Combined institutions

Abstract

This provides a coupling mechanism that can reliably protect the internal mechanism from adverse effects of the external environment. [Solution] The coupling portion 3A of one robot module 2A comprises an annular base portion 4 having an opening in the center, a planar flexible sealing member 4 covering the opening of the base portion 4, an engaging portion 7 disposed outside the sealing member 4, and a drive unit 9 built inside the base portion 4 separated by the sealing member 4. The coupling portion 3B of the other robot module 2B comprises an engaged portion 7' ​​that engages with the engaging portion 7. The drive unit 9 engages the engaging portion 7 via the sealing member 4, and the sealing member 4 deforms in sync with the movement of the engaging portion 7.

Description

Technical Field

[0001] The present invention relates to a coupling mechanism that enables the coupling and separation of robot modules.

Background Art

[0002] In recent years, autonomous robot devices have been actively used in various fields such as cleaning and construction. In such autonomous robot devices, it is common to have a configuration that can basically perform operations to achieve a uniform role. However, in an environment where it is difficult to carry in many equipment, for example, in an extreme environment, it is necessary to carry out various missions with a limited number of robot devices.

[0003] For example, Patent Document 1 discloses a technique in which a plurality of small robot modules each having arithmetic means and a driving device are prepared, and by connecting these, an integrated robot device having a movement form and an operation form suitable for the working environment can be configured. Regarding a coupling mechanism that enables the coupling and separation of robot modules, in order to autonomously couple with each other without human intervention, for example, as shown in Patent Document 2, one robot module is provided with an arm that tilts at least by a drive source, and it is conceivable to apply a configuration in which the arm is engaged with a part of the other robot module.

[0004] A robot device such as that in Patent Document 1 may be deployed in an environment where there are substances that may adversely affect its operation, such as sand, water, or gas, which may enter the inside of the robot module. Here, an arm such as that in Patent Document 2 is disposed outside the housing of the robot module and is connected to a drive source built inside the housing through a communication hole formed in the housing of the robot module. Therefore, it is difficult to completely seal the communication hole.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] The coupling mechanism that enables the coupling and uncoupling of robot modules can be covered with a cover member (see, for example, Patent Document 3) to prevent sand, water, gas, etc. from entering the coupling mechanism of the robot module during the operation of the robot device. However, since the coupling mechanism is exposed before the cover member is attached, it has been difficult to reliably protect the internal mechanism from adverse effects from the external environment under conditions including the operation of the robot device and the coupling of robot modules.

[0007] This invention was made in view of these problems, and aims to provide a coupling mechanism that can reliably protect against adverse effects from the external environment on the internal mechanism. [Means for solving the problem]

[0008] To solve the aforementioned problems, the coupling mechanism of the present invention is: A coupling mechanism that enables the coupling and uncoupling of robot modules, The coupling portion of the robot module comprises an annular base having an opening in the center, a planar flexible sealing member covering the opening of the base, an engaging portion disposed outside the sealing member, and a drive unit built inside the base separated by the sealing member. The other coupling portion of the robot module comprises an engaged portion that engages with the engaging portion, The drive unit engages the engaging portion via the sealing member, and the sealing member deforms in synchronization with the movement of the engaging portion. According to this feature, the opening of the base containing the drive unit is closed by the sealing member, and the engaging part is engaged by the drive unit via the flexible sealing member. Therefore, when connecting robot modules, the internal mechanism of the robot module and the external environment are completely isolated by the sealing member, and adverse effects from the external environment on the internal mechanism of the robot module can be reliably prevented.

[0009] The sealing member is a thin sheet made primarily of metal, and is characterized by having a geometric pattern formed by multiple fold lines across its entire surface. According to this feature, while mechanical strength is ensured by using metal, the geometric patterns created by the fold lines allow for easy deformation of the shape, and do not interfere with the operation of the engaging parts.

[0010] The sealing member is characterized in that an inner diameter portion, which is the inner diameter side, and an annular outer diameter portion, which is the outer diameter side, are separated by a boundary line formed by an endless annular fold line, and the geometric pattern is formed on the inner diameter portion and the outer diameter portion, respectively. This feature allows the inner and outer diameter sections to bend in a relative manner, with the boundary separating them, thus enabling each section to have a different role.

[0011] The geometric pattern formed on the sealing member is characterized by being composed of multiple triangles formed by multiple endless annular fold lines including the boundary portion and multiple fold lines connecting the endless annular fold lines. According to this feature, by forming multiple triangles, multiple radially extending fold lines can be created, and a deformation allowance related to circumferential shrinkage of the sealing member can be secured.

[0012] The engaging portions are characterized by being arranged at equal intervals in the circumferential direction of the opening. According to this feature, since it has multiple symmetries, the degrees of freedom for coupling between robot modules are high, and the coupling operation can be completed quickly.

[0013] It is characterized in that the coupling part of one of the robot modules and the coupling part of the other robot module have the same structure. According to this feature, no matter which engaging part is driven, the coupling parts of the robot modules can be engaged with each other, and it has excellent responsiveness in case of emergencies such as failures.

[0014] It is characterized in that electrodes are arranged near the center of the seal member. According to this feature, power transfer and communication transmission between robot modules become possible.

