JP2015099136A - Joint structure of dummy doll - Google Patents

Abstract

PROBLEM TO BE SOLVED: To put behavior of a dummy doll closer to behavior of a human body.SOLUTION: A joint part 30 of a dummy doll 10 has a joint 32 which has a spherical part 42A and a shaft part 42B, a holding material 34 which has a recessed part 34A holding the spherical part 42A, and an imparting material 36 which imparts resistance force to the shaft part 42B. Here, the spherical part 42A is held by the recessed part 34A, so a movable area of the joint 32 is closer to a movable area of a human body. Further, frictional force by contact between the spherical part 42A and recessed part 34A and the resistance force imparted by the imparting material 36 act as joint torque on the joint 32 and holding material 34. Thus, the movable area is closer to the movable area of the human body and the magnitude of the obtained joint torque is closer to the magnitude of joint torque of the human body, so behavior of the dummy doll can be put closer to behavior of the human body.

Description

  The present invention relates to a joint structure of a dummy doll.

  Regarding the joint structure of the human body, for example, in the case of an arm (elbow joint), as shown in FIG. 15A, in a bent state where the forearm 202 is bent with respect to the central axis A of the upper arm 201 along the vertical direction, As an example, the angle θ of the forearm 202 with respect to the central axis A is 145 [°]. Further, in the extended state in which the forearm 202 is extended along the vertical direction, as an example, the angle θ of the forearm 202 with respect to the central axis A = 5 [°].

  Further, regarding the joint structure of the human arm, as shown in FIG. 15 (B), from the state where the thumb is up, the outward direction (−R direction) with the palm surface 204 facing upward and the back surface 205 upward. In an operation in the direction of twisting to be directed (+ R direction), as an example, the angle of the movable range is 90 [°].

  In addition, with regard to the joint structure of the human arm, as shown in FIG. 15C, when the forearm 202 is to be rotated (swinged) in the + R direction and the −R direction from the extended state of the forearm 202, an example is given. The angle θ of the forearm 202 with respect to the upper arm 201 is smaller than 5 [°]. Thus, the range of motion of the human body varies depending on the direction of motion.

  On the other hand, Patent Document 1 describes a dummy doll having a knee joint in which a member constituting a thigh and a member constituting a crus are connected by a cylindrical elastic member formed of rubber or synthetic resin. Has been.

JP 2001-336996 A

  In the dummy doll of Patent Document 1, when the member constituting the lower leg moves relative to the member constituting the thigh, the elastic member can be elastically deformed in any direction. It may be the same regardless. Furthermore, since the elastic member can be elastically deformed in any direction, the joint torque between the thigh and the crus may be the same regardless of the movement direction. Thus, in the dummy doll of patent document 1, there is a possibility that the behavior close to the behavior of the human body cannot be obtained with respect to the range of motion and the joint torque.

  The present invention has been made to solve the above problems, and an object thereof is to obtain a joint structure of a dummy doll that can approximate the behavior of a dummy doll to the behavior of a human body.

  The joint structure of the dummy doll according to claim 1 of the present invention includes a first joint member including a spherical portion and a shaft portion protruding in one direction from the spherical portion, and a concave portion that rotatably holds the spherical portion. A second joint member provided; and an imparting unit coupled to the first joint member and the second joint member and imparting a resistance force to the shaft portion as the shaft portion rotates.

  According to the above configuration, since the spherical portion of the first joint member is held by the concave portion of the second joint member, each rotation operation such as bending, extension, twisting, and swinging of the first joint member and the second joint member is performed by the human body. This is the same as the movement of the joint. Thereby, the movable range of the joint of the dummy doll can be brought close to the movable range of the joint of the human body.

  In addition, when the first joint member and the second joint member are rotated, the first joint member and the second joint member are imparted to the frictional force caused by the contact between the spherical portion and the recess and the imparting means. Resistive force acts. These forces can be set to a force equivalent to a joint torque acting by stretching or contracting muscles in a human joint or ligament tension. Thereby, the obtained joint torque can be brought close to the joint torque of the human body.

  Thus, according to the above-described configuration, the range of motion of the joint approaches the range of motion of the joint of the human body, and the magnitude of the joint torque obtained also approaches the size of the joint torque of the human body, and thus has no spherical portion. Compared to the configuration, the behavior of the dummy doll can be made closer to the behavior of the human body.

  In the joint structure of the dummy doll according to claim 2 of the present invention, the applying means includes an elastic member that applies an elastic force as the resistance force to the shaft portion, and the elastic member is configured to move the shaft in a setting direction. Provided in at least one of the first joint member and the second joint member so that the elastic force acting on the shaft portion is larger in the crossing direction intersecting the set direction than the elastic force acting on the portion. Yes.

  According to the above configuration, when the first joint member and the second joint member are rotated (for example, bent and extended) in the setting direction, the elastic force acting on the shaft portion is small. For this reason, the joint torque acting on the first joint member and the second joint member is mainly a frictional force due to the contact between the spherical portion and the concave portion. On the other hand, when the first joint member and the second joint member are rotated in the crossing direction, the elastic force acting on the shaft portion is larger and the joint torque is larger than when the first joint member and the second joint member are rotated in the setting direction.

