JP7105105B2 - Doll joint structure and doll - Google Patents

Description

The present invention relates to a joint structure that can be used, for example, as a joint of a doll.

Traditionally, dolls that allow free postures and poses have been gaining popularity. In order to realize such free postures and poses, it is necessary to provide multiple rotational degrees of freedom for each joint. For example, Patent Literature 1 discloses a joint device that is provided at the shoulder position of a doll and has rotational degrees of freedom about three axes.

JP-A-2001-96073

However, in the configuration as in Patent Document 1, since the shaft stop structure having one degree of freedom of rotation is simply connected, if an attempt is made to realize a joint having a plurality of degrees of freedom of rotation, the entire joint device As a result, the aesthetic appearance of the doll may be spoiled, or the degree of design freedom may be limited.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a joint structure for a doll that has a plurality of rotational degrees of freedom and is compact.

Still other objects and effects of the present invention will be easily understood by those skilled in the art by referring to the following description of the specification.

The above technical problems can be solved by a doll joint structure and a doll having the following configurations.

That is, the joint structure for a doll according to the present invention comprises a first member and a support member that can be engaged with the first member, and the engagement causes the first member to move at least relative to the support member. and a pair of pinching pieces capable of pinching the support member, wherein the support member is held by at least one of the pair of pinching pieces by pinching. and a pair of clamping pieces rotatably supported about axes, the axes intersecting each other at one point.

According to such a configuration, the rotating shafts intersect each other at one point while having a plurality of rotational degrees of freedom, so it is possible to provide a compact joint structure. As a result, for example, it is possible to provide a joint structure that is excellent in appearance and has a high degree of design freedom. Here, the word "doll" includes, for example, all kinds of dolls that imitate human bodies, animals, fictitious characters, etc., for play and ornamental purposes.

Also, the respective axes may be orthogonal to each other.

With such a configuration, it is possible to provide a joint structure that allows any posture.

Further, the rotation of the support member with respect to the pair of clamping pieces may be achieved by sliding the support member along a guide structure provided within the clamping piece.

According to such a configuration, since the support member itself rotates along the predetermined guide structure of the clamping piece, it can be rotated together with the first member to be supported by the support member.

Further, the support member supports the first member so as to be rotatable about two axes in relation to the support member, and the clamping piece pair rotates the support member about one axis. It may be one that is movably supported.

According to such a configuration, since the member rotatable about two axes can be rotated about one axis by the pair of clamping pieces, a joint structure rotatable about three axes is provided. can do.

Further, the first member may be an arm member, and the clamping piece pair may be a chest member.

With such a configuration, it is possible to provide a joint structure that is compact and has a degree of freedom of rotation similar to that of a human shoulder.

Further, the support member supports the first member so as to be rotatable about one axis in relation to the support member, and the clamping piece pair rotates the support member about two axes. It may be one that is movably supported.

With such a configuration, a member rotatable about one axis can be rotated about two axes by the clamping piece pair, thus providing a joint structure rotatable about three axes. can do.

Further, the first member may be a connecting member with the chest, and the clamping piece pair may be a trunk member.

According to such a configuration, the chest and trunk can be connected with a compact joint structure.

The support member includes a guide member that defines rotation of the first member, and a pair of cover pieces that rotatably support the guide member inside and can be fitted to each other. and the pair of cover pieces may be slidably accommodated between the pair of clamping pieces.

According to such a configuration, after the first member and the support member are assembled, they can be accommodated in the clamping pieces, which facilitates assembly.

Further, the support member comprises a guide member that defines rotation of the first member, and the guide member is slidably received and supported between the pair of clamping pieces. may

According to such a configuration, after the first member and the support member are assembled, they can be accommodated in the clamping pieces, which facilitates assembly.

The invention can also be conceived as a doll with an articulated structure according to any one of the above.

According to the present invention, it is possible to provide a compact joint structure for a doll while having a plurality of rotational degrees of freedom. Moreover, unlike a ball joint, the structure is composed of a shaft and a bearing, so it is easy to provide a click mechanism.

