JP7037796B2 - How to fix the robot and the outer skin - Google Patents

Description

The present invention relates to a robot, and more particularly to a robot in which a predetermined support is covered with an outer skin made of an elastic material, and a method of fixing the outer skin to the support in the robot.

In recent years, in the fields of entertainment and welfare, the development of robots capable of expressing human facial expressions more realistically has been awaited. For example, Patent Document 1 discloses a robot that attempts to express a facial expression by operating the eyebrows of the robot by a magnetic force.

Further, in recent years, an attempt has been made to develop a robot that expresses a realistic facial expression while reproducing the texture of human-like skin by covering a moving support with an outer skin made of an elastic material such as a silicon material.

Japanese Unexamined Patent Publication No. 2009-274184

However, although the outer skin of an elastic material made of a silicon material or the like is suitable for reproducing the texture of human skin, it is relatively prone to deterioration over time, and therefore, it becomes tired after being used for one to several years. There was a problem that it would end up. Such a problem greatly hinders the practical use and widespread use of this type of robot.

The present invention has been made under the above-mentioned technical background, and an object thereof is a robot that can withstand practical use even when a problem of aging deterioration of the outer skin occurs, and the said robot. The purpose is to provide a method for fixing the outer skin in a robot.

Still other objects of the invention, as well as effects, will be readily appreciated by those of skill in the art by reference to the following description of the specification.

The above-mentioned technical problem can be solved by a robot having the following configuration.

That is, the robot according to the present invention includes a support, an outer skin made of an elastic material and covering the support, a moving portion provided on the support and performing a predetermined displacement operation along the outer skin. A detachable pair of coupling pieces provided between the exodermis and the moving portion to bond the two and transmit the predetermined displacement motion to the exodermis to elastically deform a part or the whole of the exodermis. Is equipped with.

According to such a configuration, the support and the exodermis are connected via a detachable pair of exodermis, so that even if the exodermis deteriorates over time due to use, the exodermis provided with one of the exodermis. Only can be thrown away and replaced with a new exodermis. This makes it possible to provide a robot that can easily replace the outer skin even when a problem such as aged deterioration of the outer skin occurs and can withstand practical use.

Further, the pair of bonded pieces may be bonded via a predetermined positioning structure.

According to such a configuration, since the coupling piece pair is bonded via the positioning structure, the outer skin can always be covered at a fixed position. Therefore, for example, maintenance becomes easy.

Further, the predetermined positioning structure may be a fitting structure of a positioning boss and a boss hole on the coupling surface of the coupling piece pair.

According to such a configuration, when the outer skin is coated on the support, the outer skin can be sensuously and easily placed at an appropriate position even if the binding piece pair is not directly visible.

In addition, the fitting depth of the coupling piece pair positioning boss and boss hole corresponding to the moving part with a relatively large displacement is the positioning boss and boss hole of the coupling piece pair corresponding to the moving part with a relatively small displacement amount. It may be larger than the fitting depth.

According to such a configuration, it is possible to prevent the pair of coupling pieces connecting the moving portion and the exodermis from being disengaged because they cannot withstand the magnitude of the displacement amount of the moving portion.

Further, the pair of bonded pieces may be bonded by a magnetic force.

According to such a configuration, the bonded pieces can be easily attached to and detached from each other, and positioning and the like when covering the outer skin can be easily performed.

Further, each of the bonding pieces of the bonding piece pair may have a magnet arranged on the back surface side of the contact surface between the bonding pieces.

According to such a configuration, since the magnets are not directly adjacent to each other, it is possible to prevent the magnet and the coupling piece from being unintentionally separated when the outer skin is replaced.

Further, the magnet may be a neodymium magnet.

According to such a configuration, it is possible to realize an appropriate bond between a pair of bonded pieces to the extent that the outer skin can be easily replaced while ensuring the function of elastic deformation of the outer skin.

Further, the robot further includes an actuator fixed to the support and an arm member fixed to the actuator, and the operating portion is provided at the tip end portion of the arm member, and the arm is provided. The displacement operation may be performed according to the operation of the member.

According to such a configuration, the actual displacement location and the actuator that is the operation source can be separated via the arm, so that even if there is a location where a large number of displacement operation portions are concentrated, etc. , Each component can be arranged comfortably in the support space.

Further, the robot is further inserted into the actuator fixed to the support, the guide pipe fixed to the support, and the guide pipe, one end of which is the actuator and the other end of which is the operation unit. The moving unit may perform a displacement operation by having a wire coupled with the wire and the wire being driven by the actuator to be sent out or pulled in.

According to such a configuration, the actual displacement location and the actuator that is the operation source can be separated via a wire, so that even if there is a location where a large number of displacement operation portions are concentrated, etc. , Each component can be arranged comfortably in the support space.

The present invention can also be considered as a method for fixing the outer skin. That is, the method according to the present invention includes a support, an outer skin made of an elastic material and covering the support, an operating portion provided on the support and performing a predetermined displacement operation along the outer skin, and the above-mentioned. It is provided between the outer skin and the moving portion, and is provided with a detachable bonding piece pair that binds the two and transmits the predetermined displacement movement to the outer skin to elastically deform a part or the whole of the outer skin. In a robot, it is a method for fixing the outer skin to the support, in which a step of applying an adhesive to a surface of a pair of bonded pieces to be a contact surface with the outer skin and a state in which the adhesive is dry. A step of applying the outer skin to the support and aligning the support, and a step of fixing the outer surface of the pair of bonded pieces to the back surface of the outer skin by drying and solidifying the adhesive. , Is equipped.

According to such a configuration, even if the outer skin deteriorates over time due to use, the outer skin can be fixed in such a form that only the outer skin can be easily replaced.

According to the present invention, even if a problem such as aged deterioration of the outer skin occurs, the outer skin can be easily replaced, so that a robot that can withstand practical use can be provided.

