JP2010069567A - Coating material and extensible material of connecting part - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a coating material of a connecting part, capable of imparting a contact feeling close to that when actually contacting a person, while preventing contact with an internal device, when applying the coating material to the connecting part of a human-coexistence type robot, while making appearance excellent. <P>SOLUTION: This coating material of the connecting part mutually and bendably connects a first member 14 and a second member 16. The coating material includes a base material 31 which has an uneven surface, is formed into a porous shape and is capable of extending and deforming in a direction extending the surface, an outer skin layer 32 arranged on the surface side of the base material 31 to be extensible and deformable in the same direction as a direction in which the base material 31 is extended and deformed in a dry state, and an intermediate adhering layer 33 which adheres the base material 31 and the outer skin layer 32 by being interposed between the surface of the base material 31 and the outer skin layer 32 in the dry state and is capable of extending and deforming in the same direction as the direction in which the base material 31 is extended and deformed. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a covering member and a stretch member for a connecting part that connects two bendable members applied to, for example, a joint part of a robot.

Conventionally, as described in Japanese Patent Application Laid-Open No. 2007-105803 (Patent Document 1), a coating material for a joint portion of a humanoid robot has been used that is formed in a bellows shape by resin, rubber, or the like. Yes.
JP 2007-105803 A

  However, as described in Patent Document 1, in a humanoid robot, when the joint portion has a bellows shape, the appearance is not good. Further, as a stretch material, a rubber-based film or the like is generally known. Therefore, in addition to the bellows shape, it is conceivable to apply a stretch material such as a rubber film to the joint. In this case, it is possible to improve the appearance compared to the bellows shape. However, since the rubber film has low tear strength, it is easily broken by a small scratch or the like. As described above, both of a bellows shape made of resin, rubber, etc. and a rubber-based film both have problems.

  Further, in the human-symbiotic robot, when the bellows-shaped joint portion contacts a human, the human feels a completely different sensation from that in contact with an actual human. This is because the actual human joint is not shaped like a bellows. In recent years, research on nursing robots has been conducted. In particular, when the care robot moves while holding a person, it is desirable to give the person holding the person a feeling that the person is holding the person. Therefore, in order to satisfy this, the bellows shape cannot be applied as the joint covering material.

  In this regard, when a rubber-based film or the like is applied, it is possible to give a touched person a touch feeling similar to that of an actual person. However, since the rubber-based film alone is exposed on the surface, there is a problem in durability. Therefore, the rubber-based film alone cannot be applied from this.

  The present invention has been made in view of such circumstances, and can be improved in appearance, and can be applied to an internal device when touched by an actual person when applied to a connecting part of a human-symbiotic robot. It is an object of the present invention to provide a covering material for a connecting portion that can prevent contact with the touch panel and can give a feeling of contact similar to that in contact with an actual person. Moreover, it aims at providing the extending | stretching material which is good not only for a connection part but can be extended | stretched in the direction where the surface extends.

  Hereinafter, each means suitable for solving the above-described problems will be described with additional effects and the like as necessary.

(Means 1) The covering material of the connecting portion according to means 1 is
A covering material for a connecting portion capable of bending the first member and the second member,
A substrate that has an uneven surface and is formed in a porous shape, and is stretchable and deformable in the direction in which the surface extends;
An outer skin layer that is disposed on the surface side of the base material and is stretchable in the same direction as the base material is stretched and deformed in a dry state;
By being interposed between the surface of the base material and the outer skin layer in a dry state, the base material and the outer skin layer are bonded to each other, and can be stretched and deformed in the same direction as the base material is stretched and deformed. An intermediate adhesive layer;
It is characterized by providing.

  According to the means 1, each layer constituting the covering material of the connecting portion is made of a material that can be stretched in the direction in which the surface extends. That is, since the covering material of the connecting portion is not accordion-shaped, the appearance can be improved compared to the accordion-shape.

