CN106730878A - The hand and human-shaped body of human-shaped body - Google Patents
The hand and human-shaped body of human-shaped body Download PDFInfo
- Publication number
- CN106730878A CN106730878A CN201710150783.5A CN201710150783A CN106730878A CN 106730878 A CN106730878 A CN 106730878A CN 201710150783 A CN201710150783 A CN 201710150783A CN 106730878 A CN106730878 A CN 106730878A
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- China
- Prior art keywords
- hand
- mentioned
- human
- shaped body
- wrist
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
- A63H3/46—Connections for limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
Abstract
The hand and human-shaped body of human-shaped body are provided.A kind of hand of human-shaped body, the hand of the human-shaped body includes：The back of the hand；Multiple fingers, it is linked to above-mentioned the back of the hand；Opening portion, it is located at above-mentioned the back of the hand；And revolving member, it is rotatably installed on the position adjacent with above-mentioned opening portion, above-mentioned revolving member can insert the opening by holding body that hold to by above-mentioned hand, and above-mentioned revolving member can block above-mentioned opening portion by being rotated.
Description
The application is international filing date on 08 07th, 2013 (enters the National Phase in China date：02 month 2015 04
Day), international application no be PCT/JP2013/071324 (national applications number：201380041519.8) it is, entitled " humanoid
Divisional application (the Application No. of the ball and socket structure of the wrist of body, the ball and socket structure of the ankle of human-shaped body and human-shaped body "
201510114570.8th, entitled " ball and socket structure and human-shaped body of the wrist of human-shaped body ") divisional application.
Technical field
The present invention relates to the ball and socket structure and human-shaped body of the limb extremity of human-shaped body.
Background technology
The ball and socket structure of the hand of the plastic patterns such as robot is for example known to the construction described in following patent documents 1.
In patent document 1, when wrist and hand (being made up of the back of the hand and finger) is linked, on the top (lower end) of lower arm part
The wrist joint for installing hand is provided with, the wrist joint is by utilizing the wrist rotation axle located at the top of lower arm part to turn
The structure that dynamic mode is supported is constituted.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2011-234986 publications
The content of the invention
Problems to be solved by the invention
But, the ball and socket structure of the hand described in patent document 1 is configured to only carry out winding by hand located at the top of lower arm part
Motion that the wrist rotation axle at end is rotated, it is merely able to carry out centered on the wrist rotation axle to a fortune for direction swing
It is dynamic.
Therefore, the action of hand becomes single, and having cannot carry out problem as the action close with people.Especially
It is, in the case of the robot that robot is configured to fight, it is assumed that in the case where making hand hold weapon (by holding body), be
The weapon is lightheartedly manipulated, in action of the palmistry for wrist, it is desired to be able to carry out the action close with people.
The present invention be in view of such situation and make, although still being able to its object is to provide a kind of simple structure
Carry out the ball and socket structure of the limb extremity of the human-shaped body of the action close with people.
The scheme for solving problem
The ball and socket structure of the wrist of human-shaped body of the invention has following structure, including：Wrist, it is located at prolonging for lower arm part
On line long；The back of the hand, it is linked to above-mentioned wrist；Multiple fingers, its thumb for including being linked to above-mentioned the back of the hand；And the 1st link
Portion, its position for being located at the center displacement from above-mentioned the back of the hand, above-mentioned the back of the hand and above-mentioned wrist above-mentioned 1st linking part with
The mode that can be rotated is connected.Additionally, the hand of human-shaped body of the invention includes：The back of the hand；Multiple fingers, it is linked to above-mentioned hand
The back of the body；Opening portion, it is located at above-mentioned the back of the hand；And revolving member, it is rotatably installed on and above-mentioned opening portion phase
Adjacent position, above-mentioned revolving member can insert the opening by holding body that hold to by above-mentioned hand, and above-mentioned rotation structure
Part can block above-mentioned opening portion by being rotated.