FIG. 1 is a diagram showing an overall configuration of a robot head. FIG. 2 is a front view of the support. FIG. 3 is an exploded perspective view of the jaw joint part. FIG. 4 is an exploded perspective view of the forehead joint part. FIG. 5 is a perspective view of a support provided with a guide pipe. FIG. 6 is an explanatory diagram regarding the adhesive surface. FIG. 7 is an exploded perspective view of the robot head. FIG. 8 is a diagram showing the back surface of the outer skin. FIG. 9 is an enlarged view of a coupling piece with an arm member. FIG. 10 is an exploded perspective view of a coupling piece with an arm member. FIG. 11 is an operation diagram of a coupling piece with an arm member. FIG. 12 is an operation diagram of the wire-driven coupling piece. FIG. 13 is an exploded perspective view of the moving portion of the central part of the upper lip. FIG. 14 is an operation diagram of the central part of the upper lip. FIG. 15 is a perspective view of the moving portion of the central part of the lower lip. FIG. 16 is an operation diagram of the central part of the lower lip. FIG. 17 is a partially disassembled perspective view of both side movement portions of the upper lip. FIG. 18 is a partially disassembled perspective view of both side movement portions of the lower lip. FIG. 19 is a diagram showing an example of mouth operation. FIG. 20 is an explanatory diagram showing a modified example.

Hereinafter, an embodiment of the robot according to the present invention will be described in detail with reference to the accompanying drawings.

<1. Overall configuration>
<1.1 Composition of exodermis and support>
The configuration of the robot head 1 will be described with reference to FIGS. 1 to 5.

FIG. 1 is a diagram showing the overall configuration of the robot head 1. The robot head 1 is configured by covering a support 50 having a shape similar to that of a human head, which functions as a skeleton and a moving portion, with an outer skin 10 made of an elastic material such as silicon. In the figure, the outer skin 10 is shown in a partially broken state for easy understanding. Further, the outer skin 10 and the support 50 are basically connected to each other via the moving portion of the support 50 as described later. However, in order to maintain the tension of the outer skin 10 on the support 50 and to stably arrange the outer skin 10, the outer skin 10 is detachably bonded to a part of the support 50 between the outer skin 10 and the support 50. May be provided with an auxiliary support member 30 that is not adhered or the like.

FIG. 2 is a front view of the support 50. As is clear from the figure, the support 50 includes a central structural member 501 extending from a position corresponding to the human neck to the central portion of the support 50, and a pedestal portion 502 provided at the upper end of the central structural member 501. It has a left side structural member 503 and a right side structural member 504 that are arranged on the base portion 502 and can be attached with various members described later such as actuators.

The support 50 has a plurality of moving portions that are adhered to the outer skin 10 and elastically deform a part of the outer skin 10 by performing a displacement operation. That is, around the position corresponding to the eyebrow of the support 50, the right eyebrow peripheral portion operating portion 508 and the left eyebrow peripheral portion operating portion 509 that operate the periphery of the position corresponding to the eyebrow of the exodermis 10 substantially up and down in pairs on the left and right. Is provided. Around the area directly under the left and right eyeballs 512 and 513 of the support 50, a pair of left and right eye movement units 514 and left eye direct movement unit 514 that move the area directly under the eye of the exodermis 10 substantially up and down. Is provided. On the upper part of the cheek of the support 50, a pair of left and right upper cheek moving portions 516 and a left cheek upper moving portion 517 that move the periphery of the upper cheek of the exodermis 10 substantially up and down are provided. A pair of left and right cheek lower parts of the support 50 are provided with a right cheek lower movement portion 518 and a left cheek lower movement portion 519 that move the periphery of the lower cheek of the exodermis 10 substantially up and down. At the center of the upper lip of the support 50, a moving portion 524 at the center of the upper lip is provided so as to move the center of the upper lip of the outer skin 10 substantially up and down. At the center of the lower lip of the support 50, a lower lip central part operating portion 525 that moves the center of the lower lip of the outer skin 10 substantially up and down is provided. Around the upper left and right sides of the upper lip of the support 50, a pair of left and right upper lip upper right moving portions 520 and upper upper left upper left moving portions 521 for operating the upper upper lip upper sides of the outer skin 10 in a substantially horizontal direction are provided. .. Around the lower right side of the lower lip of the support 50, there are a pair of left and right lower right lower lip moving parts 522 and lower left lower lip moving parts 523 that move the lower right side of the lower lip of the outer skin 10 in a substantially horizontal direction. It is provided. The left and right eyelid portions 512 and 513 of the support 50 are provided with a pair of left and right eyelid operating portions 510 and a right eyelid operating portion 511 for opening and closing the eyelids. Further, a first auxiliary support member coupling piece 526 and a second auxiliary support member coupling piece 527 that serve as a coupling portion with the auxiliary support member 30 are provided in the upper center of the front surface of the support body 50.

Further, the forehead and the chin portion of the support 50 serve as a joint portion with the outer skin 10 and have a semicircular arcuate shape along the front periphery of the robot head 1, and the forehead joint part 505 and the chin joint. The component 506 is arranged. As will be described later, both of these connecting parts are magnetically coupled to the support 50 on the inner surface side thereof and adhered to the outer skin 10 on the outer surface side thereof, although they do not operate.

FIG. 3 is an exploded perspective view of the jaw joint part 506. The jaw joint part 506 includes a support side jaw joint piece 506b provided on the jaw of the support 50 and an outer skin side jaw joint piece 506a whose outer surface is adhered to the outer skin 10. The outer skin side jaw coupling piece 506a has a central magnetic coupling portion 5061a, a left magnetic coupling portion 5063a, and a right magnetic coupling portion 5062a having magnets on the bonding surface side with the outer skin 10 at predetermined positions in the center and left and right. On the other hand, the support side jaw joint piece 506b has a magnet at a predetermined position on the center and left and right of the contact surface with the outer skin side jaw joint piece 506a on the back surface side (support side). The left side magnetic coupling portion 5063b and the right side magnetic coupling portion 5062b are provided, and by coupling them to each other via a magnetic force, the outer skin side jaw coupling piece 506a and the support side jaw coupling piece 506b are coupled. .. The central magnetic force coupling portion 5061b has two bosses on the contact surface with the outer skin side jaw coupling piece 506a, and these bosses are provided on the central magnetic force coupling portion 5061a of the outer skin side jaw coupling piece 506a. Positioning is achieved by mating with two corresponding boss holes (not shown).