FIG. 1 is an overall configuration diagram of a doll. FIG. 2 is an assembly drawing of the shoulders and chest. FIG. 3 is an explanatory diagram (part 1) showing a rotation mode. FIG. 4 is an assembly drawing of the trunk. FIG. 5 is an explanatory diagram (part 2) showing the rotation mode. FIG. 6 is an explanatory diagram of the connecting portion between the chest and the torso. FIG. 7 is an assembly diagram of the waist. FIG. 8 is a motion diagram of the waist. FIG. 9 is an explanatory drawing of the action. FIG. 10 is an explanatory diagram of the holding mechanism. FIG. 11 is an external perspective view of a doll in a crouched state. FIG. 12 is an assembly diagram of the legs. FIG. 13 is an explanatory diagram (part 3) showing the rotation mode.

Hereinafter, one embodiment of a doll according to the present disclosure will be described in detail with reference to the accompanying drawings.

<1. First Embodiment>
First, a doll body 1 according to the first embodiment and a joint structure of the doll body 1 will be described with reference to FIGS. 1 to 13. FIG.

<1.1 Overall structure of the doll>
FIG. 1 is an explanatory diagram showing the overall configuration of a doll body 1 according to this embodiment. As is clear from the figure, in this embodiment, the doll body 1 is human-shaped, and includes a head 10, a chest 20 connected to the head 10, and shoulders 40 connected to the left and right sides of the chest 20. , an arm portion 30 connected to each shoulder portion, a torso portion 50 extending downward from the chest portion 20, a waist portion 60 extending downward from the torso portion 50, and left and right leg portions 70 extending downward from the waist portion 60. , consists of

<1.1 Overall structure of the doll>
In this embodiment, the head 10 is composed of a head member 11 having a substantially triangular pyramid shape and is rotatably coupled to a chest member 21 . In this embodiment, the head member 11 is a substantially triangular pyramid-shaped member, but instead of the head member 11, a head member imitating the face of a person or a character may be arranged. Of course.

The chest 20 consists of a hollow chest member 21 having openings for left and right shoulders 40 and a lower body 50, respectively. It is formed by fitting the member 21a with a back-side chest member 21b (see FIG. 2(b)) arranged on the back side of the doll body 1. As shown in FIG.

The shoulder part 40 consists of a shoulder part member 41 which is rotatably connected to the left and right sides of the chest part 20. The shoulder part member 41 comprises a front side shoulder member 41a arranged on the front side of the doll body 1 and a human body. It is formed by fitting with the back side shoulder member 41b arranged on the back side of the form 1 (see FIG. 2(a)).

The arm member 30 is rotatably connected to the shoulder member 41, and comprises an upper arm member 31 rotatably connected to the shoulder member 41, an elbow member 32 comprising a ball joint, and the elbow member 32. It comprises a forearm member 33 connected to the upper arm member 31 via a wrist member 34, a wrist member 34 formed of a ball joint, and a hand portion 35 connected to the forearm member 33 via the wrist member 34. That is, by bending around the base of the arm (shoulder member 41), the elbow (elbow member 32), and the wrist (wrist member 34), the arm member 30 can be deformed into various shapes and fixed.

The torso 50 consists of a torso member 51 whose upper part is rotatably connected to the chest part 20 and whose lower part is connected to the waist part 60 . It is formed by fitting together a side body member 51a and a back side body member 51b arranged on the back side of the doll body 1 (see FIGS. 4 to 6).

The waist part 60 is composed of a waist part member 61 which is connected to the body part 50 at its upper part and is rotatably connected to the left and right leg parts 70 at its lower part. It is formed by fitting together a front side waist member 61a and a back side waist member 61b arranged on the back side of the doll body 1 (see FIG. 7).

The leg portion 70 includes a root member 71 rotatably coupled to the waist member 61, a thigh member 72 coupled to the root member 71, a knee member 73 composed of a ball joint, and a knee member 73. A crus member 74 rotatably connected to the thigh member 72 via a leg member 74, an ankle member 75 composed of a ball joint, and a crus member 74 rotatably connected via the ankle member 75. It is composed of a toe member 76 and a toe member 76.

