WO2017134937A1 - Jouet humanoïde - Google Patents

Jouet humanoïde Download PDF

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Publication number
WO2017134937A1
WO2017134937A1 PCT/JP2016/087256 JP2016087256W WO2017134937A1 WO 2017134937 A1 WO2017134937 A1 WO 2017134937A1 JP 2016087256 W JP2016087256 W JP 2016087256W WO 2017134937 A1 WO2017134937 A1 WO 2017134937A1
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WO
WIPO (PCT)
Prior art keywords
leg
waist
crank
humanoid toy
humanoid
Prior art date
Application number
PCT/JP2016/087256
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English (en)
Japanese (ja)
Inventor
透 沢入
瑞樹 福田
Original Assignee
株式会社バンダイ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社バンダイ filed Critical 株式会社バンダイ
Priority to CN202011163834.6A priority Critical patent/CN112691391B/zh
Priority to CN201680077763.3A priority patent/CN108472549B/zh
Publication of WO2017134937A1 publication Critical patent/WO2017134937A1/fr

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H3/00—Dolls
    • A63H3/36—Details; Accessories
    • A63H3/46—Connections for limbs

Definitions

  • the present invention relates to a humanoid toy.
  • Patent Document 1 has a structure in which a ball joint (corresponding to a femoral joint in terms of a human body) that connects legs is supported so as to be swingable by a longitudinal axis fixed to a side portion in a waist.
  • a ball joint corresponding to a femoral joint in terms of a human body
  • a configuration of a humanoid toy that can achieve both an upright posture and a dynamic open leg posture by changing the interval between the ball joints is disclosed.
  • humanoid robot design of a humanoid robot is known as one of the design themes of humanoid toys.
  • the main trunks such as the chest, abdomen, and waist are often linear and mechanically covered with armor.
  • these trunk parts have been designed as one box-like part or one shell-like part. For this reason, inconvenience was likely to occur in the movement of the movable part provided on the trunk.
  • determining poses For example, in TV animations and mangas of humanoid robot heroes, so-called “determined poses” and “look-up poses” (hereinafter collectively referred to as “determined poses”), such as shooting while dynamically opening the legs. ) Often appear. As a user, he wants to reproduce it with a humanoid toy.
  • Dynamic opening can also be realized by the configuration of Patent Document 1. However, even if you actually imitate the pose, it may appear to lack the dynamics of TV animation and manga.
  • the scenes of the decided poses and aesthetic poses for TV animation and manga are drawn with perspectives as if they were taken with a camera with a lens with a relatively short focal length with a viewpoint near the tip of the leg.
  • Legs facing the camera appear to be long and powerful, helping to be greatly exaggerated by the perspective effect.
  • Legs are shorter than Manga's determined pose and seem to lack strength. This is because the focal length of the naked eye is longer than the focal length when drawing a determined pose for TV animation and manga, and the perspective effect is weak.
  • the object of the present invention is to provide a humanoid toy capable of powerfully extending a movable part like a TV animation or manga scene when a so-called fixed pose is made.
  • the present invention is a connecting structure of a waist part, a leg part, and the waist part and the leg part, wherein a first axis which is a connecting element between the waist part and the leg part is connected to the leg part with respect to the waist part. It is a humanoid toy provided with a connecting structure that can be displaced between a standard position where the two are close to each other and a remote position separated from the standard position.
  • the separation position may be lower than the standard position and outside as viewed from the waist.
  • the standard position may be the inside of the waist, and the separation position may be a position pulled out from the waist.
  • the connecting structure has a four-bar slider crank type closed link structure, the sliding direction is set in the vertical direction of the humanoid toy, and the shaft corresponding to the crankpin May be the first axis.
  • connection structure may be configured such that the upper end position of the slide range is the standard position.
  • connection structure includes an intermediate link having one end connected to the first shaft and the other end connected to the second shaft of the upper thigh of the leg.
  • the front external view of the humanoid toy to which the invention is applied is a front external view of a humanoid toy, it shows a state where the right leg is displaced to the “standard position” and the left leg is displaced to the “separated position”. Front view of the humanoid toy, with the right leg displaced to the “standard position” and the left leg to the “separated position”, and the upper end of the toy pulled out downward from the internal space to the top, bottom, left and right planes. The state where the legs are opened along is shown.