FIG. 4 is an exploded perspective view of the forehead joint component 505 (see FIG. 2). The forehead joint component 505 is provided on the support side, and includes a support side forehead joint piece 505b composed of a central magnetic force coupling portion 5051a, a left magnetic force coupling portion 5053a, and a right magnetic force coupling portion 5052a, which will be described later, and an outer skin 10. It is composed of an outer skin side forehead joint piece 505a to which the outer surface is adhered. The outer skin side forehead coupling piece 505a has a central magnetic coupling portion 5051a, a left magnetic coupling portion 5053a, and a right magnetic coupling portion 5052a having magnets on the bonding surface side with the outer skin 10 at predetermined positions on the center and left and right side surfaces thereof. The outer skin side forehead joint piece 505a and the support side forehead are respectively coupled to the central magnetic force coupling portion 5051a, the left side magnetic coupling portion 5053a, and the right side magnetic force coupling portion 5052a via magnetic force. It is coupled to the partial coupling piece 505b. The central magnetic force coupling portion 5051b has two boss holes on the contact surface with the outer skin side forehead coupling piece 505a, and these boss holes are the central magnetic force coupling portions 5051a of the outer skin side forehead coupling piece 505a. Positioning is performed by fitting with two corresponding bosses (not shown) provided in. Further, the right magnetic force coupling portion 5052a and the left magnetic force coupling portion 5053a of the outer skin side forehead coupling piece 505a each have two bosses, and these bosses and the right magnetic force coupling portion 5052b provided on the support 50. Positioning is performed by fitting each of two boss holes (not shown) provided in the left magnetic force coupling portion 5053b.

According to the positioning mechanism using the boss and the boss hole described above, even if the outer skin 10 is once removed, the outer skin 10 can be easily put on the original position.

The support 50 shown in FIGS. 2 to 4 has been simplified for ease of understanding, and the description of a wire for driving a part of the moving portion by a wire and a guide pipe for guiding the wire are described. It is omitted.

FIG. 5 is a perspective view of the support 50 in which the wire and the guide pipe are clearly shown. In the figure, the outer skin side upper lip central coupling piece 524a arranged in the center of the upper lip of the support 50 is fitted and integrated with one end of the V-shaped support side upper lip central coupling piece 524b (see FIG. 13). ). Further, the other end of the V-shaped support-side upper lip central coupling piece 524b is connected to the wire 524c via a predetermined fastener (see FIG. 13). The wire 524c is covered in the middle by a guide pipe 524d fixed to the support 50 and having a predetermined shape holding force, and is connected to an output portion of an actuator 524e (not shown).

Further, in FIG. 5, the upper lip upper right joint piece 520a and the upper lip upper left joint piece 521a on the outer skin side are the upper lip upper right joint piece 520b (see FIG. 17) and the upper lip upper left joint piece 521b (FIG. 17) on the support 50 side. (See) and each is coupled via a magnetic force. The upper lip upper right joint piece 520b and the upper lip upper left joint piece 521b are configured to be interlocked with each other via a gear portion provided in a part thereof, and the upper lip upper left joint piece 521b is connected to the wire 521e at the end. Has been done. The wire 521e is fixed to the support 50 in the middle thereof and is covered with a guide pipe 521d having a predetermined shape holding force, extends from the central portion to the side portion of the support 50, and is connected to the output portion of the actuator 521f. ing.

Further, in FIG. 5, the outer skin-side lower lip central coupling piece 525a arranged in the center of the lower lip of the support 50 is the support-side lower lip central coupling piece 525b on the support 50 side via a predetermined locking structure (FIG. 5). 15) is integrated. The support-side lower lip central coupling piece 525b is connected to the wire 525e at its end via a predetermined fastener. The wire 525e is covered with a guide pipe 525d fixed to the support 50 and having a predetermined shape holding force from the submandibular gland to the temporal region, and is connected to the output portion of the actuator 525f.

Further, in FIG. 5, the lower right lower lip joint piece 522a and the lower left lower lip joint piece 523a on the outer skin side are the lower right lower lip joint piece 522b (see FIG. 18) and the lower left lower lip joint piece on the support 50 side. It is coupled to 523b (see FIG. 18) via a magnetic force. Although not explicitly shown in the figure, the lower right lower joint piece 522b and the lower left lower lip joint piece 523b are configured to be interlocked with each other via a gear portion as in the case of both side portions of the upper lip. The lower left lower joint piece 522b of the lower lip is connected to the wire 522e at the end. Further, although not explicitly shown, the wire 522e is fixed to the support 50 in the middle thereof and is covered with a guide pipe 522d having a predetermined shape holding force, and extends from the central portion to the right side portion of the support 50. It is connected to an output unit of an actuator 522f (not shown) provided on the right side surface.

In addition, in FIG. 5, the left buccal lower joint piece 519a on the outer skin side is magnetically bonded to the left buccal lower joint piece 519b (see FIG. 12) on the support side. The left cheek lower joint piece 519b is integrally formed with an extension portion 519c having a rectangular parallelepiped shape, and the extension portion 519c is inserted into a guide piece 519d having a guide hole having a rectangular cross section in the center thereof. The extension portion 519c is connected to the wire 519e at its end via a predetermined fastener, and the wire 519e is fixed to the support 50 and covered with a guide pipe 519f having a predetermined shape holding force, while the actuator 519g is covered with the guide pipe 519f. It is connected to the output section. Although not shown, the lower part of the right cheek has a similar structure symmetrically.

The lower lip central joint piece 525a, the lower right lower right joint piece 522a, and the lower left lower lip joint piece 523a are configured to interlock with the jaw joint piece 506b. Therefore, when the jaw joint piece 506b is actuated by the actuator and displaced downward to open the mouth, the lower lip center joint piece 525a, the lower lip right lower joint piece 522a, and the lower lip left lower joint piece 523a all move downward. Will be done.