<1.2 Structure of shoulder and chest>
Next, the configuration and operation of the shoulder section 40 and the chest section 20 will be described with reference to FIGS. 2 and 3. FIG.

FIG. 2 is an assembled view of shoulder 40 and chest 20. As shown in FIG. FIG. 2(a) is a diagram illustrating how the shoulder portion 40 and the chest portion 20 are being assembled. As is clear from the figure, the chest 20 is an assembly of an upper arm member 31 and a shoulder member 41 (see FIG. 1) between a front chest member 21a (see FIG. 1) and a back chest member 21b. It is formed by accommodating so as to sandwich the . The assembly of the upper arm member 31 and the shoulder member 41 abuts the rod-shaped connecting portion 36 protruding from one end of the upper arm member 31 against the U-shaped bearing portion 422 of the guide member 42, and in that state, the guide member The guide member 42 is formed by covering the guide member 42 with a pair of shoulder members 41a and 41b so that a pair of ear portions 421a and 421b on both left and right sides of the guide member 42 are engaged with the engagement holes 411a and 411b. The assembly of the upper arm member 31 and the shoulder member 41 is a part of the guide member 42, and the engaging portion 423 protruding from the shoulder member 41 is connected to the shoulder member coupling recess provided in the back side chest member 21b. It fits into the dorsal chest member 21b by fitting onto 213b and engaging portion 214b. In this state, the upper arm member 31 and the shoulder member 41 are fixed to the chest member 21 by fitting the protrusion 217a (not shown) of the front chest member 21a into the fitting hole 217b of the back side chest member 21b. be done. In addition, the front side chest member 21a and the back side chest member 21b are also provided with a head coupling groove 211b for coupling the head member 11 and a trunk coupling groove for coupling the trunk 50 on the inner surface side thereof. A groove 215b is provided.

FIG. 2(b) is a diagram showing a state after assembly. As is clear from FIG. 1, the arm 30 (see FIG. 1) connects the shoulder member 41 integrated with the upper arm member 31 to the left and right shoulder member connecting recesses 213b (see FIG. 2(a)) of the back side chest member 21b. )) to be integrated with the chest 20, and in this state, by fitting the front side chest member 21a to the back side chest member 21b, the shoulder member 41 can be rotated. It is fixed against chest 20 . In addition, in FIG. 2, the display of the front side chest member 21a is omitted for convenience of explanation.

3A and 3B are explanatory diagrams showing how the arm portion 30 and the shoulder portion 40 shown in FIG. 1 rotate. As is clear from the arrows in the figure, in this embodiment, the shoulder circumference of the doll body 1 is divided into three mutually orthogonal axes (a vertical axis, a left-right axis of the doll body 1, and a back-and-forth direction of the doll body 1). ), and the three axes intersect each other at P1 and P2, respectively. In addition, in FIG. 3, the display of the front side chest member 21a is omitted for convenience of explanation.

According to such a configuration, the rotating shafts intersect each other at one point while having a plurality of rotational degrees of freedom, so it is possible to provide a compact joint structure. Thereby, for example, it is possible to provide a joint structure that is excellent in appearance and that can provide a high degree of design freedom.

<1.3 Structure of trunk>
Next, the configuration and operation of the torso 50 of the doll body 1 will be described with reference to FIGS.

