Arm portion of an anthropomorphic body and anthropomorphic body

Abstract

The present invention relates to an arm section of a humanoid body and a humanoid body. Provided is a technology that contributes to diversification of postures that a humanoid body can assume. It is an arm section of a humanoid body, the arm section including: a forearm section; and a hand section that is rotatable relative to the forearm section, the forearm section including a rotating section that rotates together with rotation of the hand section relative to the forearm section.

Description

[0001] This application is a divisional application of the application filed on December 4, 2020, with application number 2020114129969 and invention title "Arm of a Humanoid Body and Humanoid Body". Technical Field

[0002] This invention mainly relates to the arms of a human-shaped body. Background Technology

[0003] Patent document 1 describes a humanoid figure with joint structures installed in various parts such as the torso, arms, and legs. Users can then position this humanoid figure in a desired posture.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Utility Model Application Publication No. 1-138492 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] There are also humanoid figures that aim to be constructed to be able to form a variety of poses, such as those that aim to make the humanoid figure's movements more human-like when its pose changes.

[0009] The exemplary object of the present invention is to provide a technique that facilitates the diversification of poses that can be formed by the human body.

[0010] Solution for solving the problem

[0011] One technical solution of the present invention relates to the arm of a humanoid body, the arm comprising: a forearm portion; and a hand portion, which is rotatable relative to the forearm portion, the forearm portion including a rotating portion that rotates together with the rotation of the hand portion relative to the forearm portion.

[0012] The effects of the invention

[0013] Using this invention facilitates the diversification of poses that the human body can take. Attached Figure Description

[0014] Figure 1 It is a three-dimensional diagram showing the overall structure of the humanoid figure in the embodiment.

[0015] Figure 2 This is an exploded view of the leg parts.

[0016] Figure 3 This is a diagram showing the situation where the lower leg component rotates relative to the thigh component.

[0017] Figure 4 This is a diagram showing how the leg fittings are opened and closed.

[0018] Figure 5 This is an exploded view of the arm assembly.

[0019] Figure 6 This is a diagram showing how the hand-held parts are rotated.

[0020] Explanation of reference numerals in the attached figures

[0021] 1. Humanoid figure; 14. Leg accessories (legs); 15. Arm accessories (arms). Detailed Implementation

[0022] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. These embodiments are not intended to limit the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. It is also possible to arbitrarily combine two or more features from the plurality of features described in the embodiments. Furthermore, the same or identical structures are labeled with the same reference numerals, and repeated descriptions are omitted.

[0023] (1. The overall structure of the human form)

[0024] Figure 1 The overall structure of the humanoid body 1 in the embodiment is shown. As component parts representing various parts, the humanoid body 1 includes: a head component 11, a torso component 12, a waist component 13, a leg component 14, and an arm component 15. These components 11 to 15 can also be described as component parts. For example, the leg component 14 is configured to rotate relative to the waist component 13, and the arm component 15 is configured to rotate relative to the torso component 12.

[0025] The aforementioned parts 11-15 can be further subdivided. Leg parts 14 include: knee part 141, thigh part 142, calf part 143, and foot part 144, the details of which will be described later. Additionally, arm parts 15 include: elbow part 151, upper arm part 152, forearm part 153, and hand part 154. Figure 1 The diagram shows the leg accessory 14 and arm accessory 15 on the left side, but the same applies to the right side.

[0026] Furthermore, in this instruction manual, when describing the positional relationships of various parts, terms such as front, back, left, right, top, bottom, inside, and outside are sometimes used. However, these descriptions are relative to the humanoid figure 1. For example, front corresponds to the front side of the humanoid figure 1, and back corresponds to the back side of the humanoid figure 1.

[0027] The aforementioned parts 11 to 15 (including parts 141 to 144 and 151 to 154) can all be constructed by connecting one or more parts (constituent parts) to each other. For example, leg parts 14 (parts 141 to 144) are directly / indirectly connected by multiple constituent parts, or more specifically, they are constructed by fixing two adjacent constituent parts together or by connecting them in a rotatable (or swinging) manner. Similarly, arm parts 15 (parts 151 to 154) are constructed by directly / indirectly connecting multiple constituent parts.

[0028] The concept of connection between components can encompass various connection methods, such as installation, connection, and fixation of one component relative to another. For ease of understanding, this specification uses descriptions based on implementation methods, but the invention is not strictly limited to these descriptions (which can be replaced with the same description). The same applies to other descriptions.