In the ball and socket structure of the wrist of human-shaped body of the invention, it is preferred that connect in the above-mentioned wrist of the confession of above-mentioned the back of the hand
The center of the side of knot is formed with notch part, and above-mentioned 1st linking part is located at makes what above-mentioned gap portions were formed in centre
The side of protuberance.
In the ball and socket structure of the wrist of human-shaped body of the invention, it is preferred that including：2nd linking part, it is located at above-mentioned
The root portion of thumb；3rd linking part, its opposite side for being located at above-mentioned protuberance；And coupling member, it is used to linking above-mentioned
2nd linking part and above-mentioned 3rd linking part, above-mentioned coupling member is in above-mentioned 2nd linking part and above-mentioned 3rd linking part respectively with can
The mode of rotation links, and above-mentioned thumb is rotatably linked to above-mentioned the back of the hand by above-mentioned coupling member.
In the ball and socket structure of the wrist of human-shaped body of the invention, it is preferred that above-mentioned multiple fingers are configured to phase
Rotated for above-mentioned the back of the hand, the ball and socket structure of the wrist of the human-shaped body has rotatably turning located at above-mentioned the back of the hand
Dynamic component, above-mentioned revolving member can block the opening portion of the central portion located at above-mentioned the back of the hand.It is further preferred, that above-mentioned
Lower arm part is provided with the 4th linking part, and above-mentioned wrist links with above-mentioned 4th linking part, and can be around the axial rotation of above-mentioned lower arm part.
The ball and socket structure of the ankle of human-shaped body of the invention has following structure, including：Ankle, it is located at prolonging for calf
On line long；Instep, it is linked to above-mentioned ankle；And the 5th linking part, its extension from above-mentioned calf for being located at above-mentioned instep
Position from center on line to the heel side displacement of above-mentioned pin, above-mentioned instep and above-mentioned ankle link the above-mentioned 5th
Portion rotatably links.
In the ball and socket structure of the ankle of human-shaped body of the invention, it is preferred that above-mentioned instep links for above-mentioned ankle
Side be formed with notch part, above-mentioned 5th linking part is located at makes above-mentioned gap portions in the above-mentioned of the middle and protuberance that is formed
Heel side.It is further preferred, that being provided with the 6th linking part in above-mentioned calf, above-mentioned ankle links with above-mentioned 6th linking part,
And can be around the axial rotation of above-mentioned calf.
The effect of invention
Although the ball and socket structure of the limb extremity of the human-shaped body for so constituting be obtained in that simple structure still be able to carry out with
The close action of people.
Brief description of the drawings
Fig. 1 is the outward appearance of the outline of the plastic pattern for representing the ball and socket structure using the limb extremity of human-shaped body of the invention
Figure.
Fig. 2 is the structure chart of the ball and socket structure of the hand for representing above-mentioned robot, and the wrist for being installed on lower arm part is represented in the lump.
Fig. 3 is the figure accordingly described with Fig. 2, is the figure of the motion for representing wrist and each finger etc..
Fig. 4 is to represent the opening portion and the stereogram for blocking the revolving member of the opening portion for being formed at the back of the hand.
Fig. 5 is the stereogram of the motion of the ball and socket structure of the hand for representing human-shaped body of the invention.
Fig. 6 be represent using ester moulding constitute human-shaped body of the invention hand ball and socket structure and avoid the composition hand
Ball and socket structure each component assembling component palette figure.
Fig. 7 is that the ball and socket structure of the limb extremity of human-shaped body of the invention is applied to the structure chart in the case of pin.
Specific embodiment
Hereinafter, it is described in detail with reference to accompanying drawings for implementing mode of the invention (hereinafter referred to as implementation method).In addition,
Identical reference is marked to identical key element in the full content illustrated to implementation method.
(implementation method 1)
Fig. 1 is the outward appearance of the outline of the plastic pattern for representing the ball and socket structure using the limb extremity of human-shaped body of the invention
Figure.The plastic pattern constitutes the robot 10 of fight.