  Further, an intermediate adhesive layer of the covering material of the connecting portion of this means is interposed between the surface of the base material and the dried outer skin layer. Here, the shape of the surface of the outer skin layer is determined in a dry state. That is, even if the outer skin layer is provided on the uneven surface side of the base material via the intermediate adhesive layer, the surface of the outer skin layer can be shaped independently of the surface of the base material. Thus, even if the substrate has an uneven surface, the surface of the outer skin layer can be a smooth surface or an uneven surface different from the surface of the substrate. Or a surface similar to the surface of the substrate. Thus, the degree of freedom of the design of the surface of the outer skin layer is very high. Furthermore, even if the base material cannot be colored directly, if the outer skin layer can be colored, it can be colored as a covering material. This also increases the degree of freedom of the design.

  Even if the intermediate adhesive layer penetrates into the porous interior of the substrate, the extensibility of the substrate is not impaired by setting the necessary thickness while maintaining the flexibility and extensibility of the substrate.

  Further, by adopting the layer structure of the base material, the intermediate adhesive layer, and the outer skin layer, it is possible to increase the strength against damage and the durability as a whole covering material. As a result, when the covering material of the connecting part of this means is applied to a human-symbiotic robot, it gives the touched person a contact sensation similar to that when touching an actual person, and when used for a joint part In addition, it can be applied as a covering material that can prevent a human from coming into contact with an internal device constituting the joint.

  (Means 2) In the covering material of the connecting portion of the means 1, the base material may be made of a fabric made of a fiber material or a polymer foam.

  Here, the fabric made of a fiber material includes a woven fabric and a non-woven fabric. Moreover, when a base material is a polymer foam, it becomes possible to have cushioning properties as a covering material. In this case, in particular, when the covering material comes into contact with a human, a soft touch feeling can be given to the human. In this case, the outer skin layer also has a function of protecting the polymer foam.

  (Means 3) In the covering material of the connecting portion of means 1 or 2, the outer skin layer may be a pre-formed film or a dried paint.

  When the outer skin layer is a film, the outer skin layer can be easily formed. Paint has no shape restrictions. Specifically, the paint can be matched to the shape of the molding member to which the paint is applied. That is, when the outer skin layer is a dried paint, the shape of the dried paint can be set to an arbitrary shape.

(Means 4) In the covering material of the connecting portion of the means 3,
The outer skin layer is a paint;
An application step of applying the paint to the surface of the molded member;
A drying step of drying the paint;
An intermediate adhesive layer disposing step of disposing the intermediate adhesive layer on the dried paint;
A base material placement step of placing the base material on the intermediate adhesive layer;
You may make it form from.

  Thereby, a coating material can be reliably applied to an outer skin layer, and the high degree of freedom of the shape of an outer skin layer can be utilized effectively. Further, in the intermediate adhesive layer arranging step, the intermediate adhesive layer is not arranged on the base material but is arranged on the dried paint (skin layer). Accordingly, it is possible to prevent the intermediate adhesive layer from affecting the extensibility of the substrate by entering the porous inside of the substrate.

(Means 5) In the covering material of any of the connecting portions of means 1 to 4, the intermediate adhesive layer may be made of a rubber-like material or a solvent-based rubber-like material dispersible in water.
As a result, it is possible to reliably exert adhesive force while having extensibility. The solvent-based rubber-like material is a rubber-like material that can be dispersed or dissolved in a solvent.

(Means 6) In the covering material of the connecting portion of the means 5,
The intermediate adhesive layer may be any one selected from a rubber adhesive, a rubber latex adhesive, a resin emulsion adhesive, an acrylic urethane adhesive, a urethane adhesive, and a silicone resin adhesive.

  Thereby, the adhesive force can be exhibited while reliably having extensibility. Note that an epoxy resin, an acrylic resin, or the like that does not have extensibility cannot be applied as the intermediate adhesive layer.

(Means 7) In the covering material of the connecting portion of means 6, the intermediate adhesive layer may be in a state in which the rubber adhesive is dispersed in water, or in a state in which the rubber adhesive is dispersed or dissolved in a solvent. .
As a result, it is possible to reliably ensure durability while having stretchability and adhesive strength.

