Connector device and connector module

Abstract

To provide connector devices and connector modules with a high degree of connection flexibility. [Solution] The connector device EC comprises connector modules 80A and 80B, each having electrically connectable contacts 83 and 84, respectively. In the connector device EC, each of the connector modules 80A and 80B comprises a pair of first connector sections 81A and 81B arranged on the same circumference facing each other with their centers in between, and a pair of second connector sections 82A and 82B arranged on the same circumference. The second connector sections 82A and 82B are respectively provided at positions where the first central angle α1 formed by the second connector section 82A and the first connector section 81A is equal to the second central angle α2 formed by the second connector section 82B and the first connector section 81B.

Description

Technical Field

[0001] The present invention relates to a connector device and a connector module.

Background Art

[0002] Patent Document 1 discloses an invention of a connector including a receptacle on a wiring pattern of a circuit board and a plug provided at the tip of a wiring connected to a device. In the invention disclosed in Patent Document 1, by inserting the plug into the receptacle, the device and the wiring pattern can be electrically connected.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the connector described in Patent Document 1 has a limitation in the direction in which the plug is inserted into the receptacle. Further, the connector described in Patent Document 1 cannot connect plugs to each other or receptacles to each other. Therefore, in the connector described in Patent Document 1, there are limitations in the freedom of connection direction and combination.

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

Means for Solving the Problems

[0006] The present invention provides a connector device comprising a first connector module and a second connector module, each having electrically connectable contacts, wherein each of the first and second connector modules includes a pair of first connector portions having contacts and arranged on the same circumference facing each other across their centers, and a pair of second connector portions having contacts and arranged on the same circumference, wherein the pair of second connector portions are each positioned such that the first central angle formed by one second connector portion and one first connector portion is equal to the second central angle formed by the other second connector portion and the other first connector portion, and when the first and second connector modules are connected, one of the pair of first connector portions provided on the first connector module is electrically connected to one of the pair of second connector portions provided on the second connector module, and one of the pair of second connector portions provided on the first connector module is electrically connected to one of the pair of first connector portions provided on the second connector module.

[0007] Furthermore, the present invention relates to a connector module having electrical contacts, comprising: a pair of first connector parts having contacts and arranged on the same circumference facing each other with their centers in between; and a pair of second connector parts having contacts and arranged on the same circumference, wherein the pair of second connector parts are each provided at positions such that the first central angle formed by one second connector part and one first connector part is equal to the second central angle formed by the other second connector part and the other first connector part.

[0008] In these inventions, a pair of first connector portions are provided on the same circumference, facing each other with their centers in between, and a pair of second connector portions are provided at positions such that the central angle between one second connector portion and one first connector portion is equal to the central angle between the other second connector portion and the other first connector portion. As a result, when connecting connector modules, even if they are rotated relative to each other, it is possible to connect any one of the first connector portions provided on one connector module to any one of the second connector portions provided on the other connector module, and also to connect any one of the second connector portions provided on one connector module to any one of the first connector portions provided on the other connector module.

[0009] The present invention is characterized in that a pair of second connector portions are provided on the same side of the same circumference, separated by a pair of first connector portions, and the central angle is 45°.

[0010] In this invention, when connecting connector modules, the first connector portion and the second connector portion can be connected even if the relative position of the connector modules is changed by 90° increments. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a connector device and a connector module that offer increased flexibility in connection. [Brief explanation of the drawing]