Brief Description of Drawings

[0015] [Figure 1] It is a perspective view showing a coupling mechanism applied to a robot module in an embodiment of the present invention. [Figure 2] It is a perspective view showing a state in which the coupling parts constituting the coupling mechanism are separated from each other. [Figure 3] It is an exploded perspective view of the coupling part. [Figure 4] It is an exploded perspective view of the base part. [Figure 5] (a) to (c) are diagrams showing the shapes of the engaging parts viewed from different angles respectively. [Figure 6] (a) and (b) are side views for explaining the engaging operation of the transmission part and the engaging part. [Figure 7] (a) and (b) are side views for explaining the butting of the coupling parts against each other. [Figure 8] (a) to (c) are diagrams of the butting direction view and the side view for explaining the engaging operation of the opposing engaging parts against each other. [Figure 9] It is a rear view showing the relationship between the long hole of the rotating member and the transmission part. [Figure 10] It is a butting direction view showing the seal member. [Figure 11]This is a side view showing the sealing member when the engaging portion is in the open state. [Figure 12] This is a side view showing the sealing member when the engaging portion is in the engaged state. [Modes for carrying out the invention]

[0016] Embodiments for implementing the coupling mechanism according to the present invention will be described below based on examples. [Examples]

[0017] The coupling mechanism according to the embodiment will be explained with reference to Figures 1 to 12.

[0018] The coupling mechanism in this embodiment is used when docking robot modules in a robotic device composed of multiple robot modules. The robotic device is operated in extraterrestrial environments such as outer space, on extraterrestrial celestial bodies such as the Moon, planets, and asteroids, on Earth, or within Earth's atmosphere. The robot module in this embodiment is described as being intended for use on the lunar surface and having defensive capabilities against the intrusion of regolith on the lunar surface. However, as mentioned above, the robot module described below is not limited to use on the lunar surface.

[0019] Each robot module is equipped with a processing unit, a drive unit, a power supply unit, and a coupling unit, and can be connected to other robot modules to form a robot device suitable for the required work environment. In other words, multiple autonomous robot modules can be used to form multiple robot devices of different configurations. The activities of the robot modules and robot devices are not limited to fully autonomous operation, but may also be semi-autonomous or non-autonomous, and may include assistance from artificial intelligence and / or humans. In this embodiment, the robot modules perform programmed operations using multiple robot modules based on commands from a computer (not shown) connected by communication means. It is also possible to operate the robot modules individually.

[0020] In this embodiment, the robotic device is described as a construction machine with dustproof functionality, intended for transporting and assembling building materials in outdoor environments, particularly sandy areas. In this embodiment, the structure of the transport means and assembly tools of the construction machine is omitted, and only the structure of the robot module coupling part and the coupling mechanism consisting of the coupling parts of a pair of robot modules are described using diagrams.

[0021] In Figures 1 and 2, reference numeral 1 indicates the coupling mechanism consisting of the respective coupling parts 3A and 3B of a pair of robot modules 2A and 2B. Since the first coupling part 3A of robot module 2A and the second coupling part 3B of robot module 2B have the same configuration, only the structure of the coupling part 3A of one robot module 2A will be described, and the description of the structure of the coupling part 3B of the other robot module 2B will be partially omitted. Furthermore, based on the direction in which the first coupling part 3A of robot module 2A and the second coupling part 3B of robot module 2B are abutted, the direction in which they are closer together will be defined as forward, and the direction in which they are further apart will be defined as backward, and these terms will be used in the following explanation.

[0022] As shown in Figure 2, the first coupling portion 3A of the robot module 2A has a base portion 4, a sealing member 5, an electrode arrangement portion 6, an engagement portion 7, a buffer member 8, and a drive portion 9 (see Figure 4). Although not shown here, an opening is formed in one end 20a of the housing 20 of the robot module 2A, and the first coupling portion 3A is attached to close the opening at one end 20a of the housing 20 of the robot module 2A. More specifically, the base portion 4 is attached to the housing 20 of the robot module 2A via a buffer member 8 that is attached to cover the opening at one end 20a of the housing 20.

[0023] The base 4 comprises a ring-shaped tip 11 and a base portion 12 that supports a drive unit 9 (see Figure 3), which will be described later and is superimposed behind the tip 11. Behind the base portion 12, a buffer member 8 is fixed in a sealed state by a fixing structure (not shown) such that the outside and inside are separated.

[0024] The tip portion 11 is composed of an end member 13 and a ring member 14. The end member 13 has an opening 13a in the center, and the ring member 14 has an opening 14a in the center. The end member 13 has an annular portion 13b with an opening 13a in the center, and a protrusion 13c extending forward from the annular portion 13b. The ring member 14 has a recess 14b that is open to the outer surface and the front surface. When these end member 13 and ring member 14 are fixed together, the protrusion 13c of the end member 13 and the recess 14b of the ring member 14 are arranged alternately in the circumferential direction, forming the fitting protrusion 15 and fitting recess 16 of the tip portion 11, respectively (see Figure 1). The inner shape of the fitting recess 16 is the same as the outer shape of the fitting protrusion 15.

[0025] As shown in Figures 3 and 11, the outer edge 5a of the sealing member 5 is sandwiched between the end member 13 and the ring member 14. The structure of the sealing member 5 will be described in detail later, but the sealing member 5 is a thin, roughly circular metal plate with a hole 5b in the center, and an electrode placement section 6 having electrodes is attached so as to close this hole 5b.