(Means 8) In the covering material of any one of the means 1 to 7,
The covering material of the connecting portion is
It is formed in a cylindrical shape so that the outer skin layer is located on the outer peripheral side,
The cylindrical one opening may be attached to the first member, and the other cylindrical opening may be attached to the second member to cover the entire circumference of the bent portion.
Thereby, the effect of the coating | covering material of this invention can be acquired in the perimeter of a bending part.

(Means 9) The stretch material of the means 9 is
A substrate that has an uneven surface and is formed in a porous shape, and is stretchable and deformable in the direction in which the surface extends;
An outer skin layer that is disposed on the surface side of the base material and is stretchable in the same direction as the base material is stretched and deformed in a dry state;
By being interposed between the surface of the base material and the outer skin layer in a dry state, the base material and the outer skin layer are bonded to each other, and can be stretched and deformed in the same direction as the base material is stretched and deformed. An intermediate adhesive layer;
It is characterized by providing.

  According to the stretch material of this means, it is assumed that the covering material of the connecting portion in the above-described means 1 is applied as the stretch material also in parts other than the bent connection portion. The stretch material of the present invention exhibits the effect of the covering material for the connecting portion in the above-described means 1 as it is. Also, other features can be similarly applied.

  Hereinafter, a case where the covering material of the connecting portion of the present invention is applied to a joint portion of a nursing robot among human-friendly robots will be described with reference to the drawings.

(Whole structure of robot)
The overall configuration of the robot 1 will be described with reference to FIG. FIG. 1 is a front view of the robot 1. The robot 1 according to the present embodiment is a nursing robot among human-symbiotic robots, and is a robot that can move while holding a person who is a care recipient. For example, the robot 1 can move a cared person sitting in a bed to a wheelchair. That is, the robot 1 holds the cared person sitting in the bed, moves from the bed to the wheelchair while holding the cared person, and performs an operation of lowering the cared person to the wheelchair.

  As shown in FIG. 1, the robot 1 includes a leg portion 11, a torso portion 12, a head portion 13, left and right upper arm portions 14 and 15, left and right forearm portions 16 and 17, left and right hand portions 18 and 19, and a joint portion. As shown in the figure, the lumbar part 21, the neck joint part 22, the shoulder joint parts 23 and 24, and the elbow joint parts 25 and 26.

  The leg part 11 is equipped with a wheel (not shown) and is configured to be freely movable on the floor. The torso part 12 is connected to the leg part 11 by a waist joint part 21 so as to be able to swing back and forth of the robot 1 with respect to the leg part 11. The head 13 is connected to the trunk 12 by a neck joint 22 so that the head 13 can swing up and down and right and left with respect to the trunk 12. Visual sensors 13 a and 13 b are attached to the head 13.

  The upper arm portions 14 and 15 are connected to the body portion 12 by shoulder joint portions 23 and 24 so that the upper arm portions 14 and 15 can swing to the left and right of the robot 1 with respect to the body portion 12 and can rotate about the upper arm axis. Contact sensors 14 a and 15 a are attached to the surfaces of the upper arms 14 and 15. That is, the contact sensor 14 a can detect the magnitude of the external force that contacts the left upper arm portion 14, and the contact sensor 15 a can detect the magnitude of the external force that contacts the upper right arm portion 15.

  The forearm portions 16 and 17 are connected to the upper arm portions 12 and 13 by elbow joint portions 25 and 26 so as to be swingable forward and backward of the robot 1 with respect to the upper arm portions 14 and 15. Contact sensors 16 a and 17 a are attached to the front arms 16 and 17. That is, the contact sensor 16a can detect the magnitude of the external force that contacts the left forearm portion 16, and the contact sensor 17a can detect the magnitude of the external force that contacts the right forearm portion 17. The left and right hand portions 18 and 19 are fixed to the front end sides of the forearm portions 16 and 17.

  And the covering materials 51 and 52 of the connection part of this invention are arrange | positioned in the elbow joint part 25 between the upper arm part 14 and the forearm part 16, and the elbow joint part 26 between the upper arm part 15 and the forearm part 17. Has been. That is, the covering materials 51 and 52 of the connecting portion are the elbow joint portions 25 that connect the upper arm portions 14 and 15 as the first member and the forearm portions 16 and 17 as the second member so as to be able to bend each other. 26.