  Thus, according to the above configuration, the rotation of the first joint member and the second joint member in the setting direction is not limited, but the rotation of the first joint member and the second joint member in the intersecting direction is limited. This is an operation close to that of a joint of a human body. Thereby, compared with the structure which does not have an elastic member or the elastic force which acts on a axial part is constant irrespective of the rotation direction of an axial part, the behavior of a dummy doll can be brought close to the behavior of a human body. .

  In the joint structure of the dummy doll according to claim 3 of the present invention, the elastic member is given elastic force when the shaft portion rotates in one of the intersecting directions and in the other of the intersecting directions. As described above, a plurality are provided at intervals in the crossing direction.

  According to the above configuration, when the first joint member and the second joint member rotate in the intersecting direction, an elastic force acts on the shaft portion in both one and the other in the intersecting direction. Thereby, the range of the movable range of the first joint member and the second joint member can be limited as compared with the configuration in which the elastic force acts on the shaft portion only in one of the intersecting directions.

  In the joint structure of the dummy doll according to claim 4 of the present invention, the applying means includes a wire having a length that is connected to the first joint member and can be wound around an outer peripheral surface of the first joint member, The second joint member is connected to the wire via the elastic member.

  According to the above configuration, when the first joint member rotates in the crossing direction from the setting direction, a part of the wire is wound around the first joint member, and torque acts in the rotation direction of the first joint member. Thereby, the joint torque which acts on the 1st joint member at the time of rotation increases compared with the structure where a wire does not wind around the 1st joint member. Then, the rotation of the first joint member is limited by the increased joint torque. As described above, since the rotation of the first joint member is restricted without adding a member in addition to the wire, the movable range of the first joint member and the second joint member can be set with a simple configuration.

  In the joint structure of the dummy doll according to claim 5 of the present invention, the elastic member has a plurality of elastic bodies having different spring constants.

  According to the above configuration, by using a plurality of elastic bodies having different spring constants, an elastic force (resistance) acting on the first joint member and the second joint member with respect to the displacement of the first joint member and the second joint member. Force) can be changed nonlinearly. Thereby, the behavior of the dummy doll can be made closer to the behavior of a human body having a joint whose load changes nonlinearly with respect to the displacement.

  In the joint structure of the dummy doll according to claim 6 of the present invention, at least one of the first joint member and the second joint member is provided with a limiting member that restricts at least the rotation of the shaft portion in the intersecting direction. ing.

  According to the above configuration, when the first joint member and the second joint member are rotated in the crossing direction, the limiting member comes into contact with any one of the first joint member, the second joint member, and the limiting member, and the shaft Limit the rotation of parts in the crossing direction. Further, when the restriction member is provided also in the setting direction, the rotation of the shaft portion is restricted also in the setting direction. Thereby, the movable range of the first joint member can be set in the setting direction and the intersecting direction.

  Since this invention was set as the said structure, the behavior of a dummy doll can be closely approached to the behavior of a human body.

It is a general view which shows the dummy doll which concerns on this embodiment. It is the schematic which shows the joint part of the dummy doll which concerns on this embodiment. It is a longitudinal cross-sectional view which shows the internal structure of the joint part of the dummy doll which concerns on this embodiment. It is explanatory drawing which shows the structure of the joint periphery which concerns on this embodiment. (A) It is a top view of the joint which concerns on this embodiment. (B) It is a schematic diagram which shows the inclination state of the bending direction of the joint which concerns on this embodiment. (C) It is a schematic diagram which shows the inclination state of the cross direction of the joint which concerns on this embodiment. (A) It is a bottom view of the holding material which concerns on this embodiment. (B) It is a top view of the attachment member concerning this embodiment. (A), (B) It is a side view of the attachment member of the joint which concerns on this embodiment. It is explanatory drawing which shows the state which inclined the axial part which concerns on this embodiment to the bending / extension direction. It is explanatory drawing which shows the state by which the wire was wound around the axial part of the joint which concerns on this embodiment. It is explanatory drawing which shows the state which inclined the axial part which concerns on this embodiment to the cross direction. It is explanatory drawing of the spring material which concerns on the 1st modification of this embodiment. It is explanatory drawing which shows the inclination state of the axial part in the joint part which concerns on the 2nd modification of this embodiment. It is explanatory drawing which shows the state which a wire winds around the rubber material of the axial part in the joint part which concerns on the 3rd modification of this embodiment. It is a longitudinal cross-sectional view of the joint part which concerns on the 4th modification of this embodiment. (A) It is a schematic diagram which shows the bending state of the forearm with respect to the upper arm in a human body. (B) It is a schematic diagram which shows the rotation state of the pronation direction of the forearm in a human body, and the rotation direction. (C) It is a schematic diagram which shows the movement state of the cross direction of the forearm with respect to the upper arm in a human body. (A), (B) It is explanatory drawing which shows the joint part of a comparative example.

  An example of the joint structure of the dummy doll according to this embodiment will be described.