[0026] The base portion 12 has an opening 12a in the center, and the base portion 4 of the assembled first joint 3A is cylindrical with an opening in the center. In other words, the openings 13a of the end members 13, 14a of the ring member 14, and 12a of the base portion 12 constitute the opening of the base portion 4 of the assembled first joint 3A.

[0027] The cushioning member 8 is made of metal and is formed in a bellows shape. The cushioning member 8 and the base portion 12 are fixed in a sealed state so that the outside and inside are separated by a fixing structure (not described in detail). The cushioning member 8 is interposed between the base portion 4 and one end portion 20a of the housing 20 and functions as a coupling alignment error absorption mechanism that allows relative tilting between each member beyond the base portion 12 (forward) and the housing 20. In addition, the cushioning member 8 can be switched to a rigid state using an actuator (not shown) or the like that is built into the structure of the metal bellows-shaped cushioning member 8. This makes it possible to absorb alignment errors by making the cushioning member 8 flexible during approaching operations, and after coupling operations, to switch the cushioning member 8 to a rigid state, thereby firmly integrating the connected housings 20, 20.

[0028] As shown in Figures 2 to 4, the engaging portion 7 is located on the outside of the surface of the sealing member 5 and is connected to the transmission portion 17, which is located on the back side of the sealing member 5, i.e., inside the base portion 12, by a screw 31 via a communication hole 50 formed in the sealing member 5.

[0029] Multiple engaging portions 7 are arranged along the circumferential direction of the sealing member 5. In this embodiment, eight engaging portions are equally arranged in the circumferential direction, and the engaging portions 7 seal and close the communication holes 50 formed in the sealing member 5.

[0030] As shown in Figure 4, the base portion 12 is mainly composed of an annular base member 21, a plurality of catch members 22, and an inner base member 23, and houses the transmission unit 17, rotating member 24, and gear 25 that constitute the drive unit 9. All of the transmission units 17 are connected to the rotating member 24, and the operation of all eight transmission units 17 is synchronized.

[0031] As shown in Figure 5(a), the engaging portion 7 is approximately trapezoidal when viewed from the butt direction. More specifically, the engaging portion 7 comprises an outer surface portion 7a facing the outer diameter direction, an inner surface portion 7b parallel to the outer surface portion 7a and facing the inner diameter direction, and side portions 7c, 7c facing the circumferential direction. The side portions 7c, 7c are each formed to follow the radial direction of the sealing member 5. In other words, both side portions 7c, 7c of the engaging portion 7 are tapered in the inner diameter direction.

[0032] Furthermore, the engaging portion 7 has a first planar portion 7d and a second planar portion 7e on the front side in the butt joint direction. In the radial direction of the sealing member 5, the first planar portion 7d is continuous with the inner diameter side of the second planar portion 7e.

[0033] Figure 6(a) is a partially enlarged view showing the engagement portion 7 in the open position. In this open position, the first planar portion 7d on the inner diameter side of the engagement portion 7 faces the opposing direction (towards the paired second connecting portion 3B). In the engagement position shown in Figure 6(b), the second planar portion 7e on the outer diameter side of the engagement portion 7 faces the opposing direction and is approximately perpendicular to the butt joint direction.

[0034] Furthermore, as shown in Figures 5(b) and (c), the side portions 7c, 7c of the engaging portion 7 are each provided with mountain-shaped wide portions 7f, 7f that protrude toward the circumferential direction of the sealing member 5 at the center in the front-rear direction (butt direction).

[0035] The transmission unit 17 is supported by the base unit 12, whose rear end constitutes the base unit 4, so as to be tiltable in the radial and axial directions. More specifically, as shown in Figures 6(a) and (b), the transmission unit 17 is provided with rotating shafts 170, 170 that protrude laterally slightly towards the rear end in the front-rear direction. The rotating shafts 170, 170 of the transmission unit 17 are loosely fitted into the guide grooves 220 of the catch member 22, which will be described later.

[0036] Returning to Figure 4, the base member 21 comprises a bottom portion 210 and an annular portion 211, with a step formed between the annular portion 211 and the bottom portion 210. The bottom portion 210 has an opening 210a, and a plurality of notches 210b are continuously formed in the opening 210a in a radial direction. The notches 210b serve as clearance when the rear end 171 of the transmission portion 17 moves linearly in the radial direction (see Figure 9).

[0037] The annular portion 211 of the base member 21 has a recess 211a and a mounting hole 211b formed on the front surface facing the rear surface of the ring member 14, into which the projection 22a of the catch member 22 is fitted.

[0038] As shown in Figure 4, the catch member 22 has side portions 22b that are aligned radially with the base member 21, and the outer diameter side is provided with a projection 22a that fits into a recess 211a of the base member 21. The side portion 22b has a guide groove 220 that is longitudinal from the outer diameter side to the inner diameter side and inclined toward the front in the abutting direction on the inner diameter side (see Figures 6(a) and (b)). The guide groove 220 has a gentle arc shape that faces toward the rear in the abutting direction.

[0039] Multiple catch members 22 are arranged at predetermined intervals in the circumferential direction, and transmission members 17 are positioned between adjacent catch members 22. Rotating shafts 170, 170 formed on both sides of the transmission member 17 are loosely fitted into guide grooves 220 of adjacent catch members 22, thereby supporting the transmission member 17 so as to be tiltable relative to the base member 12.

