Doll body

Abstract

To provide a technique advantageous to the diversification of a posture which can be formed by a doll body.SOLUTION: A leg part of the doll body comprises a knee part, a thigh part which can turn with respect to the knee part, and a lower leg part which can turn with respect to the knee part. The thigh part includes a thigh-part rear upper part and a thigh-part rear lower part, and the lower leg part is attached to the knee part so as to be turnable up to a position in which a rear part of the lower leg part contacts with the thigh-part rear lower part. When turning the thigh part with respect to the knee part in a direction in which the thigh part approximates the lower leg part, the thigh-part rear lower part can be recessed to the thigh-part rear upper part, and when turning the thigh part with respect to the knee part in a direction in which the thigh part separates from the lower leg part, the thigh-part rear lower part is held so as to form a continuous face with the thigh-part rear upper part.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention mainly relates to the legs of a humanoid body.

Background Art

[0002] Patent Document 1 describes providing joint structures at various parts of a humanoid body, such as the torso, arms, and legs. A user can pose such a humanoid body in a desired posture.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Some humanoid bodies are required to be configured to be able to form various postures. For example, when changing the posture of a humanoid body, more human-like movements may be required.

[0005] An exemplary object of the present invention is to provide a technique advantageous for diversifying the postures that a humanoid body can form.

Means for Solving the Problems

[0006] One aspect of the present invention relates to the legs of a humanoid body. The legs include a knee, a thigh portion rotatable with respect to the knee, and a lower leg portion rotatable with respect to the knee. The thigh portion includes an upper rear portion of the thigh and a lower rear portion of the thigh. The lower leg portion is attached to the knee so as to be rotatable to a position where its rear portion contacts the lower rear portion of the thigh. The lower rear portion of the thigh can be recessed with respect to the upper rear portion of the thigh when the thigh is rotated with respect to the knee in a direction approaching the lower leg portion, and is held so as to form a continuous surface with the upper rear portion of the thigh when the thigh is rotated with respect to the knee in a direction away from the lower leg portion.

Advantages of the Invention

[0007] According to the present invention, it is advantageous for diversifying the postures that can be formed by the humanoid body.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of the features described in the embodiments are essential for the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Also, the same or similar configurations are given the same reference numerals, and duplicate descriptions are omitted.

[0010] (1. Overall Structure of the Humanoid Body) FIG. 1 shows the overall structure of the humanoid body 1 according to the embodiment. The humanoid body 1 includes a head part 11, a torso part 12, a waist part 13, leg parts 14, and arm parts 15 as part parts that exhibit individual parts. These parts 11 to 15 may be collectively referred to as part parts. For example, the leg parts 14 are provided rotatably with respect to the waist part 13, and the arm parts 15 are provided rotatably with respect to the torso part 12.

[0011] The above-mentioned part parts 11 to 15 may be further divided in more detail. Although details will be described later, the leg parts 14 include a knee part 141, a thigh part 142, a lower leg part 143, and a foot part 144. The arm parts 15 also include an elbow part 151, an upper arm part 152, a forearm part 153, and a hand part 154. In FIG. 1, the left leg parts 14 and arm parts 15 are illustrated, but the same applies to the right side.

[0012] In addition, in this specification, when explaining the positional relationship of each part, there may be descriptions such as front (front), rear (rear), left (left side), right (right side), up (upper), down (lower), in (inner), out (outer), etc. However, these expressions are relative to the humanoid body 1. For example, the front corresponds to the front side of the humanoid body 1, and the rear corresponds to the rear side of the humanoid body 1.

[0013] Each of the above-mentioned part parts 11 to 15 (including parts 141 to 144, 151 to 154) can be configured by connecting one or more parts (constituent parts) to each other. For example, the leg parts 14 (parts 141 to 144) are configured by directly / indirectly connecting a plurality of constituent parts. More specifically, two adjacent constituent parts are fixedly or rotatably (or swingably) connected to each other. Similarly, for example, the arm parts 15 (parts 151 to 154) are configured by directly / indirectly connecting a plurality of constituent parts.