[overall structure]
FIG. 1 shows a schematic configuration of a dummy doll 10 as an example of the present embodiment. The dummy doll 10 has a torso 12 and a head 16 attached to the upper end of the spine 14. Furthermore, the dummy doll 10 has an upper limb 18 connected to the left and right upper parts of the body 12, and a lower limb 22 connected to the left and right lower parts of the body 12.

  In the following description, the left side of the dummy doll 10 is described as + X side, the right side is described as -X side, the upper side is described as + Y side, the lower side is described as -Y side, the front side is described as + Z side, and the rear side is described as -Z side. Moreover, the left-right direction of the dummy doll 10 is described as X direction, the up-down direction is described as Y direction, and the front-back direction is described as Z direction. The X, Y, and Z directions are orthogonal to each other. As an example, the dummy doll 10 has a bilaterally symmetric structure with the spine 14 as the center. Therefore, in the following description, the structure on the + X side of the dummy doll 10 will be described, and the structure on the −X side will be denoted by the same reference numerals as those on the + X side, and description thereof will be omitted.

(body)
As shown in FIG. 1, the torso 12 includes, as an example, a vertebral column 14, a rib (not shown) provided on the vertebral column 14, and a waist portion 17 connected to an end portion on the −Y side of the vertebral column 14. It is configured. Further, as an example, the body 12 is covered with a resin main body cover 13 except for a portion where the spinal column 14 is disposed, a portion where the upper limb 18 is connected, and a portion where the lower limb 22 is connected. The spinal column 14 has a cylindrical member coaxially stacked in the Y direction.

(Upper limb)
The upper limb 18 includes an upper arm 18A, a forearm 18B, a joint portion 30 as an example of a joint structure of a dummy doll that connects the upper arm 18A and the forearm 18B, and a hand member 18C provided on the −Y side of the forearm 18B. Have. In the upper arm 18A, a columnar upper arm member 19A (see FIG. 2) corresponding to a bone of a human body is provided. In the forearm 18B, a columnar forearm member 19B (see FIG. 2) corresponding to a human bone is provided.

  Further, the upper limb 18 has a columnar portion (not shown) provided on the + Y side of the upper arm 18 </ b> A rotatably attached to a shoulder joint 12 </ b> A provided on the trunk 12. Here, a state in which the upper arm 18A is disposed along the Y direction (vertical direction) is referred to as an extended state, and a state in which the forearm 18B is rotated toward the + Z side with respect to the upper arm 18A is referred to as a bent state. That is, the rotation in the bending direction of the forearm 18B relative to the upper arm 18A means, for example, that the end portion on the −Y side of the forearm 18B rotates along the YZ plane with the joint portion 30 as a fulcrum. .

  The bending / extending direction is an example of the setting direction in the present embodiment. Further, the direction in which the forearm 18B moves and intersects with the bending / extending direction is referred to as a crossing direction. In the present embodiment, the rotation in the cross direction of the forearm 18B with respect to the upper arm 18A is, for example, the joint 30 as a fulcrum and the end on the −Y side of the forearm 18B along the XY plane on the + X side or −X. It means to rotate (swing motion) to the side.

(Lower limb)
The lower limb 22 includes a thigh member 22A having a + Y side end connected to the waist 17, a crus member 22B connected to a −Y side end of the thigh member 22A, and a −Y side end of the crus member 22B. The foot member 22C is connected to the foot.

[Main part configuration]
Next, the joint part 30 will be described.

  As shown in FIG. 2, the joint portion 30 includes a joint 32 as an example of a first joint member, a holding member 34 as an example of a second joint member, and an applying member 36 as an example of an applying unit. ing.

〔Joint〕
As illustrated in FIG. 3, the joint 32 includes, as an example, a ball joint 42 and an attachment member 44 to which the ball joint 42 is attached. In FIG. 3, the upper arm member 19A and the forearm member 19B (see FIG. 2) are not shown.

(Mounting member)
As shown in FIGS. 7A and 7B, the attachment member 44 includes a first attachment portion 45 formed in a rectangular parallelepiped shape, and a first attachment portion 45 formed in a columnar shape having the Y direction as an axial direction. And an integrated second mounting portion 46. The first attachment portion 45 is formed with a through hole 45 </ b> A penetrating in the X direction. A cylindrical shaft 47 (see FIG. 2) is inserted and fixed in the through hole 45A. The mounting member 44 is attached to the forearm member 19B by fixing the shaft 47 to the forearm member 19B (see FIG. 2). In addition, the fixing method of the shaft 47 to the 1st attachment part 45 and the forearm member 19B may be any method of welding, adhesion, press fitting, and fastening.

  A through hole 46 </ b> A penetrating in the X direction is formed at a portion of the second attachment portion 46 on the −Y side (side closer to the first attachment portion 45). The inner diameter of the through hole 46A is set such that a wire 56 (see FIG. 4) described later can be inserted. As shown in FIG. 3, a bottomed mounting hole 46 </ b> B having an opening on the + Y side is formed in a portion on the + Y side of the through hole 46 </ b> A in the second mounting portion 46. A female screw portion (not shown) is formed on the inner wall of the mounting hole 46B, and a male screw portion (not shown) of a shaft portion 42B of a ball joint 42 described later is fastened to the female screw portion. ing.