[0012] [Figure 1] This is a side view of the leg portion of a modular robot to which a connector device according to an embodiment of the present invention is applied. [Figure 2] This is a perspective view of the module from the front. [Figure 3] This diagram schematically shows the ports and oil passages formed in the cylinder block. [Figure 4]It is a diagram schematically showing an oil passage when modules according to embodiments 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 structure diagram of a joint PM according to an embodiment of the present invention. [Figure 8] It is a cross-sectional structure diagram 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 connector device according to an embodiment of the present invention attached to a connection module. [Figure 14] It is a plan view of a connector device according to an embodiment of the present invention attached to a connection module. [Figure 15] It is a perspective view of a non-connected state of a connection unit according to an embodiment of the present invention. [Figure 16] It is an exploded view of a connection module according to an embodiment of the present invention. [Figure 17] It is an enlarged view near a cylinder and a second flange portion of a connection module according to an embodiment of the present invention, where (A) shows a non-connected state of the connection module and (B) shows a connected state between the connection modules. [Figure 18] It is a plan view of a connector module according to an embodiment of the present invention. [Figure 19] It is a diagram for explaining the connection state of a connector module according to an embodiment of the present invention. [Figure 20]This is a diagram for explaining the connection state of the connector module according to an embodiment of the present invention. [Figure 21] This is a diagram for explaining the connection state of the connector module according to an embodiment of the present invention. [Figure 22] This is a diagram for explaining the connection state of the connector module according to an embodiment of the present invention. [Figure 23] This is a plan view of the connector module according to a modified example.

Embodiments for Carrying Out the Invention

[0013] Referring to the drawings, the connector device EC according to an embodiment of the present invention will be described.

[0014] The connector device EC includes a pair of connector modules 80 (connector module 80A and connector module 80B) each having electrically connectable contacts. The connector device EC is used, for example, to connect electrical wirings provided in the modules M when connecting the modules M constituting the module robot MR (see FIG. 1).

[0015] As shown in FIG. 1, the modules M are connected by a connecting unit 100. The connecting unit 100 includes a pair of connecting modules 60 (connecting module 60A and connecting module 60B) that are detachably connected. The 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.

[0016] In the present embodiment, the connector module 80 is attached to the outer peripheral portion of the connecting module 60 (see FIG. 13, etc.). Further, a joint module 20 described later is attached inside each of the connecting modules 60, and by connecting the connecting modules 60 to each other, the joint modules 20 are also held in a connected state.

[0017] First, we will describe the modular robots MR and M with reference to Figures 1 to 4. Figure 1 shows 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.

[0018] The modular robot MR shown in Figure 1 is composed of multiple modules M shown in Figure 2 connected together.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] Next, with reference to Figure 3, the ports and oil passages 37 formed in the cylinder block 32 will be described in detail.

[0026] 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).

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] The joint unit C according to this embodiment will be described in detail below with reference to Figures 5 to 12.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] Next, the structure of the PM joint will be explained with reference to Figure 7.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] Next, the structure of joint PF will be explained with reference to Figure 8.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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 in communication 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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).

[0066] 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.

[0067] Next, the connecting unit 100 according to this embodiment will be described with reference to Figures 13 to 17. Figure 13 is a perspective view of the connecting module 60 with the connector module 80 and the joint module 20 attached. Figure 14 is a plan view of the connecting module 60 with the connector module 80 and the joint module 20 attached. Figure 15 is a perspective view of the connecting unit 100 (connecting module 60A, connecting module 60B) in an unconnected state. Figure 16 is an exploded view of the connecting module 60. Figure 17 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 Figures 15 to 17 only show the structure of the connecting module 60.

[0068] The connecting unit 100 is used to hold the module M and the joint module 20 in a connected state.

[0069] As shown in Figure 15, 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.

[0070] As shown in Figures 15 to 17, 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.

[0071] 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.

[0072] The cover member 61B is formed in a cylindrical shape from a metal material such as aluminum. As shown in Figures 16 and 17, 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 tip of the second cylindrical portion 61b of the cover member 61B is fixed to the base member 61A, thereby integrating the base member 61A and the cover member 61B.

[0073] 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 17, etc.). The main body portion 21 of the joint module 20 is fitted into the main body portion 62 (see Figures 13 and 14). The main body portion 62 may be formed integrally with the main body portion 21 of the joint module 20.

[0074] As shown in Figure 16 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.

[0075] 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.

[0076] 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 17, etc.).

[0077] 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.

[0078] The second flange portion 66 is formed to protrude radially outward from each bottom 65a of the 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 65b 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 17).

