Joint structures and models with joint structures

Abstract

To provide a joint structure that can realistically or in an entertaining manner represent the movements and / or states of humans, animals, robots, etc. [Solution] The joint structure of one embodiment includes a shoulder-side first shaft portion 100 held in a torso module 2 that mimics the torso of a human body in a manner that prevents relative rotation; a shoulder-side first gear 102 arranged coaxially with the shoulder-side first shaft portion 100 and made in a manner that prevents relative rotation with respect to the torso module 2; a shoulder-side connecting member 110 that is pivotably provided on the shoulder-side first shaft portion 100; a shoulder-side second shaft portion 120 arranged parallel to the shoulder-side first shaft portion 100 and rotatably provided on the shoulder-side connecting member 110; a shoulder-side second gear 122 that is integrally rotatable on the shoulder-side second shaft portion 120 and meshes with the shoulder-side first gear 102; and an upper arm part 41 that is integrally rotatably connected to the shoulder-side second shaft portion 120. The speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 is set to less than 1.

Description

Technical Field

[0007] , ,

[0001] The present invention relates to a joint structure suitable for use in humanoid models and the like, and a model with a joint structure having the same.

Background Art

[0002] Joint structures used in humanoid models and the like are generally classified into a joint structure called a single joint and a joint structure called a double joint.

[0003] As a technology related to a single joint, for example, Patent Document 1 can be cited. As a technology related to a double joint, for example, Patent Document 2 can be cited.

[0004] A single joint is, for example, a structure in which the end of the forearm is swingably connected to the end of the upper arm of a humanoid model via one axis. The single joint has an advantage in that the structure is simple.

[0005] On the other hand, a double joint is, for example, a structure in which the end of the upper arm of a humanoid model and the end of the forearm are connected by an intermediate member, and the end of the upper arm and the intermediate member are swingably connected via one axis, and the end of the forearm and the intermediate member are swingably connected via another axis. The double joint has an advantage in that a wide range of movement can be ensured.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] In the field of models and figurines, there is a constant demand for ingenuity in realistically representing the movements and states (posture, etc.) of real people, animals, etc., and the level of this demand is increasing year by year. As a result, it is becoming increasingly difficult to receive high praise for products that do not possess clever ingenuity.

[0008] Therefore, the inventor focused on the actual movements of humans, particularly the coordination between the movements of one part of the body and the movements of other parts that accompany them, and diligently researched structures capable of representing such coordinated movements. Specifically, in the human body, in multiple parts connected by joints, there are cases where, for example, the movements of one part do not coordinate significantly with those of other parts, or are significantly delayed. The inventor diligently researched structures for representing such coordinated movements and came up with the present invention.

[0009] This invention was conceived against the above background, and aims to provide a joint structure and a model with a joint structure that can realistically or in an interesting manner represent the movements and / or states of humans, animals, robots, etc. [Means for solving the problem]

[0010] The present invention relates to the following aspects.

[0011] An articulated structure comprising: a first shaft portion held in a manner that it cannot rotate relative to a first portion; a first gear arranged coaxially with the first shaft portion and made non-rotatable relative to the first portion; a connecting member pivotably mounted on the first shaft portion; a second shaft portion arranged parallel to the first shaft portion and rotatably mounted on the connecting member; a second gear integrally rotatably mounted on the second shaft portion and meshing with the first gear; and a second portion integrally rotatably connected to the second shaft portion and extending away from the second shaft portion in an axial view of the second shaft portion, wherein the speed transmission ratio of the rotation of the first gear to the rotation of the second gear is less than 1 or greater than 1. A model with joints, having the joint structure described above.

[0012] In this embodiment, the second shaft portion is rotatably mounted on the connecting member, allowing the second portion, which rotates integrally with the second shaft portion, to oscillate relative to the connecting member with the second shaft portion as its axis. When the second portion oscillates, the second gear, which rotates integrally with the second shaft portion, meshes with the first gear and revolves around the first shaft portion, which is held in a position where relative rotation is impossible for the first portion, causing the connecting member to oscillate with the first shaft portion as its axis. This links the oscillation of the second portion with the oscillation of the connecting member. Furthermore, if the speed transmission ratio of the rotation of the first gear to the rotation of the second gear is less than 1 or greater than 1, the connecting member will oscillate at a reduced or increased speed in response to the oscillation of the second portion, making it possible to represent how multiple parts connected by joints in humans, animals, etc., operate without uniform coordination. This allows for the realistic or intriguing representation of the movements and / or states of humans, animals, robots, etc. [Effects of the Invention]

[0013] According to the present invention, the actions and / or states of humans, animals, robots, etc., can be represented in a realistic or intriguing manner. [Brief explanation of the drawing]

[0014] [Figure 1] This is a front view of a doll, which is an example of a model with an articulated joint according to one embodiment. [Figure 2] Figure 1 is a rear view of the doll shown. [Figure 3] Figure 1 is a left side view of the doll. [Figure 4] This figure shows how parts of the doll shown in Figure 1 (arms and legs) change their state. [Figure 5] This figure shows the area around the shoulder joint structure of the doll shown in Figure 1. [Figure 6] Figure 1 is an exploded perspective view of the components that make up the shoulder joint structure of the doll shown. [Figure 7] Figure 1 is a magnified view of the area around the shoulder joint structure of the doll, seen from the dorsal side. [Figure 8]A diagram for explaining the operation of the upper arm part that constitutes the shoulder joint structure of the doll shown in FIG. 1, and the operation of other parts such as the scapula element related to the operation of the upper arm part. [Figure 9] A diagram for explaining the meshing state of gears in the shoulder joint structure during the operation shown in FIG. 8. [Figure 10] A diagram showing the left leg module of the doll shown in FIG. 1. [Figure 11] An exploded perspective view of the members constituting the left leg module of the doll shown in FIG. 1. [Figure 12] A cross-sectional view of the left leg module of the doll along the line XII-XII in FIG. 10(C). [Figure 13] A diagram for explaining the operation of the lower leg part that constitutes the knee joint structure in the left leg module of the doll shown in FIG. 1, and the operation of the knee part related to the operation of the lower leg part. [Figure 14] A diagram for explaining a modification example of an embodiment.

Mode for Carrying Out the Invention

[0015] Hereinafter, a doll 1 which is an example of a model with a joint structure according to an embodiment will be described. FIGS. 1 to 3 show a front view, a rear view, and a left side view of the doll 1, respectively. While referring to FIGS. 1 to 3, first, the overall configuration of the doll 1 will be schematically described. In FIGS. 1 to 3, the arrow indicated by the symbol UD indicates the vertical direction of the doll 1, and the arrow indicated by the symbol LR indicates the horizontal direction of the doll 1. Also, although not shown in the figure, the direction orthogonal to the vertical direction UD and the horizontal direction LR is referred to as the front-rear direction. Hereinafter, each part of the doll 1 will be described based on these directions.

[0016] <Schematic Configuration of the Doll> As shown in FIGS. 1 to 3, the doll 1 includes a torso module 2, a waist and hip module 3, a right arm module 4R, a left arm module 4L, a head module 5, a right leg module 6R, and a left leg module 6L. <000s0103> Torso module 2 is the part that mimics the human torso and comprises a cylindrical chest part 21 and an abdominal part 22 located below the chest part 21. A joint for connecting to the abdominal part 22 is provided inside the chest part 21, and the abdominal part 22 is connected to the joint inside the chest part 21 with its upper part inserted inside the chest part 21. In this way, the abdominal part 22 is connected to the chest part 21 so as to protrude downward from the lower part of the chest part 21.

[0018] The waist-hip module 3 is located below the torso module 2 and is the part that mimics the waist and hips of a human. The waist-hip module 3 comprises a cylindrical torso part 31, a roughly triangular lower abdomen part 32 that tapers downward from the front lower side of the torso part 31, a right hip part 33R connected to the rear right side of the torso part 31, and a left hip part 33L connected to the rear left side of the torso part 31. The waist-hip module 3 is connected to the abdomen part 22 by inserting the lower part of the abdomen part 22 inside the torso part 31.

[0019] The right arm module 4R is connected to the upper right side of the torso module 2, and the left arm module 4L is connected to the upper left side of the torso module 2, each mimicking a human arm. The right arm module 4R includes an upper arm part 41 that is connected to the torso module 2 and mimics a human upper arm, a forearm part 42 that is connected to the end of the upper arm part and mimics a human forearm, and a hand part 43 that is connected to the end of the forearm part 42. The left arm module 4L has a similar configuration to the right arm module 4R, although it is oriented differently for left and right.

[0020] The head module 5 is located on the upper part of the torso module 2 and is the part that mimics the head and neck of a human. The head module 5 comprises a head part 51 and a neck part 52 connected to the lower part of the head part 51, and is located on the upper part of the torso module 2 by connecting the neck part 52 to a joint located on the upper central side of the torso module 2.

[0021] The right leg module 6R is connected to the lumbar-hip module 3 so as to extend downward from the right slope of the roughly triangular lower abdominal part 32 in the lumbar-hip module 3, and the left leg module 6L is connected to the lumbar-hip module 3 so as to extend downward from the left slope of the triangular lower abdominal part 32.

[0022] The left leg module 6L comprises a leg base part 61, a thigh part 62 connected to the leg base part 61 at the top, a knee part 63 connected to the lower part of the thigh part 62, a lower leg part 64 connected to the knee part 63 at the top, and a foot part 65 connected to the lower part of the lower leg part 64. A joint for connecting to the right leg module 6R and the left leg module 6L is provided at the rear of the triangular lower abdomen part 32 of the waist and hip module 3, and the left leg module 6L is connected to the waist and hip module 3 by connecting the leg base part 61 to this joint. The right leg module 6R has a similar configuration to the left leg module 6L, although it is oriented differently for left and right.

[0023] In doll 1, the right arm module 4R, the left arm module 4L, and the head module 5 are movablely connected to the torso module 2, and their angles relative to the torso module 2 can be changed. In addition, the angles of the forearm part 42 relative to the upper arm part 41 and the hand part 43 relative to the forearm part 42 can also be changed in the right arm module 4R and the left arm module 4L.