[0029] Furthermore, in this specification, the various constituent elements of the humanoid body 1 are described as "accessories." However, the concept of accessories refers not only to the smallest unit that the user can disassemble, but also to accessories assembled from two or more of these smallest units. Therefore, the term "accessory" in the following description can be replaced with "component," "piece," "member," "structure," "assembly," etc., or it can be omitted. For example, leg accessory 14 can be described as leg piece, leg member, leg structure, leg assembly, etc., or it can simply be described as leg. Similarly, arm accessory 15 can be described as arm piece, arm member, arm structure, arm assembly, etc., or it can simply be described as arm. The same applies to other accessories.

[0030] (2. Leg accessories)

[0031] Figure 2This is an exploded view showing the knee component 141, thigh component 142, and calf component 143, which are among the multiple components forming the leg component 14. The knee component 141 includes components 141A to 141D. The thigh component 142 includes components 142A to 142L. The calf component 143 includes components 143A to 143H. For ease of understanding, dashed lines are used in the figure to indicate the connection relationships between these components.

[0032] (2-1. Structure of knee fittings)

[0033] Accessory 141A is a thigh support accessory that holds thigh accessory 142 in place. Accessory 141A extends into and supports thigh accessory 142, and therefore can also be called thigh support accessory, thigh bone accessory, etc.

[0034] Accessory 141B is a lower leg support accessory that can hold the lower leg accessory 143. Accessory 141B extends into and supports the lower leg accessory 143, and therefore can also be called a lower leg support accessory, lower leg bone accessory, etc.

[0035] Accessories 141C and 141D are connected to each other to clamp accessories 141A and 141B into a rotatable pair of clamping accessories. In this structure, the thigh accessory 142 rotates by rotating accessory 141A relative to accessories 141C and 141D, and the lower leg accessory 143 rotates by rotating accessory 141B relative to accessories 141C and 141D. From this perspective, accessories 141C and 141D can also be referred to as knee body accessories, etc.

[0036] (2-2. Structure of thigh fittings)

[0037] Accessory 142A is an inner thigh internal structure accessory that forms part of the inner side of the internal structure of thigh accessory 142. Accessory 142B is an outer thigh internal structure accessory that forms part of the outer side of the internal structure of thigh accessory 142. Accessories 142A and 142B are connected to each other. Accessories 142A and 142B are held to be able to rotate relative to accessories 141C and 141D, and the movable area (movable range) of this rotation is limited by allowing accessories 142A and 142B to pass through accessory 141A, as will be described in detail below.

[0038] Accessory 142C is a thigh housing accessory that forms part of the outer shell of thigh accessory 142, and can also be referred to as an inner thigh housing accessory that can be mounted relative to accessory 142A. Accessory 142D is another part of the outer shell of thigh accessory 142, and can also be referred to as an outer thigh housing accessory that can be mounted relative to accessory 142B. Accessory 142C is mounted on accessory 142A, and accessory 142D is mounted on accessory 142B, thereby forming a substantially continuous surface in the upper rear part of the thigh. Therefore, accessories 142C and 142D together can also be referred to as the upper rear part of the thigh accessory.

[0039] Accessory 142E is another part of the outer shell of thigh accessory 142, and it can form a continuous surface with accessories 142C and 142D below them, so it can also be called the lower rear thigh accessory. Accessory 142E is held between accessories 142C and 142D and can rotate, and its details will be described later.

[0040] Accessory 142F is another part of the outer shell of thigh accessory 142, and can be installed from the front relative to the upper outer wall of accessories 142A and 142B; therefore, it can also be called the upper front thigh accessory. Accessory 142G is another part of the outer shell of thigh accessory 142, and can be installed from the front relative to accessory 141A below accessory 142F; therefore, it can also be called the lower front thigh accessory. Accessories 142F and 142G can substantially form a continuous surface, the details of which will be described later.

[0041] Accessory 142H is another part of the outer shell of thigh accessory 142, configured to be secured by accessories 142C and 142D. Accessory 142H is located above accessories 142C and 142D at the rear of the humanoid body 1, and therefore can also be called a buttock accessory.