[0079] The fixing member 67 is an arc-shaped member formed from a metal material such as aluminum. As shown in Figures 16 and 17, 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 17). Also, as shown in Figure 16, 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.

[0080] 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.

[0081] As shown in Figure 17 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.

[0082] The cylinder 70 drives the fixed member 67 radially by supplying and discharging fluid pressure. As shown in Figure 17, 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.

[0083] 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).

[0084] 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.

[0085] 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.

[0086] 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 portion 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 61A.

[0087] 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 17 and other figures.

[0088] 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.

[0089] 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 17(B)).

[0090] Next, hydraulic fluid (fluid pressure) is supplied to the pressure chambers 72 of the cylinders 70 of each of the connecting modules 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 17) 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 17(B)).

[0091] 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.

[0092] 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 module 60A and the connecting module 60B while the respective upright portions 63 and recesses 65 of the connecting module 60A and the connecting module 60B are combined. 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.

[0093] 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.

[0094] 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 17(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.

[0095] Next, the connector device EC will be described with reference to Figures 13, 14, 18 through 22. Note that Figure 18 shows only the connector device EC.

[0096] As shown in Figures 13, 14, and 18, the connector device EC comprises a connector module 80A as a first connector module, each having electrically connectable contacts 83 and 84, and a connector module 80B as a second connector module. Since the connector modules 80A and 80B in this embodiment have the same shape, only the connector module 80A will be described below. When describing matters common to both the connector module 80A and the connector module 80B, the expression "connector module 80" will be used.

[0097] The connector module 80 comprises a pair of first connector sections 81A and 81B, each having a plurality of contacts 83 (contacts 83a to 83f), and a pair of second connector sections 82A and 82B, each having a plurality of contacts 84 (contacts 84a to 84f). Since the first connector sections 81A and 81B are identical in shape, the expression "first connector section 81" is used when describing common aspects of the first connector sections 81A and 81B. Furthermore, since the second connector sections 82A and 82B are identical in shape, the expression "second connector section 82" is used when describing common aspects of the second connector sections 82A and 82B.

[0098] The first connector section 81 comprises a plurality of contacts 83 (contacts 83a to 83f) and a housing 85 that holds the contacts 83. The housing 85 is formed from a material such as resin in an arc shape that follows the outer circumferential surface of the housing (cover member 61B) of the connecting module 60. The first connector section 81A and the first connector section 81B are provided on the same circumference (on circle C4) facing each other with the center O in between (see Figure 18). The first connector section 81 is attached to the cover member 61B of the connecting module 60 by fixing the housing 85 to the cover member 61B of the connecting module 60.

[0099] Each contact 83 is made up of a spring terminal whose tip (contact portion) is expandable and retractable. In this embodiment, there are six contacts 83a to 83f, but the number of contacts 83 can be any number. The contacts 83a to 83f are arranged at equal intervals in the circumferential direction.

[0100] Contacts 83a to 83f are connected to, for example, the main power supply, microcontroller power supply, and signal lines. The signals communicated via these signal lines include, for example, serial transmission signals for controlling various devices of the modular robot MR.

[0101] Contact 83a of the first connector section 81A and contact 83a of the first connector section 81B are electrically connected. Similarly, contacts 83b are electrically connected to each other, contacts 83c are electrically connected to each other, contacts 83d are electrically connected to each other, contacts 83e are electrically connected to each other, and contacts 83f are electrically connected to each other.

[0102] The second connector section 82 comprises a plurality of contacts 84 (contacts 84a to 84f) and a housing 86 that holds the contacts 84. The housing 86 is formed from a material such as resin in an arc shape that follows the housing (cover member 61B) of the connecting module 60.

[0103] As shown in Figure 18, the second connector portion 82A and the second connector portion 82B are located at a position where the first central angle α1 formed by the second connector portion 82A and the first connector portion 81A is equal to the second central angle α2 formed by the second connector portion 82B and the first connector portion 81B, with the center O as the vertex, and are provided on the same side on the same circumference (on circle C4) with the first connector portion 81A and the first connector portion 81B as the boundary. In this embodiment, the central angles α1 and α2 are set to approximately 45°. The second connector portion 82 is attached to the cover member 61B of the connecting module 60 by fixing the housing 86 to the cover member 61B of the connecting module 60.

[0104] Contact 84 is composed of a terminal having a plane at its tip that contact 83 can contact. In this embodiment, there are six contacts 84a to 84f, but the number of contacts 84 may be any number. Contacts 84a to 84f are arranged at equal intervals in the circumferential direction.

[0105] Contact 84a of the second connector section 82A and contact 84a of the second connector section 82B are electrically connected. Similarly, contacts 84b are electrically connected to each other, contacts 84c are electrically connected to each other, contacts 84d are electrically connected to each other, contacts 84e are electrically connected to each other, and contacts 84f are electrically connected to each other.

[0106] Furthermore, the housing 85 of the first connector section 81A and the housing 86 of the second connector section 82A may be formed as a single unit, and the housing 85 of the first connector section 81B and the housing 86 of the second connector section 82B may be formed as a single unit. Also, in the examples shown in Figures 13 and 14, a spacer 87 is provided between the housings 85 of the first connector sections 81A and 81B and between the housings 86 of the second connector sections 82A and 82B to form an annular shape, but the housings 85 and 86 of the first connector sections 81A and 81B and the second connector sections 82A and 82B may be formed as a single annular housing.

[0107] Next, referring to Figures 19 to 22, we will explain the change in the connection state due to the change in the relative position between connector module 80A and connector module 80B when connector module 80A and connector module 80B are connected. In Figures 19 to 22, connector module 80A is shown as a front view from the front side (contact 83, 84 side), and connector module 80B is shown as a rear view from the rear side (opposite the side where contacts 83, 84 are located). Also, in Figures 19 to 22, for the sake of clarity, only connector module 80A and connector module 80B are shown, and there are three contacts 83 and three contacts 84. Furthermore, in Figures 19 to 22, to make the connected contacts 83 and 84 easier to understand, the first connector part 81, second connector part 82, contacts 83 and 84 connected in connector module 80A and connector module 80B are shown with thick solid lines.

[0108] In the state shown in Figure 19, the first connector section 81A of connector module 80A and the second connector section 82A of connector module 80B are connected, and the second connector section 82A of connector module 80A and the first connector section 81A of connector module 80B are connected. More specifically, the contacts 83a, 83b, and 83c of the first connector section 81A of connector module 80A and the contacts 84a, 84b, and 84c of the second connector section 82A of connector module 80B are connected. Similarly, the contacts 84a, 84b, and 84c of the second connector section 82A of connector module 80A and the contacts 83a, 83b, and 83c of the first connector section 81A of connector module 80B are connected.

[0109] Next, we will describe the connection state of connector module 80A and connector module 80B in the state shown in Figure 20. Figure 20 shows connector module 80B rotated 90° clockwise around point O from the position shown in Figure 19.

[0110] In the state shown in Figure 20, the first connector section 81B of connector module 80A is connected to the second connector section 82B of connector module 80B, and the second connector section 82B of connector module 80A is connected to the first connector section 81B of connector module 80B. More specifically, the contacts 83a, 83b, and 83c of the first connector section 81B of connector module 80A are connected to the contacts 84a, 84b, and 84c of the second connector section 82B of connector module 80B. Similarly, the contacts 84a, 84b, and 84c of the second connector section 82B of connector module 80A are connected to the contacts 83a, 83b, and 83c of the first connector section 81B of connector module 80B.

[0111] Next, we will describe the connection state of connector module 80A and connector module 80B in the state shown in Figure 21. Figure 21 shows connector module 80B rotated 90° clockwise around point O from the position shown in Figure 20.

[0112] In the state shown in Figure 21, the first connector section 81B of connector module 80A is connected to the second connector section 82A of connector module 80B, and the second connector section 82A of connector module 80A is connected to the first connector section 81B of connector module 80B. More specifically, the contacts 83a, 83b, and 83c of the first connector section 81B of connector module 80A are connected to the contacts 84a, 84b, and 84c of the second connector section 82A of connector module 80B. Similarly, the contacts 84a, 84b, and 84c of the second connector section 82A of connector module 80A are connected to the contacts 83a, 83b, and 83c of the first connector section 81B of connector module 80B.

[0113] Next, we will describe the connection state of connector module 80A and connector module 80B in the state shown in Figure 22. Figure 22 shows the state in which connector module 80B has been rotated 90° clockwise around point O from the position shown in Figure 21.

[0114] In the state shown in Figure 22, the first connector section 81A of connector module 80A and the second connector section 82B of connector module 80B are connected, and the second connector section 82B of connector module 80A and the first connector section 81A of connector module 80B are connected. More specifically, the contacts 83a, 83b, and 83c of the first connector section 81A of connector module 80A are connected to the contacts 84a, 84b, and 84c of the second connector section 82B of connector module 80B. Similarly, the contacts 84a, 84b, and 84c of the second connector section 82B of connector module 80A are connected to the contacts 83a, 83b, and 83c of the first connector section 81A of connector module 80B.

[0115] Thus, in the connector device EC, each of the connector modules 80A and 80B is provided with a pair of first connector sections 81A and 81B on the same circumference (on circle C4) facing each other with the center O in between, and a pair of second connector sections 82A and 82B are provided on the same circumference (on circle C4) as the first connector sections 81A and 81B, at positions where the central angles α1 and α2 are equal with respect to the first connector sections 81A and 81B. As a result, as shown in Figures 19 to 22, even if the connector module 80B is rotated by 90° increments relative to the connector module 80B, it is possible to connect one of the first connector sections 81A and 81B of the connector module 80A to one of the second connector sections 82A and 82B of the connector module 80B, and also to connect one of the second connector sections 82A and 82B of the connector module 80A to one of the first connector sections 81A and 81B of the connector module 80B. Therefore, even if the relative angle between the connector module 80A and the connector module 80B is changed, specifically, even if the relative angle between the connecting module 60A and the connecting module 60B is shifted by 90° increments, they can still be electrically connected.

[0116] Furthermore, by making connector modules 80A and 80B the same shape, costs and the number of components can be reduced.

[0117] Furthermore, by applying the connector device EC to the connecting unit 100, the connector device EC can be held in a connected state. Also, by using the connecting unit 100, the connector modules 80 can be connected even if they are rotated relative to each other. Moreover, since the connector module 80, connecting module 60, and joint module 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 connector module 80, connecting module 60, and joint module 20 are attached can be disassembled and transported to the site, and the modular robot MR can be easily assembled at the site.

[0118] The configuration, operation, and effects of the embodiment of the present invention configured as described above will be explained in summary.

[0119] The connector device EC comprises a connector module 80A (first connector module) and a connector module 80B (second connector module), each having electrically connectable contacts 83 and 84. In the connector device EC, each of the connector module 80A (first connector module) and the connector module 80B (second connector module) has contacts 83 and 84 and comprises a pair of first connector parts 81A and 81B that are arranged on the same circumference (on circle C4) facing each other with the center (point O) in between, and a pair of second connector parts 82A and 82B that have contacts 83 and are arranged on the same circumference (on circle C4), and the pair of second connector parts 82A and 82B are each arranged at a position where the first central angle α1 formed by the second connector part 82A and the first connector part 81A and the second central angle α2 formed by the second connector part 82B and the first connector part 81B are equal, and the connector module 80A (first connector module) When the connector module 80A (first connector module) and the connector module 80B (second connector module) are connected, one of the pair of first connector sections 81A and 81B provided on the connector module 80A (first connector module) is electrically connected to one of the pair of second connector sections 82A and 82B provided on the connector module 80B (second connector module), and one of the pair of second connector sections 82A and 82B provided on the connector module 80A (first connector module) is electrically connected to one of the pair of first connector sections 81A and 81B provided on the connector module 80B (second connector module).

