JP2002035440A - Human-like robot and method of making thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve a combination of elaborateness and flexibility and to have a skin with sufficient strength in a human-like robot. SOLUTION: There are arranged a base body making process 1 to produce the base body of a robot from a spongy soft material, a soak prevention process 2 to apply a rough coat of silicon softened by mixing it with silicon oil on the surface of the base body of the robot, a thick coat process 3 to apply a thick coat of silicon further on the surface of the rough coat after hardened, a shaping process 4 to make a shaping of the surface with a shaping member impregnated with a solvent before the thick coat is hardened and a soak prevention process 5 to apply talc powder on the surface of the thick coat after hardened. This achieves a combination of elaborateness and flexibility and a skin with a sufficient strength.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a doll-shaped robot displayed in a museum or a museum, and a method of manufacturing the same.
More specifically, the present invention relates to a doll-shaped robot covered with a soft outer skin and having a realistic appearance and movement, and a method of manufacturing the same.

[0002]

2. Description of the Related Art Doll-type robots, such as robots imitating humans, animals, and dinosaurs, which are installed for display in museums, museums, amusement parks, and the like, generally have the entire body covered with an outer skin. The outer cover is formed of a soft material such as silicone rubber, urethane foam, or vinyl into a rubber or sponge shape. A driving device such as an actuator is provided inside the outer skin, and the eyelids and the mouth, and the head and arms, which are part of the outer skin, are given a movement similar to that of the real thing. In other words, the above-mentioned doll-shaped robot has the texture of the skin itself close to the real thing,
It is required that the movements of the eyelids, mouth, neck, arms, etc., and the subtle deformation of the outer skin accompanying these movements be real. Soft outer shells that have such a requirement are roughly classified into engraved outer shells and die-cut outer shells according to their structures and manufacturing methods.

[0003] The former sculpture skin is used for a large-area sculpture that does not require much precision, such as a full-size dinosaur. This engraved skin is produced as follows. First, a urethane foam block, which has been roughly cut and appropriately bored, is put on and adhered to the drive device, and the surface of the urethane foam block is directly carved (finished engraving) to finish it as an outer skin. If the size of the product to be manufactured exceeds the maximum specification of the urethane foam block, apply the adhesive evenly on the entire adhesive surface of the urethane foam block, glue another urethane foam block and use it as a larger block I do. After finishing the above-described engraving, for a portion where the outer skin needs to be greatly expanded and contracted, for example, a movable portion such as a base of a thigh, a large number of through holes penetrating to the back surface are formed in the portion. This perforation work is a process for reducing the mass of the urethane foam to improve the elasticity at the site, and while sequentially observing the movement of the movable part, determining the size of the hole and the perforation position, sequentially, This is to increase the number of perforations. After the drilling operation is completed, a large number of through-holes are stuck with a thin urethane foam sheet having a thickness of about 5 mm, except when the hole is hidden by clothes or the like like a human body. The urethane foam sheet is attached in a state where the number of through holes is the widest in consideration of the fact that the number of through holes expands and contracts in accordance with the movement of the movable part. This is because the urethane foam itself effectively acts against shrinkage, but hardly expands. Normally, for the purpose of reinforcement, a thin cloth such as gauze is laminated with an adhesive on the surface of the urethane foam after finishing engraving and pasting the sheet, and further, undiluted silicon (hereinafter referred to as “raw silicon”) is placed on the thin cloth. ) Is applied as a coating base. Then, the coating base is colored to finish the outer skin.
The above is the outline of the method for producing the engraved skin.

[0004] On the other hand, the latter die-cutting outer skin is
Parts that require a high degree of precision, usually the head of the human body,
Applications are limited to limbs. This die-cut skin is
A gypsum female mold is raised from the clay original form, and it is die-cut with silicon or the like, and is usually formed to a thickness of about 5 to 10 mm.
The outer skin of, for example, the head of the human body formed in this way is a mask-like (bag-like) shape that is soggy that it cannot maintain its own shape. For this reason, a hard inner shell (hereinafter referred to as “shell”) conforming to the shape of the back side of the outer skin is molded from a reinforced plastic or the like on a relatively less elastic part such as the head, nose bridge, upper and lower jaw of the outer skin, The shells are supported by an internal drive and the shells are covered. The contact part between the shell and the outer skin is preferably a part that is free to allow some deviation, such as the cheeks between the upper and lower jaws, and the outer skin is prevented from rising due to movement, such as the inner corner of the eye or the side of the nose bridge Therefore, there is a portion provided with a projection on the back of the outer skin and fitted into a hole formed in the shell. An internal driving device is directly connected to the eyelids and the like via a through hole provided in the shell of the head, and power is transmitted to the cheeks and the like via the shell. As a result, the soft outer skin expands and contracts only in the portions corresponding to the through holes provided in the shell such as the eyelids and cheeks and the gaps between the shells. Here, when comparing the above-described engraved outer skin with the die-cut outer skin, the engraved outer skin is inferior in precision,
The advantage is that even a very large one can maintain its shape on its own, and the cost is low. On the other hand, the latter die-molding outer skin is heavy, cannot maintain its shape by itself, and is expensive, but has advantages of elaboration. The eyelid, which is a part of the above-described die-cut outer skin, is moved almost vertically by the above-described driving device, and performs an operation imitating a blink. A through-hole is provided inside the eyelid so as to gouge the shell of the head, and an eyeball that moves three-dimensionally is arranged in this through-hole. The above-mentioned eyelid will move substantially up and down following the surface of the eyeball.