[0040] The ring member 14 has a recess 14c (see Figure 9) on its back surface into which the projection 22a of the catch member 22 fits. The combined depth dimensions of the recess 211a of the annular portion 211 of the base member 21 and the recess 14c of the ring member 14 are approximately equal to, or slightly less than, the thickness dimension of the projection 22a of the catch member 22, so that the projection 22a fitted into the recess 211a of the annular portion 211 of the base member 21 and the recess 14c of the ring member 14 are clamped. The base member 21 and the catch member 22 are fixed together by a screw 32, and a recess (not shown) is formed in the recess 14c of the ring member 14 to avoid interference with the screw head of the screw 32.

[0041] In addition, the outer diameter end of the projection 22a is positioned opposite the outer diameter inner surface of the recess 14c of the ring member 14 and the outer diameter inner surface of the recess 211a of the annular portion 211 of the base member 21, thereby restricting its movement in the outer diameter direction.

[0042] Furthermore, the catch member 22 has an inward projection 22c formed on its inner diameter side, and the outer edge of the inner base member 23 overlaps with this inward projection 22c, and the inner base member 23 and the catch member 22 are fixed together by a screw 33. Since the inner base member 23 is fixed to all the catch members 22, the inner base member 23 is supported by the base member 21 via the catch members 22.

[0043] As shown in Figure 9, the rotating member 24 has an opening 24a in the center, and a plurality of elongated holes 240 are formed surrounding the opening 24a. These elongated holes 240 have a longitudinal length in the circumferential direction, with one end 240a in the longitudinal direction located on the inner diameter side and the other end 240b located on the outer diameter side. In other words, the elongated holes 240 have an inclined shape with a radial component and a circumferential component. The rear end 171 of the transmission part 17 is loosely fitted into these elongated holes 240.

[0044] More specifically, as shown in Figure 9, the elongated hole 240 has a first guide portion 241a that runs along the outer edge of the rotating member 24 from the other end 240b on the outer diameter side, a second guide portion 241b that slopes gently toward the inner diameter in an arc shape from the end of the first guide portion 241a, and a third guide portion 241c that extends substantially linearly from the end of the second guide portion 241b toward one end 240a. In addition, one end 240a and the other end 240b of adjacent elongated holes 240, 240 in the circumferential direction partially overlap in the radial direction.

[0045] Furthermore, the opening 24a of the rotating member 24 has multiple teeth 242 formed on a part of its circumferential direction, which mesh with the gear 25 that constitutes the drive unit 9.

[0046] The drive unit 9 consists of a transmission unit 17, a rotating member 24, and a gear 25. The gear 25 is rotated by a drive source such as a motor (not shown in the figure), and the rotation of the gear 25 is converted to cause the engagement unit 7 to tilt.

[0047] For example, when the gear 25 is rotated in the positive direction by the drive source, the rotating member 24 meshed with the gear 25 rotates in the positive direction relative to the base portion 12. Since the rear end 171 of the transmission portion 17 is loosely fitted into the elongated hole 240 of the rotating member 24, as the rotating member 24 rotates, the rear end 171 moves from the inner diameter side to the outer diameter side in the process of being guided into the elongated hole 240 from the third guide portion 241c to the second guide portion 241b and the first guide portion 241a, and consequently the engaging portion 7 attached to the front end of the transmission portion 17 is tilted so as to fall from the outer diameter side to the inner diameter side (see Figures 6(a) and (b)).

[0048] In addition, since the rotating shaft portion 170 of the transmission portion 17 is loosely fitted into the guide groove 220 of the catch member 22, the rotating shaft portion 170 is guided from the inner diameter end 220a to the outer diameter end 220b of the guide groove 220, and in the process the rotating shaft portion 170 also moves in the regressive direction in the abutting direction. In other words, as shown in Figures 6(a) and (b), the engaging portion 7 operates in both the regressive direction and the inner diameter direction in the abutting direction.

[0049] Next, the coupling operation of the first coupling part 3A of robot module 2A and the second coupling part 3B of robot module 2B will be described. In this embodiment, it is assumed that the calculation units of robot modules 2A and 2B that perform the coupling operation work together autonomously.

[0050] First, the calculation units of robot modules 2A and 2B move the positions of the entire robot modules 2A and 2B or only the first coupling part 3A and the second coupling part 3B using some kind of driving device, and bring the first coupling part 3A and the second coupling part 3B close together and abut them using various sensors (not shown). At this time, as shown in Figures 7(a) and (b), the calculation units of robot modules 2A and 2B move the first coupling part 3A and the second coupling part 3B close together until the tip of the fitting projection 15 at the tip 11 of the first coupling part 3A abuts against the bottom of the fitting recess 16 at the tip 11 of the second coupling part 3B.

[0051] In this embodiment, when the calculation units of the robot modules 2A and 2B move the first coupling part 3A and the second coupling part 3B into proximity, they keep the engaging part 7 of the first coupling part 3A and the engaging part 7' of the second coupling part 3B in an open state relative to each other. Note that it is sufficient to move the coupling parts into proximity with the engaging part 7 of at least one coupling part in an open state. For example, the engaging part 7 of one coupling part may be in an open state, and the engaging part 7 of the other coupling part may be engaged beforehand when moving into proximity. Alternatively, the coupling operation may start with the engaging parts 7 of each coupling part in an intermediate position between the open state and the engaged state, and they may be operated so that they become engaged during the process of completing the coupling operation. In other words, even if one of the coupling parts (either the first coupling part 3A or the second coupling part 3B) is passive, separation and coupling are possible, so even if a failure occurs in one coupling part while it is coupled, separation is possible using the other coupling part.