[0014] Furthermore, the concept of connection between parts can include various connection modes such as attaching one part to another part, connecting them, fixing them, etc. For the sake of easier understanding, it is assumed that expressions in accordance with the embodiments are used in this specification, but the present invention is not strictly limited to such expressions (such expressions can be replaced with similar expressions). The same applies to other expressions.

[0015] Also, in this specification, the individual components of the humanoid body 1 are expressed as "parts", but the concept of parts also refers to not only the smallest units that can be disassembled by the user but also those formed by combining two or more of them. Therefore, the expression "parts" in the following description may be replaced with "components", "pieces", "members", "structures", "assemblies", etc., or may be omitted. For example, the leg part 14 may be expressed as a leg component, a leg member, a leg structure, a leg assembly, etc., or simply as a leg. Similarly, the arm part 15 may be expressed as an arm component, an arm member, an arm structure, an arm assembly, etc., or simply as an arm. The same applies to other parts.

[0016] (2. Regarding the leg parts) FIG. 2 shows an exploded schematic view of the knee part 141, the thigh part 142, and the lower leg part 143 among the plurality of parts forming the leg part 14. The knee part 141 includes parts 141A to 141D. The thigh part 142 includes parts 142A to 142L. The lower leg part 143 includes parts 143A to 143H. For the sake of easier understanding, the connection relationships between these parts are shown by broken lines in the figure.

[0017] (2-1. Structure of the knee part) The part 141A is a thigh holding part that can hold the thigh part 142. Since the part 141A extends into the thigh part 142 to support the thigh part 142, it may be referred to as a thigh support part, a thigh skeleton part, etc.

[0018] Part 141B is a lower leg holding part that can hold the lower leg part 143. Since part 141B extends into the lower leg part 143 to support it, it may also be referred to as a lower leg support part, a lower leg skeleton part, etc.

[0019] Parts 141C and 141D are a pair of clamping parts that rotatably clamp parts 141A and 141B by being connected to each other. In such a configuration, when part 141A rotates with respect to parts 141C and 141D, the thigh part 142 rotates, and when part 141B rotates, the lower leg part 143 rotates. From this perspective, parts 141C and 141D may also be referred to as a knee main body part, etc.

[0020] (2-2. Structure of the thigh part) Part 142A is an inner part of the inner structure of the thigh part 142 that constitutes a part of the inner side of the internal structure of the thigh part. Part 142B is an outer part of the inner structure of the thigh part 142 that constitutes a part of the outer side of the internal structure of the thigh part. Parts 142A and 142B are connected to each other. Although details will be described later, parts 142A and 142B are held so as to be rotatable with respect to parts 141C and 141D and the movable range (range of motion) due to this rotation is restricted by inserting part 141A.

[0021] Part 142C is a thigh outer part that forms a part of the exterior of the thigh part 142, and can also be said to be a thigh inner side outer part that can be attached to part 142A. Part 142D is a thigh outer part that forms another part of the exterior of the thigh part 142, and can also be said to be a thigh outer side outer part that can be attached to part 142B. Since parts 142C and 142D are attached to parts 142A and 142B respectively to form a substantially continuous surface at the upper rear part of the thigh, they can also be collectively referred to as the upper rear part parts of the thigh.

[0022] Part 142E is a thigh exterior part that forms another part of the exterior of the thigh part 142. Since it can form a substantially continuous surface with parts 142C and 142D below them, it can also be said to be the lower rear thigh part. Although details will be described later, part 142E is rotatably clamped by parts 142C and 142D.

[0023] Part 142F is a thigh exterior part that forms another part of the exterior of the thigh part 142. Since it can be attached from the front to the upper part of the outer walls of parts 142A and 142B, it can also be said to be the upper front thigh part. Part 142G is a thigh exterior part that forms another part of the exterior of the thigh part 142. Since it can be attached from the front to part 141A below part 142F, it can also be said to be the lower front thigh part. Although details will be described later, parts 142F and 142G can form a substantially continuous surface.