[0005]

According to the prior art described above, the following first to fourth points have been problematic when producing a more realistic doll-shaped robot or a cheaper doll-shaped robot. . First, in the case of a sculpture skin, an adhesive,
Since the gauze and the raw silicon are overlapped, there is a problem that the outer skin loses the flexibility which is an advantage of the urethane foam. As a countermeasure, it is possible to secure a certain degree of elasticity by providing a large number of through holes in the movable part as described above, but in this case, there is a problem that the number of processing steps increases and the cost increases. I do. Further, the engraved outer skin has many gauze seams for reinforcement appearing on the surface, and the quality of appearance is reduced. For this reason, there is a great difference in precision from the above-mentioned die-cutting skin, and while it is lightweight, withstands its own weight, and has the advantages of low cost, it has not been possible to use the die-cutting skin properly in different parts of the same product. Second, when a plurality of urethane foam blocks are bonded with an adhesive to form a large block, an adhesive layer having less flexibility than urethane foam is formed on the bonding surface of the blocks, so that flexibility is increased. Will decrease. In addition, when an external force acts while the adhesive infiltrated into the sponge bubbles is dry, the bubbles will be stuck together in a crushed state, and unnecessary concave portions will be formed on the surface of the outer skin. Would. Third, since the engraved outer skin is generally partially adhered directly to the drive device with an adhesive, the adhesive portion is peeled off with a knife or the like when repairing or replacing the outer skin or the drive device. Hull damage was inevitable. Therefore, there is a problem that once peeled, the outer skin is discarded when the damage is large, and a large repair is required even when the damage is small and can be reused, resulting in an increase in cost. The molded skin is generally removable from the shell, but details such as eyelids and lips still have to rely on adhesion to the drive and are no exception to this task. Fourth,
In order to avoid direct contact between the eyelid and the eyeball, which are part of the outer skin with a high coefficient of friction, and to rub the eyeball, a gap of about 1 mm must be created between the two. It was an important weakness in the overview. In addition, there are often gaps in the inner and outer corners of the eyes that can be seen, especially the inability to create teardrops at the inner corners of the eyes, hindering the realism. There is also a problem that the mechanism for moving the eyeball three-dimensionally becomes complicated. The present invention has been made in view of the above circumstances, and has as its object to provide a more realistic or less expensive doll-shaped robot and a method of manufacturing the same by solving the above-mentioned problems. is there.

[0006]

According to a first aspect of the present invention, there is provided a method of manufacturing a doll-shaped robot having a sculpable outer skin, wherein the sculpture outer skin is made of a sponge-like soft material. A base preparation step of preparing a base, a permeation prevention step of undercoating the surface of the base with silicon oil mixed and softened with silicon oil, and after the undercoat is cured, the surface is further coated with the silicon. Thick coating step of thick coating, a shaping step of shaping the surface with a shaping member containing a solvent before the thick coating is cured, and applying talc powder to the surface after the thick coating is cured. Leaching prevention step,
It is characterized by the following. According to the invention of claim 1, it is possible to produce an outer skin having both elaborateness and flexibility and having sufficient strength without a seam, and after the production, it is possible to prevent oozing of silicon oil from the outer skin by talc powder. it can. The invention according to the present claim can be applied to a large product such as a full-size dinosaur, for example. According to a second aspect of the present invention, in the method for manufacturing a doll-shaped robot according to the first aspect, the base forming step includes a covering step of covering a surface of the sponge-like soft material with a net-like member; An adhesive application step of hitting the surface of the sponge-like soft material with a member containing an adhesive, and applying the adhesive in an infinite number of points, and removing the mesh member to apply the adhesive And bonding the sponge-like soft material to another sponge-like soft material. According to the second aspect of the present invention, a gap can be formed between the bonding surfaces by dividing the substantial bonding surface of the adhesive, which is a main cause of the hardness, into an infinite number of dots, thereby forming a gap between the bonding surfaces. As it can be stretched and kept soft. The present invention according to claim 3, wherein a sculpture outer shell constituting the outer shape of the doll-shaped robot, and a drive device disposed inside the sculpture outer shell to support the sculpture outer shell and to move the movable portion of the sculpture outer shell Wherein the sculpture outer skin is configured to be detachable from the drive device. Claim 3
According to the invention, the engraving outer skin can be removed from the drive device without damage, and can be reused.

According to a fourth aspect of the present invention, there is provided a hard inner shell, an extensible die-cutting outer skin mounted over the hard inner shell, and the die-cutting outer shell disposed inside the hard inner shell. A doll-shaped robot having a drive unit that gives a movement to the movable part via the hard inner shell, comprising a connecting portion between the hard inner shell and the drive device, wherein the hard inner shell is It is characterized by being configured to be detachable from the drive device by the connection portion. According to a fifth aspect of the present invention, there is provided a rigid inner shell, an extensible die-cutting outer skin mounted over the hard inner shell, and a movable die-cutting outer shell disposed inside the hard inner shell. A doll-shaped robot having a drive device that directly moves the part, the doll-shaped robot having a connection portion between the die-cutting outer skin and the driving device, wherein the die-cutting outer skin is provided with respect to the driving device. It is characterized by being configured to be detachable by a connection part. According to the fourth and fifth aspects of the present invention, since the detachable connecting portion is provided between the die-cutting outer skin and the hard inner shell and the driving device, by removing this connecting portion, the die-cutting outer skin and the hard inner portion are removed. The shell can be removed from the drive without damage and can be reused. According to a sixth aspect of the present invention, in the doll-shaped robot according to the fifth aspect, an eyelid that is a movable portion of the die-cut outer skin and an eyeball that is disposed inside the eyelid and moves three-dimensionally are provided. A hemispherical or semi-rugby ball-shaped and transparent cover member is provided between the eyelid and the eyeball in a state not related to the movement of the eyeball, and the connection portion is provided between the eyelid and the driving device. And providing movement to the eyelids by the driving device. According to a seventh aspect of the present invention, in the doll-shaped robot according to the fifth aspect, an eyelid that is a movable part of the die-cut outer skin and an eyeball that is disposed inside the eyelid and moves three-dimensionally are provided. A hemispherical or semi-rugby ball-shaped and transparent cover member is provided between the eyelid and the eyeball in a state not related to the movement of the eyeball, and the eyelid and the cover member are fixed, and the eyelid is fixed. The connecting portion is provided between the driving device and the driving device, and the driving device gives a movement to the eyelid together with the cover member. Claim 6,
According to the invention of the seventh aspect, the opening and closing of the eyelids are performed on the fixed cover, and the movement of the eyeball is performed at a position not in contact with them. Since there is a gap inside the cover for preventing the movement of the eyeball from rubbing against the other, the surface of the eyeball is apparently in a position in close contact with the eyelid, and does not impair the realism. In addition, the appearance of a gap at the inner or outer corner of the eye can be apparently avoided. The present invention according to claim 8 is the doll-shaped robot according to claim 5, wherein the eyelid that is a movable part of the die-cut outer skin, and a hemispherical and transparent member provided inside the eyelid and protruding outward. A cover member, and provided inside the cover member are a planar illustrated member showing an eyeball and moving means for moving the illustrated member two-dimensionally in up, down, left, and right directions. And According to the eighth aspect of the present invention, the eyeball can be made to look as if it is moved only by moving the illustrated member two-dimensionally in the vertical and horizontal directions. The configuration of the means can be simplified. Further, since the illustrated member can be moved in a non-contact state with respect to the cover member, the movement can be made smooth.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. First, a doll-shaped robot to which the present invention is applied will be briefly described. Doll-shaped robots are exhibited in museums, archives, amusement parks, etc. for commercial, academic, recreational use, etc., and represent, for example, the state in which humans, animals, and dinosaurs move. . Doll-shaped robots generally belong to the category called amusement robots, and even though they are the same robot, physical functions and
The field is different from the industrial robot for the purpose of action. In addition, since it is assumed that a driving device is provided, a robot toy having only an external appearance is also different from the robot toy. However, when a motion is given to an animation character, a mascot character, or the like, these are also included. The most representative is an organic doll that realistically mimics the appearance and movement of a human or animal.
Doll-shaped robots are generally life-size or larger in terms of product size,
Also in this regard, it can be seen that the purpose and concept of the robot toy are different from those of the mainstream robot toy whose size is equal to or smaller than the life size. In other words, the doll-shaped robot targeted by the present invention can be said to be a display robot that requires a drive device to give a movement to the formed appearance, that is, the outer skin.