  The covering members 51 and 52 of the connecting portion are formed in a cylindrical shape. And the cylindrical one opening part of the coating materials 51 and 52 of a connection part is attached to the upper arm parts 14 and 15, and the cylindrical other opening part of the coating materials 51 and 52 of a connection part is attached to the forearm parts 16 and 17. It has been. That is, the covering materials 51 and 52 of the connecting portion cover the entire circumference of the left and right elbow joint portions 25 and 26. Since the elbow joint portions 25 and 26 are bendable, the covering members 51 and 52 of the connecting portions are stretched and deformed in accordance with the relative operations of the upper arm portions 14 and 15 and the forearm portions 15 and 16. Specifically, the covering members 51 and 52 of the connecting portion are deformed so as to be extendable in the cylinder axis direction. The covering materials 51 and 52 can prevent the human from coming into contact with the internal devices constituting the elbow joint portions 25 and 26 when the care robot comes into contact with the human.

(Configuration of the covering portions 51 and 52 of the connecting portion)
The structure of the coating | covering materials 51 and 52 of a connection part is demonstrated with reference to FIG. FIG. 2 is a cross-sectional view of the covering members 51 and 52 of the connecting portion. More specifically, FIG. 2 is a cross-sectional view in the cylinder axis direction of the covering materials 51 and 52 of the connecting portion in FIG. 1, with the upper side being the outer peripheral side and the lower side being the inner peripheral side.

  As shown in FIG. 2, the covering members 51 and 52 of the connecting portion are composed of a base material 31, an outer skin layer 32, and an intermediate adhesive layer 33.

  The base material 31 has an uneven surface and is formed in a porous shape. The base material 31 is located on the inner peripheral side of the covering materials 51 and 52 of the connecting portion in FIG. Furthermore, the base material 31 can be extended and deformed in the direction in which the surface of the base material 31 extends. Specifically, as shown in FIG. 1, the covering members 51 and 52 of the connecting portion can be extended and deformed in the cylinder axis direction. This base material 31 consists of the textile material or polymer foam. Here, the fabric made of a fiber material includes a woven fabric and a non-woven fabric.

  When a fabric made of a fiber material is applied as the base material 31, the thickness of the fabric made of the fiber material is, for example, 0.1 mm to 5.0 mm. Further, as a characteristic of the fabric made of fiber material, for example, when another member such as an adhesive enters the porous inside, there is a possibility that the extensibility is impaired. And when the base material 31 is the fabric by a fiber raw material, it becomes possible for the base material 31 to have a cushioning property according to the thickness. In this case, in particular, when the covering materials 51 and 52 come into contact with a human, a soft touch feeling can be given to the human.

  In addition, when a fabric made of a fiber material is applied as the base material 31, the material of the fabric made of the fiber material is a natural fiber, rayon, polyester, nylon, cellulosic fiber, and an elastic yarn such as polyurethane combined with these fabrics. Apply what you let.

  When a polymer foam is applied as the base material 31, the upper limit value of the thickness of the polymer foam is, for example, 0.1 mm to 10 mm. The lower limit of the thickness of the polymer foam is, for example, 0.01 mm to 0.1 mm.

  Further, as a characteristic of such a polymer foam, if other members such as an adhesive enter the porous interior, for example, there is a possibility that the extensibility is impaired. And when the base material 31 is a polymer foam, the base material 31 can have a cushioning property as a covering material. When it has cushioning properties, particularly when the covering materials 51 and 52 come into contact with a human, a soft touch feeling can be given to the human.

