JP6818824B2 - Ankle joint structure and doll body of doll body - Google Patents

Description

The present invention relates to the joint structure of the limb end of the doll body and the doll body.

As a hand joint structure of a plastic model such as a robot, for example, the one described in Patent Document 1 below is known.
In Patent Document 1, in the connection between the wrist and the hand (consisting of the back of the hand and the fingers), a wrist joint for attaching the hand is provided at the tip (lower end) of the lower arm portion, and the wrist joint is the lower arm portion. It is configured to be rotatably supported by a wrist rotation shaft provided at the tip of the.

Japanese Unexamined Patent Publication No. 2011-234986

However, the joint structure of the hand described in Patent Document 1 is a movement that allows the hand to rotate around the wrist rotation axis provided at the tip of the lower arm, that is, one around the wrist rotation axis. It is configured so that it can only swing in the direction.
For this reason, the movement of the hand becomes simple, and there is an inconvenience that the movement close to that of a human cannot be performed. In particular, if the robot is configured for battle, it is assumed that the weapon (the body to be grasped) is held in the hand, and in order to freely carry the weapon, the movement of the hand with respect to the wrist It is desirable to be able to perform movements similar to humans.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a joint structure of a limb end of a doll body capable of performing a movement similar to that of a human being despite a simple configuration.

The wrist joint structure of the doll body of the present invention includes a wrist provided on an extension of the lower arm, a back of the hand connected to the wrist, a plurality of fingers including a thumb connected to the back of the hand, and the back of the hand. It includes a first connecting portion provided at a position displaced from the central position, and the back of the hand and the wrist are rotatably connected at the first connecting portion.

In the wrist joint structure of the doll body of the present invention, a notch is formed at the center position of the back of the hand on the side where the wrist is connected, and the first connecting portion is formed with the notch in between. It is preferably provided on one side of the protrusion.

In the wrist joint structure of the doll body of the present invention, the second connecting portion provided at the base portion of the thumb, the third connecting portion provided on the other side of the protruding portion, and the second connecting portion. It has a connecting member for connecting the portion and the third connecting portion, and the connecting member is rotatably connected at the second connecting portion and the third connecting portion, respectively. It is preferable that the thumb is rotatably connected to the back of the hand via the connecting member.

In the wrist joint structure of the doll body of the present invention, the plurality of fingers are configured to be rotatable with respect to the back of the hand, and have a rotating member rotatably provided on the back of the hand. It is preferable that the member can close the opening provided in the central portion of the back of the hand. Further, it is preferable that the lower arm portion is provided with a fourth connecting portion, and the wrist is connected to the fourth connecting portion and can rotate around the lower arm portion in the axial direction.

The joint structure of the ankle of the doll body of the present invention includes an ankle provided on the extension of the lower leg, an instep connected to the ankle, and the center of the instep on the extension of the lower leg. A fifth connecting portion provided at a position displaced from the position to the heel side of the foot is provided, and the instep and the ankle are rotatably connected at the connecting portion 5. Have. Further, the joint structure of the ankle of the doll body of the present invention includes an ankle provided on the extension of the lower leg, an instep connected to the ankle, and an extension of the lower leg of the instep. A ball joint provided at a position displaced from the center position of the foot is provided, and the instep and the ankle are rotatably connected by the ball joint. Further, the joint structure of the ankle of the doll body of the present invention includes an ankle provided on the extension of the lower leg, an instep connected to the ankle, and the center of the ankle on the extension of the lower leg. A ball joint provided at a position displaced from the position to the heel side of the foot is provided, and the instep and the ankle are rotatably connected by embedding the ball joint in the instep. Has a configuration that is

In the joint structure of the ankle of the doll body of the present invention, the instep is formed with a notch on the side to which the ankle is connected, and the fifth connecting portion is formed with the notch in between. It is preferably provided on the heel side of the protruding portion. Further, in the joint structure of the ankle of the doll body of the present invention, the instep has a notch formed on the side to which the ankle is connected, and the ball joint has a protrusion formed between the notch. It is preferable that the portion is provided. Further, in the joint structure of the ankle of the doll body of the present invention, the instep has a notch formed on the side to which the ankle is connected, and the ball joint has a protrusion formed between the notch. It is preferable that it is buried in the part. Further, it is preferable that the lower leg portion is provided with a sixth connecting portion, and the ankle is connected to the sixth connecting portion and can rotate around the lower arm portion in the axial direction. Further, it is preferable that the lower leg portion is provided with a connecting portion, and the ankle is connected to the connecting portion and can rotate around the lower leg portion in the axial direction.

