invention. The invention described in the original claims of this application is listed below.

[0058] (Note) (Note 1) An outer shell with elasticity, A housing portion comprising a first housing portion covered by the aforementioned exterior, and a second housing portion rotatably connected to the first housing portion about at least a first rotation axis, The first engaging portion and the second engaging portion are provided on the inside of the exterior, A first engaged portion is provided on the first housing portion and engages with the first engaging portion to lock the exterior to the first housing portion, The second housing portion is provided with a second engaged portion which engages with the second engaging portion to lock the exterior to the second housing portion, The engaged portion, which is at least one of the first engaged portion and the second engaged portion, is provided on a surface substantially perpendicular to the first rotation axis in at least one of the first housing portion and the second housing portion corresponding to the engaged portion. Device.

[0059] (Note 2) At least one of the first engaging portion and the second engaging portion, the engaging portion corresponding to the engaged portion, is rotatable with respect to the engaged portion about a rotation axis substantially parallel to the first rotation axis. The apparatus described in Appendix 1.

[0060] (Note 3) The engaging portion is composed of a plate-shaped member having a fitting hole formed therein that fits into the engaged portion, and the area around the fitting hole of the engaging portion is sewn to the inside of the exterior. The engaged portion comprises a convex part that protrudes from the housing portion and has a small diameter portion that fits into the fitting hole, and a large diameter portion that passes through the fitting hole and has a larger diameter than the small diameter portion. The engaging portion is rotatable relative to the convex part when the small diameter portion is fitted into the fitting hole. The apparatus described in Appendix 2.

[0061] (Note 4) The engaged portion is provided at a position within a specific range from the first rotation axis in at least one of the first housing portion and the second housing portion corresponding to the engaged portion. The device described in any one of the appendices 1 to 3.

[0062] (Note 5) The exterior comprises an outer fabric and a lining on which the first engaging portion and the second engaging portion are provided. The seams between the outer fabric and the lining are provided everywhere except between the first engaging portion and the second engaging portion. The device described in any one of the appendices 1 to 4.

[0063] (Note 6) At least one of the first engaged portion and the second engaged portion is positioned on the line segment connecting the other of the first engaged portion and the first axis of rotation in the initial state where the rotation angle of the second housing portion relative to the first housing portion is the initial angle. The device described in any one of the appendices 1 through 5.

[0064] (Note 7) The aforementioned device is a robot, The first housing portion is the head of the robot, The second housing portion is the torso portion of the robot. The device described in any one of the appendices 1 through 5. [Explanation of symbols]

[0065] 101... Mounting surface, 102... Axis, 200... Robot, 201... Exterior, 202... Decorative parts, 203... Hair, 204... Head, 2041... Case, 2042... Screw, 2043... Rubber, 205... Connecting part, 2051... Case, 206... Body part, 207... Housing part, 207a... Insertion hole, 208... Wire fastener, 208a... Slider, 222... Motor, 2221... Coil, 2222... Drive shaft, 2223... Horn, 241 (241A, 241B)... Convex part, 241a... Threaded part, 241b... Spacer part, 241c... Shaft part, 241d... Phillips groove, 241e... Lower end, 251... Outer fabric, 252... Lining, 253, 254... Thread, 260 (260A, 260B)... Engaging plate, 260a... Round hole, L1, L2... Line, L3, L4, L5... Line segment

Claims

1. A robot with a biological appearance, The outer casing is formed in a bag shape, The housing portion housed inside the exterior, Equipped with, The housing comprises a first housing portion corresponding to the head and a second housing portion corresponding to the torso, wherein the first housing portion is connected to the second housing portion in the front-rear direction and the first housing portion is connected to the second housing portion so as to be rotatable in the up-down direction. The exterior is engaged with the housing portion by a predetermined engagement structure at first engagement positions on both left and right sides of the first housing portion and a predetermined second engagement position on the second housing portion, or at first engagement positions on both left and right sides of the second housing portion and a predetermined second engagement position on the first housing portion. The predetermined engagement structure at the first engagement position comprises a flat plate with a round hole and a screw member into which a screw shaft is inserted through the round hole into a screw hole provided in the housing, and the flat plate is sewn to the exterior such that the stitching lines form a pair of parallel straight lines and the round hole is located between the stitching lines. A robot characterized by the following features.

2. The predetermined engagement structure at the first engagement position is a structure in which the flat plate is sewn to the exterior such that the head of the screw member is positioned between the flat plate and the exterior, The robot according to feature 1.

3. The aforementioned flat plate is circular in shape. The robot according to claim 1 or 2, characterized in that it is the robot described in claim 1 or 2.

4. The flat plate is mounted so as to be rotatable within a predetermined range around the screw shaft. The robot according to feature 3.

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