<Embodiment 1> This embodiment relates to a method of manufacturing a doll-shaped robot according to the above-mentioned claim 1, and includes a gauze and an adhesive which hinder the flexibility of a conventional engraving skin. By eliminating the use of raw silicon or the like and applying silicon directly to the surface of urethane foam, it is possible to produce a more flexible engraved skin. Conventionally, the main reason why the manufacturing method of the present embodiment could not be adopted is that, firstly, unless gauze for reinforcement is used, the silicon itself is affected by the force transmitted from the driving device and the external force acting during transportation. Secondly, because it cannot be tolerated, the silicon will be lacerated. Secondly, when diluting with a solvent such as toluene when applying silicon, this solvent easily penetrates into the inside of the urethane foam, This is because the desired flexibility cannot be obtained. Incidentally, silicon diluted with a solvent has good workability at the time of application, but when the solvent is volatilized and lost, it becomes almost as hard as raw silicon while being impregnated in urethane foam. On the other hand, silicon mixed with silicone oil hardly permeates into the urethane foam and has no volatility, so that it keeps desired flexibility even after curing. FIG. 1 shows an example of a method for manufacturing a doll-shaped robot according to the present invention. Here, prior to the description of the method of manufacturing a doll-shaped robot, a doll-shaped robot (hereinafter, referred to as “dinosaur”) imitating a dinosaur as an example of a doll-shaped robot manufactured by this manufacturing method, with reference to FIG. A brief description will be given. FIG. 2A shows the dinosaur 10
FIG. 2 is a longitudinal sectional view of the entirety, and as shown in FIG.
Is a drive device 11 also serving as a support member, and the drive device 1
1 and a sculpture skin 15 fixed around the periphery of the sculpture. The outer skin 15 has, as main components, a soft base 12 and a finish coating layer 13 provided so as to cover the periphery of the base. The entire dinosaur 10 is mounted on a pedestal 14. Of these, the finish coating layer 13 is
As shown in FIG. 2B, which is an enlarged vertical sectional view of a portion A in FIG.
b, and has a powder layer 13c. These will be described later in detail. Returning to the description of the method of manufacturing the doll-shaped robot (dinosaur 10) shown in FIG. 1, this manufacturing method includes a base body manufacturing step 1, an infiltration prevention step 2, and a thick coating step 3.
And a shaping step 4 and a seepage prevention step 5.
Hereinafter, the process will be described in order from the substrate manufacturing step 1. The substrate manufacturing step 1 is performed by using a sponge-like soft material for the substrate 1 of the dinosaur 10.
This is a step of fabricating No. 2. In this step, a urethane foam block (a sponge-like soft material) in which a rough engraving and an appropriate hollow are performed on the driving device 11 (see FIG. 2).
And fixed to form a substrate 12. When the base 12 is fixed to the driving device 11, for example, an immovable portion such as the back may be completely adhered or adhered to the driving device 11. A certain gap is provided between the driving device 11 and the base 12 so as to escape from the area.
Further, in the present embodiment, the thickness of the base 12 is reduced in advance and the size of the inner gouge is increased in order to finish the outer skin 15 more flexibly than in the conventional example. That is,
In the conventional example, the engraving outer skin 15 is not flexible, and the driving force cannot be absorbed only by the expansion and contraction of the surface, and the entire shape may be lifted or dented and the basic shape itself may be deformed. While the thickness of the base 12 was sufficiently large, it was necessary to reduce the mass by the large number of through holes described above. On the other hand, in the present embodiment, since the engraving outer skin 15 is sufficiently flexible, it is rather less likely to deform the entire shape by making the engraving outer skin 15 thinner to absorb the driving force by expansion and contraction. The process can be omitted. The undercoating step 2 is a step of undercoating the surface of the base 12 prepared in the above-described base preparation step 1 with silicon softened by mixing silicone oil. The silicon used at this time is sufficiently softened by mixing only 100% to 200% by weight of silicon oil without using a solvent with a substance colored with oil paint or the like. The softened silicon is lightly applied once on the surface of the base 12 to form an undercoat 13a. The undercoat 13a hardens after about 60 to 90 minutes if left as it is. The cured undercoat 13a functions as an infiltration prevention layer for preventing silicon used in the next thick coating process 3 from infiltrating the substrate 12. The thick coating step 3 is a step of thick-coating the surface of the cured undercoat 13a with the same silicon as in the undercoat, that is, silicon softened by mixing silicone oil (the weight ratio is the same as that in the undercoat). . Thick coating is performed sufficiently so that the thickness is about 2 to 4 mm. This thick coating 1
By setting the thickness of 3b to an appropriate thickness, the strength required for the engraving outer skin 15 can be secured. The shaping step 4 is a step of shaping the surface of the thick coat 13b with a shaping member (not shown) containing a solvent before the thick coat 13b is cured. As the shaping member, for example, a brush or the like sufficiently containing a solvent is used, so that the surface of the thick coating 13b before curing is smoothed evenly. The most suitable solvent is toluene. If necessary, the thick coating process may be further repeated to increase the layer thickness of the thick coating 13b, or the surface of the thick coating 13b may be shaped with a spatula or a brush to obtain a texture or texture close to the skin of a real dinosaur. May be issued. The seepage prevention step 5 is a step of applying talc powder to the surface after the shaping step 4 is completed and the thick coating 13b is cured.
Silicon oil has the drawback that if it is mixed in a large proportion, it will seep out later, but it will prevent seepage by applying a large amount of talc powder to the surface. It can be said that this seepage prevention step 5 is essential in the present embodiment. The oozing prevention step 5 also has a visual effect that the simple clarity of the engraved outer skin 15 is eliminated and the engraved outer skin 15 can be seen closer to the surface stratum corneum of the actual skin. The dinosaur 10 manufactured by the leaching prevention step 5 from the base body manufacturing step 1 described above does not use a gauze for reinforcement, and thus has a fine finish without a gauze seam appearing on the surface of the engraved outer skin 15. be able to. Further, as for the engraved outer skin 15, an adhesive, a gauze,
Since raw silicon is not used, the flexibility of the engraved outer skin 15 is not lost. Furthermore, since the flexibility is not lost, the drilling work for providing a large number of through holes, which was conventionally required for securing the elasticity of the movable portion, is not required, and the manufacturing man-hour is reduced by that much. The cost is also reduced.
Furthermore, since appropriate flexibility can be ensured, the applied force is dispersed in all directions even in the movable part of the dinosaur 10 without concentrating on the local part, and as a result, the strength enough to withstand practical use is obtained. Can have. In addition, since the sculpture outer skin 15 has an elaborate finish as described above, even when one product (dinosaur 10) is used in combination with the above-described high-precision die-cut outer skin, there is no inferior in quality. Therefore, it is possible to selectively use the advantages of the engraved outer skin and the die-cut outer skin. In other words, in terms of quality, it is possible to produce a high-precision skin that could not be conventionally produced with a sculptured skin. Thus, the cost of the entire product can be greatly reduced.