[0024] Part 142H is a thigh exterior part that forms another part of the exterior of the thigh part 142 and is configured to be lockable by parts 142C and 142D. Since part 142H is located above parts 142C and 142D behind the mannequin 1, it can also be said to be the hip part.

[0025] Parts 142I to 142K realize the hip joint structure of the mannequin 1. Part 142I supports part 142B from above. Part 142J is rotatably connected to part 142I in the left - right direction (or inside - outside direction). Part 142K rotatably connects part 142J in the front - rear direction. Also, part 142K is connected to the waist 13 on the side opposite to the part 142J side. With such a structure, the leg part 14 is rotatably held with respect to the waist 13 in the front - rear direction and / or the left - right direction.

[0026] Part 142L is a thigh exterior part that forms another part of the exterior of the thigh part 142, and is rotatably held from below with respect to part 142J on the inner side of the upper thigh. Although details will be described later, part 142L can also be said to be an upper inner thigh part located more inward than part 142A, and can also be said to be a sealing part for sealing its internal structure so that it is not visible from the outside.

[0027] (2-3. Configuration of the lower leg part) Part 143A is a lower leg exterior part that forms a part of the exterior of the lower leg part 143, and since it is attached to the upper inner side of part 141B, it can also be said to be an upper inner lower leg part. Part 143B is a lower leg exterior part that forms another part of the exterior of the lower leg part 143, and since it is attached to the upper outer side of part 141B, it can also be said to be an upper outer lower leg part. Parts 143A and 143B are connected to each other and form a substantially continuous surface at their rear parts to present a part corresponding to the shin.

[0028] Part 143C is a lower leg exterior part that forms another part of the exterior of the lower leg part 143, and since it is locked to the lower part of part 141B by fitting, it can also be said to be a lower lower leg part. Part 143D is connected to part 143C from below, and although the description is omitted here, it rotatably supports the foot part 144 (see Fig. 1).

[0029] Part 143E is a lower leg exterior part that forms a part of the exterior of the lower leg part 143, and since it is attached to the front of the upper part of part 141B, it can also be said to be an upper front lower leg part.

[0030] Parts 143F to 143H are decorative parts attached to part 143E. Part 143F is attached to part 143E from the front. Part 143G is rotatably attached to part 143F from above. Part 143H is attached to the inner wall of part 143G.

[0031] So far, the individual parts that make up the leg part 14 have been described separately, but some of these may be integrally formed. For example, two parts (parts 142B and 142I, parts 143G and 143H, etc.) that are fixedly connected to each other and do not involve a change in their relative positions may be integrally molded.

[0032] (3. Regarding the rotation mode of the leg part) Figure 3(A) shows a partial cross-sectional view in a side view of the leg part 14 in an extended state (a state where the lower leg part 143 is at the front position of its movable range). Figure 3(B) similarly shows a partial cross-sectional view of the leg part 14 in a partially rotated state (a state where the knee part 141 and the lower leg part 143 are rotated backward with respect to the thigh part 142). Figure 3(C) similarly shows a partial cross-sectional view of the leg part 14 in a bent state (a state where the lower leg part 143 is at the rear position of its movable range).

[0033] For ease of understanding, in the figure, the actual structure of the lower leg part 143 is shown, the outer shapes of the parts 141C (or 141D) and 142 are shown by dashed lines, and the cross-sectional structures of the parts 141A, 142E, and 142G are shown.

[0034] As shown in Figures 3(A) to 3(C), the part 141A includes a first extension part 141A1 and a second extension part 141A2 that extend into the thigh part 142. The first extension part 141A1 is provided to be engageable with the part 142E that is rotatably held by the parts 142C and 142D. The second extension part 141A2 is provided in front of the first extension part 141A1, and the part 142G is attached to the second extension part 141A2. Further, the part 141A is provided with a substantially elliptical opening 142A3, and the aforementioned parts 142A and 142B (see Figure 2) are inserted and held through this opening part 141A3. The part that connects the parts 142A and 142B and passes through the opening part 141A3 is shown as part 91 in the figure.