The joint structure of the limb end of the doll body configured in this way makes it possible to obtain a joint structure capable of performing movements similar to those of a human being, despite a simple configuration.

It is external drawing which showed the outline of the plastic model to which the joint structure of the limb end of the doll body of this invention is applied. It is a block diagram showing the joint structure of the hand of the robot, and is shown together with the wrist attached to the lower arm. It is a figure drawn corresponding to FIG. 2, and is the figure which showed the movement of the wrist, each finger and the like. It is a perspective view which showed the opening formed in the back of a hand, and the rotating member which closes this opening. It is a perspective view which shows the movement of the joint structure of the hand of the doll body of this invention. It is a figure which showed the assembly plate which made the joint structure of the hand of the doll body of this invention by molding resin, and avoided assembling each member which constitutes the joint structure of the hand. It is a block diagram when the joint structure of the limb end part of the doll body of this invention is applied to a foot.

Hereinafter, embodiments for carrying out the present invention (hereinafter, embodiments) will be described in detail with reference to the accompanying drawings. The same elements are numbered the same throughout the description of the embodiment.
(Embodiment 1)
FIG. 1 is an external view showing an outline of a plastic model to which the joint structure of the limb end of the doll body of the present invention is applied. The plastic model constitutes a combat robot 10.

As shown in FIG. 1, the robot 10 has a waist portion 20, a chest portion 30, a head portion 40, a leg portion 50, and an arm portion 60, like a human being, and armor is worn over almost the entire surface of these surfaces. It is in the form of being provided. Further, the robot 10 is configured to equip the weapon 70 required for battle, for example, on the upper portion of the arm portion 60, that is, on the shoulder portion. Then, the arm portion 60 has a lower arm portion 80 in a portion close to the hand 100, and the hand 100 is via a wrist (indicated by reference numeral 110 in FIGS. 2, 3, 5, and 6) (not shown). It is adapted to be connected to the lower arm portion 80.

The hand 100 of the robot 10 is configured so that, for example, a weapon (not shown) prepared separately from the robot 10 can be gripped.
FIG. 2 is a configuration diagram showing the joint structure of the hand 100 of the robot 10, and is shown together with the wrist 110 attached to the lower arm portion 80. FIG. 2A is a view of the hand 100 of the robot 10 viewed from the back side of the hand, and FIG. 2B is a view of the hand of the robot 10 viewed from the palm side. 2 (a) and 2 (b) both have five fingers 120, and these fingers 120 are in a closed state in close proximity to the adjacent fingers 120 except for the thumb 120A. ..

Note that FIGS. 3 (a) and 3 (b) are views corresponding to FIGS. 2 (a) and 2 (b), respectively, and are views showing the movements of the wrist 110, each finger 120, and the like. There is.
As shown in FIG. 2A, the hand 100 is located at the back of the hand (in this specification, the portion of the hand excluding the wrist and fingers is referred to as the back) 115, and is substantially the center of the side to which the wrist 110 is connected. A notch 131 is provided at the position, and a protrusion 132 formed with the notch 131 in between is provided.

In the present embodiment, the wrist 110 is connected via a first ball joint 141 embedded in the protruding portion 132 in a state where the tip portion thereof is arranged in the notch 131 of the back of the hand 115. As a result, the wrist 110 is rotatably attached at the position of the protruding portion 132 displaced from the position on the extension of the wrist 110.
Therefore, as shown in FIG. 3A, the wrist 110 can rotate around the first ball joint 141 so that its tip portion protrudes from the notch 131 of the back of the hand 115. ..