[0120] Furthermore, the connector module 80 includes a pair of first connector sections 81A and 81B having contacts 83 and arranged on the same circumference facing each other with their centers in between, and a pair of second connector sections 82A and 82B having contacts 84 and arranged on the same circumference, wherein the pair of second connector sections 82A and 82B are provided at positions where the first central angle α1 formed by the second connector section 82A and the first connector section 81A is equal to the second central angle α2 formed by the second connector section 82B and the first connector section 81B.

[0121] In these configurations, a pair of first connector sections 81A and 81B are provided on the same circumference, facing each other with the center O in between, and a pair of second connector sections 82A and 82B are provided at positions where the central angle α1 between the second connector section 82A and the first connector section 81A is equal to the central angle α1 between the second connector section 82B and the first connector section 81B. As a result, when connecting connector modules 80A and 80B, even if they are rotated relative to each other, it is possible to connect any one of the first connector sections 81A and 81B provided on connector module 80A to any one of the second connector sections 82A and 82B provided on connector module 80B, and also to connect any one of the second connector sections 82A and 82B provided on connector module 80A to any one of the first connector sections 81A and 81B provided on connector module 80B. Thus, the degree of freedom in connecting the connector modules 80 to each other can be increased.

[0122] In the connector device EC, a pair of second connector sections 82A and 82B are provided on the same side of the same circumference, separated by a pair of first connector sections 81A and 81B, with central angles α1 and α2 being 45°.

[0123] In this configuration, when connecting connector modules 80A and 80B, even if the relative positions of connector modules 80A and 80B are changed by 90° each, the first connector sections 81A and 81B and the second connector sections 82A and 82B of each can still be connected.

[0124] 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.

[0125] For example, as shown in Figure 23, in the connector module 80, the first connector sections 81A and 81B may be arranged on the same circumference facing each other with the center O in between, and the second connector sections 82A and 82B may be arranged on the same circumference as the first connector sections 81A and 81, facing each other with the center O in between. In this case, even if the relative positions of the connector modules 80A and 80B are changed by 180° each, the first connector sections 81A and 81B and the second connector sections 82A and 82B can be connected to each other. [Explanation of Symbols]

[0126] EC... Connector device, 80... Connector module, 80A... Connector module (first connector module), 80B... Connector module (second connector module), 20, 20A, 20B... Fitting module, 60, 60A, 60B... Linking module, 81, 81A, 81B... First connector section, 82, 82A, 82B... Second connector section, 83, 83a~83f... Contacts, 84, 84a~84f... Contacts, 100... Linking unit, C... Fitting unit, M... Module, MR... Module robot, PF... Fitting, PM... Fitting

Claims

1. A connector device comprising a first connector module and a second connector module, each having electrically connectable contacts, Each of the first connector module and the second connector module is: A pair of first connector portions having the aforementioned contacts and arranged on the same circumference facing each other with their centers in between, It comprises a pair of second connector portions having the aforementioned contacts and provided on the same circumference, The pair of second connector portions are provided at positions such that the first central angle formed by one of the second connector portions and one of the first connector portions is equal to the second central angle formed by the other second connector portion and the other first connector portion. When the first connector module and the second connector module are connected, one of the pair of first connector portions provided on the first connector module is electrically connected to one of the pair of second connector portions provided on the second connector module, and one of the pair of second connector portions provided on the first connector module is electrically connected to one of the pair of first connector portions provided on the second connector module. A connector device characterized by the following features.

2. A connector module having electrical contacts, A pair of first connector portions having the aforementioned contacts and arranged on the same circumference facing each other with their centers in between, It comprises a pair of second connector portions having the aforementioned contacts and provided on the same circumference, The connector module is characterized in that the pair of second connector portions are provided at positions such that the first central angle formed by one of the second connector portions and one of the first connector portions is equal to the second central angle formed by the other of the second connector portions and the other of the first connector portions.

3. A connector device according to claim 1, The pair of second connector portions are provided on the same side of the same circumference, with respect to the pair of first connector portions. A connector device characterized in that the first central angle and the second central angle are 45°.

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