As shown in figure 1, identical with people, robot 10 has waist 20, chest 30, head 40, leg 50 and arm 60,
The surface at these positions shows the form that armored equipment is equipped with substantially whole region.In addition, robot 10 is configured to
For example in the weapon 70 needed for the top of above-mentioned arm 60, the i.e. fight of shoulder equipment.And, above-mentioned arm 60 is in its close hand
100 part has lower arm part 80, and above-mentioned hand 100 is by wrist (not shown) (with reference in Fig. 2, Fig. 3, Fig. 5, Fig. 6
110 represent) it is linked to the lower arm part 80.
In addition, the hand 100 of robot 10 is configured to can for example to hold (not scheming with the robot 10 independent weapon for preparing
Show).
Fig. 2 is the structure chart of the ball and socket structure of the hand 100 for representing above-mentioned robot 10, represents be installed on above-mentioned underarm in the lump
The wrist 110 in portion 80.(a) of Fig. 2 is the figure of the hand 100 of the robot 10 seen from dorsal side, and (b) of Fig. 2 is from palmar side
The figure of the hand of the robot 10 seen.(a) of Fig. 2, (b) of Fig. 2 include five fingers 120, these fingers 120 turn into remove
Near the state of adjacent finger 120 and closure beyond thumb 120A.
In addition, (a) of Fig. 3, (b) of Fig. 3 are respectively accordingly to describe the figure for obtaining with (b) of Fig. 2 (a), Fig. 2,
To represent the figure of the motion of wrist 110 and the grade of each finger 120.
As Fig. 2 (a) shown in, above-mentioned hand 100 the back of the hand (in this specification, by hand in addition to wrist, finger
Part is referred to as the back of the hand) on 115, notch part 131 is provided with the approximate centre position of the side linked for wrist 110, including make this
Notch part 131 is located at protuberance 132 that is middle and being formed.
In the present embodiment, wrist 110 with its top ends configure state in the notch part 131 of the back of the hand 115 by
The 1st spherojoint 141 being embedded in the protuberance 132 links.Thus, wrist 110 is in the position from the extended line of the wrist 110
Rotatably install at the position of the protuberance 132 that set has been moved.
Thus, such as shown in (a) of Fig. 3, wrist 110 can be so that its top ends be protruded from the notch part 131 of the back of the hand 115
Mode rotated centered on the 1st spherojoint 141.
In addition, wrist 110 is formed as the spherojoint 147 being linked in the lower arm part 80 for being embedded in robot 10, can be around
The axial rotation of the lower arm part 80.In this case, it is curved that the back of the hand can be made to have angled mode with the extended line relative to wrist
It is bent.And, have with the extended line relative to wrist in the state of angled mode bent in the back of the hand, additionally it is possible to make the back of the hand around
The extended line is rotated.
In addition, (b) of (a), Fig. 3 such as Fig. 3 is shown, thumb 120A is by the 2nd spherojoint being embedded in thumb 120A
142 and the 2nd spherojoint 142 link coupling member 143 and link with the coupling member 143 and be embedded in above-mentioned the back of the hand
The 3rd spherojoint 144 in 115 (protuberances 132) is linked to the back of the hand 115.That is, the root portion in thumb 120A is provided with
The linking part being connected with the 2nd spherojoint, the linking part being connected with the 3rd spherojoint is provided with protuberance 132, and coupling member 143 exists
Respective linking part rotatably links.In addition, it is identical with people, it is linked to the thumb 120A of the back of the hand 115 wherein
Between portion be provided with bending section (joint portion) 150.The 4th spherojoint 145 being embedded in the finger member 120B of base end side is installed on top
The finger member 120T of side, so as to form the bending section 150.