[0042] Accessories 142I to 142K realize the hip joint structure of the humanoid body 1. Accessory 142I supports accessory 142B from above. Accessory 142J is connected to accessory 142I in a manner that allows it to rotate relative to accessory 142I in the left-right (or in-way) direction. Accessory 142K is connected to accessory 142J in a manner that allows accessory 142J to rotate in the forward-backward direction. In addition, accessory 142K is connected to waist 13 on the side opposite to accessory 142J. With this structure, leg accessory 14 is held to be able to rotate relative to waist 13 in the forward-backward and / or left-right directions.

[0043] Accessory 142L is another part of the outer shell of thigh accessory 142, and is held from below on the inner side of the upper thigh so as to be rotatable relative to accessory 142J. Accessory 142L can also be referred to as an upper inner thigh accessory located inside accessory 142A, or as a closing accessory that closes its internal structure so that its internal structure cannot be observed from the outside, as will be described in detail below.

[0044] (2-3. Composition of lower leg accessories)

[0045] Accessory 143A is a lower leg housing accessory that forms part of the outer shell of lower leg accessory 143. It is installed on the upper inner side of accessory 141B, and therefore can also be called the upper inner lower leg accessory. Accessory 143B is another lower leg housing accessory that forms part of the outer shell of lower leg accessory 143. It is installed on the upper outer side of accessory 141B, and therefore can also be called the upper outer lower leg accessory. Accessories 143A and 143B are connected to each other, forming a continuous surface at their rear, which corresponds to the calf muscle area.

[0046] Accessory 143C is another part of the lower leg accessory 143, forming the outer shell of the lower leg accessory 143. It is secured by fitting with the lower part of accessory 141B, and therefore can also be called the lower leg accessory. Accessory 143D connects to accessory 143C from below, and its description is omitted here, but accessory 143D connects to foot accessory 144 (see reference). Figure 1 The support is designed to allow rotation.

[0047] Accessory 143E is a lower leg housing accessory that forms part of the housing of lower leg accessory 143. It is installed on the upper front of accessory 141B and can therefore also be called the upper front accessory of lower leg.

[0048] Accessories 143F to 143H are decorative accessories installed relative to accessory 143E. Accessory 143F is installed from the front relative to accessory 143E. Accessory 143G is installed from above in a manner that allows it to rotate relative to accessory 143F. Accessory 143H is installed on the inner wall relative to accessory 143G.

[0049] Furthermore, while each component constituting the leg part 14 has been described individually, some of these components may also be integrally formed. For example, two components (components 142B and 142I, components 143G and 143H, etc.) that are fixedly connected to each other and whose relative positions do not change may also be integrally formed.

[0050] (3. Rotation method of leg components)

[0051] Figure 3(A) is a partial sectional view from the side, showing the leg fitting 14 in an extended position (the lower leg fitting 143 is in a position in front of its movable area). Figure 3 (B) similarly represents a partial cross-sectional view of the leg fitting 14 in a partially rotated state (so that the knee fitting 141 and the lower leg fitting 143 are rotated rearward relative to the thigh fitting 142). Figure 3 (C) similarly represents a partial cross-sectional view of the leg fitting 14 in a bent state (the lower leg fitting 143 is located behind its movable area).

[0052] For ease of understanding, the actual structure of lower leg accessory 143 is shown in the figure, while the outline of accessories 141C (or 141D) and 142 is shown using dashed lines, and the cross-sectional structure of accessories 141A, 142E, and 142G is shown.

[0053] like Figure 3 (A) Figure 3 As shown in (C), accessory 141A includes a first extension 141A1 and a second extension 141A2 extending into thigh accessory 142. The first extension 141A1 is configured to engage with accessory 142E, which is rotatable and clamped by accessories 142C and 142D. The second extension 141A2 is located in front of the first extension 141A1, and accessory 142G is mounted on the second extension 141A2. Additionally, accessory 141A has a generally oval-shaped opening 141A3, and the aforementioned accessories 142A and 142B (see reference...) Figure 2 The portion that connects fittings 142A and 142B and passes through the opening fitting 141A3 is shown as portion 91 in the figure.

[0054] According to this structure, accessories 142A and 142B are held to be rotatable relative to accessories 141C and 141D, and the movable area of ​​this rotation is limited by allowing accessories 142A and 142B to pass through opening 141A3. Thus, the movable area of ​​the thigh accessory 142 relative to the knee accessory 141 is narrower than the movable area of ​​the lower leg accessory 143 relative to the knee accessory 141.