  • the perspective exploded view of a connection structure part The back side view of a waist front half.
  • Fig. 3 is a front side view of the lumbar rear half.
  • the figure for demonstrating the assembly procedure of a right side connecting rod crank coupling body The 1st figure for demonstrating the assembly procedure of a waist
  • connection structure part Comprising: (1) The longitudinal cross-sectional view around the waist
  • FIG. 1 is a front external view (front external view) of a humanoid toy according to the present embodiment to which the present invention is applied.
  • the upper body is represented by a silhouette.
  • the humanoid toy 2 has a design imitating a humanoid robot appearing in TV animation and manga, and is a toy that is made by assembling parts according to parts.
  • the upper body is composed of a head, a chest, and left and right arms, and the lower body is connected to the waist 3 and the left and right legs 4 via a connecting structure 5 built in the waist. Configured.
  • the user can enjoy changing the pose of the humanoid toy 2 in various ways by changing the relative orientation and the relative posture of each part of the head, chest, arms, waist, and legs.
  • the parts configuration of the humanoid toy 2 is not limited to the example of this embodiment. It can be changed as appropriate according to the setting of the character used as the model of the humanoid toy 2. For example, weapons or shields held in the back sac or hands may be added.
  • the humanoid toy 2 is determined by, for example, an open leg as a key, which is often seen in TV animations and mangas of humanoid hero robots.
  • the pose can be reproduced with a higher visual effect than conventional humanoid toys. Therefore, the connection structure part 5 can displace the leg part 4 from the “standard position” close to the waist part 3 to the “separated position” separated from the standard position.
  • the “standard position” is the relative positional relationship between the waist 3 and the leg 4 when the human toy 2 is in the upright posture, and the waist as the character setting of the humanoid hero robot modeled on the human toy 2 3 and the position of the leg 4.
  • the “separated position” is a position separated from the standard position in the direction in which the leg portion 4 is extended when, for example, the humanoid toy 2 is said to take an open leg pose. There are several positions in the “separation position”. In the present embodiment, two positions of the “first separation position” and the “second separation position” further separated from the first separation position are given as examples. I will explain.
  • the structure related to the left and right legs 4 is bilaterally symmetric, in the following description of the waist 3 and the connecting structure 5, one of the left and right legs 4 is representative. The illustration and explanation of the other will be omitted as appropriate.
  • FIG. 2 is a front external view of the humanoid toy according to the present embodiment, and shows a state where the right leg 4 is displaced to the “standard position” and the left leg 4 is displaced to the “first separation position”. Yes.
  • FIG. 3 shows a state where the left leg 4 is further displaced to the “second separation position”.
  • the second separation position indicates a position in which the left leg 4 at the first separation position is further extended by pulling its upper end portion downward from the internal space and further opened along the top, bottom, left, and right planes. ing. Note that the second separation position may be the position of the leg portion 4 when the leg is kept extended without being opened.
  • the connection point between the waist 3 and the abdomen is regarded as a reference point P0
  • the position corresponding to the upper end of the femur of the leg 4 is regarded as a displacement point Pm
  • the reference point P0 between the standard position and the first separation position.
  • the displacement point Pm at the first separation position is greater than the distance to the displacement point Pm at the standard position (the displacement point Pm of the right leg 4) due to the operation of the connecting structure portion 5.
  • the distance to (the displacement point Pm of the left leg) is larger. It can be seen that the leg 4 extends by a distance D3 even when compared at the tip position of the leg 4.
  • connection structure portion 5 of the present embodiment retracts and stores the upper end portion of the leg portion 4 in the inner space of the waist portion 3 in the standard position, and the upper end portion of the leg portion 4 in the first separation position. Is provided with an intermediate link (details will be described later) having a leg connecting shaft 571 (see FIG. 3) that can be pulled out from the internal space downward.