And, (b) of (a), Fig. 2 such as Fig. 2 is shown, and the 5th spherojoint 146 being embedded in the back of the hand 115 is installed on the hand
Refer to 120 base end side, so as to the other fingers 120 in addition to thumb 120A are linked to the back of the hand 115.Thus, such as Fig. 3
A shown in (b) of (), Fig. 3, each finger 120 can be rotated centered on the 5th spherojoint 146, so that its top is from adjacent hand
Refer to that 120 top separates.In addition, identical with people, the other fingers 120 in addition to thumb 120A are respectively equipped with along its length
Two bending sections (joint portion) being set up in parallel.(do not schemed by hinge by making adjacent finger member for example these bending sections
Show) install and formed.
In addition, (b) of (a), Fig. 3 such as Fig. 3 is shown, opening portion 160 is formed with the substantial middle of the back of the hand 115.Do not scheme
In the case that the weapon (by holding body) for showing is close to hand 100, the opening portion 160 enables the projection for being formed at the weapon to be fitted together to
In the opening portion 160.Thereby, it is possible to turn into the form that weapon is held in the back of the hand 115 just.In addition, for example shown in Fig. 4,
The revolving member 162 rotated centered on being adjacent to the hinge 161 to be formed with above-mentioned opening portion 160 is installed on the back of the hand 115,
Removed from the back of the hand 115 in the situation (not the situation for holding the weapon) of the weapon, can be stifled using the revolving member 162
Plug opening portion 160.In the case where weapon is not held, the opening portion 160 for being formed at the back of the hand 115 is can be appreciated that, therefore utilization this turn
Dynamic component 162 blocks the opening portion 160 and increases attractive in appearance.Certainly, it is such holding weapon in the case of, it is also possible to by
The weapon forms opening portion, and to the opening portion being inserted into revolving member 162 makes the weapon be fixed on the back of the hand 115.
(a) of Fig. 5, (b) of Fig. 5 are the action diagrams of the motion for representing the hand 100 for constituting in the above described manner.
First, as shown in (a) of Fig. 5, palm lateral bend of other fingers 120 in addition to thumb 120A to hand 100 is made.
In this case, it is approximate horizontal by being configured to the finger member near the side of the back of the hand 115, can increase in finger member
The space of weapon (not shown) is configured and the palmar side of hand 100 between.In this case, as described above, the projection of weapon is embedded in
It is formed in the opening portion 160 of the back of the hand 115.
Then, as shown in (a) of Fig. 5, move the thumb 120A for being linked to the back of the hand 115, so that link is embedded in the back of the hand
The coupling member 143 of the 2nd spherojoint 142 and the 3rd spherojoint 144 being embedded in thumb 120A in 115 is relative to the back of the hand 115
Face it is substantially vertical, then, such as Fig. 5 (b) shown in, by making the fingers of the finger member 120T relative to base end side of tip side
Component 120B bends, by the finger member 120T of the tip side towards little finger of toe side such that it is able to realize with approximate with the palmistry of people
State hold weapon sensation.
Fig. 6 represents the ball and socket structure using the hand 100 of the above-mentioned human-shaped body of ester moulding composition and avoids and constitutes the hand
The component palette 170 of the assembling of each component (epidermis of table side, the epidermis of dorsal part, spherojoint etc.) of 100 ball and socket structure.
In figure 6, for example with the morphogenetic pair of right and left hand 100 shown in (b) of Fig. 3 respectively with the portion of wrist 110
The split-phase pair and mode being connected with running channel 171 is configured.
Component palette 170 shown in Fig. 6 is made up of the 1st component palette 170A and the 2nd component palette 170B, the 1st component palette
170A makes the component of the epidermis of the table side of the above-mentioned hand 100 of composition be connected using running channel 171A at several positions, the 2nd component palette
170B makes the component of the epidermis of the dorsal part of the above-mentioned hand 100 of composition be connected using running channel 171B at several positions.
And, the 1st component palette 170A and the 2nd component palette 170B is so that the above-mentioned equipotential of spherojoint 141,142,144,145
The mode overlapped from above-below direction in middle and the 1st component palette 170A and the 2nd component palette 170B constitutes said modules plate 170.
