JP7369111B2 - Movable structure and doll body - Google Patents

Description

The present invention relates to a joint structure of a doll body, etc.

As an example of a toy with a movable part, a doll body that can be made to take various human-like poses is known. For example, Patent Document 1 describes a toy that can be enjoyed by moving a movable part.

JP 2017-159139 Publication

Among dolls with movable parts, the ones that are especially popular among boys are the transforming heroes that appear in manga, anime, special effects movies, games, novels, etc. (hereinafter collectively referred to as "original works"). It is a doll body that reproduces characters such as soldiers and large humanoid robots.

When a user purchases a doll of a character that appears in the original work, he/she wants to make the doll do the same poses as seen in the original work. However, in order to make the doll bodies of the characters that appear in the original work take the same poses as the original work, the movable range of the movable parts is narrow, and poses are often not reproduced completely. From the user's perspective, the flexibility of the movable parts is insufficient, so even if they try to get the pose close to the original, it is impossible, and they may feel disappointed.

The problem to be solved by the present invention is to realize a technique related to the joint structure of a doll body that can improve the flexibility of movable parts.

An aspect of the present invention is a joint structure interposed between a first part and a second part of a doll body, the first link being directly or indirectly connected to the first part, and the second link being directly or indirectly connected to the first part. A second link directly or indirectly connected to the part, a third link connecting one end of each of the first link and the second link, and a fourth link connecting the other ends. The first to fourth links have a joint structure in which each end is a four-bar link mechanism connected by a ball joint. Further, an aspect of the present invention is a movable structure interposed between a first part and a second part of a doll body, the first member being directly or indirectly connected to the first part, and the movable structure interposed between a first part and a second part of the doll body. a second member directly or indirectly connected to the two parts; a third member connecting one end of each of the first member and the second member; and a fourth member connecting the other ends; The left and right ends of the first member have a ball part, the left and right ends of the second member have a ball part, and both ends of the third member have a ball part, and both ends of the third member have a ball part. The second member has a receiving part that accommodates one ball part at each end, and both ends of the fourth member accommodate the other ball part at each end of the first member and the second member. It has a receiving part. Further, an aspect of the present invention is a movable structure interposed between a first part and a second part of a doll body, the first member being directly or indirectly connected to the first part, and the movable structure interposed between a first part and a second part of the doll body. a second member directly or indirectly connected to the two parts; a third member connecting one end of each of the first member and the second member; and a fourth member connecting the other ends; The first to fourth members are connected at each end by a ball joint, the first member is connected to the upper side along the left-right direction of the doll body, and the second member is connected to the upper side along the left-right direction of the doll body. It is a quadrilateral shape with a lower edge along the side.

Further, in the joint structure, an end of the first link has a ball part, an end of the second link has a ball part, and both ends of the third link have a ball part, and both ends of the third link have a ball part. and a socket portion for accommodating one ball portion at each end of the second link, and both ends of the fourth link are connected to the other ball portion at each end of the first link and the second link. It is also possible to have a socket portion for accommodating the.

Further, the joint structure further includes a fifth link having one end connected to the center part of the first link and the other end connected to the first part, and the one end of the fifth link and the fifth link. The center portion of the first link may be connected by a ball joint.

Further, in the joint structure, one end of the fifth link has a ball part, and a center part of the first link has a socket part that accommodates the ball part of the one end of the fifth link. Good too.

Further, in the joint structure, the first link is tiltable about an axis connecting one end and the other end, and the second link is tiltable around an axis connecting one end and the other end. a socket portion provided at the center of the first link is provided at a position shifted forward or backward from the center of one end and the other end of the first link; The first part can be changed to a first relative inclination angle with respect to the second part by the inclination of the first link and the inclination of the second link, and the inclination of the first link and the inclination of the second link are changeable. Furthermore, a configuration may be adopted in which the relative inclination angle can be changed to a second relative inclination angle that is larger than the first relative inclination angle, depending on the range of motion of the ball joint.

Further, the joint structure has a quadrilateral shape in which the four-bar link mechanism has a quadrilateral shape in which the first link is an upper side along the left-right direction of the doll body, and the second link is a lower side along the left-right direction of the doll body. It may be said that it is.

Further, the joint structure may further include a sixth link that connects the center portion of the second link and the second portion.

Further, in the joint structure, the first part may be an upper part forming the body of the doll body, and the second part may be a lower part forming the body of the doll body. .

Another aspect is a doll body including a first part, a second part, and the joint structure interposed between the first part and the second part.

The doll body may further include an outer shell part that is not fixed to any of the first part, the second part, and the joint structure, and covers the joint structure in the circumferential direction.