<1.2 How to fix and attach / detach the outer skin>
Next, a method of fixing the outer skin 10 to the support 50 will be described with reference to FIGS. 6 to 8.

FIG. 6 is an explanatory view of an adhesive surface of the support 50 when the outer skin 10 is adhered to the support 50. As is clear from the figure, the joint pieces 508a to 509a and 514a to 525a on the outer skin 10 side, and the forehead joint pieces 505a and the jaw joint pieces 506a on the outer skin side are the joint pieces 508b to 509b on the support side. It corresponds to 514b to 525b, and the forehead joint piece 505b and the jaw joint piece 506b on the support side, and these are in a state of being bonded to each other via a magnetic force in the initial state.

The outer surface of each of the connecting pieces 508a to 509a and 514a to 525a on the outer skin 10 side, and the forehead joint piece 505a and the jaw joint piece 506a on the outer skin side, that is, the contact surface side with the outer skin 10 (in the figure). Apply adhesive to the hatched or shaded areas). It is desirable that the adhesive used at this time does not have the property of instantly solidifying, but has a solidifying time sufficient to enable alignment with the outer skin 10. Further, various known adhesives can be used, and for example, if the outer skin 10 is a silicon-based material, it is preferable to use a silicon-based adhesive.

After that, the adhesives applied to the outer surfaces of the outer skin side bonding pieces 508a to 509a, 514a to 525a, and the outer skin side forehead joint pieces 505a and chin joint pieces 506a are still in a dry state. The support 50 is covered with an outer skin 10 made of an elastic material. At this time, since the adhesive has a solidification time sufficient to enable alignment with the outer skin 10, each adhesive surface can be appropriately positioned with respect to the outer skin 10 by appropriately sliding both of them. That is, the adhesive surface around the cheeks should be placed at an appropriate position around the cheeks, the adhesive surface around the mouth should be placed at an appropriate position around the mouth, and the adhesive surface around the eyes should be placed at an appropriate position around the eyes. can do. After arranging each adhesive surface at an appropriate position on the outer skin 10, the adhesive is dried and solidified by leaving it for a predetermined time, and the space between each adhesive surface and the outer skin 10 is fixed.

According to such a fixing method, the support 50 and the outer skin 10 are connected via a detachable pair of connecting pieces, so that even if the outer skin deteriorates over time due to use, one of the connecting pieces is used. Only the outer skin with the above can be discarded and replaced with a new outer skin. This makes it possible to provide a robot that can easily replace the outer skin even when a problem such as aged deterioration of the outer skin occurs and can withstand practical use.

Next, with reference to FIGS. 7 and 8, aspects of the outer skin 10 and the support 50 when the outer skin 10 fixed to the support 50 by the above steps are temporarily removed will be described.

FIG. 7 is an exploded perspective view of the robot head 1 showing a state in which the outer skin 10 fixed to the support 50 by the above configuration is removed from the support 50. In the figure, an auxiliary support member 30 that is detachably connected to a part of the support 50 but is not adhered to the outer skin 10 is arranged between the outer skin 10 and the support 50. As is clear from the figure, when the robot head 1 is disassembled, the joint pieces 508a to 509a and 514a to 525a on the outer skin 10 side, and the forehead joint pieces 505a and the jaw joint pieces 506a on the outer skin side are supports. It is released from the magnetic force with the 50 and is attached to the back surface of the outer skin 10. On the other hand, each of the coupling pieces 508b to 509b and 514b to 525b on the support 50 side, and the forehead joint piece 505b and the jaw joint piece 506b on the support 50 side stay on the support 50 side.

FIG. 8 is an explanatory view of the back surface of the outer skin 10 in which the outer skin side coupling pieces 508a to 509a, 514a to 525a, and the outer skin side forehead joint piece 505a and the jaw joint piece 506a are attached. As is clear from the figure, the outer skin side forehead joint piece 505a is on the forehead part of the back surface of the outer skin 10, the outer skin side jaw joint piece 506a is on the jaw part, and the right side eyebrows are left and right around the position corresponding to the eyebrows. Peripheral joint piece 508a and left eyebrow peripheral joint piece 509a, left and right right eye direct lower position joint piece 514a and left eye direct lower position joint piece 515a around the lower part of the eye, right cheek left and right around the upper cheek The upper cheek joint piece 516a and the left upper cheek joint piece 517a, the right cheek lower joint piece 518a and the left lower cheek lower joint piece 519a on the left and right around the lower cheek, and the upper lip upper right joint piece 520a and the upper left upper lip around the mouth. The lower lip joint piece 521a, the lower right lower lip joint piece 522a, the lower left lower lip joint piece 523a, the central upper lip joint piece 524a, and the central lower lip joint piece 525a are adhered and fixed, respectively. As described above, the connecting pieces are configured to be able to be connected to each other via a magnetic force while positioning each other by using the fitting structure of the boss and the boss hole. Further, as is clear from the figure, cuts are provided in the eyes and mouth of the outer skin 10, and the cuts are elastically deformed by the moving portions around them so that the cuts can be opened and closed.

According to such a configuration, since each pair of coupling pieces is bonded via a positioning structure, the exodermis 10 can always be covered at a fixed position, and maintenance or the like becomes easy, for example. In addition, since the fitting structure between the boss and the boss hole is adopted between the bonding pieces, it is sensuous even if the bonding piece pair is not directly visible when the outer skin 10 is coated on the support 50. Moreover, the outer skin 10 can be easily arranged at an appropriate position.

<2. Operation of each part>
Next, the configuration and operation of each part will be described in detail with reference to FIGS. 9 to 18.

<2.1 Operation using arm members>
The robot head 1 according to the present embodiment operates according to various aspects. FIG. 9 is a diagram illustrating a driving method of the left cheek upper moving portion 517, and in particular, shows an example in which the driving piece 517b with an arm member is displaced by the actuator 517c.