[0024] Furthermore, the right leg module 6R and the left leg module 6L are movably connected to the hip module 3, allowing their angles relative to the hip module 3 to be changed. In addition, the angles of the knee part 63 relative to the thigh part 62, the angle of the lower leg part 64 relative to the knee part 63, and the angle of the foot part 65 relative to the lower leg part 64 can also be changed in the right leg module 6R and the left leg module 6L.

[0025] The modules (2, 3, 4R, 4L, 5, 6R, 6L) described above that are connected to one another may be connected by a single-axis joint or by a multi-axis joint such as a universal joint. The parts within the modules that are connected to one another may also be connected by a single-axis joint or by a multi-axis joint such as a universal joint. The joints described above in this embodiment include an axle hole into which an axle provided in the module or part is fitted, or include an axle into which an axle is fitted in an axle hole provided in the module or part. In this embodiment, as an example, by pressing the axle into the axle hole, the posture is maintained when the angle of the module or part is changed with respect to the joint as the axis, and the doll 1 can maintain various poses in a static state.

[0026] The doll 1 according to this embodiment is a so-called "drawing mannequin" used as a reference when drawing human poses, but the use of doll 1 is not particularly limited, and doll 1 may be a model called a figure or plastic model. The material of doll 1 is mainly a resin such as ABS resin or POM resin, but is not particularly limited.

[0027] Referring to Figures 1 to 3, the connection structure between the right arm module 4R and the torso module 2 will be explained. The right arm module 4R is connected to the upper right side of the torso module 2 via a shoulder-side first axis portion 100 provided on the upper right side of the torso module 2, a shoulder-side connecting member 110 pivotably mounted on the shoulder-side first axis portion 100, and a shoulder-side second axis portion 120 rotatably mounted on the shoulder-side connecting member 110. More specifically, the right arm module 4R is integrally rotatably connected to the shoulder-side second axis portion 120, and by pivoting the shoulder-side second axis portion 120 with respect to the shoulder-side connecting member 110, the angle relative to the torso module 2 can be changed. Figure 4(A) shows the right arm module 4R changing its tilt from extending downward to extending to the right, in other words, the figure 1 raising the right arm module 4R.

[0028] Referring to Figure 3, in the left leg module 6L, the knee part 63 has a leg-side first shaft portion 700, a leg-side connecting member 710 pivotably mounted on the leg-side first shaft portion 700, and a leg-side second shaft portion 720 rotatably mounted on the leg-side connecting member 710. The leg-side first shaft portion 700 is connected to the lower part of the thigh part 62 and is held in a position where it cannot rotate relative to the thigh part 62. The leg-side connecting member 710 can change its angle relative to the thigh part 62 by being pivotable relative to the leg-side first shaft portion 700. The lower leg part 64 is connected to the leg-side second shaft portion 720 so as to be integrally rotatable, and thereby can change its angle relative to the knee part 63 by pivoting relative to the leg-side connecting member 710 with the leg-side second shaft portion 720 as the axis. Figure 4(B) shows the lower leg part 64 changing its tilt from extending downward to extending upward and backward, or in other words, the doll 1 raising the lower leg part 64 upward and backward. In Figure 4(B), the leg-side connecting member 710 swings upward and backward relative to the leg-side first shaft portion 700, and the lower leg part 64 swings relative to the leg-side connecting member 710 with the leg-side second shaft portion 720 as its axis.

[0029] The connection structure between the right arm module 4R and the torso module 2, and the connection structure between the thigh part 62 and the lower leg part 64, are joint structures known as double joints, which can widen the range of motion of the movable parts compared to a single joint that connects two parts with one axis. Specifically, between the right arm module 4R and the torso module 2, the swing displacement of the right arm module 4R around the shoulder-side second axis part 120 can be added to the swing displacement of the right arm module 4R around the shoulder-side first axis part 100, thereby widening the range of motion of the right arm module 4R.

[0030] Furthermore, between the thigh part 62 and the lower leg part 64, the oscillation displacement of the lower leg part 64 around the leg-side second axis portion 720 is added to the oscillation displacement of the thigh part 62 around the leg-side first axis portion 700 of the knee part 63 (leg-side connecting member 710), thereby widening the range of motion of the lower leg part 64.

[0031] In the joint structure (hereinafter referred to as the shoulder joint structure) configured between the right arm module 4R and the torso module 2 according to this embodiment, the shoulder-side connecting member 110 swings about the shoulder-side first axis portion 100 in conjunction with the swing of the right arm module 4R about the shoulder-side second axis portion 120 as its axis. Furthermore, in the joint structure (hereinafter referred to as the knee joint structure) configured between the thigh part 62 and the lower leg part 64, the knee part 63 (leg-side connecting member 710) swings about the leg-side first axis portion 700 in conjunction with the swing of the lower leg part 64 about the leg-side second axis portion 720 as its axis. Thus, in this embodiment, the aim is to realistically represent human movement and / or state. The following describes in detail each joint structure that realizes such linked movements.

[0032] <Shoulder joint structure> Figure 5 shows the area around the shoulder joint structure of doll 1, with (A) being an oblique view, (B) a front view, and (C) a rear view.

[0033] Figure 5 shows the shoulder-side first axis portion 100 located on the upper right side of the torso module 2, the shoulder-side connecting member 110 pivotably mounted on the shoulder-side first axis portion 100, and the shoulder-side second axis portion 120 rotatably mounted on the shoulder-side connecting member 110. As described above, the right arm module 4R is connected to the shoulder-side second axis portion 120 so as to be integrally rotatable. More specifically, the upper arm part 41 has an upper arm body 41A and a connecting portion 41B connected to the upper end of the upper arm body 41A. The right arm module 4R is connected to the shoulder-side second axis portion 120 by connecting the connecting portion 41B to the shoulder-side second axis portion 120.

[0034] In Figure 5(A), the symbol A1 indicates the central axis of the shoulder-side first axis portion 100, and the symbol A2 indicates the central axis of the shoulder-side second axis portion 120. In Figure 5(A), the rotational arrows shown around the central axis A1 indicate the direction in which the shoulder-side connecting member 110 swings, and the rotational arrows shown around the central axis A2 indicate the direction in which the right arm module 4R swings.

[0035] In this embodiment, as described above, the shoulder-side connecting member 110 swings about the shoulder-side first axis 100 in conjunction with the swing of the right arm module 4R about the shoulder-side second axis 120 as the axis, thereby realistically representing human movement and / or state. Specifically, the shoulder-side connecting member 110 operates in conjunction with the up-and-down movement of the right arm module 4R, thereby representing the clavicle and scapula, which change angle in conjunction with the up-and-down movement of the human upper arm, and the trapezius muscle, which contracts and expands in conjunction with the up-and-down movement of the upper arm. In this embodiment, in the shoulder joint structure comprising the shoulder-side first axis 100, the shoulder-side connecting member 110, and the shoulder-side second axis 120, two gears (100, 120) are used, thereby realizing the coordinated movement between the right arm module 4R and the shoulder-side connecting member 110.

[0036] Figure 6 shows an exploded perspective view of the components constituting the shoulder joint structure, and Figure 7 is an enlarged view of the area around the shoulder joint structure as seen from the dorsal side, showing the two gears (102, 122) mentioned above.

[0037] Referring to Figures 6 and 7, the shoulder-side first axis portion 100 is provided on the upper right side of the torso module 2 so as to follow the front-to-back direction of the doll 1. The chest part 21 in the torso module 2 has a core portion 21A positioned in or near the center of the cross-section of the doll 1, and a cylindrical chest body 21B that surrounds the core portion 21A and connects to the core portion 21A. A base portion 21C that rises upward is provided on the upper right side of the core portion 21A. In this embodiment, referring to Figure 6, the base portion 21C is provided on the upper right side of the core portion 21A (inserted in the illustrated example) in a state where it supports and integrates with the shoulder-side first axis portion 100, thereby holding the shoulder-side first axis portion 100 to the upper right side of the torso module 2 in a position where it cannot rotate relative to it. The position where the base portion 21C is provided corresponds to a position shifted laterally from the left-right center of the upper part of the human torso.

[0038] Referring to Figure 6, a connection portion for the shoulder-side connecting member 110 is provided at the front end portion of the shoulder-side first shaft portion 100, and the shoulder-side connecting member 110 is pivotably mounted at the front end portion of the shoulder-side first shaft portion 100. On the other hand, in this embodiment, referring to Figure 7, a shoulder-side first gear 102, which is one of two gears that realize the linked operation between the right arm module 4R and the shoulder-side connecting member 110, is provided at the rear end portion of the shoulder-side first shaft portion 100.

[0039] The shoulder-side first gear 102 is arranged coaxially with the shoulder-side first shaft portion 100 and is prevented from rotating relative to the upper right side of the torso module 2. In this embodiment, the shoulder-side first gear 102 is located between both ends of the shoulder-side first shaft portion 100 and is formed integrally with the shoulder-side first shaft portion 100. By forming the shoulder-side first gear 102 integrally with the shoulder-side first shaft portion 100, the shoulder-side first gear 102 is held in a state where it cannot rotate relative to the upper right side of the torso module 2. However, the shoulder-side first gear 102 does not have to be formed integrally with the shoulder-side first shaft portion 100; it may be provided separately on the shoulder-side first shaft portion 100, or it may be provided on the torso module 2 separately from the shoulder-side first shaft portion 100.

[0040] As shown in Figure 7, the shoulder-side first gear 102 has a main body 103 having a gear central axis that coincides with the central axis A1 of the shoulder-side first shaft portion 100, and teeth 104 protruding from the outer circumferential surface of the main body 103. In this embodiment, the teeth 104 are formed on a part of the outer circumferential surface of the main body 103. The shoulder-side first gear 102 is provided such that the teeth 104 protrude laterally (to the right in Figure 5) away from the left-right center of the torso module 2. In this embodiment, the number of teeth 104 of the shoulder-side first gear 102 is one, and the teeth 104 are partially provided on the outer circumferential surface of the main body 103. However, the number and / or range of teeth 104 can be appropriately set according to the swing range of the upper arm part 41, and the number and / or range of teeth are not particularly limited.