[0055] Here, consider from Figure 3 The state of (A) becomes Figure 3In state (B), that is, the thigh accessory 142 is rotated relative to the knee accessory 141 in a direction closer to the calf accessory 143. In this case, the first extension 141A1 separates from the inner wall of the accessory 142E, which is the lower rear thigh accessory. Therefore, accessory 142E becomes recessed relative to the shape of accessories 142C and 142D, which are upper rear thigh accessories. On the other hand, accessory 142G, which is the lower front thigh accessory, is attached to the second extension 141A2. Therefore, in this case, accessory 142G protrudes relative to the shape of accessory 142F, which is the upper front thigh accessory.

[0056] Furthermore, consider from Figure 3 The state of (B) becomes Figure 3 In state (C), that is, when the lower leg accessory 143 is rotated to a position where the rear portion of the lower leg accessory 143 contacts the accessory 142E, which is the lower rear part of the thigh accessory. As mentioned above, in Figure 3 In state (B), accessory 142E becomes recessed relative to the shape of accessories 142C and 142D, which are upper rear thigh accessories. Therefore, when the rear part of the calf accessory 143 contacts accessory 142E, accessory 142E is recessed under the pressing action accompanying the contact.

[0057] Therefore, based on this structure, the movable area of ​​the lower leg accessory 143 can be expanded, forming a posture in which the lower leg accessory 143 and the thigh accessory 142 are in close contact (such as a squatting posture or other movement posture).

[0058] Next, consider starting from Figure 3 The state of (C) returns to Figure 3 In state (A), the thigh accessory 142 is rotated relative to the knee accessory 141 in a direction away from the calf accessory 143. In this case, the first extension 141A1 contacts and presses against the inner wall of the accessory 142E, which is the lower rear thigh accessory. Therefore, accessory 142E is pressed outward, thus forming a continuous surface with accessories 142C and 142D, which are the upper rear thigh accessories. On the other hand, accessory 142G, which is the lower front thigh accessory, is installed on the second extension 141A2. Therefore, in this case, accessory 142G forms a continuous surface with accessory 142F, which is the upper front thigh accessory.

[0059] Figure 4 (A) indicates that the hip joint structure (accessories 142I to 142K) of the humanoid body 1 and the surrounding part of the thigh accessory 142 are in a posture with the legs together. Figure 4 (B) indicates from Figure 4The state of (A) causes the thigh accessory 142 to rotate in the direction of arrow A11, resulting in a leg-open posture.

[0060] As previously described, accessory 142L is held on the inner side of the upper thigh so that it can rotate relative to accessory 142J from below, and its internal structure is closed at a position more inside than accessory 142A, making the internal structure invisible from the outside. Here, in the leg-closed position (refer to...) Figure 4 (A)), most of accessory 142L is now housed within accessories 142C and 142F. On the other hand, in the leg-open posture (see... Figure 4 (B) The accessory 142L is in the following form: its top part is engaged and slid relative to accessory 142A (and accessory 142C) (that is, for the leg-open posture, the top part of accessory 142L is also located inside accessory 142A), so that accessory 142L rotates in the direction of arrow A12 and is partially exposed, and thus bulges outward.

[0061] Typically, a gap is created between two parts that can rotate relative to each other to prevent interference, allowing the internal structure to be observed through this gap. Based on the above structure, since part 142L also closes its internal structure at a position more inward than part 142A in the leg-open posture, making the internal structure impossible to observe from the outside, this also contributes to improving the appearance of the humanoid body 1.

[0062] (4. Summary of the structure of the leg fittings)

[0063] One of the parts of the humanoid body 1 constituting this embodiment is a leg accessory 14, which includes a knee accessory 141, a thigh accessory 142, and a lower leg accessory 143. The thigh accessory 142 is rotatable relative to the knee accessory 141. In this embodiment, the thigh accessory 142 includes an upper rear thigh accessory (accessories 142C, 142D) and a lower rear thigh accessory (accessory 142E). The lower leg accessory 143 is rotatable relative to the knee accessory 141 and is mounted relative to the knee accessory 141 such that its rear portion contacts the lower rear thigh accessory (accessory 142E). In this embodiment, the movable area of ​​the thigh accessory 142 relative to the knee accessory 141 is narrower than the movable area of ​​the lower leg accessory 143 relative to the knee accessory 141.