<Embodiment 2> This embodiment relates to a method of manufacturing a doll-shaped robot according to the second aspect of the present invention.
More specifically, the present invention relates to a bonding method for bonding a plurality of sponge-like soft members. Specifically, in the above-described base body manufacturing step 1 of the first embodiment, as shown in FIG.
Coating step 1a, adhesive application step 1b, bonding step 1c
Are provided. The covering step 1a is a step of covering the surface of a urethane foam block (see FIG. 2) as a sponge-like soft material with a mesh member (not shown). As the net-like member, a net made of a resin having releasability from an adhesive, for example, a net made of soft vinyl chloride, Saran, Teflon (trade name of DuPont) or the like can be used. The mesh roughness of the mesh member is
An appropriate material may be selected in consideration of the bonding strength after bonding and the contradictory elasticity after bonding. After the selected net-like member is placed on the surface of the base 12 and positioned, it is temporarily fixed so as not to move unnecessarily. The adhesive application step 1b is a step of hitting the surface of the base 12 with a member containing an adhesive from above the net-like member placed in the above-mentioned coating step 1a, and applying the adhesive in an infinite number of points. It is.
As the member containing the adhesive, for example, a general member such as a brush or a tampon may be used. The feature of this step is that the adhesive is applied in an infinite number of points as described above, instead of being applied almost uniformly to the entire bonding surface of the substrate 12 in the past. Here, an adhesion rate S (%) is introduced as an index indicating the adhesion strength and the elasticity after the adhesion. The area of the entire bonding surface of the base 12 is defined as an apparent bonding area A,
Assuming that the sum of the areas of the innumerable dot-like portions is a substantial bonding area a, when the adhesive is applied to both bonding surfaces, the above-mentioned bonding rate S is as follows: S = (a / A) ² × 100 , Can be represented by Generally, the bonding strength is proportional to the substantial bonding area a, and conversely, the elasticity decreases as the bonding area increases. That is, the closer S is to 100, the higher the adhesive strength and the lower the elasticity. Conversely, as S approaches 0,
Low adhesive strength and high elasticity. In the present embodiment, an attempt is made to enhance the elasticity even if the adhesive strength is sacrificed to some extent. In the present embodiment, in order to impart appropriate elasticity (flexibility) to the engraved outer skin 15, the range of the above-mentioned adhesion rate S is 40 to 60%, that is, (a / A) is about 0.7. Has been found to be suitable. And, more preferably, 30 to 40%, that is, (a / A) should be in the range of about 0.6.
Strictly speaking, the range of the above-mentioned adhesion rate S is not influenced by the size of the product, the position of the bonding surface in the product, the momentum of the movable part, the type of the adhesive, the thickness of the engraving skin 15, and the like. However, it cannot be denied that it is one effective guide for actually manufacturing a product. The bonding step 1c is a bonding step of bonding another sponge-like soft material to the sponge-like soft material to which the adhesive has been applied by removing the mesh member. For example, when bonding two sponge-like soft materials with an adhesive, the adhesive may be applied only to the bonding surface of one of the sponge-like soft materials, or may be bonded to both the bonding surfaces. An agent may be applied. According to the present embodiment, when a large block is formed by bonding a plurality of bases 12 with an adhesive, the substantial bonding surface of the adhesive, which is a main cause of the hardness, is finely divided into countless dots. Since a gap can be formed between the bonding surfaces, the expandable and contractible softness can be maintained as a whole. That is, it is possible to prevent an adhesive having less flexibility as compared with urethane foam from being formed in a layer on the adhesive surface of the base 12, and to prevent a decrease in flexibility. In addition, when the adhesive impregnated in the sponge bubbles is subjected to an external force while being dried, the bubbles are bonded together in a crushed state, and an unnecessary concave portion is formed on the surface of the engraved outer skin 15. To prevent that.