  • connection structure portion 5 includes a crank pin 572 (details will be described later) that is a longitudinal rotation shaft, and includes a crank pin 572 and a leg connection shaft 571 connected to the crank pin 572.
  • the lower left portion can be swung up and down along the upper, lower, left and right planes (see FIG. 3).
  • the upper end portion of the leg portion 4 is connected to the leg connecting shaft 571.
  • the leg connecting shaft 571 connected to the crank pin 572 is in a substantially horizontal posture in the left-right direction.
  • the longitudinal direction of the leg coupling shaft 571 (the leg coupling shaft 571 is moved along the extending direction of extending the leg). If it is a rod, its rod posture is directed.
  • the second separation position as shown in the state of the left leg portion 4 in FIG. 3 in which the connecting portion between the leg portion 4 and the connecting structure portion 5 is drawn downward from the internal space of the waist portion 3.
  • connection point between the waist 3 and the abdomen is regarded as the reference point P0
  • the position corresponding to the upper end of the femur of the leg 4 is regarded as the displacement point Pm
  • the reference point P0 to the displacement point Pm between the standard position and the second separation position is larger than the distance to the displacement point Pm at the standard position due to the operation of the connecting structure portion 5.
  • the latter is larger than the distance in FIG. 2 (the distance from the reference point P0 to the displacement point Pm at the first separation position).
  • FIG. 4 is an exploded perspective view of the connecting structure 5 in the present embodiment.
  • the connecting structure portion 5 of the present embodiment includes a left connecting rod crank connecting body 53L and a right connecting rod crank connecting body in a space defined by abutting the waist front half 51 and the waist rear half 52 back and forth. 53R.
  • FIG. 5 is a back side view of the waist front half 51.
  • the waist front half 51 has a waist front exterior 32 that forms the front appearance of the waist 3 on the front side.
  • two left and right front slide grooves 511 are recessed from the center of the back side surface of the waist front half 51 to the top.
  • front main journal bearing holes 512 are recessed in the left and right sides at the lower part of the same back side surface.
  • FIG. 6 is a front side view of the lumbar rear half 52. As shown in FIGS. 4 and 6, the lumbar rear half 52 has two left and right rear slide grooves 521 that hang from the center of the front side to the top. In addition, rear main journal bearing holes 522 are recessed in the left and right sides at the lower part of the same back side surface.
  • the right connecting rod crank connection body 53 ⁇ / b> R includes a connecting rod 54, a front crank half body 55, a rear crank half body 56, and an intermediate link 57.
  • the connecting rod 54 has a slide pin 541 protruding in the front-rear direction and a crank pin bearing hole 542.
  • the crank pin 572 of the intermediate link 57 is inserted into the crank pin bearing hole 542.
  • the front crank half 55 and the rear crank half 56 have a substantially mirror-symmetric structure in the front-rear direction.
  • the front crank half 55 has a front crank pin bearing hole 551 at the upper part, and a front main journal 552 that protrudes forward and a male central main journal 553 that protrudes rearward.
  • the rear crank half 56 has a rear crank pin bearing hole 561 at the upper part, and a rear main journal 562 projecting rearward and a female central main journal 563 projecting frontward at the lower part.
  • the intermediate link 57 is provided with a crankpin 572 so that one end of the leg connecting shaft 571 that is long in the left-right direction is orthogonal to the front-rear direction.
  • the crankpin 572 is a connecting structure between the waist 3 and the leg 4, and is a first shaft that is a connecting element between the waist 3 and the leg 4.
  • One end of the leg connecting shaft 571 is connected to the first shaft, and the other end is connected to the second shaft at the upper thigh of the leg portion 4.
  • FIG. 7 is a view for explaining an assembly procedure of the right connecting rod crank connector 53R.
  • the connecting rod 54 is assembled to the intermediate link 57.
  • the crank pin bearing hole 542 is assembled so that the front of the crank pin 572 is inserted. Since the front side of the crankpin 572 is set longer than the axial length of the crankpin bearing hole 542, the crankpin 572 penetrates the crankpin bearing hole 542.