According to the present invention, it is possible to realize a technique related to a joint structure of a doll body that can improve the flexibility of a movable part.

FIG. 3 is a front external view of the doll body in an upright posture. A partial cut diagram depicting the area around the doll's torso. A perspective external view of the joint structure. An exploded perspective view of the joint structure. FIG. 3 is a front view (part 1) showing an example of movement of the joint structure in the left-right direction. FIG. 3 is a front view (Part 2) showing an example of movement of the joint structure in the left-right direction. FIG. 3 is a front view (part 3) showing an example of movement of the joint structure in the left-right direction. The front view showing an example of left and right twisting motion of the joint structure. FIG. 3 is a side view (part 1) showing an example of the backward warping motion of the joint structure. FIG. 3 is a side view (part 2) showing an example of the backward warping motion of the joint structure. FIG. 3 is a side view (part 3) showing an example of the backward warping motion of the joint structure. FIG. 4 is a side view (part 4) showing an example of backward warping of the joint structure. The figure which shows the modification of joint structure. The figure which shows the example which used the joint structure for the neck part of a doll body.

FIG. 1 is a front external view of a doll body 2 in an upright posture, which is an example of an embodiment to which the present invention is applied. Note that the directions indicated by arrows in each figure are up and down (Y-axis direction; positive direction is up), front and back (Z-axis direction; positive direction is front), and left and right (X-axis direction; positive direction) for the doll body 2. indicates the direction (to the left). The directions in the following explanation shall be based on this.

The doll body 2 is a toy that reproduces a character based on a manga, anime, special effects movie, game, novel, etc. as a three-dimensional object. The doll body 2 of this embodiment has a design imitating a humanoid robot, and is a toy made by assembling parts according to parts.

The parts of the doll body 2 include a head 21, a torso 23, arms 25, and legs 27.
The basic form of the doll body 2 is that it has a torso 23 at the center, a head 21 at the top, arms 25 on the left and right sides, and two legs 27 at the bottom. It is a form that imitates. In addition to this form, the doll body 2 may have a knapsack-like appendage on its back (for example, a back vernier in the case of a robot weapon), wings on its back, or a tail. do not have. All have the basic form of the doll body 2 of this embodiment, and can be said to be the doll body of this embodiment.

Now, the torso 23, which is the center of the structure of the doll body 2, further includes a chest 231 which is a first part (upper part), abdominal outer shell parts 233 (233u, 233d), and a second part (lower part). ) and a waist portion 235.

FIG. 2 is a partial cutaway diagram depicting the vicinity of the torso 23 of the doll body 2, and is a diagram depicting the front side of the outer shell part 233.
The abdomen of the doll body 2 has an upper outer shell part 233u and a lower outer shell part 233d. The upper outer shell part 233u has an upper end loosely fitted into a recess provided on the lower surface of the chest 231, and a lower end overlying the upper end of the lower outer shell part 233d. The lower end portion of the lower outer shell part 233d is loosely fitted into a recess provided on the upper surface of the waist portion 235.

The upper outer shell part 233u and the lower outer shell part 233d have a cylindrical shape, and a vertically communicating space is defined in the abdomen of the doll body 2. In this space, a joint structure 100 that connects the chest 231 and the waist 235 in a variable relative position is accommodated. In other words, the upper outer shell part 233u and the lower outer shell part 233d are not fixed to any of the chest 231 (first part), the waist part 235 (second part), and the joint structure 100, and surround the joint structure 100. Covers the direction.

FIG. 3 is a perspective external view of the joint structure 100. FIG. 4 is an exploded perspective view of the joint structure 100. The joint structure 100 includes a first link 110, a second link 120, a third link 130, a fourth link 140, a fifth link 150, and a sixth link 160.

The first link 110 is a link that is indirectly connected to the chest 231, which is the first part, via the fifth link 150. The first link 110 has ball parts 112 at both ends (left and right ends) of a base part 111 that is straight in the horizontal direction (left and right direction), and the socket part 113 of the upper ball joint 170 extends rearward from the center of the base part 111. It has been extended. The socket portion 113 is provided at a position shifted rearward from the center of the left and right end portions of the base portion 111 of the first link 110.

Note that the positional relationship between the base portion 111 and the socket portion 113 can be changed as appropriate depending on the design of the doll body 2. For example, the socket portion 113 may be located at a position shifted forward from the base portion 111, or may be located at a position shifted not only forward or backward but also upward, such as diagonally above or diagonally below.