<Embodiment 3> This embodiment relates to a doll-shaped robot according to the third aspect of the present invention, and more particularly, characterized in that a sculpture outer skin is configured to be detachable.
By making the engraving outer skin 15 detachable from the driving device 11, the engraving outer skin 15 manufactured by the above-described manufacturing method is formed to be thin and highly stretchable. When the device 11 is repaired or replaced, the sculpture outer skin 15 can be easily rolled up and detached without damaging the outer skin 15. Hereinafter, an example of a configuration in which the engraving outer skin 15 can be attached and detached will be described. FIG. 2C is an enlarged vertical sectional view showing a state where the base 12 is fixed to the driving device 11 from the head to the chest of the dinosaur 10 in FIG. Drive unit 1
Reference numeral 1 denotes an upper mouth opening / closing portion 11a for opening / closing the upper portion of the mouth, a lower mouth opening / closing portion 11b for opening / closing the lower portion of the mouth, a neck motion portion 11c for raising / lowering the neck, and a drive for transmitting power for opening / closing the mouth and raising / lowering the neck. And a body part 11d. And the base 12
It is necessary to fix between the upper opening and closing unit 11a and the back of the base 12, the face and the upper jaw 12
a, lower opening / closing section 11b and lower jaw 12b of base 12; With respect to the base 12 around the movement part 11c of the neck, it is only necessary to take care that the inside of the base 12 is sufficiently hollowed out so as to secure an internal space so that the base 12 does not conflict with the operation range of the drive device 11, as will be described later. It is not a problem in detaching. The upper opening / closing section 11a has a sheet metal 11e on the upper part. On the other hand, the back of the base 12, the face, and the upper jaw 12a
Has a sheet metal 12c extending to the tip of the mouth, and this sheet metal 12c and the sheet metal 11e are attached by screws 11g. The upper surface of the sheet metal 12c and the back of the head of the base 12, the face, and the upper jaw 12a are adhered using an adhesive. Similarly, the lower portion of the lower opening / closing portion 11b has a sheet metal 11i, and the lower jaw portion 12b
Has a sheet metal 12d extending to the tip of the mouth, and the sheet metal 11i and the sheet metal 12d are attached by screws 11j. Further, an oral cavity 16 formed in the oral cavity is adhered to the lower surface of the metal plate 12c and the upper surface of the metal plate 11d by using an adhesive, and a magic tape (registered trademark) is further attached to the oral cavity 16. The tongue 17 is detachably attached using, for example, to prevent the drive device 11 in the oral cavity from being seen from the outside. Under such a configuration, the attachment and detachment of the sculpture outer skin 15 of the head from the drive device 11 is performed by first removing the tongue 17 and using a screwdriver through a slit provided in the back of the intraoral outer skin 16 so as to be invisible. By removing the screws 11g and 11j, the sheet metal 11e and the sheet metal 12c and the sheet metal 11i and the sheet metal 12d may be separated. In this way, the sculpture skin 15 of the head is obtained.
Can be detached from the drive unit 11 with the sheet metal 12c and the sheet metal 12d attached. In addition, the driving unit 11
The fixation of the chest 12e to d is for preventing unnecessary dragging with the movement of the forelimbs. However, as shown in the figure, the distance from the sheet metal 12f bonded to the base 12 to the drive unit 11d is long. In such a case, some support member is required. In the present embodiment, the sheet metal 12f and the drive unit 11d
Screws 11l and 11k having opposite directions are provided on both sides, and a so-called turnbuckle-like mechanism, which is a detachable tool that also serves as a support member, is provided, which is connected by pipes 11m having screw portions screwed to both screws at both ends. . Then, the pipe 11m is rotated forward or backward with a fingertip to thereby rotate the pipe body 1f from the sheet metal 12f.
An appropriate length up to 1d can be adjusted and can be detached. Since it is required that the attachment / detachment operation performed from a repair opening (not shown) provided on the chest or abdomen of the engraved outer skin 15 is performed in a narrow space, and when replacing with a new outer skin, individual lengths are required. It is an effective mechanism to adjust the correspondence. In this case, too, the sheet metal 12f and the screw 1
1 l is detached while being attached to the engraving outer skin 15. The attachment and detachment of the sculpture outer skin 15 has been described by taking the head to the chest as an example. However, if a mechanism that enables the attachment and detachment of other parts is similarly provided, the entire sculpture outer cover 15 may damage the sculpture outer cover 15. Instead, it can be removed from the drive device 11 and mounted.