As is clear from the figure, the output portion of the actuator (servomotor) 517c is connected to one end of the coupling piece 517b with an arm member, and the other end of the coupling piece 517b with an arm member is adhered to the outer skin side on the left cheek. It is magnetically coupled to the upper coupling piece 517a via a positioning structure using a boss.

10 (a) and 10 (b) are exploded perspective views of the left cheek upper joint piece 517a and the joint piece with arm member 517b when observed from two different angles. The left cheek upper coupling piece 517a is provided on the other surface of the coupling piece main body 5171a, the two neodymium magnets 5172a embedded and fixed in the two holes provided on one surface of the coupling piece main body 5171a, and the coupling piece main body 5171a. It is composed of two bosses 5173a. On the other hand, a substantially oval-shaped coupling piece main body 5171b is provided at the joint of the coupling piece 517b with an arm member with the left cheek upper coupling piece 517a, and the coupling piece main body 5171b is coupled to the left cheek upper coupling piece 517a. It was embedded in two boss holes 5173b corresponding to the positions of the two bosses 5173a on the surface side, and in two holes arranged at positions corresponding to the positions of the two neodymium magnets 5172a described above on the other surface. Two neodymium magnets 5172b are fixed. Further, the coupling piece main body portion 5171b is integrally formed with an arm portion 5174b bent at an obtuse angle, and the arm portion 5174b forms an annular shape on the other end side of the coupling piece main body portion 5171b to output the actuator 517c. It is connected to the part.

FIG. 11 is a diagram illustrating a driving method of the left cheek upper moving portion 517b. First, when the actuator 517c connected to the predetermined control unit is driven, the output unit of the actuator 517c rotates clockwise as shown by the arrow in the center of the drawing. The coupling piece 517b with an arm member connected to the output portion of the actuator 517c rotates clockwise around the output axis of the output portion, and rotates the left upper cheek upper coupling piece 517a clockwise (on the left in the center of the drawing). Clockwise arrow), which causes the outer skin 10 to be pulled up substantially upward.

At this time, as the arm length is lengthened, the radius of curvature of the trajectory drawn by the coupling piece at the tip of the arm becomes larger, and the displacement motion of the coupling piece approximates to a more vertical vertical movement. Further, when the actuator 517c is rotated in the opposite direction, the rotation process in the direction opposite to the above-mentioned rotation is performed.

According to the operation method using the arm as described above, since the actual displacement location and the actuator that is the operation source can be separated via the arm, a location where a large number of displacement operation portions are concentrated (for example,). Even if there is a place where a delicate facial expression is required), each part can be arranged reasonably in the head space.

Although the example is taken here by taking up the left cheek upper connecting piece 517a, in the present embodiment, the right cheek upper moving portion 516, the moving portions 514 and 515 around the lower part of the eye, and the vicinity of the position corresponding to the eyebrows. As for the moving units 508 and 509, an operating method using the same type of arm is adopted.

<2.2 Operation using guide pipe and wire>
Next, with reference to FIG. 12, the operation of the left cheek lower joint piece 519a using the guide pipe and the wire will be described.

FIG. 12 is a left side view of the support 50, and is an explanatory view regarding the operation of the left cheek lower joint piece 519a.

First, when the actuator 519g is activated, the output unit of the actuator 519g rotates in the clockwise direction. Along with this rotation, the wire 519e connected to the output portion of the actuator 519g via a predetermined fastener slides in the guide pipe 519f which is fixed to the support 10 and has a predetermined shape holding force. The other end of the wire 519e is connected to the extension portion 519c via a predetermined fastener, and the wire 519e slides in the guide pipe 519f orthogonal to the guide hole of the guide piece 519d to form a left cheek lower joint piece. 519a and 519b are displaced substantially rearward. On the contrary, when the actuator rotates in the counterclockwise direction, the left cheek lower joint pieces 519a and 519b are displaced substantially forward.

According to the operation method using wires as described above, since the actual displacement location and the actuator that is the operation source can be separated via the wire, a location where a large number of displacement operation portions are concentrated (for example,). Even if there is a place where a delicate facial expression is required), each part can be arranged reasonably in the head space.

Further, since the wire is guided along the path by a guide pipe having a predetermined shape holding force, for example, even when the wire is pulled in or sent out by the actuator, the path connecting the displacement operating portion and the actuator. Is always constant, so that the amount of wire drawn or sent out by the actuator can be directly converted into the amount of displacement motion.

Although it is not always clear from the figure, the same configuration is symmetrically adopted for the right cheek lower joint piece 518a. Further, in the present embodiment, the driving method using the wire and the guide pipe is performed on each of the moving parts around the mouth, that is, the upper right upper right part moving part 520, the upper upper left upper part moving part 521, and the lower right lower right moving part 522. It is also used in the lower left lower operating portion 523, the central upper lip operating portion 524, and the central lower lip operating portion 525.

<2.2 Movement of the center of the upper lip>
Next, the operation of the upper lip central portion moving portion 524 will be described with reference to FIGS. 13 to 14. The structure of the upper lip central portion moving portion 524 is also basically driven by using a guide pipe and a wire, but is particularly characterized in the shape and operation of the upper lip central connecting piece 524b on the support 50 side.

FIG. 13 is an exploded perspective view of the upper lip central moving portion 524. The upper lip center coupling piece 524a on the outer skin 10 side has an engagement portion with an engagement portion 5241b described later on one surface, and has an embedding hole for embedding a neodymium magnet 5242a on the other surface, and is adhered to the outer skin 10 at the tip. It is composed of a substantially key-shaped coupling piece main body 5241a having a surface 5243a and a neodymium magnet 5242a embedded and fixed in an embedding hole of the coupling piece main body 5241a. On the other hand, the upper lip center coupling piece 524b on the support 50 side has an engaging portion 5241b that engages with the above-mentioned engaging portion by fitting, a neodymium magnet 5242b embedded and fixed on the back side of the fitting surface, and a V-shape. A V-shaped power transmission unit 5243b having a shape and having a V-shaped apex horizontally fixed at one end of the central structural member 501 and connecting the tip of one end of the V-shape to the wire 524c and the other end to the engaging portion 5241b. And have.

