Connecting unit

Abstract

To provide a connecting unit with a high degree of flexibility in connection. [Solution] The connecting unit 100 comprises connecting modules 60A and 60B that are connected to each other. Each of the connecting modules 60A and 60B comprises a plurality of arc-shaped upright portions 63 that extend axially from the end face 62a of the main body portion 62 and are provided at equal intervals in the circumferential direction, an arc-shaped first flange portion 64 that protrudes radially outward from the tip of each upright portion 63, a recess 65 provided between adjacent upright portions 63, a second flange portion 66 that protrudes radially outward from the bottom of each recess 65, and a fixing member 67 provided radially outward of the second flange portion 66 for fixing the connecting modules 60A and 60B.

Description

Technical Field

[0005]

[0001] The present invention relates to a connecting unit.

Background Art

[0002] Patent Document 1 discloses an invention of a coupling that detachably connects an adapter and a coupler.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the coupling described in Patent Document 1, adapters or couplers cannot be connected to each other. Therefore, there is a limitation in the degree of freedom of connection.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a connecting unit with a high degree of freedom in connection.

Means for Solving the Problems

[0006] The present invention relates to a connecting unit comprising a first connecting module and a second connecting module connected to each other, wherein each of the first and second connecting modules comprises a main body as a cylindrical or columnar connecting object, a plurality of arc-shaped upright portions extending axially from the end face of the main body or extending axially from the radially outer side of the main body and provided at equal intervals in the circumferential direction, an arc-shaped first flange portion projecting radially outward from the tip of each upright portion, recesses provided between adjacent upright portions, and extending radially outward from the bottom of each recess The device comprises a protruding second flange portion and a fixing portion provided radially outward of the second flange portion for fixing the first connecting module and the second connecting module, wherein the upright portions and recesses of the first and second connecting modules are combined and the first and second flange portions of each module are in contact with each other, the fixing portion of the first connecting module clamps the second flange portion of the first connecting module and the first flange portion of the second connecting module, and the fixing portion of the second connecting module clamps the second flange portion of the second connecting module and the first flange portion of the first connecting module.

[0007] In this invention, each of the first and second connecting modules comprises equally spaced upright portions and recesses provided between adjacent upright portions. Furthermore, each of the first and second connecting modules is provided with a fixing portion that clamps the first and second flange portions of each module while they are in contact with each other. As a result, the first and second connecting modules can be connected by combining the upright portions and recesses of the first and second connecting modules and clamping the first and second flange portions of each module with the fixing portion. In addition, since the first and second connecting modules are not distinguished as male or female, they can be connected regardless of the combination of the first and second connecting modules. Moreover, because the upright portions and recesses of the first and second connecting modules are provided at equal intervals, they can be connected even when they are rotated relative to each other. Thus, the degree of freedom in connecting the connecting units can be increased.

[0008] Furthermore, the present invention is characterized in that the fixing portion is a plurality of arc-shaped members having tapered grooves on their inner circumferential surface that extend in the circumferential direction and widen radially inward, and each of the first connecting module and the second connecting module further comprises a drive mechanism for driving the fixing portion radially, the drive mechanism having a cylinder that drives the fixing portion by supplying and discharging fluid pressure, and by supplying fluid pressure to the cylinder, the tapered grooves of the fixing portion are pressed against the abutting first flange portion and second flange portion, thereby clamping the first flange portion and the second flange portion.

[0009] In this invention, the first connecting module and the second connecting module can be held in a connected state simply by supplying fluid pressure to the cylinder.

[0010] Furthermore, the present invention is characterized in that the fixing portion is a plurality of arc-shaped members having tapered grooves on their inner circumferential surface that extend in the circumferential direction and widen radially inward, and each of the first connecting module and the second connecting module further comprises a drive mechanism for driving the fixing portion radially, the drive mechanism having a cable wrapped around the outer circumferential surface of all the fixing portions, and by pulling the cable to move the fixing portion radially inward, the tapered grooves of the fixing portion are pressed against the abutting first flange portion and second flange portion, thereby clamping the first flange portion and the second flange portion.

[0011] In this invention, the first and second connecting modules can be held in a connected state simply by winding up the cable, thus reducing the number of parts compared to, for example, a case using a cylinder. This helps to suppress the increase in size of the device and reduce costs.

[0012] Furthermore, the present invention is characterized in that each of the first connecting module and the second connecting module further comprises a first biasing member that biases the fixed portion radially outward.

[0013] In this invention, the connection between the first connecting module and the second connecting module can be released by moving the fixing portion radially outward using the biasing force of the first biasing member.

[0014] Furthermore, the present invention is characterized in that the fixing portion is a cylindrical member having a tapered groove on its inner surface that extends in the circumferential direction and widens toward one side in the circumferential direction, and each of the first connecting module and the second connecting module further comprises a drive mechanism for rotating the fixing portion, and by the drive mechanism rotating the fixing portion toward one side, the tapered groove of the fixing portion is pressed against the abutting first flange portion and second flange portion, thereby clamping the first flange portion and the second flange portion.

[0015] In this invention, the first connecting module and the second connecting module can be held in a connected state simply by rotating the fixed part with a drive mechanism.

[0016] Furthermore, the present invention is characterized in that the drive mechanism further includes a locking mechanism that locks the rotation of the fixed part.

[0017] In this invention, the connection state of the first connecting module and the second connecting module can be maintained by locking the rotation of the fixed part with a locking mechanism.

[0018] Furthermore, the present invention is characterized in that the drive mechanism comprises a rotating body provided radially outward of the fixed portion for rotating the fixed portion, and a second biasing member provided between the fixed portion and the rotating body for biasing the fixed portion and the rotating body toward opposite sides in the circumferential direction.

[0019] In this invention, since a second biasing member is provided between the fixed part and the rotating body, backlash of gears such as ring gears, and looseness caused by wear of the first flange portion or the second flange portion can be suppressed.

[0020] Furthermore, the present invention is characterized in that a fluid coupling is provided in the main body.

[0021] In this invention, the fluid joint can be held in a connected state.

Advantages of the Invention

[0022] According to the present invention, a connection unit with enhanced connection freedom can be provided.

Brief Description of the Drawings

[0023] [Figure 1] It is a side view of a leg of a modular robot to which a connection unit according to an embodiment of the present invention is applied. [Figure 2] It is a perspective view of the front side of the module. [Figure 3] It is a diagram schematically showing a port and an oil passage formed in a cylinder block. [Figure 4] It is a diagram schematically showing an oil passage when modules according to an embodiment of the present invention are connected to each other. [Figure 5] It is a perspective view of a joint module according to an embodiment of the present invention. [Figure 6] It is a plan view of a joint module according to an embodiment of the present invention. [Figure 7] It is a cross-sectional structural view of a joint PM according to an embodiment of the present invention. [Figure 8] It is a cross-sectional structural view of a joint PF according to an embodiment of the present invention. [Figure 9] It is a diagram for explaining the connection state of a joint unit according to an embodiment of the present invention. [Figure 10] It is a diagram for explaining the connection state of a joint unit according to an embodiment of the present invention. [Figure 11] It is a diagram for explaining the connection state of a joint unit according to an embodiment of the present invention. [Figure 12] It is a diagram for explaining the connection state of a joint unit according to an embodiment of the present invention. [Figure 13] It is a perspective view of a non-connected state of a connection unit according to a first embodiment of the present invention. [Figure 14]This is a plan view showing a coupling module incorporated into the main body of a connecting module according to the first embodiment of the present invention. [Figure 15] This is an exploded view of a connecting module according to the first embodiment of the present invention. [Figure 16] This is an enlarged view of the cylinder and the vicinity of the second flange portion of a connecting module according to the first embodiment of the present invention, where (A) shows the unconnected state of the connecting modules and (B) shows the connected state of the connecting modules. [Figure 17] This is a perspective view of a connecting module according to a second embodiment of the present invention. [Figure 18] This is an exploded view of a connecting module according to a second embodiment of the present invention. [Figure 19] This is an enlarged cross-sectional view of the rotating body and the vicinity of the second flange portion of the connecting module according to the second embodiment of the present invention. [Figure 20] This is an unfolded view of the vicinity of a groove provided on the rotating body of a connecting module according to a second embodiment of the present invention, laid out on a plane. [Figure 21] This is a perspective view of the unconnected state of the connecting unit according to the third embodiment of the present invention. [Figure 22] This is a perspective view of a connecting module according to a third embodiment of the present invention. [Figure 23] This is a plan view of a connecting module according to a third embodiment of the present invention. [Figure 24] This is a front view of a connecting module according to a third embodiment of the present invention. [Figure 25] This is an enlarged view of the vicinity of the second flange portion of a connecting module according to a third embodiment of the present invention, where (A) shows the unconnected state of the connecting modules and (B) shows the connected state of the connecting modules. [Figure 26] This is a plan view of a modified connecting module. [Modes for carrying out the invention]

[0024] <First Embodiment> A connecting unit 100 according to the first embodiment of the present invention will be described with reference to the drawings.

[0025] The connecting unit 100 comprises a pair of detachably connected connecting modules 60 (connecting module 60A and connecting module 60B) (see Figures 1 and 3, etc.). The connecting unit 100 is used, for example, to connect modules M that constitute a modular robot MR (see Figure 1). Each connecting module 60 is attached to each module M, and by connecting the connecting modules 60 to each other, the modules M are held in a connected state. In this embodiment, a coupling module 20, which will be described later, is installed inside each connecting module 60, and by connecting the connecting modules 60 to each other, the coupling modules 20 are also held in a connected state.

[0026] First, with reference to Figures 1 to 4, the modular robots MR and M to which the connecting unit 100 is applied will be described. Figure 1 is a diagram showing the legs of the modular robot MR. Figure 2 is a front perspective view of the module M. Figure 3 is a schematic diagram showing the ports and oil passages formed in the cylinder block 32.

[0027] The modular robot MR shown in Figure 1 is composed of multiple modules M shown in Figure 2 connected together.

[0028] As shown in Figures 1 to 3, module M includes a first link 1, a second link 2 connected to the first link 1 so as to be able to move relative to it, and a hydraulic cylinder 3 (see Figure 3) that moves the first link 1 and the second link 2 relative to each other.

[0029] The first link 1 and the second link 2 are rotatably connected via the rotating shaft 4. The third link 5 is rotatably connected to the hydraulic cylinder 3 and the second link 2.

[0030] The hydraulic cylinder 3 is an actuator that extends and retracts using hydraulic fluid supplied from a pump (not shown) as a hydraulic supply source. As shown in Figure 3, the hydraulic cylinder 3 includes a cylinder block 32 in which a cylinder chamber 31 is formed, a piston 33a that is slidably inserted into the cylinder chamber 31 and divides the cylinder chamber 31 into a rod-side chamber 31a and an anti-rod-side chamber 31b, and a piston rod 33b, one end of which is connected to the piston 33a and the other end of which extends out of the cylinder chamber 31.

[0031] The cylinder block 32 is housed within the housing 1a of the first link 1 (see Figure 2) and is fixed to the housing 1a so as not to rotate. As shown in Figure 3, the cylinder block 32 is formed in a roughly rectangular block shape, and has a cylinder chamber 31 and an oil passage 37, which will be described later and communicates with the cylinder chamber 31, formed inside. The cylinder chamber 31 is formed as a cylindrical hole opening into the end face 32a of the cylinder block 32. The end face 32a of the cylinder block 32 is provided with a cylinder head 34 that closes the opening of the cylinder chamber 31 and through which the piston rod 33b is inserted. The cylinder head 34 is provided with a bearing 35 that slidably supports the piston rod 33b and a sealing member 36 that prevents leakage of hydraulic fluid from the cylinder chamber 31.

[0032] As shown in Figure 2, a slider 6 is attached to the tip of the piston rod 33b, and one end of the third link 5 is rotatably connected to the slider 6 via a rotating shaft. The slider 6 is positioned between a pair of linear guides provided within the housing 1a along the axial direction of the piston rod 33b, and moves guided by the linear guides. The other end of the third link 5 is rotatably connected to the second link 2 via a rotating shaft 7.

[0033] The hydraulic cylinder 3 retracts when hydraulic fluid is supplied from the pump to the rod-side chamber 31a and the hydraulic fluid in the non-rod-side chamber 31b is discharged into a tank (not shown). Conversely, the hydraulic cylinder 3 extends when hydraulic fluid is supplied from the pump to the non-rod-side chamber 31b and the hydraulic fluid in the rod-side chamber 31a is discharged into a tank. As the hydraulic cylinder 3 extends and retracts, the linear motion of the piston rod 33b is converted into rotational motion of the second link 2 via the third link 5, and the first link 1 and the second link 2 rotate relative to each other around the rotation axis 4. In this way, the first link 1 and the second link 2 can be rotated relative to each other by driving the hydraulic cylinder 3. Module M has one rotational degree of freedom around the rotation axis 4, and the first link 1, the second link 2, and the hydraulic cylinder 3 are connected to form a single degree of freedom.

[0034] Next, with reference to Figure 3, the ports and oil passages 37 formed in the cylinder block 32 will be described in detail.

[0035] The outer surface of the cylinder block 32 is formed with openings for a pump port P, which can be connected to a pump, and a tank port T, which can be connected to a tank. In this embodiment, the pump port P and tank port T are formed on three of the multiple outer surfaces of the cylinder block 32. At least one of the three pump ports P is connected to a pump or another module M via a hose or piping, and the unused pump port P is sealed with a plug. Similarly, at least one of the three tank ports T is connected to a tank or another module M via a hose or piping, and the unused tank port T is sealed with a plug. In the example shown in Figures 1 to 4, the outer surface of module M is provided with three ports: a pump port P, a tank port T, and a spare port S. In the example shown in Figures 1 to 4, the spare port S is not used and is therefore sealed with a plug (it is not shown in Figures 3 and 4).

[0036] A servo valve (not shown) is provided in the cylinder block 32 as a control valve. The servo valve controls the communication between the pump port P and the tank port T and the cylinder chamber 31. The servo valve has a supply port 38a that communicates with the pump port P, a discharge port 38b that communicates with the tank port T, a rod-side port 38c that communicates with the rod-side chamber 31a, and a non-rod-side port 38d that communicates with the non-rod-side chamber 31b. Depending on its position, the servo valve switches the communication between the supply port 38a and the discharge port 38b and the rod-side port 38c and the non-rod-side port 38d.

[0037] The cylinder block 32 has an oil passage 37 that connects the pump port P and the tank port T to the cylinder chamber 31. The oil passage 37 includes a supply passage 37a that connects the pump port P to the supply port 38a of the servo valve, a discharge passage 37b that connects the tank port T to the discharge port 38b of the servo valve, a rod-side passage 37c that connects the rod-side port 38c of the servo valve to the rod-side chamber 31a, and a non-rod-side passage 37d that connects the non-rod-side port 38d of the servo valve to the non-rod-side chamber 31b.

[0038] When the supply port 38a and the rod-side port 38c are connected by the servo valve, and the discharge port 38b and the non-rod-side port 38d are connected, hydraulic fluid is supplied from the pump port P to the rod-side chamber 31a, and the hydraulic fluid from the non-rod-side chamber 31b is discharged to the tank port T, causing the hydraulic cylinder 3 to retract. On the other hand, when the supply port 38a and the non-rod-side port 38d are connected by the servo valve, and the discharge port 38b and the rod-side port 38c are connected, hydraulic fluid is supplied from the pump port P to the non-rod-side chamber 31b, and the hydraulic fluid from the rod-side chamber 31a is discharged to the tank port T, causing the hydraulic cylinder 3 to extend.

[0039] By the way, as shown in Figure 1, when modules M are connected and used together, it is necessary to connect the pump port P and tank port T provided on each module M, as shown in Figure 4. Therefore, in this embodiment, a joint unit C is used to connect the pump port P and tank port T of module M without using hoses or piping.

[0040] The joint unit C according to this embodiment will be described in detail below with reference to Figures 5 to 12.

[0041] The joint unit C comprises a pair of joint modules 20A and 20B. Since joint modules 20A and 20B in this embodiment have the same shape, only joint module 20A will be described below. In the following, when describing common matters concerning joint modules 20A and 20B, the expression "joint module 20" will be used. Joint module 20 is provided inside the main body 62 of the connecting module 60, which will be described later (see Figures 2 and 14). In the example shown in Figures 1 to 4, joint module 20 is provided inside the connecting module 60 provided on the end faces of the first link 1 and the second link 2. Furthermore, the joint module 20 provided on the end face of the second link 2 is connected to the oil passage 37 in the cylinder block 32 by a tube or the like (not shown). Figures 5 to 12 illustrate the structure of joint module 20 only.

[0042] As shown in Figures 6, 7, and 8, the joint module 20 includes a disc-shaped main body 21, a plurality of joints PM which are first and third joints, each having a first and third flow path 46 inside (see Figure 7) and arranged at equal intervals on virtual circles C1, C2, and C3, opening to the end face 21a of the main body 21, and a joint PF which is a second and fourth joint, each having a second and fourth flow path 56 inside (see Figure 8) and arranged at an intermediate position between two adjacent joints PM on virtual circles C1, C2, and C3, opening to the end face 21a of the main body 21. Note that in Figures 5, 6, and 9 to 12, for the sake of clarity, the joints PM are numbered as joints PM1a to 1d, joints PM2a to 2d, and joints PM2a to 3d, but these configurations are identical. When explaining common aspects of these fittings, the term "fitting PM" will be used. Similarly, regarding fittings PF, although they are numbered PF1 to PF3, their configuration is identical. When explaining common aspects of these fittings, the term "fitting PF" will be used.

[0043] As shown in Figure 6, in the joint module 20 of this embodiment, four joints PM are provided on virtual circles C1, C2, and C3 centered at point O, respectively, at intervals of 90° in the circumferential direction (joints PM1a to 1d, joints PM2a to 2d, and joints PM3a to 3d). Furthermore, joints PM1a, PM2a, and PM3a provided on virtual circles C1, C2, and C3 are arranged radially to each other (on the same normal). Similarly, joints PM1b, PM2b, and PM3b are arranged radially to each other, joints PM1c, PM2c, and PM3c are arranged radially to each other, and joints PM1d, PM2d, and PM3d are arranged radially to each other. As described above, in the joint module 20 of this embodiment, three joints PM are arranged radially on the end face 21a of the main body 21, and these three joints PM are spaced 90° apart in the circumferential direction.

[0044] The joint PF is located on the same virtual circle as the joint PM, that is, midway between two adjacent joints PM on each of the virtual circles C1, C2, and C3. More specifically, as shown in Figure 6, joint PF1 is located on the virtual circle C1 midway between two adjacent joints PM1a and PM1d, in other words, at a position where the angle it makes with joints PM1a and PM1d, respectively, with point O as the vertex, is 45°. Similarly, joint PF2 is located on the virtual circle C2 midway between two adjacent joints PM2a and PM2d, and joint PF3 is located on the virtual circle C3 midway between two adjacent joints PM3a and PM3d.

[0045] As shown in Figure 6, the joints PM1a, PM1b, PM1c, PM1d, and PF1, located on the virtual circle C1, are connected to each other by an annular flow path 22 located inside the main body 21. The joints PM2a, PM2b, PM2c, PM2d, and PF2, located on the virtual circle C2, are connected to each other by an annular flow path 23 located inside the main body 21. The joints PM3a, PM3b, PM3c, PM3d, and PF3, located on the virtual circle C3, are connected to each other by an annular flow path 24 located inside the main body 21. Furthermore, when the joint unit C is used to connect the flow paths between modules M shown in Figure 4, flow path 22 communicates with the pump port P of module M, flow path 23 communicates with the spare port S of module M (not shown in Figure 4), and flow path 24 communicates with the tank port T of module M.

[0046] As shown in Figures 7 and 8, the main body 21 has a disc-shaped first main body 21A and a disc-shaped second main body 21B. The first main body 21A is provided with a recess 25 opening on one end face 21a for accommodating joints PM and PF, and an annular groove (flow channels 22, 23, 24) opening on the other end face 21b. The second main body 21B is fixed to the first main body 21A by bolts so as to cover the openings of the flow channels 22, 23, 24.

[0047] Next, the structure of the PM joint will be explained with reference to Figure 7.

[0048] As shown in Figure 7, the coupling PM is composed of a male rapid fluid coupling with an automatic on / off valve. The coupling PM is provided in the main body 21 (first main body 21A) and is housed in a recess 25 that opens in the end face 21a. The coupling PM includes a valve body 42 as a first on / off valve provided in the housing 41, a spring 43 that biases the valve body 42 in the closing direction, a sealing member 44 that seals the space between the housing 41 and the recess 25 of the first main body 21A, and a spring retainer 45 that holds one end of the spring 43.

[0049] The housing 41 has a large-diameter portion 41a that fits into the recess 25 of the first main body portion 21A, and a small-diameter portion 41b that is smaller in diameter than the large-diameter portion 41a and is inserted into the fitting portion 51b of the joint PF, which will be described later. A space 46a for housing the valve body 42 and the spring 43 is provided inside the housing 41. The opening of the space 46a is closed by a spring retainer 45. In the joint PM, a flow path 46 is formed by the space 46a and the through hole 46b provided in the spring retainer 45, which passes through the joint PM.

[0050] The housing 41 is provided with a seat portion 41c against which the valve body 42 abuts. When the valve body 42 abuts against the seat portion 41c, the flow of fluid in the passage 46 is blocked. When the valve body 42 moves away from the seat portion 41c, the flow of fluid in the passage 46 is permitted. The passage 46 within the joint PM is connected to one of the passages 22, 23, or 24 through a communication passage 26 provided to open at the bottom surface of the recess 25 of the first main body portion 21A.

[0051] The joint PM is fixed within the recess 25 by, for example, providing an internal thread in the recess 25 of the first main body portion 21A and an external thread in the large-diameter portion 41a of the housing 41, and screwing these together. In this embodiment, the joint PM is provided so as not to protrude from the end face 21a of the first main body portion 21A.

[0052] Next, the structure of joint PF will be explained with reference to Figure 8.

[0053] As shown in Figure 8, the coupling PF is composed of a female quick-acting fluid coupling with an automatic on-off valve. The coupling PF is provided in the main body 21 (first main body 21A) and is housed in a recess 25 that opens in the end face 21a. The coupling PF includes a housing 51, a valve body 52 as a second on-off valve provided in the housing 51, a spring 53 that biases the valve body 52 in the closing direction, a sealing member 54a that seals the space between the housing 51 and the recess 25 of the first main body 21A, and a spring retainer 55 that holds one end of the spring 53.

[0054] The housing 51 has a cylindrical base portion 51a that fits into a recess 25 of the first main body portion 21A, and a cylindrical fitting portion 51b that extends from the base portion 51a and into which the small-diameter portion 41b of the joint PM is inserted. A space 56a for housing the valve body 52 and the spring 53 is provided inside the base portion 51a of the housing 51. The opening of the space 56a is closed by a spring retainer 55.

[0055] A sealing member 54b is provided on the inner circumferential surface of the fitting portion 51b, which seals the space between the small-diameter portion 41b of the joint PM and the fitting portion 51b when the small-diameter portion 41b of the joint PM is inserted. In the joint PF, a flow path 56 is formed by the space within the fitting portion 51b, the space 56a, and the through hole 56b provided in the spring retainer 55, through which water passes through the joint PF.

[0056] The housing 51 is provided with a seat portion 51c against which the valve body 52 abuts. When the valve body 52 abuts against the seat portion 51c, the flow of fluid in the passage 56 is blocked. When the valve body 52 moves away from the seat portion 51c, the flow of fluid in the passage 56 is permitted. The passage 56 within the joint PF communicates with one of the passages 22, 23, or 24 through a communication passage 26 provided to open at the bottom surface of the recess 25 of the first main body portion 21A. In other words, joints PM and PF, which are located on the same virtual circle (virtual circles C1, C2, C3), communicate with each other through the passages 22, 23, and 24.

[0057] The joint PF is fixed within the recess 25 by, for example, providing an internal thread in the recess 25 of the first main body portion 21A and an external thread in the base portion 51a of the housing 51, and screwing these together. In this embodiment, a portion of the joint PF is provided so as to protrude from the end face 21a of the first main body portion 21A.

[0058] To connect fitting PM and fitting PF, first, the small-diameter portion 41b of fitting PM is inserted into the fitting portion 51b of fitting PF. Then, as fitting PM and fitting PF are brought closer together, the tip surface of the valve body 42 of fitting PM and the tip surface of the valve body 52 of fitting PF come into contact with each other. If fitting PM and fitting PF are brought even closer together from this state, the valve body 42 of fitting PM and the valve body 52 of fitting PF push against each other, causing them to open. As a result, the flow path 46 inside fitting PM and the flow path 56 inside fitting PF are connected.

[0059] Next, referring to Figures 9 to 12, we will explain how the connection state changes due to the change in the relative position between joint module 20A and joint module 20B when joint module 20A and joint module 20B are connected. In Figures 9 to 12, the main body 21 of joint module 20A is shown as viewed from the front side (end face 21a side), and the main body 21 of joint module 20B is shown as viewed from the rear side (the side opposite to the end face 21a). Also, in Figures 9 to 12, to make it easier to understand which joints PM and PF are connected, the connected joints PM and PF in joint module 20A and joint module 20B are shown with thick solid lines.

[0060] In the state shown in Figure 9, PF1, PF2, and PF3 of joint module 20A are connected to PM1a, PM2a, and PM3a of joint module 20B, respectively, and PM1a, PM2a, and PM3a of joint module 20A are connected to PF1, PF2, and PF3 of joint module 20B, respectively. As a result, the flow path 22 of joint module 20A and the flow path 22 of joint module 20B are in communication through PF1 of joint module 20A and PM1a of joint module 20B, and through PM1a of joint module 20A and PF1 of joint module 20B. Similarly, the flow path 23 of joint module 20A and the flow path 23 of joint module 20B are in communication through PF2 of joint module 20A and PM2a of joint module 20B, and through PM2a of joint module 20A and PF2 of joint module 20B. The flow path 24 of joint module 20A and the flow path 24 of joint module 20B are connected through PF3 of joint module 20A and PM3a of joint module 20B, and through PM3a of joint module 20A and PF3 of joint module 20B.

[0061] Next, we will describe the connection state of joint module 20A and joint module 20B in the state shown in Figure 10. Figure 10 shows joint module 20B rotated 90° clockwise around point O from the position shown in Figure 9.

[0062] In the state shown in Figure 10, PF1, PF2, and PF3 of joint module 20A are connected to PM1b, PM2b, and PM3b of joint module 20B, respectively, and PM1b, PM2b, and PM3b of joint module 20A are connected to PF1, PF2, and PF3 of joint module 20B, respectively. As a result, the flow path 22 of joint module 20A and the flow path 22 of joint module 20B are in communication through PF1 of joint module 20A and PM1b of joint module 20B, and through PM1b of joint module 20A and PF1 of joint module 20B. Similarly, the flow path 23 of joint module 20A and the flow path 23 of joint module 20B are in communication through PF2 of joint module 20A and PM2b of joint module 20B, and through PM2b of joint module 20A and PF2 of joint module 20B. The flow path 24 of joint module 20A and the flow path 24 of joint module 20B are connected through PF3 of joint module 20A and PM3b of joint module 20B, and through PM3b of joint module 20A and PF3 of joint module 20B.

[0063] Next, we will describe the connection state of joint module 20A and joint module 20B in the state shown in Figure 11. Figure 11 shows joint module 20B rotated 90° clockwise around point O from the position shown in Figure 10.

[0064] In the state shown in Figure 11, PF1, PF2, and PF3 of joint module 20A are connected to PM1c, PM2c, and PM3c of joint module 20B, respectively, and PM1c, PM2c, and PM3c of joint module 20A are connected to PF1, PF2, and PF3 of joint module 20B, respectively. As a result, the flow path 22 of joint module 20A and the flow path 22 of joint module 20B communicate through PF1 of joint module 20A and PM1c of joint module 20B, and through PM1c of joint module 20A and PF1 of joint module 20B. Similarly, the flow path 23 of joint module 20A and the flow path 23 of joint module 20B communicate through PF2 of joint module 20A and PM2c of joint module 20B, and through PM2c of joint module 20A and PF2 of joint module 20B. The flow path 24 of joint module 20A and the flow path 24 of joint module 20B are connected through PF3 of joint module 20A and PM3c of joint module 20B, and through PM3c of joint module 20A and PF3 of joint module 20B.

[0065] Next, we will describe the connection state of joint module 20A and joint module 20B in the state shown in Figure 12. Figure 12 shows joint module 20B rotated 90° clockwise around point O from the position shown in Figure 11.

[0066] In the state shown in Figure 12, PF1, PF2, and PF3 of joint module 20A are connected to PM1d, PM2d, and PM3d of joint module 20B, respectively, and PM1d, PM2d, and PM3d of joint module 20A are connected to PF1, PF2, and PF3 of joint module 20B, respectively. As a result, the flow path 22 of joint module 20A and the flow path 22 of joint module 20B communicate through PF1 of joint module 20A and PM1d of joint module 20B, and through PM1d of joint module 20A and PF1 of joint module 20B. Similarly, the flow path 23 of joint module 20A and the flow path 23 of joint module 20B communicate through PF2 of joint module 20A and PM2d of joint module 20B, and through PM2d of joint module 20A and PF2 of joint module 20B. The flow path 24 of joint module 20A and the flow path 24 of joint module 20B are connected through PF3 of joint module 20A and PM3d of joint module 20B, and through PM3d of joint module 20A and PF3 of joint module 20B.

[0067] Thus, in the joint unit C, multiple joints PM are provided at equal intervals on a virtual circle on each end face 21a of the main body portion 21 of the joint modules 20A and 20B, and furthermore, joints PF are provided on the same virtual circle as joints PM. As a result, even if the relative position of the pair of joint modules 20A and 20B changes, joints PF can be connected to any of the joints PM.

[0068] Furthermore, in joint unit C, joint modules 20A and 20B are provided with joints PM1a-1d, 2a-2d, and 3a-3d, respectively, spaced 90° apart in the circumferential direction. Joints PF1-3 are also provided at intermediate positions between adjacent joints PM1a-3a and PM1d-3d (positions where the angles between joints PM1a-3a and PM1d-3d, respectively, with point O as the vertex are 45°). In addition, in joint unit C, joint modules 20A and 20B are arranged such that the positions of joints PF and PM are offset by 45° from each other. By adopting this configuration, as shown in Figures 9 to 12, when the joint module 20B is rotated 90° relative to the joint module 20A in the joint unit C, the joints PM1a-1d, 2a-2d, 3a-3d, and 4a-4d of the joint module 20B will face the joints PF1-3 of the joint module 20A in that order. Also, the joints PF1-3 of the joint module 20B will face the joints PM1a-1d, 2a-2d, 3a-3d, and 4a-4d of the joint module 20A in that order. In this way, in the joint unit C, even if the relative positions of the pair of joint modules 20A and 20B are changed, the joint PF can be connected to any of the joints PM.

[0069] Furthermore, in joint unit C, by offsetting the positions of the joints PF and PM of joint modules 20A and 20B by 45° in the circumferential direction, as shown in Figures 9 to 12, when joint PF of joint module 20A is positioned opposite one of the joints PM of joint module 20B, joint PF of joint module 20B can be positioned opposite one of the joints PM of joint module 20A. In other words, in joint unit C, when joint PF of joint module 20A and joint PM of joint module 20B are connected, joint PF of joint module 20B and joint PM of joint module 20A can be connected. As a result, when joint modules 20A and 20B are connected, two joints are connected in each of the flow paths 22, 23, and 24, thereby increasing the flow rate of fluid passing through joint unit C.

[0070] Furthermore, in joint unit C, three joints PM and three joints PF are arranged radially, and these are connected to the annular flow paths 22, 23, and 24, respectively. Therefore, even if the relative positions of joint modules 20A and 20B change and the connected joints change, the flow paths 22, 23, and 24 can still be connected to each other.

[0071] Therefore, by using a coupling unit C to connect the flow paths of the modules M that constitute the modular robot MR as shown in Figures 1 to 4, the pump ports P can be connected to each other through the flow path 22 of the coupling unit C, and the tank ports T can be connected to each other through the flow path 24, regardless of the connection direction of the modules M.

[0072] In the above embodiment, the case in which only the joint PF protrudes from the end face 21a of the first main body 21A was described as an example, but the invention is not limited to this, and the joint PM may be configured to protrude only from the end face 21a of the first main body 21A, or both the joint PF and the joint PM may be configured to protrude from the end face 21a of the first main body 21A.

[0073] Furthermore, in the above embodiment, the case in which the end faces 21a of the first main body portions 21A of the joint modules 20A and 20B come into contact with each other was described as an example when the joint PM and the joint PF are connected. However, when the joint PM and the joint PF are connected, the end faces 21a of the first main body portions 21A of the joint modules 20A and 20B may be spaced apart.

[0074] Furthermore, in the above embodiment, an example was given in which multiple (4) male connectors PM and one female connector PF were provided on each of the virtual circles C1, C2, and C3. However, it is also possible to provide multiple (4) female connectors PF and one male connector PM on a single virtual circle (virtual circles C1, C2, and C3).

[0075] Furthermore, although the above embodiment described an example where three joints PM and PF are arranged radially, it is not limited to this. For example, there may be only one joint PM or PF in the radial direction, or there may be two or four or more.

[0076] Next, the connecting unit 100 according to the first embodiment will be described with reference to Figures 13 to 16. Figure 13 is a perspective view of the connecting unit 100 (connecting module 60A, connecting module 60B) in an unconnected state. Figure 14 is a plan view of the connecting module 60 with the coupling module 20 incorporated into the main body 62. Figure 15 is an exploded view of the connecting module 60. Figure 16 is an enlarged view of the vicinity of the cylinder 70 and the second flange portion 66 of the connecting module 60A, where (A) shows the unconnected state of the connecting module 60A and (B) shows the connected state of the connecting module 60A with the connecting module 60B. Note that in Figures 13, 15 and 16, the coupling module 20 is omitted, and only the structure of the connecting module 60 is shown.

[0077] The connecting unit 100 is used to hold the module M and the joint module 20 in a connected state.

[0078] As shown in Figure 13, the connecting unit 100 comprises a connecting module 60A as a first connecting module and a connecting module 60B as a second connecting module. Since the connecting modules 60A and 60B in this embodiment have the same shape, only the connecting module 60A will be described below. In the following, when describing matters common to both the connecting module 60A and the connecting module 60B, the expression "connecting module 60" will be used.

[0079] As shown in Figures 13 to 16, the connecting module 60 comprises a base member 61A, a cover member 61B that forms a housing with the base member 61A, a main body 62 provided radially inward of the cover member 61B and fixed to the base member 61A as a connecting object, a plurality of arc-shaped upright portions 63 extending axially from the end face 62a of the main body 62 and provided at equal intervals in the circumferential direction of the main body 62, an arc-shaped first flange portion 64 projecting radially outward from the tip of each upright portion 63, recesses 65 provided between adjacent upright portions 63, an arc-shaped second flange portion 66 projecting radially outward from the bottom 65a of each recess 65, a fixing member 67 provided radially outward of the second flange portion 66 as a fixing portion for connecting and fixing the connecting modules 60 together, and a guide portion 68 formed to project radially outward on the base end side of the upright portion 63. Note that "axial direction" refers to the axial direction of the main body 62, and "radial direction" refers to the radial direction of the main body 62.

[0080] The base member 61A is formed in the shape of an annular plate from a metal material such as aluminum. The connecting module 60 is attached to module M by fixing the base member 61A to module M with bolts or the like.

[0081] The cover member 61B is formed in a cylindrical shape from a metal material such as aluminum. As shown in Figures 15 and 16, the cover member 61B has a cylindrical first cylindrical portion 61a and a second cylindrical portion 61b that extends from the end face of the first cylindrical portion 61a and has a larger inner diameter than the first cylindrical portion 61a. The cover member 61B and the base member 61A are integrated by fixing the tip of the second cylindrical portion 61b to the base member 61A.

[0082] The main body portion 62 is formed in a cylindrical shape from a metal material such as aluminum. One end of the main body portion 62 is fixed to the base member 61A (see Figure 16, etc.). The main body portion 21 of the joint module 20 is fitted into the main body portion 62 (see Figure 14). The main body portion 62 may be formed integrally with the main body portion 21 of the joint module 20.

[0083] As shown in Figure 15 and other figures, the main body portion 62 is provided with a cylindrical support portion 62b that extends axially from the end face 62a and has an outer diameter smaller than that of the main body portion 62.

[0084] The upright portions 63 are provided so as to extend axially from one end face 62a of the main body portion 62. In this embodiment, the upright portions 63 are formed in an arc shape with a central angle of about 45°, and four of them are provided at 90° intervals in the circumferential direction of the main body portion 62.

[0085] The first flange portion 64 is formed in an arc shape along the outer circumferential surface of the upright portion 63. One end face 64a of the first flange portion 64 in the axial direction (tip side) is formed flush with the end face 63a of the upright portion 63. The other end face 64b of the first flange portion 64 in the axial direction (base side) is formed by a tapered surface where the first flange portion 64 tapers towards the radially outward direction (see Figure 16, etc.).

[0086] The recesses 65 are formed between adjacent upright portions 63 in the circumferential direction. The recesses 65 are formed by the opposing sides of adjacent upright portions 63 and the end face 62a of the main body portion 62. In this embodiment, the recesses 65 are formed in an arc shape with a central angle of about 45° on the same circle as the upright portions 63, and four of them are provided at 90° intervals in the circumferential direction of the main body portion 62. The circumferential length of the recesses 65 is formed to be approximately equal to the circumferential length of the upright portions 63, or slightly longer than the upright portions 63. This allows the upright portions 63 of the connecting module 60 to be connected to to fit into the recesses 65.

[0087] The second flange portion 66 is formed to protrude radially outward from the bottom 65a of each recess 65, that is, from the vicinity of the end face 62a of the main body portion 62. One axial end face 66a of the second flange portion 66 is formed flush with the bottom surface of the recess 65 (end face 62a of the main body portion 62). The other axial end face 66b of the second flange portion 66 is formed by a tapered surface that narrows radially outward (see Figure 16).

[0088] The fixing member 67 is an arc-shaped member formed from a metal material such as aluminum. As shown in Figures 15 and 16, a tapered groove 67a is formed on the inner circumferential surface of the fixing member 67, extending in the circumferential direction and widening radially inward. A tapered surface portion 67b is provided on the outer circumferential surface of the fixing member 67, which narrows in diameter in the axial direction (towards the base member 61A side) (see Figure 16). Also, as shown in Figure 15, the fixing member 67 is provided with guide grooves 67c that open on both circumferential end faces and slidably fit into the guide portion 68.

[0089] Four fixing members 67 are provided so as to face each of the four second flange portions 66, and each fixing member 67 has a groove 67a positioned to face the second flange portion 66. A coil spring 69 is provided between the fixing member 67 and the main body portion 62, and between the fixing member 67 and the upright portion 63, as a first biasing member that biases the fixing member 67 radially outward.

[0090] As shown in Figure 16 and other figures, the connecting module 60 further includes a cylinder 70 as a drive mechanism for driving the fixed member 67 in the radial direction.

[0091] The cylinder 70 drives the fixed member 67 radially by supplying and discharging fluid pressure. As shown in Figure 16, the cylinder 70 has a piston 71 that is driven by the supply of fluid pressure, a pressure chamber 72 into which the fluid pressure for driving the piston 71 is introduced, and a coil spring 73 that biases the piston 71 toward its initial position.

[0092] The piston 71 has an annular pressure-receiving portion 71a having a pressure-receiving surface on which fluid pressure acts, and a pressing portion 71b extending axially from one end face of the pressure-receiving portion 71a (the end face opposite to the pressure chamber 72).

[0093] The pressure-receiving portion 71a is provided with a sealing member 74a that seals the space between the outer circumferential surface of the pressure-receiving portion 71a and the second cylindrical portion 61b of the cover member 61B, and a sealing member 74b that seals the space between the inner circumferential surface of the pressure-receiving portion 71a and the outer circumferential surface of the main body portion 62.

[0094] The inner circumference of the pressing portion 71b is provided with a tapered surface 71c that widens toward the tip (towards the fixing member 67) and slides against the tapered surface portion 67b of the fixing member 67. A sealing member 74c is provided between the pressing portion 71b and the first cylindrical portion 61a of the cover member 61B to seal the space between them.

[0095] The pressure chamber 72 is demarcated by the base member 61A, the second cylindrical portion 61b of the cover member 61B, the outer circumferential surface of the main body 62, and the pressure-receiving portion 71a of the piston 71. Hydraulic fluid discharged from a pump (not shown) provided in the module M or the like is supplied to the pressure chamber 72 through a supply and discharge port (not shown) provided in the base member 61.

[0096] Next, the method for connecting the connecting module 60A and the connecting module 60B (connecting modules 60 to each other) will be explained with reference to Figure 16 and other figures.

[0097] When connecting connecting modules 60A and 60B (connecting modules 60 together), first, the upright portions 63 and recesses 65 of each connecting module 60A and 60B are combined. Specifically, each upright portion 63 of connecting module 60A is inserted into each recess 65 of connecting module 60B, and each upright portion 63 of connecting module 60B is inserted into each recess 65 of connecting module 60A.

[0098] Then, the end face 64a of the first flange portion 64 of the connecting module 60A and the end face 66a of the second flange portion 66 of the connecting module 60B are brought into contact, and the end face 66a of the second flange portion 66 of the connecting module 60A and the end face 64a of the first flange portion 64 of the connecting module 60B are brought into contact (see Figure 16(B)).

[0099] Next, hydraulic fluid (fluid pressure) is supplied to the pressure chambers 72 of the cylinders 70 of each connecting module 60A and 60B. This causes each piston 71 to move toward the fixing member 67 (upward in the case of connecting module 60A shown in Figure 16) against the biasing force of the coil spring 73. At this time, in each of the connecting modules 60A and 60B, the wedge effect between the tapered surface 71c of the piston 71 and the tapered surface portion 67b of the fixing member 67 causes the fixing member 67 to be pushed radially inward as the tapered surface 71c of the piston 71 rises, causing the fixing member 67 to move radially inward against the biasing force of the coil spring 69. As a result, the first flange portion 64 and the second flange portion 66, which are in contact with each other, fit into the grooves 67a of each fixing member 67 (see Figure 16(B)).

[0100] As described above, the groove 67a of the fixing member 67 is formed in a tapered shape that widens radially inward, and the end face 64b of the first flange portion 64 and the end face 66b of the second flange portion 66 are formed by tapered surfaces that narrow radially outward. As a result of this wedge effect, the first flange portion 64 and the second flange portion 66 are pressed against each other.

[0101] Thus, in the connecting unit 100 of this embodiment, the connecting module 60A and the connecting module 60B can be connected by supplying fluid pressure to the cylinders 70 (pressure chambers 72) of each of the connecting modules 60A and 60B while the upright portions 63 and recesses 65 of the connecting module 60A and the connecting module 60B are combined with each other. Furthermore, the connected state of the connecting module 60A and the connecting module 60B can be maintained by maintaining the state in which hydraulic fluid is supplied to each pressure chamber 72.

[0102] Furthermore, it is not necessary to keep the pump running at all times to maintain the connection between the connecting module 60A and the connecting module 60B. For example, a normally closed valve or a pilot check valve may be installed in the flow path connecting the pump and the pressure chamber 72. In this case, since no energy such as electricity is required to maintain the connection, energy consumption can be reduced.

[0103] To release the connection between connecting module 60A and connecting module 60B, the fluid pressure supplied to cylinder 70 (pressure chamber 72) is released. When the fluid pressure in pressure chamber 72 decreases, the biasing force of coil spring 73 causes piston 71 to move toward its initial position (position in Figure 16(A)). As a result, the radially inward pressing force by piston 71 decreases, and the fixing member 67 moves radially outward due to the biasing force of coil spring 69. As a result, the first flange portion 64 and the second flange portion 66 disengage from the groove 67a of fixing member 67, and the connection between connecting module 60A and connecting module 60B is released.

[0104] The connecting unit 100 according to the first embodiment described above provides the following effects.

[0105] In the connecting unit 100, each of the connecting module 60A and the connecting module 60B is provided with a plurality of arc-shaped upright portions 63 provided at equal intervals in the circumferential direction, and recesses 65 provided between adjacent upright portions 63. Specifically, in the connecting unit 100, each of the connecting module 60A and the connecting module 60B is provided with upright portions 63, recesses 65, a first flange portion 64, a second flange portion 66, and a fixing member 67, each at 90° intervals. As a result, even if the relative angle between the connecting module 60A and the connecting module 60B is changed by rotating them relative to each other in the circumferential direction, specifically, they can be connected and fixed each time the relative angle between the connecting module 60A and the connecting module 60B is shifted by 90°.

[0106] Furthermore, for example, if only one of the connecting modules 60A and 60B is equipped with a fixing member 67 and a cylinder 70, it is not possible to connect two connecting modules 60A together or two connecting modules 60B together. In contrast, in the connecting unit 100 of this embodiment, both connecting modules 60A and 60B are equipped with a fixing member 67 and a cylinder 70, so connecting modules 60A together or two connecting modules 60B together can be connected and fixed to each other. Thus, the connecting unit 100 increases the degree of freedom in connecting the connecting modules 60 together.

[0107] Furthermore, by making the connecting module 60A and the connecting module 60B the same shape, costs and the number of parts can be reduced.

[0108] Furthermore, in the connecting unit 100, the upright portions 63 and recesses 65 of the connecting modules 60A and 60B are combined, so that the relative rotation of the connecting modules 60A and 60B can be restricted. In addition, in the connecting unit 100, a support portion 62b is provided on the radially inward side of the recess 65, so when the upright portions 63 and recesses 65 of the connecting modules 60A and 60B are combined, the radial movement of the upright portion 63 can be restricted by the support portion 62b of the other module.

[0109] Furthermore, the connecting unit 100 can maintain the connected state of the connecting module 60A and the connecting module 60B simply by supplying fluid pressure to the cylinder 70, and can release the connection between the connecting module 60A and the connecting module 60B simply by discharging the fluid pressure from the cylinder 70.

[0110] Furthermore, the connecting unit 100 can be used as a means of connecting and fixing joint modules 20 to each other or modules M to each other. Moreover, by using the connecting unit 100, joint modules 20 to each other or modules M to each other can be connected even when they are rotated relative to each other. Furthermore, since the connecting unit 100 and joint modules 20 have no distinction between male and female, for example, when using the modular robot MR at a disaster site, the module M to which the connecting unit 100 and joint modules 20 are attached can be disassembled and transported to the site, and the modular robot MR can be easily assembled at the site.

[0111] In the above embodiment, the case in which the first flange portion 64 of the connecting module 60A and the second flange portion 66 of the connecting module 60B are in contact was described as an example, but the invention is not limited to this. For example, the tip surfaces of the support portion 62b may be in contact with each other, or the bottom portion 65a of the recess 65 and the end surface 63a of the upright portion 63 may be in contact. In this case, there may be a small gap between the first flange portion 64 of the connecting module 60A and the second flange portion 66 of the connecting module 60B.

[0112] Furthermore, in the above embodiment, the cylinder 70 was described as a so-called single-acting fluid pressure cylinder equipped with a coil spring 73 that biases the piston 71, but it is not limited to this, and the cylinder 70 may be a double-acting type.

[0113] In the above embodiment, the case in which the connecting module 60A and the connecting module 60B can be connected at intervals of 90° relative angle was described as an example, but the invention is not limited to this, and the angular spacing of the upright portion 63 and the recess 65 may be made smaller (for example, the angular spacing may be 60° or 45°). This will further increase the degree of freedom in connecting the connecting modules 60 to each other.

[0114] In the above embodiment, the example described was the use of the connecting unit 100 to connect joint units C (joint modules 20) or modular robots MR (modules M), but there are no restrictions on what can be connected. Also, for example, the main body 62 itself may be used as a pipe or piping for flowing fluids.

[0115] <Second Embodiment> Next, the connecting unit 200 according to the second embodiment will be described with reference to Figures 17 to 20. Figure 17 is a perspective view of the connecting module 260 related to the connecting unit 200. Figure 18 is an exploded view of the connecting module 260. Figure 19 is an enlarged view of the vicinity of the second flange portion 66 of the connecting module 260A. Note that Figures 17 to 19 show the structure of only one of the connecting modules 260 related to the connecting unit 200. Also, in Figures 17 to 19, the coupling module 20 is omitted and only the structure of the connecting module 260 is shown, and in Figure 18, the ring gear 272, which will be described later, is omitted.

[0116] The connecting unit 100 (connecting module 60) according to the first embodiment is equipped with an arc-shaped fixing member 67 and a cylinder 70 that drives the fixing member 67 in the radial direction, whereas the connecting unit 200 (connecting module 260) according to the second embodiment is equipped with a cylindrical fixing member 267 and a rotating mechanism 270 that rotates the fixing member 267. In the following, only the differences from the connecting unit 100 and connecting module 60 according to the first embodiment will be described, and identical components will be given the same numbering and their descriptions will be omitted.

[0117] The connecting unit 200 comprises a pair of connecting modules 260 (connecting module 260A and connecting module 260B). Since connecting modules 260A and 260B in this embodiment are identical in shape, only connecting module 260A will be described below. In the following, when describing matters common to both connecting module 260A and connecting module 260B, the expression "connecting module 260" will be used.

[0118] As shown in Figures 17 to 19, the connecting module 260 comprises a base member 261, a main body portion 262 as a connecting object fixed to the base member 261, and a fixing member 267 as a fixing portion for connecting and fixing the connecting modules 260 together. The main body portion 262 of this embodiment differs from the main body portion 62 of the first embodiment in that it does not have the guide portion 68 of the connecting module 60 of the first embodiment, and that while the thickness of the first flange portion 64 of the first embodiment is uniform in the circumferential direction, the end face 264b of the first flange portion 64 of this embodiment is formed by a tapered surface that slopes toward one side in the circumferential direction, such that the thickness increases toward one side (the X1 direction in Figures 18 and 20). Aside from these two points, the main body portion 62 and the main body portion 262 have the same shape. Hereinafter, the direction opposite to the X1 direction in Figures 18 and 20 will be referred to as the "X2 direction".

[0119] As shown in Figure 18 and other figures, the base member 261 of this embodiment is formed in the shape of an annular plate from a metal material such as aluminum. The connecting module 260 is attached to the module M by fixing the base member 261 to the module M with bolts or the like.

[0120] As shown in Figures 18 and 19, the fixing member 267 is a cylindrical member formed from a metal material such as aluminum. The main body 262 is housed inside the fixing member 267.

[0121] The fixing member 267 has a cylindrical first cylindrical portion 267a and a second cylindrical portion 267b that extends from the end face of the first cylindrical portion 267a and has a larger inner diameter than the first cylindrical portion 267a. A stepped portion 267c is provided at the boundary between the first cylindrical portion 267a and the second cylindrical portion 267b, with which the end face 66b of the second flange portion 66 slides against. The stepped portion 267c is formed by an annular tapered surface having approximately the same inclination angle as the end face 66b of the second flange portion 66.

[0122] The tip of the second cylindrical portion 267b of the fixing member 267 is provided with an annular first projection 267d that protrudes radially outward. In addition, the outer circumferential surface of the first cylindrical portion 267a of the fixing member 267 is provided with four second projections 267e that protrude radially outward at predetermined intervals (approximately 90°) and have a fan-shaped cross-section in the axial direction.

[0123] A tapered groove 267f is formed on the inner circumferential surface of the second cylindrical portion 267b of the fixing member 267, extending in the circumferential direction and widening toward one side in the circumferential direction (X2 direction) (see Figure 18). The groove 267f will be described in detail later.

[0124] As shown in Figures 17 to 19, the connecting module 260 further comprises a rotating mechanism 270 as a drive mechanism for rotating the fixed member 267. The rotating mechanism 270 includes a cylindrical rotating body 271, a ring gear 272 attached to the outer circumference of the rotating body 271, and a plurality of coil springs 273 as a second biasing member that biases the fixed member 267 and the rotating body 271 toward opposite sides in the circumferential direction.

[0125] The rotating body 271 houses the fixing member 267 and the main body 262. The inner circumferential surface of the rotating body 271 is provided with recesses 271a that accommodate the second projection 267e of the fixing member 267 and the coil spring 273. The recesses 271a are formed by an arc-shaped recess created by cutting out the inner circumferential surface of the fixing member 267. Four recesses 271a are provided at predetermined intervals (approximately 90°).

[0126] The rotating body 271 is held between the first projection 267d of the fixing member 267 and the base member 261, and the fixing member 267 is held between the second flange portion 66 of the main body portion 62, which is fixed to the base member 261, and the base member 261. In other words, the fixing member 267 and the rotating body 271 are rotatably held between the base member 261 and the main body portion 62.

[0127] The ring gear 272 meshes with a gear mounted on the rotating shaft of a rotary power device, such as a motor (not shown). By driving the rotary power device, the rotating body 271 rotates together with the ring gear 272. There are no particular restrictions on the type of rotary power device, but it is preferable that it be a motor equipped with a locking mechanism that locks the rotation of the rotating shaft when it is not energized.

[0128] The coil spring 273 is housed in the recess 271a in a compressed state between the side surface of the recess 271a and the side surface of the second projection 267e inserted into the recess 271a. As a result, the coil spring 273 biases the fixed member 267 and the rotating body 271 toward opposite sides in the circumferential direction, thereby suppressing backlash of gears such as the ring gear 272, and looseness caused by wear of the first flange portion 64, the second flange portion 66, or the third projection 267g.

[0129] Next, we will explain groove 267f in detail, referring to Figure 20 and other figures. Figure 20 is an unfolded view of the area near groove 267f on a plane.

[0130] As shown in Figure 20, a third projection 267g is provided on the inner circumferential surface of the second cylindrical portion 267b of the fixing member 267, projecting radially inward and extending circumferentially (see also Figure 18). The third projection 267g is formed in an arc shape along the inner circumferential surface of the second cylindrical portion 267b and is provided in four locations at predetermined intervals (approximately 90°). In this embodiment, the groove 267f is formed by the gap between the stepped portion 267c and the third projection 267g in the axial direction. The groove 267f is formed to widen in the X2 direction by inclining the side surface 267h of the third projection 267g that faces the stepped portion 267c.

[0131] Next, we will explain how to connect the connecting modules 260A and 260B (connecting modules 260 together). Note that only the connection using the connecting module 260A will be explained below, but the procedure for connecting using the connecting module 260A is the same as for connecting using the connecting module 260A.

[0132] When connecting connecting modules 260A and 260B (connecting modules 260 together), the upright portions 63 and recesses 65 of connecting modules 260A and 260B are combined with each other, similar to the connecting modules 60A and 60B according to the first embodiment.

[0133] Furthermore, the end face 64a of the first flange portion 64 of the connecting module 260A is brought into contact with the end face 66a of the second flange portion 66 of the connecting module 260B, and the end face 66a of the second flange portion 66 of the connecting module 260A is brought into contact with the end face 64a of the first flange portion 64 of the connecting module 260B (see Figure 20(A)).

[0134] Next, the motor of the connecting module 260A is driven to rotate the rotating body 271 in the X2 direction. As a result, the sides of the recesses 271a of each rotating body 271 push the second protrusions 267e of the fixing member 267 via the coil springs 273, causing the fixing member 267 to rotate in the X2 direction.

[0135] As the fixing member 267 rotates in the X2 direction, the second flange portion 66 of the connecting module 260A and the first flange portion 64 of the connecting module 260B, which are in contact with each other, fit into the groove 267f of the fixing member 267 of the connecting module 260A. As described above, the groove 267f widens toward the X2 direction, or in other words, tapers toward the X1 direction, so as the fixing member 267 moves toward the X2 direction, the wedge effect of the groove 267f causes the first flange portion 64 and the second flange portion 66 to press against each other.

[0136] Thus, in the connecting unit 200 of this embodiment, the connecting module 260A and the connecting module 260B can be connected by driving the rotation mechanisms 270 of each connecting module 260A and the connecting module 260B to rotate the fixing member 267 while the respective upright portions 63 and recesses 65 of the connecting module 260A and the connecting module 260B are combined. Furthermore, if the motor, which is the rotational power device, is equipped with a locking mechanism, the connected state of the connecting module 260A and the connecting module 260B can be maintained even if the power supply to the motor is stopped. In this case, since no energy such as electricity is required to maintain the connected state, energy consumption can be reduced.

[0137] To release the connection between connecting module 260A and connecting module 260B, the rotary power unit should be rotated in the reverse direction. When the motor is rotated in the reverse direction, the rotating body 271 rotates in the X1 direction. As a result, the second projection 267e comes into contact with the side surface of the recess 271a of the rotating body 271, and the fixing member 267 rotates in the X1 direction together with the rotating body 271. As a result, the third projection 267g (groove 267f) moves in the X1 direction, releasing the connection between connecting module 260A and connecting module 260B.

[0138] The connecting unit 200 according to the second embodiment described above provides the following effects in addition to the effects of the connecting unit 100 according to the first embodiment.

[0139] Since the connecting unit 200 drives the rotating mechanism 270 with a motor, there is no need to provide fluid pressure piping. In addition, compared to the case where a cylinder 70 is used, the number of parts can be reduced, and there is no need to secure space for a piston 71 or pressure chamber 72, so the size of the device can be suppressed.

[0140] <Third Embodiment> Next, the connecting unit 300 according to the third embodiment will be described with reference to Figures 21 to 25. Figure 21 is a perspective view of the connecting unit 300 (connecting modules 360A, 360B) in an unconnected state. Figure 22 is a perspective view of the connecting module 360 ​​related to the connecting unit 300. Figure 23 is a plan view of the connecting module 360 ​​related to the connecting unit 300. Figure 24 is a front view of the connecting module 360 ​​related to the connecting unit 300. Figure 25 is an enlarged view of the vicinity of the second flange portion 66 of the connecting module 360A. Note that in Figures 21 to 25, the joint module 20 is omitted, and only the structure of the connecting unit 300 and the connecting module 360 ​​is shown.

[0141] In the connecting unit 100 (connecting module 60) according to the first embodiment, the fixing member 67 is moved radially by driving the cylinder 70, whereas in the connecting unit 300 (connecting module 360) according to the third embodiment, the fixing member 67 is moved radially by pulling the cable 371 with the tensioning device 372. In the following, only the differences from the connecting unit 100 and connecting module 60 according to the first embodiment will be described, and identical components will be given the same numbering and their descriptions will be omitted.

[0142] The connecting unit 300 comprises a pair of connecting modules 360 (connecting module 360A and connecting module 360B). Since connecting module 360A and connecting module 360B in this embodiment have the same shape, only connecting module 360A will be described below. In the following, when describing matters common to connecting module 360A and connecting module 360B, the expression "connecting module 360" will be used.

[0143] As shown in Figures 21 to 25, the connecting module 360 ​​comprises a base member 361, a main body portion 362 fixed to the base member 361 as a connecting object, a fixing member 367 for connecting and fixing the connecting modules 360 together, and a holding portion 368 that holds the fixing member 367 so as to be radially movable. The main body portion 362 of this embodiment differs from the main body portion 362 of the first embodiment in that it does not have a guide portion 68 formed on the connecting module 60, and the main body portion 362 of the third embodiment is provided with a spring receiving portion 362c on its outer circumferential surface that supports one end of a coil spring 369, which will be described later. Aside from these two points, the main body portion 62 and the main body portion 362 have the same shape.

[0144] The base member 361 is formed in a flat plate shape from a metal material such as aluminum. The connecting module 360 ​​is attached to module M by fixing the base member 361 to module M with bolts or the like.

[0145] The main body portion 362 is formed in a cylindrical shape from a metal material such as aluminum. One end of the main body portion 362 is fixed to the base member 361. The main body portion 21 of the joint module 20 is fitted into the main body portion 362. The main body portion 362 may be formed integrally with the main body portion 21 of the joint module 20.

[0146] A spring support portion 362c is provided on the outer circumferential surface of the main body portion 362 to support one end of the coil spring 369, which will be described later.

[0147] The fixing member 367 is an arc-shaped member formed of a metal material such as aluminum. A tapered groove 367a is formed on the inner circumferential surface of the fixing member 367, extending in the circumferential direction and widening radially inward (see Figure 25). A groove 367b is provided on the outer circumferential surface of the fixing member 367, into which a cable 371, described later, is inserted.

[0148] The fixing members 367 are provided so as to face each of the four second flange portions 66 (see Figures 22 and 23, etc.). Each fixing member 367 has a groove 367a positioned to face the second flange portion 66. Between the fixing member 367 and the main body portion 362, a coil spring 369 is provided as a first biasing member that biases the fixing member 367 radially outward (see Figure 25).

[0149] The holding portion 368 includes a guide member 368a attached to the base member 361 side end of the fixing member 367, a support member 368b provided between adjacent guide members 368a and fixed to the base member 361, a restricting portion 368c provided at the tip of the support member 368b and protruding circumferentially from the support member 368b, and a retaining portion 380 provided on the radially outer side of the fixing member 367.

[0150] The guide member 368a has a length that protrudes from both sides of the fixing member 367 in the circumferential direction and is attached to the fixing member 367 so as to be slidable with the base member 361. The restricting portion 368c is formed such that, when viewed from the axial direction, both ends have a length that overlaps with the ends of the guide member 368a. The guide member 368a and the restricting portion 368c are also slidably arranged.

[0151] The retaining portion 380 is provided on the radially outer side of each of the four fixing members 367 and restricts the radial movement of the fixing members 367. The retaining portion 380 has a plurality of support columns 380a fixed to the base member 361 and a plate 380b connecting the ends of the plurality of support columns 380a.

[0152] In the holding portion 368 configured in this way, the radial movement of the fixing member 367 is permitted and the axial movement of the fixing member 367 is restricted by the action of the guide member 368a and the restricting portion 368c. Furthermore, the retaining portion 380 restricts the radial movement of the fixing member 367 so that there is no overlap between the guide member 368a and the restricting portion 368c, that is, so that the guide member 368a does not come out of the restricting portion 368c. As a result, the holding portion 368 can hold the fixing member 367 on the base member 361 while allowing the radial movement of the fixing member 367. In addition, the retaining portion 380 in this embodiment also has the function of preventing the cable 371, which will be described later, from coming out of the groove 367b.

[0153] The connecting module 360 ​​further comprises a drive mechanism 370 for driving the fixed members 367 radially (see Figures 22 and 23). The drive mechanism 370 includes a cable 371 wrapped around the outer circumferential surface of all the fixed members 367, and a tensioning device 372 for pulling the cable 371.

[0154] The cable 371 in this embodiment is, for example, a steel wire rope made by twisting wires together. However, it is not limited to this, and the cable 371 may be a rope made of resin such as nylon. One end of the cable 371 is fixed to the base member 361, and after being inserted into the grooves 367b provided in each of the four fixing members 367 and wound around the outer circumference of the four fixing members 367 about once, the other end is wound around the tensioning device 372.

[0155] The tensioning device 372 includes a reel (not shown) around which the cable 371 is wound, and a motor (not shown) that rotates the reel. In this embodiment, the motor used in the tensioning device 372 is preferably a motor equipped with a locking mechanism that locks rotation when not energized.

[0156] Next, we will explain how to connect the connecting module 360A and the connecting module 360B (connecting modules 360 to each other).

[0157] When connecting connecting modules 360A and 360B (connecting modules 360 to each other), the upright portions 63 and recesses 65 of connecting modules 360A and 360B are combined in the same manner as in the connecting modules 60A and 60B according to the first embodiment.

[0158] Furthermore, the end face 64a of the first flange portion 64 of the connecting module 360A is brought into contact with the end face 66a of the second flange portion 66 of the connecting module 360B, and the end face 66a of the second flange portion 66 of the connecting module 360A is brought into contact with the end face 64a of the first flange portion 64 of the connecting module 360B (see Figure 25(B)).

[0159] Next, the tensioning devices 372 of each connecting module 360A and connecting module 360B are driven to wind up the cable 371. As a result, the cable 371 tightens around the four fixing members 367, causing the fixing members 367 to move radially inward against the biasing force of the coil spring 369. Consequently, the first flange portion 64 and the second flange portion 66, which are in contact with each other, fit into the grooves 367a of each fixing member 367 (see Figure 25(B)). As described above, the grooves 367a of the fixing members 367 are formed in a tapered shape that widens radially inward, and the end faces 64b of the first flange portion 64 and 66b of the second flange portion 66 are formed by tapered surfaces that narrow radially outward. Therefore, the wedge effect of these surfaces causes the first flange portion 64 and the second flange portion 66 to press against each other.

[0160] Thus, in the connecting unit 300 of this embodiment, the connecting module 360A and the connecting module 360B can be connected by driving the tensioning devices 372 of the connecting module 360A and the connecting module 360B, respectively, while the upright portions 63 and recesses 65 of the connecting module 360A and the connecting module 360B are combined with each other.

[0161] To release the connection between connecting module 360A and connecting module 360B, the tensioning device 372 is driven to loosen the cable 371. When the cable 371 is loosened, the fixing member 367 moves radially outward due to the biasing force of the coil spring 369. As a result, the first flange portion 64 and the second flange portion 66 disengage from the groove 367a of the fixing member 367, and the connection between connecting module 360A and connecting module 360B is released.

[0162] The connecting unit 300 according to the third embodiment described above provides the following effects in addition to the effects of the connecting unit 100 according to the first embodiment.

[0163] The connecting unit 300 uses a motor to slacken the cable 371, eliminating the need for fluid pressure piping. Furthermore, compared to using a cylinder 70, the number of parts is reduced, and there is no need to secure space for a piston 71 or pressure chamber 72. Therefore, the size of the device can be kept down, and costs can be reduced.

[0164] In the above embodiment, the case in which the cable 371 is pulled by the tensioning device 372 was described, but it is not limited to this, and for example, a fixing means for fixing the cable 371 may be provided on the base member 361, and the cable 371 may be pulled manually using a tool or the like to fix the cable 371 to the fixing means.

[0165] In the above embodiment, the case in which the main body portions 62, 262, and 362 of the connecting modules 60, 260, and 360 are cylindrical was described as an example, but it is not limited to this. The main body portions 62, 262, and 362 of the connecting modules 60, 260, and 360 may be cylindrical (not through), or they may be polygonal in shape, as shown in Figure 26, for example. Even in this case, it is sufficient that the upright portions 63 and recesses 65 are provided at equal intervals, and the first flange portion 64 and the second flange portion 66 are provided on the same circumference. In this case, the radially inner surface of the upright portion 63 is formed to match the plane of the main body portion 362.

[0166] Furthermore, in the above embodiment, the upright portion 63 of the connecting modules 60, 260, and 360 is formed integrally with the main body portions 62, 262, and 362, but this is not limited to this. The upright portion 63 may be constructed separately from the main body portions 62, 262, and 362. In this case, the upright portion 63 can be formed radially outward from the main body portions 62, 262, and 362, extending in the axial direction of the main body portions 62, 262, and 362, and directly fixed to the base members 61A, 261, and 361.

[0167] The configuration, operation, and effects of the embodiment of the present invention configured as described above will be summarized below.

[0168] The connecting units 100, 200, and 300 comprise connecting modules 60A, 260A, and 360A (first connecting modules) and connecting modules 60B, 260B, and 360B (second connecting modules) that are connected to each other. In the connecting units 100, 200, and 300, each of the connecting modules 60A, 260A, and 360A (first connecting modules) and 60B, 260B, and 360B (second connecting modules) comprises a cylindrical or columnar main body portion 62, 262, and 362 as a connecting target, and an extension extending from the end face 62a of the main body portion 62, 262, and 362 in the axial direction of the main body portion 62, 262, and 362, or extending radially outward from the main body portion 62, 262, and 362 in the axial direction of the main body portion 62, 262, and 362, and equidistant in the circumferential direction. Multiple arc-shaped upright portions 63 are provided at intervals, an arc-shaped first flange portion 64 protrudes radially outward from the tip of each upright portion 63, recesses 65 are provided between adjacent upright portions 63, a second flange portion 66 protrudes radially outward from the bottom 65a of each recess 65, and connecting modules 60A, 260A, 360A (first connecting module) and connecting modules 60B, 260B, 360B (second connecting module) are provided radially outward from the second flange portion 66. The connecting modules 60A, 260A, 360A (first connecting modules) and 60B, 260B, 360B (second connecting modules) are equipped with fixing members 67, 267, 367 (fixing parts) for fixing the connecting modules 60A, 260A, 360A (first connecting modules), and the upright parts 63 and recesses 65 of the connecting modules 60A, 260A, 360A (first connecting modules) are combined, and the first flange parts 64 and second flange parts 66 of the connecting modules 60A, 260A, 360A (first connecting modules) are in contact with each other, and the fixing members 67, 267, 367 (fixing parts) of the connecting modules 60A, 260A, 360A (first connecting modules) are equipped with fixing members 67, 267, 367 (fixing parts) for fixing the connecting modules 60A, 260 The second flange portion 66 of A,360A (first connecting module) is sandwiched between the first flange portion 64 of connecting modules 60B,260B,360B (second connecting module), and the fixing members 67,267,367 (fixing parts) of connecting modules 60B,260B,360B (second connecting module) are sandwiched between the second flange portion 66 of connecting modules 60B,260B,360B (second connecting module) and the first flange portion 64 of connecting modules 60A,260A,360A (first connecting module).

[0169] In this configuration, each of the connecting modules 60A, 260A, 360A (first connecting modules) and 60B, 260B, 360B (second connecting modules) is provided with equally spaced upright portions 63 and recesses 65 provided between adjacent upright portions 63. Furthermore, each of the connecting modules 60A, 260A, 360A (first connecting modules) and 60B, 260B, 360B (second connecting modules) is provided with fixing members 67, 267, 367 (fixing portions) that clamp the first flange portion 64 and the second flange portion 66 of each module while they are in contact with each other. This allows the connecting modules 60A, 260A, 360A (first connecting modules) and 60B, 260B, 360B (second connecting modules) to be connected by combining their respective upright portions 63 and recesses 65, and by clamping their respective first flange portions 64 and second flange portions 66 with fixing members 67, 267, 367 (fixing portions). Furthermore, since there is no distinction between male and female in the connecting modules 60A, 260A, 360A (first connecting module) and 60B, 260B, 360B (second connecting module), they can be connected regardless of the combination of connecting modules 60A, 260A, 360A (first connecting module) and connecting modules 60B, 260B, 360B (second connecting module). In addition, since the upright portions 63 and recesses 65 of the connecting modules 60A, 260A, 360A (first connecting module) and connecting modules 60B, 260B, 360B (second connecting module) are provided at equal intervals, they can be connected even when rotated relative to each other. Thus, the degree of freedom in connecting the connecting units 100, 200, and 300 can be increased.