<Embodiment 4> This embodiment relates to a doll-shaped robot according to the above-mentioned claim 4, and more particularly, characterized in that a shell (hard inner shell) and an outer skin are configured to be detachable. I do. In the third embodiment, the attachment / detachment relating to the engraved outer skin has been described. The engraved skin has the base as a part of its structure and fixes the skin directly to the drive. On the other hand, the die-cutting skin does not use the base as a part of the structure, but is constituted only by the softened silicon layer, and cannot maintain its own shape only by the die-cutting skin. For this reason, a hard inner shell (shell) conforming to the shape of the back side of the die-cutting outer skin is supported by the inner driving device, and the die-cutting outer skin is covered on the outside of these shells. Due to such a difference in the configuration, the method of attaching and detaching the die-cut outer skin is different from that of the engraved outer skin. In other words, the shell is not adhered to the mold outer shell mechanically, but the single shell is an accessory molded from the single mold outer shell, and when the outer shell is replaced, it is integral with the shell. Will be replaced as FIG. 4 shows a doll-shaped robot 2
FIG. 2 shows a vertical cross-sectional view of a portion corresponding to a mouth of a head 0. An example of the present embodiment will be described with reference to FIG. As shown in the figure, a doll-shaped robot 20 has a shell (hard inner shell) 21.
And a stretchable soft die-cutting skin 22 attached to the shell 21 and a movable part (lower lip) 22a provided inside the shell 21 and part of the die-cutting skin 22 And a driving device 23 that performs the driving. Shell 21
Is made of a reinforced plastic or the like, and is adapted to the shape of the back side of the die-cutting skin 22 at a portion where the die-cutting skin 22 has relatively small expansion and contraction, such as the head, nose bridge, and upper and lower jaws of the die-cutting skin 22. It is arranged to. As shown in FIG. 5A, the entire shell of the head has a shape substantially similar to the skull of the head. As the outer skin,
In the present embodiment, the die-cutting outer skin 22 is used. As described above, the die-cutting skin 22 is formed by raising a gypsum female mold from a clay original form, and then cutting the same with silicone oil or the like, and usually having a mask shape (bag shape) having a thickness of about 5 to 10 mm.
It is formed in. Since the die-cutting outer skin 22 is squeezed and cannot maintain its own shape, a vertical slit is provided in substantially the lower half of a portion corresponding to the back of the head, and the opening is widely opened to cover the shell 21. . As shown in FIG. 5A and an enlarged view of a part of FIG. 5B, the shell 21 is attached to a mounting bracket 23e fixed to the driving device 23 by screws 23f. As shown in FIG. 5A and an enlarged view of a part of FIG. 5C, the die-cutting outer skin 22 is attached by fitting a projection 22c facing the rear surface side into a hole 21c provided in the shell 21. Have been. As a feature of the present embodiment, as shown in FIG.
Connection devices (connection portions) 24 and 25 for connecting to the device 3 are fixed. The connection tools 24 and 25 are formed in a bracket shape by, for example, a sheet metal, and have distal ends 24 a,
25a are adhered to the shell 21, respectively. Conventionally, the contact portion between the shell and the outer skin 22 is, as described above, for example, a portion that is preferably free to allow some deviation, such as a cheek corresponding to the upper and lower jaws, or a portion of the inner corner of the eye or nose bridge. There were a portion that was preferably fixed by a projection on the back side of the outer skin and prevented from rising from the shell, and a portion that directly adhered to the driving device, such as the eyelids and lips. On the other hand, in the present embodiment, the outer mold 22 is used.
Is not fixedly bonded to the shells 21a and 21b and the drive unit 23 by an adhesive. Drive 23
A drive source (not shown), a stationary base member 23c,
It has the above-described support member 23a fixed thereto and the above-mentioned support member 23b supported by a base member 23c so as to be swingable about a shaft 23d. This drive 2
3, the shell 21 is fixed via connecting tools 24 and 25. That is, the shell 21b integrated with the connection tool 24
Is connected to the support member 23a of the driving device 23, and is fixed by fasteners 26a such as bolts and nuts. Similarly, the other connecting tool 25 is aligned with the support member 23b of the driving device 23, and the fasteners 26b such as bolts and nuts
Fixed by. The die-cutting outer skin 22 is put thereon, and necessary parts are fitted into the shell 21. In order to remove the mold outer skin 22 and the shell 21 from the driving device 23, a procedure reverse to the above is performed. In this manner, the exchange of the mold outer skin 22 is performed integrally with the shell 21. According to the present embodiment, the unmolded outer skin 22 and the shell 21 are not fixed to the driving device 23 with an adhesive or the like, unlike the related art.
Since it is fixed using the fasteners 4 and 25 and the fasteners 26a and 26b, it can be easily attached and detached without damage. Therefore, the expensive die-cut outer skin 22 formed by die-cutting can be reused without particularly troublesome repair. The functions of the above-mentioned connecting members 24 and 25 are, firstly, required to be easy to put on and take off in a narrow space, and secondly, the shell 21 is molded from an individual outer shell and attached to the outer shell. It is necessary to replace it with the shell 21 when replacing it with a new die-cutting skin 22, but since the distance from the drive device 23 to the shell 21 also differs depending on the shape of each die-cutting skin 22, It is convenient that the gaps can be individually adjusted according to the plurality of die-cut outer skins 22 slightly different from each other. As an example that satisfies such demands, a mechanism is provided in which both the driving device 23 and the connection tools 24 and 25 adhered to the die-cutting outer skin 22 are provided with screws, and these screws are connected in a turnbuckle shape (FIG. 2C). Pipe 11m). By cutting both screws in opposite directions, providing a pipe having screw portions at both ends to be screwed to these screws, and turning the pipe forward or backward with a fingertip, the length can be easily adjusted. According to this mechanism, the strength is sufficient.