The wrist 110 is formed by being connected to a ball joint 147 embedded in the lower arm portion 80 of the robot 10, and can rotate around the lower arm portion 80 in the axial direction. In this case, the back of the hand can be bent so as to have an angle with respect to the extension line of the wrist. Then, the back of the hand can be rotated around the extension line in a state of being bent so as to have an angle with respect to the extension line of the wrist.
Further, as shown in FIGS. 3A and 3B, the thumb 120A includes a second ball joint 142 embedded therein, a connecting member 143 connected to the second ball joint 142, and the connecting member 143. It is connected to the back of the hand 115 via a third ball joint 144 which is connected to the back of the hand 115 and is embedded in the back of the hand 115 (protruding portion 132). That is, a connecting portion for connecting to the second ball joint is provided at the base of the thumb 120A, a connecting portion for connecting to the third ball joint is provided for the protruding portion 132, and the connecting members 143 are each connecting portion. It is rotatably connected in. The thumb 120A connected to the back of the hand 115 is provided with a flexion portion (joint portion) 150 in the middle thereof, similar to a human being. The bent portion 150 is formed by attaching a fourth ball joint 145 embedded in the finger member 120B on the proximal end side to the finger member 120T on the distal end side.

Further, as for the fingers 120 other than the thumb 120A, as shown in FIGS. 2A and 2B, a fifth ball joint 146 embedded in the back of the hand 115 is attached to the proximal end side of the fingers 120. Is connected to the back 115 of the hand. As a result, as shown in FIGS. 3A and 3B, each finger 120 can rotate about the fifth ball joint 146 so that the tip thereof is separated from the tip of the adjacent finger 120. It has become. The fingers 120 other than the thumb 120A are provided with two flexion portions (joint portions) arranged side by side in the longitudinal direction, respectively, like a human being. These bends are formed, for example, by attaching adjacent finger members via hinges (not shown).

Further, as shown in FIGS. 3A and 3B, an opening 160 is formed substantially in the center of the back of the hand 115. When a weapon (a body to be gripped) (not shown) is applied to the hand 100, the opening 160 allows a protrusion formed on the weapon to fit into the opening 160. As a result, the weapon can be held on the back of the hand 115 as if it were held. As shown in FIG. 4, for example, a rotating member 162 that rotates around a hinge 161 formed adjacent to the opening 160 is attached to the back of the hand 115, and the weapon is removed from the back of the hand 115. If this is the case (when the weapon is not gripped), the opening 160 can be closed by the rotating member 162. Since the opening 160 formed in the back of the hand 115 is visible when the weapon is not held, the rotating member 162 closes the opening 160 to improve the appearance. When gripping such a weapon, it goes without saying that an opening is formed in the weapon, and the weapon may be fixed to the back of the hand 115 by inserting a rotating member 162 into the opening. is there.

5 (a) and 5 (b) are operation diagrams showing the movement of the hand 100 configured as described above.
First, as shown in FIG. 5A, the fingers 120 other than the thumb 120A are bent toward the palm side of the hand 100. In this case, by arranging the finger member closest to the back 115 side of the hand substantially horizontally, a large space for arranging the weapon (not shown) can be taken between the finger member and the palm side of the hand 100. In this case, the protrusion of the weapon is fitted into the opening 160 formed in the back of the hand 115, as described above.

Then, as shown in FIG. 5A, the thumb 120A connected to the back of the hand 115 is connected to the second ball joint 142 embedded in the back of the hand 115 and the third ball joint 144 embedded in the thumb 120A. The 143 is moved so as to be substantially perpendicular to the surface of the back 115 of the hand, and further, as shown in FIG. 5B, the finger member 120T on the distal end side is bent with respect to the finger member 120B on the proximal end side. By directing the finger member 120T on the tip side toward the little finger side, it is possible to realize the feeling of gripping the weapon in a state close to that of a human hand.
FIG. 6 shows the above-mentioned joint structure of the hand 100 of the doll body formed by molding resin, and shows each member (front skin, back skin, ball joint, etc.) constituting the joint structure of the hand 100. The assembly plate 170 in which assembly is avoided is shown.
In FIG. 6, for example, a pair of left and right hands 100 formed in the manner shown in FIG. 3 (b) are arranged so as to be connected to a runner 171 with their wrists 110 facing each other.