[0064] Here, the lower rear thigh accessory (accessory 142E) is maintained such that, when the thigh accessory 142 is rotated relative to the knee accessory 141 in a direction closer to the calf accessory 143, the lower rear thigh accessory (accessory 142E) becomes recessed relative to the upper rear thigh accessories (accessories 142C, 142D). Furthermore, when the thigh accessory 142 is rotated relative to the knee accessory 141 in a direction away from the calf accessory 143, the lower rear thigh accessory (accessory 142E) and the upper rear thigh accessories (accessories 142C, 142D) form a continuous surface.

[0065] In this embodiment, the knee fitting 141 includes a first extension 141A1 extending into the thigh fitting 142. When the thigh fitting 142 is rotated relative to the knee fitting 141 in a direction closer to the calf fitting 143, the first extension 141A1 separates from the inner wall of the lower rear thigh fitting (fitting 142E), thereby allowing the lower rear thigh fitting (fitting 142E) to be recessed relative to the upper rear thigh fittings (fittings 142C, 142D). Furthermore, when the thigh fitting 142 is rotated relative to the knee fitting 141 in a direction away from the calf fitting 143, the first extension 141A1 contacts the inner wall of the lower rear thigh fitting (fitting 142E) by pressing against it, thereby forming a continuous surface between the lower rear thigh fitting (fitting 142E) and the upper rear thigh fittings (fittings 142C, 142D). According to this structure, when the thigh part 142 is rotated, the aforementioned shape of the lower rear thigh part (part 142E) can be appropriately realized (i.e., the concavity of the lower rear thigh part (part 142E) relative to the upper rear thigh part (part 142C, 142D), and the formation of the continuous surface of the lower rear thigh part (part 142E) and the upper rear thigh part (part 142C, 142D).

[0066] According to this embodiment, a humanoid body 1 can be realized, which can expand the movable area of ​​the lower leg accessory 143 and form a posture in which the lower leg accessory 143 and the thigh accessory 142 are in close contact (such as a squatting posture or other movement posture). Therefore, according to this embodiment, it is beneficial to diversify the postures that the humanoid body 1 can form.

[0067] In this embodiment, the thigh accessory 142 further includes an upper front thigh accessory (accessory 142F) and a lower front thigh accessory (accessory 142G). The lower front thigh accessory (accessory 142G) is maintained such that, when the thigh accessory 142 is rotated relative to the knee accessory 141 in a direction closer to the calf accessory 143, the lower front thigh accessory (accessory 142G) protrudes relative to the upper front thigh accessory (accessory 142F). Furthermore, when the thigh accessory 142 is rotated relative to the knee accessory 141 in a direction away from the calf accessory 143, the lower front thigh accessory (accessory 142G) and the upper front thigh accessory (accessory 142F) form a continuous surface.

[0068] In this embodiment, the knee accessory 141 further includes a second extension 141A2 extending into the thigh accessory 142. The lower front thigh accessory (accessory 142G) is held by the second extension 141A2. With this structure, the aforementioned shape of the lower front thigh accessory (accessory 142G) (i.e., the bulge of the lower front thigh accessory (accessory 142G) relative to the upper front thigh accessory (accessory 142F), and the formation of a continuous surface between the lower front thigh accessory (accessory 142G) and the upper front thigh accessory (accessory 142F) can be appropriately achieved when the thigh accessory 142 is rotated. As a result, the degree of tension in the thigh (a shape similar to the movement of human muscles) when the calf accessory 143 and the thigh accessory 142 are brought close to each other can be expressed, which can further facilitate the diversification of the poses that the human body 1 can form.

[0069] Furthermore, regarding accessory 141A, in this embodiment, by providing extensions 141A1 and 141A2 respectively, interference with other accessories can be prevented. Alternatively, extensions 141A1 and 141A2 can also be provided as a single extension.

[0070] (5. Arm accessories)

[0071] Figure 5 This is an exploded view showing the elbow component 151, forearm component 153, and hand component 154, which are among the multiple components forming the arm component 15. The elbow component 151 includes components 151A to 151D. The forearm component 153 includes components 153A to 153H. The hand component 154 includes components 154A to 154C. For ease of understanding, dashed lines are used in the figure to indicate the connection relationships between these components.

[0072] (5-1. Structure of the elbow fitting)

[0073] Accessory 151A is an upper arm retaining accessory that holds the upper arm accessory 152. Accessory 151A extends into and supports the upper arm accessory 152, and therefore can also be called an upper arm support accessory, upper arm skeleton accessory, etc.