The second link 120 is a link that is indirectly connected to the waist portion 235, which is the second portion, via the sixth link 160. The second link 120 has ball parts 122 at both ends (left and right ends) of a base 121 that is straight in the horizontal direction (left and right directions), and has a bearing part 123 of a swing shaft 180 at the lower center of the base 121. have

The third link 130 and the fourth link 140 are mutually symmetrical parts.
The third link 130 is a link that connects one of the left and right ends of the first link 110 and the second link 120. The third link 130 has a socket part 131 at its upper end that accommodates the ball part 112 on one side of the first link 110, and a socket at its lower end that accommodates the ball part 122 on one side of the second link 120. 132.

The fourth link 140 is a link that connects the other of the left and right ends of the first link 110 and the second link 120. The fourth link 140 has a socket part 141 that accommodates the ball part 112 on the other side of the first link 110 at the upper end part, and a socket part that accommodates the ball part 122 on the other side of the second link 120 at the lower end part. 142.

The fifth link 150 is a link whose one end (lower end in the example of FIG. 4) is connected to the left and right center of the base 111 of the first link 110, and whose other end is connected to the chest 231 (first part). be.
One end of the fifth link 150 is a ball portion 151 of an upper ball joint 170, and the fifth link 150 and the left and right center portions of the base 111 of the first link 110 are connected by the upper ball joint 170. The other end (upper end in the example of FIG. 4) of the fifth link 150 has a bearing 152 of a swing shaft that swingably connects the chest 231.

The sixth link 160 is a link that connects the left and right center portions of the base portion 121 of the second link 120 and the waist portion 235 (second portion). Specifically, the sixth link 160 includes a front-rear shaft 161 inserted into the bearing portion 123 of the second link 120, a vertical shaft 162 inserted into a bearing provided in a recess on the upper surface of the waist portion 235, and both of these shafts. It has a base 163 that connects the ends of the shaft.

Therefore, in the joint structure 100, the first link 110, the second link 120, the third link 130, the fourth link 140, and the fifth link 150 are connected to each other by a ball joint. .

5 to 7 show examples of movements of the joint structure 100 in the left-right direction, and the states change in the order of the numbers in the figures.

FIG. 5 is a front view of the joint structure 100 in a state where the doll body 2 is standing upright, which corresponds to a standard state.
In the standard joint structure 100, each ball joint is at the center of its range of motion. When the joint structure 100 is viewed from the front in this state, the line connecting the two ball parts 112 of the first link 110 runs along the left-right direction, and the line connecting the two ball parts 122 of the second link 120 runs along the left-right direction. ing. The longitudinal direction of both the third link 130 and the fourth link 140 is vertical. In other words, when the four links from the first link 110 to the fourth link 140 are viewed from the front in the standard state, the first link 110 is the upper side along the left-right direction of the doll body 2, and the second link 120 is the upper side of the doll body 2. A four-bar link mechanism is formed in the shape of a quadrilateral, the lower side of which extends in the left-right direction.

Further, when viewed from the front in the standard state, the fifth link 150 and the sixth link 160 are in a straight line along the left-right center line L1. The left and right center line L1 corresponds to the front projection line of the midline of the doll body 2. Further, the bearing 152 of the fifth link 150 has its shaft insertion hole facing forward and backward, and the longitudinal shaft 161 of the sixth link 160 also has its shaft insertion hole facing forward and backward.

Here, when the second link 120 is swung to the left with respect to the doll body 2 by the swiveling shaft 180 (front-rear shaft 161+bearing portion 123), the four-bar link mechanism tilts diagonally to the left. If the fifth link 150 is moved vertically using the upper ball joint 170 (see FIG. 3) in response to this inclination, the result will be as shown in FIG. 6. The fifth link 150 has been displaced to a position that is laterally shifted to the left of the doll body 2 from the left-right center line L1.

If we pay attention to the ball joint connection between the second link 120 and the third link 130 and the ball joint connection between the second link 120 and the fourth link 140, there is still a range of motion in the state shown in FIG. 6. Therefore, if the second link 120 is further tilted to the left by this remaining range of motion and the fifth link 150 is moved by this tilt using the upper ball joint 170 to stand, the result will be as shown in FIG. This means that the fifth link 150 has been displaced to a position further leftward from the left-right center line L1 than in the state shown in FIG.