FIG. 14 is a diagram illustrating the operation of the upper lip central operation portion 524. When the wire 524c is pulled in the upward direction of the drawing by an actuator 524e (not shown), the V-shaped power transmission unit 5243b rotates about the apex of the V-shape, and the engaging portion 5241b extending to one end thereof and the upper lip engaged with the engaging portion 5241b. The central coupling piece 524a is rotated clockwise as shown by the arrow in the figure. By rotating in this way, the adhesive surface 5243a with the outer skin 10 at the end rotates, that is, the central part of the upper lip of the robot head 1 provided with the outer skin 10 protrudes forward as it is pulled upward. Will be displaced.

With such a configuration, it is possible to realistically or naturally express an action in which the mouth is projected forward or narrowed. This is particularly remarkable when trying to reproduce a facial expression when pronouncing "u" or "o", for example.

Further, for the central portion of the mouth having a relatively large displacement amount, the displacement operation from the drive side can be transmitted more reliably by adopting the engagement by fitting as well as the magnetic force.

<2.3 Movement of the center of the lower lip>
Next, the configuration and operation of the lower lip central portion moving portion 525 will be described with reference to FIGS. 15 and 16.

FIG. 15 is a perspective view of the lower lip central part moving portion 525 in an assembled state and an disassembled state. The lower lip central coupling piece 525a on the outer skin 10 side is composed of an adhesive surface 5251a and an engagement portion 5252a that extends from the back surface of the adhesive surface 5251a and engages with the engagement portion 525b described later by fitting. On the other hand, the lower lip central coupling piece 525b on the support side has an engaging portion 525b connected to the end of the wire 525e driven by the actuator 525f and extending upward by using a predetermined fastener. In order to guarantee the vertical movement of the wire 525e in a substantially vertical direction, the wire 525e is provided with a guide portion 525c directly below the central portion of the lower lip. Further, the wire 525e is covered in the middle by a guide pipe 525d (not shown).

FIG. 16 is a diagram illustrating the operation of the lower lip central portion moving portion 525. When the wire 525e connected to the output portion of the actuator 525f (see FIG. 5) slides in the guide pipe 525d, the lower lip central coupling pieces 525a and 525b move up and down as shown by the arrows in the figure. As a result, the central portion of the lower lip of the outer skin 10 is displaced substantially up and down.

For the central portion of the mouth where the displacement amount is relatively large as described above, the displacement operation from the drive side can be transmitted more reliably by adopting the engagement by fitting instead of magnetic force.

<2.4 Movements on both sides of the upper lip>
Next, with reference to FIG. 17, the configuration and operation of the upper upper lip upper right part moving part 520 and the upper lip upper left part moving part 521 will be described.

As is clear from the figure, the upper lip upper right joint piece 520a has an adhesive surface with the exodermis 10 on one surface and two bosses 5203a on the other surface, and has a space containing a neodymium magnet 5202a inside. It has a main body 5201a and a neodymium magnet 5202a. Further, the upper right upper right joint piece 520b has two boss holes on the joint surface with the upper right upper right joint piece 520a and has a space for containing the neodymium magnet 5203b inside, and the joint piece main body 5202b and the joint piece main body. It has an arm portion 5204b connected to the back surface of the 5202b and a gear portion 5205b connected to the arm portion 5204b and partially having a gear shape on the circumference.

On the other hand, the upper left upper left joint piece 521a has a bonding piece main body 5211a having a surface adhering to the outer skin 10 on one surface and two bosses 5213a on the other surface and having a space containing a neodymium magnet 5212a inside, and neodymium. It has a magnet 5212a. Further, the upper lip upper left joint piece 521b has two boss holes 5211b on the joint surface with the upper lip upper left joint piece 521a and has a space for containing the neodymium magnet 5213b inside, and the joint piece main body 5212b. It has an arm portion 5214b connected to the back surface of the main body 5212b, and a gear portion 5215b connected to the arm portion 5214b and partially having a gear shape on the circumference.

The center of the gear portion 5205b of the upper lip upper right joint piece 520b and the gear portion 5215b of the upper lip upper left joint piece 521b are separated from each other so that the gears properly mesh with each other (for example, the pitch circles of the gears are in contact with each other). Are arranged. Further, a part of the gear portion 5215b of the upper lip upper left portion coupling piece 521b is connected to the wire 521e.

Further, the fitting depth of the above-mentioned boss 5203a and boss 5213a and the boss holes 5201b and 5211b is the other moving parts (left eyebrow peripheral part moving part 509, right eyebrow peripheral part moving part 508, left eye direct lower position moving part). Deeper than the fitting depth of the boss and the boss hole in 515, the right cheek upper movement part 514, the left cheek upper movement part 517, the right cheek upper movement part 516, the left cheek lower movement part 519, and the right cheek lower movement part 518). It is configured as.

According to such a configuration, the pair of couplings that connect the moving part around the mouth and the exodermis, which have a relatively large displacement amount, cannot withstand the large displacement amount of the moving part and come off. Can be prevented.

Next, the operation will be described. When the actuator 521f (see FIG. 5) is activated, the wire 521e is pulled in or unwound. The wire 521e slides in the guide pipe 521f, and at the same time, the gear portion 5215b rotates. Since the upper lip upper right joint piece 520b and the upper lip upper left joint piece 521b are configured to interlock with each other via the gear portion, the upper lip upper right joint piece 520a and the upper lip upper left joint piece 521a are separated from each other or each other. Displaces approximately horizontally in the approaching direction.

As described above, since the upper lip upper right joint piece 520a and the upper lip upper left joint piece 521a are interlocked with each other, the movement of the mouth is usually symmetrical, so that the movement of the mouth is efficiently and sufficiently expressed. can do.

<2.5 Movement of both sides of the lower lip>
Next, with reference to FIG. 18, the configuration and operation of the lower right lower right operating portion 522 and the lower left lower lip operating portion 523 will be described.