[0041] As shown in Figures 5(A) to (C) and Figure 6, the shoulder-side connecting member 110 is pivotably mounted on the shoulder-side first axis portion 100 and includes a connecting body 111 extending from the shoulder-side first axis portion 100 in a direction away from the left-right center of the torso module 2 toward the side (to the right in Figure 5), a connecting portion 113 extending rearward from the portion of the connecting body 111 above the connection point with the shoulder-side first axis portion 100 and reaching the upper right side of the back of the torso module 2, and a scapula element 114 connected to the connecting portion 113 so as to hang downward from the connecting portion 113.

[0042] The connecting part body 111 has a first fitting hole 111A and a second fitting hole 111B. The shoulder-side connecting member 110 is pivotably mounted on the shoulder-side first shaft portion 100 by fitting the front end portion of the shoulder-side first shaft portion 100 into the first fitting hole 111A. The shoulder-side connecting member 110 also rotatably supports the shoulder-side second shaft portion 120 by fitting the shoulder-side second shaft portion 120 into the second fitting hole 111B. The front end portion of the shoulder-side first shaft portion 100 is press-fitted into the first fitting hole 111A, and the shoulder-side second shaft portion 120 is press-fitted into the second fitting hole 111B. As a result, when the shoulder-side connecting member 110 swings around the shoulder-side first axis portion 100, its postural position is maintained, and when the right arm module 4R swings around the shoulder-side second axis portion 120, its postural position is maintained.

[0043] The connecting body 111 is positioned on one side (the front side in this example) of the shoulder-side first gear 102 in the axial direction of the shoulder-side first gear 102 and connects to the shoulder-side first shaft portion 100. It has a longitudinal direction in the direction in which the shoulder-side first shaft portion 100 and the shoulder-side second shaft portion 120 are aligned, thus mimicking the human clavicle. In detail, Figures 5(B) and (C) show the oscillation limit state in which the upper arm part 41 extends downward in the vertical direction of the torso module 2 and cannot go any further downward. In this state, the shoulder-side first shaft portion 100 and the shoulder-side second shaft portion 120 are aligned in the left-right direction. The connecting body 111 mimics the human clavicle by having a longitudinal direction in the left-right direction in which the shoulder-side first shaft portion 100 and the shoulder-side second shaft portion 120 are aligned when the upper arm part 41 extends downward in the vertical direction of the torso module 2.

[0044] The connecting portion 113 extends rearward from the portion of the connecting body 111 above the connection point with the shoulder-side first shaft portion 100, so that it extends above the shoulder-side first shaft portion 100 and along the axial direction of the shoulder-side first shaft portion 100. The scapula element 114 is positioned on the other side (rear side in this example) of the shoulder-side first gear 102 in the axial direction of the shoulder-side first gear 102 and has a shape that mimics the human scapula. Specifically, the scapula element 114 mimics the shape of the scapula with a roughly inverted teardrop shape with a tapering portion pointing downwards, but it may also be triangular or the like.

[0045] The connecting body 111, which mimics the clavicle, and the scapular element 114, which mimics the scapula, sandwich the shoulder-side first gear 102 from the front and back, and are positioned to conceal the shoulder-side first gear 102. The connecting part 113 connects the upper parts of the connecting body 111 and the scapular element 114, and is positioned to conceal the shoulder-side first gear 102 from above. Here, the connecting part 113 is configured as a part that mimics the trapezius muscle located between the upper parts of the human clavicle and scapula. As shown in Figures 5(B) and (C), in a front view or a rear view, the connecting part 113 has a slope that descends from the neck side to the shoulder side, improving the realism of the trapezius muscle shape representation.

[0046] As will be explained in more detail later, when the right arm module 4R moves up and down, the connecting body 111, which mimics the clavicle, and the scapula element 114 in the shoulder-side connecting member 110 move in conjunction with the up and down movement of the right arm module 4R. In addition, the connecting portion 113 moves from side to side in conjunction with the up and down movement of the right arm module 4R, representing the trapezius muscle which contracts toward the neck or expands toward the shoulder in conjunction with the up and down movement of the upper arm. Details of these movements will be explained later using Figures 8 and 9.

[0047] As shown in Figures 5 and 6, the second shoulder shaft portion 120 is arranged parallel to the first shoulder shaft portion 100 and is rotatably mounted on the shoulder connecting member 110. More specifically, the second shoulder shaft portion 120 is mounted on the shoulder connecting member 110 by press-fitting its front end portion into the second fitting hole 111B in the connecting body 111 of the shoulder connecting member 110.

[0048] As shown in Figure 6, the shoulder-side second axis portion 120 is provided with a joint shaft hole 120A. Also, referring to Figure 7, the shoulder-side second axis portion 120 is provided with a shoulder-side second gear 122, which is the other of two gears that realize the linked operation between the right arm module 4R and the shoulder-side connecting member 110, located behind the joint shaft hole 120A. Referring to Figure 6, the joint shaft hole 120A is the part that connects the upper arm part 41, and more specifically, the upper arm part 41 and the shoulder-side second axis portion 120 are connected by fitting the shaft portion 410 formed on the connecting portion 41B of the upper arm part 41 into its interior. As a result, the upper arm part 41 extends from the shoulder-side second axis portion 120 so as to move away from the shoulder-side second axis portion 120 in an axial view of the shoulder-side second axis portion 120. The upper arm part 41 can rotate around the central axis of the joint shaft hole 120A, thereby connecting the upper arm part 41 to the shoulder-side second shaft part 120 in a universal joint configuration, ensuring a degree of freedom in the movement of the upper arm part.

[0049] In this embodiment, the joint shaft hole 120A in the shoulder-side second shaft portion 120 is located in front of the shoulder-side second gear 122, but this order may be reversed.

[0050] In this embodiment, the second shoulder gear 122 is rotatably mounted integrally with the second shoulder shaft portion 120 and meshes with the first shoulder gear 102 as shown in Figure 7. In this embodiment, the second shoulder gear 122 and the second shoulder shaft portion 120 are integrally formed, but the second shoulder gear 122 does not have to be integrally formed with the second shoulder shaft portion 120. It may be a separate component that is fitted into the second shoulder shaft portion 120 in a manner that prevents relative rotation.

[0051] The shoulder-side second gear 122 has a main body 123 having a gear central axis that coincides with the central axis A2 of the shoulder-side second shaft portion 120, and teeth 124 protruding from the outer circumferential surface of the main body 123. In this embodiment, the teeth 124 are formed on a part of the outer circumferential surface of the main body 123. The shoulder-side second gear 122 is provided such that the teeth 124 protrude toward the shoulder-side first gear 102 and mesh with the teeth 104 of the shoulder-side first gear 102. In this embodiment, the number of teeth 124 of the shoulder-side second gear 122 is two, and the teeth 124 are partially provided on the outer circumferential surface of the main body 103. However, the number and / or range of teeth 124 can be appropriately set according to the swing range of the upper arm part 41, and the number and / or range are not particularly limited.

[0052] In this embodiment, a trapezius muscle support portion 126 is provided on the shoulder-side second axis portion 120, extending along the shoulder-side second axis portion 120 and adjacent to the connection portion 113 of the shoulder-side connecting member 110, and rotating integrally with the shoulder-side second axis portion 120. More specifically, the trapezius muscle support portion 126 is provided between the upper ends of a pair of connecting pieces connected to the shoulder-side second axis portion 120, spaced apart in the axial direction of the shoulder-side second axis portion 120. When the right arm module 4R moves up and down, the trapezius muscle support portion 126 rotates integrally with the shoulder-side second axis portion 120, causing it to swing from side to side.

[0053] As shown in Figures 5(B) and (C), in a frontal or posterior view, the trapezius muscle complement 126, like the connecting portion 113, has a slope that descends from the neck side to the shoulder side, improving the realism of the trapezius muscle shape representation. In the state where the right arm module 4R extends downward as shown in Figures 5(B) and (C), the slope that descends to the right of the trapezius muscle complement 126 and the slope that descends to the right of the connecting portion 113 are smoothly continuous. In this state, the trapezius muscle complement 126 does not overlap with the connecting portion 113 in the vertical direction UD. This state in which the slope that descends to the right of the trapezius muscle complement 126 and the slope that descends to the right of the connecting portion 113 are smoothly continuous, and the trapezius muscle complement 126 does not overlap with the connecting portion 113 in the vertical direction UD may be referred to as the "reference position" below. At this reference position, it is preferable that the upper arm part 41 extends downward at an angle of ±45 degrees with respect to the direction perpendicular to the longitudinal direction of the shoulder-side connecting member 110, and more preferably at an angle of 0 degrees or more and 30 degrees, when viewed in the axial direction of the shoulder-side second axis portion 120. In this example, at the reference position, the upper arm part 41 extends downward at an angle of approximately 10 degrees with respect to the direction perpendicular to the longitudinal direction of the shoulder-side connecting member 110. In the above description, the positive direction of the angle is the direction in which the downwardly extending upper arm part 41 swings away from the torso module 2.

[0054] In this embodiment, as described above, the shoulder-side first gear 102 and the shoulder-side second gear 122 mesh, and the shoulder-side first gear 102 is made unable to rotate relative to the upper right side of the torso module 2. The shoulder-side second gear 122 is able to rotate integrally with the shoulder-side second shaft portion 120 on a shoulder-side connecting member 110 which is pivotably provided on the shoulder-side first shaft portion 100, and the upper arm part 41 is connected to the shoulder-side second shaft portion 120 so as to be able to rotate integrally. In this case, as the upper arm part 41 swings around the shoulder-side second shaft portion 120 as its axis, the shoulder-side second gear 122 rotates around the shoulder-side second shaft portion 120 as its axis, and as it rotates, the shoulder-side second gear 122 receives a reaction force from the teeth 104 of the stationary shoulder-side first gear 102. As a result, the shoulder-side second gear 122 revolves around the shoulder-side first gear 102. Consequently, the shoulder-side connecting member 110 receives a force from the shoulder-side second gear 122 due to its orbital motion, causing it to swing around the shoulder-side first shaft portion 100, which is coaxial with the shoulder-side first gear 102, as its axis. This enables coordinated movement between the upper arm part 41 and the shoulder-side connecting member 110.

[0055] In this embodiment, the speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 is set to less than 1. As shown in Figure 7, the pitch circle diameter of the shoulder-side second gear 122 is smaller than the pitch circle diameter of the shoulder-side first gear 102, and it is clear that the amount of rotation of the shoulder-side first gear 102 is smaller than the amount of rotation of the shoulder-side second gear 122. When the speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 is set to less than 1, when the upper arm part 41 swings, the shoulder-side connecting member 110 swings in conjunction with it with a swing amount smaller than the swing amount of the upper arm part 41.

[0056] In this embodiment, the purpose of setting the speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 to less than 1, and linking the shoulder-side connecting member 110 to the oscillation of the upper arm part 41 with an oscillation amount smaller than that of the upper arm part 41, is to realistically represent the state in which the shoulder area (clavicle, scapula, trapezius muscle) that moves in conjunction with the movement of the human upper arm moves less than the movement of the upper arm. Specifically, in this embodiment, the speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 is set to 0.5. While there are no particular limitations on the value of such a speed transmission ratio, it is preferable to set the speed transmission ratio to 0.4 or more and 0.6 or less when representing the movement of the shoulder area accompanying the movement of the upper arm. In order to make the difference in movement easy to understand in the linkage of two members, not limited to the movement of the shoulder area, it is preferable to set the speed transmission ratio to 0.8 or less.

[0057] Furthermore, the speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 may be 1, that is, the rotation of the shoulder-side second gear 122 may be transmitted to the shoulder-side first gear 102 at a constant speed. Even in this configuration, the shoulder-side connecting member 110 will oscillate in conjunction with the oscillation of the upper arm part 41. In this case, the expression of motion may be monotonous compared to the case where the speed transmission ratio is less than 1, but it may be advantageous from the viewpoint of manufacturing efficiency. Also, the speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 may be greater than 1. In this case, for example, the expression of motion of one part of a human being that is linked to another part may be expressed in an interesting manner. Furthermore, in order to make the difference in motion between the two members easier to understand, it is preferable to set the speed transmission ratio to 1.2 or higher.

[0058] The following describes the coordinated operation between the right arm module 4R and the shoulder-side connecting member 110, with reference to Figures 8 and 9.

[0059] Figure 8(A) shows the right arm module 4R extended downward, Figure 8(B) shows the right arm module 4R swung upward from the state shown in Figure 8(A), and Figure 8(C) shows the right arm module 4R swung further upward from the state shown in Figure 8(B).

[0060] During the transition from the state in Figure 8(A) to the state in Figure 8(B), the upper arm part 41 of the right arm module 4R swings upward by rotating integrally with the shoulder-side second axis part 120 relative to the shoulder-side connecting member 110, with the shoulder-side second axis part 120 as the axis. As is clear from comparing Figure 8(A) and Figure 8(B), the scapular element 114 of the shoulder-side connecting member 110 swings upward and to the right with a smaller amount of swing compared to the amount of swing of the upper arm part 41. Also, the connecting portion 113 of the shoulder-side connecting member 110 swings to the left with a smaller amount of swing compared to the amount of swing of the upper arm part 41.

[0061] Specifically, in the example shown in Figure 8(B), the upper arm part 41 swings approximately 20 degrees upward (counterclockwise in Figure 8) relative to the shoulder-side connecting member 110, with the shoulder-side second axis portion 120 as its axis, and consequently, the shoulder-side connecting member 110 swings approximately 10 degrees counterclockwise with the shoulder-side first axis portion 100 as its axis. As a result, the upper arm part 41 swings approximately 30 degrees upward in the transition from Figure 8(A) to Figure 8(B).

[0062] In the state shown in Figure 8(C), the upper arm part 41 has swung approximately 20 degrees further upward (counterclockwise in Figure 8) relative to the shoulder-side connecting member 110, with the shoulder-side second axis portion 120 as its axis. Consequently, the shoulder-side connecting member 110 has swung approximately 10 degrees further counterclockwise, with the shoulder-side first axis portion 100 as its axis. Comparing Figure 8(A) and Figure 8(C), it can be clearly seen that the scapular element 114 of the shoulder-side connecting member 110 is swung upward and to the right with a smaller amount of swing compared to the amount of swing of the upper arm part 41. Similarly, it can be clearly seen that the connecting portion 113 of the shoulder-side connecting member 110 is swung to the left with a smaller amount of swing compared to the amount of swing of the upper arm part 41.

[0063] The human scapula moves in conjunction with the movement of the upper arm, changing its state with a smaller amount of movement than the upper arm. Similarly, the human trapezius muscle moves in conjunction with the movement of the upper arm, changing its state (contracting and expanding) with a smaller amount of movement than the upper arm. In the mannequin 1 according to this embodiment, the speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 is set to less than 1, specifically 0.5. By causing the scapula element 114 of the shoulder-side connecting member 110 and the connecting part 113 that mimics the trapezius muscle to move in conjunction with the vertical movement of the upper arm part 41, it is possible to realistically represent the movement of the scapula and trapezius muscle in conjunction with the movement of the upper arm, as shown in Figure 8. Although not shown in Figure 8, the connecting part body 111 that mimics the clavicle also oscillates in conjunction with the upper arm part 41 with a smaller amount of oscillation compared to the amount of oscillation of the upper arm part 41. As a result, in doll 1, it is possible to realistically represent the movement of the clavicle, which changes its state with a smaller amount of movement than the movement of the upper arm.

[0064] Figures 9(A) to 9(C) correspond to the states in Figures 8(A) to 9(C), respectively, and show the meshing state between the shoulder-side first gear 102 and the shoulder-side second gear 122. When transitioning from the state in Figure 8(A) to the state in Figure 8(B), the upper arm part 41 of the right arm module 4R rotates with respect to the shoulder-side connecting member 110, with the shoulder-side second shaft part 120 as its axis, causing the upper arm part 41 to swing upward. At this time, the shoulder-side second gear 122, which rotates together with the shoulder-side second shaft part 120, rotates on its own axis with the shoulder-side second shaft part 120 as its axis. During this rotation, the second shoulder gear 122 attempts to rotate the first shoulder gear 102 with which it meshes. However, since the first shoulder gear 102 is mounted on the torso module 2 in a way that prevents relative rotation, the second shoulder gear 122 receives a reaction force from the teeth 104 of the stationary first shoulder gear 102. As a result, as shown in the transition from Figure 9(A) to Figure 9(B), the second shoulder gear 122 revolves around the first shoulder gear 102 in the counterclockwise direction shown in Figure 9. Consequently, the shoulder connecting member 110 receives a force from the second shoulder gear 122 due to its revolving motion and oscillates around the first shoulder shaft portion 100, which is coaxial with the first shoulder gear 102, as its axis.

[0065] In Figure 9(C), the upper arm part 41 swings further upward from the state in Figure 9(B), causing the shoulder-side second gear 122 to revolve even more around the shoulder-side first gear 102. As a result, the shoulder-side connecting member 110 swings even further from the state in Figure 9(B). The rotation and revolution of the shoulder-side second gear 122 as described above causes the upper arm part 41 and the shoulder-side connecting member 110 to operate in coordination.

[0066] Here, referring to Figures 8 and 9, we focus on the operation of the trapezius muscle support part 126. In Figures 8(A) and 9(A), the trapezius muscle support part 126 is in a "reference position" where the slope of the trapezius muscle support part 126 that slopes downward to the right and the slope of the connecting part 113 that slopes downward to the right are smoothly continuous, and the trapezius muscle support part 126 does not overlap with the connecting part 113 in the vertical direction UD. The trapezius muscle support part 126 rotates together with the shoulder-side second axis part 120 when the upper arm part 41 rotates together with the shoulder-side second axis part 120 with respect to the shoulder-side connecting member 110, with the shoulder-side second axis part 120 as the axis. Specifically, as shown in Figures 8(B) and 9(B), when the upper arm part 41 swings upward around the shoulder-side second axis part 120 as its axis, in other words, when it rotates counterclockwise in Figures 8 and 9, the trapezius muscle supplement part 126 moves toward the connection part 113. Then, in Figures 8(B) and 9(B), the trapezius muscle supplement part 126 moves to a position where it overlaps with the connection part 113 in the vertical direction UD (a position located below the connection part 113). Then, in Figures 8(C) and 9(C), the trapezius muscle supplement part 126 overlaps with the connection part 113 in the vertical direction UD, with the overlap between the connection part 113 and the connection part 113 being further expanded.

[0067] In other words, in this embodiment, the trapezius muscle support part 126 is configured to move towards the connection part 113 as it swings in one direction (counterclockwise in the figure) with the shoulder-side second axis part 120 of the upper arm part 41 as the axis, from a reference position where it does not overlap with the connection part 113 in the vertical direction UD, and to overlap with the connection part 113 in the vertical direction UD when it reaches a predetermined movement position from the reference position. In the illustrated example, the predetermined movement position is a position or angle where the trapezius muscle support part 126 has rotated by less than 10 degrees from the reference position with the shoulder-side second axis part 120 as the axis, but the amount of movement from the reference position to the predetermined movement position is not particularly limited.

[0068] With the configuration of the trapezius muscle complement section 126 as described above, this embodiment makes it possible to more realistically represent the trapezius muscle, which contracts towards the neck or expands towards the shoulder in coordination with the upper and lower parts of the upper arm.

[0069] <Knee joint structure> Next, the knee joint structure of doll 1 will be described. Figure 10 shows the left leg module 6L of doll 1, where (A) is the left side view, (B) is the right side view, and (C) is the front view.

[0070] Figure 10 shows the knee joint structure components: the first leg-side shaft portion 700 of the knee part 63, the leg-side connecting member 710 pivotably mounted on the first leg-side shaft portion 700, and the second leg-side shaft portion 720 rotatably mounted on the leg-side connecting member 710. The first leg-side shaft portion 700 is held by the thigh part 62 in a manner that prevents relative rotation, and the lower leg part 64 is connected to the second leg-side shaft portion 720 so as to be able to rotate integrally. Thus, the knee joint structure connects the thigh part 62 and the lower leg part 64 via the knee part 63.

[0071] In Figures 10(A) and 10(B), the reference numeral A11 indicates the central axis of the leg-side first shaft portion 700, and the reference numeral A12 indicates the central axis of the leg-side second shaft portion 720. The leg-side connecting member 710 swings precisely around the central axis A11, and the lower leg part 64 swings around the central axis A12. In this embodiment, the leg-side connecting member 710 operates in conjunction with the bending (swinging) motion of the lower leg part 64 to realistically represent the bending state of the human lower leg and knee. The coordinated operation between the lower leg part 64 and the leg-side connecting member 710 is achieved by using two gears (702, 722), similar to the shoulder joint structure described above.

[0072] Figure 11 is an exploded perspective view of the components constituting the left leg module 6L, showing the leg-side first shaft portion 700, the leg-side connecting member 710, and the leg-side second shaft portion 720 separated from each other, as well as the two gears (702, 722) mentioned above. As shown in Figure 11, in this embodiment, the leg-side first shaft portion 700 is provided with the leg-side first gear 702, which is one of two gears that realize the linked operation between the lower leg part 64 and the leg-side connecting member 710. The leg-side second shaft portion 720 is provided with the leg-side second gear 722, which is the other of the two gears.

[0073] The leg-side first shaft portion 700 has a first shaft support portion 700S located adjacent to the leg-side first gear 702, and a left connecting end portion 700L and a right connecting end portion 700R that project axially to both sides of the leg-side first gear 702 and the first shaft support portion 700S. The leg-side second shaft portion 720 has a second shaft support portion 720S located adjacent to the leg-side second gear 722, and a left connecting end portion 720L and a right connecting end portion 720R that project axially to both sides of the leg-side second gear 722 and the second shaft support portion 720S. In the leg-side first shaft portion 700, the leg-side first gear 702 is located between the first shaft support portion 700S and the right connecting end portion 700R, and in the leg-side second shaft portion 720, the leg-side second gear 722 is located between the second shaft support portion 720S and the right connecting end portion 720R.

[0074] The first shaft support 700S has a circular cross-sectional shape in the radial direction, while the left connecting end 700L and the right connecting end 700R have rectangular cross-sectional shapes in the radial direction. Similarly, the second shaft support 720S has a circular cross-sectional shape in the radial direction, while the left connecting end 720L and the right connecting end 720R have rectangular cross-sectional shapes in the radial direction.

[0075] The first shaft portion 700 on the leg side is integrated with the leg-side connecting member 710 by rotatably fitting the first shaft support portion 700S into the first shaft hole 731A of the leg-side connecting member 710, which will be described later. The second shaft portion 720 on the leg side is integrated with the leg-side connecting member 710 by rotatably fitting the second shaft support portion 720S into the second shaft hole 732A of the leg-side connecting member 710, which will be described later. In this way, the first shaft portion 700 and the second shaft portion 720 on the leg side are integrated with the leg-side connecting member 710, so that the leg-side connecting member 710 is pivotably mounted on the first shaft portion 700 and the second shaft portion 720 on the leg-side connecting member 710.

[0076] In this embodiment, the knee part 63 is configured as a unit by fitting the first leg-side shaft portion 700 and the second leg-side shaft portion 720 into the leg-side connecting member 710 as described above, before connecting the thigh part 62 and the lower leg part 64. Then, the knee part 63 is connected to the thigh part 62 and the lower leg part 64 in this unit state.

[0077] Referring to Figures 10(A) and (B), the thigh part 62 is cylindrical and has a pair of rectangular connecting holes 62A and 62B on its lower part that are opposite to each other in the left-right direction. The first leg shaft part 700 is held in a position where it cannot rotate relative to the thigh part 62 by fitting the left connecting end 700L into the connecting hole 62A and the right connecting end 700R into the connecting hole 62B. The lower leg part 64 is also cylindrical and has a pair of rectangular connecting holes 64A and 64B on its upper part that are opposite to each other in the left-right direction. The second leg shaft part 720 is fitted the left connecting end 720L into the connecting hole 64A and the right connecting end 720R into the connecting hole 64B. As a result, the lower leg part 64 is connected to the second leg shaft part 720 so that it can rotate integrally, and the thigh part 62 and the lower leg part 64 are connected by the knee part 63.

[0078] Furthermore, in the knee part 63, which is a unit formed by integrating the leg-side connecting member 710, the leg-side first shaft portion 700, and the leg-side second shaft portion 720, the leg-side first gear 702 and the leg-side second gear 722 mesh with each other. Figure 12 is a cross-sectional view along the line XII-XII in Figure 10(C), showing how the leg-side first gear 702 and the leg-side second gear 722 mesh with each other in the knee part 63. This meshing enables the coordinated movement between the lower leg part 64 and the leg-side connecting member 710.

[0079] The leg-side connecting member 710 will be described in detail below with reference to Figures 11 and 12. The leg-side connecting member 710 is shaped like a human knee and extends along the direction in which the first leg-side shaft portion 700 and the second leg-side shaft portion 720 are aligned, with the leg-side first shaft portion 700 and the second leg-side shaft portion 720 integrated as described above. The leg-side connecting member 710 also has a curved surface 710S that is convex in a direction that intersects the direction in which the leg-side first shaft portion 700 and the second leg-side shaft portion 720 are aligned, in a plane that includes the radial directions of both the leg-side first shaft portion 700 and the second leg-side shaft portion 720, and moves away from the leg-side first shaft portion 700 and the second leg-side shaft portion 720. This curved surface 710S is the part that represents the kneecap.

[0080] The leg-side connecting member 710 has a first shaft hole 731A into which the first shaft support portion 700S of the leg-side first shaft portion 700 is fitted, and a second shaft hole 732A into which the second shaft support portion 720S of the leg-side second shaft portion 720 is fitted. In this embodiment, the leg-side connecting member 710 also has a first housing portion 731 for housing the leg-side first gear 702 and a second housing portion 732 for housing the leg-side second gear 722. The first housing portion 731 and the second housing portion 732 are partially connected and open to the interior of each other. In this embodiment, the first housing portion 731 and the second housing portion 732 are each formed by a bottomed hole, with the first shaft hole 731A being a through hole at the bottom of the first housing portion 731, and the second shaft hole 732A being a through hole at the bottom of the second housing portion 732.

[0081] In this embodiment, the leg-side connecting member 710 is pivotably mounted on the leg-side first shaft portion 700 by passing the left connecting end 700L of the leg-side first shaft portion 700 through the first shaft hole 731A and then fitting the first shaft support portion 700S into the first shaft hole 731A. At this time, the leg-side first gear 702 is housed in the first housing portion 731 along the axial direction. The leg-side connecting member 710 also rotatably supports the leg-side second shaft portion 720 by passing the left connecting end 720L of the leg-side second shaft portion 720 through the second shaft hole 732A and then fitting the second shaft support portion 720S into the second shaft hole 732A. At this time, the leg-side second gear 722 is housed in the second housing portion 732 along the axial direction.

[0082] Here, the first shaft support 700S is press-fitted into the first shaft hole 731A, and the second shaft support 720S is press-fitted into the second shaft hole 732A. As a result, when the leg-side connecting member 710 is swung around the first shaft portion 700 on its axis, its posture after the swing is maintained. In addition, the lower leg part 64, which is integrally rotatable with the second shaft portion 720 on its leg, maintains its posture after the swing when the second shaft portion 720 on its axis.

[0083] The axial directions of the first shaft hole 731A and the second shaft hole 732A are parallel to each other, and when the leg-side first shaft portion 700 and the leg-side second shaft portion 720 are fitted into the corresponding first shaft hole 731A and second shaft hole 732A of the leg-side connecting member 710, the leg-side first shaft portion 700 and the leg-side second shaft portion 720 are parallel to each other. Then, as shown in Figure 12, the leg-side first gear 702 and the leg-side second gear 722 mesh with each other through the connection portion between the first housing portion 731 and the second housing portion 732.

[0084] The leg-side first gear 702 has a main body portion 703 having a gear central axis that coincides with the central axis of the leg-side first shaft portion 700, and teeth 704 protruding from the outer circumferential surface of the main body. In this embodiment, the teeth 704 are formed on a part of the outer circumferential surface of the main body portion 703. The leg-side first gear 702 is provided such that at least a part of the teeth 704 protrudes toward the leg-side second gear 722. In this embodiment, the leg-side first gear 702 has five teeth 704, and the teeth 704 are partially provided on the outer circumferential surface of the main body portion 703. However, the number and / or range of teeth 704 can be appropriately set according to the oscillation range of the lower leg part 64, and the number and / or range of teeth are not particularly limited.

[0085] The leg-side second gear 722 has a main body portion 723 having a gear central axis that coincides with the central axis of the leg-side second shaft portion 720, and teeth 724 protruding from the outer circumferential surface of the main body. In this embodiment, the teeth 724 are formed on a part of the outer circumferential surface of the main body portion 723. At least a part of the teeth 724 of the leg-side second gear 722 protrudes toward the leg-side first gear 702 and is provided to mesh with the leg-side first gear 702. In this embodiment, the leg-side second gear 722 has five teeth 724, and the teeth 724 are partially provided on the outer circumferential surface of the main body portion 723. However, the number and / or range of teeth 724 can be appropriately set according to the swing range of the lower leg part 64, and the number and / or range of teeth are not particularly limited.

[0086] As shown in Figure 12, the second housing portion 732 more specifically includes a central housing portion 733 that houses the main body portion 723 of the leg-side second gear 722, and a fan-shaped tooth row housing portion 734 that partially extends radially outward from the central housing portion 733 and houses a plurality of teeth 724 of the leg-side second gear 722. The tooth row housing portion 734 is formed such that the length range between its circumferential ends is greater than the length range occupied by the plurality of teeth 724 in the circumferential direction.

[0087] Here, both circumferential ends of the tooth row housing portion 734 are configured to function as stoppers that define the rotation limit position of the leg-side second gear 722 that rotates relative to the leg-side connecting member 710. In the state shown in Figure 12, the lower leg part 64 is in an upright reference position linearly aligned with the thigh part 62, and the rearmost tooth 724 among the multiple teeth 724 is in contact with or close to the rear end of the circumferential ends of the tooth row housing portion 734. In this state, the rotation of the leg-side second gear 722 in one circumferential direction is restricted. Then, when the leg-side second gear 722 rotates in the other circumferential direction, and the frontmost tooth 724 among the multiple teeth 724 comes into contact with or close to the front end of the circumferential ends of the tooth row housing portion 734, the rotation of the leg-side second gear 722 in the other circumferential direction is restricted (see Figure 13(C) below). This prevents the lower leg part 64 from bending unnaturally large.

[0088] In this embodiment, as described above, the leg-side first gear 702 and the leg-side second gear 722 mesh together, and the leg-side first gear 702 is made unable to rotate relative to the thigh part 62 by being integrated with the leg-side first shaft portion 700. The leg-side second gear 722 is rotatable together with the leg-side second shaft portion 720 on a leg-side connecting member 710 that is pivotably provided on the leg-side first shaft portion 700, and the lower leg part 64 is rotatably connected to the leg-side second shaft portion 720. In this case, as the lower leg part 64 swings around the leg-side second shaft portion 720 as its axis, the leg-side second gear 722 rotates around the leg-side second shaft portion 720 as its axis, and as it rotates, the leg-side second gear 722 receives a reaction force from the teeth 104 of the stationary leg-side first gear 702. As a result, the leg-side second gear 722 revolves around the leg-side first gear 702. Consequently, the leg-side connecting member 710 receives a force from the leg-side second gear 722 due to its orbital motion, causing it to oscillate around the leg-side first shaft portion 700, which is coaxial with the leg-side first gear 702, as its axis. This enables coordinated movement between the lower leg part 64 and the knee part 63 (leg-side connecting member 710).

[0089] In this embodiment, the speed transmission ratio of the rotation of the leg-side first gear 702 to the rotation of the leg-side second gear 722 is set to be greater than 1. As a result, when the lower leg part 64 swings, the leg-side connecting member 710 swings with a larger amount than the amount of swing of the lower leg part 64, in other words, it increases in speed and engages in coordination.

[0090] The purpose of setting the speed transmission ratio of the rotation of the first leg gear 702 to the rotation of the second leg gear 722 to be greater than 1, thereby linking the leg connecting member 710 to the oscillation of the lower leg part 64 with an oscillation amount greater than that of the lower leg part 64, is to realistically represent a state in which the knee, which moves in conjunction with the movement of the lower leg, moves more or faster than the movement of the lower leg, and to represent a natural leg bending state. Specifically in this embodiment, the speed transmission ratio of the rotation of the first leg gear 702 to the rotation of the second leg gear 722 is set to 10 / 7 (1.428...). The value of this speed transmission ratio is not particularly limited, but when representing the movement of the knee accompanying the movement of the lower leg, it is preferable to set the speed transmission ratio to be between 1.2 and 1.6.

[0091] Furthermore, the speed transmission ratio of the rotation of the leg-side second gear 722 to the rotation of the leg-side first gear 702 may be 1, that is, the rotation of the leg-side second gear 722 may be transmitted to the leg-side first gear 702 at a constant speed. Even in this configuration, the leg-side connecting member 710 will oscillate in conjunction with the oscillation of the lower leg part 64. In this case, the motion may be more monotonous compared to the case where the speed transmission ratio is greater than 1, but it may be advantageous from the standpoint of manufacturing efficiency. Also, the speed transmission ratio of the rotation of the leg-side first gear 702 to the rotation of the leg-side second gear 722 may be less than 1.

[0092] The following describes the coordinated operation between the lower leg part 64 and the leg-side connecting member 710, with reference to Figure 13.

[0093] During the transition from the state in Figure 13(A) to the state in Figure 13(B), the lower leg part 64 rotates integrally with the leg-side second shaft part 720 relative to the leg-side connecting member 710, with the leg-side second shaft part 720 as its axis, causing the lower leg part 64 to swing upward and backward. Consequently, the leg-side connecting member 710 swings upward and backward by a larger amount than the amount of swing of the lower leg part 64.

[0094] Specifically, in the example shown in Figure 13(B), the lower leg part 64 swings approximately 28 degrees posteriorly and upward (counterclockwise in Figure 13) relative to the leg-side connecting member 710, with the leg-side second axis portion 720 as its axis. Consequently, the leg-side connecting member 710 swings approximately 40 degrees counterclockwise with the leg-side first axis portion 700 as its axis. As a result, the lower leg part 64 swings approximately 68 degrees posteriorly and upward in the transition from Figure 13(A) to Figure 13(B).

[0095] In the state shown in Figure 13(C), the lower leg part 64 has swung approximately 21 degrees further posteriorly and upward (counterclockwise in Figure 13) relative to the leg-side connecting member 710, with the leg-side second axis portion 720 as its axis. Consequently, the leg-side connecting member 710 has swung approximately 30 degrees further counterclockwise, with the leg-side first axis portion 700 as its axis.

[0096] To explain the meshing state between the leg-side first gear 702 and the leg-side second gear 722 during the transition from Figure 13(A) to (C), when transitioning from the state in Figure 13(A) to the state in Figure 13(B), the lower leg part 64 rotates with respect to the leg-side connecting member 710, with the leg-side second shaft portion 720 as its axis, causing the lower leg part 64 to swing upward and backward. At this time, the leg-side second gear 722, which rotates with respect to the leg-side second shaft portion 720, rotates on its own axis with respect to the leg-side second shaft portion 720. During this rotation, the leg-side second gear 722 attempts to rotate the leg-side first gear 702 with which it meshes, but since the leg-side first gear 702 is held by the thigh part 62 in a way that prevents relative rotation, the leg-side second gear 722 receives a reaction force from the teeth 704 of the stationary leg-side first gear 702. As a result, as shown in Figure 13(B), the second leg gear 722 revolves around the first leg gear 702 in a counterclockwise direction as shown in Figure 13. Consequently, the leg connecting member 710 receives a force from the second leg gear 722 due to its revolving motion and oscillates around the first leg shaft portion 700, which is coaxial with the first leg gear 702, as its axis.

[0097] In Figure 13(C), the lower leg part 64 swings further backward and upward from the state in Figure 13(B), causing the shoulder-side second gear 122 to revolve even more around the shoulder-side first gear 102. As a result, the leg-side connecting member 710 swings even further from the state in Figure 13(B). The rotation and revolution of the leg-side second gear 722 as described above enables the coordinated movement between the lower leg part 64 and the leg-side connecting member 710.

[0098] The human knee moves in conjunction with the movement of the lower leg, and appears to move or change its state with a larger range of motion than the movement of the lower leg. In the mannequin 1 according to this embodiment, the speed transmission ratio of the rotation of the first leg gear 702 to the rotation of the second leg gear 722 is set to be greater than 1, specifically to 10 / 7, and the leg-side connecting member 710, which mimics the shape of the knee, is operated in conjunction with the bending of the lower leg part 64, making it possible to realistically represent the movement and / or state of the knee in conjunction with the movement of the lower leg, as shown in Figure 13.

[0099] <Key points of the structure> The key features of each joint structure according to the embodiments described above are explained below.

[0100] (Shoulder joint structure) First, the shoulder joint structure according to this embodiment includes a shoulder-side first shaft portion 100 held in a position that is not rotatable relative to a torso module 2 (corresponding to the first part) which mimics the torso of a human body; a shoulder-side first gear 102 arranged coaxially with the shoulder-side first shaft portion 100 and not rotatable relative to the torso module 2; a shoulder-side connecting member 110 pivotably provided on the shoulder-side first shaft portion 100; a shoulder-side second shaft portion 120 arranged parallel to the shoulder-side first shaft portion 100 and rotatably provided on the shoulder-side connecting member 110; a shoulder-side second gear 122 provided integrally rotatably on the shoulder-side second shaft portion 120 and meshing with the shoulder-side first gear 102; and an upper arm part 41 (corresponding to the second part) connected integrally rotatably to the shoulder-side second shaft portion 120 and extending away from the shoulder-side second shaft portion 120. Furthermore, the speed transmission ratio of the rotation of the shoulder-side second gear 122 to the rotation of the shoulder-side first gear 102 is set to less than 1.

[0101] As a result, in the shoulder joint structure according to this embodiment, the shoulder-side second axis portion 120 is rotatably provided on the shoulder-side connecting member 110, so that the upper arm part 41, which rotates integrally with the shoulder-side second axis portion 120, can swing relative to the shoulder-side connecting member 110 with the shoulder-side second axis portion 120 as its axis. When the upper arm part 41 swings, the shoulder-side second gear 122, which rotates integrally with the shoulder-side second axis portion 120, meshes with the shoulder-side first gear 102 and revolves around the shoulder-side first axis portion 100, which is held in a position where it cannot rotate relative to the torso module 2, causing the shoulder-side connecting member 110 to swing around the shoulder-side first axis portion 100 as its axis. In this way, the swing of the upper arm part 41 and the swing of the shoulder-side connecting member 110 are linked. Furthermore, by having a speed transmission ratio of the rotation of the shoulder-side first gear 102 to the rotation of the shoulder-side second gear 122 that is less than 1, the shoulder-side connecting member 110 swings at a reduced speed in response to the swinging of the upper arm part 41, making it possible to represent how multiple parts connected at a human shoulder joint operate without uniform coordination. This makes it possible to represent the movements and / or states of humans, animals, robots, etc., in a realistic or intriguing manner.

[0102] More specifically, the shoulder-side first shaft portion 100 is held in a position laterally offset from the left-right center of the upper part of the torso module 2. The shoulder-side connecting member 110 includes a connecting body 111 which is positioned on one side (front side) of the shoulder-side first gear 102 in the axial direction of the shoulder-side first gear 102 and has a longitudinal direction in the left-right direction where the shoulder-side first shaft portion 100 and the shoulder-side second shaft portion 120 are aligned, thus mimicking the clavicle of a human; a scapula element 114 which is positioned on the other side (rear side) of the shoulder-side first gear 102 in the axial direction of the shoulder-side first gear 102 and has a shape that mimics the scapula of a human; and a connecting portion 113 which extends along the axial direction of the shoulder-side first shaft portion 100 and connects the connecting body 111 and the scapula element 114.

[0103] This configuration allows for a realistic representation of the up-and-down movement of the human upper arm, as well as the movements of the scapula and clavicle, which are linked to the upper arm but involve smaller movements than the upper arm itself. Furthermore, the connection portion 113 between the scapula element 114 and the clavicle-like connecting body 111 in the shoulder-side connecting member 110 simulates the trapezius muscle, and by representing the contraction and expansion of the trapezius muscle linked to the up-and-down movement of the upper arm through the connection portion 113, the realism of the representation of the movements and / or states around the human shoulder can be improved. In addition, the scapula element 114 and the clavicle-like connecting body 111, which are part of the shoulder-side connecting member 110, conceal the shoulder-side first gear 102, thus preventing any deterioration in appearance.

[0104] Furthermore, a trapezius muscle supplement 126 is integrally rotatably provided on the shoulder-side second axis portion 120, and the trapezius muscle supplement 126 extends along the shoulder-side second axis portion 120 and is adjacent to the connection portion 113 of the shoulder-side connecting member 110. The trapezius muscle supplement 126 is configured to move towards the connection portion 113 as the upper arm part 41 swings in one direction with the shoulder-side second axis portion 120 as its axis, starting from a reference position in the vertical direction of the torso module 2 which mimics the human torso and not overlapping with the connection portion 113, and as the upper arm part 41 swings in the aforementioned one direction from the reference position to a predetermined movement position, it is configured to overlap with the connection portion 113 in the vertical direction.

[0105] With this configuration, the trapezius muscle complement 126 moves in conjunction with the swinging of the upper arm part 41 to approach or move away from the connecting part 113 that mimics the trapezius muscle, thereby improving the realism of the expression of the contraction and expansion of the trapezius muscle in conjunction with the up-and-down movement of the upper arm. In addition, as the trapezius muscle complement 126 moves to a predetermined position, it is positioned below the connecting part 113, which allows for a realistic representation of the compression of the trapezius muscle.

[0106] (Knee joint structure) Next, the configuration of the knee joint structure will be described. The knee joint structure according to this embodiment includes a leg-side first shaft portion 700 held in a position that is not rotatable relative to the thigh portion 62 (corresponding to the first portion), a leg-side first gear 702 arranged coaxially with the leg-side first shaft portion 700 and not rotatable relative to the thigh portion 62, a leg-side connecting member 710 pivotably provided on the leg-side first shaft portion 700, a leg-side second shaft portion 720 arranged parallel to the leg-side first shaft portion 700 and rotatably provided on the leg-side connecting member 710, a leg-side second gear 722 provided integrally rotatably on the leg-side second shaft portion 720 and meshing with the leg-side first gear 702, and a lower leg portion 64 (corresponding to the second portion) integrally rotatably connected to the leg-side second shaft portion 720 and extending away from the leg-side second shaft portion 720. Furthermore, the speed transmission ratio of the rotation of the first leg gear 702 to the rotation of the second leg gear 722 is set to a value greater than 1.

[0107] As a result, in the knee joint structure according to this embodiment, the leg-side second shaft portion 720 is rotatably provided on the leg-side connecting member 710, so that the lower leg part 64, which rotates integrally with the leg-side second shaft portion 720, can swing relative to the leg-side connecting member 710 with the leg-side second shaft portion 720 as its axis. When the lower leg part 64 swings, the leg-side second gear 722, which rotates integrally with the leg-side second shaft portion 720, meshes with the leg-side first gear 702 and revolves around the leg-side first shaft portion 700, which is held by the thigh part 62 in a manner that prevents relative rotation, causing the leg-side connecting member 710 to swing around the leg-side first shaft portion 700 as its axis. In this way, the swing of the lower leg part 64 and the swing of the leg-side connecting member 710 are linked. Furthermore, by having a speed transmission ratio of the rotation of the first leg gear 702 to the rotation of the second leg gear 722 being greater than 1, the leg connecting member 710 swings at an increased speed in response to the swinging of the lower leg part 64, making it possible to represent how multiple parts connected at a human knee joint operate without uniform coordination. This allows for the realistic or intriguing representation of the movements and / or states of humans, animals, robots, etc.

[0108] More specifically, the leg-side connecting member 710 is shaped like a human knee and extends along the direction in which the leg-side first shaft portion 700 and the leg-side second shaft portion 720 are aligned. The leg-side connecting member 710 has a curved surface 710S that is convex in a direction that intersects the direction in which the leg-side first shaft portion 700 and the leg-side second shaft portion 720 are aligned, and moves away from the leg-side first shaft portion 700 and the leg-side second shaft portion 720, in a plane that includes the radial directions of both the leg-side first shaft portion 700 and the leg-side second shaft portion 720. This makes it possible to realistically represent the bending motion of the lower leg and the knee motion and / or state that is linked to the lower leg with a larger movement than the lower leg.

[0109] Furthermore, in the knee joint structure according to this embodiment, the leg-side connecting member 710 has a first housing portion 731 that houses the leg-side first gear 702 along the axial direction of the leg-side first gear 702, and a second housing portion 732 that houses the leg-side second gear 722 along the axial direction of the leg-side second gear 722. The first housing portion 731 and the second housing portion 732 are partially connected and open to each other's interiors, and the leg-side first gear 702 and the leg-side second gear 722 mesh with each other through the connection portion between the first housing portion 731 and the second housing portion 732.

[0110] This configuration is advantageous in terms of ensuring a good appearance, as the first leg-side gear 702 and the second leg-side gear 722 are housed within the leg-side connecting member 710.

[0111] Furthermore, the leg-side first shaft portion 700 includes a first shaft support portion 700S with a circular cross-section in the radial direction, and the leg-side second shaft portion 720 includes a second shaft support portion 720S with a circular cross-section in the radial direction. The first housing portion 731 and the second housing portion 732 are each formed by a bottomed hole. The leg-side connecting member 710 is provided on the leg-side first shaft portion 700 by fitting the first shaft support portion 700S into a first shaft hole 731A formed in the bottom of the first housing portion 731, and is configured to swing freely relative to the leg-side first shaft portion 700. The leg-side second shaft portion 720 is rotatably supported by the leg-side connecting member 710 by fitting the second shaft support portion 720S into a second shaft hole 732A formed in the bottom of the second housing portion 732.

[0112] This configuration allows the shafts (700, 720) and gears (702, 722) to be compactly housed in the leg-side connecting member 710, which is advantageous in terms of miniaturization.

[0113] Furthermore, the leg-side second gear 722 has a main body portion 723 having a gear central axis, and a plurality of teeth 724 that protrude from a part of the outer circumferential surface of the main body portion 723 and are arranged in the circumferential direction of the main body portion 723. The second housing portion 732 includes a central housing portion 733 that houses the main body portion 723, and a fan-shaped tooth row housing portion 734 that partially extends radially outward from the central housing portion 733 and houses the plurality of teeth 724. The circumferential ends of the tooth row housing portion 734 function as stoppers that define the rotation limit position of the leg-side second gear 722 that rotates relative to the leg-side connecting member 710.

[0114] With this configuration, by partially forming the teeth 724 of the leg-side second gear 722 in the circumferential direction, it becomes unnecessary to make the size of the second housing portion 732 larger than necessary, and the size of the leg-side connecting member 710 on which the second housing portion 732 is formed can be suppressed. Furthermore, by making the tooth row housing portion 734, which is the part of the second housing portion 732 that houses the teeth 724 of the leg-side second gear 722, function as a stopper for the leg-side second gear 722, the rotation range of the leg-side second gear 722 can be restricted without providing any special structures or parts separately.

[0115] Although embodiments of the present invention have been described above, the embodiments described above are merely examples of how to embody the present invention, and it is possible to implement the present invention in various other forms. For example, various modifications, substitutions, omissions, or combinations thereof are possible without departing from the spirit of the present invention. Such modified, substituted, or omission forms are also included within the scope of the present invention, as well as within the scope of the invention and its equivalents as described in the claims.

[0116] For example, each gear (102, 122, 702, 722) described in this embodiment has the shape of a so-called sector gear, but it is not limited to this shape and may be composed of general circular gears. Furthermore, although the above embodiment described an example in which the joint structure according to the present invention is applied to the shoulder and knee of a doll 1, the joint structure according to the present invention may be applied to the elbow, for example, and may not be limited to humanoid models, but may be applied to the arms and legs of animals, robots, etc.

[0117] Figure 14 shows a modified example of the above-described embodiment. In the modified example of Figure 14, as is clear from comparison with Figure 7, the shape of the shoulder-side second gear 122 differs from that of the above-described embodiment. Specifically, the shoulder-side second gear 122 in the modified example shown in Figure 14 further has a build-up portion 124E that is integrated with one of the two teeth 124 (the lower tooth 124) and extends in the circumferential direction. The build-up portion 124E is integrated with the side of the lower tooth 124 opposite to the adjacent tooth 124 (the upper tooth 124) and is also integrated with the main body portion 123 so as to cover the outer circumferential surface of the main body portion 123. Generally speaking, the build-up portion 124E is integrated with the side of the tooth 124 located at the end of a plurality of teeth 124 opposite to the adjacent tooth and extends in the circumferential direction, and is further integrated with the main body portion 123 so as to cover the outer circumferential surface of the main body portion 123.

[0118] When the build-up portion 124E described above is provided, the rigidity of the tooth 124 is increased, and when the upper arm part 41 swings downward and the lower tooth 124 is pressed against the tooth 104 of the shoulder-side first gear 102, deformation and damage of the lower tooth 124 can be suppressed. The build-up portion 124E may be integrated with the upper tooth 124. Also, as is clear from Figure 14, the shoulder-side first gear 102 is provided with a portion similar to the build-up portion. Furthermore, a portion similar to the build-up portion may be provided on the gears that constitute the knee joint structure. [Explanation of Symbols]

[0119] 1…Doll, 2…Torso module, 21…Chest part, 21A…Core part, 21B…Chest body, 21C…Base part, 22…Abdomen part, 3…Waist / hip module, 31…Torso part, 32…Lower abdomen part, 33L…Left hip part, 33R…Right hip part, 4R…Right arm module, 41…Upper arm part, 41A…Upper arm body, 41B…Connecting part, 410…Axis part, 42…Forearm part, 43…Hand part, 4L ...Left arm module, 5...Head module, 51...Head part, 52...Neck part, 6R...Right leg module, 6L...Left leg module, 61...Leg base part, 62...Thigh part, 62A, 62B...Connecting hole, 63...Knee part, 64...Lower leg part, 64A, 64B...Connecting hole, 65...Foot part, 100...Shoulder side first axis part, 102...Shoulder side first gear, 103...Main body part, 104...Teeth, 110...Shoulder side connecting part Material, 111...Connecting part body, 111A...First fitting hole, 111B...Second fitting hole, 113...Connecting part, 114...Scapula element, 120...Shoulder side second axis part, 120A...Joint axis hole, 122...Shoulder side second gear, 123...Main body part, 124...Teeth, 124E...Reinforced part, 126...Trapezius muscle supplement part, 700...Leg side first axis part, 700L...Left connecting end, 700R...Right connecting end, 700S...First axis support part, 702... Leg-side first gear, 703...body part, 704...teeth, 710...leg-side connecting member, 710S...curved surface, 720...leg-side second shaft part, 720L...left connecting end, 720R...right connecting end, 720S...second shaft support, 722...leg-side second gear, 723...body part, 724...teeth, 731...first housing part, 731A...first shaft hole, 732...second housing part, 732A...second shaft hole, 733...center side housing part, 734...tooth row housing part

Claims

1. A first shaft portion is held in a manner that prevents relative rotation to the first part, A first gear is arranged coaxially with the first shaft and is not rotatable relative to the first part, A connecting member is pivotably provided on the first shaft portion, A second shaft portion is arranged parallel to the first shaft portion and is rotatably mounted on the connecting member, A second gear is provided on the second shaft so as to be integrally rotatable with the first gear, It comprises a second portion which is integrally rotatably connected to the second shaft portion and extends away from the second shaft portion in an axial view of the second shaft portion, The speed transmission ratio of the rotation of the first gear to the rotation of the second gear is less than 1. The second part is an upper arm part that mimics the upper arm of a human, and the connecting member moves in conjunction with the movement of the upper arm part to represent at least one of the human clavicle, human scapula, and human trapezius muscle, thereby forming a shoulder joint structure for a figure, plastic model, or doll used as a reference when drawing human poses.

2. The shoulder joint structure according to claim 1, wherein the speed transmission ratio of the rotation of the first gear to the rotation of the second gear is 0.8 or less.

3. The first gear is located between the two ends of the first shaft portion, The first part is a torso module modeled after a human torso, and the first shaft is held at a position laterally offset from the left-right center of the upper part of the torso module. With the second portion, which is the upper arm part, extending downward in the vertical direction of the torso module, the first shaft portion and the second shaft portion are aligned in the left-right direction. The shoulder joint structure according to claim 1, wherein the connecting member is positioned on one or the other side of the first gear in the axial direction of the first gear and connected to the first shaft portion, and the second portion, which is the upper arm part, has a longitudinal direction in the left-right direction where the first shaft portion and the second shaft portion are aligned, with the upper and lower parts of the torso module extending downward, and the connecting portion body is modeled after the clavicle of a human.

4. The first gear is located between the two ends of the first shaft portion, The first part is a torso module modeled after a human torso, and the first shaft is held at a position laterally offset from the left-right center of the upper part of the torso module. The shoulder joint structure according to claim 1, wherein the connecting member is arranged on one side or the other side of the first gear in the axial direction of the first gear and has a scapular element having a shape that mimics the human scapula.

5. The first gear is located between the two ends of the first shaft portion, The first part is a torso module modeled after a human torso, and the first shaft is held at a position laterally offset from the left-right center of the upper part of the torso module. With the second portion, which is the upper arm part, extending downward in the vertical direction of the torso module, the first shaft portion and the second shaft portion are aligned in the left-right direction. The aforementioned connecting member is The connecting body is positioned on one side of the first gear in the axial direction of the first gear and connected to the first shaft portion, and the second portion, which is the upper arm part, extends downward in the vertical direction of the torso module, with the first shaft portion and the second shaft portion aligned in the left-right direction, thus mimicking the clavicle of a human, A scapular element is positioned on the other side of the first gear in the axial direction of the first gear and has a shape that mimics the human scapula, The shoulder joint structure according to claim 1, further comprising: a connecting portion extending along the axial direction of the first gear, connecting the connecting body and the scapular element, and representing the trapezius muscle.

6. The second shaft portion is provided to be integrally rotatable, extends along the second shaft portion, and further comprises a trapezius muscle supplement portion adjacent to the connecting portion of the connecting member, The shoulder joint structure according to claim 5, wherein the trapezius muscle complement is configured to move toward the connection portion as the second portion swings in one direction with the second axis of the second portion as its axis, from a reference position in the vertical direction of the first portion, which is the torso module that mimics the human torso, and as the second portion swings in one direction, it moves from the reference position to a predetermined movement position, and as the second portion moves from the reference position to a predetermined movement position, it overlaps with the connection portion in the vertical direction.

7. A first shaft portion is held in a manner that prevents relative rotation to the first part, A first gear is arranged coaxially with the first shaft and is not rotatable relative to the first part, A connecting member is pivotably provided on the first shaft portion, A second shaft portion is arranged parallel to the first shaft portion and is rotatably mounted on the connecting member, A second gear is provided on the second shaft so as to be integrally rotatable with the first gear, It comprises a second portion which is integrally rotatably connected to the second shaft portion and extends away from the second shaft portion in an axial view of the second shaft portion, The speed transmission ratio of the rotation of the first gear to the rotation of the second gear is greater than 1. The first part is a thigh part having a shape that mimics a human thigh, The connecting member has a shape that mimics a human knee, extends along the direction in which the first shaft portion and the second shaft portion are aligned, and has a curved surface that is convex in a direction that intersects the direction in which the first shaft portion and the second shaft portion are aligned and moves away from the first shaft portion and the second shaft portion, in a plane that includes the radial directions of both the first shaft portion and the second shaft portion. The second part is a lower leg part having a shape that mimics the lower leg of a human, A knee joint structure for a figure, plastic model, or doll used as a reference when drawing a human pose, wherein the connecting member operates in conjunction with the bending motion of the lower leg part.

8. The knee joint structure according to claim 7, wherein the speed transmission ratio of the rotation of the first gear to the rotation of the second gear is 1.2 or more.

9. A first shaft portion held in a manner that prevents relative rotation to the first portion, A first gear is arranged coaxially with the first shaft and is not rotatable relative to the first part, A connecting member is pivotably provided on the first shaft portion, A second shaft portion is arranged parallel to the first shaft portion and is rotatably mounted on the connecting member, A second gear is provided on the second shaft so as to be integrally rotatable with the first gear, It comprises a second portion which is integrally rotatably connected to the second shaft portion and extends away from the second shaft portion in an axial view of the second shaft portion, The speed transmission ratio of the rotation of the first gear to the rotation of the second gear is less than 1 or greater than 1. The connecting member has a first housing portion that houses the first gear along the axial direction of the first gear, and a second housing portion that houses the second gear along the axial direction of the second gear, The first housing section and the second housing section are partially connected and open to the interior of each other. The first gear and the second gear mesh with each other through the connection portion between the first housing and the second housing. The second gear has a main body having a gear central axis, and a plurality of teeth that protrude from a part of the outer circumferential surface of the main body and are arranged in the circumferential direction of the main body. The second housing portion includes a central housing portion for housing the main body portion, and a fan-shaped tooth row housing portion that partially extends from the central housing portion and houses the plurality of teeth. The circumferential ends of the gear row housing portion function as stoppers that define the rotation limit position of the second gear which rotates relative to the connecting member, forming an articulated structure.

10. The first shaft portion includes a first shaft support portion having a circular cross-section in the radial direction. The second axial portion includes a second axial support portion having a circular cross-section in the radial direction. The first and second housing sections are each formed by a bottomed hole, The connecting member is provided on the first shaft support by fitting the first shaft support into the first shaft hole formed at the bottom of the first housing, and is configured to swing freely with respect to the first shaft. The joint structure according to claim 9, wherein the second shaft portion is rotatably provided on the connecting member by fitting the second shaft support portion into a second shaft hole formed in the bottom of the second housing portion.

11. A human-shaped model with an articulated joint structure, used as a figure, plastic model, or doll for reference when drawing human poses, comprising the shoulder joint structure described in claim 1, the knee joint structure described in claim 7, or the joint structure described in claim 9.

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