  Further, as shown in FIGS. 7A and 7B, an inclined portion 46 </ b> C is formed on the outer peripheral portion on the + Y side of the second mounting portion 46. As an example, as shown in FIG. 6B, the inclined portion 46 </ b> C has screw holes 46 </ b> D formed at eight positions at intervals of 45 ° in the circumferential direction. Each screw hole 46D is inclined with respect to the Y direction. Further, among the eight screw holes 46D, four bolts 52A, 52B, 52C, and 52D as an example of a restricting member are provided at four positions spaced by 90 [°] in the circumferential direction (see FIG. 5A). Is provided. The bolts 52A, 52B, 52C, and 52D are round head bolts as an example.

  FIG. 5A schematically shows the arrangement of bolts 52A, 52B, 52C, and 52D with respect to a shaft portion 42B of a ball joint 42 described later. The bolts 52A, 52B, 52C, and 52D are inclined in a direction intersecting the Y direction when the shaft portion 42B is disposed in the Y direction. For this reason, FIG. 5A shows a state in which the bolts 52A, 52B, 52C, and 52D are viewed in a plan view in the Y direction.

  The bolt 52A extends toward the −Z side with respect to the central axis C of the shaft portion 42B. The axial length of the bolt 52A is L1. The bolt 52B extends toward the + X side with respect to the central axis C. The axial length of the bolt 52B is L2. The bolt 52C extends toward the + Z side with respect to the central axis C. The axial length of the bolt 52C is L3. The bolt 52D extends toward the −X side with respect to the central axis C. The axial length of the bolt 52D is L4.

  As an example, the length relationship between the axial lengths L1, L2, L3, and L4 of the bolts 52A, 52B, 52C, and 52D is L3 <L2 = L4 <L1. That is, the length L3 on the + Z side, which is the side where the forearm 18B (see FIG. 1) is bent, is the shortest, and the length L1 on the −Z side, which is the side where the forearm 18B is not bent, is the longest. Further, the length L2 on the + X side and the length L4 on the −X side at which the forearm 18B rotates slightly are set to be longer than the length L3 and shorter than the length L1.

(Ball joint)
As shown in FIG. 3, as an example, the spherical joint 42 includes a spherical portion 42A having an outer diameter that can be partially accommodated in a concave portion 34A described later, and protrudes in the Y direction from the spherical portion 42A. And a shaft portion 42B attached to the attachment hole 46B. The shaft portion 42B is formed in a cylindrical shape. Further, an annular flange portion 42C projecting in the radial direction is formed at the center position in the Y direction of the shaft portion 42B.

(Holding material)
FIG. 4 schematically shows the joint portion 30. 4 is the upper arm 18A (see FIG. 3) side, and the upper side in FIG. 4 is the forearm 18B (see FIG. 3) side. Moreover, in FIG. 4, the joint 32 is shown as one member.

  The holding member 34 is formed in a columnar shape having the Y direction as an axial direction. In addition, a concave portion 34 </ b> A that is recessed in a hemispherical shape toward the + Y side is formed at the center on the −Y side of the holding material 34. The concave portion 34A is sized to hold the spherical portion 42A rotatably. Further, as shown in FIG. 4 and FIG. 6A, a vertical hole 34 </ b> B recessed to the + Y side is formed on the + X side of the recess 34 </ b> A in the holding material 34, and −X of the recess 34 </ b> A in the holding material 34. On the side, a vertical hole 34 </ b> C that is recessed toward the + Y side is formed. The hole diameters of the vertical hole portions 34B and 34C are larger than the outer diameters of spring members 57 and 58 described later.

[Granting material]
As shown in FIG. 4, the imparting material 36 includes a wire 56, a spring material 57 inserted into the vertical hole portion 34 </ b> B, and a spring material 58 inserted into the vertical hole portion 34 </ b> C. The spring materials 57 and 58 are examples of elastic members. The center of the wire 56 is inserted and held in the through hole 46 </ b> A of the mounting member 44. In the present embodiment, the holding state of the wire 56 in the through hole 46 </ b> A is included in the connection state of the wire 56 to the mounting member 44. Further, the length of the wire 56 is a length that can be wound around the outer peripheral surface of the mounting member 44.

  One end of the wire 56 is connected to the -Y side end of the spring material 57, and the + Y side end of the spring material 57 is locked (connected) to the bottom of the vertical hole portion 34B. The other end of the wire 56 is connected to the end portion on the -Y side of the spring member 58, and the end portion on the + Y side of the spring member 58 is locked (connected) to the bottom portion of the vertical hole portion 34C. That is, the holding member 34 is connected to the wire 56 via the spring members 57 and 58.