[0052] During close-range operation, if there is a slight misalignment in position, angle, or direction between the first joint 3A and the second joint 3B, this misalignment error is absorbed by the deformation of the buffer member 8 (see Figure 2). Furthermore, since the buffer members 8, 8 are positioned between the base 4 and the housings 20, 20 of the robot modules 2A and 2B, and the drive units 9, 9 in the first joint 3A and the second joint 3B are built into the base 4, even if the deformation of the buffer member 8 causes the first joint 3A and the second joint to be tilted relative to the housings 20, 20, it does not affect the operation of the engaging part 7.

[0053] The calculation units of robot modules 2A and 2B, based on the state in which the tip of the fitting projection 15 of the first connecting part 3A abuts against the bottom of the fitting recess 16 at the tip 11 of the second connecting part 3B, that is, the butt joint between the first connecting part 3A and the second connecting part 3B is completed, then initiate an engagement operation to move the engaging part 7 from the open state to the engaged state. At this time, in the open position of the engaging part 7, the first planar portion 7d on the inner diameter side faces the corresponding direction (see Figure 6(a)), and the first planar portion 7d of one engaging part 7 is close to the outer diameter portion 5f of the seal member 5 of the opposing second connecting part 3B, and the first planar portion 7d of the other engaging part 7' is close to the outer diameter portion 5f of the seal member 5 of the opposing second connecting part 3B, respectively, making it difficult for sand, dust, etc. to enter the gap between these engaging parts 7, 7' and the surfaces of the seal members 5, 5.

[0054] The calculation unit rotates the gear 25 in the forward direction using a drive source. This causes the rotating member 24 to rotate in the forward direction, the rear end 171 is guided into the elongated hole 240, all the transmission parts 17 tilt synchronously, and all the engaging parts 7 tilt so that they fall inward.

[0055] Figures 8(a) to 8(c) illustrate only the engaging portion 7 of the first joint 3A and the engaging portion 7' ​​of the second joint 3B, showing the positional relationship between the engaging portions 7 and 7' during their engagement. They are conceptual diagrams viewed from one side in the butt joint direction and from the radial side at the same timing. In Figures 8(a) to 8(c), to facilitate understanding of the engagement operation, the explanation uses an example where the engaging portion 7 of the first joint 3A transitions from the open state to the engaged state, followed by the engaging portion 7' ​​of the second joint 3B. However, in reality, the movements of the engaging portion 7 of the first joint 3A and the engaging portion 7' ​​of the second joint 3B may be approximately synchronized.

[0056] As shown in Figures 8(a) to 8(b), first, the engaging portion 7 of one of the first connecting portions 3A transitions from an open state to an engaged state. At this time, the engaging portion 7 of one of the first connecting portions 3A moves in a retraction direction in the diameter reduction direction and the butt direction, as described above. Next, as shown in Figure 8(c), when the engaging portion 7' ​​of the other second connecting portion 3B transitions from an open state to an engaged state, the wide portions 7f, 7f of the side portions 7c, 7c of one of the engaging portions 7 move to wrap around to the back of the wide portions 7f, 7f of the side portions 7c, 7c of the adjacent other engaging portion 7'. The wide portions 7f, 7f of the side portions 7c, 7c of the engaging portion 7 and the wide portions 7f, 7f of the side portions 7c, 7c of the other engaging portion 7' ​​overlap in the axial direction, and the movement of the engaging portion 7 and the engaging portion 7' ​​in the disengagement direction is mutually restricted. In addition, as one engaging portion 7 and the other engaging portion 7' ​​move in the diameter-reducing direction, the side portions 7c, 7c of one engaging portion 7 and the side portions 7c, 7c of the other engaging portion 7' ​​are tightly connected in the circumferential direction, and movement in the torsional direction is restricted. This completes the connection between the first connecting portion 3A and the second connecting portion 3B.

[0057] Furthermore, in the engaged state shown in Figure 6(b), the second planar portion 7e on the outer diameter side is approximately perpendicular to the abutting direction. Although not shown here, the second planar portion 7e of one engaging portion 7 is positioned close to the outer diameter portion 5f of the seal member 5 of the opposing second joint portion 3B, and the second planar portion 7e of the other engaging portion 7' ​​is positioned close to the outer diameter portion 5f of the seal member 5 of the opposing second joint portion 3B. This makes it difficult for sand, dust, etc. to enter the gap between these engaging portions 7, 7' and the surfaces of the seal members 5, 5. In other words, from the time the abutting of the first joint portion 3A and the second joint portion 3B is completed until the engagement operation of the engaging portion 7 is completed, it is continuously difficult for sand, dust, etc. to enter the gap between the engaging portions 7, 7' and the surfaces of the seal members 5, 5.