As is clear from the figure, the lower right lower joint piece 522a of the lower lip has an adhesive surface with the outer skin 10 on one surface and two bosses 5223a on the other surface, and has a space containing a neodymium magnet 5222a inside. It has one main body 5221a and a neodymium magnet 5222a. Further, the lower right lower lip coupling piece 522b has two boss holes 5221b on the bonding surface with the lower right lower lip coupling piece 522a and has a space for containing the neodymium magnet 5223b inside, and the coupling piece main body 5222b. It has an arm portion 5224b connected to the back surface of the coupling piece main body 5222b and a gear portion 5225b connected to the arm portion 5224b and partially having a gear shape on the circumference.

On the other hand, the lower left lower joint piece 523a of the lower lip has a bonding piece main body 5231a having an adhesive surface with the outer skin 10 on one surface and two bosses 5233a on the other surface and having a space containing a neodymium magnet 5232a inside. It has a neodymium magnet 5232a. Further, the lower left lower coupling piece 523b is coupled to the main body 5232b of the coupling piece having two boss holes 5231b on the coupling surface with the upper left coupling piece 523a of the upper lip and having a space for containing the neodymium magnet 5233b inside. It has an arm portion 5234b connected to the back surface of one main body 5232b and a gear portion 5235b connected to the arm portion 5234b and partially having a gear shape on the circumference.

The center of the gear portion 5225b of the lower right lower coupling piece 522b of the lower lip and the gear portion 5235b of the lower left coupling piece 523b of the lower lip so that the gears properly mesh with each other (for example, the pitch circles of the gears are in contact with each other). They are placed apart. Further, a part of the gear portion 5225b of the lower left lower joint piece 522b of the lower lip is connected to the wire 522e.

Next, the operation will be described. When the actuator 522f is activated, the wire 522e is pulled in or unwound. The wire 522e slides in the guide pipe 522f, and at the same time, the gear portion 5225b rotates. Since the lower right lower lip joint piece 522b and the lower left lower lip joint piece 522b are configured to interlock with each other via the gear portion, the lower right lower lip joint piece 522a and the lower left lower lip joint piece 523a are mutually connected. Displaces approximately horizontally in the direction away from each other or toward each other.

As described above, since the lower right lower lip joint piece 522a and the lower left lower lip joint piece 523a are interlocked with each other, the movement of the mouth is usually symmetrical, so that the movement of the mouth is efficient and sufficient. Can be expressed.

Further, around the lips, from the back surface of the outer skin 10, the upper lip upper right part movement part 520, the upper lip center part movement part 524, the upper lip upper left part movement part 521, the lower lip right lower part movement part 522, the lower lip center part movement part 525, It is supported by 6 points of the lower left lower movement part 523 of the lower lip. Therefore, with appropriate control, the central part is elastically deformed in the substantially vertical direction and both sides are elastically deformed in the horizontal and horizontal directions, and these elastic deformations are combined to reproduce the realistic movement of the mouth like a human being. Can be made to.

Furthermore, by matching the movements of the right cheek lower movement part 518 and the left cheek lower movement part 519 in the anteroposterior direction along the cheeks in accordance with the above-mentioned movements of the six points around the lips, not only the movement of the mouth but also the movement of the cheeks. It is possible to reproduce the realistic movement of the mouth including it.

<3. Operation example>
Next, with reference to FIG. 19, an example of the operation of the mouth when each operating unit around the mouth is operated in coordination will be described.

FIG. 19A shows the movement of each moving part when reproducing the shape of the mouth when uttering the Japanese vowel “A”, that is, the shape of the mouth that opens the mouth up and down, using arrows. It is shown. When uttering "A", the jaw joint part 506 is displaced downward. Therefore, the lower right lower right operating portion 522, the lower left lower lip operating portion 523, and the central lower lip operating portion 525 are displaced downward together with the jaw connecting part 506 as a whole.

FIG. 19B shows the movement of each moving part when reproducing the shape of the mouth when uttering the Japanese vowel “i”, that is, the shape of the mouth that attracts the mouth to the left and right, using arrows. It is shown. When uttering "i", the lower right cheek movement part 518, the upper right upper lip movement part 520, and the lower right lower right movement part 522 are directed to the right (outer direction) by a predetermined amount, the left lower cheek lower movement part 519, and the upper left upper lip. The part movement part 521 and the lower left lower left movement part 523 of the lower lip are displaced to the left (outward direction) by a predetermined amount.

FIG. 19 (c) uses arrows to describe the shape of the mouth when uttering the Japanese vowel “U”, that is, how each moving part moves when reproducing the shape of the mouth protruding or narrowed. It is shown. When uttering "U", the upper right upper right movement part 520 and the lower right lower right movement part 522 move to the left (inward direction) by a predetermined amount, and the upper left upper left movement part 521 and the lower left lower left movement part 523 are located. The upper lip central part moving part 524 and the lower lip central part moving part 525 are displaced upward by a predetermined amount only by a fixed amount to the right (inward direction).

FIG. 19 (d) shows the shape of the mouth when uttering the Japanese vowel "e", that is, the shape of the mouth when the mouth is opened up and down and the cheeks are lightly pulled to the left and right. The way of movement is shown by using arrows. When uttering "e", the jaw joint part 506 is downward, the right cheek lower movement part 518 is to the right (outward direction) by a predetermined amount, and the left cheek lower movement part 519 is to the left (outward direction) by a predetermined amount. ).

FIG. 19 (e) shows an arrow indicating the shape of the mouth when uttering the Japanese vowel "O", that is, the movement of each moving part when reproducing the shape of the mouth being narrowed and open up and down. It is shown using. When uttering "O", the upper right upper right movement part 520 and the lower right lower right movement part 522 move to the left (inward direction) by a predetermined amount, and the upper left upper left movement part 521 and the lower left lower left movement part 523 are located. The upper lip central moving portion 524 is displaced upward by a predetermined amount, and the lower lip central moving portion 525 is displaced downward by a predetermined amount by a fixed amount to the right (inward direction).