  Thus, the imparting material 36 has the spring material 57 and the spring material 58 arranged in the intersecting direction intersecting the bending direction of the forearm 18B (see FIG. 1), and the joint 32 and the holding material 34 in the intersecting direction. It is connected to. The spring members 57 and 58 are provided on the holding member 34 so that the elastic force acting on the shaft portion 42B in the intersecting direction is larger than the elastic force acting on the shaft portion 42B in the bending / extending direction. The spring members 57 and 58 are arranged at intervals in the intersecting direction so that an elastic force is applied when the shaft portion 42B rotates in one of the intersecting directions and when it rotates in the other of the intersecting directions. Yes.

  Thereby, the imparting material 36 imparts a resistance force (elastic force of the spring materials 57 and 58) to the shaft portion 42B as the shaft portion 42B rotates. The spring constants of the spring members 57 and 58 are set in advance so that the resistance force acting on the shaft portion 42B has a magnitude close to the joint torque of the joint portion of the human body.

  In the present embodiment, as an example, in a state where the shaft portion 42B is stationary along the Y direction (the above-described extended state), the spring members 57 and 58 are substantially natural length, and the shaft portion 42B includes a spring. The load by the materials 57 and 58 does not act. That is, in the extended state, the lengths of the wire 56 and the spring materials 57 and 58 are set so that the resistance force hardly acts on the shaft portion 42B. Further, a stopper (not shown) is coupled to the wire 56, and when the amount of displacement of the spring members 57 and 58 becomes larger than a predetermined value, the displacement of the wire 56 is limited. .

(Comparative example)
Next, the dummy doll 210 of the comparative example will be described.

  As shown in FIGS. 16A and 16B, the dummy doll 210 of the comparative example has an upper arm member 212, a forearm member 214, and a joint member 216. The joint member 216 includes a first connecting portion 216A that is rotatably connected to the upper arm member 212, and a second connecting portion 216B that is rotatably connected to the forearm member 214 using a bolt-like connecting pin 218. ing. And the 1st connection part 216A and the 2nd connection part 216B have shifted | deviated the rotation center position. Further, in the dummy doll 210 of the comparative example, the axial direction of the axis G serving as the rotation center of the first coupling portion 216A and the axial direction of the axis H serving as the rotation center of the second coupling portion 216B are substantially orthogonal. .

  That is, in the dummy doll 210 of the comparative example, the rotation center position when the forearm member 214 bends and stretches with respect to the upper arm member 212 is shifted from the rotation center position when the forearm member 214 rotates with respect to the upper arm member 212. Yes. For this reason, the dummy doll 210 of the comparative example operates differently from a human body in which the rotation center position when the forearm bends and stretches and the rotation center position when the forearm rotates hardly change.

  Further, in the dummy doll 210 of the comparative example, when the forearm member 214 bends / extends, twists and swings with respect to the upper arm member 212, the resistance force acting on the joint portion is only the frictional force generated on the contact surface of each member. It becomes. For this reason, the joint torque generated in the dummy doll 210 of the comparative example may be different in magnitude from the joint torque of the human body including not only the frictional force but also the resistance force by the muscles.

  In this way, in the dummy doll 210 of the comparative example, the forearm motion and joint torque with respect to the upper arm are different from those of the human body, and thus, for example, in a collision with the vehicle, there is a possibility that the behavior differs from the trunk behavior of the human body. is there.

(Function)
Next, the operation of this embodiment will be described.

(Bending motion)
In the extended state of the forearm 18B shown in FIG. 3, when the forearm 18B is rotated to the + Z side (this is referred to as a bending operation), as shown in FIG. The center O rotates about the center of rotation. FIG. 8 shows a state in which the central axis C of the shaft portion 42B is tilted at an angle θA with respect to the Z direction as an example. At this time, even if the shaft portion 42B moves, the distance from the center O of the spherical portion 42A to the portion where the wire 56 of the mounting member 44 is connected does not change. Further, the shaft portion 42B moves in a direction orthogonal to the direction in which the wire 56 is bridged.

  Under these conditions, the spring material 57 (see FIG. 4) and the spring material 58 hardly extend, and only the frictional force caused by the contact between the concave portion 34A and the spherical portion 42A is applied to the joint 32 and the forearm 18B (see FIG. 3). Acts as joint torque. Further, in the joint portion 30, as shown in FIG. 5B, when the shaft portion 42B continues to rotate toward the + Z side, the bolt 52C comes into contact with the holding material 34. Thereby, the rotation with respect to the upper arm 18A (refer FIG. 3A) of the joint 32 and the forearm 18B (refer FIG. 3) is restrict | limited.

  As described above, in the joint portion 30, in the bending operation (+ Z side rotation) of the forearm 18 </ b> B, the movable range is set by the bolt 52 </ b> C and the joint torque due to the frictional force acts. When the forearm 18B is about to move to the −Z side, the longest bolt 52A out of the four and the holding member 34 come into contact with each other, so that the rotation of the shaft portion 42B is limited (restricted), and is in the extended state. Is retained.

(Torsion motion)
In the extended state of the forearm 18B shown in FIG. 3, when the forearm 18B is rotated to the + X side or the -X side (this is referred to as a torsional operation), as shown in FIG. It rotates about the central axis C. At this time, since the opening position of the through hole 46 </ b> A (see FIG. 4) to which the wire 56 is connected (inserted) is changed, the wire 56 is wound around the outer peripheral surface of the mounting member 44. In FIG. 9, the bolts 52A, 52B, 52C, and 52D (see FIG. 5A) are not shown.