[0058] As described above, the transmission section 17 is moved slightly in the regressive direction in the abutting direction as the rotating shaft section 170 is guided from the inner diameter end 220a to the outer diameter end 220b of the guide groove 220. As a result, the wide section 7f of one engaging section 7 is moved to wrap around to the back of the wide section 7f of the other engaging section 7', and then the rotation of the drive source in the forward direction acts to pull the engaging section 7 and the engaging section 7' ​​toward each other in the axial direction. Therefore, with the tip of the fitting projection 15 of the first connecting section 3A in contact with the bottom of the fitting recess 16 at the tip 11 of the second connecting section 3B, the engaging section 7 and the engaging section 7' ​​pull toward each other in the axial direction, maintaining a state in which a strong reaction force is generated at the contact point between the fitting projection 15 and the fitting recess 16, thereby achieving a strong connection without rattle.

[0059] Furthermore, since the engaging parts 7 are arranged at equal intervals in the circumferential direction, they have multiple symmetries, resulting in a high degree of freedom in connecting the first connecting part 3A and the second connecting part 3B of the robot module, allowing the connecting operation to be completed quickly.

[0060] Furthermore, when the engaging portion 7 is engaged, the catch member 22 is positioned so that the guide groove 220 intersects with the axial direction. This makes it difficult for the rotating shaft portion 170 of the transmission portion 17 to move backward within the guide groove 220, thus making it easier to maintain the coupled state.

[0061] Furthermore, the longitudinal direction of the elongated hole 240 in the rotating member 24, which guides the rear end 171 of the transmission part 17, is configured to be substantially perpendicular to the tilting direction of the transmission part 17. When the rotation of the rotating member 24 is stopped, the rear end 171 does not move within the elongated hole 240 due to external forces acting on the engagement part 7, thereby effectively maintaining the connected state.

[0062] Furthermore, when the gear 25 is rotated in the opposite direction by the drive source, the rotating member 24 that meshes with the gear 25 rotates in the opposite direction relative to the base portion 12, causing the engaging portion 7 to tilt from the inner diameter side to the outer diameter side, and the engaging portion 7 becomes open.

[0063] Next, the structure of the sealing member 5 will be described. As shown in Figure 10, the sealing member 5 has a hole 5b in the center, and the electrode placement portion 6 is attached so as to close this hole 5b, and the outer edge portion 5a is fixed to the ring member 14, thereby sealing the opening of the base portion 4. In addition, an annular inner edge portion 5c is formed on the edge of the hole 5b so as to surround the hole 5b and to which the electrode placement portion 6 is attached.

[0064] The sealing member 5 has a geometric pattern formed by multiple valley fold lines on the annular deformation-allowable portion 5d, excluding the outer edge 5a and the inner edge 5c. Specifically, on the inner diameter side of the deformation-allowable portion 5d, an inner fold line 51 forming a regular octagon is formed to demarcate it from the inner edge 5c. On the outer diameter side of the deformation-allowable portion 5d, an outer fold line 53 forming a regular octagon is formed to demarcate it from the outer edge 5a. Furthermore, a boundary portion 52 formed by an endless annular regular octagon fold line is formed in the radial center of the deformation-allowable portion 5d, and the boundary portion 52 largely separates the inner diameter portion 5e from the annular outer diameter portion 5f on the outer diameter side of the inner diameter portion 5e.

[0065] Furthermore, a straight fold line 54 is formed connecting each vertex of the regular octagon that constitutes the inner fold line 51 with each vertex of the regular octagon that constitutes the outer fold line 53.

[0066] In the inner diameter portion 5e, a straight fold line 55 is formed connecting the vertices of the regular octagon constituting the inner fold line 51 and the eight vertices and eight center points of each side of the regular octagon constituting the boundary portion 52. Eight isosceles triangles 60 are formed using the sides of the regular octagon constituting the inner fold line 51 as bases, and the inner fold line 51 and the fold line 55. Additionally, sixteen triangles 61 are formed using the sides of the regular octagon constituting the boundary portion 52, and the fold line 54 and the fold line 55.

[0067] In the outer diameter portion 5f, a straight fold line 56 is formed connecting the vertices of the regular octagon constituting the outer fold line 53 to the eight vertices and eight center points of each side of the regular octagon constituting the boundary portion 52. Eight isosceles triangles 62 are formed using the sides of the regular octagon constituting the outer fold line 53 as bases, and the outer fold line 53 and fold line 56. Additionally, sixteen triangles 63 are formed using the sides of the regular octagon constituting the boundary portion 52, and the fold line 54 and fold line 56.

[0068] As shown in Figure 10, the boundary portion 52 is formed between the outer fold line 53 and the inner fold line 51, and isosceles triangles 62 and 63 on the outer diameter portion 5f side have a larger area than isosceles triangles 60 and 61 on the inner diameter portion 5e side.

[0069] As shown in Figures 11 and 12, the sealing member 5 has a geometric pattern formed by multiple valley folds, which allows the sealing member 5 itself to deform in accordance with the tilting of the engaging portion 7, enabling the coupling operation to be performed while maintaining the airtight seal of the opening of the base portion 4 by the sealing member 5.

[0070] More specifically, the shapes of the triangles 60 and 61 formed by the valley fold lines on the inner diameter portion 5e of the sealing member 5 and the shapes of the triangles 62 and 63 formed by the valley fold lines on the outer diameter portion 5f are inverted radially across the boundary portion 52. In the open state shown in Figure 11, the boundary portion 52 is deformed to become the peak of a mountain, and in the connected state shown in Figure 12, the boundary portion 52 is deformed to become the peak of a valley.