4A and 4B are assembly diagrams of the body portion 50, and FIG. 4A is an explanatory diagram showing a state during assembly. As is clear from the figure, the body 50 includes an assembly of a chest connecting member 53 and a sliding guide member 52 between a front side body member 51a (see FIG. 1) and a back side body member 51b. , an assembly of the waist connecting member 55 and the sliding guide member 54 are accommodated so as to be sandwiched. The assembly of the chest connection member 53 and the slide guide member 52 is such that the long axis 530 of the inverted T-shaped chest connection member 53 passes through the circular hole 522 of the slide guide member 52 and the short axis 531 is applied to the notch 521 having a U-shaped cross section. Also, the assembly of the waist connecting member 55 and the sliding guide member 54 is such that the straight columnar portion 555 of the substantially J-shaped waist connecting member 55 is inserted into the circular hole 542 of the sliding guide member 54, Moreover, it is formed by fitting the connecting portion 551 having a circular cross section at the tip of the columnar portion 555 to the notch portion 541 having a U-shaped cross section. These assemblies are fitted into the back body member 51b so that the chest connecting member 53 and the waist connecting member 55 protrude from the upper and lower openings 514b, 515b. Specifically, a pair of left and right ear portions 523 provided on the sliding guide member 52 and a pair of left and right ear portions 543 provided on the sliding guide member 54 are attached to the rear body member 51b. It is fitted into the rear body member 51b so as to engage with the slide guide grooves 511b and 512b. After fitting, the front body member 51a (see FIG. 1) is attached to the rear body member so that the projection (not shown) of the front body member 51a fits into the hole 513b of the rear connection member 51b. Body 50 is formed by fitting into 51b. FIG. 4(b) shows the configuration of the body portion 50 after assembly. In addition, in FIG. 4, for convenience of explanation, the display of the front body member 51a is omitted.

FIG. 5 is an explanatory diagram showing a rotation mode of the body portion 50. As shown in FIG. As is clear from the arrows in the figure, each assembly rotates about three axes (the vertical axis of the doll body 1, the horizontal axis of the doll body 1, and the longitudinal axis of the doll body 1). It has degrees of freedom, and each axis is configured to intersect each other at one point at P3 and P4, respectively. In addition, in FIG. 5, for convenience of explanation, the display of the front body member 51a is omitted.

According to such a configuration, the rotating shafts intersect each other at one point while having a plurality of rotational degrees of freedom, so it is possible to provide a compact joint structure. As a result, for example, it is possible to provide a joint structure that is excellent in appearance and has a high degree of design freedom.

FIG. 6 is an explanatory diagram of a connecting portion between the chest portion 20 (see FIG. 1) and the trunk portion 50. As shown in FIG. A chest connecting member 53 having a stepped connecting portion 532 (see FIG. 4(a)) with a different diameter at its tip protrudes from the upper portion of the torso portion 50 pre-assembled in the manner described above. The chest member 51 is integrated by fitting the stepped connecting portion 532 into the engagement groove 216b in the center of the chest member 21 and fitting the front and back chest members 21a and 21b in this state. In addition, in FIG. 6, the display of the front side chest member 21a is omitted for convenience of explanation.

With such a configuration, the chest 20 and the torso 50 can be connected with a compact joint structure. In addition, it is possible to assemble partially assembled members, which facilitates assembly.

<1.4 Configuration of Waist>
Next, the configuration and operation of the waist portion 60 of the doll body 1 will be described with reference to FIGS. 7 to 11. FIG.

FIG. 7 is an assembly drawing of the waist portion 60. As shown in FIG. FIG. 7A is an explanatory diagram showing a method of assembling the waist portion 60. FIG. As is clear from the figure, the waist portion 60 has an assembly of a waist connecting member 55 projecting from the body portion 50 and a waist slide member 62 approximately in the center between the front waist portion member 61a and the back waist portion member 61b. After arranging, the fitting portions 613a, 613b, 614a, 614b are formed by fitting them together. The waist connecting member 55 is fixed to the waist member 61 by inserting the projecting portion 552 arranged at the tip of the beam portion 556 extending horizontally on the back side into the engagement hole 611b of the back side waist member 61b. be done. In addition, the waist slide member 62 guides the lower part of the waist connecting member 55 into the slide hole 621 arranged in the center of the waist slide member 62 and the concave arcuate guide surface 553 of the waist connecting member 55 and the concave arcuate guide surface 553 . By inserting the convex arc-shaped guide surface 625 of the waist slide member 62 having a complementary shape to the surface 553 , it is slidably assembled with the waist connecting member 55 in a manner described later. As will be described later, a pair of clamping claws 628 are provided at the upper end of the inner wall surface of the slide hole 621 to clamp the projecting portion 552 of the waist connecting member 55 .