[0035] According to such a configuration, the parts 142A and 142B are held so as to be rotatable with respect to the parts 141C and 141D, and the movable range due to the rotation is restricted by inserting through the opening 142A3. Therefore, the movable range of the thigh part 142 with respect to the knee part 141 is narrower than the movable range of the lower leg part 143 with respect to the knee part 141.

[0036] Here, consider the case of changing from the state of FIG. 3(A) to the state of FIG. 3(B), that is, the case of rotating the knee part 141 in a direction to bring the thigh part 142 closer to the lower leg part 143. In this case, the first extending portion 141A1 is separated from the inner wall of the part 142E as the lower rear part of the thigh. Therefore, the part 142E can be recessed with respect to the outer shapes of the parts 142C and 142D as the upper rear parts of the thigh. On the other hand, the part 142G as the lower front part of the thigh is attached to the second extending portion 141A2. Therefore, in this case, the part 142G will bulge with respect to the outer shape of the part 142F as the upper front part of the thigh.

[0037] Furthermore, consider the case of changing from the state of FIG. 3(B) to the state of FIG. 3(C), that is, the case of rotating the lower leg part 143 until the rear part of the lower leg part 143 contacts the part 142E as the lower rear part of the thigh. As described above, in the state of FIG. 3(B), since the part 142E can be recessed with respect to the outer shapes of the parts 142C and 142D as the upper rear parts of the thigh, when the rear part of the lower leg part 143 contacts the part 142E, the part 142E will not be recessed due to the pressing accompanying the contact.

[0038] Therefore, according to such a structure, it is possible to expand the movable range of the lower leg part 143 and form a posture in which the lower leg part 143 and the thigh part 142 are in close contact (for example, a sporty posture such as a crouching pose).

[0039] Next, consider the case of returning from the state of FIG. 3(C) to the state of FIG. 3(A), that is, when the knee part 141 is rotated with respect to the lower leg part 143 in a direction to separate the thigh part 142 from the lower leg part 143. In this case, the first extending part 141A1 contacts and presses the inner wall of the part 142E as the lower rear part of the thigh part. Therefore, the part 142E is pushed outwards, and thereby, a continuous surface is formed with the parts 142C and 142D as the upper rear parts of the thigh part. On the other hand, the part 142G as the lower front part of the thigh part is attached to the second extending part 141A2. Therefore, in this case, the part 142G forms a continuous surface with the part 142F as the upper front part of the thigh part.

[0040] FIG. 4(A) shows the state of the hip joint structure (parts 142I to 142K) of the humanoid body 1 and the peripheral part of the thigh part 142 in the closed leg posture. FIG. 4(B) shows the state of the open leg posture in which the thigh part 142 is rotated in the direction of arrow A11 from the state of FIG. 4(A).

[0041] As described above, the part 142L is rotatably held below the part 142J on the inner side of the upper part of the thigh part, and seals the internal structure inside the part 142A and makes it invisible from the outside. Here, in the closed leg posture (see FIG. 4(A)), most of the part 142L is housed in the parts 142C and 142F. On the other hand, in the open leg posture (see FIG. 4(B)), the part 142L slides while its tip engages with the part 142A (and 142C) (that is, even in the open leg posture, the tip of the part 142L is located inside the part 142A), rotates in the direction of arrow A12 and is partially exposed, and accordingly bulges outwards.

[0042] Generally, a gap may occur between two relatively rotatable parts to avoid interference therebetween, and thus the internal structure may be visible through the gap. According to the above configuration, the part 142L can also seal the internal structure inside the part 142A even in the open-leg posture, making it invisible from the outside, which may be advantageous for improving the design of the humanoid body 1.

[0043] (4. Configuration of the leg parts (parentheses)) One of the part components constituting the humanoid body 1 according to the embodiment is the leg part 14, and the leg part 14 includes a knee part 141, a thigh part 142, and a lower leg part 143. The thigh part 142 is rotatable with respect to the knee part 141, and in this embodiment, it includes an upper rear thigh part (parts 142C and 142D) and a lower rear thigh part (part 142E). The lower leg part 143 is rotatable with respect to the knee part 141, and the rear part of the lower leg part 143 is attached to the knee part 141 so as to be rotatable to a position where it contacts the lower rear thigh part (part 142E). In this embodiment, the range of motion of the thigh part 142 with respect to the knee part 141 is narrower than the range of motion of the lower leg part 143 with respect to the knee part 141.