  Subsequently, when the shaft portion 42B and the attachment member 44 rotate and the winding length of the wire 56 around the attachment member 44 becomes longer, the extension lengths of the spring members 57 and 58 become longer, and the joint 32 and the forearm 18B (see FIG. 3). ) Increases the tensile force acting on. That is, not only the frictional force due to the contact between the concave portion 34A and the spherical portion 42A but also the tensile force due to the spring materials 57 and 58 acts as a joint torque on the joint 32 and the forearm 18B. And in the joint part 30, when the joint torque which acts on the joint 32 and the forearm 18B exceeds a set value, the rotation of the joint 32 and the forearm 18B is limited.

  As described above, in the joint portion 30, not only the frictional force due to the contact between the concave portion 34 </ b> A and the spherical portion 42 </ b> A but also the joint torque due to the winding of the wire 56 is caused in the rotation operation (+ X side or −X side rotation) of the forearm 18 </ b> B. Works. And the joint torque which acts on the joint part 30 exceeds a setting value, and the range of motion of the forearm 18B is set because the rotation of the joint 32 and the forearm 18B is restricted.

(Swing motion)
In the extended state of the forearm 18B shown in FIG. 3, when the forearm 18B is rotated to the −X side (this is referred to as a swinging motion), as shown in FIG. 10, the shaft portion 42B has a center O of the spherical portion 42A. Rotates as the center of rotation. In addition, in FIG. 10, illustration of the volt | bolt 52A, 52B, 52C, 52D (refer FIG. 5 (A)) is abbreviate | omitted. Then, the central axis C tilts at an angle θB on the −X side with respect to the position of the central axis C in the extended state (referred to as C1).

  At this time, since the distance from the mounting member 44 to the spring material 57 is longer than the distance from the mounting member 44 to the spring material 58, the extension length of the spring material 57 is increased and acts on the joint 32 and the forearm 18B. The tensile force increases. As described above, in the joint portion 30, not only the frictional force due to the contact between the concave portion 34 </ b> A and the spherical portion 42 </ b> A but also the tensile force due to the spring material 57 acts on the joint 32 and the forearm 18 </ b> B as joint torque.

  In the joint portion 30, when the joint torque acting on the joint 32 and the forearm 18B exceeds the set value, the rotation of the joint 32 is restricted. That is, the swinging motion of the forearm 18B is limited. In addition, when the forearm 18B slides to the + X side, the tensile force by the spring material 58 acts as a joint torque.

  Further, in the joint portion 30, when the rotation of the joint 32 to the −X side and the + X side cannot be restricted by the tensile force of the spring material 57 or the spring material 58, as shown in FIG. The bolt 52B comes into contact with the holding member 34 to limit the rotation. Thereby, in the joint part 30, rotation with respect to the upper arm 18A (refer FIG. 3A) of the joint 32 and the forearm 18B (refer FIG. 3) is restrict | limited, and the movable range of the forearm 18B is set.

  As described above, in the joint portion 30 of the present embodiment, the spherical portion 42A of the joint 32 is held by the concave portion 34A of the holding member 34 as shown in FIG. For this reason, the bending, extending, twisting, and swinging motions of the joint 32 (the forearm 18B) and the holding member 34 are the same as those of the joints of the human body. Thereby, the movable range of the joint part 30 can be brought close to the movable range of the joint of the human body. Further, in the joint portion 30, the bending, extension, torsion, and swinging motions of the joint 32 and the holding member 34 are performed about the same position, so that the dummy doll 210 of the comparative example (see FIG. 16B). ), The size of the joint portion 30 can be made equal to or less than the same size.

  Further, when the joint 32 and the holding member 34 are rotated, such as bending, extending, twisting, and swinging, the joint 32 and the holding member 34 are given frictional force due to contact between the spherical portion 42A and the concave portion 34A. The resistance force applied by the material 36 acts. This resistance force can be set to a force equivalent to a joint torque that acts by stretching or contracting muscles in a human joint or a ligament tension. Thereby, in the joint part 30, the obtained joint torque can be brought close to the joint torque of the human body.

  As described above, according to the joint unit 30, the range of motion of the joint approaches the range of motion of the joint of the human body, and the magnitude of the joint torque obtained also approaches the magnitude of the joint torque of the human body. It can approximate the behavior of the human body. According to the joint portion 30, the characteristics of the range of motion of the forearm 18B and the characteristics of the joint torque can be set independently, so that behavior characteristics according to various conditions such as the direction of motion and age can be obtained. The human body similarity of the doll 10 can be significantly improved compared to the dummy doll 210 of the comparative example (see FIGS. 16A and 16B).