As shown in FIG. 7, on the rear side of the waist slide member 62, there is provided a protruding portion 629 whose bottom surface forms an acute angle with respect to the horizontal plane. The projecting portion 629 passes through the inside of the inner surface side groove portion 612b of the back side waist member 61b. A holding piece 624 that holds a shaft member 627 that connects between the base members 71 of the legs 70 is provided at the lower portion of the waist slide member 62 . are combined. Also, at both ends of the shaft member 627, joint portions 622 having a substantially circular cross-section and having a predetermined gap 623 at the center are provided as joint portions to the leg portions 70. As shown in FIG. FIG. 7(b) shows the state after the waist portion 60 has been assembled.

Next, the operation of the waist 60 will be described with reference to FIG. FIG. 8(a) is a diagram showing the configuration of the waist portion 60 of the doll body 1 in an upright state, and FIG. 8(b) is a state in which the leg portions 70 are bent with respect to the body portion 50, that is, a bent state. It is the figure which showed the structure of the waist part 60 at the time.

As is clear from FIG. 8(a), when the doll body 1 is in an upright state, the upper surface of the waist slide member 62 is held horizontally parallel to the upper surface of the beam 556 of the waist connecting member 55. As shown in FIG. At this time, as will be described later, the waist connecting member 55 is clamped and temporarily fastened by a pair of clamping claws 628 of the waist slide member 62 (snap fit mechanism). The convex arcuate guide surface 625 of the waist slide member 62 consists of the concave arcuate guide surface 616a provided on the upper inner peripheral surface of the front-side waist member 61a and the concave arcuate guide surface 553 of the waist connecting member 55. is accommodated and held in a space A formed by In this state, when a forward and downward external force is applied to the waist slide member 62, the waist slide member 62 leaves the holding state by the clamping claws 628, and as shown in FIG. The waist connecting member 55 is pushed until the bottom surfaces of the arranged abutment surface 626 and the rear protrusion 629 contact the inner surface 615a of the front waist member 61a and the bottom surface of the inner groove 612b of the back waist member 61b, respectively. slides and rotates clockwise about the center of curvature of the concave arcuate guide surface 553 .

9A and 9B are diagrams for explaining the sliding action of the waist slide member 62. FIG. When a force acts downward in the figure on the waist slide member 62, the convex arcuate guide surface 625 of the waist slide member 62 moves to the complementary concave arc provided on the upper inner peripheral surface of the front side waist member 61a. Since it is accommodated and held in the space A formed by the planar guide surface 616a and the concave guide surface 553 of complementary shape provided on the waist connecting member 55, the waist sliding member 62 as a whole is connected to the waist. The member 55 slides and rotates clockwise around the center of curvature of the concave arc-shaped guide surface 553 of the member 55 . At this time, the convex arcuate guide surface 625 of the waist slide member 62 slides and rotates while being pressed against a predetermined surface of the concave arcuate guide surface 553 of the waist connecting member 55, which is mainly indicated by S1 in the drawing.

On the other hand, when a force acts upward in the figure on the waist slide member 62 that has moved to the lowest end, the convex arcuate guide surface 625 of the waist slide member 62 is provided on the upper inner peripheral surface of the front side waist member 61a. The waist slide member 62 as a whole is accommodated and held in the space A formed by the concave arcuate guide surface 616 a and the concave arcuate guide surface 553 of the waist connecting member 55 . It slides and rotates counterclockwise around the center of curvature of the arc-shaped guide surface 553 . At this time, the convex arcuate guide surface 625 of the waist slide member 62 is located near the upper end of the concave arcuate guide surface 616a provided on the upper inner peripheral surface of the front side waist member 61a mainly indicated by S2 in the drawing. It slides and rotates while being pressed against a predetermined surface near the upper end of the concave arc-shaped guide surface 553 of the waist connecting member 55 .

According to such a configuration, since the rotation mechanism of the waist slide member 62 is concentrated in the space A, a compact waist structure can be realized.

FIG. 10 is an explanatory diagram of a holding mechanism using the clamping claws 628, showing a state in which the assembly of the waist connecting member 55 and the waist sliding member 62 is observed from the rear side.