[0044] Here, the lower rear thigh part (part 142E) is held such that the following holds. That is, when the thigh part 142 is rotated with respect to the knee part 141 in the direction approaching the lower leg part 143, the lower rear thigh part (part 142E) can be recessed with respect to the upper rear thigh part (parts 142C and 142D). Also, when the thigh part 142 is rotated with respect to the knee part 141 in the direction away from the lower leg part 143, the lower rear thigh part (part 142E) forms a continuous surface with the upper rear thigh part (parts 142C and 142D).

[0045] In this embodiment, the knee part 141 includes a first extending part 141A1 that extends into the thigh part 142. When the knee part 141 is rotated with respect to the thigh part 142 in a direction approaching the lower leg part 143, the first extending part 141A1 is separated from the inner wall of the lower rear part of the thigh part (part 142E), whereby the lower rear part of the thigh part (part 142E) can be recessed with respect to the upper rear part of the thigh part (parts 142C and 142D). Further, when the knee part 141 is rotated with respect to the thigh part 142 in a direction separating the thigh part 142 from the lower leg part 143, the first extending part 141A1 contacts so as to press the inner wall of the lower rear part of the thigh part (part 142E), whereby the lower rear part of the thigh part (part 142E) forms a continuous surface with the upper rear part of the thigh part (parts 142C and 142D). According to such a configuration, when the thigh part 142 is rotated, the above-described aspect of the lower rear part of the thigh part (part 142E) (that is, the recess of the lower rear part of the thigh part (part 142E) with respect to the upper rear part of the thigh part (parts 142C and 142D) and the formation of the continuous surface with the upper rear part of the thigh part (parts 142C and 142D)) can be appropriately realized.

[0046] According to this embodiment, it is possible to realize a humanoid body 1 that can widen the movable range of the lower leg part 143 and form a posture in which the lower leg part 143 and the thigh part 142 are in close contact (for example, a sporty posture such as a crouching pose). Therefore, according to this embodiment, it is advantageous for diversifying the postures that the humanoid body 1 can form.

[0047] In addition, in the present embodiment, the thigh part 142 further includes an upper front thigh part (part 142F) and a lower front thigh part (part 142G). The lower front thigh part (part 142G) is held such that the following holds. That is, when the thigh part 142 is rotated with respect to the knee part 141 in a direction approaching the lower leg part 143, the lower front thigh part (part 142G) bulges with respect to the upper front thigh part (part 142F). Further, when the thigh part 142 is rotated with respect to the knee part 141 in a direction away from the lower leg part 143, the lower front thigh part (part 142G) forms a continuous surface with the upper front thigh part (part 142F).

[0048] In the present embodiment, the knee part 141 further includes a second extension part 141A2 that extends into the thigh part 142. The lower front thigh part (part 142G) is held by this second extension part 141A2. According to such a configuration, when the thigh part 142 is rotated, the above-described aspects of the lower front thigh part (part 142G) (that is, the bulge of the lower front thigh part (part 142G) with respect to the upper front thigh part (part 142F) and the formation of a continuous surface with the upper front thigh part (part 142F)) can be appropriately realized. As a result, it becomes possible to express the tension state of the thigh when the lower leg part 143 and the thigh part 142 are brought close to each other (a state close to the movement of the muscles of the human body), and these things can be more advantageous for diversifying the poses that the humanoid body 1 can form.

[0049] Regarding the part 141A, in the present embodiment, by providing the extension parts 141A1 and 141A2 individually, it is possible to prevent interference with other parts. As another embodiment, the extension parts 141A1 and 141A2 may be provided as a single extension part.

[0050] (5. Regarding the arm parts) FIG. 5 shows an exploded schematic view of the elbow part 151, the forearm part 153, and the hand part 154 among the plurality of parts forming the arm part 15. The elbow part 151 includes parts 151A to 151D. The forearm part 153 includes parts 153A to 153H. The hand part 154 includes parts 154A to 154C. For ease of understanding, the connection relationships between these parts are shown by broken lines in the figure.

