KR101247237B1 - Face robot having detachable inside and outside skins with easy maintenance - Google Patents

Abstract

The present invention relates to a face robot having a removable inner skin structure that is easy to maintain, and by allowing a magnet to be detachably attached to the inner skin and the outer skin forming a face skeleton of a humanoid robot or an animal robot by a magnet, · To prevent damage to the appearance of the face during disassembly and reassembly of the skin, to facilitate maintenance work such as replacement or repair of the internal parts, and to ensure the correct assembly of the inner skin and the skin without distortion. do.
As a solution for this, the present invention is an endothelial 10 corresponding to the facial skeleton, the outer shell 20 of the flexible material coupled to the endothelial 10, and the organic endothelial is disposed in the endothelial 10 and the facial muscle movement and In the facial robot including a mechanism 30 made of a microprocessor, a sensor, a motor, an actuator, etc. to implement the expression of emotion, interposed between the endothelial 10 and the outer shell 20, one surface is the endothelial 10 ) Is detachably adsorbed by magnetic force and the other surface includes a plurality of patch portions 41 to 47 that are divided to be fixedly coupled to the outer shell 20, wherein each of the plurality of patch portions 41 to 47 is formed as described above. Endothelial 10 and the outer skin 20 of the forehead portion, both side portions, characterized in that located on the nose and jaw portion.

Description

FACE ROBOT HAVING DETACHABLE INSIDE AND OUTSIDE SKINS WITH EASY MAINTENANCE}

The present invention relates to a face robot having a removable inner skin structure that is easy to maintain, and more specifically, can be adsorbed and coupled by a magnet to enable detachment of the inner skin and the outer skin forming the face skeleton of a humanoid robot or an animal robot. This prevents damage to the appearance of the face when disassembling and reassembling the inner and outer shells, and facilitates maintenance work such as replacing or repairing the internal parts of the inner shell. It is about the face robot which can do it.

Unlike conventional industrial robots, the use range of robots has become very wide in recent years, and has been expanded to an environment where humans live. Due to this trend, interaction with human beings is more important than ever, and research on robots with no objection in the interaction is being actively conducted.

Recently, research has been conducted on humanoid robots, which are similar in appearance to humans and capable of expressing emotions, so-called Android robots and emotional pets such as real pets for smooth interaction between humans and robots.

Among the Android robots for human-friendly interaction developed so far, the full-body Android has Actroid made by Kokoro of Japan, and the face Android is the facial robot of Hanson Robotics of the United States. This is representative. The representative animal robot is Aibo, manufactured by Sony Corporation of Japan.

Faces of these android robots and animal-type robots are designed to implement various emotion expressions, and skin and facial skeletons are present and mechanisms for moving facial muscles are arranged.

For example, FIG. 1 shows the face of an Android robot, but the face of an animal robot has the same structure. As shown in FIG. 1, the face of an Android robot is not a rigid body like other robots, but a skin 110 made of a flexible material such as silicone or hot foam so as to have a skin similar to a real human skin. It is coupled to the endothelium 120 to maintain its shape. In addition, the mechanism 130 corresponding to the human brain is organically disposed in the endothelial 120 and is composed of a microprocessor, a sensor, a motor, an actuator, and the like to implement facial muscle movement and emotion expression. ) Is connected to the endothelium using a wire or thread such as a small rigid wire, and when the mechanism portion 130 moves, the endothelial 120 and the outer shell 110 are also designed to move in accordance with the movement of the mechanism portion 130.

As such, dozens of sensors, motors, and other parts are arranged on the face of an android robot as well as an animal-type robot to realize a rich expression. If a component such as a motor fails, it is necessary to replace or repair the robot. The most important thing is to make the structure so that the appearance of the face can be easily separated.

However, in the related art, as the outer skin of the robot face is simply bonded to the inner skin only with an adhesive, it is difficult to disassemble the inner and outer skins and perform maintenance work such as replacing or repairing the parts as described above without damaging the outer appearance of the face. There was a difficulty, in particular, it is difficult to accurately assemble without distortion when combining the outer shell and endothelial as well as a problem that may cause damage to the appearance of the face when reassembling the inner shell.

According to the present invention, the endothelial and the outer skin of the human skeleton or the humanoid robot can be adsorbed and coupled by a magnet so as to be detachable, thereby preventing damage to the outer appearance of the inner and outer skin during disassembly and reassembly. It is an object of the present invention to provide a facial robot that can be easily assembled and repaired, such as replacement or repair of a mechanical part, and can be accurately assembled without being distorted when combined with an inner skin and an outer skin.