  • crank pin 572 that has penetrated the crank pin bearing hole 542 is inserted into the front crank pin bearing hole 551 of the front crank half 55 from the front side. Furthermore, the female central main journal 563 is abutted with the male central main journal 553 so that the rear crank half 56 is inserted through the rear crankpin bearing hole 561 and the rear crankpin 572 of the intermediate link 57 is inserted. Assemble from behind so that they are connected.
  • the left connecting rod crank assembly 53L can be similarly assembled.
  • FIG. 8 is a first diagram for explaining an assembly procedure of the waist 3.
  • FIG. 9 is a second view for explaining the assembly procedure of the waist 3.
  • the right connecting rod crank connector 53 ⁇ / b> R and the left connecting rod crank connector 53 ⁇ / b> L are assembled to the waist rear half 52.
  • the right connecting rod crank connecting body 53R is inserted with the rear end of the slide pin 541 into the rear slide groove 521 with the leg connecting shaft 571 facing rightward, and the rear main journal 562 is It is assembled to the waist rear half 52 from the front so as to be inserted into the right rear main journal bearing hole 522.
  • FIG. 10 is a third view for explaining the assembly procedure of the waist 3.
  • the front end portion of the slide pin 541 is inserted into the front slide groove 511 (see FIG. 5) of the waist front half 51, and
  • the front main journal 552 is inserted into the front main journal bearing hole 512.
  • the core of the waist 3 is now assembled.
  • FIG. 11 is a fourth diagram for explaining the assembly procedure of the waist 3.
  • the upper attachment 33 is attached from above to the place where the waist front half 51 and the waist rear half 52 are combined in the front-rear direction.
  • the upper attachment 33 also serves as an upper exterior of the waist 3 and an attachment of exterior parts of the waist 3.
  • FIG. 12 is a fifth diagram for explaining the assembly procedure of the waist 3.
  • the waist right front exterior part 34 and the waist left front exterior part 35 are attached to the front end of the upper attachment 33.
  • the lower back exterior part 36 is attached to the rear end portion of the upper attachment 33.
  • waist side surface exterior parts 31 are attached to the left and right side attachments 30, respectively.
  • FIG. 13 is a first view for explaining the operation of the connecting structure 5, (1) a longitudinal sectional view around the waist 3 when the leg 4 is in the standard position, and (2) the connecting structure.
  • FIG. 6 is a link diagram showing the right side portion of the part 5 in a mechanically simplified manner.
  • FIG. 13 (1) only the right leg 4 is shown for easy understanding of the connection relationship between the waist 3 and the leg 4, but the left leg 4 has the same left and right sides. It connects with the waist
  • the thigh joint 41 provided at the upper end of the leg 4 is coupled to the tip of the leg coupling shaft 571 of the coupling structure 5.
  • the thigh joint part 41 includes a leg connection bearing part 411 that is inserted with the leg connection shaft 571 as a rotation axis in the left-right direction, and a leg swing shaft 412 that is orthogonal to the leg connection shaft 571.
  • the intersection of the leg connecting shaft 571 and the leg swinging shaft 412 corresponds to the displacement point Pm in FIG. That is, the leg portion 4 can swing in the front-rear direction along the vertical front-rear surface of the humanoid toy 2 (see FIG. 1) with the leg connecting shaft 571 with respect to the waist portion 3, and further up, down, left-right, and right by the leg swing shaft 412. It can swing up and down along the surface.
  • a five-node opening link mechanism in which an intermediate link 57 as the fifth node is connected to the swing joint of the four-node slider crank mechanism is formed. That is, the waist front half 51 and the waist rear half 52 (see FIG. 11) combined in the front-rear direction function as the fixed link 81 that is the first node. Further, the front crank half 55 and the rear crank half 56 (see FIG. 8) combined in the front-rear direction function as the crank 82 as the second node, and the connecting rod 54 functions as the connecting rod 83 as the third node. .
  • the engagement of the slide pin 541 of the connecting rod 54 with the front slide groove 511 see FIG.
  • the slide pin 541 is moved to the upper end position in the sliding direction by the slider 84 (in the illustrated example, the top dead center position).
  • the upper end position of the slider 84 in the sliding direction is set so as to be located relatively above the internal structure of the waist part 3, and as a result, the upper end part of the leg part 4 when in the standard position. Is retracted and housed inside the waist 3 surrounded by exterior parts.
  • FIG. 14 is a second view for explaining the operation of the connecting structure portion 5 and shows a state in which the left leg portion 4 is at the first separation position.