  The polymer foam used for the base material 31 of the laminated structure of the present invention is a foam made of rubber, elastomer, or synthetic resin material, but is not particularly limited. Specifically, butadiene rubber (BR), chloroprene rubber (CR), natural rubber (NR), isoprene rubber (IR), styrene-butadiene rubber (SBR), butyl rubber (IIR), norbornene rubber (NOR), nitrile rubber (NBR), hydrogenated nitrile rubber (HNBR), brominated butyl rubber (BIIR), chlorinated butyl rubber (CIIR), acrylonitrile-isoprene copolymer (NIR), vulcanized rubber such as ethylene-propylene-diene rubber (EPDM) , Styrene-butadiene-styrene block copolymer (SBS), polyester-based, urethane-based, olefin-based thermoplastic elastomers, vinyl chloride resin (PVC), ethylene-vinyl acetate copolymer (EVA), 1,2- Polybutadiene (RB), polyolefin resin, styrene resin, acrylic There are synthetic resins such as nitrile-butadiene-styrene copolymer (ABS). When used for the substrate 31 having a laminated structure, polyurethane (PU) or the like is preferably used.

  The outer skin layer 32 is disposed on the surface side of the base material 31. That is, the outer skin layer 32 is located on the outer peripheral side of the covering materials 51 and 52 of the connecting portion in FIG. The outer skin layer 32 can be stretched and deformed in the same direction as the base material 31 stretches and deforms in a dry state. Specifically, the outer skin layer 32 is a pre-formed film or a dried paint.

  When a film is applied as the outer skin layer 32, the material of the film is a partially cross-linked or cross-linked rubber, such as natural rubber, polybutadiene, butadiene-styrene copolymer, polyisoprene, polychloroprene, nitrile rubber, and polyurethane. Apply. The upper limit of the film thickness is, for example, 0.5 mm to 1.0 mm. The lower limit of the film thickness is, for example, 0.01 mm to 0.1 mm. The outer skin layer 32 that is a film is formed by, for example, a melt extrusion method, an inflation method, a calendar method, or the like. Thus, when the outer skin layer 32 is a film formed in advance, the outer skin layer 32 can be easily formed.

  When paint is applied as the outer skin layer 32, polyurethane, polyvinyl chloride, acrylic urethane, or the like is applied as the material of the paint. The upper limit of the film thickness of the dried paint is, for example, 100 μm to 500 μm. The lower limit of the film thickness of the dried paint is, for example, 10 μm to 100 μm. A method for forming the outer skin layer 32 as this film will be described later.

  In the case where a paint is applied as the outer skin layer 32, since the paint has no shape restriction in the first place, it can be matched with the shape of the molding member to which the paint is applied. That is, when the outer skin layer 32 is a dried paint, the shape of the dried paint can be set to an arbitrary shape.

  Here, when a polymer foam is applied as the base material 31, the strength of the polymer foam alone is not so high. In this case, the outer skin layer 32 has a function of protecting the base material 31 made of the polymer foam.

  The intermediate adhesive layer 33 is interposed between the surface of the base material 31 and the outer skin layer 32 in a dry state, thereby bonding the base material 31 and the skin layer 32. Further, the intermediate adhesive layer 33 can be stretched and deformed in the same direction as the direction in which the base material 31 is stretched and deformed.

  The intermediate adhesive layer 33 is made of an elastic adhesive, particularly a rubber-like material or solvent-based rubber-like material that can be dispersed in water. Specifically, the intermediate adhesive layer 33 was selected from a rubber adhesive, a rubber latex adhesive, a resin emulsion adhesive, an acrylic urethane adhesive, a urethane adhesive, and a silicone resin adhesive. Apply either one. Thereby, the intermediate | middle adhesive layer 33 can exhibit adhesive force, having a stretching property reliably. Epoxy resin and acrylic resin cannot be applied as the intermediate adhesive layer 33. This is because they do not have extensibility.

  When a rubber adhesive is applied as the intermediate adhesive layer 33, it is applied in a state where the rubber adhesive is dispersed in water or a state where the rubber adhesive is dispersed or dissolved in a solvent. As a result, it is possible to reliably ensure durability while having stretchability and adhesive strength.

  The film thickness of the intermediate adhesive layer 33 surely has extensibility and adhesive force, and even if it penetrates into the porous interior of the base material 31, it affects the extensibility of the base material 31. The film thickness is appropriate depending on the type of adhesive. For example, the intermediate adhesive layer 33 is, for example, 1 μm to 500 μm. Thereby, the whole covering material can surely have extensibility. Furthermore, it is sufficient that the intermediate adhesive layer 33 has a thickness that allows the outer skin layer 32 and the substrate 31 to be bonded.