[0170] Furthermore, in the connecting unit 100, the fixing member 67 (fixing part) is a plurality of arc-shaped members having tapered grooves 67a on their inner circumferential surface that extend in the circumferential direction and widen radially inward. Each of the connecting module 60A (first connecting module) and connecting module 60B (second connecting module) is further equipped with a cylinder 70 (drive mechanism) that drives the fixing member 67 (fixing part) in the radial direction. The cylinder 70 (drive mechanism) has a cylinder 70 that drives the fixing member 67 (fixing part) by supplying and discharging fluid pressure. By supplying fluid pressure to the cylinder 70, the tapered grooves 67a of the fixing part are pressed against the abutting first flange portion 64 and second flange portion 66, thereby clamping the first flange portion 64 and the second flange portion 66.

[0171] In this configuration, the connecting module 60A (first connecting module) and the connecting module 60B (second connecting module) can be kept connected simply by supplying fluid pressure to the cylinder 70.

[0172] Furthermore, in the connecting unit 300, the fixing member 367 (fixing part) is a plurality of arc-shaped members having tapered grooves 367a on their inner surface that extend in the circumferential direction and widen radially inward. Each of the connecting module 60A (first connecting module) and connecting module 60B (second connecting module) is further equipped with a drive mechanism 370 for driving the fixing member 367 (fixing part) radially. The drive mechanism 370 has a cable 371 wrapped around the outer surface of all the fixing members 367 (fixing parts). By pulling the cable 371 and moving the fixing member 367 (fixing part) radially inward, the tapered grooves 367a of the fixing member 367 (fixing part) are pressed against the abutting first flange portion 64 and second flange portion 66, thereby clamping the first flange portion 64 and second flange portion 66.

[0173] In this configuration, the connecting module 60A (first connecting module) and the connecting module 60B (second connecting module) can be held in a connected state simply by pulling the cable 371. This reduces the number of parts compared to, for example, using a cylinder. As a result, the size of the device can be kept down and costs can be reduced.

[0174] Furthermore, in the connecting units 100 and 300, each of the connecting modules 60A and 360A (first connecting module) and connecting modules 60B and 360B (second connecting module) is further provided with coil springs 69 and 369 (first biasing members) that bias the fixing members 67 and 367 (fixing parts) radially outward.

[0175] In this configuration, the connection between the connecting modules 60A, 360A (first connecting module) and 60B, 360B (second connecting module) can be released by moving the fixing members 67, 367 (fixing parts) radially outward using the biasing force of the coil springs 69, 369 (first biasing members).

[0176] Furthermore, in the connecting unit 200, the fixing member 267 (fixing part) is a cylindrical member having a tapered groove 267f formed on its inner surface that extends in the circumferential direction and widens toward one side in the circumferential direction. Each of the connecting module 260A (first connecting module) and connecting module 260B (second connecting module) is further equipped with a rotation mechanism 270 (drive mechanism) for rotating the fixing member 267 (fixing part). The rotation mechanism 270 (drive mechanism) rotates the fixing member 267 (fixing part) toward the X2 direction (one side), pressing the tapered groove 267f of the fixing member 267 (fixing part) against the abutting first flange portion 64 and second flange portion 66, thereby clamping the first flange portion 64 and second flange portion 66.

[0177] In this configuration, the connecting module 260A and the connecting module 260B can be held in a connected state simply by rotating the fixing member 267 (fixing part) with the rotating mechanism 270 (drive mechanism).

[0178] Furthermore, the connecting unit 200 includes a locking mechanism in the rotating mechanism 270 (drive mechanism) that locks the rotation of the fixing member 267 (fixing part).

[0179] In this configuration, the connection state of the connecting module 260A (first connecting module) and the connecting module 260B (second connecting module) can be maintained by locking the rotation of the fixing member 267 (fixing part) with a locking mechanism.

[0180] Furthermore, in the connecting unit 200, the rotating mechanism 270 (drive mechanism) is provided radially outward of the fixed member 267 (fixed part) and includes a rotating body 271 for rotating the fixed member 267 (fixed part), and a coil spring 273 (second biasing member) provided between the fixed member 267 (fixed part) and the rotating body 271, which biases the fixed member 267 (fixed part) and the rotating body 271 toward opposite sides in the circumferential direction.

[0181] In this configuration, a coil spring 273 (second biasing member) is provided between the fixed member 267 (fixing part) and the rotating body 271, so that rattle caused by backlash of gears such as the ring gear 272, or wear of the first flange portion 64, the second flange portion 66, or the third protrusion 267g can be suppressed.

[0182] Furthermore, in the connecting units 100, 200, and 300, fluid couplings are provided in the main body sections 62, 262, and 362.

[0183] In this configuration, the fluid coupling (coupling module 20) can be held in a connected state.

[0184] Although embodiments of the present invention have been described above, these embodiments only represent a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. [Explanation of symbols]

[0185] 100, 200, 300... Connecting units, 20, 20A, 20B... Joint modules, 60, 260, 360... Connecting modules, 60A, 260A, 360A... Connecting modules (first connecting modules), 60B, 260B, 360B... Connecting modules (second connecting modules), 62... Main body, 62a... End face, 62b... Support part, 63... Elevating part, 63a ...end face, 64...first flange portion, 64a...end face, 64b...end face, 65...recess, 65a...bottom, 66...second flange portion, 66a...end face, 66b...end face, 67...fixing member (fixing part), 67a...groove, 67b...tapered surface portion, 69...coil spring (first biasing member), 70...cylinder (drive mechanism), 71...piston, 71c...taper 72...Pressure chamber, 262...Main body, 264b...End face, 267...Fixing member (fixing part), 267a...First cylindrical part, 267b...Second cylindrical part, 267c...Stepped part, 267d...First protrusion, 267e...Second protrusion, 267f...Groove, 267g...Third protrusion, 267h...Side, 270...Rotation mechanism (drive mechanism), 271...Rotating body, 271 a...recess, 272...ring gear, 273...coil spring (second biasing member), 362...main body, 367...fixing member (fixing part), 367a...groove, 367b...groove, 369...coil spring (first biasing member), 370...drive mechanism, 371...cable, C...joint unit, M...module, MR...module robot, PF...joint, PM...joint

Claims

1. A connecting unit comprising a first connecting module and a second connecting module that are connected to each other, Each of the first and second connection modules is: A main body that is cylindrical or columnar and serves as a connecting object, A plurality of arc-shaped upright portions extending from the end face of the main body in the axial direction of the main body, or extending radially outward from the main body in the axial direction and provided at equal intervals in the circumferential direction, An arc-shaped first flange portion projecting radially outward from each of the ends of the aforementioned upright portion, Recesses provided between adjacent upright portions, A second flange portion protruding radially outward from the bottom of each of the aforementioned recesses, The second flange portion is provided on the radially outer side and includes a fixing portion for fixing the first connecting module and the second connecting module, The first connecting module and the second connecting module are combined with each other's upright portions and recesses, and the first flange portion and the second flange portion are in contact with each other. The fixing portion of the first connecting module sandwiches the second flange portion of the first connecting module and the first flange portion of the second connecting module. The fixing portion of the second connecting module is characterized by clamping the second flange portion of the second connecting module and the first flange portion of the first connecting module.

2. A connecting unit according to claim 1, The fixing portion is a plurality of arc-shaped members having tapered grooves on their inner circumferential surface that extend in the circumferential direction and widen radially inward. Each of the first and second connecting modules further comprises a drive mechanism for driving the fixed portion in the radial direction. The drive mechanism has a cylinder that drives the fixed part by supplying and discharging fluid pressure, A connecting unit characterized in that fluid pressure is supplied to the cylinder, and the tapered groove of the fixing part is pressed against the first flange part and the second flange part that are in contact with each other, thereby clamping the first flange part and the second flange part.

3. A connecting unit according to claim 1, The fixing portion is a plurality of arc-shaped members having tapered grooves on their inner surface that extend in the circumferential direction and widen radially inward. Each of the first and second connecting modules further comprises a drive mechanism for driving the fixed portion in the radial direction. The drive mechanism has a cable wrapped around the outer circumferential surface of all the fixed parts, A connecting unit characterized in that by pulling the cable, the fixing part is moved radially inward, so that the tapered groove of the fixing part is pressed against the abutting first flange part and the second flange part, thereby clamping the first flange part and the second flange part.

4. A connecting unit according to claim 2 or 3, The connecting unit is characterized in that each of the first connecting module and the second connecting module further comprises a first biasing member that biases the fixed portion radially outward.

5. A connecting unit according to claim 1, The fixing portion is a cylindrical member having a tapered groove on its inner surface that extends in the circumferential direction and widens toward one side in the circumferential direction. Each of the first and second connecting modules further comprises a drive mechanism for rotating the fixed portion, A connecting unit characterized in that the drive mechanism rotates the fixed portion toward one side, thereby pressing the tapered groove of the fixed portion against the abutting first flange portion and the second flange portion, and clamping the first flange portion and the second flange portion.

6. The connecting unit according to claim 5, The coupling unit is characterized in that the drive mechanism has a locking mechanism that locks the rotation of the fixed part.

7. The connecting unit according to claim 5, The drive mechanism is provided radially outward from the fixed portion and includes a rotating body for rotating the fixed portion, A connecting unit characterized in that each of the first connecting module and the second connecting module is provided between the fixed portion and the rotating body and biases the fixed portion and the rotating body toward opposite sides in the circumferential direction.

8. A connecting unit according to claim 1, A connecting unit characterized in that a fluid coupling is provided in the main body.

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