[0071] As described above, the coupling mechanism 1 of the present invention enables coupling and uncoupling of robot modules 2A and 2B. The first coupling portion 3A of one robot module 2A comprises an annular base portion 4 having an opening in the center, a planar flexible sealing member 5 covering the opening of the base portion 4, an engaging portion 7 disposed on the outside of the sealing member 5, and a drive unit 9 built inside the base portion 4 separated by the sealing member 5. The second coupling portion 3B of the other robot module 2B comprises an engaging portion (engaged portion) 7' that engages with the engaging portion 7 of the first coupling portion 3A. The drive unit engages the engaging portion 7 via the sealing member 5, and the sealing member 5 deforms in synchronization with the movement of the engaging portion 7. According to this configuration, the opening of the base 4, which houses the drive unit 9, is closed by the sealing member 5, and the engaging portion 7 is engaged by the drive unit 9 via the flexible sealing member 5. Therefore, when connecting robot modules 2A and 2B, the internal mechanisms of robot modules 2A and 2B are completely isolated from the external environment by the sealing member 5, and adverse effects such as contamination from sand and dust from the external environment can be reliably prevented from reaching the internal mechanisms of robot modules 2A and 2B.

[0072] Furthermore, the sealing member 5 is a thin sheet primarily made of metal, and a geometric pattern is formed across its entire surface by multiple fold lines 51 to 56. This ensures the mechanical strength of the sealing member 5 by using metal, while the geometric pattern formed by the fold lines 51 to 56 (including the boundary portion 52) makes it easily deformable, thus not interfering with the operation of the engaging portion 7.

[0073] Furthermore, the sealing member 5 is divided into an inner diameter portion 5e, which is the inner diameter side, and an annular outer diameter portion 5f, which is on the outer diameter side of the inner diameter portion 5e, by a boundary portion 52 formed by an endless annular fold line. Multiple engaging portions 7 are arranged circumferentially along the boundary portion 52 on the outer diameter portion 5f and are tilted radially by the drive unit 9. As a result, the displacement of the first connecting portion 3A and the second connecting portion 3B in the butt joint direction of the sealing member 5 is largest in the vicinity of the boundary portion 52 that separates the inner diameter portion 5e and the outer diameter portion 5f, and by arranging the engaging portions 7 in the vicinity of this boundary portion 52, the engaging portions 7 can be moved significantly.

[0074] Furthermore, the geometric pattern formed on the sealing member 5 is composed of multiple triangles 60 to 63 formed by multiple endless annular fold lines 51 to 53 (including the boundary 52) and multiple fold lines 54 to 56 connecting the endless annular fold lines 51 to 53 (including the boundary 52). This allows for the formation of multiple triangles 60 to 63, which in turn allows for the formation of multiple radially extending fold lines 54 to 56, thereby efficiently securing the deformation allowance related to the circumferential contraction of the sealing member 5.

[0075] Furthermore, due to the structure described above, when one engaging portion 7' ​​and the other engaging portion 7' ​​constituting the engaged portion change from an open state to a connected state, they only move slightly in the inward radial direction and axial direction, and the wide portions 7f, 7f of the side portions 7c, 7c engage with each other in the axial direction and overlap alternately in the circumferential direction, thereby restricting movement in the axial, radial, and circumferential directions. Therefore, the deformation allowance of the seal member 5 required when changing to the engaged state is only a slight inward tilt of the outer diameter portion 5f, and the seal member 5 can be constructed using a material with high mechanical strength and high environmental adaptability, mainly composed of metal.

[0076] Furthermore, the sealing member 5 is divided into an inner diameter portion 5e and an outer diameter portion 5f by a boundary portion 52, and geometric patterns are formed on the inner diameter portion 5e and the outer diameter portion 5f, respectively. This allows the inner diameter portion 5e and the outer diameter portion 5f to have different roles, separated by the boundary portion 52. In this embodiment, an engaging portion 7 is arranged on the outer diameter portion 5f, and an electrode placement portion 6 is arranged further inside than the inner diameter portion 5e. As shown in Figures 11 and 12, when the engaging portion 7 is tilted, the relative bending state of the inner diameter portion 5e and the outer diameter portion 5f is reversed with respect to the boundary portion 52, and the electrode placement portion 6 does not move in the front-rear direction, so there is no effect on the electrical connection state between the opposing electrode placement portions 6. Therefore, when the first connecting portion 3A and the second connecting portion 3B of the robot modules 2A and 2B are brought into contact with each other, and the tip of the fitting projection 15 of the first connecting portion 3A comes into contact with the bottom of the fitting recess 16 at the tip portion 11 of the second connecting portion 3B, that is, before the transition to the engaged state of the engaging portion 7 is completed, the electrodes of the opposing electrode placement portions 6, 6 are electrically connected to each other. From this point onward, the calculation units of the paired robot modules 2A and 2B can communicate with each other via the electrode placement portions 6, 6.

[0077] Although embodiments of the present invention have been described above with reference to the drawings, the specific configurations are not limited to these embodiments, and any changes or additions that do not depart from the spirit of the present invention are also included.