(Manufacturing method of the covering materials 51 and 52 of the connecting portion)
A method for manufacturing the covering members 51 and 52 of the connecting portion will be described with reference to FIG. FIGS. 3A to 3D are views showing each manufacturing process of the covering members 51 and 52 of the connecting portion.

  First, as shown in FIG. 3A, the outer skin layer 32 is disposed on the surface of the molding member 40. When a pre-formed film is applied as the outer skin layer 32, the film is disposed so as to follow the surface of the molding member 40. In the case of a film, since it is already dry, the next step can be performed immediately. On the other hand, when applying a paint as the outer skin layer 32, the paint is applied to the surface of the molding member 40 by, for example, spraying (application process). In the case of a paint, the next process is performed after waiting for the applied paint to dry (drying process).

  Subsequently, as shown in FIG. 3B, the intermediate adhesive layer 33 is applied onto the film or the dried paint by, for example, spraying (intermediate adhesive layer arranging step). Subsequently, as shown in FIG. 3C, the base material 31 is placed on the intermediate adhesive layer 33 and laminated (base material placement step). And it waits until it will be in the state by which the base material 31 and the outer skin layer 32 adhere | attach by the intermediate contact bonding layer 33. FIG.

  Subsequently, as shown in FIG. 3 (d), the molding member 40 is detached from the laminated base material 31, intermediate adhesive layer 33, and outer skin layer 32, and planar covering materials 51 and 52 are molded. Subsequently, the planar covering materials 51 and 52 are formed into a cylindrical shape.

  By adopting this manufacturing method, the paint can be reliably applied to the outer skin layer 32, and the high degree of freedom of the shape of the outer skin layer 32 can be effectively utilized. Further, in the intermediate adhesive layer arranging step, the intermediate adhesive layer 33 is not arranged on the substrate 31 but is arranged on the dried paint (skin layer 32). Accordingly, it is possible to prevent the intermediate adhesive layer 33 from affecting the extensibility of the base material 31 by entering the porous inside of the base material 31.

(Comparative test)
For Example 1 and Comparative Examples 1 and 2 to which the present invention was applied, comparative tests were conducted with respect to stretching performance and surface properties.

Example 1
A two-component polyurethane (UL-20 manufactured by Mikuni Paint Co., Ltd.) paint as the outer skin layer 32 is sprayed so as to have a film thickness of 50 μm. After the outer skin layer 32 is dried, the intermediate adhesive layer 33 is applied. The material of the intermediate adhesive layer 33 is a solvent-based polyurethane resin (Nipporan 5120 manufactured by Nippon Polyurethane Co., Ltd.), and the film thickness of the intermediate adhesive layer 33 is 50 μm. The base material 31 is disposed on the intermediate adhesive layer 33. A textile fabric made of a fiber material is applied to the base material 31. Specifically, the material of the base material 31 is a combination of nylon and polyurethane (nylon + polyurethane (Toray Co., Ltd. Trinty)). The wall thickness is 400 μm.

(Comparative Example 1)
The substrate 31 is the same as that in the first embodiment. Only the intermediate adhesive layer 33 of the same type as in Example 1 is directly applied to the surface of the substrate 31 with a film thickness of 50 μm. That is, the comparative example 1 does not have what corresponds to the outer skin layer 32 of the first embodiment.

(Comparative Example 2)
The substrate 31 is the same as that in the first embodiment. Only the intermediate adhesive layer 33 of the same type as in Example 1 is directly applied to the surface of the base material 31 with a film thickness of 200 μm. That is, the comparative example 1 does not have what corresponds to the outer skin layer 32 of the first embodiment.

(Test results)
Table 1 shows the stretching performance and surface properties of Example 1 and Comparative Examples 1 and 2.