Thus, by will be connected to component palette 170 each hand 100 ball and socket structure from 171 points of the running channel of the component palette 170
From the ball and socket structure of the hand 100 shown in Fig. 3 can be obtained.
By forming such component palette 170, when hand 100 is constituted, each part (table for constituting the hand 100 can be eliminated
The epidermis of side, the epidermis of dorsal part, spherojoint etc.) assembling miscellaneous process.
So, by using present embodiment wrist ball and socket structure, can realize motion with the motion of people closer to seemingly
Human-shaped body.
(implementation method 2)
In implementation method 1, the ball and socket structure of the wrist of human-shaped body is illustrated.But this is not limited to, the present invention is also
The ball and socket structure of ankle can be applied to.
For example, (a) of Fig. 7, (b) of Fig. 7 are the figures of the ball and socket structure of the pin for representing above-mentioned robot.
As shown in (a) of Fig. 7, above-mentioned pin 200 is in its instep (in this specification by pin in addition to ankle, toe
Part is referred to as instep) on 215, include notch part 231 in the part of the side linked for ankle 210 and make the notch part 231
In the protuberance 232 that centre is formed.
Ankle 210 configures state in the above-mentioned notch part 231 of instep 215 by being embedded in the protrusion with its top ends
The 6th spherojoint 241 in portion 232 links, and the protuberance 232 is located at the center from the extended line of calf to pin 200
The displacement of heel side position.Thus, ankle 210 at the position of the protuberance 232 of the position displacement from the ankle 210 with energy
Enough modes for rotating are installed.
Thus, such as shown in (b) of Fig. 7, what ankle 210 can be protruded with its top ends from the notch part 231 of the instep 215
Mode rotates (direction of arrow in figure) centered on the 6th spherojoint 241.
In addition, ankle 210 is formed as linking with the 7th spherojoint 247 being embedded in the calf 250 of robot 10, and
Can be around the axial rotation of the calf 250.By the ball and socket structure of the ankle of application present embodiment, can realize motion with
The motion of people human-shaped body closer to as.
More than, the present invention is illustrated using implementation method, but technical scope of the invention is not limited to above-mentioned embodiment party
Scope described in formula, this is self-evident.Those skilled in the art it is clear that, can apply each to above-mentioned implementation method
Plant change or improve.In addition, it will be clear that being applied with the reality of such change or improvement from the record of claims
Applying mode can also be comprised in technical scope of the invention.
Description of reference numerals
10th, robot；20th, waist；30th, chest；40th, head；50th, leg；60th, arm；70th, weapon；80th, lower arm part；
100th, hand；110th, wrist；115th, the back of the hand；120th, finger；120A, thumb；131st, notch part；132nd, protuberance；141st, the 1st ball connects
Head；142nd, the 2nd spherojoint；143rd, coupling member；144th, the 3rd spherojoint；145th, the 4th spherojoint；146th, the 5th spherojoint；147、
Spherojoint；150th, 151, bending section；160th, opening portion；161st, hinge；162nd, revolving member；170th, 170A, 170B, component palette；
171st, 171A, 171B, running channel；200th, pin；210th, ankle；215th, instep；231st, notch part；232nd, protuberance；241st, the 6th ball connects
Head；247th, the 7th spherojoint；250th, calf.
Claims (2)
1. a kind of hand of human-shaped body, it is characterised in that
The hand of the human-shaped body includes：
The back of the hand；
Multiple fingers, it is linked to above-mentioned the back of the hand；
Opening portion, it is located at above-mentioned the back of the hand；And
Revolving member, it is rotatably installed on the position adjacent with above-mentioned opening portion,
Above-mentioned revolving member can insert the opening by holding body that hold to by above-mentioned hand, and above-mentioned revolving member passes through
Rotated and above-mentioned opening portion can be blocked.