When the doll body 2 moves the joint structure 100 as shown in FIGS. 5 to 7, the doll body 2 changes to a posture in which the chest 231 is shifted to the left while the waist 235 remains in the same position. Since the outer shell part 233 covers the area around the joint structure 100 without being fixed to other parts, there is a gap between the chest 231 and the upper outer shell part 233u, and a gap between the upper outer shell part 233u and the lower outer shell part 233d. and the gap between the lower shell part 233d and the waist part 235, the lower shell part 233d and the waist part 235 move to an appropriate posture and position while contacting each other. As a result, isolation can be realized in which the upper body is shifted laterally without spoiling the continuous image of the torso 23.

Isolation by shifting the upper body to the side could not be achieved with the conventional doll body 2. This improvement in the flexibility of the movable parts of the doll body 2 helps the doll body 2 to realize natural human-like poses.

FIG. 8 is a front view showing an example of left and right twisting motion of the joint structure 100.
As mentioned above, if we focus on the ball joint connection between the second link 120 and the third link 130 and the ball joint connection between the second link 120 and the fourth link 140, the standard state shown in FIG. 5 is sufficient. Has range of motion. Therefore, as shown in FIG. 8, the third link 130 and the fourth link 140 can be twisted only within the range of motion while the posture of the second link 120 remains unchanged. FIG. 8 shows an example in which the doll body 2 is twisted to the right.

When the joint structure 100 is twisted left and right, the doll body 2 is in a state where the upper body is twisted. Twisting of the upper body can also be realized by moving the joint structure 100 using the vertical axis 162 of the sixth link 160. However, due to the design requirements of the doll body 2, the gap between the lower shell part 233d and the waist part 235 is restricted, and the movable range of the vertical shaft 162 tends to be narrow. However, by twisting the joint structure 100 located in the torso as shown in FIG. 8, it is possible to realize twisting that exceeds the movable range of the vertical axis 162. This improvement in the flexibility of the movable parts of the doll body 2 helps the doll body 2 to realize natural human-like poses.

9 to 12 show an example of backward warping motion of the joint structure 100, and the states change in the numerical order of the figures.
FIG. 9 is a side view (viewed from the left side of the doll body 2) of the joint structure 100 in a state where the doll body 2 is standing upright, and corresponds to the standard state shown in FIG. 5. From this state, if the upper part of the joint structure 100 is moved rearward with the rotation axis of the second link 120 (line L2 connecting the centers of the two ball parts 122; see FIG. 3), the result will be as shown in FIG. 10.

Further, when the base 111 of the first link 110 and the fifth link 150 swing rearward on the rotation axis of the first link 110 (line L3 connecting the centers of the two ball parts 112; see FIG. 3), as shown in FIG. It will be like 11. If this state is considered as the doll body 2, the chest 231 (first part) has a first relative position with respect to the waist part 235 (second part) due to the rotational inclination of the first link 110 and the rotational inclination of the second link 120. This means that the relative posture is tilted by the tilt angle θ1.

Furthermore, when the fifth link 150 is swung rearward to the limit of the movable range of the upper ball joint 170, the state becomes as shown in FIG. 12. If this state is considered as the doll body 2, the chest 231 (first part) is moved by the waist part 235 (second part) by the rotational inclination of the first link 110, the rotational inclination of the second link 120, and the range of motion of the upper ball joint 170. ), the relative attitude can be changed up to a second relative inclination angle θ2 that is larger than the first relative inclination angle θ1.

As the joint structure 100 bends backward, the doll body 2 also bends backward. Rather than a configuration in which the robot bends backward with a single swing axis, it is possible to bend backward in stages using multiple ball joints like the joint structure 100, and the range of bending (backward tilting range) is By expanding, it becomes possible to make the doll body 2 take a more natural pose or a dynamic pose.

Note that the isolation in the left-right direction explained in FIGS. 5 to 7, the twisting explained in FIG. 8, and the warping explained in FIGS. 9 to 12 can be combined as appropriate.

[Modified example]
Embodiments to which the present invention can be applied are not limited to the above-mentioned examples, and components can be added, omitted, and changed as appropriate.

(Modification 1)
For example, in the above embodiment, the first link 110 of the joint structure 100 was configured to be indirectly connected to the chest 231 (first part) via the fifth link 150, but the first link 110 of the joint structure 100 was configured to be connected directly to the chest 231. It may be. Specifically, as shown in joint structure 100B in FIG. 13, the upper ball joint 170 is omitted and the fifth link 150 of the above embodiment is combined at the left and right center of the base 111 of the first link 110 of the above embodiment. A configuration may also be adopted in which the first link 110B is used.

Similarly, the second link 120 was configured to be indirectly connected to the waist 235 (second part) via the sixth link 160, but the sixth link 160 was omitted and the second link 120 was directly connected to the waist 235 (second part). A configuration in which it is connected to the waist portion 235 is also possible. Specifically, for example, this can be realized by making the front-rear axis 161 and the base 163 of the sixth link 160 the upper structure of the waist part 235.