このように、比較例１では、実施例１の中間接着層３３に相当する膜の膜厚を５０μｍとしていることから、基材３１の伸張性に影響を及ぼすことなく、被覆材全体としての伸張性を良好にすることができる。しかし、表面に基材３１の凹凸状が表れるため、意匠性に欠ける。一方、比較例２は、実施例１の中間接着層３３に相当する膜の膜厚を２００μｍとしているため、表面に基材３１の凹凸状が表れることなく、滑らかな表面を形成することができる。しかし、実施例１の中間接着層３３に相当する膜の膜厚が比較的厚いことに起因して、当該膜が基材３１の多孔質状の内部への侵入していることから、基材３１の伸張性を損なう結果となり、被覆材全体としての伸張性が不良となる。

Thus, in Comparative Example 1, since the film thickness corresponding to the intermediate adhesive layer 33 of Example 1 is 50 μm, the stretch of the entire coating material is not affected without affecting the stretchability of the base material 31. Property can be improved. However, since the uneven shape of the base material 31 appears on the surface, the design is lacking. On the other hand, in Comparative Example 2, since the film thickness corresponding to the intermediate adhesive layer 33 of Example 1 is 200 μm, the surface of the base material 31 does not appear on the surface, and a smooth surface can be formed. . However, since the film corresponding to the intermediate adhesive layer 33 of Example 1 has a relatively large film thickness, the film penetrates into the porous interior of the substrate 31. As a result, the extensibility of 31 is impaired, and the extensibility of the entire coating material becomes poor.

  Compared to these Comparative Examples 1 and 2, Example 1 secures high designability while ensuring high extensibility and without the unevenness of the base material 31 appearing on the surface. That is, by substantially forming the outer skin layer 32 and applying the intermediate adhesive layer 33, it is possible to prevent a decrease in extensibility of the base material 31 due to the intermediate adhesive layer 33 entering the porous inside of the base material 31. Unevenness of the base material 31 does not appear on the surface. That is, by bonding the outer skin layer 32 and the base material 31 with the intermediate adhesive layer 33, it is possible to improve the stretchability of the connecting portion as a whole covering material.

  According to the covering members 51 and 52 described above, the following effects are further achieved. Each layer 31, 32, 33 constituting the covering members 51, 52 of the connecting portion is made of a material that can be expanded in the direction in which the surface extends. That is, since the covering members 51 and 52 of the connecting portion are not in the shape of a bellows, the appearance can be improved as compared with the shape of the bellows.

  An intermediate adhesive layer 33 is interposed between the surface of the base material 31 and the outer skin layer 32 in a dry state. Here, the shape of the surface of the outer skin layer 32 is determined in a dry state. That is, even if the outer skin layer 32 is provided on the uneven surface side of the base material 31 via the intermediate adhesive layer 33, the surface of the outer skin layer 32 may have a shape unrelated to the surface of the base material 31. it can. Thus, even if the base material 31 has an uneven surface, the surface of the outer skin layer 32 can be a smooth surface, or an uneven surface different from the surface of the base material 31. It is also possible to make the surface the same as the surface of the substrate 31. Thus, the degree of freedom of the design of the surface of the outer skin layer 32 is very high. Furthermore, even if the base material 31 cannot be directly colored, if the outer skin layer 32 can be colored, it can be colored as the covering members 51 and 52 of the connecting portion. This also increases the degree of freedom of the design.

  Further, by adopting the layer structure of the base material 31, the intermediate adhesive layer 33, and the outer skin layer 32, it is possible to increase the strength against damage and durability as a whole of the covering material. Thereby, the coating | covering materials 51 and 52 can give the person who touched the contact feeling approximated when contacting an actual person.

  In addition, in the said embodiment, what added the color as the coating | covering materials 51 and 52 of a connection part can be formed by adding a color to the outer skin layer 32. FIG. It is possible to add a color to the outer skin layer 32 with the above materials.

  Moreover, although the case where it applied to the elbow joint parts 25 and 26 was demonstrated in the said embodiment, other joint parts, for example, the neck joint part 22, the waist joint part 21, the shoulder joint parts 23 and 24, the wrist joint part, are demonstrated. It can be applied to various joint parts. Furthermore, in addition to the joint portion, any material that requires extensibility and designability is applicable.