In order to achieve the above object, the present invention is a microprocessor, a sensor, so that the endothelial corresponding to the facial skeleton, the outer shell of a flexible material coupled to the endothelial, and organically disposed within the endothelium to implement facial muscle movement and expression In the face robot including a mechanism part consisting of a motor, an actuator, etc.,

Is interposed between the endothelial and the outer shell, one surface is detachably adsorbed by the magnetic force detachably to the endothelial and the other surface includes a plurality of patches formed to be fixedly coupled to the outer shell,

Each of the plurality of patches is located in the forehead portion, both side portions, the nose portion and the jaw portion of the endothelial and the outer shell.

In the present invention, the forehead portion of the endothelium and the upper and lower portions of both side portions thereof are formed with an open portion cut into a predetermined shape, and the opening portion is the forehead portion and both sides of the endothelium and the outer shell. It is characterized by being sealed by a patch portion respectively coupled to the top and bottom of the site.

In addition, in the present invention, each of the plurality of patch portions, the main body having a plurality of patch portion insertion grooves formed at regular intervals on the edge portion of the surface facing the endothelial, and fixedly inserted into the patch portion insertion groove Consists of magnets,

Endothelial insertion grooves are formed at positions corresponding to the patch insertion grooves, and the endothelial insertion grooves are fixedly inserted into the patch insertion grooves at the forehead portions, both side portions, the nose portions, and the jaw portions of the endothelium. Opposite the magnet and the opposite side is characterized in that the magnet is fixedly inserted with opposite polarity.

In addition, in the present invention, each of the plurality of patch portion is characterized in that the plate is made of a non-elastic material such as the endothelial.

Further, in the present invention, a plurality of embossed projections for forming an assembly position between the inner skin and the outer skin are formed on the front surface of the inner skin and the outer skin.

In addition, in the present invention, among the plurality of patch portions, the patch portion coupled to both side portions of the endothelial and the outer shell is formed with a plurality of embossed protrusions for assembling positioning of the endothelial and the outer shell. It features.

According to the present invention, the inner skin and the outer skin of the humanoid robot or animal robot are configured to be adsorbed and coupled by a magnet so as to be detachable, so that when a component such as a motor placed on the face breaks down, It can be easily separated from the endothelium to facilitate maintenance work such as replacement or repair of the target parts, and can be easily and accurately assembled without distorting when combining the endothelium and the outer shell. It is possible to prevent damage to the appearance of the face when assembling.

1 is a side view schematically showing the face structure of a typical android robot.
Figure 2 is a front perspective view showing a plurality of patches for coupling the endothelial structure and the endothelium of the facial robot according to the present invention.
Figure 3 is a perspective view showing the outer shell, endothelial and patch of the facial robot according to the present invention.
Figure 4 is a perspective view of the endothelial showing a state in which a plurality of patches coupled to the endothelial of the facial robot according to the present invention.
Figure 5 is a block diagram showing an example of one patch portion for combining the skin and the endothelium in the facial robot according to the present invention.
6 is a view showing a method of coupling the skin to the endothelium using a patch.
7 is a view showing a state in which the shell is coupled to the endothelium by the patch.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a side view schematically showing a face structure of a general android robot, Figure 2 is a front perspective view showing a plurality of patches for coupling the endothelial structure and the endothelial of the facial robot according to the present invention, Figure 3 is a present invention 4 is a perspective view showing the outer skin, the endothelial and the patch portion of the facial robot according to the present invention, FIG. Figure 6 is a block diagram showing an example of a patch portion for combining the outer skin and the endothelial, Figure 6 is a view showing a method of joining the outer skin to the endothelial using the patch portion, Figure 7 is the outer skin is bound to the endothelial by the patch portion The figure which shows the state which became.

The face robot of the present invention is applied to an android robot and an animal-type robot, and as shown in FIGS. 2, 3, and 7, an inner skin 10 of an inelastic material (eg, a synthetic resin) corresponding to a face skeleton and , The outer shell 20 of the flexible material (eg, silicon or hot foam) coupled to the endothelium 10, and organically disposed within the endothelium 20 so as to implement facial muscle movement and emotion expression, such as a microprocessor, a sensor, and a motor. And a mechanism portion 30 made of an actuator or the like. Here, the mechanism portion 30 is connected to the endothelial 10 by using wires such as wires or yarns having a small rigidity as in the related art, so that when the mechanism portion moves, the endothelial 10 and the outer shell 20 also move in accordance with the movement of the mechanism portion. It is designed.