[0051] (5-1. Configuration of Elbow Part) Part 151A is an upper arm holding part capable of holding the upper arm part 152. Since part 151A extends into the upper arm part 152 and supports the upper arm part 152, it may also be referred to as an upper arm support part, an upper arm skeleton part, etc.

[0052] Part 151B is a forearm holding part capable of holding the forearm part 153. Although details will be described later, it includes a shaft portion 151B1 for realizing such holding. Since part 151B extends into the forearm part 153 and supports the forearm part 153, it may also be referred to as a forearm support part, a forearm skeleton part, etc.

[0053] Parts 151C and 151D are a pair of clamping parts that clamp parts 151A and 151B rotatably by being connected to each other. In such a configuration, when part 151A rotates with respect to parts 151C and 151D, the upper arm part 152 rotates, and when part 151B rotates, the forearm part 153 rotates. From this perspective, parts 151C and 151D may also be referred to as an elbow body part, etc.

[0054] (5-2. Configuration of Forearm Part) Part 153A is a connecting part for connecting the forearm part 153 to the part 151B from below, and includes a ring part 153A1 and a holding part (or shaft part) 153A2 for making a part of the forearm part 153 rotatable. Although details will be described later, the part 153A is rotatably held when the shaft part 151B1 of the part 151B passes through the ring part 153A1.

[0055] The inner wall of the part 153B is configured such that the ring part 153A1 of the part 153A can be fitted therein, and it is connected to the part 151B from below (the shaft part 151B1 is connected by passing through the part 153B together with the ring part 153A1). The part 153C is a decorative part that can be attached to the part 153B from the outside. The parts 153B and 153C form a part of the exterior of the forearm part 153 as a forearm exterior part, and can also be said to be forearm inner side parts because they are located on the body part 12 side (inside).

[0056] The part 153D is a forearm exterior part that forms another part of the exterior of the forearm part 153 and is connected to the part 153B. Although details will be described later, the part 153D is provided with a notch 153D1 for making a part of the forearm part 153 rotatable, and the part 153A is held such that the holding part 153A2 passes through the notch 153D1.

[0057] The part 153E is held by the holding part 153A2 on the side opposite to the part 153A with respect to the part 153D. The part 153F is a decorative part that can be attached to the part 153E from the outside. The parts 153E and 153F form another part of the exterior of the forearm part 153 as a forearm exterior part, and can also be said to be forearm outer side parts because they are located on the side opposite to the body part 12 side (outside).

[0058] Furthermore, the outer shape of the forearm itself is substantially formed by parts 153B to 153D, and it can be said that parts 153E and 153F form accessory equipment. Therefore, part 153D can be expressed as the outer part of the forearm, and parts 153E and 153F can be expressed as equipment parts (for example, armor parts, shield parts, gauntlet parts, etc.) or decorative parts.

[0059] Parts 153G and 153H are decorative parts that are provided incidentally behind the forearm. Part 153G is sandwiched between parts 153B and 153D, and part 153H is attached to the tip of part 153G.

[0060] (5-3. Structure of the hand parts) Part 154A is the main hand part. Part 154B is a decorative part attached to part 154A and decorates a part of the back of the hand.

[0061] Parts 154C and 154D realize the wrist joint structure of the humanoid 1. Part 154C connects part 154A so that it can rotate in the circumferential direction of the wrist (direction d2 described later). Also, part 154D connects part 154C so that it can rotate in the front-rear direction and is connected to part 153B from below so that it can rotate in the circumferential direction of the wrist. With such a configuration, part 154A, which is the main hand part, will be held so that it can rotate in the circumferential direction of the wrist and / or in the front-rear direction. From this perspective, parts 154C and 154D can also be collectively referred to as wrist parts.

[0062] Furthermore, although the component parts of the arm part 15 have been described individually here, some of them may be integrally formed. For example, two parts (parts 153B and 153C, parts 154A and 154B, etc.) that are fixedly connected to each other and do not involve a change in their relative positions may be integrally molded.