  Moreover, in the said embodiment, although it was set as the three-layer structure of the base material 31, the intermediate contact bonding layer 33, and the outer skin layer 32, it is not restricted to this. For example, as shown in FIG. 4, the base material 31 is arranged in the center, the intermediate adhesive layers 33 and 33 are arranged on both sides thereof, and the outer skin layers 32 and 32 are arranged outside the intermediate adhesive layers 33 and 33. A five-layer structure can also be used. With this configuration, since the surfaces on both sides are covered with the outer skin layer 32, it is effective when the surfaces on both sides are applied to the outside.

  The coating material for the connecting portion of the present invention is particularly effective when applied to a joint portion of a human-symbiotic robot that contacts a human. In addition, even if it is not a joint part, it can apply to what requires extensibility and design nature.

2 is a front view of the robot 1. FIG. It is sectional drawing of the coating | coated materials 51 and 52 of a connection part. It is a figure which shows each manufacturing process of the coating | covering materials 51 and 52 of a connection part. It is sectional drawing which shows the coating | covering material of other embodiment.

Explanation of symbols

1: Robot 11: Leg part, 12: Torso part, 13: Head part, 13a, 13b: Visual sensor 14, 15: Upper arm part, 16, 17: Forearm part, 18, 19: Hand part 14a, 15a, 16a, 17a: pressure sensor 21: waist, 22: neck joint, 23, 24: shoulder joint, 25, 26: elbow joint 31: base material, 32: outer skin layer, 33: intermediate adhesive layer 51, 52: connection Coating material

Claims (9)

A covering material for a connecting portion capable of bending the first member and the second member,
A substrate that has an uneven surface and is formed in a porous shape, and is stretchable and deformable in the direction in which the surface extends;
An outer skin layer that is disposed on the surface side of the base material and is stretchable in the same direction as the base material is stretched and deformed in a dry state;
By being interposed between the surface of the base material and the outer skin layer in a dry state, the base material and the outer skin layer are bonded to each other, and can be stretched and deformed in the same direction as the base material is stretched and deformed. An intermediate adhesive layer;
A covering material for a connecting portion, comprising:   The said base material is a coating | covering material of the connection part of Claim 1 which consists of a textile material or a polymer foam.   The covering material for a connecting portion according to claim 1, wherein the outer skin layer is a pre-formed film or a dried paint. The outer skin layer is a paint;
An application step of applying the paint to the surface of the molded member;
A drying step of drying the paint;
An intermediate adhesive layer disposing step of disposing the intermediate adhesive layer on the dried paint;
A base material placement step of placing the base material on the intermediate adhesive layer;
The covering material for a connecting portion according to claim 3, which is molded from   The said intermediate adhesive layer is a coating | covering material of the connection part as described in any one of Claims 1-4 which consists of a rubber-like material dispersible in water or a solvent-type rubber-like material.   The intermediate adhesive layer is any one selected from a rubber adhesive, a rubber latex adhesive, a resin emulsion adhesive, an acrylic urethane adhesive, a urethane adhesive, and a silicone resin adhesive. Item 6. A covering material for a connecting portion according to Item 5.   The covering material for a connecting portion according to claim 6, wherein the intermediate adhesive layer is in a state where the rubber-based adhesive is dispersed in water or in a state where the rubber-based adhesive is dispersed or dissolved in a solvent. The covering material of the connecting portion is
It is formed in a cylindrical shape so that the outer skin layer is located on the outer peripheral side,
The said cylindrical one opening part is attached to said 1st member, and the said cylindrical other opening part is attached to said 2nd member, and covers the perimeter of the said connection part. The coating | covering material of the connection part as described in any one of these. A substrate that has an uneven surface and is formed in a porous shape, and is stretchable and deformable in the direction in which the surface extends;
An outer skin layer that is disposed on the surface side of the base material and is stretchable in the same direction as the base material is stretched and deformed in a dry state;
By being interposed between the surface of the base material and the outer skin layer in a dry state, the base material and the outer skin layer are bonded to each other, and can be stretched and deformed in the same direction as the base material is stretched and deformed. An intermediate adhesive layer;
A stretch material comprising:

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