FIG. 10(a) shows a case where the waist slide member 62 is held by the clamping claws 628. FIG. As is clear from the figure, the columnar projecting portion 552 on the back side of the waist connecting member 55 is held by the waist sliding member 62 by being clamped by the clamping claws 628 . In this state, as described above, when an external force is applied to the waist slide member 62 in the forward and downward direction of the doll 1, the clamping claws 628 are elastically deformed, thereby causing the waist connecting member 55 and the waist slide member 62 to move. The holding state with is canceled.

FIG. 10(b) shows the state after the holding state is released. As is clear from the figure, since the connecting holding member 55 is not clamped by the clamping claws 628, the waist sliding member 62 slides and rotates around the center of curvature of the concave arc-shaped guide surface 553 of the waist connecting member 55. do.

FIG. 11 is an external perspective view of the doll body 1 in a bent state. As is clear from the figure, the waist slide member 62 draws an arcuate trajectory and slides forward and downward of the doll body 1 together with the base member 71 of the leg 70, so that, for example, a sitting posture with standing knees can be achieved. Even when the robot is allowed to take the robot, it is possible to reproduce the natural bent state of the leg 70 similar to that of a human being.

<1.5 Configuration of Legs>
Next, assembly of the base member 71 of the leg portion 70 will be described with reference to FIGS. 12 and 13. FIG.

12A and 12B are explanatory diagrams showing the assembly process of the leg portion 70. FIG. First, a ring-shaped member 711 having a pair of ear portions 712 on its outer periphery is attached to the coupling portions 622 at both ends of the shaft member 627 . Next, a hemispherical connecting piece 713 having a pair of convex engaging portions 715 and a connecting protrusion 714 on the outer surface thereof is attached to the ring-shaped member 711 (FIGS. 12(a) and 12(b)). ). At this time, the convex engaging portion 715 is hollow, and each ear portion 712 is accommodated in the hollow space of each convex engaging portion 715 . The hemispherical connecting piece 713 is then covered from the front and rear by hollow front side root members 71a and back side root members 71b (FIG. 12(c)). Finally, the connecting projection 714 is inserted into the thigh member 72 having the connecting hole 721 (Fig. 12(d)).

13A and 13B are explanatory diagrams showing the manner of rotation of the base of the leg assembled as described above. As is clear from the arrows in the figure, degrees of freedom of rotation are provided around the axis perpendicular to the convex engaging portion 715 of the hemispherical coupling piece 713 and around the axis of the shaft member 627 . At this time, their axes of rotation have intersections at P5 and P6. With such a configuration, the leg portion 70 can be freely bent. In addition, in FIG. 13, the display of the front-side base member 71a is omitted for convenience of explanation.

<2. Variation>
In the above-described embodiment, the joint structure of a doll has been described, but it can be applied to any target as long as it requires a rotatable joint structure. In addition, the present invention is not limited to stationary dolls, and can be applied to dolls, robots, etc. that are equipped with a power source.

The present disclosure can be used, for example, in industries such as manufacturing doll toys.

1 doll body 10 head 20 chest 30 arm 40 shoulder 50 torso 60 waist 70 leg

Claims (4)

a first member;
a support member engageable with the first member, the engagement supporting the first member rotatably relative to the support member about at least one axis;
a pair of clamping pieces capable of clamping the support member, wherein the pair of clamping pieces support the support member rotatably around at least one axis with respect to the pair of clamping pieces by clamping; wherein each said axis intersects each other at one point, ,
The support member supports the first member so as to be rotatable about two axes in relation to the support member, and the clamping piece pair allows the support member to be rotatable about one axis. endorse, be, and furthermore
The support member is
a guide member defining rotation of the first member;
a pair of cover pieces that rotatably support the guide member inside thereof and that can be fitted to each other;
The pair of cover pieces are slidably accommodated between the pair of clamping pieces, Doll's joint structure. 2. The articulated structure of a doll according to claim 1, wherein each said axis is orthogonal to each other. 2. The articulated structure for a doll according to claim 1, wherein said first member is an arm member and said pair of clamping pieces is a chest member. A doll comprising the joint structure according to any one of claims 1-3 .

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