[0074] Accessory 151B is a forearm retainer that holds the forearm accessory 153 in place, including a shaft portion 151B1 for achieving this retention, the details of which will be described later. Accessory 151B extends into and supports the forearm accessory 153, and therefore may also be referred to as a forearm support accessory, forearm skeletal accessory, etc.

[0075] Accessories 151C and 151D are connected to each other to clamp accessories 151A and 151B into a rotatable pair of clamping accessories. In this structure, rotating accessory 151A relative to accessories 151C and 151D rotates the upper arm accessory 152, and rotating accessory 151B relative to accessories 151C and 151D rotates the forearm accessory 153. From this perspective, accessories 151C and 151D can also be referred to as elbow main body accessories, etc.

[0076] (5-2. Structure of forearm components)

[0077] Accessory 153A is a connecting accessory for connecting the forearm accessory 153 from below relative to accessory 151B. Accessory 153A includes a ring portion 153A1 and a retaining portion (or shaft portion) 153A2 for allowing a portion of the forearm accessory 153 to rotate. By allowing the shaft portion 151B1 of accessory 151B to pass through the ring portion 153A1, accessory 153A is held in a rotatable position, as will be described in detail below.

[0078] Accessory 153B is configured such that the ring portion 153A1 of accessory 153A can fit into the inner wall of accessory 153B. Accessory 153B is connected from below relative to accessory 151B (by having the shaft portion 151B1 pass through accessory 153B and the ring portion 153A1 together). Accessory 153C is a decorative accessory that can be installed from the outside relative to accessory 153B. Accessories 153B and 153C form part of the outer shell of forearm accessory 153 as forearm outer shell accessories. In addition, since accessories 153B and 153C are located on the inner side of the torso 12, they can also be referred to as inner forearm accessories.

[0079] Accessory 153D is another part of the housing of the forearm accessory 153, and it is connected to accessory 153B. Accessory 153D has a notch 153D1 for allowing a portion of the forearm accessory 153 to rotate, and accessory 153A is held in such a way that a retaining part 153A2 passes through the notch 153D1, as will be described in detail below.

[0080] Accessory 153E is held by retainer 153A2 on the side opposite to accessory 153D and accessory 153A. Accessory 153F is a decorative accessory that can be installed from the outside relative to accessory 153E. Accessories 153E and 153F form another part of the housing of forearm accessory 153 as forearm housing accessories. In addition, since accessories 153E and 153F are located on the side opposite to the torso 12 (outer side), they can also be called forearm outer side accessories.

[0081] Alternatively, it can be said that the shape of the forearm itself is essentially formed by accessories 153B to 153D, while accessories 153E and 153F form additional equipment parts. Therefore, accessory 153D can also be described as an outer forearm accessory, and accessories 153E and 153F can be described as equipment accessories (e.g., armor accessories, shield accessories, gauntlet accessories, etc.) or decorative accessories.

[0082] Accessories 153G and 153H are decorative accessories additionally provided at the rear of the forearm. Accessory 153G is held by accessories 153B and 153D, and accessory 153H is installed at the top of accessory 153G.

[0083] (5-3. Structure of hand accessories)

[0084] Accessory 154A is a main hand accessory. Accessory 154B is a decorative accessory installed relative to accessory 154A, used to decorate a portion of the back of the hand.

[0085] Accessories 154C and 154D constitute the wrist joint structure of the humanoid body 1. Accessory 154C connects to accessory 154A so that it can rotate along the circumferential direction of the wrist (direction d2 described later). Furthermore, accessory 154D connects to accessory 154C so that it can rotate in the forward and backward direction, and is connected from below relative to accessory 153B in a manner that allows rotation along the circumferential direction of the wrist. According to this structure, accessory 154A, as a hand body accessory, is maintained so that it can rotate along the circumferential direction of the wrist and / or in the forward and backward direction. From this perspective, accessories 154C and 154D together can also be referred to as wrist accessories.

[0086] Furthermore, while the constituent parts of the arm fitting 15 have been described individually here, some of these parts may also be integrally formed. For example, two parts (fittings 153B and 153C, fittings 154A and 154B, etc.) that are fixedly connected to each other and whose relative positions do not change may also be integrally formed.