  Furthermore, in the dummy doll 10, since the human body similarity of the joint part 30 is improved, in the collision experiment with the vehicle, for example, the trunk behavior when the pedestrian makes the upper limb contact the bonnet or the upper limb of the occupant The trunk behavior when touching the instrument panel or handle is improved compared to the comparative example. Thereby, the failure prediction evaluation accuracy is improved. And since the prediction accuracy is improved, in addition to the appropriate development of the protection device, the occurrence of failure due to external force applied to the tendon and muscle is measured and the elongation and acting force of the wire 56 and the spring materials 57 and 58 are measured. It becomes predictable by doing.

  Further, according to the joint portion 30, when the joint 32 and the holding member 34 are bent in the bending direction, the lengths of the spring members 57, 58 hardly change in the intersecting direction as shown in FIG. That is, the elastic force acting on the shaft portion 42B is small. For this reason, the joint torque acting on the joint 32 and the holding member 34 is mainly a frictional force due to the contact between the spherical portion 42A and the concave portion 34A. On the other hand, when the joint 32 and the holding member 34 are rotated in the crossing direction, the lengths of the spring members 57 and 58 change in the crossing direction. For this reason, the joint torque acting on the joint 32 and the holding material 34 becomes larger than that in the case where the joint 32 and the holding material 34 are bent in the bending direction.

  Thus, according to the joint part 30, the rotation of the joint 32 and the holding material 34 is not limited in the bending / extending direction, but is limited in the crossing direction. When the joint torque acting on the joint 32 and the holding member 34 exceeds the set torque, the movement of the joint 32 and the holding member 34 (the relative movement of the joint 32 with respect to the holding member 34) stops.

  That is, when the joint torque exceeding the set torque acts, the movable range of the joint 32 with respect to the holding member 34 is limited (set). This range of motion is close to the range of motion of the joint of the human body where the joint torque increases rapidly (non-linearly) near the boundary of the range of motion. Thereby, according to the joint part 30, compared with the structure by which the spring materials 57 and 58 are not connected by the cross direction, the behavior of the dummy doll 10 can be brought close to the behavior of a human body.

  Furthermore, according to the joint part 30, when the joint 32 rotates in the crossing direction with respect to the holding member 34, the joint 32 and the holding member are held by the two spring members 57 and 58 in both one and the other in the crossing direction. Resistance (load) is applied to the material 34. Thereby, the range of the movable range of the joint 32 and the holding material 34 can be limited as compared with the configuration in which the elastic force acts on the joint 32 and the holding material 34 only in one of the intersecting directions.

  In addition, according to the joint portion 30, when the joint 32 is rotated (twisted) from the bending direction to the crossing direction, a part of the wire 56 is wound around the outer peripheral surface of the joint 32, and torque is applied in the rotational direction of the joint 32. Works. Thereby, the joint torque which acts on the joint 32 increases compared with the structure where the wire 56 does not wind around the joint 32. Then, the rotation of the joint 32 is limited (restricted) by the increased joint torque. As described above, since the rotation of the joint 32 is restricted without adding a member in addition to the wire 56, the movable range of the joint 32 and the holding member 34 can be set with a simple configuration.

  Further, according to the joint portion 30, when the joint 32 is moved in the bending / extending direction or the crossing direction, any of the bolts 52 </ b> A, 52 </ b> B, 52 </ b> C, 52 </ b> D comes into contact with the holding material 34. Limit rotation. Thereby, the movable range of the joint 32 can be set in the bending direction and the crossing direction.

  In addition, this invention is not limited to said embodiment.

[First Modification]
The spring materials 57 and 58 shown in FIG. 4 are not limited to those composed of one type of spring material. As shown in FIG. 11, as an example of an elastic member and an elastic body, a configuration may be adopted in which a first spring 72 and a second spring 74 having different spring constants are connected in series to a wire 56. Thereby, it becomes possible to nonlinearly change the elastic force (resistance force) acting on the joint 32 and the holding material 34 with respect to the displacement of the joint 32 and the holding material 34 (see FIG. 4). The behavior of the dummy doll can be made closer to the behavior of a human body having a joint whose load changes nonlinearly with respect to the displacement.

  Moreover, the elastic member and the elastic body may be provided in a plurality of three or more. Furthermore, the elastic member and the elastic body are not limited to those connected in series to the wire 56 but may be connected in parallel. In addition, the elastic member and the elastic body are not limited to springs, and may be other elastic members such as rubber.

[Second Modification]
In the joint portion 30 shown in FIG. 4, the neck joint portion 80 shown in FIG. 12 may be configured except for the bolts 52A, 52B, 52C, and 52D. In the neck joint 80, the attachment member 44 is fixed to the head 16 (see FIG. 1). Further, the holding member 34 is fixed to the spinal column 14 (see FIG. 1). In the neck joint 80, since the bolts 52 </ b> A, 52 </ b> B, 52 </ b> C, and 52 </ b> D are not provided, the movable range of the joint 32 is wider than the joint 30. In the neck joint 80, a limiting member such as a bolt may be provided in order to set a movable range.

  Further, the configuration of the joint portion 30 and the neck joint portion 80 can be applied to other joints such as a hip joint, a knee joint, a shoulder joint, a wrist joint, and an ankle joint.