  • the crank pin 572 is moved forward and backward of the main journal (front main journal 552 + male central main journal 553 + rear main journal 562; see FIG. 7) by the action of the four-bar slider crank mechanism. Centering on the direction axis, it moves below the standard position and from the waist 3 in the left-right direction.
  • the slide pin 541 is located below the upper end position in the slide direction in the slider 84. .
  • the state of FIG. 14 corresponds to FIG. Even in this state, the upper end portion of the leg portion 4 remains drawn and accommodated inside the waist portion 3 surrounded by the exterior parts.
  • the crank angle in the case of the first separation position is shown near the bottom dead center by about 45 ° clockwise from the top dead center.
  • the first separation position may be set when the crank angle is 90 °, the crank angle is 135 °, or the like.
  • FIG. 15 is a third diagram for explaining the operation of the connecting structure 5.
  • the intermediate link 57 that is, the leg connecting shaft 571 is further swung downward with the crank pin 572 as an axis, and the leg connecting shaft is extended in the extending direction of the leg 4 when the leg is opened.
  • the upper end portion of the leg portion 4 is pulled out from the inside surrounded by the exterior parts of the waist portion 3, and becomes a second separation position that seems to be extended more than when the leg portion 4 is in the standard position.
  • FIG. 15 corresponds to FIG.
  • the crank pin 572 (first axis) that is a connecting element between the waist 3 and the leg 4 is further away from the waist 3 than the normal standard position. It can be displaced to a separate position. That is, it is possible to make the leg 3 appear longer than usual by the amount of displacement of the entire leg 4 to a position away from the waist 2.
  • a scene of a determined pose that is often seen in TV animations and manga of humanoid robot heroes such as “shooting while the legs are dynamically opened” is received from the pose as well as the pose (in this case) Since the legs that have been opened are stretched, it is possible to reproduce the force and strength by the perspective method visually perceived with a humanoid toy.
  • the leg part 4 is returned to the standard position, it can be returned to the same leg length as the original character setting of the character that is the model of the humanoid toy 2.
  • the humanoid toy 2 has a separation position that is below and outside of the standard position when viewed from the waist 4, so that a pose with the legs 4 extended obliquely downward can be reproduced. Is preferred.
  • the standard position is on the inner side surrounded by the exterior parts of the waist part 3 (that is, inside the waist part 3), and the separation position is surrounded by the exterior parts of the waist part 3 Since the position is pulled out from the inner side, the connecting structure portion 5 can be incorporated without impairing the appearance design even when the leg portion 4 is in the standard position.
  • the connecting structure portion 5 has a four-bar slider crank type closed link structure, the sliding direction is set in the vertical direction of the humanoid toy 2, and Since the upper end position of the slide range is the standard position, the standard position is structurally determined. When the leg 4 is moved to the waist 3 to the full extent of the movable range, it becomes the standard position. Convenient to. Further, the connecting structure 5 has a leg connecting shaft 571 having one end connected to the crank pin 572 and the other end connected to the leg swinging shaft 412 at the upper thigh of the leg 4.
  • leg portion 4 is further connected to the waist portion 3 via the leg connecting shaft 571 that can swing along the upper, lower, left, and right planes, so that the separation position is further away from the leg connecting shaft 571. Can be expressed more clearly.
  • a humanoid toy is given as an example of a toy.
  • the present invention can be applied.
  • leg was mentioned as an example of the movable part in the above embodiment, the name can be appropriately changed according to the toy design such as an arm, a neck, a gun barrel, a horn, a tactile sense, and a sensor.
  • the diagonally lower side is illustrated, but the diagonally upper side, the diagonally front side, the diagonally rear side, and the diagonally rear side may be used.
  • the direction in which the movable part is projected can be appropriately set.
  • the relative positional relationship between the waist 3 and the leg 4 at the separated position is not limited to the examples shown in FIG. 2 and FIG.
  • the displacement point Pm may be above or below the position shown in FIGS.
  • the separation distance is not limited to the example shown in FIGS. 2 and 3, and can be set as appropriate by setting the dimensions of the constituent parts of the connection structure 5.
  • the leg opening direction of the leg 4 can also be set as appropriate.