And, the endothelial 10 is composed of a lower endothelial 10b constituting the jaw and an upper endothelial 10a constituting the face portion except the jaw. 4 shows a state where the lower endothelial 10b is separated from the upper endothelial 10a, and FIG. 3 shows a state where the lower endothelial 10b is omitted.

In the face robot having such a structure, the present invention is composed of a detachable coupling structure so that the endothelial 10 and the outer shell 20 can be easily assembled and disassembled without damaging the facial appearance.

That is, in the present invention, a plurality of patch portions 41 to 47 made of the same material as the endothelial 10 material is interposed between the endothelial 10 and the outer shell 20. The patch portions 41 to 47 are formed in a predetermined shape such that one surface thereof is detachably attached to the inner shell 10 by magnetic force and the other surface is fixedly coupled to the outer shell 20.

These patch portions 41 to 47 are preferably located where the outer shell 20 can stably wrap the inner shell 10. Specifically, the patch portions 41 to 47 are forehead portions and both sides of the endothelial 10 and the outer skin 20 which form a three-dimensional smooth curve of the endothelial 10 and the outer skin 20, that is, the external shape of the face. It is located in the area of the nose, nose and chin.

Here, the patch portion 42, 43, 44, 45 coupled to both side portions of the endothelium 10 and the outer shell 20 are further divided into two, as shown in Figure 2, the endothelium 10 and It is positioned at regular intervals above and below both side portions of the shell 20. 4 shows a state in which one surface of the patch portions 41 to 47 is magnetically coupled to the endothelium 10 by magnetic force, and in FIG. 3, the other surface of the patch portions 41 to 47 is applied to the outer shell 20 by an adhesive. The combined state is shown.

Each of the plurality of patch portions 41 to 47 is the same only in shape, and is identical in that it has a structure having a plate-shaped body and a patch portion insertion groove formed on one surface of the body. Accordingly, FIG. 5 illustrates a structure of the patch portion 41 coupled to the endothelium 10 and the outer shell 20 of the plurality of patch portions 41 to 47, but other patch portions have the same structure. Description is omitted. As shown in FIG. 5, the patch part 41 includes a plurality of patches 41 formed at regular intervals along a main body 41a having a rectangular shape and one edge of the main body 41a, that is, an edge portion of the surface opposite to the endothelium 10. Consists of a structure having a patch insertion groove 60 of. A magnet 61 having a polarity is fixedly inserted into the patch insertion groove 60.

Correspondingly, in each of the forehead portion, both side portions, the nose portion and the jaw portion of the endothelial 10, an endothelial insertion groove 50 is formed at a position corresponding to the patch insertion groove 60, and the endothelial insertion groove is formed. In the 50, the magnet 51 fixedly inserted into the patch insertion groove 60 is opposed to the magnet and has opposite polarities. In the figure, the endothelial insertion groove 50 is shown only in the forehead portion and the nose portion of the endothelial 10, it is obvious that endothelial insertion grooves are formed in both side portions and the jaw portion of the endothelial 10. Here, the jaw points precisely to the area under the jaw that leads to the neck.

As the magnets in the present invention, a strong bar magnet having a strong magnetic force is used as the round bar magnet. However, the magnet is not limited thereto, and any structure may be used as long as it has magnetic properties.

As described above, the present invention has a plurality of patch portions 41 to 47 interposed between the endothelium 10 and the outer shell 20, and has opposite polarities to one surface of the patch portions 41 to 47 and the endothelium 10. By installing a magnet, one surface of the patch portions 41 to 47 are detachably adsorbed by the magnetic force so as to be detachably attached to the endothelium 10, and the other surface is fixedly bonded to the outer skin 20 by an adhesive or the like, thereby surrounding the endothelium 10. When a component such as a motor breaks down, the maintenance work such as replacement or repair of the target component can be facilitated, and the assembly can be performed accurately without any distortion when the inner shell 10 and the outer shell 20 are combined. In addition, it is possible to prevent damage to the appearance of the face when disassembling and reassembling the inner and outer skin.

In addition, an opening 48 cut into a predetermined shape is formed at each of the forehead portion of the endothelium 10 and above and below both side portions thereof, as shown in FIG. 3. 48 is closed by patch portions 41, 42, 43, 44, 45 which are respectively coupled to the upper and lower portions of the forehead and both side portions of the endothelium 10 and the outer shell 20, respectively. The reason why the opening 48 is formed is to facilitate the maintenance by making the internal structure of the endothelium 10 more visible. The patch portions 41 to 47 are also formed into several pieces so as to be located at an easy maintenance place.

