JP5476441B1 - Doll body wrist joint structure, doll body ankle joint structure, and doll body - Google Patents

Abstract

To provide a joint structure of a doll's limb end capable of performing a movement close to that of a human being despite a simple configuration.
A doll's hand joint comprising a wrist 110 provided on an extension of the lower arm 80, a back 115 connected to the wrist 110, and a plurality of fingers 120 including a thumb 120A connected to the back 115 of the hand. In the structure, the back 115 of the hand includes a notch 131 and a protrusion 132 formed with the notch 131 interposed between the wrist 110 and the wrist 110. The first ball joint 141 is connected via a first ball joint 141 embedded in a portion of the protrusion 132 displaced from the position of the wrist 110 while being disposed in the notch 131 of the back of the hand 115. Centered on the back of the hand 115 is rotatable.
[Selection] Figure 2

Description

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

As a plastic model hand joint structure of a robot or the like, for example, one described in Patent Document 1 below is known.
In Patent Document 1, a wrist joint for attaching a hand is provided at the tip (lower end) of the lower arm part in connection between the wrist and the hand (consisting of the back of the hand and fingers), and the wrist joint is connected to the lower arm part. It consists of the structure supported so that rotation was possible by the wrist rotation axis | shaft provided in the front-end | tip.

JP 2011-234986 JP

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, the wrist rotation axis is one center. It has a configuration that can only move in a swinging direction.
For this reason, the movement of the hand is simple, and there is an inconvenience that the movement close to that of a human cannot be performed. In particular, in the case where the robot is configured for battle, it is assumed that a hand (held object) is held in the hand, and in order to move the weapon freely, It is desirable to be able to operate like a human.

  The present invention has been made in view of such circumstances, and it is an object of the present invention to provide a joint structure of the limb end of a doll that can perform operations close to humans despite a simple configuration.

The joint structure of the wrist of the doll body according to the present invention includes a wrist provided on an extension of a lower arm, a back of a hand connected to the wrist, a plurality of fingers including a thumb connected to the back of the hand, and a back of the hand A first connecting portion provided at a position displaced from a center position, and the back of the hand and the wrist are connected to each other so as to be rotatable at the first connecting portion. The wrist joint structure of the doll body according to the present invention includes a wrist provided on an extension of a lower arm, a back of a hand connected to the wrist, a plurality of fingers including a thumb connected to the back of the hand, A first connecting portion provided at a position displaced from the center position of the back of the hand, and the back of the hand and the wrist are connected to the wrist joint of the doll body rotatably connected to the first connecting portion. A notch portion is formed at a central position of the back of the hand to which the wrist is connected, and the first connecting portion is provided on one side of the protruding portion formed with the notch portion in between. It has the structure which is made.

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

In the wrist joint structure of the doll body according to the present invention, the second connecting part provided at the base of the thumb, the third connecting part provided on the other side of the protruding part, and the second connecting part. A connecting member that connects the portion and the third connecting portion, and the connecting member is rotatably connected to 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 joint structure of the wrist of the doll body according to the present invention, the plurality of fingers are configured to be rotatable with respect to the back of the hand, and have a rotation member provided rotatably on the back of the hand. The member is preferably capable of closing an opening provided in a central portion of the back of the hand. In addition, it is preferable that a fourth connecting portion is provided in the lower arm portion, and the wrist is connected to the fourth connecting portion and can rotate around the axial direction of the lower arm portion.

The joint structure of the ankle of the doll body according to the present invention includes an ankle provided on an extension of the lower leg, an instep connected to the ankle, and a center of the upper of the foot 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, and the instep and the ankle are rotatably connected at the five connecting portions. 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 ankle provided on the extension of the lower leg. A fifth connecting portion provided at a position on the instep of the foot that is displaced from the center position to the heel side of the foot, and the instep and the ankle are rotated at the fifth connecting portion. It has the structure connected so that movement is possible.

In the joint structure of the ankle of the doll body according to the present invention, the instep of the foot is formed with a notch on the side to which the ankle is connected, and the fifth connection is formed with the notch in between. It is preferable to be provided on the heel side of the protrusion. The connecting portion of the sixth provided in the lower leg, the ankle, the sixth is connected to the connection portion of the can preferably be rotated axially around the lower thigh.

  The joint structure of the limb end of the doll body configured as described above can obtain a human body capable of performing an operation similar to that of a human being in spite of a simple configuration.

It is the external view which showed the outline of the plastic model to which the joint structure of the limb end part of the doll body of this invention is applied. It is a block diagram which shows the joint structure of the hand of the said robot, and has shown with the wrist attached to a lower arm part. It is the figure drawn corresponding to FIG. 2, and is a figure which showed movements, such as a wrist and each finger. It is the perspective view which showed the opening part formed in the back of a hand, and the rotation member which block | closes this opening part. It is a perspective view which shows the motion of the joint structure of the hand of the doll body of this invention. FIG. 6 is a view showing an assembly plate in which the joint structure of the doll body according to the present invention is formed by resin molding, and assembly of each member constituting the joint structure of the hand is avoided. It is a block diagram at the time of applying the joint structure of the limb body edge part of the doll body of this invention to a leg | foot.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the accompanying drawings. Note that the same number is assigned to the same element throughout the description of the embodiment.
(Embodiment 1)
FIG. 1 is an external view schematically showing 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 battle robot 10.