[Third Modification]
In the joint portion 30 shown in FIG. 4, as shown in FIG. 13, the joint portion 90 is configured such that a cylindrical winding portion 92 is provided on the outer periphery of the attachment member 44 and the wire 56 is wound around the winding portion 92. It may be used. The winding portion 92 may be a member in which a metal or resin member is wound, or may be a member in which an elastic body such as rubber is wound. Further, the winding portion 92 may be integrated with the attachment member 44.

  Since the diameter of the winding portion 92 is different from that of the attachment member 44, the winding amount of the wire 56 due to the rotation of the joint 32 changes. That is, since the joint torque acting on the joint 32 with respect to the displacement amount (rotation amount) when the joint 32 rotates is changed, the setting of the joint torque with respect to the displacement amount can be changed. Moreover, in the winding part 92, since the friction coefficient with respect to the wire 56 can be changed with respect to the attachment member 44, the joint torque when the wire 56 is wound can be adjusted by replacing the winding part 92. Can do.

  Further, in the joint portion 90, when an elastic body is used for the winding portion 92, the wire 56 bites into the elastic body when the wire 56 is wound around the winding portion 92, and the diameter of the winding portion 92 changes. By the change of the joint torque due to the change of the diameter, the non-linear relationship of the change amount of the joint torque with respect to the displacement amount of the joint 32 is obtained. Thus, in the joint part 90, the change of joint torque can be brought close to the change of joint torque in the human body.

[Fourth Modification]
In the joint portion 30 shown in FIG. 4, when the movable range of the joint 32 is insufficient, as an example, a joint portion 100 having two joint portions may be used as shown in FIG. 14. The joint 100 has a cylindrical holding material 102 instead of the holding material 34 (see FIG. 4). As an example, the holding member 102 is formed with a concave portion 102A that is recessed in a hemispherical shape toward the + Y side and a concave portion 102B that is recessed in a hemispherical shape toward the -Y side. The concave portions 102A and 102B accommodate and hold the spherical portions 42A of the joints 32, respectively.

  That is, the joint part 100 has a configuration in which two joint parts 30 (see FIG. 4) are provided symmetrically in the Y direction. Thereby, in the joint part 100, the movable range which becomes substantially double the movable range of the joint part 30 can be set. As described above, a plurality of joint portions 30 may be provided.

  In the joint portion 30 described above, the ball joint 42 and the attachment member 44 may be integrated. Further, the imparting material 36 may be only the wire 56 or may be only the spring materials 57 and 58. Furthermore, the provision material 36 may be single. In addition, the bolts 52A, 52B, 52C, and 52D are not limited to four, and may be provided at one to three places, or five or more places.

  Further, the imparting material 36 may be provided on the holding material 34 side, or may be provided on both the joint 32 and the holding material 34. And the rotation of the axial part 42B may be restrict | limited by the provision materials 36 contacting.

  Further, the joint 32 may be provided on the upper arm 18A side, and the holding member 34 may be provided on the forearm 18B side.

  The dummy doll in the present invention has a form similar to the human body as shown in FIG. 1, and includes a dummy form in which the upper and lower limbs are actively moved.

10 dummy doll 30 joint (an example of the joint structure of a dummy doll)
32 joint (example of first joint member)
34 Holding material (example of second joint member)
34A Concave portion 36 Application material (an example of application means)
42A Spherical part 42B Shaft part 52A Bolt (an example of a limiting member)
52B bolt (an example of a limiting member)
52C bolt (an example of a limiting member)
52D bolt (an example of a limiting member)
56 Wire 57 Spring material (an example of an elastic member)
58 Spring material (an example of an elastic member)
72 1st spring (an example of an elastic member and an elastic body)
74 Second spring (an example of an elastic member and an elastic body)

Claims (6)

A first joint member comprising a spherical portion and a shaft portion protruding in one direction from the spherical portion;
A second joint member having a concave portion for rotatably holding the spherical portion;
An applying means that is connected to the first joint member and the second joint member and applies a resistance force to the shaft portion as the shaft portion rotates;
The joint structure of a dummy doll with The applying means includes an elastic member that applies an elastic force as the resistance force to the shaft portion,
The elastic member has the first joint member and the first joint member so that the elastic force acting on the shaft portion in the intersecting direction intersecting the setting direction is larger than the elastic force acting on the shaft portion in the setting direction. The joint structure of the dummy doll of Claim 1 provided in at least one of 2 joint members.   A plurality of the elastic members are provided at intervals in the intersecting direction so that an elastic force is applied when the shaft portion rotates in one of the intersecting directions and when it rotates in the other of the intersecting directions. The joint structure of a dummy doll according to claim 2.   The applying means includes a wire that is connected to the first joint member and has a length that can be wound around an outer peripheral surface of the first joint member, and the second joint member is connected to the wire via the elastic member. The joint structure of the dummy doll of Claim 2 or Claim 3 by which these are connected.   The joint structure of the dummy doll according to any one of claims 2 to 4, wherein the elastic member has a plurality of elastic bodies having different spring constants.   The restriction member for restricting at least rotation of the shaft portion in the intersecting direction is provided on at least one of the first joint member and the second joint member. The joint structure of the dummy doll described.

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