Abstract

La présente invention a pour but de permettre, lorsqu'un jouet humanoïde est disposé dans une "pose distinctive", de reproduire une apparence selon laquelle un emplacement mobile est étendu catégoriquement comme dans une scène d'une animation télévisée ou d'un manga sans entraîner une défaillance de conception dans des poses autres que ladite pose. Pour atteindre ce but, l'invention concerne une partie de structure de liaison (5) entre une partie de dos inférieur (3) et une partie de jambe (4), qui possède une structure dans laquelle un maneton (572), qui est un élément de raccord entre la partie de dos inférieur (3) et la partie de jambe (4) et dont l'axe de rotation est dans la direction avant-arrière, peut être déplacé entre une position standard dans laquelle la partie de jambe (4) est proche de la partie de dos inférieur (3) et une position décalée qui est décalée par rapport à la position standard.
PCT/JP2016/087256 2016-02-01 2016-12-14 Jouet humanoïde WO2017134937A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202011163834.6A CN112691391B (zh) 2016-02-01 2016-12-14 人形玩具
CN201680077763.3A CN108472549B (zh) 2016-02-01 2016-12-14 人形玩具

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016016834A JP6166400B1 (ja) 2016-02-01 2016-02-01 人型玩具
JP2016-016834 2016-02-01

Publications (1)

Publication Number Publication Date
WO2017134937A1 true WO2017134937A1 (fr) 2017-08-10

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PCT/JP2016/087256 WO2017134937A1 (fr) 2016-02-01 2016-12-14 Jouet humanoïde

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JP (1) JP6166400B1 (fr)
CN (2) CN112691391B (fr)
WO (1) WO2017134937A1 (fr)

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CN114832391A (zh) * 2019-10-11 2022-08-02 株式会社万代 可动构造和组装玩具

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JP6774540B1 (ja) * 2019-08-07 2020-10-28 株式会社バンダイ 関節構造及び人形体
JP6774541B1 (ja) * 2019-08-07 2020-10-28 株式会社バンダイ 関節構造及び人形体
JP7175258B2 (ja) * 2019-12-24 2022-11-18 株式会社バンダイ 人形体の腕部および人形体
JP6942220B1 (ja) * 2020-05-27 2021-09-29 株式会社バンダイ 玩具部品及び人形玩具
JP6997275B1 (ja) * 2020-09-30 2022-01-17 株式会社バンダイ 人形体の関節構造
JP7112581B1 (ja) * 2021-11-12 2022-08-03 株式会社バンダイ 玩具部品及び人形玩具
JP7460842B1 (ja) 2023-10-04 2024-04-02 株式会社バンダイ 模型玩具、及び可動構造体

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JP6166400B1 (ja) 2017-07-19
CN108472549B (zh) 2020-11-06
CN112691391B (zh) 2022-09-23
CN112691391A (zh) 2021-04-23
CN108472549A (zh) 2018-08-31
JP2017136099A (ja) 2017-08-10

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