  As shown in FIG. 1, the robot 10 has a waist 20, a chest 30, a head 40, a leg 50, and an arm 60 in the same manner as a human being. It is a form that has been provided. Further, the robot 10 is configured to equip a weapon 70 necessary for a battle, for example, at the upper portion of the arm portion 60, that is, at the shoulder portion. The arm portion 60 has a lower arm portion 80 in a portion close to the hand 100, and the hand 100 is passed through a wrist (not shown in FIGS. 2, 3, 5, and 6). The lower arm portion 80 is connected.

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

3 (a) and 3 (b) are drawings corresponding to FIGS. 2 (a) and 2 (b), respectively, showing the movement of the wrist 110, each finger 120, and the like. Yes.
As shown in FIG. 2 (a), the hand 100 has an approximate center on the back of the hand 115 (in this specification, the part of the hand excluding the wrist and fingers is referred to as the back) 115, on the side to which the wrist 110 is connected. A notch 131 is provided at a position, and a protrusion 132 is formed with the notch 131 in between.

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

The wrist 110 is formed by being connected to a ball joint 147 embedded in the lower arm portion 80 of the robot 10 so that the wrist 110 can rotate about the axial direction of the lower arm portion 80. 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. The back of the hand can be rotated around the extension line in a state where the back of the hand is bent so as to have an angle with respect to the extension line of the wrist.
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. Is connected to the back 115 of the hand via a third ball joint 144 embedded in the back 115 of the hand (projecting portion 132). In other words, a connecting portion that connects to the second ball joint is provided at the base portion of the thumb 120A, and a connecting portion that connects to the third ball joint is provided to the protruding portion 132, and the connecting member 143 includes each connecting portion. Are connected so as to be rotatable. The thumb 120A connected to the back 115 of the hand is provided with a bent portion (joint portion) 150 in the middle of the thumb 120A, like a human. 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 shown in FIGS. 2A and 2B, the other finger 120 other than the thumb 120A has a fifth ball joint 146 embedded in the back of the hand 115 attached to the proximal end side of the finger 120. To the back 115 of the hand. Thereby, as shown in FIGS. 3A and 3B, each finger 120 can be rotated around the fifth ball joint 146 so that its tip is separated from the tip of the adjacent finger 120. It has become. The fingers 120 other than the thumb 120A are each provided with two bent portions (joint portions) arranged side by side in the longitudinal direction, like a human. These bent portions are formed, for example, by attaching adjacent finger members via hinges (not shown).

  Further, an opening 160 is formed in the approximate center of the back 115 of the hand, as shown in FIGS. 3 (a) and 3 (b). The opening 160 is configured such that, when a weapon (not-shown object) (not shown) is applied to the hand 100, a protrusion formed on the weapon can be fitted into the opening 160. As a result, it is possible to take a form in which the weapon is held on the back 115 of the hand. For example, as shown in FIG. 4, a rotating member 162 that rotates about a hinge 161 formed adjacent to the opening 160 is attached to the back 115 of the hand. In this case (when the weapon is not gripped), the opening 160 can be closed by the rotating member 162. When the weapon is not gripped, the opening 160 formed in the back 115 of the hand is viewed, so that the opening 160 is closed by the rotating member 162 to improve the appearance. When gripping such a weapon, an opening is formed in the weapon, and it goes without saying that the weapon may be fixed to the back 115 of the hand by inserting a rotating member 162 into the opening. is there.

FIGS. 5A and 5B are operation diagrams illustrating 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, the finger member closest to the back 115 side of the hand is arranged almost horizontally, so that a space for placing a weapon (not shown) between the palm 100 of the hand 100 can be increased. In this case, as described above, the projection of the weapon is fitted into the opening 160 formed in the back 115 of the hand.

Then, as shown in FIG. 5A, a connecting member that connects the second ball joint 142 embedded in the back 115 of the hand and the third ball joint 144 embedded in the thumb 120A as shown in FIG. 5A. 143 is moved so that it is substantially perpendicular to the surface of the back 115 of the hand, and as shown in FIG. 5B, the distal-side finger member 120T is bent with respect to the proximal-side finger member 120B, By pointing the finger member 120T on the distal end side toward the little finger side, it is possible to realize a feeling of gripping a weapon in a state close to a human hand.
FIG. 6 shows the above-described joint structure of the doll's hand 100 formed by resin molding. Each member (front skin, back skin, ball joint, etc.) constituting the joint structure of the hand 100 is shown in FIG. An assembly plate 170 is shown in which assembly is avoided.
In FIG. 6, for example, a pair of left and right hands 100 formed in the manner shown in FIG. 3B are arranged so as to be connected to the 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 outer skin of the hand 100 are connected by runners 171A at several locations, and members constituting the outer skin of the hand 100. It consists of a second assembly plate 170B connected by runners 171B at several places.
The first assembly plate 170A and the second assembly plate 170B are overlapped from above and below with the above-described ball joints 141, 142, 144, 145, etc. to constitute the assembly plate 170. .
Accordingly, 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 as described above, when composing the hand 100, it is possible to eliminate the complexity of assembling each component (front skin, back skin, ball joint, etc.) constituting the hand 100. It becomes like this.