[0063] (6. Regarding the rotation mode of the arm part) Figures 6(A) and 6(B) show perspective views of the forearm part 153 and the hand part 154. Figure 6(A) shows a state where the palm-equivalent part of the part 154A, which is the hand main body part, faces inward (in the same direction as the parts 153B and 153C as the forearm exterior parts). Figure 6(B) shows a state where the part 154A is rotated in the wrist circumferential direction, and the palm-equivalent part faces backward.

[0064] For ease of understanding, in the figure, the extending direction of the forearm part 153 is shown as the first direction d1, and the circumferential direction (wrist circumferential direction) with the first direction d1 as the axis is shown as the second direction d2.

[0065] Referring to FIG. 5 together with FIGS. 6(A) and 6(B), in the forearm part 153, the shaft part 151B1 of the part 151B penetrates through the ring part 153A1 of the part 153A. This state can also be said that the ring part 153A1 is circumferentially provided on the shaft part 151B1. Thereby, the part 153A (accompanyingly the holding part 153A2) can rotate in the second direction d2.

[0066] Further, in the part 153D, a notch 153D1 for inserting the holding part 153A2 is provided so as to allow the rotation of the holding part 153A2 accompanying the rotation of the part 153A. Also, the parts 153E and 153F as the outer forearm parts are held by the part 154C at one end and held by the holding part 153A2 at the other end.

[0067] Here, consider the case of changing from the state of FIG. 6(A) to the state of FIG. 6(B), that is, when the hand part 154 is rotated in the direction of arrow A21 with respect to the forearm part 153 using the parts 154C and 154D as the wrist parts. In this case, when the part 154C rotates in the direction of arrow A21 together with the hand part 154, the parts 153E and 153F connected to the part 154C also rotate in the direction of arrow A21.

[0068] As described above, the part 153D is provided with a notch 153D1 so as to allow the rotation of the holding part 153A2 of the part 153A. Therefore, as the parts 153E and 153F rotate, the holding part 153A2 that holds them also rotates in the direction of arrow A21. That is, when the hand parts 154 are rotated in the direction of arrow A21 with respect to the forearm parts 153 by the parts 154C and 154D that realize the wrist joint structure, the parts 153E and 153F as the outer parts of the forearm also rotate in the direction of arrow A22 along with this rotation. In other words, it can be said that the parts 153E and 153F act as rotating parts that rotate along with the rotation of the hand parts 154 in the forearm parts 153.

[0069] Generally, when a human rotates the wrist, the forearm can also rotate partially. According to the above configuration, such a state can also be expressed in the humanoid body 1. Therefore, according to the present embodiment, it is advantageous for diversifying the postures that the humanoid body 1 can form.

[0070] (7. Configuration of the arm parts in parentheses) Another one of the part parts that make up the humanoid body 1 according to the embodiment is the arm part 15. The arm part 15 includes an upper arm part 152, a forearm part 153, and a hand part 154. The forearm part 153 is rotatable with respect to the upper arm part 152. The hand part 154 is rotatable with respect to the forearm part 153. Here, the forearm part 153 includes a rotating part that rotates along with the rotation when the hand part 154 is rotated with respect to the forearm part 153. In the present embodiment, the forearm part 153 includes an inner forearm part (parts 153B and 153C) and an outer forearm part (parts 153E and 153F), and the outer forearm part (parts 153E and 153F) acts as the rotating part.

[0071] In this embodiment, the arm part 15 further includes an elbow part 151 that rotatably connects the upper arm part 152 and the forearm part 153 to each other. The hand part 154 includes a hand main body part (part 154A) and a wrist part (parts 154C and 154D) located on the forearm part 153 side, and the hand main body part (part 154A) and the wrist part (parts 154C and 154D) are rotatably connected to each other.