[0078] For example, in the above embodiment, the first coupling portion 3A of the robot module 2A is mainly composed of a base portion 4, a sealing member 5, an electrode arrangement portion 6, an engagement portion 7, and a drive portion 9. However, an opening may be formed at the end of the housing of the robot module, and a sealing member may be attached to close this opening, so that a part of the housing also serves as the base portion.

[0079] Furthermore, the robot modules to which the coupling mechanism 1 is applied are not limited to robot modules of the same standard. For example, in a robot module that constitutes a robot body having a drive source, various tool assemblies can be swapped out to enable operation corresponding to various missions, if the tool assembly includes a calculation unit, a drive unit, a power supply unit, and a coupling unit, then the tool assembly can be defined as a robot module, and the coupling mechanism of the present invention can be applied.

[0080] Furthermore, the sealing member 5 is not limited to a thin metal plate; it may also be a thin plate made of a synthetic resin with a high elastic modulus and a geometric pattern as in the above embodiment, or the geometric pattern as in the above embodiment may be omitted by using rubber or the like with a low elastic modulus and a high elastic limit.

[0081] Furthermore, the geometric patterns in the above embodiment are merely examples, and the geometric patterns formed on the sealing member 5 are not limited to the triangle pattern described in the above embodiment. For example, they could be a pattern of roughly trapezoids formed by arranging radially extending fold lines, or a pattern of rhombuses, or these shapes could be spaced apart and scattered.

[0082] Furthermore, the sealing member 5 is not limited to having a geometric pattern formed by valley fold lines on its surface side; for example, a geometric pattern may be formed by valley fold lines on the back side of the sealing member.

[0083] Furthermore, the fold lines forming the geometric pattern of the sealing member 5 are not limited to continuous recesses along a straight line; they may also be configured to form linearly weak areas by arranging multiple fine dimples, or the fold lines may be curved.

[0084] Furthermore, the engaging portion 7 is not limited to the configuration of the above embodiment. For example, if a recess or other engaging portion is formed on the side surface of the joint portion of the pair of robot modules, the engaging portion may be in the shape of an arm extending axially in a long length from the surface of the sealing member.

[0085] Furthermore, although the embodiments of the present invention have been described in the above-mentioned examples as constituting a construction machine with dustproof functionality used on the lunar surface, the environment and activities in which the robot module is used are not limited to these embodiments, and any changes or additions to the environment and activities, as long as they do not depart from the gist of the present invention, are also included in the present invention. [Explanation of symbols]

[0086] 1 Coupling mechanism 2A, 2B Robot Modules 3A,3B joint part 4 base 5. Sealing member 5a Outer edge 5b Hole 5c Inner edge 5d deformation tolerance 5e Inner diameter 5f Outer diameter part 6 Electrode arrangement section 7 Engagement part 7' Engaging part (engaged part) 7a External part 7b Inner surface 7c Side part 7th floor wide section 8. Cushioning material 9 Drive unit 11 Tip 12 Base section 12a opening 13 End member 13a aperture 13b Annular section 13c convex part 14 Ring Member 14a aperture 14b recess 15. Fitting protrusion 16 Fitting recess 17. Communication Department 20 cabinets 20a End 21 Base member 22 Catch component 22a Projection piece 22b Side part 22c Inward protrusion 23 Inner base member 24 Rotating Member 24a opening 25 gears 50 Communication hole 51 Fold lines 52 Boundary 53 Fold lines 54 Fold lines 55 Fold lines 56 Fold lines 60 Isosceles triangle 61 triangle 62 Isosceles triangle 63 triangle 170 Rotating shaft section 171 Rear end 210a aperture 210 Bottom part 211 Circular section 211a Recess 220 Guide groove 240 long hole 242 teeth

Claims

1. A coupling mechanism that enables the coupling and uncoupling of robot modules, The coupling portion of the robot module comprises an annular base having an opening in the center, a planar flexible sealing member covering the opening of the base, an engaging portion disposed outside the sealing member, and a drive unit built inside the base separated by the sealing member. The other coupling portion of the robot module comprises an engaged portion that engages with the engaging portion, The coupling mechanism is characterized in that the drive unit engages the engaging portion via the sealing member, and the sealing member deforms in synchronization with the movement of the engaging portion.

2. The coupling mechanism according to claim 1, characterized in that the sealing member is a thin plate made mainly of metal, and a geometric pattern is formed on the entire surface by multiple fold lines.

3. The coupling mechanism according to claim 2, characterized in that the sealing member is divided by an endless annular fold line into an inner diameter portion, which is the inner diameter side, and an annular outer diameter portion, which is the outer diameter side of the inner diameter portion, and the geometric pattern is formed on the inner diameter portion and the outer diameter portion, respectively.

4. The coupling mechanism according to claim 3, characterized in that the geometric pattern formed on the sealing member is composed of a plurality of triangles formed by a plurality of endless annular fold lines including the boundary portion and a plurality of fold lines connecting the endless annular fold lines.

5. The coupling mechanism according to claim 1, characterized in that the engaging portions are arranged at equal intervals in the circumferential direction of the opening.

6. The coupling mechanism according to claim 1, characterized in that the coupling portion of one robot module and the coupling portion of the other robot module have the same structure.

7. The coupling mechanism according to any one of claims 1 to 6, characterized in that an electrode is arranged near the center of the sealing member.

Images