Thus, by using the wrist joint structure of the present embodiment, it is possible to realize a doll that moves more like a human.

(Embodiment 2)
In the first embodiment, the joint structure of the wrist of the doll body is described. However, the present invention is not limited to this, and the present invention can also be applied to an ankle joint structure.
FIGS. 7A and 7B are views showing the joint structure of the robot foot, for example.
As shown in FIG. 7 (a), the foot 200 is a portion of the back of the foot (in this specification, the portion of the foot excluding the ankle and fingers is referred to as the back) 215, and the portion on the side to which the ankle 210 is connected. In addition, a notch 231 and a protrusion 232 formed with the notch 231 therebetween are provided.
The protrusion of the ankle 210 is provided at a position displaced from the center position on the extension of the lower leg to the heel side of the foot 200 in a state where the tip of the ankle 210 is disposed in the notch 231 of the instep 215. They are connected via a sixth ball joint 241 embedded in the portion 232. Thereby, the ankle 210 is rotatably attached at the position of the protruding portion 232 displaced from the position of the ankle 210.
Therefore, as shown in FIG. 7B, the ankle 210 rotates around the sixth ball joint 241 so that the tip of the ankle 210 protrudes from the notch 231 of the instep 215 (in the drawing). (In the direction of the arrow).
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 so that the wrist 210 can rotate about the axial direction of the lower leg portion 250. By using the ankle joint structure of the present embodiment, it is possible to realize a doll that moves more like a human.

  As mentioned above, although this invention was demonstrated using embodiment, it cannot be overemphasized that the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiments. Further, it is apparent from the description of the scope of claims that embodiments with such changes or improvements can also be included in the technical scope of the present invention.

10 ... Robot, 20 ... Lumbar, 30 ... Chest, 40 ... Head, 50 ... Leg, 60 ... Arm, 70 ... Weapon, 80 ... Lower arm, 100 ... Hand, 110 ... wrist, 115 ... back of hand, 120 ... finger, 120A ... thumb, 131 ... notch, 132 ... projection, 141 ... first ball joint, 142 ... second 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 part, 161 ... ... Hinges, 162 ... Rotating members, 170, 170A, 170B ... Assembly plates, 171, 171A, 171B ... Runners, 200 ... Foots, 210 ... Ankles, 215 ... Insteps, 231 ... Out portions, 232 ...... protrusions 241 ...... sixth ball joint, 247 ...... seventh ball joint, 250 ...... lower legs.

Claims (9)

A wrist provided on the extension of the lower arm,
The back of the hand connected to the wrist;
A plurality of fingers including a thumb connected to the back of the hand;
A first connecting portion provided at a position displaced from the center position of the back of the hand,
The back of the hand and the wrist are a joint structure of a wrist of a doll that is rotatably connected at the first connecting portion ,
A notch is formed at the center position of the back of the hand to which the wrist is connected,
The first connecting part is a joint structure of a wrist of a doll body provided on one side of a protruding part formed with the notch therebetween. Oite to claim 1,
A second connecting portion provided at a base portion of the thumb;
A third connecting portion provided on the other side of the protruding portion;
A connecting member for connecting the second connecting portion and the third connecting portion;
The connecting member is rotatably connected to the second connecting portion and the third connecting portion, respectively, and the thumb is rotatably connected to the back of the hand via the connecting member. The joint structure of the wrist of the doll body. In any one of Claim 1 or Claim 2 ,
The plurality of fingers are configured to be rotatable with respect to the back of the hand,
A rotating member provided rotatably on the back of the hand;
The joint structure of the wrist of the doll body in which the rotating member is capable of closing an opening provided in a central part of the back of the hand. In any one of Claims 1 thru | or 3 ,
A fourth connecting portion is provided on the lower arm,
The wrist joint is a joint structure of a wrist of a doll that is connected to the fourth connecting part and can rotate around the axial direction of the lower arm part. The doll body using the joint structure of the wrist of the doll body as described in any one of Claims 1 thru | or 4 . An ankle provided on the extension of the lower leg,
An instep connected to the ankle ;
Displaced from the center position before Symbol ankle provided on the extension of the lower leg portion to the heel side of the foot, comprising a fifth coupling portion provided at a position in the instep, and
The instep structure of the doll body in which the instep and the ankle are rotatably connected at the fifth connecting portion. In claim 6 ,
The instep is formed with a notch on the side where the ankle is connected,
The fifth connecting portion is an ankle joint structure of a doll body provided on the heel side of a protruding portion formed with the notch therebetween. In claim 6 or claim 7 ,
A sixth connecting portion is provided in the lower leg,
The ankle, the sixth is connected to the connection portion of the joint structure of the ankle doll body can be rotated axially around the lower thigh. A doll body using the ankle joint structure of the doll body according to any one of claims 6 to 8 .

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