(Modification 2)
Further, in the above embodiment, the joint structure 100 is used for the torso 23 of the doll body 2, but it can of course be used to connect other parts of the doll body 2. For example, as shown in the joint structure 100 of FIG. 14, it can also be used for the neck joint of the doll body 2. In this case, the joint structure 100 is interposed between the head 21 (first part) and the torso 23 (second part), and its outer periphery is formed by a plurality of outer shell parts 233C corresponding to the surface of the neck. will be covered. Similarly, it can be applied to other joints such as shoulders, elbows, knees, ankles, and tails.

Depending on the positional relationship in the doll body 2 of the parts to be connected, the joint structure 100 may be provided in a sideways position, upside down, or in any other position from the standard position of the above embodiment.

(Modification 3)
Furthermore, although the doll body 2 has been illustrated as an example of a movable toy, the movable toy to which the joint structure 100 of the present invention can be applied is not limited to humanoids, but can also be applied to the joints of animals (real or imaginary). The same can be applied.

2... Doll body 23... Torso 100... Joint structure 110... First link 112... Ball part 113... Socket part 120... Second link 122... Ball part 123... Bearing part 130... Third link 131... Socket part 132... Socket Part 140...Fourth link 141...Socket part 142...Socket part 150...Fifth link 151...Ball part 152...Bearing 160...Sixth link 161...Anteroposterior axis 162...Vertical axis 170...Upper ball joint 180...Swing axis 231 ...Chest 233...Outer shell part 233d...Lower outer shell part 233u...Upper outer shell part 235...Waist region L1...Right and left center line θ1...First relative inclination angle θ2...Second relative inclination angle

Claims (10)

A movable structure interposed between a first part and a second part of a doll body,
a first member connected directly or indirectly to the first part;
a second member connected directly or indirectly to the second portion;
a third member that connects one end of each of the first member and the second member, and a fourth member that connects the other ends;
Equipped with
The left and right end portions of the first member have ball portions,
The left and right end portions of the second member have ball portions,
Both ends of the third member have receiving parts that accommodate one ball part of each end of the first member and the second member,
Both ends of the fourth member have receiving parts for accommodating the other ball parts of the respective ends of the first member and the second member.
Movable structure. a fifth member having one end connected to the central portion of the first member and the other end connected to the first portion;
further comprising;
one end of the fifth member and the center of the first member are connected by a ball joint;
A movable structure according to claim 1 . One end portion of the fifth member has a ball portion,
The center portion of the first member has a receiving portion that accommodates a ball portion at one end of the fifth member.
A movable structure according to claim 2 . The first member can be tilted about an axis connecting one end and the other end,
The second member can be tilted about an axis connecting one end and the other end,
The receiving portion provided at the center of the first member is provided at a position shifted from the center of one end and the other end of the first member in the front direction or the rear direction,
The first part can be changed to a first relative inclination angle with respect to the second part by the inclination of the first member and the inclination of the second member, and the inclination of the first member and the inclination of the second member are The relative inclination angle can be changed to a second relative inclination angle that is larger than the first relative inclination angle depending on the inclination and the range of motion of the ball joint.
The movable structure according to claim 3 . Each end of the first to fourth members is connected by a ball joint,
The first member has a quadrilateral shape, with the upper side along the left-right direction of the doll body, and the second member forming the lower side along the left-right direction of the doll body.
A movable structure according to any one of claims 1 to 4 . A movable structure interposed between a first part and a second part of a doll body,
a first member connected directly or indirectly to the first part;
a second member connected directly or indirectly to the second portion;
a third member that connects one end of each of the first member and the second member, and a fourth member that connects the other ends;
Equipped with
Each end of the first to fourth members is connected by a ball joint,
The movable structure has a quadrilateral shape in which the first member is an upper side along the left-right direction of the doll body, and the second member is a lower side along the left-right direction of the doll body. a sixth member that connects the center portion of the second member and the second portion;
Further comprising:
A movable structure according to any one of claims 1 to 6. The first part is an upper part constituting the torso of the doll body,
The second part is a lower part forming the torso of the doll body.
A movable structure according to any one of claims 1 to 7. The first part and
A second part,
The movable structure according to any one of claims 1 to 8, interposed between the first part and the second part,
A doll body equipped with. an outer shell part that is not fixed to any of the first part, the second part, and the movable structure and covers the movable structure in the circumferential direction;
The doll body according to claim 9, further comprising: