Robotic devices and wireless connectors

Abstract

A wireless connector (100) includes: a first unit (106) that can be detachably mounted from the outside of a first object, and a second unit (107) that can be detachably mounted from the outside of a second object. The first unit (106) includes a first housing (108), a first transceiver (110) and a first connector (109) are fixed to the first housing, the first connector (109) is mounted to the first object, and a target to be transmitted is transmitted between the first connector and the first object. The second unit (107) includes a second housing (112), a second transceiver (114) and a second connector (113) are fixed to the second housing, the second connector (113) is mounted to the second object, and a target to be transmitted is transmitted between the second connector and the second object. The first transceiver (110) and the second transceiver (114) are arranged to be separated from each other and opposite to each other so as to wirelessly transmit the target to be transmitted.

Description

Technical Field

[0001] The present invention relates to a robotic device and a wireless connector. Background Art

[0002] A technology for wirelessly supplying power to a load is known. Hereinafter, this technology is referred to as "wireless power supply technology". Wireless power supply technology is applied to industrial robots, etc. For example, Patent Document 1 discloses a method for wirelessly supplying power to a load. Figure 35A An example of a robotic arm device is shown. The illustrated robotic arm device includes first to sixth joints J1 to J6. A first wireless power supply unit IHU2 and a second wireless power supply unit IHU4 are provided at the second joint J2 and the fourth joint J4, respectively. The first and second wireless power supply units IHU2 and IHU4 wirelessly transmit power at the second and fourth joints J2 and J4, respectively, via a pair of coils.

[0003] The above-mentioned patent document 1 also discloses Figure 35B The structure of a portion of the wireless power transmission system shown in the figure. The wireless power transmission system shown in the figure is provided with a wireless power supply unit 1, a power supply device 2 and a load 3. The wireless power supply unit 1 is provided between the power supply device 2 and the load 3. The wireless power supply unit 1 corresponds to the first wireless power supply unit IHU2 mentioned above. The wireless power supply unit 1 is provided with a power transmitting device 10 and a receiving device 20, as shown in FIG. Figure 35B The power transmitting device 10 includes a power transmitting antenna 11 including a coil, an inverter circuit 13, and a power transmission control circuit 15. The receiving device 20 includes a power receiving antenna 21 including a coil, and a rectifier circuit 23.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent document 1: JP 2018-117511 A. Summary of the Invention

[0007] Problems to be solved by the present invention

[0008] Generally speaking, coils used to wirelessly transmit and receive power often generate heat during operation. Consequently, malfunctions may occur in the wireless power supply unit 1 due to heat generation from the coils. Failures in the wireless power supply unit 1 could potentially interfere with the operation of the robotic arm device. Accordingly, it is desirable to be able to easily repair the wireless power supply unit 1, such as by replacing it.

[0009] However, Patent Document 1 does not disclose how the second joint portion J2 and the fourth joint portion J4 are provided with the wireless power supply unit 1, such as the arrangement of a pair of coils. Therefore, even with reference to Patent Document 1, it is difficult to obtain a wireless power supply unit 1 that can be easily repaired.

[0010] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a wireless connector that can be easily repaired.

[0011] Solutions to the Problem

[0012] In order to achieve the above-mentioned objectives, according to a first aspect of the present invention, there is provided a robotic device, comprising:

[0013] a first arm portion and a second arm portion, the first arm portion and the second arm portion being connected via a joint mechanism, the joint mechanism being configured to rotatably connect the first arm portion and the second arm portion with a rotation axis as a fulcrum; and

[0014] a wireless connector configured to wirelessly transmit a target to be transmitted between the first arm and the second arm, the target to be transmitted being at least one of power and information,

[0015] in:

[0016] The first arm portion includes a first mating connector portion exposed to the outside of the first arm portion, and

[0017] The second arm portion includes a second mating connector portion exposed to the outside of the second arm portion,

[0018] Wherein, the wireless connector includes:

[0019] a first housing, a first transceiver portion and a first connector portion fixed to the first housing, the first transceiver portion being configured to wirelessly transmit the target to be transmitted, the first connector portion being configured to transmit the target to be transmitted to / from the first arm portion by being removably mounted to the first mating connector portion; and

[0020] a second housing, a second transceiver portion and a second connector portion fixed to the second housing, the second transceiver portion being configured to wirelessly transmit the target to be transmitted to / from the first transceiver portion, and the second connector portion being configured to transmit the target to be transmitted to / from the second arm portion by being removably mounted to the second mating connector portion,

[0021] wherein, when the first connector portion and the second connector portion are mounted to the first mating connector portion and the second mating connector portion, respectively, the first transceiver portion and the second transceiver portion are arranged in a state of being spaced apart from each other along the rotation axis and facing each other, so as to wirelessly transmit the target to be transmitted outside the joint mechanism;

[0022] The wireless connector further includes a protective portion, which includes an elastic member for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first transceiver and the second transceiver when the two transceivers are facing each other, and the protective portion is arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

[0023] The first housing serving as the one housing may include a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion.

[0024] The second housing serving as another housing may include a columnar protrusion, and the second transceiver is arranged on the protrusion.

[0025] The protection portion may be provided on a bottom surface, an inner peripheral surface, or a peripheral portion of the recessed portion.

[0026] When the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part can be arranged in a state of being spaced apart from each other along the rotation axis and facing each other so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the end surface of the protrusion and the bottom surface of the recessed part can face each other, and the end of the protective part is in contact with the end surface, outer peripheral surface or peripheral part of the protrusion.

[0027] The first housing serving as the one housing may include a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion.

[0028] The second housing serving as another housing may include a columnar protrusion, and the second transceiver is arranged on the protrusion.

[0029] The protection portion may be provided on a distal end surface, an outer peripheral surface, or a peripheral portion of the protrusion.

[0030] When the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part can be arranged in a state of being spaced apart from each other along the rotation axis and facing each other so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part can face each other, and the end of the protective part is in contact with the bottom surface, inner peripheral surface or peripheral part of the recessed part.

[0031] In order to achieve the above-mentioned object, according to a second aspect of the present invention, there is provided a robot device, comprising:

[0032] a first arm portion and a second arm portion, the first arm portion and the second arm portion being connected via a joint mechanism, the joint mechanism being configured to rotatably connect the first arm portion and the second arm portion with a rotation axis as a fulcrum; and

[0033] a wireless connector configured to wirelessly transmit a target to be transmitted between the first arm and the second arm, the target to be transmitted being at least one of power and information,

[0034] in:

[0035] The first arm portion includes a first mating connector portion exposed to the outside of the first arm portion, and

[0036] The second arm portion includes a second mating connector portion exposed to the outside of the second arm portion,

[0037] Wherein, the wireless connector includes:

[0038] a first housing, a first transceiver portion and a first connector portion fixed to the first housing, the first transceiver portion being configured to wirelessly transmit the target to be transmitted, the first connector portion being configured to transmit the target to be transmitted to / from the first arm portion by being removably mounted to the first mating connector portion; and

[0039] a second housing, a second transceiver portion and a second connector portion fixed to the second housing, the second transceiver portion being configured to wirelessly transmit the target to be transmitted to / from the first transceiver portion, and the second connector portion being configured to transmit the target to be transmitted to / from the second arm portion by being removably mounted to the second mating connector portion,

[0040] wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material,

[0041] The first transceiver is housed inside the first housing, and

[0042] The second transceiver is housed inside the second housing.

[0043] Wherein, when the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part are arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism.

[0044] The wireless connector may further include a protective portion including an elastic member for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first transceiver portion and the second transceiver portion when the first transceiver portion is facing each other, and the protective portion is provided in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

[0045] To achieve the above-mentioned objectives, according to a third aspect of the present invention, a wireless connector is provided, wherein the wireless connector is used to wirelessly transmit a first target to be transmitted between a first object and a second object, wherein the first target to be transmitted is power, wherein the wireless connector comprises:

[0046] a first unit removably mounted to the first object from an exterior of the first object; and

[0047] a second unit removably mounted to the second object from an exterior of the second object,

[0048] The first unit includes:

[0049] a first transceiver configured to wirelessly transmit the first target to be transmitted;

[0050] a first connector portion configured to transfer the first target to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object; and

[0051] a first housing, the first transceiver portion and the first connector portion being fixed to the first housing,

[0052] The second unit comprises:

[0053] a second transceiver configured to wirelessly transmit the first target to be transmitted to / from the first transceiver;

[0054] a second connector portion configured to transfer the first target to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object; and

[0055] a second housing, the second transceiver portion and the second connector portion being fixed to the second housing,

[0056] wherein, when the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from each other and facing each other so as to wirelessly transmit the first target to be transmitted;

[0057] The wireless connector further includes a protective portion, which includes a component for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first transceiver and the second transceiver facing each other, and the protective portion is arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

[0058] The first object and the second object may be connected via a joint mechanism configured to rotatably connect the first object and the second object with a rotation axis as a fulcrum.

[0059] The first housing serving as the one housing may include a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion.

[0060] The second housing serving as another housing may include a columnar protrusion, and the second transceiver is arranged on the protrusion.

[0061] The protection portion may be provided on a bottom surface, an inner peripheral surface, or a peripheral portion of the recessed portion.

[0062] When the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part can be arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part can face each other, and the protective part is in contact with the end surface, outer peripheral surface or peripheral part of the protrusion.

[0063] The first object and the second object may be connected via a joint mechanism configured to rotatably connect the first object and the second object with a rotation axis as a fulcrum.

[0064] The first housing serving as the one housing may include a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion.

[0065] The second housing serving as another housing may include a columnar protrusion, and the second transceiver is arranged on the protrusion.

[0066] The protection portion may be provided on a distal end surface, an outer peripheral surface, or a peripheral portion of the protrusion.

[0067] When the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part can be arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part can face each other, and the protective part is in contact with the bottom surface, inner peripheral surface or peripheral part of the recessed part.

[0068] To achieve the above-mentioned objectives, according to a fourth aspect of the present invention, a wireless connector is provided, wherein the wireless connector is used to wirelessly transmit a first target to be transmitted between a first object and a second object, wherein the first target to be transmitted is power, wherein the wireless connector comprises:

[0069] a first unit removably mounted to the first object from an exterior of the first object; and

[0070] a second unit removably mounted to the second object from an exterior of the second object,

[0071] The first unit includes:

[0072] a first transceiver configured to wirelessly transmit the first target to be transmitted;

[0073] a first connector portion configured to transfer the first target to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object; and

[0074] a first housing, the first transceiver portion and the first connector portion being fixed to the first housing,

[0075] The second unit comprises:

[0076] a second transceiver configured to wirelessly transmit the first target to be transmitted to / from the first transceiver;

[0077] a second connector portion configured to transfer the first target to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object; and

[0078] a second housing, the second transceiver portion and the second connector portion being fixed to the second housing,

[0079] wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material,

[0080] The first transceiver is housed inside the first housing, and

[0081] The second transceiver is housed inside the second housing.

[0082] When the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from and facing each other to wirelessly transmit the first target to be transmitted.

[0083] The wireless connector may further include a protective portion, the protective portion including a component for preventing foreign matter from intruding into an opposing space, the opposing space being a space between the first transceiver portion and the second transceiver portion when the two portions are facing each other, the protective portion being provided in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

[0084] The first transceiver may include a flat first coil member configured to transmit the first target to be transmitted.

[0085] The second transceiver may include a flat second coil member configured to transmit the first target to be transmitted by coupling the second coil member with a magnetic field of the first coil member.

[0086] When the first unit and the second unit are mounted to the first object and the second object, respectively, the first coil member and the second coil member may be arranged in parallel in a state of being spaced apart and facing each other to wirelessly transmit the first target to be transmitted.

[0087] The first unit may further include:

[0088] The third transceiver is fixed to the first housing and is configured to wirelessly transmit a second target to be transmitted, where the second target to be transmitted is information.

[0089] The second unit may further include:

[0090] A fourth transceiver is fixed to the second housing and is configured to wirelessly transmit the second target to be transmitted to / from the third transceiver.

[0091] The first connector portion may transfer the first and second objects to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object.

[0092] The second connector portion may transfer the first and second objects to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object.

[0093] When the first unit and the second unit are mounted to the first object and the second object, respectively, the third transceiver and the fourth transceiver may be arranged in a state of being spaced apart from and facing each other to wirelessly transmit the second target to be transmitted.

[0094] The third transceiver may include a first antenna member configured to transmit the second target to be transmitted, where the second target to be transmitted is information.

[0095] The fourth transceiver may include a second antenna member configured to transmit the second target to be transmitted.

[0096] The first transceiver portion may be disposed around the third transceiver portion.

[0097] The second transceiver portion may be disposed around the fourth transceiver portion.

[0098] When the first unit and the second unit are mounted to the first object and the second object, respectively, the first antenna member and the second antenna member may be arranged in parallel in a state of being spaced apart and facing each other to wirelessly transmit the second target to be transmitted.

[0099] To achieve the above-mentioned object, according to a fifth aspect of the present invention, there is provided a wireless connector for wirelessly transmitting at least one of power and information as a transmission target between a first object and a second object, wherein the wireless connector comprises:

[0100] a first unit removably mounted to the first object from an exterior of the first object, and

[0101] a second unit removably mounted to the second object from an exterior of the second object,

[0102] The first unit includes:

[0103] a first transceiver unit, the first transceiver unit including a first coil member, the first coil member being configured to wirelessly transmit the target to be transmitted;

[0104] a first connector portion that is removably mounted to the first object by being fitted to the first object from the outside of the first object in order to transport the target to be transported to / from the first object; and

[0105] a first housing to which the first coil member and the first connector portion are fixed,

[0106] The second unit comprises:

[0107] a second transceiver unit including a second coil member configured to wirelessly transmit the target to be transmitted to / from the first coil member;

[0108] a second connector portion that is removably mounted to the second object by being fitted to the second object from the outside of the second object so as to transport the target to be transported to / from the second object; and

[0109] a second housing to which the second coil member and the second connector portion are fixed,

[0110] wherein the first connector portion and the second connector portion have the same mating direction, and

[0111] the first coil member and the second coil member are arranged in a state of being spaced apart from each other along the mating direction and facing each other so as to induce magnetic field coupling between the first coil member and the second coil member;

[0112] In which, the wireless connector also includes a protective portion, which includes a component for preventing foreign matter from invading the opposing space, and the opposing space is the space between the first coil component and the second coil component when they are facing each other. The protective portion is arranged in at least one shell of the first shell and the second shell so as to close at least a portion of the gap continuous with the opposing space.

[0113] The first housing serving as the one housing may include a recessed portion which is a portion where the first coil member is arranged and forms a columnar recess along the mating direction.

[0114] The second housing serving as the other housing may include a columnar protrusion, which is a portion where the second coil member is arranged and protrudes in the mating direction.

[0115] The protection portion may be provided on a bottom surface, an inner peripheral surface, or a peripheral portion of the recessed portion.

[0116] The first coil member and the second coil member can be arranged in a state of being spaced apart from each other and facing each other along the mating direction so as to cause magnetic field coupling between the first coil member and the second coil member, and the protrusion and the recess can face each other, and the protective portion is in contact with the end surface, outer peripheral surface or peripheral portion of the protrusion.

[0117] The first housing serving as the one housing may include a recessed portion which is a portion where the first coil member is arranged and forms a columnar recess along the mating direction.

[0118] The second housing serving as the other housing may include a columnar protrusion, which is a portion where the second coil member is arranged and protrudes in the mating direction.

[0119] The protection portion may be provided on a distal end surface, an outer peripheral surface, or a peripheral portion of the protrusion.

[0120] The first coil member and the second coil member can be arranged in a state of being spaced apart from each other and facing each other along the mating direction so as to cause magnetic field coupling between the first coil member and the second coil member, and the protrusion and the recess can face each other, and the protective portion is in contact with the bottom surface, inner peripheral surface or peripheral portion of the recess.

[0121] To achieve the above-mentioned object, according to a sixth aspect of the present invention, there is provided a wireless connector for wirelessly transmitting at least one of power and information as a transmission target between a first object and a second object, wherein the wireless connector comprises:

[0122] a first unit removably mounted to the first object from an exterior of the first object, and

[0123] a second unit removably mounted to the second object from an exterior of the second object,

[0124] The first unit includes:

[0125] a first transceiver unit, the first transceiver unit including a first coil member, the first coil member being configured to wirelessly transmit the target to be transmitted;

[0126] a first connector portion that is removably mounted to the first object by being fitted thereto from the outside of the first object in order to transport the object to be transported to / from the first object; and

[0127] a first housing to which the first coil member and the first connector portion are fixed,

[0128] The second unit comprises:

[0129] a second transceiver unit including a second coil member configured to wirelessly transmit the target to be transmitted to / from the first coil member;

[0130] a second connector portion that is removably mounted to the second object by being fitted thereto from the outside of the second object in order to transport the object to be transported to / from the second object; and

[0131] a second housing to which the second coil member and the second connector portion are fixed,

[0132] wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material,

[0133] The first coil member is housed inside the first housing.

[0134] The second coil member is accommodated inside the second housing;

[0135] The first connector portion and the second connector portion have the same mating orientation; and

[0136] The first coil member and the second coil member are arranged in a state of being spaced apart from each other along the mating direction and facing each other so as to cause magnetic field coupling between the first coil member and the second coil member.

[0137] The wireless connector may further include a protective portion, which includes a component for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first coil component and the second coil component when the first coil component and the second coil component are facing each other, and the protective portion is arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

[0138] The first coil member may be disposed about a first central axis.

[0139] The second coil member may be disposed about a second central axis.

[0140] The first center axis and the second center axis may be parallel to the mating direction.

[0141] To achieve the above-mentioned object, according to a seventh aspect of the present invention, there is provided a wireless connector for wirelessly transmitting at least one of power and information as a transmission target between a first object and a second object, wherein the wireless connector comprises:

[0142] a first unit removably mounted to the first object from an exterior of the first object, and

[0143] a second unit removably mounted to the second object from an exterior of the second object,

[0144] The first unit includes:

[0145] a first transceiver unit including a first coil member configured to wirelessly transmit the target to be transmitted;

[0146] a first connector portion configured to transfer the target to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object; and

[0147] a first housing, the first transceiver portion and the first connector portion being fixed to the first housing,

[0148] The second unit comprises:

[0149] a second transceiver section including a second coil member configured to wirelessly transmit the target to be transmitted to / from the first transceiver section;

[0150] a second connector portion configured to transfer the target to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object; and

[0151] a second housing, the second transceiver portion and the second connector portion being fixed to the second housing,

[0152] wherein the first coil member and the second coil member are spaced apart from each other and face each other in a state of being magnetically coupled to each other,

[0153] In which, the wireless connector also includes a protective part, which includes a component for preventing foreign matter from invading the opposing space, and the opposing space is the space between the first coil component and the second coil component in a state of magnetic coupling with each other. The protective part is arranged in at least one shell of the first shell and the second shell so as to close at least a part of the gap continuous with the opposing space.

[0154] The first housing serving as the one housing may include a recessed portion forming a cylindrical recess, the first coil member being arranged in the recessed portion.

[0155] The second housing serving as another housing may include a columnar protrusion on which the second coil member is arranged.

[0156] The protection portion may be provided on a bottom surface, an inner peripheral surface, or a peripheral portion of the recessed portion.

[0157] In a state where the first coil member and the second coil member are in a magnetically coupled state with each other, the protection portion may be in contact with a distal end surface, an outer peripheral surface, or a peripheral portion of the protrusion.

[0158] The first housing serving as the one housing may include a recessed portion forming a cylindrical recess, the first coil member being arranged in the recessed portion.

[0159] The second housing serving as another housing may include a columnar protrusion on which the second coil member is arranged.

[0160] The protection portion may be provided on a distal end surface, an outer peripheral surface, or a peripheral portion of the protrusion.

[0161] In a state where the first coil member and the second coil member are in a magnetically coupled state with each other, the protection portion may be in contact with a bottom surface, an inner peripheral surface, or a peripheral portion of the recessed portion.

[0162] To achieve the above-mentioned object, according to an eighth aspect of the present invention, there is provided a wireless connector for wirelessly transmitting at least one of power and information as a transmission target between a first object and a second object, wherein the wireless connector comprises:

[0163] a first unit removably mounted to the first object from an exterior of the first object, and

[0164] a second unit removably mounted to the second object from an exterior of the second object,

[0165] The first unit includes:

[0166] a first transceiver unit including a first coil member configured to wirelessly transmit the target to be transmitted;

[0167] a first connector portion configured to transfer the target to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object; and

[0168] a first housing, the first transceiver portion and the first connector portion being fixed to the first housing,

[0169] The second unit comprises:

[0170] a second transceiver section including a second coil member configured to wirelessly transmit the target to be transmitted to / from the first transceiver section;

[0171] a second connector portion configured to transfer the target to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object; and

[0172] a second housing, the second transceiver portion and the second connector portion being fixed to the second housing,

[0173] wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material,

[0174] The first coil member is accommodated inside the first housing; and

[0175] The second coil member is accommodated inside the second housing; and

[0176] The first coil member and the second coil member are spaced apart from each other and face each other in a state of being magnetically coupled to each other.

[0177] The wireless connector may further include a protective portion, which includes a component for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first coil component and the second coil component that are in a state of magnetic coupling with each other, and the protective portion is arranged in at least one shell of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

[0178] To achieve the above-mentioned object, according to a ninth aspect of the present invention, there is provided a wireless connector for wirelessly transmitting a target to be transmitted, which is at least one of power and information, between a first object and a second object, wherein the wireless connector comprises:

[0179] a first unit removably mounted to the first object from an exterior of the first object, and

[0180] a second unit removably mounted to the second object from an exterior of the second object,

[0181] The first unit includes:

[0182] a first transceiver unit configured to wirelessly transmit the target to be transmitted;

[0183] a first connector portion configured to transfer the target to be transferred to / from the first object by being mounted on the first object; and

[0184] a first housing, the first transceiver portion being fixed to the first housing, and the first connector portion being mounted to the first housing,

[0185] The second unit comprises:

[0186] a second transceiver configured to wirelessly transmit the target to be transmitted to / from the first transceiver;

[0187] a second connector portion configured to transfer the target to be transferred to / from the second object by being mounted on the second object; and

[0188] a second housing, the second transceiver portion being fixed to the second housing, and the second connector portion being mounted to the second housing,

[0189] wherein, when the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from each other and facing each other so as to wirelessly transmit the target to be transmitted;

[0190] The wireless connector further includes a protective portion, which includes a component for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first transceiver and the second transceiver facing each other, and the protective portion is arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

[0191] The first object and the second object may be connected via a joint mechanism configured to rotatably connect the first object and the second object with a rotation axis as a fulcrum.

[0192] The first housing serving as the one housing may include a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion.

[0193] The second housing serving as another housing may include a columnar protrusion, and the second transceiver is arranged on the protrusion.

[0194] The protection portion may be provided on a bottom surface, an inner peripheral surface, or a peripheral portion of the recessed portion.

[0195] When the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part can be arranged in a state of being spaced apart from each other along the rotation axis and facing each other so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part can face each other, wherein the protective part is in contact with the end surface, outer peripheral surface or peripheral part of the protrusion.

[0196] The first object and the second object may be connected via a joint mechanism configured to rotatably connect the first object and the second object with a rotation axis as a fulcrum.

[0197] The first housing serving as the one housing may include a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion.

[0198] The second housing serving as another housing may include a columnar protrusion, and the second transceiver is arranged on the protrusion.

[0199] The protection portion may be provided on a distal end surface, an outer peripheral surface, or a peripheral portion of the protrusion.

[0200] When the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part can be arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part can face each other, and the protective part is in contact with the bottom surface, inner peripheral surface or peripheral part of the recessed part.

[0201] To achieve the above-mentioned object, according to a tenth aspect of the present invention, there is provided a wireless connector for wirelessly transmitting a target to be transmitted, which is at least one of power and information, between a first object and a second object, wherein the wireless connector comprises:

[0202] a first unit removably mounted to the first object from an exterior of the first object, and

[0203] a second unit removably mounted to the second object from an exterior of the second object,

[0204] The first unit includes:

[0205] a first transceiver unit configured to wirelessly transmit the target to be transmitted;

[0206] a first connector portion configured to transfer the target to be transferred to / from the first object by being mounted on the first object; and

[0207] a first housing, the first transceiver portion being fixed to the first housing, and the first connector portion being mounted to the first housing,

[0208] The second unit comprises:

[0209] a second transceiver configured to wirelessly transmit the target to be transmitted to / from the first transceiver;

[0210] a second connector portion configured to transfer the target to be transferred to / from the second object by being mounted on the second object; and

[0211] a second housing, the second transceiver portion being fixed to the second housing, and the second connector portion being mounted to the second housing,

[0212] wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material,

[0213] The first transceiver is housed inside the first housing, and

[0214] The second transceiver is accommodated inside the second housing;

[0215] When the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from and facing each other to wirelessly transmit the target.

[0216] The wireless connector may further include a protective portion, which includes a component for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first transceiver portion and the second transceiver portion when the two portions are facing each other, and the protective portion is arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

[0217] The first object and the second object may be rotatably connected with a rotation axis as a fulcrum.

[0218] When the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver may be arranged in a state of being spaced apart from each other along the rotation axis and facing each other.

[0219] When the first unit and the second unit are mounted to the first object and the second object, respectively, the first unit and the second unit may be spaced apart from each other.

[0220] Effects of the present invention

[0221] According to the present invention, the wireless connector can be easily repaired. BRIEF DESCRIPTION OF THE DRAWINGS

[0222] Figure 1 is a perspective view of a wireless connector mounted to a first arm and a second arm according to a first embodiment of the present invention;

[0223] Figure 2 It is observed from above Figure 1 Illustrated view of the wireless connector mounted to the first arm and the second arm;

[0224] Figure 3 yes Figure 1 an exploded perspective view of the illustrated first arm, second arm, and cordless connector;

[0225] Figure 4 Observed from the rear Figure 1 a view of a first unit used in the illustrated wireless connector;

[0226] Figure 5A Observed from the front Figure 1 a view of a second unit used in the illustrated wireless connector;

[0227] Figure 5B Observed from the rear Figure 5A a view of the illustrated second unit;

[0228] Figure 6 is Figure 2 An enlarged sectional view of the portion surrounded by the dot-dash line VI;

[0229] Figure 7 It shows Figure 1 a view of the circuit structure of the illustrated wireless connector;

[0230] Figure 8 It is shown for Figure 1 A diagram illustrating a flow of a method for installing a wireless connector;

[0231] Figure 9 It is shown for Figure 1 A diagram illustrating a flow of a method for disassembling a wireless connector;

[0232] Figure 10 is a view of a wireless connector attached to a first arm and a second arm according to a first modification of the present invention, as viewed from above;

[0233] Figure 11 The cross section of the wireless connector in the center of the vertical direction according to the second modified example of the present invention is shown. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0234] Figure 12 FIG. 1 is a cross-section of a wireless connector in the center in the vertical direction according to a third modification of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0235] Figure 13 FIG. 1 is a cross-section of a wireless connector in the center in the vertical direction according to a fourth modification of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0236] Figure 14FIG. 1 is a cross-section of a wireless connector in the middle of the vertical direction according to a fifth modification of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0237] Figure 15 FIG. 1 is a cross-section of a wireless connector in the center in the vertical direction according to a sixth modification of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0238] Figure 16 FIG. 1 is a cross-section of a wireless connector in the middle of the vertical direction according to the seventh modification of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0239] Figure 17 FIG. 1 is a cross-section of the wireless connector in the center in the vertical direction according to the eighth modification of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0240] Figure 18 FIG. 1 is a cross-section of a wireless connector according to a ninth modification of the present invention at the center in the vertical direction. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0241] Figure 19 FIG. 1 is a cross-section of a wireless connector according to a tenth modification of the present invention at the center in the vertical direction. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0242] Figure 20 FIG. 1 is a cross-section of the wireless connector according to the eleventh modified example of the present invention at the center in the vertical direction. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0243] Figure 21 FIG. 1 is a cross-section of the wireless connector in the center in the vertical direction according to the twelfth modification of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0244] Figure 22 FIG. 1 is a cross-section of the wireless connector in the center in the vertical direction according to the thirteenth modified example of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0245] Figure 23 FIG. 1 is a cross-section of the wireless connector in the center in the vertical direction according to the fourteenth modified example of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0246] Figure 24 FIG. 1 is a cross-section of the wireless connector in the center in the vertical direction according to the fifteenth variation of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0247] Figure 25 FIG. 1 is a cross-section of the wireless connector in the center in the vertical direction according to the sixteenth variation of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0248] Figure 26 FIG. 1 is a cross-section of the wireless connector in the center in the vertical direction according to the seventeenth variation of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0249] Figure 27 FIG. 1 is a cross-section of the wireless connector in the center in the vertical direction according to the eighteenth modified example of the present invention. Figure 2 An enlarged view of the portion corresponding to the portion surrounded by the dot-dash line VI;

[0250] Figure 28 is an exploded perspective view of a first arm, a second arm, and a wireless connector according to a second embodiment of the present invention;

[0251] Figure 29 Observed from the rear Figure 28 a view of a first unit used in the illustrated wireless connector;

[0252] Figure 30 Observed from the front Figure 28 a view of a second unit used in the illustrated wireless connector;

[0253] Figure 31 It shows Figure 28 a diagram of the circuit structure in the illustrated wireless connector;

[0254] Figure 32 is a view of a wireless connector mounted to a first arm and a second arm according to a third embodiment of the present invention, as viewed from above;

[0255] Figure 33 Observed from the rear Figure 32A first unit used in the illustrated wireless connector;

[0256] Figure 34 Observed from the front Figure 32 a second unit used in the illustrated wireless connector;

[0257] Figure 35A is a diagram showing a structure of a robot arm apparatus according to the related art disclosed in Patent Document 1; and

[0258] Figure 35B is a diagram showing a circuit configuration of a wireless power transmission system according to the related art disclosed in Patent Document 1. DETAILED DESCRIPTION

[0259] Hereinafter, a wireless connector according to an embodiment of the present invention will be described with reference to the accompanying drawings. Throughout all the drawings, the same elements are assigned the same reference numerals.

[0260] First Embodiment

[0261] (Structure of Wireless Connector 100 According to First Embodiment)

[0262] like Figure 1 perspective drawing, Figure 2 Plan view, and Figure 3 As shown in an exploded perspective view, a wireless connector 100 according to a first embodiment of the present invention is a connector for wirelessly transmitting power between a first arm 101 and a second arm 102. Wireless connector 100 is removably attached to the exterior of first arm 101 and second arm 102. In this first embodiment, an example of wireless power transmission using magnetic field coupling (specifically, electromagnetic induction) will be described. First arm 101 may be referred to as a first component, and second arm may be referred to as a second component.

[0263] In robotic devices such as industrial robots and humanoid robots, arm assemblies (101, 102) are connected via a joint mechanism 103. Here, "arm assembly (101, 102)" is a general term (assembly portion) including the first arm portion 101 and the second arm portion 102. The same applies below. The first arm portion 101 and the second arm portion 102 are covered by a first housing OS1 and a second housing OS2, respectively. Therefore, the internal mechanisms and wiring of the first arm portion 101 and the second arm portion 102 are not exposed.

[0264] The joint mechanism 103 is a mechanism for connecting the first arm 101 and the second arm 102 so that the first arm 101 and the second arm 102 can rotate with the rotation axis AR as a fulcrum or support axis. Therefore, the first arm 101 and the second arm 102 are connected so as to be able to bend and stretch.

[0265] For example, the joint mechanism 103 according to the first embodiment includes a shaft portion 103A fixed to the second arm portion 102 and a hole portion 103B formed in the first arm portion 101. The joint mechanism 103 is configured so that the shaft portion 103A and the hole portion 103B fit together. The joint mechanism 103 connects the first arm portion 101 and the second arm portion 102 so that the first arm portion 101 and the second arm portion 102 can rotate about the axis of the shaft portion 103A, which serves as the rotation axis AR.

[0266] Any one of the first arm 101 and the second arm 102 may be a power supply side. In the first embodiment, an example in which the first arm 101 is a power supply side and the second arm 102 is a load side will be described.

[0267] For example, it is assumed that the first arm 101 and the second arm 102 are included in an industrial robot. In this case, another member (another arm, a base, etc.) is connected to the first end portion (not shown) of the first arm 101 on the side opposite to the joint mechanism 103. In addition, another member (another arm, a hand for holding a component, etc.) is connected to the second end portion (not shown) of the second arm 102 on the other side opposite to the joint mechanism 103.

[0268] The load includes, for example, an actuator, a control circuit, etc. mounted on the second arm 102 and another member connected to the second arm 102. The load may include a motor provided in the joint mechanism 103 to rotate the first arm 101 and the second arm 102.

[0269] In the following description, terms indicating an upward direction, a downward direction, a forward direction, a backward direction, a rightward direction, and a leftward direction are used, which are defined in a state where the arm assembly (101, 102) to which the wireless connector 100 is mounted is straight (i.e., a state where the arm assembly is not bent).

[0270] Specifically, the direction along the rotation axis AR is defined as the front-to-back direction, and the direction along which the arm assemblies (101, 102) extend is defined as the left-to-right direction. Furthermore, the direction in which the portions of the wireless connector 100 that face each other for wireless power transmission (the first transceiver 110 and the second transceiver 114, described later) are positioned relative to the arm assemblies (101, 102) is defined as the front side, and the direction opposite the front side is defined as the rear side. Each of the upward, downward, leftward, and rightward directions is defined based on the direction viewed from the front side. The front-to-back direction may be referred to as the first direction or thickness direction, the left-to-right direction may be referred to as the second direction or lateral direction or extension direction, and the up-down direction may be referred to as the third direction or height direction. The first to third directions are perpendicular to each other and define an orthogonal coordinate system. In the illustrated example, the first arm 101 is positioned rightward relative to the rotation axis AR, and the second arm 102 is positioned leftward relative to the rotation axis AR.

[0271] It should be noted that those terms indicating directions are used for the purpose of explanation and are not intended to limit the present invention.

[0272] The first arm 101 and the second arm 102 include a first mating connector portion 104 and a second mating connector portion 105, respectively. Each of the first mating connector portion 104 and the second mating connector portion 105 is a connector for transmitting power to / from the wireless connector 100. The first mating connector portion 104 and the second mating connector portion 105 are provided in the first arm 101 and the second arm 102, respectively, so as to be exposed to the outside.

[0273] Each of the first mating connector part 104 and the second mating connector part 105 according to the first embodiment is a male-type electrical connector including a plurality of electrical contacts arranged at intervals in the up-down direction (the third direction).

[0274] Specifically, the first mating connector portion 104 is provided on the right side relative to the rotation axis AR and projects forward from the front surface of the first housing OS1 of the first arm portion 101. On the other hand, the second mating connector portion 105 is provided on the left side relative to the rotation axis AR and projects forward from the front surface of the second housing OS2 of the second arm portion 102.

[0275] like Figures 1 to 3 As shown, the cordless connector 100 includes a first unit 106 and a second unit 107 , which are removably mounted to the first arm 101 and the second arm 102 , respectively.

[0276] The first unit 106 and the second unit 107 are configured to be separable. When the first unit 106 and the second unit 107 are mounted to the first arm 101 and the second arm 102, respectively, the first unit 106 and the second unit 107 can rotate relative to each other around the rotation axis AR.

[0277] like Figures 1 to 3 and observed from behind Figure 4 As shown, the first unit 106 includes a first housing 108, a first connector portion 109, a first transceiver portion 110, a first circuit portion 111, and a protection portion 134. Figure 4 , the first bolt 128 to be described later is not illustrated.

[0278] like Figures 1 to 3 and Figure 5A and Figure 5B As shown, the second unit 107 includes components 112 to 115 corresponding to the components 108 to 111 included in the first unit 106. Specifically, the second unit 107 includes a second housing 112, a second connector portion 113, a second transceiver portion 114, and a second circuit portion 115. Figure 5A and Figure 5B , the second unit 107 is viewed from the front and rear, respectively, and a second bolt 129 to be described later is not shown in these figures.

[0279] The first housing 108 is a hollow member to which the other components 109 to 111 included in the first unit 106 are mounted, and is typically made of a non-magnetic material such as resin. Similarly, the second housing 112 is a hollow member to which the other components 113 to 115 included in the second unit 107 are mounted, and is typically made of a non-magnetic material such as resin.

[0280] The first housing 108 according to the first embodiment includes a first arm mounting portion 120 for mounting the first unit 106 to the first arm portion 101, and a first opposing portion 121. Similarly, the second housing 112 includes a second arm mounting portion 122 for mounting the second unit 107 to the second arm portion 102, and a second opposing portion 123. The second opposing portion 123 is provided in a state of being spaced apart from and facing the first opposing portion 121 along the rotation axis AR.

[0281] Each of the first arm mounting portion 120 and the second arm mounting portion 122 has a substantially rectangular parallelepiped shape. The first arm mounting portion 120 and the second arm mounting portion 122 have substantially the same dimensions except for their length in the front-to-back direction (first direction). The length of the first arm mounting portion 120 in the front-to-back direction (first direction) is longer than the length of the second arm mounting portion 122 in the front-to-back direction.

[0282] Specifically, if Figure 4 As shown in FIG5 , the first arm mounting portion 120 includes a first opening 124 and four first bolt holes 125 . As shown in FIG5 , the second arm mounting portion 122 includes a second opening 126 and four second bolt holes 127 .

[0283] A first opening 124 is provided in the rear wall portion to connect the space inside the first arm mounting portion 120 to the outside. Similarly, a second opening 126 is provided in the rear wall portion to connect the space inside the second arm mounting portion 122 to the outside. The first connector portion 109, which will be described in detail later, is provided on the inner side (front side) of the first opening 124. Similarly, the second connector portion 113, which will be described in detail later, is provided on the inner side (front side) of the second opening 126.

[0284] It is desirable that the first housing 108 has a sealing structure sufficient to prevent liquid from passing through, except at the first opening 124 for mating to the first mating connector part 104. Similarly, it is desirable that the second housing 112 has a sealing structure sufficient to prevent liquid from passing through, except at the second opening 126 for mating to the second mating connector part 105.

[0285] Each of the four first bolt holes 125 and the four second bolt holes 127 is a through hole extending in the front-to-rear direction (first direction). Four first bolts 128 for securing the first housing 108 to the first arm 101 are disposed in a penetrating manner in the four first bolt holes 125. Similarly, four second bolts 129 for securing the second housing 112 to the second arm 102 are disposed in a penetrating manner in the four second bolt holes 127.

[0286] like Figure 2 As shown in FIG5 , for example, the first opposing portion 121 and the second opposing portion 123 are portions whose respective base ends are connected to the left end of the first arm mounting portion 120 and the right end of the second arm mounting portion 122, respectively, and which extend in a direction approaching each other with respect to the front-to-back direction (first direction) when viewed from the front. Therefore, the first opposing portion 121 and the second opposing portion 123 are spaced apart from each other along the rotation axis AR and face each other in the front-to-back direction (first direction).

[0287] Specifically, the first opposing portion 121 has a right end that is a base end connected to the left end of the first arm mounting portion 120. The first opposing portion 121 includes a first flat plate portion 121A and a recessed portion 121B.

[0288] The first flat plate portion 121A is a flat plate-shaped portion connected to the first arm mounting portion 120 and extending leftward. The first flat plate portion 121A has a front surface flush with the front surface of the first arm mounting portion 120. The first flat plate portion 121A has a height substantially the same as that of the first arm mounting portion 120, and when viewed from the front, the first flat plate portion 121A has a distal end that forms a semicircular shape protruding leftward. Here, "height" refers to the length in the vertical direction (the third direction). The same applies to the following.

[0289] The recessed portion 121B is a portion forming a cylindrical recess near the left end of the rear surface of the first flat plate portion 121A. The recessed portion 121B includes a circular flat bottom surface having a center through which the first central axis C1 passes, and an inner peripheral surface extending rearward from the outer edge of the bottom surface.

[0290] Here, "near" refers to a reference position or a position or area spaced a predetermined distance from the reference position. The same applies below. For example, near the left end of the rear surface of the first flat plate portion 121A is a position or area spaced a predetermined distance from the left end of the rear surface.

[0291] The second opposing portion 123 has a left end that is a base end connected to the right end of the second arm mounting portion 122. The second opposing portion 123 includes a second flat plate portion 123A and a protruding portion 123B.

[0292] The second flat plate portion 123A is a flat plate-shaped portion connected to the second arm mounting portion 122 and extending rightward, and has a front surface flush with the front surface of the second arm mounting portion 122. The second flat plate portion 123A has a constant height substantially the same as that of the second arm mounting portion 122, and has a tip forming a semicircular shape protruding rightward when viewed from the front.

[0293] The protrusion 123B is a columnar portion that protrudes forward near the right end of the front surface of the second flat plate portion 123A. The protrusion 123B includes a circular flat end surface having a center through which the second central axis C2 passes, and an outer peripheral surface that extends rearward from the outer edge of the end surface.

[0294] The first flat plate portion 121A has a thickness that is thinner than the difference between the thickness of the first arm mounting portion 120 and the thickness of the second arm mounting portion 122. Therefore, the first flat plate portion 121A has an end that is arranged in front of the second flat plate portion 123A and leaves a space with the second flat plate portion 123A. By fitting the protrusion 123B into the recessed portion 121B and leaving a predetermined gap between the protrusion 123B and the recessed portion 121B, the end surface of the protrusion 123B and the bottom surface of the recessed portion 121B are arranged in a state where they are spaced apart from each other and face each other along the rotation axis AR outside the joint mechanism 103. The second flat plate portion 123A has a thickness that can be appropriately set but is thinner than the thickness of the second arm mounting portion 122, and in the present embodiment, the thickness of the second flat plate portion 123A is substantially the same as the thickness of the first flat plate portion 121A. Here, "thickness" refers to the length along the front-to-back direction (first direction). The same applies below.

[0295] In the first embodiment, the case where the protrusion 123B is provided in the second opposing portion 123 disposed close to the arm assemblies (101, 102) and the recessed portion 121B is provided in the first opposing portion 121 disposed away from the arm assemblies (101, 102), and vice versa, will be described by way of example. That is, the recessed portion 121B may be provided in one of the first opposing portion 121 and the second opposing portion 123 disposed close to the arm assemblies (101, 102), and the protrusion 123B may be provided in one of the opposing portions disposed away from the arm assemblies (101, 102).

[0296] The first connector portion 109 is a portion for transmitting power to / from the first arm portion 101. The first connector portion 109 is removably attached to the first arm portion 101 from the outside of the first arm portion 101. The first connector portion 109 is attached to the first mating connector portion 104, thereby transmitting power to / from the first arm portion 101.

[0297] The first connector portion 109 according to the first embodiment is a female electrical connector fixed to the first housing 108, and includes a plurality of electrical contacts spaced apart in the up-down direction (third direction) in front of the first opening 124. As a result, the first connector portion 109 is exposed to the outside of the first housing 108 through the first opening 124, so that the first connector portion 109 and the first mating connector portion 104 inserted through the first opening 124 from the rear of the first housing 108 mate with each other in the front-to-back direction (first direction). The first connector portion 109 and the first mating connector portion 104 that mate with each other are electrically connected to each other by bringing their respective electrical contacts into contact with each other, thereby enabling power to be transmitted. Therefore, the front-to-back direction (first direction) is the mating direction of the first connector portion 109.

[0298] The relationship between the female and male types of the first connector portion 109 and the first mating connector portion 104 can be altered. Similarly, if the first mating connector portion 104 is a female type, it only needs to be exposed to the outside of the first arm portion 101, thereby allowing the first connector portion 109 to be removably mounted from the outside of the first arm portion 101. Specifically, for example, an opening can be provided in the first housing OS1 of the first arm portion 101, and the electrical contacts constituting the first mating connector portion 104 can be provided within the opening.

[0299] The second connector portion 113 is a portion for transmitting power to / from the second arm 102. The second connector portion 113 is removably mounted to the second arm 102 from the outside of the second arm 102. The second connector portion 113 is mounted to the second mating connector portion 105, thereby transmitting power to / from the second arm 102.

[0300] The second connector portion 113 according to the first embodiment is a female electrical connector fixed to the second housing 112, and includes a plurality of electrical contacts spaced apart in the up-down direction (third direction) in front of the second opening 126. As a result, the second connector portion 113 is exposed to the outside of the second housing 112 through the second opening 126, so that the second connector portion 113 and the second mating connector portion 105 inserted through the second opening 126 from the rear of the second housing 112 mate with each other in the front-to-back direction (first direction). The second connector portion 113 and the second mating connector portion 105 that mate with each other are electrically connected to each other by bringing their respective electrical contacts into contact with each other, thereby enabling power to be transmitted. Therefore, the front-to-back direction (first direction) is the mating direction of the second connector portion 113. Therefore, the first connector portion 109 and the second connector portion 113 have the same mating direction.

[0301] The relationship between the female and male types of the second connector portion 113 and the second mating connector portion 105 can be changed. Similarly, in the case of a female second mating connector portion 105, the second mating connector portion 105 only needs to be exposed to the outside of the second arm portion 102, thereby allowing the second connector portion 113 to be removably mounted from the outside of the second arm portion 102. Specifically, for example, an opening can be provided in the second housing OS2 of the second arm portion 102, and the electrical contacts constituting the second mating connector portion 105 can be provided within the opening.

[0302] The first transceiver 110 and the second transceiver 114 are components for wirelessly transmitting power (AC power) therebetween. These components are located outside the joint mechanism 103, spaced apart from each other along the rotation axis AR and facing each other, thereby wirelessly transmitting power (AC power). Typically, the first transceiver 110 and the second transceiver 114 have a shape, such as a disk, centered around the first and second central axes C1 and C2, respectively.

[0303] In the first embodiment, the first transceiver 110 is fixed to the bottom surface of the recessed portion 121B using a fixing member (e.g., adhesive, screws, etc.). The second transceiver 114 is fixed to the distal end surface of the protruding portion 123B using a fixing member (e.g., adhesive, screws, etc.). As a result, the first transceiver 110 and the second transceiver 114 are respectively fixed to regions of the first opposing portion 121 and the second opposing portion 123 that face each other along the rotation axis AR (the first central axis C1 and the second central axis C2).

[0304] Therefore, the first transceiver 110 and the second transceiver 114 are arranged so as to face each other along the rotation axis AR (the first center axis C1 and the second center axis C2) outside the joint mechanism 103. The first transceiver 110 and the second transceiver 114 are arranged in a state where they are spaced apart from each other and do not contact each other. Preferably, the first transceiver 110 and the second transceiver 114 are arranged parallel to each other, with the surfaces (opposing surfaces) of the first transceiver 110 and the second transceiver 114 perpendicular to the rotation axis AR facing each other.

[0305] The first transceiver 110 and the second transceiver 114 according to the first embodiment respectively include a first coil member and a second coil member, which are disc-shaped and substantially identical in size. That is, the first coil member has a disc-shaped shape centered on the first central axis C1. The second coil member has a disc-shaped shape centered on the second central axis C2.

[0306] The first coil member may be composed of, for example, a lead wire helically wound around the first central axis C1, a printed wiring helically printed on a substrate around the first central axis C1, etc. Similarly, the second coil member may be composed of, for example, a lead wire helically wound around the second central axis C2, a printed wiring helically printed on a substrate around the second central axis C2, etc.

[0307] Because the first and second coil members are arranged facing each other along the rotation axis AR (first and second center axes C1 and C2), they are magnetically coupled by electromagnetic induction. Therefore, power (AC power) can be wirelessly transmitted between the first and second coil members.

[0308] Here, in order to strengthen the coupling (magnetic field coupling in the first embodiment) between the first transceiver 110 and the second transceiver 114, it is desirable that the area of ​​the region facing each other (facing area) is large, and it is desirable that the rotation axis AR, the first center axis C1, and the second center axis C2 coincide with each other. However, it is only necessary for the first transceiver 110 and the second transceiver 114 to be arranged facing each other along the rotation axis AR in order to transmit power (AC power) (in order to induce magnetic field coupling in the first embodiment), and the rotation axis AR, the first center axis C1, and the second center axis C2 may be misaligned due to manufacturing errors, design constraints, etc.

[0309] In the first embodiment, a first sheet-like shield member S1 and a second sheet-like shield member S2 are provided in front of the first transceiver section 110 and behind the second transceiver section 114, respectively. Each of the first and second sheet-like shield members S1, S2 is made of metal, a soft magnetic material, or the like. As a result, the first and second transceiver sections 110, 114 are interposed between the first and second sheet-like shield members S1, S2 along the rotation axis AR, thereby suppressing electromagnetic waves radiated from the wireless connector 100 to the outside.

[0310] The first transceiver section 110 may further include a capacitor connected in series or in parallel with the first coil member, and may further include a resin outer housing that houses the first coil member, etc. Similarly, the second transceiver section 114 may further include a capacitor connected in series or in parallel with the second coil member, and may further include a resin outer housing that houses the second coil member, etc.

[0311] The protecting portion 134 includes an annular elastic member for preventing foreign matter from intruding into the opposing space, and is configured to close at least a portion of a gap that is continuous with the opposing space, which is the space between the first transceiver 110 and the second transceiver 114, which are in a state of facing each other. The protecting portion 134 according to the first embodiment includes an oil seal and closes the gap that is continuous with the opposing space with a degree of sealing sufficient to prevent the passage of liquid (i.e., in a liquid-tight state).

[0312] The protection portion 134 may be configured to close a portion or all of a gap continuous with an opposing space between the first coil member included in the first transceiver portion 110 and the second coil member included in the second transceiver portion 114 .

[0313] like Figure 6 As shown, the protection portion 134 includes a fixing portion 134A and a contact portion 134B, and is integrally formed of an elastic member such as rubber, for example. Figure 6 The cross section of the wireless connector 100 at approximately the center in the vertical direction (third direction) is shown. Figure 2 An enlarged view of the portion surrounded by the dot-dash line IV in FIG.

[0314] The fixing portion 134A of the protection portion 134 is formed in an annular shape centered on the first central axis C1 , and its outer peripheral surface is fixed to the inner peripheral surface of the recessed portion 121B of the first opposing portion 121 by an adhesive or the like.

[0315] The contact portion 134B of the protection portion 134 has a base end connected to the fixing portion 134A and a distal end that presses against the outer peripheral surface of the protruding portion 123B of the second opposing portion 123, such that the contact portion 134B is in continuous, annular contact with the outer peripheral surface. Specifically, the contact portion 134B of the protection portion 134 presses against the outer peripheral surface of the protruding portion 123B of the second opposing portion 123 with sufficient strength to prevent liquid, dust, and the like from entering the opposing space, thereby sealing the opposing space and preventing foreign matter from entering the opposing space.

[0316] In the first embodiment, as Figure 6 As shown, the contact portion 134B of the protection portion 134 contacts the outer peripheral surface of the protrusion 123B of the second opposing portion 123 at two locations. However, the contact portion 134B of the protection portion 134 may contact the outer peripheral surface of the protrusion 123B of the second opposing portion 123 at only one location or at three or more locations.

[0317] The first unit 106 and the second unit 107 according to the first embodiment are in contact with each other only at the protection portion 134 , and are spaced apart from each other without being in contact with each other except at the protection portion 134 .

[0318] refer to Figure 2 The first circuit portion 111 is a circuit electrically connected to the first connector portion 109 and the first transceiver portion 110. The first circuit portion 111 is fixed inside the first housing 108 and electrically connected to each of the first connector portion 109 and the first transceiver portion 110.

[0319] In the first embodiment, the first circuit portion 111 is fixed to the front end of the first connector portion 109 , and the first circuit portion 111 and the first transceiver portion 110 are electrically connected to each other via the first lead wire 130 .

[0320] In the first embodiment, as described above, the first arm 101 is the power supply side. Therefore, the first circuit unit 111 includes a power transmission circuit and includes, for example, an inverter circuit for converting input power (DC power) supplied from the first arm 101 through the first connector unit 109 into output power (AC power) to be output to the first transceiver unit 110.

[0321] The second circuit unit 115 is a circuit electrically connected to the second connector unit 113 and the second transceiver unit 114. The second circuit unit 115 is fixed inside the second housing 112 while being electrically connected to each of the second connector unit 113 and the second transceiver unit 114.

[0322] In the first embodiment, the second circuit portion 115 is fixed to the front end of the second connector portion 113 , and the second circuit portion 115 and the second transceiver portion 114 are electrically connected to each other via the second lead wire 131 .

[0323] In the first embodiment, as described above, the second arm portion 102 is the load side. Therefore, the second circuit portion 115 includes a power receiving circuit and includes, for example, a rectifying / smoothing circuit for converting input power (AC power) received by the second transceiver portion 114 magnetically coupled to the first transceiver portion 110 into output power (DC power) to be output to the second arm portion 102 through the second connector portion 113.

[0324] Hereinabove, the structure of the wireless connector 100 according to the first embodiment of the present invention has been described.

[0325] Generally speaking, when the first unit 106 and the second unit 107 are mounted on the arm assembly (101, 102), there is a possibility that the designed rotation axis (e.g., the axis that coincides with the first center axis C1 and the second center axis C2) may not coincide with the rotation axis AR due to manufacturing errors or the like. As described above, according to the first embodiment, the first unit 106 and the second unit 107 are spaced apart from each other and do not contact each other except at the protection portion 134, and the protection portion 134, which is a portion of the contact, has elasticity. Therefore, even if the designed rotation axis is slightly misaligned with the rotation axis AR, the first unit 106 and the second unit 107 can be rotated about the rotation axis AR according to the bending of the arm assembly (101, 102).

[0326] (Operation of the Wireless Connector 100 According to the First Embodiment)

[0327] In the following, reference will be made to Figure 7 The operation of the wireless connector 100 according to the first embodiment will be described with reference to the circuit structure diagram of FIG.

[0328] like Figure 7 As shown, the power (DC power) supplied from the first arm portion 101 (power supply side) is converted into AC power through the first connector portion 109 and the first circuit portion (power transmission circuit) 111, and is supplied to the first transceiver portion 110. As a result, AC current flows through the first transceiver portion 110, and an AC magnetic field is generated around the first transceiver portion 110.

[0329] As described above, the first transceiver section 110 and the second transceiver section 114 are arranged spaced apart from each other along the rotation axis AR and facing each other. Consequently, the first transceiver section 110 and the second transceiver section 114 are magnetically coupled, and an induced electromotive force corresponding to the magnetic field generated around the first transceiver section 110 is generated in the second transceiver section 114. Specifically, in the first embodiment, the first coil member constituting the first transceiver section 110 functions as a power transmitting coil, while the second coil member constituting the second transceiver section 114 functions as a power receiving coil.

[0330] The power (AC power) generated by the second transceiver unit 114 is converted into DC power by the second circuit unit (power receiving circuit) 115 and the second connector unit 113, and then supplied to the second arm 102 (load side). Therefore, power can be wirelessly transmitted between the first arm 101 and the second arm 102 via the wireless connector 100.

[0331] In the first embodiment, as described above, the arm assembly ( 101 , 102 ) bends and extends by rotating around the rotation axis AR, and accordingly, the first unit 106 and the second unit 107 rotate around the rotation axis AR.

[0332] Since the transceiver components (110, 114) are arranged in a state where they are spaced apart from each other and face each other along the rotation axis AR, magnetic field coupling is performed by electromagnetic induction even when the first unit 106 and the second unit 107 rotate. Therefore, regardless of the bending / extension state of the arm components (101, 102), and even when the arm components (101, 102) are in a bending / extension operation, the wireless connector 100 can operate similarly to the operation described above, so that power can be wirelessly transmitted between the first arm 101 and the second arm 102. Here, the "transceiver components (110, 114)" is a general term (component portion) that includes the first transceiver unit 110 and the second transceiver unit 114. The same applies to the following.

[0333] In the first embodiment, the protrusion 123B of the second opposing portion 123 is fitted into the recess 121B of the first opposing portion 121. Thus, the transceiver assemblies (110, 114) are arranged in a state where relative movement is restricted. That is, the transceiver assemblies (110, 114) are arranged so that their relative positional relationship remains within a predetermined range even when the transceiver assemblies (110, 114) rotate about the rotation axis AR.

[0334] Here, the relative positional relationship of the transceiver components (110, 114) refers to the distance (separation distance) separating the first transceiver 110 and the second transceiver 114 from each other along the rotation axis AR, the area of ​​the region facing each other (facing area), and the angle relative to the rotation axis AR. In the first embodiment, the first transceiver 110 and the second transceiver 114 are arranged parallel to each other. This is an example of an arrangement in which the relative positional relationship is constrained.

[0335] By constraining the relative positional relationship of the transceiver components (110, 114), the first transceiver unit 110 and the second transceiver unit 114 can be magnetically coupled with a relatively stable strength within a predetermined range regardless of the bending / extension state and bending / extension operation of the arm components (101, 102). Therefore, even when the wireless connector 100 is arranged outside the arm components (101, 102), stable wireless power transmission can be performed.

[0336] Furthermore, in the first embodiment, a protective portion 134 is provided that surrounds the opposing space. The contact portion 134B of the protective portion 134 contacts the outer peripheral surface of the protrusion 123B of the second opposing portion 123, thereby closing a gap that is continuous with the opposing space. Even during the bending / extension operation of the arm assemblies (101, 102), the contact portion 134B of the protective portion 134 maintains contact with the outer peripheral surface of the protrusion 123B of the second opposing portion 123. That is, during the bending / extension operation of the arm assemblies (101, 102), the protrusion 123B of the second opposing portion 123 rotates relative to the protective portion 134 about the rotation axis AR while its outer peripheral surface is in contact with the contact portion 134B of the protective portion 134. Therefore, regardless of the bending / extension state and bending / extension operation of the arm assemblies (101, 102), foreign matter can be prevented from entering the opposing space.

[0337] For example, if debris enters the opposing space as foreign matter, the foreign matter may become trapped between the first housing 108 and the second housing 112. Examples of debris include metal pieces when the wireless connector 100 is used in industrial robotic equipment operating indoors, and gravel and pebbles when the wireless connector 100 is used in robotic equipment operating outdoors.

[0338] When first unit 106 and second unit 107 are rotated while debris is trapped between first housing 108 and second housing 112, there is a risk of failure in the rotation operation and damage to wireless connector 100. In the first embodiment, an oil seal is provided as protective portion 134. Therefore, debris rarely enters the opposing space. As a result, the possibility of malfunctions caused by debris intrusion into the opposing space is reduced.

[0339] For example, when the wireless connector 100 is used in a workspace where magnetic powder is suspended, magnetic powder that enters the opposing space may accumulate on the surface of the transceiver components (110, 114), potentially weakening or destabilizing the magnetic field coupling of the transceiver components. In the first embodiment, an oil seal is provided as the protective portion 134. Therefore, magnetic powder rarely enters the opposing space. As a result, the possibility of malfunctions caused by the intrusion of magnetic powder into the opposing space can be reduced.

[0340] Furthermore, for example, when the wireless connector 100 is used in a fluid containing magnetic powder, magnetic powder that enters the opposing space may weaken or destabilize the magnetic field coupling between the transceiver components (110, 114). In the first embodiment, an oil seal is provided as the protective portion 134. Therefore, magnetic powder rarely enters the opposing space. As a result, stable power transmission is possible even in a fluid containing magnetic powder.

[0341] Accordingly, it is possible to provide the wireless connector 100 having excellent durability in various environments.

[0342] (Wireless Connector Attachment / Detachment Method According to First Embodiment)

[0343] In the above, the operation of the wireless connector 100 according to the first embodiment of the present invention has been described. Figures 8 and 9 The wireless connector installation / detachment method according to the first embodiment is described. The wireless connector installation / detachment method according to the first embodiment is a method for attaching / detaching the wireless connector 100 to / from the arm assembly (101, 102), and includes an installation method and a detachment method for the wireless connector 100.

[0344] (Installation Method for Wireless Connector 100)

[0345] Figure 8 is a flowchart showing the flow of the installation method for the wireless connector 100. The installation method for the wireless connector 100 begins by preparing a robot apparatus including arm assemblies (101, 102) connected via a joint mechanism 103 and the wireless connector 100.

[0346] like Figure 8 As shown, the second unit 107 is mounted to the second arm portion 102 from the outside of the second arm portion 102 (step 1; step of mounting the second unit).

[0347] Specifically, in step 1 , with the second transceiver 114 positioned in front of the joint mechanism 103 on the rotation axis AR, the second connector 113 is attached to the second arm 102 (step 1A; step of attaching the second connector).

[0348] In the first embodiment, the second connector portion 113 is mounted to the second arm 102 by mating the second mating connector portion 105 to the second connector portion 113. Since the second mating connector portion 105 is exposed to the outside of the second arm 102, the second connector portion 113 is mounted to the second arm 102 from the outside.

[0349] By attaching the second connector portion 113 to the second arm portion 102 in the above manner, the second connector portion 113 is electrically connected to the second mating connector portion 105. In the first embodiment, since the second connector portion 113 is fixed to the second housing 112, the second housing 112 is attached to the second arm portion 102 together with the second connector portion 113. As a result, the second unit 107 is attached to the second arm portion 102.

[0350] like Figure 8 As shown, the second unit 107 is fixed to the second arm 102 (step 1B; fixing step)

[0351] In the first embodiment, four second bolts 129 are inserted into the four second bolt holes 127, respectively, and the second bolts 129 are fitted into the four second threaded hole portions 132 provided in the second arm portion 102 by a screwing action, thereby fixing the second housing 112 to the second arm portion 102. The method for fixing the second unit 107 to the second arm portion 102 is not limited to bolt fastening, and may be, for example, locking by engagement between a claw and a peripheral portion of the second opening 126.

[0352] like Figure 8 As shown, the first unit 106 is mounted to the first arm 101 from the outside of the first arm 101 (step 2; step of mounting the first unit).

[0353] Specifically, in step 2 , with the first transceiver 110 positioned in front of the joint mechanism 103 and the second transceiver 114 on the rotation axis AR, the first connector 109 is mounted to the first arm 101 (step 2A; step of mounting the first connector).

[0354] In the first embodiment, the first mating connector portion 104 is mated to the first connector portion 109. At this time, the protruding portion 123B of the second opposing portion 123 is mated to the recessed portion 121B of the first opposing portion 121, so that the distal end surface of the protruding portion 123B and the bottom surface of the recessed portion 121B of the first opposing portion 121 face each other along the rotation axis AR and are inserted into the protecting portion 134. Thus, the first connector portion 109 is attached to the first arm portion 101. Since the first mating connector portion 104 is exposed to the outside of the first arm portion 101, the first connector portion 109 is attached to the first arm portion 101 from the outside.

[0355] In the first embodiment, the protrusion 123B of the second opposing portion 123 is fitted into the recessed portion 121B of the first opposing portion 121 so that the distal end surface of the protrusion 123B of the second opposing portion 123 is arranged inside the recessed portion 121B of the first opposing portion 121. However, if the distal end surface of the protrusion 123B of the second opposing portion 123 and the bottom surface of the recessed portion 121B of the first opposing portion 121 face each other, the distal end surface of the protrusion 123B of the second opposing portion 123 may be arranged outside the recessed portion 121B of the first opposing portion 121 (for example, see the eighth modification example). Figure 17 ).

[0356] By attaching the first connector portion 109 to the first arm portion 101 in the manner described above, the first connector portion 109 is electrically connected to the first mating connector portion 104. The gap that is continuous with the opposing space is sealed by the protective portion 134, thereby preventing foreign matter from entering the opposing space. Furthermore, in the first embodiment, since the first connector portion 109 is fixed to the first housing 108, the first housing 108 is attached to the first arm portion 101 together with the first connector portion 109. As a result, the first unit 106 is attached to the first arm portion 101.

[0357] like Figure 8 As shown, the first unit 106 is fixed to the first arm 101 (step 2B; fixing step).

[0358] In the first embodiment, four first bolts 128 are inserted into the four first bolt holes 125, respectively, and the first bolts 128 are fitted into the four first threaded hole portions 133 provided in the first arm portion 101 by a screwing action, thereby fixing the first housing 108 to the first arm portion 101. The method for fixing the first unit 106 to the first arm portion 101 is not limited to bolt fastening, and may be, for example, locking by engagement between a claw and a peripheral portion of the first opening 124.

[0359] Thus, the installation method for the wireless connector 100 is completed, and the electrical connector 100 is installed in a state fixed to the first arm 101 and the second arm 102. The first transceiver 110 and the second transceiver 114 are arranged to be substantially parallel and face a plane substantially perpendicular to the rotation axis AR while being located outside the joint mechanism 103, spaced apart from each other and facing each other along the rotation axis AR, so as to wirelessly transmit power (AC power).

[0360] (Disassembly Method for Wireless Connector 100)

[0361] Figure 9 1 is a flowchart illustrating the flow of a disassembly method for the wireless connector 100. Typically, after the wireless connector 100 is mounted on the robot device by the mounting method for the wireless connector 100 described above, the disassembly method for the wireless connector 100 is performed, if necessary. An example of a situation in which the wireless connector 100 needs to be disassembled is a situation in which a malfunctioning wireless connector 100 is replaced with a normal wireless connector 100 for the purpose of repair.

[0362] like Figure 9 As shown, the first unit 106 is removed from the first arm 101 by working outside the first arm 101 (step 3; step of removing the first unit).

[0363] In detail, such as Figure 9 As shown, the fixation between the first unit 106 and the first arm portion 101 is released (step 3A; fixation release step). In the first embodiment, after the four first bolts 128 and the four first threaded hole portions 133 are screwed together, the four first bolts 128 are removed from the four first bolt holes 125.

[0364] like Figure 9 As shown, the first connector portion 109 is detached from the first arm portion 101 (step 3B; step of detaching the first connector portion).

[0365] In the first embodiment, for example, the worker grasps the first housing 108 outside the first arm 101 by using a hand or a jig, etc. Then, the first connector portion 109 is detached from the first arm 101 by pulling it out from the first mating connector portion 104 .

[0366] In the first embodiment, as described above, the first connector portion 109 and the protection portion 134 are fixed to the first housing 108. Therefore, the first housing 108 and the protection portion 134 are detached from the first arm 101 and the second unit 107 together with the first connector portion 109. Thus, the first unit 106 is detached from the first arm 101 and the second unit 107.

[0367] like Figure 9 As shown, the second unit 107 is detached from the second arm 102 by working outside the second arm 102 (step 4; step of detaching the second unit).

[0368] In detail, such as Figure 9 As shown, the fixation between the second unit 107 and the second arm portion 102 is released (step 4A; fixation release step). In the first embodiment, after the four second bolts 129 and the four second threaded hole portions 132 are screwed together, the four second bolts 129 are removed from the four second bolt holes 127.

[0369] like Figure 9 As shown, the second connector portion 113 is detached from the second arm portion 102 (step 4B; step of detaching the second connector portion).

[0370] In the first embodiment, for example, the worker grasps the second housing 112 outside the second arm 102 by using a hand or a jig, etc. Then, the second connector portion 113 is detached from the second arm 102 by pulling it out from the second mating connector portion 105 .

[0371] In the first embodiment, since the second connector portion 113 is fixed to the second housing 112, the second housing 112 is detached from the first arm 101 together with the second connector portion 113. Thus, the second unit 107 is detached from the second arm 102.

[0372] The disassembly method for the cordless connector 100 is completed, and the cordless connector 100 is disassembled from the arm assembly (101, 102).

[0373] Hereinabove, the first embodiment of the present invention has been described.

[0374] According to the first embodiment, the wireless connector 100 can be attached to and detached from the arm assemblies 101 and 102 by working outside the arm assemblies 101 and 102. As a result, for example, a malfunctioning wireless connector 100 can be easily replaced with a normal wireless connector 100. Therefore, the wireless connector 100 can be easily repaired.

[0375] The wireless connector 100 is provided outside the arm assembly (101, 102). Therefore, compared with a case where the wireless connector is provided inside the arm assembly (101, 102), the influence on the design of the interior of the arm assembly (101, 102) is reduced. Therefore, the degree of freedom in the design of the arm assembly (101, 102) can be increased.

[0376] Furthermore, since the first unit 106 and the second unit 107 are spaced apart from each other and do not contact each other except at the protection portion 134, even when the first unit 106 and the second unit 107 rotate relative to each other, the first unit 106 and the second unit 107 are hardly worn. Even if the protection portion 134 is worn, the protection portion 134 can be easily replaced by working outside the arm assembly (101, 102). Therefore, the durability of the wireless connector 100 can be improved.

[0377] In the first embodiment, the mating direction of the first connector portion 109 with the first mating connector portion 104 and the mating direction of the second connector portion 113 with the second mating connector portion 105 are both the same front-to-back direction (first direction). The first transceiver portion 110 and the second transceiver portion 114 are respectively provided on the distal end surface of the protruding portion 123B protruding in the mating direction and on the bottom surface of the recessed portion 121B recessed in the mating direction. Therefore, the first transceiver portion 110 and the second transceiver portion 114 are arranged in a state of being spaced apart from each other and facing each other in the mating direction (first direction) so as to induce magnetic field coupling between the transceiver portions 110 and 114.

[0378] In this case, in the arm assemblies (101, 102), the first mating connector portion 104 and the second mating connector portion 105 can be arranged in mutually opposite directions (i.e., leftward and rightward) via the rotation axis AR of the joint mechanism 103. Therefore, the first mating connector portion 104 and the second mating connector portion 105 can be easily provided to the first arm portion 101 and the second arm portion 102, respectively. In addition, in the wireless connector 100, the structures of the first unit 106 and the second unit 107 can be relatively simple, as will be understood from the foregoing structural description.

[0379] Accordingly, the arm assembly (101, 102) can be easily provided with the cordless connector 100 having a simple structure.

[0380] In addition, according to the first embodiment, the first center axis C1 and the second center axis C2 are oriented parallel in the front-to-back direction (first direction), and the first center axis C1 and the second center axis C2 are parallel to the mating direction of the first connector portion 109 and the second connector portion 113. Therefore, with a simple structure, the first transceiver portion 110 (first coil member) and the second connector portion 113 (second coil member) can be arranged substantially parallel to each other to induce excellent magnetic field coupling. Accordingly, power can be wirelessly transmitted from the first arm portion 101 to the second arm portion 102 with a simple structure and in good condition.

[0381] Hereinabove, the first embodiment of the present invention has been described. The present invention is not limited to the first embodiment, and includes the following modified structures of the first embodiment.

[0382] <First Modification>

[0383] In the first embodiment, the example in which the first and second connector portions 109 and 113 are respectively fixed to the first and second housings 108 and 112 has been described. However, the first and second connector portions 109 and 113 may be mounted on, but not fixed to, the first and second housings 108 and 112, respectively.

[0384] like Figure 10 As shown, the wireless connector 200 according to the first modification includes a first unit 206 and a second unit 207, which are configured to be separable in a manner similar to the first embodiment. The first unit 206 and the second unit 207 are spaced apart from each other and do not contact each other except at the protection portion 134.

[0385] The first unit 206 includes a first transceiver part 110, a first circuit part 111 and a protection part 134 similar to the first transceiver part, the first circuit part and the protection part of the first embodiment, and a first connector part 209 and a first shell 208 different from the first connector part and the first shell of the first embodiment.

[0386] Similar to the first embodiment, the first connector portion 209 is an electrical connector that transmits power to / from the first arm portion 101 and is removably mounted to the first mating connector portion 104 by mating with the first mating connector portion 104. The first connector portion 209 includes a first lead 230 that extends to the outside of the first housing 208 and is connected to the first circuit portion 111 provided inside the first housing 208 via the first lead 230.

[0387] The first housing 208 includes a first opposing portion 121 similar to the first opposing portion of the first embodiment, in which the first transceiver 110 is fixed to the bottom surface of the recessed portion 121B, and a first arm mounting portion 220 different from the first embodiment.

[0388] The first arm mounting portion 220 may be substantially similar in structure to the first arm mounting portion 120 according to the first embodiment, except that the first connector portion 209 is not disposed inside the first housing 208 .

[0389] The second unit 207 includes a second transceiver portion 114 and a second circuit portion 115 similar to those of the first embodiment, and a second connector portion 213 and a second housing 212 different from those of the first embodiment.

[0390] Similar to the first embodiment, the second connector portion 213 is an electrical connector that transmits power to / from the second arm portion 102 and is removably mounted to the second mating connector portion 105 by mating with the second mating connector portion 105. The second connector portion 213 includes a second lead 231 extending to the outside of the second housing 212 and is connected to the second circuit portion 115 provided inside the second housing 212 via the second lead 231.

[0391] The second housing 212 includes a second opposing portion 123 similar to the second opposing portion of the first embodiment, in which the second transceiver 114 is fixed to the distal end surface of the protrusion 123B, and a second arm mounting portion 222 different from the second arm mounting portion of the first embodiment.

[0392] The second arm mounting portion 222 may be substantially similar in structure to the second arm mounting portion 122 according to the first embodiment, except that the second connector portion 113 is not disposed inside the second housing 212 .

[0393] In the first modification, when the wireless connector 200 is mounted on the arm assembly (101, 102), as in the first embodiment, the first transceiver 110 and the second transceiver 114 are arranged outside the joint mechanism 103, spaced apart from each other along the rotation axis AR and facing each other, so as to wirelessly transmit power (AC power) by electromagnetic induction. Therefore, according to the wireless connector 200, power can be wirelessly transmitted between the first arm 101 and the second arm 102 in a manner similar to the first embodiment.

[0394] Furthermore, the wireless connector 200 can be attached to and detached from the arm assemblies 101 and 102 by working outside the arm assemblies 101 and 102. As a result, for example, a malfunctioning wireless connector 200 can be easily replaced with a normal wireless connector 200. Therefore, the wireless connector 200 can be easily repaired.

[0395] Furthermore, in a manner similar to the first embodiment, the gap continuous with the opposing space is closed by the protective portion 134. Therefore, as in the first embodiment, according to this cordless connector 200, foreign matter can be prevented from intruding into the opposing space regardless of the bending / extension state and bending / extension operation of the arm assemblies (101, 102). Accordingly, a cordless connector 200 having excellent durability in various environments can be provided.

[0396] <Second to Eighteenth Modifications>

[0397] In the first embodiment, the example has been described in which the fixing portion 134A of the protecting portion 134 is provided on the inner peripheral surface of the recessed portion 121B of the first opposing portion 121 and the contact portion 134B of the protecting portion 134 is in contact with the outer peripheral surface of the protruding portion 123B of the second opposing portion 123, so that the gap continuous with the opposing space is closed. However, it is only necessary to provide the protecting portion 134 to close the gap continuous with the opposing space in order to prevent foreign matter from intruding into the opposing space.

[0398] Specifically, for example, the fixing portion 134A of the protecting portion 134 may be fixed to any one of the inner peripheral surface, bottom surface, and peripheral portion of the recessed portion 121B of the first opposing portion 121, and the outer peripheral surface, distal end surface, and peripheral portion of the protruding portion 123B of the second opposing portion 123. When the fixing portion 134A of the protecting portion 134 is fixed to any one of the inner peripheral surface, bottom surface, and peripheral portion of the recessed portion 121B of the first opposing portion 121, the contact portion 134B of the protecting portion 134 may be in contact with any one of the outer peripheral surface, distal end surface, and peripheral portion of the protruding portion 123B of the second opposing portion 123. When the fixing portion 134A of the protective portion 134 is fixed to any one of the outer peripheral surface, end surface, and peripheral portion of the protrusion 123B of the second opposing portion 123, the contact portion 134B of the protective portion 134 can contact any one of the inner peripheral surface, bottom surface, and peripheral portion of the recessed portion 121B of the first opposing portion 121.

[0399] Will refer to Figures 11 to 27 Among these installation modes of the protection portion 134, installation modes other than the installation mode in the first embodiment are described as second to eighteenth modifications. Except for the installation mode of the protection portion 134, the wireless connectors according to the second to eighteenth modifications can be configured substantially similarly to the wireless connector 100 according to the first embodiment.

[0400] Figures 11 to 27 The wireless connector according to each corresponding modification example is Figure 6 The corresponding enlarged cross-sectional views, that is, each showing a cross section at the center in the vertical direction of the wireless connector according to each modification example, are shown in FIG. Figure 2The view of the portion enclosed by the dot-dash line VI corresponds to the portion of the view. Figures 11 to 27 Components corresponding to those of the wireless connector 100 according to the first embodiment are assigned the same reference numerals.

[0401] In the second and third modified examples, respectively, Figure 11 and Figure 12 As shown, as in the first embodiment, the fixing portion 134A of the protection portion 134 is fixed to the inner peripheral surface of the recessed portion 121B of the first opposing portion 121. In the second modification, as shown in FIG. Figure 11 As shown, the contact portion 134B of the protection portion 134 is pressed against the end surface of the protrusion 123B of the second opposing portion 123 to contact the end surface. Figure 12 As shown, the contact portion 134B of the protection portion 134 is pressed against the peripheral portion of the protruding portion 123B of the second opposing portion 123 to be in contact with the peripheral portion.

[0402] In the fourth to sixth modified examples, respectively, Figures 13 to 15 As shown, the fixing portion 134A of the protection portion 134 is fixed to the bottom surface of the recessed portion 121B of the first opposing portion 121. Figure 13 As shown, the contact portion 134B of the protection portion 134 is pressed against the outer peripheral surface of the protrusion 123B of the second opposing portion 123 to contact the outer peripheral surface. Figure 14 As shown, the contact portion 134B of the protection portion 134 is pressed against the end surface of the protrusion 123B of the second opposing portion 123 to contact the end surface. Figure 15 As shown, the contact portion 134B of the protection portion 134 is pressed against the peripheral portion of the protruding portion 123B of the second opposing portion 123 to be in contact with the peripheral portion.

[0403] In the seventh to ninth modified examples, respectively, Figures 16 to 18 As shown, the fixing portion 134A of the protection portion 134 is fixed to the peripheral portion of the recessed portion 121B of the first opposing portion 121. In the seventh modification, as shown in FIG. Figure 16 As shown, the contact portion 134B of the protection portion 134 is pressed against the outer peripheral surface of the protrusion 123B of the second opposing portion 123 to contact the outer peripheral surface. Figure 17 As shown, the contact portion 134B of the protection portion 134 is pressed against the end surface of the protrusion 123B of the second opposing portion 123 to contact the end surface. Figure 18 As shown, the contact portion 134B of the protection portion 134 is pressed against the peripheral portion of the protruding portion 123B of the second opposing portion 123 to be in contact with the peripheral portion.

[0404] In the tenth to twelfth modified examples, respectively, Figures 19 to 21 As shown, the fixing portion 134A of the protection portion 134 is fixed to the outer peripheral surface of the protruding portion 123B of the second opposing portion 123. In the tenth modification, as shown in FIG. Figure 19 As shown, the contact portion 134B of the protection portion 134 is pressed against the inner peripheral surface of the recessed portion 121B of the first opposing portion 121 to contact the inner peripheral surface. Figure 20 As shown, the contact portion 134B of the protection portion 134 is pressed against the bottom surface of the recessed portion 121B of the first opposing portion 121 to make contact with the bottom surface. Figure 21 As shown, the contact portion 134B of the protection portion 134 is pressed against the peripheral portion of the recessed portion 121B of the first opposing portion 121 to be in contact with the peripheral portion.

[0405] In the thirteenth to fifteenth modified examples, respectively, Figures 22 to 24 As shown, the fixing portion 134A of the protection portion 134 is fixed to the distal end surface of the protruding portion 123B of the second opposing portion 123. In the thirteenth modification, as shown in FIG. Figure 22 As shown, the contact portion 134B of the protection portion 134 is pressed against the inner peripheral surface of the recessed portion 121B of the first opposing portion 121 to contact the inner peripheral surface. Figure 23 As shown, the contact portion 134B of the protection portion 134 is pressed against the bottom surface of the recessed portion 121B of the first opposing portion 121 to contact the bottom surface. Figure 24 As shown, the contact portion 134B of the protection portion 134 is pressed against and in contact with the peripheral portion of the recessed portion 121B of the first opposing portion 121 .

[0406] In the sixteenth to eighteenth modified examples, respectively, Figures 25 to 27 As shown, the fixing portion 134A of the protection portion 134 is fixed to the peripheral portion of the protruding portion 123B of the second opposing portion 123. In the sixteenth modification, as shown in FIG. Figure 25 As shown, the contact portion 134B of the protection portion 134 is pressed against the inner peripheral surface of the recessed portion 121B of the first opposing portion 121 to contact the inner peripheral surface. Figure 26 As shown, the contact portion 134B of the protection portion 134 is pressed against the bottom surface of the recessed portion 121B of the first opposing portion 121 to make contact with the bottom surface. Figure 27 As shown, the contact portion 134B of the protection portion 134 is pressed against the peripheral portion of the recessed portion 121B of the first opposing portion 121 to be in contact with the peripheral portion.

[0407] The second to eighteenth modified examples exhibit effects similar to those in the first embodiment.

[0408] Second Embodiment

[0409] In the first embodiment described above, an example has been described in which the wireless connector 100 includes transceiver components (110, 114) for wirelessly transmitting power. In the second embodiment, an example of a wireless connector will be described that includes, in addition to the first and second transceiver components for transmitting power, third and fourth transceiver components for transmitting information.

[0410] The electric power according to the second embodiment is one example of a first target to be transmitted, and the information is one example of a second target to be transmitted.

[0411] (Structure of Wireless Connector 300 According to Second Embodiment)

[0412] like Figure 28 As shown in an exploded perspective view, a wireless connector 300 according to a second embodiment of the present invention is a connector for wirelessly transmitting power (a first target to be transmitted) and information (a second target to be transmitted) between a first arm 101 and a second arm 102, similar to the first and second arms of the first embodiment. This wireless connector 300 is removably mounted to the exterior of the arm assemblies (101, 102). In the second embodiment, an example of wirelessly transmitting power (a first target to be transmitted) and information (a second target to be transmitted) using magnetic field coupling (electromagnetic induction) and electromagnetic waves will be described.

[0413] like Figure 28 As shown, the cordless connector 300 includes a first unit 306 and a second unit 307, which are respectively removably mounted to the first arm 101 and the second arm 102 from the outside. As in the first embodiment mentioned above, the first unit 306 and the second unit 307 are configured to be separable, and when the first unit 306 and the second unit 307 are respectively mounted to the first arm 101 and the second arm 102, the first unit 306 and the second unit 307 can rotate relative to each other around the rotation axis AR.

[0414] like Figure 28 and observed from behind Figure 29 As shown, the first unit 306 includes a first housing 108 and a protective portion 134 similar to the first housing and protective portion of the first embodiment, and a first connector portion 309, a first transceiver portion 310, and a first circuit portion 311 different from the first connector portion, the first transceiver portion, and the first circuit portion of the first embodiment. In addition, the first unit 306 includes a third transceiver portion 340. Figure 29 , the first bolt 128 similar to the first bolt of the first embodiment is omitted.

[0415] like Figure 28 and observed from the front Figure 30 As shown, the second unit 307 includes components 112, 313 to 315, and 341 corresponding to the components 108, 309 to 311, and 340 included in the first unit 306, respectively. Specifically, the second unit 307 includes a second housing 112 similar to the second housing of the first embodiment, and a second connector portion 313, a second transceiver portion 314, and a second circuit portion 315 that are different from the second connector portion, the second transceiver portion, and the second circuit portion of the first embodiment. In addition, the second unit 307 includes a fourth transceiver portion 341. Figure 30 , the second bolt 129 similar to the second bolt of the first embodiment is omitted.

[0416] The first connector portion 309 is a portion for transmitting power (a first transmission target) and information (a second transmission target) to / from the first arm portion 101. The first connector portion 309 is removably attached to the first arm portion 101 from the outside thereof, thereby transmitting power and information to / from the first arm portion 101.

[0417] The first connector portion 309 may be constructed substantially similarly to the first connector portion 109 according to the first embodiment except that it includes electrical contacts for transmitting information (second target to be transmitted) in addition to electrical contacts for transmitting power (first target to be transmitted).

[0418] The second connector portion 313 is a portion for transmitting power (a first target to be transmitted) and information (a second target to be transmitted) to / from the second arm portion 102. The second connector portion 313 is removably attached to the second arm portion 102 from the outside of the second arm portion 102, thereby transmitting power and information to / from the second arm portion 102.

[0419] The second connector portion 313 may be constructed substantially similarly to the second connector portion 113 according to the first embodiment, except that it includes electrical contacts for transmitting information (second target to be transmitted) in addition to electrical contacts for transmitting power (first target to be transmitted).

[0420] The first transceiver 310 and the second transceiver 314 are components for wirelessly transmitting power (a first target to be transmitted, AC power) therebetween. These components are located outside the joint mechanism 103, spaced apart from each other along the rotation axis AR and facing each other, thereby wirelessly transmitting power (a first target to be transmitted, AC power). Typically, the first transceiver 310 and the second transceiver 314 have outer shapes centered around the first and second central axes C1 and C2, respectively, such as hollow disks.

[0421] The first transceiver portion 310 and the second transceiver portion 314 can be constructed similarly to the first transceiver portion 110 and the second transceiver portion 114 according to the first embodiment, except that the first transceiver portion 310 and the second transceiver portion 314 are hollow. That is, the first transceiver portion 310 and the second transceiver portion 314 according to the second embodiment include a first coil member and a second coil member, respectively, each of which has a hollow disk shape.

[0422] The third transceiver 340 and the fourth transceiver 341 are components for wirelessly transmitting information (a second transmission target) between them. The third transceiver 340 and the fourth transceiver 341 are located outside the joint mechanism 103, spaced apart from each other along the rotation axis AR and facing each other, thereby wirelessly transmitting information. Typically, the third transceiver 340 and the fourth transceiver 341 have outer shapes, such as disk shapes, centered around the first central axis C1 and the second central axis C2, respectively.

[0423] The third transceiver section 340 and the fourth transceiver section 341 are respectively disposed inside the first transceiver section 310 and the second transceiver section 314 .

[0424] In other words, the first transceiver 310 is disposed around the third transceiver 340 and centered on the substantially common first central axis C1. The second transceiver 314 is disposed around the fourth transceiver 341 and centered on the substantially common second central axis C2.

[0425] The third transceiver section 340 and the fourth transceiver section 341 may be configured similarly to the first transceiver section 110 and the second transceiver section 114 according to the first embodiment, except for the positions and transmission methods of the third transceiver section 340 and the fourth transceiver section 341. That is, the third transceiver section 340 and the fourth transceiver section 341 according to the second embodiment include a first antenna member and a second antenna member, respectively, each of which has a disk shape.

[0426] The first circuit portion 311 is a circuit electrically connected to the first connector portion 309, the first transceiver portion 310 and the third transceiver portion 340. In addition to also including an information transceiver circuit for sending and / or receiving information (a second target to be transmitted), the first circuit portion 311 can be constructed substantially similarly to the first circuit portion 111 according to the first embodiment. Here, "sending and / or receiving" refers to performing one or both of sending and receiving. The same applies below.

[0427] The second circuit portion 315 is a circuit electrically connected to the second connector portion 313, the second transceiver portion 314, and the fourth transceiver portion 341. The second circuit portion 315 may be configured substantially similarly to the second circuit portion 115 according to the first embodiment, except that it further includes an information transceiver circuit for transmitting and / or receiving information (a second target to be transmitted).

[0428] Also in the second embodiment, the first unit 306 and the second unit 307 are spaced apart from each other and do not contact each other except at the protection portion 134. Therefore, similar to the first embodiment, when the first unit 306 and the second unit 307 are mounted on the arm assembly (101, 102), even if the designed rotation axis is not aligned with the rotation axis AR, the first unit 306 and the second unit 307 can rotate around the rotation axis AR according to the bending and extension of the arm assembly (101, 102). (Operation of the wireless connector 300 according to the second embodiment)

[0429] In the above, the structure of the wireless connector 300 according to the second embodiment of the present invention has been described. Figure 31 The operation of the wireless connector 300 according to the second embodiment will be described with reference to the circuit structure diagram of FIG.

[0430] As described above, the first transceiver assemblies (310, 314) are arranged in a state of being spaced apart from each other and facing each other along the rotation axis AR. Figure 31 As shown, the first transceiver section 310 connected to the power transmission circuit included in the first circuit section 311 and the second transceiver section 314 connected to the power reception circuit included in the second circuit section 315 can be magnetically coupled by electromagnetic induction. Figure 7 The wireless connector 100 described above operates in a similar manner, enabling wireless power transmission between the first arm 101 and the second arm 102. Here, the "first transceiver assembly (310, 314)" is a general term (assembly portion) including the first transceiver 310 and the second transceiver 314. The same applies to the following.

[0431] Since the first transceiver section 310 and the second transceiver section 314 are arranged in a state of being spaced apart from each other and facing each other along the rotation axis AR, the transceivers 310 and 314 are magnetically coupled by electromagnetic induction even when the first unit 106 and the second unit 107 rotate about the rotation axis AR. As a result, similar to the transceiver assembly (110, 114) according to the first embodiment, the wireless connector 300 can wirelessly transmit power between the first arm section 101 and the second arm section 102 regardless of the operation and state of the bending and extension of the arm assembly (101, 102).

[0432] The second transceiver assembly (340, 341) wirelessly transmits information (a second target to be transmitted) via electromagnetic waves such as microwaves or light. Here, "second transceiver assembly (340, 341)" is a general term (assembly portion) including the third transceiver unit 340 and the fourth transceiver unit 341. The same applies to the following.

[0433] Specifically, as described above, the second transceiver assemblies (340, 341) are arranged in a state of being spaced apart from each other and facing each other along the rotation axis AR. Figure 31 As shown, the third transceiver section 340, connected to the information (second target to be transmitted) transceiver circuit included in the first circuit section 311, and the fourth transceiver section 341, connected to the information (second target to be transmitted) transceiver circuit included in the second circuit section 315, can transmit and receive electromagnetic waves to and from each other. Thus, for example, an electrical signal containing information from the first arm 101 is transmitted to the third transceiver section 340 via the first connector section 309 and the first circuit section 311 (information transceiver circuit) and is received as an electromagnetic wave containing the information by the fourth transceiver section 341. The fourth transceiver section 341 converts the received electromagnetic wave into an electrical signal containing the information included in the electromagnetic wave and outputs the electrical signal. The electrical signal containing the information from the fourth transceiver section 341 is then transmitted to the second arm 102 via the second circuit section 315 (information transceiver circuit) and the second connector section 313. This operation enables wireless transmission of information (the second target to be transmitted) from the first arm 101 to the second arm 102.

[0434] When information (second transmission destination) is transmitted from the second arm 102 to the first arm 101 , the information may be transmitted in an order opposite to the order mentioned above.

[0435] Specifically, the electrical signal containing information from the second arm 102 is transmitted to the fourth transceiver 341 via the second connector 313 and the second circuit 315 (information transceiver circuit), and is received as an electromagnetic wave containing the information by the third transceiver 340. The third transceiver 340 converts the received electromagnetic wave into an electrical signal containing the information contained in the electromagnetic wave and outputs the electrical signal. The electrical signal containing information from the third transceiver 340 is transmitted to the first arm 101 via the first circuit 311 (information transceiver circuit) and the first connector 309.

[0436] Since the third transceiver 340 and the fourth transceiver 341 are arranged in a state where they are spaced apart from each other and face each other along the rotation axis AR, information (the second target to be transmitted) is wirelessly transmitted even when the first unit 106 and the second unit 107 rotate about the rotation axis AR. As a result, the wireless connector 300 can operate as described above regardless of the bending and stretching operation and state of the arm assembly (101, 102), making it possible to wirelessly transmit information (the second target to be transmitted) between the first arm 101 and the second arm 102.

[0437] In the second embodiment, as in the first embodiment, the protrusion 123B of the second opposing portion 123 is fitted into the recess 121B of the first opposing portion 121. Therefore, the relative positional relationship between the first transceiver assembly (110, 114) and the relative positional relationship between the second transceiver assembly (340, 341) are constrained. Therefore, for the same reasons as in the first embodiment, even when the wireless connector 300 is arranged outside the arm assembly (101, 102), stable wireless transmission of power (the first target to be transmitted) and information (the second target to be transmitted) can be performed.

[0438] In addition, in the second embodiment as well, a protection portion 134 surrounding the opposing space is provided, as in the first embodiment. Accordingly, as in the first embodiment, a wireless connector 300 having excellent durability in various environments can be provided.

[0439] (Wireless Connector Attachment / Detachment Method According to Second Embodiment)

[0440] Hereinabove, the operation of the wireless connector 300 according to the second embodiment of the present invention has been described. Now, the wireless connector mounting / detaching method according to the second embodiment will be described.

[0441] The wireless connector installation / removal method according to the second embodiment is a method for installing / removing the wireless connector 300 to / from the arm assembly (101, 102), and includes an installation method and a removal method for the wireless connector 300. The installation method and the removal method for the wireless connector 300 are similar to the installation method and the removal method for the wireless connector 100 according to the first embodiment, respectively. That is, in the description of the wireless connector installation / removal method according to the first embodiment, the components of the wireless connector 100 according to the first embodiment can be replaced by the respective corresponding components of the wireless connector 300 according to the second embodiment. For the sake of simplicity, a detailed description of the installation method and the removal method for the wireless connector 300 will be omitted.

[0442] Hereinabove, the second embodiment of the present invention has been described.

[0443] In the second embodiment as well, the wireless connector 300 can be attached to and detached from the arm assembly (101, 102) by working outside the arm assembly (101, 102). Thus, for example, a malfunctioning wireless connector 300 can be easily replaced with a normal wireless connector 300. Therefore, the wireless connector 300 attached to the arm assembly (101, 102) can be easily repaired. Furthermore, the second embodiment exhibits effects similar to those of the first embodiment.

[0444] In the second embodiment, not only are the first transceiver components (310, 314) arranged substantially parallel to each other, but the second transceiver components (340, 341) are also arranged substantially parallel to each other. Similar to the transceiver components (110, 114) according to the first embodiment, by limiting the relative positional relationship of the second transceiver components (340, 341), the second transceiver components (340, 341) can be magnetically coupled with a relatively stable strength within a predetermined range regardless of the bending / extension state and bending / extension operation of the arm components (101, 102). Therefore, even when the wireless connector 300 is arranged outside the arm components (101, 102), stable wireless transmission of power and information is possible.

[0445] Third Embodiment

[0446] In the first embodiment mentioned above, the following example has been described: the recessed portion 121B and the protruding portion 123B are respectively arranged in the first opposing portion 121 and the second opposing portion 123, and the first transceiver portion 110 and the second transmitting portion 114 are respectively arranged in the outer surfaces of the recessed portion 121B and the protruding portion 123B (i.e., the bottom surface of the recessed portion 121B and the end end surface of the protruding portion 123B).

[0447] However, the recessed portion 121B and the protruding portion 123B may not be provided. Alternatively, the recessed portion 121B may be provided in both the first opposing portion 121 and the second opposing portion 123, with the bottom surface of the first opposing portion 121 and the bottom surface of the second opposing portion 123 facing each other. Furthermore, the protruding portion 123B may be provided in both the first opposing portion 121 and the second opposing portion 123, with the end surface of the first opposing portion 121 and the end surface of the second opposing portion 123 facing each other. Furthermore, one or both of the first transceiver 110 and the second transceiver 114 may be housed within the first housing 108 and the second housing 112.

[0448] In the third embodiment, an example will be described in which the first transceiver and the second transceiver are respectively provided inside the first shell and the second shell, and power is wirelessly transmitted between the first arm 101 and the second arm 102 connected to bendable and stretchable by the joint mechanism 103.

[0449] (Structure of Wireless Connector 400 According to Third Embodiment)

[0450] like Figure 32 As shown in a plan view of FIG, a cordless connector 400 according to a third embodiment of the present invention includes a first unit 406 and a second unit 407, which are respectively externally removably attached to a first arm 101 and a second arm 102, similar to the first arm 101 and the second arm 102 of the first embodiment. As in the first embodiment, the first unit 406 and the second unit 407 are configured to be separable, and when the first unit 406 and the second unit 407 are attached to the first arm 101 and the second arm 102, respectively, the first unit 406 and the second unit 407 are rotatable relative to each other about the rotation axis AR.

[0451] like Figure 32 and observed from behind Figure 33 As shown, the first unit 406 includes a first connector portion 109 and a first circuit portion 111 similar to the first connector portion and the first circuit portion of the first embodiment, and a first housing 408, a first transceiver portion 410 and a protective portion 434 different from the first housing, the first transceiver portion and the protective portion of the first embodiment. Figure 33 , the first bolt 128 similar to the first bolt of the first embodiment is omitted.

[0452] like Figure 32 and observed from the front Figure 34As shown, the second unit 407 includes components 412, 113, 414, and 115 corresponding to the components 408, 109, 410, and 111 included in the first unit 406. Specifically, the second unit 407 includes a second connector portion 113 and a second circuit portion 115 similar to the second connector portion and the second circuit portion of the first embodiment, and a second housing 412 and a second transceiver portion 414 different from the second housing and the second transceiver portion of the first embodiment. Figure 34 , the second bolt 129 similar to the second bolt of the first embodiment is omitted.

[0453] As in the first embodiment, the first housing 408 is a hollow member to which the other components 109, 410, 111, and 434 included in the first unit 406 are mounted. As in the first embodiment, the second housing 412 is a hollow member to which the other components 113, 414, and 115 included in the second unit 407 are mounted. Each of the first housing 408 and the second housing 412 is typically made of a non-magnetic material such as resin.

[0454] The first housing 408 according to the third embodiment includes a first arm mounting portion 120 similar to the first arm mounting portion of the first embodiment and a first opposing portion 421 different from the first opposing portion of the first embodiment. The second housing 412 includes a second arm mounting portion 122 similar to the second arm mounting portion of the first embodiment and a second opposing portion 423 different from the second opposing portion of the first embodiment.

[0455] The first housing 408 has a sealing structure sufficient to prevent liquid from passing through, except at the first opening 124 for mating to the first mating connector part 104. Similarly, the second housing 412 has a sealing structure sufficient to prevent liquid from passing through, except at the second opening 126 for mating to the second mating connector part 105.

[0456] The first opposing portion 421 and the second opposing portion 423 are flat plate-shaped portions whose respective base ends are connected to the left end of the first arm mounting portion 120 and the right end of the second arm mounting portion 122, respectively. The flat plate-shaped portions extend in a direction approaching each other when viewed from the front. Therefore, the first opposing portion 121 and the second opposing portion 123 are spaced apart from each other along the rotation axis AR and face each other.

[0457] That is, the first opposing portion 421 differs from the first opposing portion 121 according to the first embodiment in that the recessed portion 121B is not provided. In addition, the second opposing portion 423 differs from the second opposing portion 123 according to the first embodiment in that the protruding portion 123B is not provided.

[0458] Specifically, the first opposing portion 421 is formed in a flat plate shape connected to the first arm mounting portion 120 and extending leftward, and has a front surface flush with the front surface of the first arm mounting portion 120. The first opposing portion 421 has a constant height substantially the same as that of the first arm mounting portion 120, and has a distal end formed in a semicircular shape protruding leftward when viewed from the front.

[0459] The second opposing portion 423 is formed in a flat plate shape connected to the second arm mounting portion 122 and extending rightward, and has a front surface flush with the front surface of the second arm mounting portion 122. The second opposing portion 423 has a constant height substantially the same as that of the second arm mounting portion 122, and has a distal end formed in a semicircular shape protruding rightward when viewed from the front.

[0460] The first opposing portion 421 has a thickness that is thinner than the difference between the thickness of the first arm mounting portion 120 and the thickness of the second arm mounting portion 122. Therefore, the tip of the first opposing portion 421 is arranged in front of the second opposing portion 423 with a space therebetween. The first opposing portion 421 and the second opposing portion 423 are arranged in a state where substantially circular regions including the respective tips are spaced apart from each other and face each other outside the joint mechanism 103 along the rotation axis AR. The second opposing portion 423 has a thickness that can be appropriately set but is thinner than the thickness of the second arm mounting portion 122. In the third embodiment, the thickness of the second opposing portion 423 is substantially the same as that of the first opposing portion 421.

[0461] Similar to the first transceiver 110 and the second transceiver 114 according to the first embodiment, the first transceiver 410 and the second transceiver 414 are components for wirelessly transmitting power (AC power) between the first transceiver 410 and the second transceiver 414, and the first transceiver 410 and the second transceiver 414 are arranged outside the joint mechanism 103 in a state where they are spaced apart from each other and face each other along the rotation axis AR, thereby transmitting power wirelessly.

[0462] In the third embodiment, the first transceiver portion 410 is fixed to the interior of the first opposing portion 421, for example, by a fixing member such as an adhesive or a screw, to the inner surface of the rear side of the first opposing portion 421. The second transceiver portion 414 is fixed to the interior of the second opposing portion 423, for example, by a fixing member such as an adhesive or a screw, to the inner surface of the front side of the second opposing portion 423.

[0463] Therefore, the first transceiver 410 and the second transceiver 414 are arranged to face each other along the rotation axis AR outside the joint mechanism 103. The first transceiver 410 and the second transceiver 414 are arranged in a state of being spaced apart from each other without contacting each other, and are preferably arranged to be parallel to each other and to face a direction perpendicular to the rotation axis AR.

[0464] Therefore, the first transceiver portion 410 and the second transceiver portion 414 differ in position from the first transceiver portion 110 and the second transceiver portion 114 according to the first embodiment in that the first transceiver portion 410 and the second transceiver portion 414 are respectively fixed to the first housing 408 and the second housing 412. Except for this point, the first transceiver portion 410 and the second transceiver portion 414 can be constructed substantially similarly to the first transceiver portion 110 and the second transceiver portion 114 according to the first embodiment.

[0465] Similar to the protecting portion 134 according to the first embodiment, the protecting portion 434 includes an annular elastic member for preventing foreign matter from intruding into the opposing space, and is configured to close at least a portion of a gap continuous with the opposing space, which is the space between the first transceiver portion 410 and the second transceiver portion 414, which are in a state of facing each other. In the third embodiment, the opposing space is sandwiched between the rear surface of the first opposing portion 421 and the front surface of the second opposing portion 423.

[0466] As with the first embodiment, the protection portion 434 according to the third embodiment includes an oil seal and closes the gap continuous with the opposing space in a liquid-tight state.

[0467] The protection portion 434 may be provided to close a portion or all of a gap continuous with an opposing space between the first coil member included in the first transceiver portion 410 and the second coil member included in the second transceiver portion 414 .

[0468] like Figure 32 As shown, the protection portion 434 includes a fixing portion 434A and a contact portion 434B, and is integrally formed of an elastic member such as rubber, for example.

[0469] The fixing portion 434A of the protecting portion 434 has an annular shape centered on the first central axis C1 and is fixed to the rear surface of the first opposing portion 421 (i.e., the surface facing the second opposing portion 423) so as to surround the first transceiver 410 when viewed from the rear.

[0470] The contact portion 434B of the protection portion 434 has a base end connected to the fixing portion 434A and a distal end pressed against the front surface of the second opposing portion 423 (i.e., the surface facing the first opposing portion 421), such that the contact portion 434B is in continuous, annular contact with the front surface. The contact portion 434B of the protection portion 434 is arranged so that, when viewed from the front, the portion in contact with the second opposing portion 423 surrounds the second transceiver portion 414.

[0471] In detail, as in the first embodiment, the contact portion 434B of the protection portion 434 is pressed against the front surface of the second opposing portion 423 with a strength sufficient to prevent liquid, dust, etc. from entering the opposing space. Figure 32 , there is illustrated an example in which each of the two contact portions 434B is in contact with the front surface of the second opposing portion 423. However, one contact portion 434B may be sufficient.

[0472] The first unit 406 and the second unit 407 according to the third embodiment are in contact with each other only at the protection portion 434 , and are spaced apart from each other without contacting each other except at the protection portion 134 .

[0473] In the third embodiment, the protection portion 434 is fixed to the first housing 408 and in contact with the second housing 412 , but may be fixed to the second housing 412 and in contact with the first housing 408 , thereby closing part or all of the gap continuous with the opposing space.

[0474] Hereinabove, the structure of the wireless connector 400 according to the third embodiment of the present invention has been described.

[0475] In the third embodiment, similar to the first embodiment, the first unit 406 and the second unit 407 are spaced apart from each other and do not contact each other except at the protection portion 434. The protection portion 134, which is a portion of the contact, has elasticity. Therefore, even if the designed rotation axis is slightly misaligned with the rotation axis AR, the first unit 406 and the second unit 407 can be rotated about the rotation axis AR according to the bending of the arm assembly (101, 102).

[0476] (Operation of the Wireless Connector 400 According to the Third Embodiment)

[0477] Also in the third embodiment, the first transceiver 410 and the second transceiver 414 are arranged so as to face each other while being spaced apart from each other along the rotation axis AR. Therefore, the first transceiver 410 and the second transceiver 414 can operate in a manner similar to the first transceiver 110 and the second transceiver 114 according to the first embodiment. As a result, like the wireless connector 100 according to the first embodiment, the wireless connector 400 can wirelessly transmit power regardless of the flexion / extension state and flexion / extension operation of the arm assemblies (101, 102).

[0478] In the third embodiment, as in the first embodiment, by providing a protective portion 434 surrounding the opposing space, it is possible to prevent foreign matter from entering the opposing space regardless of the bending / extension state and bending / extension operation of the arm assemblies (101, 102). Accordingly, a wireless connector 400 having excellent durability in various environments can be provided.

[0479] (Wireless Connector Attachment / Detachment Method According to Third Embodiment)

[0480] The wireless connector mounting / detaching method according to the third embodiment is basically similar to the wireless connector mounting / detaching method according to the first embodiment.

[0481] In a similar manner to the first embodiment, the installation method for the cordless connector 400 according to the third embodiment begins by preparing a robot apparatus including arm assemblies ( 101 , 102 ) connected via a joint mechanism 103 and the cordless connector 400 .

[0482] Then, by the same method as in step 1 of the first embodiment (see Figure 8 ) Similar steps are used to install the second unit 407 to the second arm 102 from the outside of the second arm 102.

[0483] Next, through a procedure similar to step 2 according to the first embodiment, the first unit 406 is mounted to the first arm portion 101 from the outside of the first arm portion 101. Step 2 according to the third embodiment includes steps 2A and 2B similar to those of the first embodiment. However, in the third embodiment, only the first mating connector portion 104 needs to be mated to the first connector portion 109 in step 2A, and the protrusion 123B does not need to be mated to the recessed portion 121B. Therefore, the wireless connector 400 can be mounted more easily than the wireless connector 100 according to the first embodiment.

[0484] As in the first embodiment, after the wireless connector 400 is mounted to the robot device, the disassembly method for the wireless connector 400 according to the third embodiment is performed if necessary. Also in the third embodiment, by performing steps 3 and 4 similar to those in the first embodiment (see Figure 9 ) to remove the wireless connector 400 from the arm assembly (101, 102).

[0485] Hereinabove, the third embodiment of the present invention has been described.

[0486] The present invention is not limited to the first to third embodiments and the first to eighteenth modified examples, but may be modified as follows.

[0487] According to the third embodiment, the wireless connector 400 can be attached to and detached from the arm assembly (101, 102) by working outside the arm assembly (101, 102). As a result, for example, a malfunctioning wireless connector 400 can be easily replaced with a normal wireless connector 400. Therefore, the wireless connector 400 can be easily repaired.

[0488] The protection portion 434 is not an essential structure for easy maintenance of the wireless connector 400. In the third embodiment, the protection portion 434 is provided as in the first embodiment. Therefore, a wireless connector 400 having excellent durability in various environments can be provided.

[0489] In the third embodiment, an example has been described in which the mutually facing surfaces of the first opposing portion 421 and the second opposing portion 423 are flat. However, the protrusion 123B and the recess 121B that cooperate with each other may be provided on one and the other of the mutually facing surfaces of the first opposing portion 421 and the second opposing portion 423, respectively, as in the first embodiment.

[0490] The protrusion 123B and the recess 121B serve as a guide mechanism for constraining the relative positional relationship of the first transceiver 410 and the second transceiver 414 within a predetermined range even when the first transceiver 410 and the second transceiver 414 rotate about the rotation axis AR. Therefore, similar to the first embodiment, regardless of the bending / extension state and bending / extension operation of the arm assemblies (101, 102), the first transceiver 410 and the second transceiver 414 can be magnetically coupled with relatively stable strength within a predetermined range. Therefore, even when the wireless connector is arranged outside the arm assemblies (101, 102), stable wireless power transmission can be performed.

[0491] <Modification of Protection Sections 134 and 434>

[0492] For example, in the first to third embodiments, the protection portions 134 and 434 include an example of an oil seal. However, it is sufficient that the protection portions 134 and 434 include an elastic member provided to close at least a portion (ie, a part or all) of the gap continuous with the opposing space.

[0493] For example, the protective portions 134 and 434 may be brush-like objects in which linear members made of resin, rubber, etc. are arranged at predetermined density or intervals. For example, the protective portions 134 and 434 may include elongated strip-like members made of resin, rubber, etc. arranged at predetermined intervals. In this case, the protective portions 134 and 434 may not continuously close the gap that is continuous with the opposing space, but may intermittently close the gap.

[0494] For example, the protection portions 134 and 434 may be provided in both the first housing 108 , 208 , or 408 and the second housing 112 , 212 , or 412 .

[0495] Furthermore, for example, the protection portions 134 and 434 provided in one of the first housing 108 , 208 , or 408 and the second housing 112 , 212 , or 412 may be spaced apart from the other housing at a predetermined interval without contacting the other housing.

[0496] With these variations, at least a portion of the gap continuous with the opposing space is also closed. Therefore, the likelihood of debris or magnetic powder entering the opposing space can be at least reduced. Consequently, wireless connectors 100, 200, 300, and 400 with excellent durability can be provided.

[0497] <Other Modifications>

[0498] For example, in the first embodiment, an example has been described in which power is transmitted as the target to be transmitted. However, the target to be transmitted may be information, or both power and information. In this case, for example, the structures of the first circuit portion 111 and the second circuit portion 115 of the wireless connector 100 according to the first embodiment may be changed depending on the target to be transmitted.

[0499] For example, in the first embodiment, an example has been described in which the wireless connector 100 is mounted on the arm assembly (101, 102) of a robotic device. However, the object to which the wireless connector 100 is mounted is not limited to a robotic device. The first arm 101 is an example of a first object to which the first unit 106 is mounted, while the second arm 102 is an example of a second object to which the second unit 107 is mounted. The first and second objects only need to be rotatably connected to each other with the rotation axis AR as a fulcrum. Typically, the first and second objects are mounted on various types of equipment and devices, and each object has a length similar to the first arm 101 and the second arm 102.

[0500] For example, in the first embodiment, the case where the transmission medium for the target to be transmitted between the transceiver components (110, 114) is electromagnetic induction has been described by way of example. However, the transmission medium is not limited to electromagnetic induction, which is a mode of magnetic field coupling. The transmission medium may be, for example, magnetic resonance, which is another mode of magnetic field coupling, and may be electric field coupling similar to the electric field coupling between electrodes constituting a capacitor, transmission / reception of electromagnetic waves such as microwaves and light, etc. The structures of the first transceiver 110, the second transceiver 114, the first circuit unit 111, and the second circuit unit 115 may be changed according to the transmission medium between the first transceiver 110 and the second transceiver 114.

[0501] For example, in the first embodiment, the first transceiver 110 and the second transceiver 114 have been described as having a disk-shaped outer shape. However, the outer shape of each of the first transceiver 110 and the second transceiver 114 is not limited to a disk-shaped outer shape and may have a flat plate-shaped outer shape of another structure. The first transceiver 110 and the second transceiver 114 are not limited to a flat plate-shaped outer shape and may, for example, have a complementary three-dimensional shape, such as a mountain shape with an apex on the first central axis C1 and a valley shape with a bottom on the second central axis C2. Similarly, the outer shapes of the first and second coil members included in the first transceiver 110 and the second transceiver 114, respectively, are not limited to a disk-shaped outer shape and may have a flat plate-shaped outer shape of another structure, a complementary three-dimensional shape, or the like. Furthermore, the bottom surface of the recessed portion 121B of the first opposing portion 121 and the distal end surface of the protruding portion 123B of the second opposing portion 123 are not limited to flat surfaces and may have a complementary three-dimensional shape, or the like.

[0502] For example, in the first embodiment, the first connector portion 109 and the first mating connector portion 104 have been described as examples of contact-type electrical connectors that are electrically connected by mating with each other. However, each of the first connector portion and the first mating connector portion is not limited to a contact-type electrical connector and may include a non-contact-type connector composed of elements, components, etc. for wirelessly transmitting power through, for example, magnetic field coupling, electric field coupling, and transmission / reception of electromagnetic waves such as microwaves or light. Similarly, the second connector portion 113 and the second mating connector portion 105 may include a non-contact-type connector for wirelessly transmitting power.

[0503] Although the embodiments and modifications of the present invention have been described above, the present invention is not limited thereto. For example, the present invention includes modes obtained by appropriately combining some or all of the embodiments and modifications described above and modes obtained by appropriately changing the above-mentioned modes.

[0504] Description of Reference Signs

[0505] 100, 200, 300, 400 wireless connectors

[0506] 101 first arm (first object)

[0507] 102 second arm (second object)

[0508] 103 joint mechanism

[0509] 103A shaft

[0510] 103B hole

[0511] 104 first mating connector portion

[0512] 105 second mating connector portion

[0513] 106, 206, 306, 406 Unit 1

[0514] 107, 207, 307, 407 Unit 2

[0515] 108, 208, 408 first shell

[0516] 109, 209, 309 first connector part

[0517] 110, 310, 410 First Transceiver Department

[0518] 111 First Circuit Unit (Power Transmission Circuit)

[0519] 311 First Circuit Unit (Power Transmitting Circuit, Transceiver Circuit)

[0520] 112, 212, 412 Second shell

[0521] 113, 213, 313 Second connector part

[0522] 114, 314, 414 Second Transceiver Department

[0523] 115 Second circuit unit (power receiving circuit)

[0524] 315 Second circuit unit (power receiving circuit, power receiving circuit)

[0525] 120, 220 first arm mounting part

[0526] 121, 421 first opposing portion

[0527] 121A First flat plate

[0528] 121B concave part

[0529] 122, 222 Second arm mounting portion

[0530] 123, 423 Second opposing portion

[0531] 123A Second flat plate

[0532] 123B protrusion

[0533] 124 First Opening

[0534] 125 First bolt hole

[0535] 126 Second Opening

[0536] 127 Second bolt hole

[0537] 128 First Bolt

[0538] 129 Second Bolt

[0539] 130, 230 first lead

[0540] 131, 231 Second lead

[0541] 132 Second threaded hole

[0542] 133 First threaded hole

[0543] 134, 434 Protection Department

[0544] 134A, 434A fixed part

[0545] 134B, 434B contact part

[0546] 340 Third Transceiver Department

[0547] 341 Fourth Transceiver Department

[0548] OS1 First Shell

[0549] OS2 Second Shell

[0550] AR rotation axis

[0551] C1 First central axis

[0552] C2 Second central axis

[0553] S1 First shielding member

[0554] S2 second shielding member.

Claims

1. A robotic device comprising: a first arm and a second arm, the first arm and the second arm being connected via a joint mechanism, the joint mechanism being configured to rotatably connect the first arm and the second arm with a rotation axis as a fulcrum; and a wireless connector provided outside the first arm and the second arm, the wireless connector being configured to wirelessly transmit a target to be transmitted between the first arm and the second arm outside the joint mechanism, the target to be transmitted being at least one of power and information; in: The first arm portion includes a first mating connector portion exposed to the outside of the first arm portion, and The second arm portion includes a second mating connector portion exposed to the outside of the second arm portion, Wherein, the wireless connector includes: a first housing, a first transceiver portion and a first connector portion fixed to the first housing, the first transceiver portion being configured to wirelessly transmit the target to be transmitted, the first connector portion being configured to transmit the target to be transmitted to / from the first arm portion by being removably mounted to the first mating connector portion; and a second housing, a second transceiver portion and a second connector portion fixed to the second housing, the second transceiver portion being configured to wirelessly transmit the target to be transmitted to / from the first transceiver portion, and the second connector portion being configured to transmit the target to be transmitted to / from the second arm portion by being removably mounted to the second mating connector portion, wherein, when the first connector portion and the second connector portion are mounted to the first mating connector portion and the second mating connector portion, respectively, the first transceiver portion and the second transceiver portion are arranged in a state of being spaced apart from each other along the rotation axis and facing each other, so as to wirelessly transmit the target to be transmitted outside the joint mechanism; The wireless connector further includes a protective portion, which includes an elastic member for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first transceiver and the second transceiver when the two transceivers are facing each other, and the protective portion is arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

2. The robotic device according to claim 1, wherein: The first housing serving as the one housing includes a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion, The second housing serving as another housing includes a columnar protrusion, the second transceiver is arranged on the protrusion, and The protection portion is provided on the bottom surface, inner peripheral surface or peripheral portion of the recessed portion, Wherein, when the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part are arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the end surface of the protrusion and the bottom surface of the recessed part face each other, and the end of the protective part contacts the end surface, outer peripheral surface or peripheral part of the protrusion.

3. The robotic device according to claim 1, wherein: The first housing serving as the one housing includes a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion, The second housing serving as another housing includes a columnar protrusion, the second transceiver is arranged on the protrusion, and wherein the protection portion is provided on the end surface, the outer peripheral surface or the peripheral portion of the protrusion, Wherein, when the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part are arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part face each other, and the end of the protective part contacts the bottom surface, inner peripheral surface or peripheral part of the recessed part.

4. A robotic device comprising: a first arm and a second arm, the first arm and the second arm being connected via a joint mechanism, the joint mechanism being configured to rotatably connect the first arm and the second arm with a rotation axis as a fulcrum; and a wireless connector provided outside the first arm and the second arm, the wireless connector being configured to wirelessly transmit a target to be transmitted between the first arm and the second arm outside the joint mechanism, the target to be transmitted being at least one of power and information; in: The first arm portion includes a first mating connector portion exposed to the outside of the first arm portion, and The second arm portion includes a second mating connector portion exposed to the outside of the second arm portion, Wherein, the wireless connector includes: a first housing, a first transceiver portion and a first connector portion fixed to the first housing, the first transceiver portion being configured to wirelessly transmit the target to be transmitted, the first connector portion being configured to transmit the target to be transmitted to / from the first arm portion by being removably mounted to the first mating connector portion; and a second housing, a second transceiver portion and a second connector portion fixed to the second housing, the second transceiver portion being configured to wirelessly transmit the target to be transmitted to / from the first transceiver portion, and the second connector portion being configured to transmit the target to be transmitted to / from the second arm portion by being removably mounted to the second mating connector portion, wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material, The first transceiver is housed inside the first housing, and The second transceiver is housed inside the second housing. Wherein, when the first connector part and the second connector part are respectively installed to the first mating connector part and the second mating connector part, the first transceiver part and the second transceiver part are arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism.

5. The robotic device according to claim 4, wherein: The wireless connector further includes a protective portion including an elastic member for preventing foreign matter from intruding into an opposing space between the first transceiver and the second transceiver when the two transceivers face each other. The protective portion is provided in at least one of the first and second shells so as to close at least a portion of a gap continuous with the opposing space.

6. A wireless connector for wirelessly transmitting a first target to be transmitted between a first object and a second object outside a joint mechanism, wherein the first target to be transmitted is power, and the first object and the second object are rotatably connected via the joint mechanism with a rotation axis as a fulcrum, wherein: The wireless connector is disposed outside the first object and the second object, and the wireless connector includes: a first unit removably mounted to the first object from an exterior of the first object; and a second unit removably mounted to the second object from an exterior of the second object, The first unit includes: a first transceiver configured to wirelessly transmit the first target to be transmitted; a first connector portion configured to transfer the first target to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object; and a first housing, the first transceiver portion and the first connector portion being fixed to the first housing, The second unit comprises: a second transceiver configured to wirelessly transmit the first target to be transmitted to / from the first transceiver; a second connector portion configured to transfer the first target to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object; and a second housing, the second transceiver portion and the second connector portion being fixed to the second housing, wherein, when the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from each other and facing each other so as to wirelessly transmit the first target to be transmitted; The wireless connector further includes a protective portion, which includes a component for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first transceiver and the second transceiver facing each other, and the protective portion is arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

7. The wireless connector according to claim 6, wherein: The first housing serving as the one housing includes a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion, The second housing serving as another housing includes a columnar protrusion, the second transceiver is arranged on the protrusion, and The protection portion is provided on the bottom surface, inner peripheral surface or peripheral portion of the recessed portion, Wherein, when the first connector part and the second connector part are respectively installed to the first object and the second object, the first transceiver part and the second transceiver part are arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part face each other, and the protective part contacts the end surface, outer peripheral surface or peripheral part of the protrusion.

8. The wireless connector according to claim 6, wherein: The first housing serving as the one housing includes a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion, The second housing serving as another housing includes a columnar protrusion, the second transceiver is arranged on the protrusion, and The protection portion is provided on a terminal surface, an outer peripheral surface or a peripheral portion of the protrusion, and Wherein, when the first connector part and the second connector part are respectively installed to the first object and the second object, the first transceiver part and the second transceiver part are arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part face each other, and the protective part is in contact with the bottom surface, inner peripheral surface or peripheral part of the recessed part.

9. A wireless connector for wirelessly transmitting a first target to be transmitted between a first object and a second object outside a joint mechanism, wherein the first target to be transmitted is power, and the first object and the second object are rotatably connected via the joint mechanism with a rotation axis as a fulcrum, wherein: The wireless connector is disposed outside the first object and the second object, and the wireless connector includes: a first unit removably mounted to the first object from an exterior of the first object; and a second unit removably mounted to the second object from an exterior of the second object, The first unit includes: a first transceiver configured to wirelessly transmit the first target to be transmitted; a first connector portion configured to transfer the first target to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object; and a first housing, the first transceiver portion and the first connector portion being fixed to the first housing, The second unit comprises: a second transceiver configured to wirelessly transmit the first target to be transmitted to / from the first transceiver; a second connector portion configured to transfer the first target to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object; and a second housing, the second transceiver portion and the second connector portion being fixed to the second housing, wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material, The first transceiver is housed inside the first housing, and The second transceiver is housed inside the second housing. When the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from and facing each other to wirelessly transmit the first target to be transmitted.

10. The wireless connector according to claim 9, further comprising: A protection portion, the protection portion including a component for preventing foreign matter from intruding into an opposing space, the opposing space being a space between the first transceiver portion and the second transceiver portion that are facing each other, the protection portion being arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

11. The wireless connector according to claim 9 or 10, wherein: The first transceiver includes a flat first coil member, the first coil member being used to transmit the first target to be transmitted; and The second transceiver includes a flat second coil member, and the second coil member is used to transmit the first target to be transmitted by coupling with the magnetic field of the first coil member. When the first unit and the second unit are mounted to the first object and the second object, respectively, the first coil member and the second coil member are arranged in parallel while being spaced apart and facing each other to wirelessly transmit the first target to be transmitted.

12. The wireless connector according to claim 9 or 10, wherein: The first unit further includes: a third transceiver, the third transceiver being fixed to the first housing and configured to wirelessly transmit a second target to be transmitted, the second target to be transmitted being information; The second unit further includes: a fourth transceiver, the fourth transceiver being fixed to the second housing and configured to wirelessly transmit the second target to be transmitted to / from the third transceiver, wherein the first connector portion transfers the first object to be transferred and the second object to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object, and the second connector portion transports the first and second objects to be transported to and from the second object by being removably mounted to the second object from the outside of the second object, When the first unit and the second unit are mounted to the first object and the second object respectively, the third transceiver and the fourth transceiver are arranged in a state of being spaced apart from and facing each other to wirelessly transmit the second target to be transmitted.

13. The wireless connector according to claim 12, wherein: The third transceiver unit includes a first antenna component, the first antenna component is configured to transmit the second target to be transmitted, and the second target to be transmitted is information. The fourth transceiver unit includes a second antenna member, and the second antenna member is configured to transmit the second target to be transmitted. The first transceiver is arranged around the third transceiver, and The second transceiver is arranged around the fourth transceiver, When the first unit and the second unit are mounted to the first object and the second object, respectively, the first antenna member and the second antenna member are arranged in parallel in a state of being spaced apart from and facing each other to wirelessly transmit the second target to be transmitted.

14. A wireless connector for wirelessly transmitting at least one of power and information as a target of transmission between a first object and a second object outside a joint mechanism, wherein the first object and the second object are rotatably connected via the joint mechanism with a rotation axis as a fulcrum, wherein: The wireless connector is disposed outside the first object and the second object, and the wireless connector includes: a first unit removably mounted to the first object from an exterior of the first object, and a second unit removably mounted to the second object from an exterior of the second object, The first unit includes: a first transceiver unit, the first transceiver unit including a first coil member, the first coil member being configured to wirelessly transmit the target to be transmitted; a first connector portion that is removably mounted to the first object by being fitted to the first object from the outside of the first object in order to transport the target to be transported to / from the first object; and a first housing to which the first coil member and the first connector portion are fixed, The second unit comprises: a second transceiver unit including a second coil member configured to wirelessly transmit the target to be transmitted to / from the first coil member; a second connector portion that is removably mounted to the second object by being fitted to the second object from the outside of the second object so as to transport the target to be transported to / from the second object; and a second housing to which the second coil member and the second connector portion are fixed, wherein the first connector portion and the second connector portion have the same mating direction, and the first coil member and the second coil member are arranged in a state of being spaced apart from each other along the mating direction and facing each other so as to induce magnetic field coupling between the first coil member and the second coil member; In which, the wireless connector also includes a protective portion, which includes a component for preventing foreign matter from invading the opposing space, and the opposing space is the space between the first coil component and the second coil component when they are facing each other. The protective portion is arranged in at least one shell of the first shell and the second shell so as to close at least a portion of the gap continuous with the opposing space.

15. The wireless connector of claim 14, wherein: the first housing serving as the one housing includes a recessed portion where the first coil member is arranged and forms a columnar recess along the mating direction, The second housing serving as another housing includes a columnar protrusion, the protrusion being a portion where the second coil member is arranged and protruding in the mating direction, The protection portion is provided on the bottom surface, inner peripheral surface or peripheral portion of the recessed portion, and The first coil component and the second coil component are arranged in a state where they are spaced apart from each other and face each other along the mating direction so as to cause magnetic field coupling between the first coil component and the second coil component, and the protrusion and the recessed portion face each other, and the protective portion is in contact with the end surface, outer peripheral surface or peripheral portion of the protrusion.

16. The cordless connector of claim 14, wherein: the first housing serving as the one housing includes a recessed portion where the first coil member is arranged and forms a columnar recess along the mating direction, The second housing serving as another housing includes a columnar protrusion, the protrusion being a portion where the second coil member is arranged and protruding in the mating direction, The protection portion is provided on a terminal surface, an outer peripheral surface or a peripheral portion of the protrusion, and The first coil component and the second coil component are arranged in a state where they are spaced apart from each other and face each other along the mating direction so as to cause magnetic field coupling between the first coil component and the second coil component, and the protrusion and the recess face each other, and the protective portion is in contact with the bottom surface, inner peripheral surface or peripheral portion of the recess.

17. A wireless connector for wirelessly transmitting at least one of power and information as a target of transmission between a first object and a second object outside a joint mechanism, wherein the first object and the second object are rotatably connected via the joint mechanism with a rotation axis as a fulcrum, wherein: The wireless connector is disposed outside the first object and the second object, and the wireless connector includes: a first unit removably mounted to the first object from an exterior of the first object, and a second unit removably mounted to the second object from an exterior of the second object, The first unit includes: a first transceiver unit, the first transceiver unit including a first coil member, the first coil member being configured to wirelessly transmit the target to be transmitted; a first connector portion that is removably mounted to the first object by being fitted thereto from the outside of the first object in order to transport the object to be transported to / from the first object; and a first housing to which the first coil member and the first connector portion are fixed, The second unit comprises: a second transceiver unit including a second coil member configured to wirelessly transmit the target to be transmitted to / from the first coil member; a second connector portion that is removably mounted to the second object by being fitted thereto from the outside of the second object in order to transport the object to be transported to / from the second object; and a second housing to which the second coil member and the second connector portion are fixed, wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material, The first coil member is housed inside the first housing. The second coil member is accommodated inside the second housing; The first connector portion and the second connector portion have the same mating orientation; and The first coil member and the second coil member are arranged in a state of being spaced apart from each other along the mating direction and facing each other so as to cause magnetic field coupling between the first coil member and the second coil member.

18. The wireless connector of claim 17, further comprising: A protection portion, the protection portion including a component for preventing foreign matter from intruding into an opposing space, the opposing space being a space between the first coil component and the second coil component in a state facing each other, the protection portion being arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

19. The wireless connector according to claim 14 or 15, wherein: The first coil member is disposed about a first central axis; The second coil member is disposed about a second central axis; and The first center axis and the second center axis are parallel to the mating direction.

20. A wireless connector for wirelessly transmitting at least one of power and information as a target of transmission between a first object and a second object outside a joint mechanism, wherein the first object and the second object are rotatably connected via the joint mechanism with a rotation axis as a fulcrum, wherein: The wireless connector is disposed outside the first object and the second object, and the wireless connector includes: a first unit removably mounted to the first object from an exterior of the first object, and a second unit removably mounted to the second object from an exterior of the second object, The first unit includes: a first transceiver unit including a first coil member configured to wirelessly transmit the target to be transmitted; a first connector portion configured to transfer the target to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object; and a first housing, the first transceiver portion and the first connector portion being fixed to the first housing, The second unit comprises: a second transceiver section including a second coil member configured to wirelessly transmit the target to be transmitted to / from the first transceiver section; a second connector portion configured to transfer the target to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object; and a second housing, the second transceiver portion and the second connector portion being fixed to the second housing, wherein the first coil member and the second coil member are spaced apart from each other and face each other in a state of being magnetically coupled to each other, In which, the wireless connector also includes a protective part, which includes a component for preventing foreign matter from invading the opposing space, and the opposing space is the space between the first coil component and the second coil component in a state of magnetic coupling with each other. The protective part is arranged in at least one shell of the first shell and the second shell so as to close at least a part of the gap continuous with the opposing space.

21. The cordless connector of claim 20, wherein: The first housing serving as the one housing includes a recessed portion forming a cylindrical recess, the first coil member being arranged in the recessed portion, The second housing serving as another housing includes a columnar protrusion on which the second coil member is arranged, and The protection portion is provided on the bottom surface, inner peripheral surface or peripheral portion of the recessed portion, Here, in a state where the first coil member and the second coil member are in a state of being magnetically coupled to each other, the protection portion is in contact with a distal end surface, an outer peripheral surface, or a peripheral portion of the protrusion.

22. The cordless connector of claim 20, wherein: The first housing serving as the one housing includes a recessed portion forming a cylindrical recess, the first coil member being arranged in the recessed portion, The second housing serving as another housing includes a columnar protrusion on which the second coil member is arranged, and The protection portion is provided on the distal end surface, the outer peripheral surface or the peripheral portion of the protrusion, Here, in a state where the first coil member and the second coil member are in a magnetically coupled state with each other, the protection portion is in contact with a bottom surface, an inner peripheral surface or a peripheral portion of the recessed portion.

23. A wireless connector for wirelessly transmitting at least one of power and information as a target of transmission between a first object and a second object outside a joint mechanism, wherein the first object and the second object are rotatably connected via the joint mechanism with a rotation axis as a fulcrum, wherein: The wireless connector is disposed outside the first object and the second object, and the wireless connector includes: a first unit removably mounted to the first object from an exterior of the first object, and a second unit removably mounted to the second object from an exterior of the second object, The first unit includes: a first transceiver unit including a first coil member configured to wirelessly transmit the target to be transmitted; a first connector portion configured to transfer the target to be transferred to / from the first object by being removably mounted to the first object from the outside of the first object; and a first housing, the first transceiver portion and the first connector portion being fixed to the first housing, The second unit comprises: a second transceiver section including a second coil member configured to wirelessly transmit the target to be transmitted to / from the first transceiver section; a second connector portion configured to transfer the target to be transferred to / from the second object by being removably mounted to the second object from the outside of the second object; and a second housing, the second transceiver portion and the second connector portion being fixed to the second housing, wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material, The first coil member is accommodated inside the first housing; and The second coil member is accommodated inside the second housing; and The first coil member and the second coil member are spaced apart from each other and face each other in a state of being magnetically coupled to each other.

24. The wireless connector of claim 23, further comprising: A protection portion, the protection portion including a component for preventing foreign matter from intruding into an opposing space, the opposing space being a space between the first coil component and the second coil component in a state of magnetic coupling with each other, the protection portion being arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

25. A wireless connector for wirelessly transmitting a target to be transmitted, which is at least one of power and information, between a first object and a second object outside a joint mechanism, wherein the first object and the second object are rotatably connected via the joint mechanism with a rotation axis as a fulcrum, wherein: The wireless connector is disposed outside the first object and the second object, and the wireless connector includes: a first unit removably mounted to the first object from an exterior of the first object, and a second unit removably mounted to the second object from an exterior of the second object, The first unit includes: a first transceiver unit configured to wirelessly transmit the target to be transmitted; a first connector portion configured to transfer the target to be transferred to / from the first object by being mounted on the first object; and a first housing, the first transceiver portion being fixed to the first housing, and the first connector portion being mounted to the first housing, The second unit comprises: a second transceiver configured to wirelessly transmit the target to be transmitted to / from the first transceiver; a second connector portion configured to transfer the target to be transferred to / from the second object by being mounted on the second object; and a second housing, the second transceiver portion being fixed to the second housing, and the second connector portion being mounted to the second housing, wherein, when the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from each other and facing each other so as to wirelessly transmit the target to be transmitted; The wireless connector further includes a protective portion, which includes a component for preventing foreign matter from intruding into an opposing space, wherein the opposing space is a space between the first transceiver and the second transceiver facing each other, and the protective portion is arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

26. The cordless connector of claim 25, wherein: The first housing serving as the one housing includes a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion, The second housing serving as another housing includes a columnar protrusion, the second transceiver is arranged on the protrusion, and The protection portion is provided on the bottom surface, inner peripheral surface or peripheral portion of the recessed portion, Wherein, when the first connector part and the second connector part are respectively installed to the first object and the second object, the first transceiver part and the second transceiver part are arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part face each other, and the protective part contacts the end surface, outer peripheral surface or peripheral part of the protrusion.

27. The cordless connector of claim 25, wherein: The first housing serving as the one housing includes a recessed portion forming a cylindrical recess, the first transceiver being arranged in the recessed portion, The second housing serving as another housing includes a columnar protrusion, the second transceiver is arranged on the protrusion, and The protection portion is provided on the distal end surface, the outer peripheral surface or the peripheral portion of the protrusion, Wherein, when the first connector part and the second connector part are respectively installed to the first object and the second object, the first transceiver part and the second transceiver part are arranged in a state of being spaced apart from each other and facing each other along the rotation axis so as to wirelessly transmit the target to be transmitted outside the joint mechanism, and the protrusion and the recessed part face each other, and the protective part is in contact with the bottom surface, inner peripheral surface or peripheral part of the recessed part.

28. A wireless connector for wirelessly transmitting a target to be transmitted, which is at least one of power and information, between a first object and a second object outside a joint mechanism, wherein the first object and the second object are rotatably connected via the joint mechanism with a rotation axis as a fulcrum, wherein: The wireless connector is disposed outside the first object and the second object, and the wireless connector includes: a first unit removably mounted to the first object from an exterior of the first object, and a second unit removably mounted to the second object from an exterior of the second object, The first unit includes: a first transceiver unit configured to wirelessly transmit the target to be transmitted; a first connector portion configured to transfer the target to be transferred to / from the first object by being mounted on the first object; and a first housing, the first transceiver portion being fixed to the first housing, and the first connector portion being mounted to the first housing, The second unit comprises: a second transceiver configured to wirelessly transmit the target to be transmitted to / from the first transceiver; a second connector portion configured to transfer the target to be transferred to / from the second object by being mounted on the second object; and a second housing, the second transceiver portion being fixed to the second housing, and the second connector portion being mounted to the second housing, wherein each of the first shell and the second shell has a sealing structure formed of a non-magnetic material, The first transceiver is housed inside the first housing, and The second transceiver is accommodated inside the second housing; When the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from and facing each other to wirelessly transmit the target.

29. The wireless connector of claim 28, further comprising: A protection portion, the protection portion including a component for preventing foreign matter from intruding into an opposing space, the opposing space being a space between the first transceiver portion and the second transceiver portion that are facing each other, the protection portion being arranged in at least one of the first shell and the second shell so as to close at least a portion of a gap continuous with the opposing space.

30. The cordless connector according to claim 9 or 10, wherein: When the first unit and the second unit are mounted to the first object and the second object, respectively, the first transceiver and the second transceiver are arranged in a state of being spaced apart from each other along the rotation axis and facing each other.

31. The wireless connector according to claim 9 or 10, wherein: The first unit and the second unit are spaced apart from each other when the first unit and the second unit are mounted to the first object and the second object, respectively.

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