[0087] (6. Rotation method of arm components)

[0088] Figure 6 (A) and Figure 6 (B) represents a perspective view of the forearm accessory 153 and the hand accessory 154. Figure 6 (A) indicates the posture of accessory 154A, which is a hand body accessory, with the palm part facing inward (the same direction as accessories 153B and 153C, which are forearm shell accessories). Figure 6 (B) indicates the posture in which accessory 154A is rotated around the wrist so that the part corresponding to the palm faces backward.

[0089] For ease of understanding, in the figure, the extension direction of the forearm accessory 153 is represented as the first direction d1, and the circumferential direction (wrist circumferential direction) with the first direction d1 as the axis is represented as the second direction d2.

[0090] If referred together Figure 5 and Figure 6 (A) Figure 6 In (B), for the forearm part 153, the shaft portion 151B1 of part 151B passes through the ring portion 153A1 of part 153A. Alternatively, this state can be described as having the ring portion 153A1 surrounding the shaft portion 151B1, thereby allowing part 153A (additionally retaining portion 153A2) to rotate in the second direction d2.

[0091] Additionally, accessory 153D has a notch 153D1 for the retaining part 153A2 to pass through, so as to allow the retaining part 153A2 to rotate along with the rotation of accessory 153A. In addition, accessories 153E and 153F, which are accessories for the outer side of the forearm, are held at one end relative to accessory 154C and at the other end held by retaining part 153A2.

[0092] Here, consider from Figure 6 The state of (A) becomes Figure 6In state (B), that is, when the hand accessory 154 is rotated relative to the forearm accessory 153 in the direction of arrow A21 using accessories 154C and 154D as wrist accessories. In this case, accessory 154C rotates together with the hand accessory 154 in the direction of arrow A21, and thus accessories 153E and 153F connected to accessory 154C also rotate in the direction of arrow A21.

[0093] As previously described, a notch 153D1 is provided in accessory 153D to allow rotation of the retaining portion 153A2 of accessory 153A. Therefore, along with the rotation of accessories 153E and 153F, the retaining portion 153A2 that holds them also rotates in the direction of arrow A21. That is, when the hand accessory 154 is rotated relative to the forearm accessory 153 in the direction of arrow A21 using accessories 154C and 154D that realize the wrist joint structure, accessories 153E and 153F, as outer forearm accessories, also rotate in the direction of arrow A22 along with this rotation. In other words, accessories 153E and 153F function as rotating portions of the forearm accessory 153 that rotate together with the rotation of the hand accessory 154.

[0094] Normally, when a person rotates their wrist, the forearm also rotates partially, but according to the structure described above, this shape can also be represented in the humanoid figure 1. Therefore, according to this embodiment, it is beneficial to diversify the poses that the humanoid figure 1 can form.

[0095] (7. Summary of the structure of arm components)

[0096] Another component of the humanoid body 1 in this embodiment is an arm component 15, which includes an upper arm component 152, a forearm component 153, and a hand component 154. The forearm component 153 is rotatable relative to the upper arm component 152. The hand component 154 is rotatable relative to the forearm component 153. Here, the forearm component 153 includes a rotating portion that rotates along with the rotation of the hand component 154 relative to the forearm component 153. In this embodiment, the forearm component 153 includes an inner forearm component (components 153B, 153C) and an outer forearm component (components 153E, 153F), with the outer forearm components (components 153E, 153F) functioning as the aforementioned rotating portion.

[0097] In this embodiment, the arm accessory 15 further includes an elbow accessory 151, which connects the upper arm accessory 152 and the forearm accessory 153 so that they can rotate relative to each other. The hand accessory 154 includes a hand body accessory (accessory 154A) and wrist accessories (accessories 154C, 154D) located on the side of the forearm accessory 153, and the hand body accessory (accessory 154A) and the wrist accessories (accessories 154C, 154D) are configured to be connected in a manner that allows them to rotate relative to each other.

[0098] Here, the direction of extension of the forearm accessory 153 is referred to as the first direction d1, and the circumferential direction (wrist circumferential direction) with the first direction d1 as the axis is referred to as the second direction d2. The hand body accessory (accessory 154A) is connected in a manner that allows it to rotate relative to the forearm accessory 153 at least along the second direction d2. The outer forearm accessories (accessories 153E, 153F) are held at one end relative to the wrist accessories (accessories 154C, 154D), and at the other end are held in a manner that allows it to rotate relative to the elbow accessory 151 along the second direction d2.