2. a kind of human-shaped body, wherein,
The human-shaped body application is had the right the hand of the human-shaped body described in requirement 1.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-223695 | 2012-10-05 | ||
| JP2012223695A JP5476441B1 (en) | 2012-10-05 | 2012-10-05 | Doll body wrist joint structure, doll body ankle joint structure, and doll body |
| CN201380041519.8A CN104519970B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure and human-shaped body of the wrist of human-shaped body |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380041519.8A Division CN104519970B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure and human-shaped body of the wrist of human-shaped body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106730878A true CN106730878A (en) | 2017-05-31 |
| CN106730878B CN106730878B (en) | 2019-07-09 |
Family
ID=50434674
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710150783.5A Active CN106730878B (en) | 2012-10-05 | 2013-08-07 | The hand and human-shaped body of human-shaped body |
| CN201710437649.3A Active CN107261510B (en) | 2012-10-05 | 2013-08-07 | Component palette and human-shaped body |
| CN201510114570.8A Active CN104815441B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure of the wrist of human-shaped body and human-shaped body |
| CN201380041519.8A Active CN104519970B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure and human-shaped body of the wrist of human-shaped body |
Family Applications After (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710437649.3A Active CN107261510B (en) | 2012-10-05 | 2013-08-07 | Component palette and human-shaped body |
| CN201510114570.8A Active CN104815441B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure of the wrist of human-shaped body and human-shaped body |
| CN201380041519.8A Active CN104519970B (en) | 2012-10-05 | 2013-08-07 | The ball and socket structure and human-shaped body of the wrist of human-shaped body |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5476441B1 (en) |
| CN (4) | CN106730878B (en) |
| HK (1) | HK1205975A1 (en) |
| WO (1) | WO2014054339A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5476441B1 (en) * | 2012-10-05 | 2014-04-23 | 株式会社バンダイ | Doll body wrist joint structure, doll body ankle joint structure, and doll body |
| JP6126185B2 (en) * | 2015-10-22 | 2017-05-10 | 株式会社バンダイ | Joint structure of doll body |
| JP6059786B1 (en) * | 2015-10-26 | 2017-01-11 | 株式会社バンダイ | Doll body shoulder joint structure |
| JP7112349B2 (en) | 2018-03-29 | 2022-08-03 | 株式会社神戸製鋼所 | Painted galvanized steel sheet |
| JP7112350B2 (en) | 2018-03-29 | 2022-08-03 | 株式会社神戸製鋼所 | Painted galvanized steel sheet |
| JP6987820B2 (en) * | 2019-09-25 | 2022-01-05 | 株式会社バンダイ | Doll body and its joint structure |
| JP6999020B2 (en) * | 2020-12-28 | 2022-01-18 | 株式会社バンダイ | Doll body hands and doll body |
| JP7198871B2 (en) * | 2021-05-28 | 2023-01-04 | 株式会社バンダイ | Model parts and joint structures |
| JP7450104B1 (en) | 2023-09-01 | 2024-03-14 | 株式会社バンダイ | Model toys and decorative parts |
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2012
- 2012-10-05 JP JP2012223695A patent/JP5476441B1/en active Active
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2013
- 2013-08-07 CN CN201710150783.5A patent/CN106730878B/en active Active
- 2013-08-07 CN CN201710437649.3A patent/CN107261510B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104815441B (en) | 2017-03-08 |
| JP2014073331A (en) | 2014-04-24 |
| CN104815441A (en) | 2015-08-05 |
| WO2014054339A1 (en) | 2014-04-10 |
| CN104519970B (en) | 2017-07-11 |
| JP5476441B1 (en) | 2014-04-23 |
| CN107261510A (en) | 2017-10-20 |
| CN104519970A (en) | 2015-04-15 |
| CN106730878B (en) | 2019-07-09 |
| CN107261510B (en) | 2019-11-15 |
| HK1205975A1 (en) | 2015-12-31 |
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