On the other hand, a plurality of embossed projections 70 having the same shape are formed on the front surface of the inner shell 10 and the outer shell 20, and the corresponding portions of the projections 70 of the embossed shape are formed. On the other side, an intaglio recess 71 is formed correspondingly. The embossed protrusions 70 function as assembly positioning parts to assemble the inner shell 10 and the outer shell 20 so that they can be accurately assembled without distortion. Similarly, the patch portions 41 to 47 for joining the endothelium 10 and the outer shell 20 also have a plurality of embossed projections 70 and intaglio for assembling positioning of the endothelium 10 and the outer shell 20. The recessed part is formed.

Reference numeral 80 is a rear portion of the head coupled to the endothelial 10, and is formed of a transparent material so that the mechanism inside the endothelial 10 can be seen from the outside. In addition, reference numeral 90 denotes a screw insertion groove, and 91 denotes a screw inserted into the screw insertion groove and fastened to a part of the mechanism part 30 inside the endothelium 10.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Accordingly, the true scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of the same should be construed as being included in the scope of the present invention.

10: endothelial
20: sheath
30: mechanical part
41, 42, 43, 44, 45, 46, 47: patch portion
41a: main body
48: opening
50: endothelial insertion groove
51: magnet
60: patch insertion groove
61: magnet
70: embossed projection
71: engraved recess
80: back of the head
90: screw insertion groove
91: screw

Claims (6)

An endothelial 10 corresponding to a facial skeleton; An outer shell 20 of a flexible material coupled to the inner shell 10; Mechanism unit (30) including a microprocessor, a motor and an actuator to be organically connected within the endothelium 10 to implement facial muscle movement and emotion expression; In the face robot comprising:
Interposed between the endothelial 10 and the outer shell 20, one surface is detachably coupled to the endothelial 10 by magnetic force, and the other surface is divided into a plurality of patches formed to be fixedly coupled to the outer shell 20 ( 41 to 47),
Each of the plurality of patches 41 to 47 is easy to maintain and maintain the removable inner skin, characterized in that located on the forehead portion, both side portions, nose portion and chin portion of the endothelium 10 and the outer shell (20). Face robot with frame. The method of claim 1,
Open portions 48 cut into a predetermined shape are formed in the forehead portion of the endothelium 10 and the upper and lower portions of both side portions thereof, and the opening portion 48 is formed with the endothelium 10. Easily maintainable removable inner skin structure, characterized in that the sealing is closed by the patch portion (41, 42, 43, 44, 45) coupled to the top and bottom of the forehead portion and both side portions of the outer shell 20, respectively Having a facial robot. The method of claim 1,
Each of the plurality of patch portions 41 to 47 includes a main body 41a having a plurality of patch portion insertion grooves 60 formed at regular intervals at an edge portion of the surface facing the endothelium 10, and the patch thereof. It consists of a magnet 61 is fixedly inserted into the secondary insertion groove 60,
The endothelial insertion groove 50 is formed at a position corresponding to the patch insertion groove 60 at each of the forehead portion, both side portions, the nose portion, and the jaw portion of the endothelial 10, and the endothelial insertion groove ( Removable inside and outside easy maintenance, characterized in that 50 is opposed to the magnet 61 fixedly inserted into the patch insertion groove 60, the magnet 51 having opposite polarities opposite to each other is fixedly inserted. Face robot with blood structure. 4. The method according to any one of claims 1 to 3,
Each of the plurality of patch parts 41 to 47 has a plate shape and is made of a non-stretch material such as the endothelium 10. 4. The method according to any one of claims 1 to 3,
The front surface of the endothelium 10 and the outer shell 20, a plurality of embossed projections 70 for forming the assembly position between the endothelium 10 and the outer shell 20, characterized in that the holding Face robot with removable inner skin structure for easy repair. 4. The method according to any one of claims 1 to 3,
Of the plurality of patch portions 41 to 47, the patch portions 42, 43, 44, and 45 coupled to both side portions of the endothelial 10 and the outer shell 20 have an inner shell 10 and an outer shell 20. Face-to-face robot having a removable inner skin structure that is easy to maintain, characterized in that a plurality of embossed projections (70) are formed for assembling position with the.

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