As described above, with appropriate control, the central part is elastically deformed in the substantially vertical direction and both sides are elastically deformed in the substantially horizontal and horizontal directions, and these elastic deformations are combined, so that the mouth is realistic like a human being. The movement can be reproduced. Furthermore, by matching the movements of the right cheek lower movement part 518 and the left cheek lower movement part 519 in the anteroposterior direction along the cheeks in accordance with the above-mentioned movements of the six points around the lips, not only the movement of the mouth but also the movement of the cheeks. It is possible to reproduce the realistic movement of the mouth including it.

<4. Modification example>
The present invention is not limited to the above-described embodiment. Therefore, various modifications are possible.

In the above-described embodiment, the lower right lower lip operating portion 520 and the lower left lower lip operating portion 521 are configured to interlock with each other via meshing of gears. However, the present invention is not limited to such a configuration. Therefore, for example, as shown in FIG. 20, it may be configured to operate independently on the left and right sides. FIG. 20 is a left side view of the support 50 according to the modified example. As is clear from the figure, the wire 530 g extending from the lower left lower lip connecting piece 530a and 530b connected via a magnetic force connects between the first guide pipe support piece 530c and the second guide pipe support piece 530f. It is inserted into the guide pipe 530d, and its end is connected to the output portion of the actuator 530h via a predetermined fastener. As is clear from the enlarged view in the figure, both ends of the guide pipe 530d are a predetermined surface inside the first guide pipe support piece 530c and a predetermined surface inside the second guide pipe support piece 530f. It is in contact and fixed. That is, according to such a configuration, by operating the actuator 530h and sending out or pulling in the wire, the lower left lower joint pieces 530a and 530b of the lower lip can be displaced in the substantially horizontal left-right direction. By arranging such a configuration on the left and right, it is possible to operate the lower right lower right operating portion 520 and the lower left lower lip operating portion 521 independently. This also applies to both sides of the upper lip.

Further, in the above-described embodiment, the coupling pieces are coupled to each other via the magnetic force of the magnet provided on each coupling piece. However, it is not always necessary to provide magnets on both coupling pieces in order to perform coupling by magnetic force. Therefore, for example, a magnet may be provided on one of the bonding pieces, and the other may be a magnetic material made of a predetermined metal or the like to realize the bonding by magnetic force.

Further, in the above-described embodiment, a neodymium magnet is adopted as the magnet. Although the neodymium magnet is adopted from the viewpoint of its strong coupling force, the present invention is not necessarily limited to such a configuration. Therefore, for example, other rare earth magnets such as a samarium-cobalt magnet, a brasseodium magnet, and a samarium iron-nitrogen magnet can be adopted.

INDUSTRIAL APPLICABILITY The present invention can be used in an industry such as manufacturing a robot, particularly a robot in which a predetermined support is covered with an outer skin made of an elastic material.

1 Robot head 10 Outer skin 50 Support 501 Central structural member 502 Base 503 Left structural member 504 Right structural member 505 Forehead joint part 506 Jaw joint part 508 Right eyebrow peripheral movement part 509 Left eyebrow peripheral movement part 510 Left Eyebrow movement part 511 Right eyebrow movement part 512 Right eyeball part 513 Left eyeball part 514 Right eye direct position movement part 515 Left eye direct position movement part 516 Right cheek upper movement part 517 Left cheek upper movement part 518 Right cheek lower movement part 519 Left Lower cheek movement part 520 Upper right upper part movement part 521 Upper left upper part movement part 522 Lower right lower part movement part 523 Lower left lower part movement part 524 Upper lip center part movement part 525 Lower lip center part movement part 530 Lower lip left lower part movement part (Variation example)

Claims (9)

With the support,
The exodermis, which is made of an elastic material and covers the support,
An operating unit provided on the support and performing a predetermined displacement operation along the outer skin,
A detachable pair of coupling pieces provided between the exodermis and the moving portion to bond the two and transmit the predetermined displacement motion to the exodermis to elastically deform a part or the whole of the exodermis. Equipped with
The coupling piece pair is a robot that is bonded by a magnetic force. The robot according to claim 1, wherein the coupling piece pair is connected via a predetermined positioning structure. The robot according to claim 2, wherein the predetermined positioning structure is a fitting structure of a positioning boss and a boss hole on the bonding surface of the pair of coupling pieces. The fitting depth of the coupling piece pair corresponding to the moving part with a relatively large displacement is the fitting depth of the coupling piece pair corresponding to the moving part with a relatively small displacement amount. The robot according to claim 3, which is larger than the depth. The robot according to claim 1, wherein each of the coupling pieces of the coupling piece pair has a magnet arranged on the back surface side of the contact surface between the coupling pieces. The robot according to claim 5 , wherein the magnet is a neodymium magnet. The robot further
The actuator fixed to the support and
With an arm member fixed to the actuator,
The robot according to claim 1, wherein the moving portion is provided at the tip end portion of the arm member and performs a displacement movement in accordance with the movement of the arm member. The robot further
The actuator fixed to the support and
A guide pipe fixed to the support and
It has a wire that is inserted into the guide pipe, one end of which is the actuator, and the other end of which is coupled to the moving portion.
The robot according to claim 1, wherein the moving unit performs a displacement operation when the wire is driven by the actuator to be sent out or pulled in. Between the support, an outer skin made of an elastic material and covering the support, a moving portion provided on the support and performing a predetermined displacement motion along the outer skin, and the outer skin and the moving portion. It is provided with a detachable coupling piece pair that binds the two and transmits the predetermined displacement motion to the exodermis to elastically deform a part or the whole of the exodermis, and the coupling piece pair is provided by a magnetic force. A method for fixing the exodermis to the support in a coupled robot.
The step of applying the adhesive to the surface of the bond piece pair to be the contact surface with the exodermis,
A step of applying the outer skin to the support to perform alignment by utilizing the fact that the adhesive is in a dry state, and
A method comprising a step of fixing the outer surface of the pair of bonded pieces to the back surface of the outer skin by drying and solidifying the adhesive.

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