<Embodiment 5> The present embodiment relates to a doll-shaped robot according to the above-described fifth, sixth and seventh aspects. In the fourth embodiment, the die-cutting outer skin is operated by connecting the driving device and the shell. However, in the details such as the eyelids and lips, the driving device and the eyelids and lips of the die-cutting outer skin are directly contacted. In some places it is desirable to adhere. In the present embodiment, a mechanism is proposed in which the die-cutting outer skin and the drive device are directly connected, and the die-cutting outer skin and the drive device are made detachable. FIG. 6 is a longitudinal sectional view of a portion corresponding to the mold outer skin of the doll-shaped robot and the eyes of the head of the driving device, and FIG. 7 is a perspective view of the same. As shown in these figures, a doll-shaped robot 30 includes an eyelid 31a which is a part of a movable part of a die-cutting outer skin 31, an eyeball 32 which is disposed inside the eyelid 31a and moves three-dimensionally, and an eyelid 32. 31a and the eyeball 3
And a cover member 33 disposed between the first and second cover members. The distal end of a rod (connection part) 34 is fixed to the eyelid 31a, and the base end of the rod 34 has a shaft 35a.
The tip of a lever 35 that swings up and down around the center is connected. A plunger 36a of a cylinder 36 having a base end below is connected to a base end of the lever 35. Therefore, the eyelid 31a moves down and up in response to the expansion and contraction of the plunger 36a. An annular member 37 is fixed to the eyeball 32. The annular member 37 is supported by a tuning fork-shaped member 38 so as to be swingable about a horizontal shaft 37a, and is connected to a plunger 39a of a horizontal cylinder 39. Therefore, the eyeball 32 rotates about the horizontal axis 37a in response to the expansion and contraction operation of the plunger 39a. The above-described tuning fork member 38 includes a vertical shaft 38a.
And is supported so as to be rotatable about the vertical shaft 38a.
Is connected to a plunger 41a of a horizontal cylinder 41 via a link 40 fixed to a lower end of the cylinder. Therefore, the eyeball 32 rotates about the vertical axis 38a in response to the expansion and contraction operation of the plunger 41a. In other words, the eyeball 32a can move three-dimensionally in response to the expansion and contraction of the plungers 39a and 41a, as a combination of the rotation around the horizontal axis 37a and the vertical axis 38a.
The cover member 33 is a hemispherical or semi-rugby ball-shaped transparent member fixedly arranged so as to cover the front surface of the eyeball 32. The above-mentioned eyelids 31a can open and close to a certain extent while being almost in close contact with the fixed cover member 33, and the above-mentioned eyeball 32 has a gap of about 1 mm with respect to the fixed cover member 33. Move three-dimensionally while securing According to the present embodiment, the eyelid 31
The opening and closing of “a” is performed on the fixed cover member 33, and the movement of the eyeball 32 is performed at a position that does not contact the eyelid 31 a or the cover member 33. Since the gap for preventing the movement of the eyeball 32 from rubbing with the other, that is, the gap between the cover member 33 and the eyeball 32 is inside the cover member 33, the surface of the eyeball 32 is apparently in a position in close contact with the eyelid 31a. Does not impair. Next, FIGS. 8 and 9 show another structure for giving movement to the eyeball 32 and the eyelid 31a. 8 is a longitudinal sectional view, and FIG. 9 is a perspective view. The feature of the structure shown in these figures is that the eyelid 31a is fixed to the cover member 33,
3 is to give a movement to the eyelids 31a. The eyeball 32 is swung up and down by a motor 51 and is swung in a left and right direction by a motor 52, and a three-dimensional movement is given by combining these movements. The eyeball 32 is supported rotatably in the up-down direction by a horizontal axis (not shown) oriented in the left-right direction.
, And is moved backward by the motor 51 via a link member 51c and a link 51c penetrating the compression spring 51a. Further, the eyeball 32 has the above-described horizontal axis rotatably supported by a vertical axis 52a, and the vertical axis 52a is connected to a link 52b connected to the motor 52,
It is rotated by 52c and 52d. The eyeball 32 is three-dimensionally moved by the motors 51 and 52, the horizontal axis, the vertical axis 52a, the compression spring 51a, and the like. The cover member 33 is connected to the horizontal shaft 5 supported by the fixing plate 53 described above.
3a rotatably supports up and down. On the upper part of the cover member 33, a connection tool (connection portion) 60 is provided. The connecting tool 60 has a protrusion 60a as a cam follower protruding at one end, and a fixing member 60b fixed at the other end. The projection 60a is moved by a cam 54d to which power is transmitted via a lower pulley 54a, a belt 54b, and an upper pulley 54c connected to the motor 54. In addition, the fixing member 33b includes the eyelid 31a.
, The cover member 33 is moved by the driving of the motor 54 via the cam 54d and the like, so that the eyelid 31 is also moved. Further, a projection 33c is provided at a lower portion of the cover member 33, and the bias from the compression spring 52f is always given through a member 52e. Therefore, the cam 54d, which continues to push the upper projection 33a forward, further rotates and comes off the projection 33a, and at the same time, the cover member 33 is pushed up in the direction of the arrow R1. According to such a configuration, the eyelids 3
1a and the cover member 33 are in close contact with each other, and it is possible to express the opening and closing movement by making the movement stroke of the eyelid 31a sufficient, so that a more natural and realistic image can be obtained.

<Embodiment 6> This embodiment relates to a doll-shaped robot according to the above-described claim 8. FIG.
FIG. 3 is an exploded perspective view showing a moving mechanism for expressing eye movement in the doll-shaped robot. In the fifth embodiment, a moving mechanism 40 that simplifies the eyeball 32 and the mechanism for moving the eyeball 32 (members 31 to 41) is provided instead of the eyeball 32 and the mechanism for moving the eyeball 32 in the fourth embodiment. It is. Therefore, the mold release skin 31, the eyelid 31a, the cover member 33, and the like are the same as those of the fourth embodiment shown in FIG. The doll-shaped robot according to the present embodiment has an eyelid 31a, which is a part of a movable part of the die-cutting outer skin 31 (see FIG. 6), and a hemispherical and transparent convex provided inside the eyelid 31a toward the outside. A cover member 33, a planar illustrated member 41 provided inside the cover member 33, and a moving unit 42 for moving the illustrated member 41 two-dimensionally in up, down, left, and right directions. The illustrated member 41 has a front side (a back side in FIG. 10).
In the figure, two eyeballs 41a are shown in a plan view, and in the center of the illustrated member 41, a through hole 41 with which a cam described later can be engaged is provided.
b is drilled. The moving means 42 has a guide plate 43 that guides the above-described illustrated member 41 to slide in the left-right direction. The guide plate 43 is provided with two of the above-described illustrated members 41.
A large window 43a is provided at a position corresponding to each eyeball 41a, and two cover members 33, 33 are provided in front of both left and right ends of the window 43a. Moving means 42
Further includes a pedestal 44 integrated with the guide plate 43,
It has a motor 45 fixed above, and a cam 46 which is swung by the motor 45 in the left-right direction.
The tip of the cam 46 is engaged with the through hole 41 b of the guide plate 41. Therefore, the illustrated member 41 is moved by the swinging operation of the cam 46 caused by the forward / reverse rotation of the motor 45.
3 and slides left and right. The moving means 42 further includes another pedestal 47, a motor 48 fixed laterally to the pedestal 47, a cam 49 fixed to an output shaft thereof, and elevating guides 50 a erected on both right and left ends of the pedestal 47. 50b. Guide plate 4 described above
3, the pedestal 44, the motor 45, and the cam 46 are integrally formed, and the whole is placed on the cam 49 and moves up and down by the rotation of the cam 49. Guided by the lifting guides 50a, 50b. With the above-described configuration, the two eyeballs 41a drawn on the illustrated member 41 rotate the cam 49 forward and reverse by the forward and reverse rotation of the motor 48, and swing the cam 46 in the left and right direction by the forward and reverse rotation of the motor 45. With this, it is possible to move vertically and horizontally. These two eyes 41
Since the movement of “a” is observed by the viewer of the doll-shaped robot through the two cover members 33, the movement of “a” is observed in the same manner as the movement of a real human eyeball. In addition, by making the cover member 33 a lens and adjusting the power appropriately, it is possible to make the cover member look even more real.
In this case, an expression that opens the eyes can be obtained simply by giving the illustrated member 41 a slight forward-backward movement. According to the present embodiment, the eyeball can be made to look as if it has just moved by moving the illustrated member 41 two-dimensionally in the vertical and horizontal directions. The configuration of the means 42 can be simplified. In addition, since the illustrated member 41 can be moved in a non-contact state with respect to the cover member 33, the movement can be made smooth.