[0072] Here, the direction in which the forearm part 153 extends is defined as the first direction d1, and the circumferential direction (wrist circumferential direction) with the first direction d1 as the axis is defined as the second direction d2. The hand main body part (part 154A) is rotatably connected to the forearm part 153 at least in the second direction d2. The outer forearm parts (parts 153E and 153F) are held by the wrist parts (parts 154C and 154D) at one end and are rotatably held by the elbow part 151 in the second direction d2 at the other end.

[0073] In this embodiment, the elbow part 151 includes a first part (part 151A) that supports the upper arm part 152 and a second part (part 151B) that supports the forearm part 153 and is rotatable with respect to the first part (part 151A). The second part (part 151B) includes a shaft portion 151B1 extending in the first direction d1, and the outer forearm parts (parts 153E and 153F) are rotatably held with respect to the shaft portion 151B1. Further, the forearm part 153 further includes a connecting part (part 153A) that connects the shaft portion 151B1 and the outer forearm parts (parts 153E and 153F). The connecting part (part 153A) includes a ring portion 153A1 provided around the shaft portion 151B1 so as to be rotatable in the second direction d2, and a holding portion 153A2 that extends from the ring portion 153A1 and holds the outer forearm parts (parts 153E and 153F).

[0074] Generally, when a human rotates their wrist, the forearm can also rotate partially. According to this embodiment, such a mode can also be represented in the humanoid body 1, which is advantageous for diversifying the postures that the humanoid body 1 can form.

[0075] (8. Summary) According to the above embodiments, the humanoid body 1 is configured by directly / indirectly connecting individual part components to each other, and at least two of these multiple part components are connected to be relatively rotatable with respect to each other. In such a configuration, one part component is configured to rotate, swing, or deform partially when the other part component is rotated. According to such a structure, as can be seen from the leg part 14 and the arm part 15 exemplified in this specification, for example, it becomes possible to take a more human-like posture or change such a posture, which is advantageous for diversifying the postures that the humanoid body 1 can form.

[0076] The invention is not limited to the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention.

Explanation of Reference Numerals

[0077] 1: Humanoid body, 14: Leg part (leg), 15: Arm part (arm).

Claims

1. A leg of a doll body, The knee and A thigh portion rotatable relative to the knee portion; A lower leg portion that is rotatable relative to the knee portion, The thigh includes a rear upper thigh portion and a rear lower thigh portion, The lower leg is attached to the knee so as to be rotatable to a position where a rear portion of the lower leg contacts the rear lower portion of the thigh, The rear lower part of the thigh is When the thigh is rotated relative to the knee in a direction to approach the lower leg, the thigh can be recessed relative to the upper rear part of the thigh. When the thigh is rotated relative to the knee in a direction away from the lower leg, a continuous surface is formed with the upper rear part of the thigh. It is held as leg.

2. The range of motion of the thigh relative to the knee is narrower than the range of motion of the lower leg relative to the knee. The leg of claim 1.

3. The knee portion includes a first extension portion extending into the thigh portion, The first extension portion is When the thigh is rotated relative to the knee in a direction to approach the lower leg, the thigh is separated from the inner wall of the rear lower part of the thigh, When the thigh is rotated relative to the knee in a direction away from the lower leg, the thigh comes into contact with the inner wall of the rear lower part of the thigh so as to press the inner wall. The leg according to claim 1 or 2.

4. The thigh further includes a front upper thigh portion and a front lower thigh portion, The front lower part of the thigh is When the thigh is rotated relative to the knee in a direction to approach the lower leg, the thigh protrudes relative to the upper front part of the thigh. When the thigh is rotated relative to the knee in a direction away from the lower leg, a continuous surface is formed with the upper front part of the thigh. It is held as A leg according to any one of claims 1 to 3.

5. The knee portion further includes a second extension portion extending into the thigh portion, The front lower part of the thigh is held by the second extension part. The leg according to claim 4.

6. The thigh further includes an upper inner thigh, The inner upper part of the thigh is held between the front upper part of the thigh and the rear upper part of the thigh so as to protrude outward when the thigh is rotated relative to the waist of the doll body so as to assume a spread-leg posture. A leg as claimed in claim 4 or claim 5.

7. The leg portion according to any one of claims 1 to 6 is provided. Doll body.

Images