[0099] In this embodiment, the elbow accessory 151 includes a first accessory (accessory 151A) that supports the upper arm accessory 152 and a second accessory (accessory 151B) that supports the forearm accessory 153 and is rotatable relative to the first accessory (accessory 151A). The second accessory (accessory 151B) includes a shaft portion 151B1 extending along a first direction d1, and the outer forearm accessories (accessories 153E, 153F) are held rotatable relative to the shaft portion 151B1. Additionally, the forearm accessory 153 includes a connecting accessory (accessory 153A) that connects the shaft portion 151B1 to the outer forearm accessories (accessories 153E, 153F). The connecting fitting (fitting 153A) includes a ring portion 153A1 that is rotatable in the second direction d2 and is provided around the shaft portion 151B1, and a retaining portion 153A2 that extends from the ring portion 153A1 and retains the outer forearm portion fittings (fittings 153E, 153F).

[0100] Normally, when a person rotates their wrist, the forearm also rotates partially. According to this embodiment, such a form can also be represented in the humanoid body 1, thus facilitating the diversification of poses that the humanoid body 1 can form.

[0101] (8. Summary)

[0102] According to the above embodiments, the humanoid body 1 is constructed by directly / indirectly connecting various parts and components to each other, and at least two of these parts and components are connected in a manner that allows them to rotate relative to each other. With such a structure, one part and component is configured to partially rotate, swing, or even deform when another part and component are rotated. Based on this construction, as can be seen from the leg component 14 and arm component 15 illustrated in this specification, for example, it is possible to adopt a more human-like posture or to change that posture, which facilitates the diversification of postures that the humanoid body 1 can assume.

[0103] The invention is not limited to the above-described embodiments and can be modified and altered in various ways within the scope of the invention's intent.

Claims

1. An arm section of an anthropomorphic body, wherein the arm section of the anthropomorphic body includes: an upper arm section; a forearm section rotatable relative to the upper arm section; a hand section rotatable relative to the forearm section, including a wrist section on the side of the forearm section; and an elbow section connecting the upper arm section and the forearm section so as to be relatively rotatable, the forearm section includes a rotating section rotatable together with the rotation of the hand section relative to the forearm section, one side of the rotating section is held relative to the wrist section, and the other side is held so as to be rotatable relative to the elbow section.

2. The arm section of the anthropomorphic body according to claim 1, wherein the forearm section includes: a forearm section inner side on the side of a trunk section of the anthropomorphic body; and a forearm section outer side at a position outward relative to the forearm section inner side, the rotating section is configured to include a decorative section on the outer side of the forearm section outer side.

3. The arm section of the anthropomorphic body according to claim 2, wherein the hand section includes a wrist section on the side of the forearm section, when a direction in which the forearm section extends is referred to as a first direction, and a circumferential direction about the first direction is referred to as a second direction, the forearm section outer side is held at one end portion relative to the wrist section, and at the other end portion so as to be rotatable relative to the elbow section in the second direction.

4. The arm section of the anthropomorphic body according to claim 3, wherein the hand section further includes a hand main body portion held so as to be rotatable relative to the forearm section at least in the second direction.

5. The arm section of the anthropomorphic body according to claim 4, wherein the hand section is configured such that the hand main body portion and the wrist section are connected so as to be relatively rotatable.

6. The arm section of the anthropomorphic body according to any one of claims 2 to 5, wherein the arm section of the anthropomorphic body further includes the upper arm section and an elbow section connecting the upper arm section and the forearm section so as to be relatively rotatable.

7. The arm section of the anthropomorphic body according to claim 6, wherein the elbow section includes: a first portion supporting the upper arm section; and a second portion supporting the forearm section and rotatable relative to the first portion, the second portion includes a shaft portion extending in a first direction along the direction in which the forearm section extends, and the forearm section outer side possessed by the forearm section is held so as to be rotatable relative to the shaft portion.

8. The arm section of the anthropomorphic body according to claim 7, wherein the forearm section further includes a connecting portion connecting the forearm section outer side and the shaft portion of the second portion of the elbow section, the connecting portion includes: a ring portion provided so as to surround the shaft portion in a second direction that is a circumferential direction about the first direction; and a holding portion extending from the ring portion and holding the forearm section outer side.

9. An anthropomorphic body, wherein the anthropomorphic body includes the arm section of the anthropomorphic body according to any one of claims 1 to 8.

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