The assembly plate 170 shown in FIG. 6 includes a first assembly plate 170A in which members constituting the front skin of the hand 100 are connected by runners 171A at several places, and a member constituting the skin on the back side of the hand 100. It is composed of a second assembly plate 170B connected by a runner 171B in several places.
The first assembly plate 170A and the second assembly plate 170B are overlapped from above and below with the ball joints 141, 142, 144, 145 and the like described above interposed therebetween to form the assembly plate 170. ..
As a result, the joint structure of the hand 100 shown in FIG. 3 can be obtained by separating the joint structure of each hand 100 connected to the assembly plate 170 from the runner 171 of the assembly plate 170.

By forming the assembly plate 170 in this way, it is possible to eliminate the complexity of assembling each part (front skin, back skin, ball joint, etc.) constituting the hand 100 when the hand 100 is constructed. Will be.

By using the wrist joint structure of the present embodiment in this way, it is possible to realize a doll body with a movement closer to that of a human being.

(Embodiment 2)
In the first embodiment, the wrist joint structure of the doll body has been described. However, the present invention is not limited to this, and the present invention can also be applied to the joint structure of the ankle.
7 (a) and 7 (b) are views showing, for example, the joint structure of the legs of the robot.
As shown in FIG. 7A, the foot 200 is a portion of the instep (in this specification, the portion of the foot excluding the ankle and fingers is referred to as an instep) 215 on the side to which the ankle 210 is connected. A cutout portion 231 and a protruding portion 232 formed between the cutout portion 231 are provided.
The protrusion of the ankle 210 is provided at a position displaced from the central position on the extension of the lower leg to the heel side of the foot 200 in a state where the tip portion thereof is arranged in the notch 231 of the instep 215. It is connected via a sixth ball joint 241 embedded in the portion 232. As a result, the ankle 210 is rotatably attached at the position of the protrusion 232 displaced from the position of the ankle 210.
Therefore, as shown in FIG. 7B, the ankle 210 rotates about the sixth ball joint 241 so that the tip portion thereof protrudes from the notch 231 of the instep 215 (in the figure). (Arrow direction) It is possible.
The wrist 210 is formed by being connected to a seventh ball joint 247 embedded in the lower leg portion 250 of the robot 10, and can rotate around the lower leg portion 250 in the axial direction. By using the ankle joint structure of the present embodiment, it is possible to realize a doll body with a movement closer to that of a human being.

Although the present invention has been described above using the embodiments, it goes without saying that the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. Further, it is clear from the description of the scope of claims that the form to which such a modification or improvement is added may be included in the technical scope of the present invention.

10 ... Robot, 20 ... Waist, 30 ... Chest, 40 ... Head, 50 ... Legs, 60 ... Arms, 70 ... Weapons, 80 ... Lower Arms, 100 ... Hands, 110 ... Wrist, 115 ... Back of hand, 120 ... Finger, 120A ... Thumb, 131 ... Notch, 132 ... Protruding part, 141 ... 1st ball joint, 142 ... 2nd ball joint, 143 ... ... Connecting member, 144 ... 3rd ball joint, 145 ... 4th ball joint, 146 ... 5th ball joint, 147 ... Ball joint, 150, 151 ... Bending part, 160 ... Opening, 161 ... ... Hinge, 162 ... Rotating member, 170, 170A, 170B ... Assembly plate, 171, 171A, 171B ... Runner, 200 ... Foot, 210 ... Ankle, 215 ... Instep, 231 ... Notch Part, 232 ... Protruding part, 241 ... 6th ball joint, 247 ... 7th ball joint, 250 ... Lower leg.

Claims (4)

The ankle provided on the extension of the lower leg and
The instep connected to the ankle and
A ball joint provided at a position of the ankle displaced from the center position on the extension of the lower leg toward the heel side of the foot is provided.
Wherein A instep and the ankle of the foot, the ball joint is articulated structure of the ankle doll body which is pivotally connected by being embedded in the instep of the foot. In claim 1,
The instep has a notch formed on the side to which the ankle is connected.
The ball joint is a joint structure of an ankle of a doll body embedded in a protruding portion formed with the notch portion in between. In claim 1 or 2,
A connecting portion is provided on the lower leg portion, and a connecting portion is provided.
The ankle is a joint structure of the ankle of a doll that is connected to a connecting portion and can rotate around the axial direction of the lower leg. A doll body using the ankle joint structure of the doll body according to any one of claims 1 to 3.

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