[0015]

As described above, according to the present invention,
A more realistic or less expensive doll-shaped robot and a method of manufacturing the same can be provided. Also, by freely attaching and detaching the outer cover, damage during repair and replacement work can be avoided. Further, it is possible to combine a single machine (drive device) with a plurality of kinds of outer skins that share the specifications of an attachment, for example, to meet a demand by realizing an assortment of characters and movements at the lowest cost. be able to. There are also significant business advantages, such as membership rentals where characters are exchanged regularly.

[Brief description of the drawings]

FIG. 1 is a diagram showing a method for manufacturing a doll-shaped robot according to the first embodiment.

FIG. 2A is a longitudinal sectional view showing the entire doll-shaped robot. (B) is an enlarged view of the part A in (a). (C) is an enlarged vertical sectional view from the head to the chest in (a).

FIG. 3 is a diagram illustrating a method for manufacturing a doll-shaped robot according to Embodiment 2.

FIG. 4 is a vertical cross-sectional view near a mouth of a doll-shaped robot according to a fourth embodiment.

FIG. 5A is a vertical sectional view of a head of a doll-shaped robot according to a fourth embodiment. (B) is a partially enlarged view of (a).
(C) is a partially enlarged view of (a).

FIG. 6 is a longitudinal sectional view showing the vicinity of an eye of a doll-shaped robot according to a fifth embodiment.

FIG. 7 is a perspective view of the vicinity of an eye of a doll-shaped robot according to a fifth embodiment.

FIG. 8 is a longitudinal sectional view showing the vicinity of an eye of another doll-shaped robot according to the fifth embodiment.

FIG. 9 is a perspective view of the vicinity of an eye of another doll-shaped robot according to the fifth embodiment.

FIG. 10 is an exploded perspective view of eyeball moving means of the doll-shaped robot according to the sixth embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Substrate preparation process 1a Coating process 1b Adhesive application process 1c Adhesion process 2 Penetration prevention process 3 Thick coating process 4 Shaping process 5 Penetration prevention process 10 Doll robot 11 Drive device 12 Base (urethane foam block) 15 Engraving skin 13 Finish coating layer 13a Base coat 13b Thick coat 13c Powder layer 21, 21a, 21b Hard inner shell (shell) 22 Mold removal skin 22a Movable part (lower lip) 23 Drive unit 24, 25 Connection part (connector) 31 Mold removal skin 31a eyelid 32 eyeball 33 cover member 34 connection part (rod) 41 illustrated member 41a eyeball 42 moving means 60 connection part (connector)

Claims (8)

[Claims] 1. A method of manufacturing a doll-shaped robot having an expandable and contractable engraved outer cover, comprising: a base forming step of forming a base of the engraved outer cover using a sponge-like soft material; and mixing a silicon oil with a surface of the base. An infiltration prevention step of undercoating the softened silicon, and after the undercoat is cured, a thick coating step of further applying the silicon on the surface thereof, and before the thick coating is cured, A method of manufacturing a doll-shaped robot, comprising: a shaping step of shaping with a shaping member impregnated with a solvent; and a leaching preventing step of applying talc powder to a surface of the thick coat after the thick coat is cured. 2. The method according to claim 1, wherein the step of preparing the base includes a step of covering the surface of the sponge-like soft material with a mesh member, and a step of covering the surface of the sponge-like soft material from above the mesh member with an adhesive. An adhesive application step of applying the adhesive in an infinite number of points, and removing the mesh member to form a sponge-like soft material to which the adhesive has been applied, and another sponge-like soft material. 2. The method for manufacturing a doll-shaped robot according to claim 1, further comprising: adhering a doll. 3. A sculpture outer skin constituting an outer shape of the doll-shaped robot, and a drive device provided inside the sculpture outer skin to support the sculpture outer skin and to give a motion to a movable portion of the sculpture outer skin. A doll-shaped robot, wherein the sculpture skin is detachably attached to the driving device. 4. A hard inner shell, an extensible die-cut outer skin attached so as to cover the hard inner shell, and a hard-movable portion disposed inside the hard inner shell and movable on the die-cut outer skin. A doll-shaped robot having a driving device that gives a motion via an inner shell, comprising a connection portion between the hard inner shell and the driving device, wherein the hard inner shell is A doll-shaped robot, which is detachably configured by a connection part. 5. A hard inner shell, an extensible die-cut outer skin attached to cover the hard inner shell, and a movable part of the die-cut outer shell disposed inside the hard inner shell. A doll-shaped robot comprising: a driving device that gives a motion to the doll-shaped robot; and a connecting portion between the die-cutting outer skin and the driving device, wherein the die-cutting outer skin is attached to and detached from the driving device by the connecting portion. A doll-shaped robot, which is freely configured. 6. An eyelid that is a movable part of the die-cut outer skin, and an eyeball that is disposed inside the eyelid and moves three-dimensionally,
A hemispherical or semi-rugby ball-shaped and transparent cover member is provided between the eyelid and the eyeball in a state not related to the movement of the eyeball, and the connection between the eyelid and the driving device is provided. The doll-shaped robot according to claim 5, wherein a part is provided, and the eyelid is moved by the driving device. 7. An eyelid that is a movable part of the die-cut outer skin, and an eyeball that is disposed inside the eyelid and moves three-dimensionally,
A hemispherical or semi-rugby ball-shaped and transparent cover member is provided between the eyelid and the eyeball in a state not related to the movement of the eyeball, and fixing the eyelid and the cover member, Providing the connecting portion between the eyelid and the driving device, the driving device gives a movement to the eyelid together with a cover member,
The doll-shaped robot according to claim 5, wherein: 8. An eyelid, which is a movable part of the die-skin, and a hemispherical and transparent cover member provided on the inside of the eyelid in a convex shape toward the outside, wherein the inside of the cover member is provided. The doll-shaped robot according to claim 5, further comprising: a planar illustrated member that illustrates an eyeball; and a moving unit configured to move the illustrated member two-dimensionally in up, down, left, and right directions.