Combined institutions

Abstract

This provides a coupling mechanism with high coupling strength in the torsional direction. [Solution] The first coupling portion 3A of one robot module 2A is equipped with multiple engaging portions 7 arranged in an annular pattern at the end of the base portion 4 and a drive unit 9 that operates each of the engaging portions 7, and the second coupling portion 3B of the other robot module 2B is equipped with multiple engaging portions 7' arranged in an annular pattern at the end of the base portion 4, and the engaging portions 7 of the first coupling portion 3A and the engaging portions 7' of the second coupling portion 3B are butted together so as to be adjacent to each other in an alternating manner in the circumferential direction, and the engaging portions 7 of the first coupling portion 3A are moved radially by the drive unit 9 and pressed between the two adjacent engaging portions 7 of the second coupling portions 3B.

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 scenarios such as cleaning and construction. In such autonomous robot devices, it is common for them to basically have a configuration that can perform operations capable of achieving a uniform role. However, in an environment where it is difficult to carry in a large number of 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 equipped with arithmetic means and drive means are prepared, and an integrated robot device having a moving form and an operation form suitable for the working environment can be configured by connecting these. Regarding a coupling mechanism that enables the coupling and separation of robot modules, for example, as shown in Patent Document 2, a configuration in which one port (robot module) has an arm that tilts by at least a drive source and the arm is engaged with a part of the other port (robot module) can be considered.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the coupling mechanism shown in Patent Document 2, four engaging arms are arranged circumferentially at the end of one port, and a plate-shaped engaging portion is formed at the end of the other port. With the ends of one port and the other port butted together, the engaging arms are tilted by a driving means, and the hook-shaped portions at the tips of the engaging arms engage with the plate-shaped engaging portions. By using such a coupling mechanism in the configuration for coupling robot modules as described in Patent Document 1, the robot modules can be autonomously coupled in a way that prevents them from separating. However, the torsional force acting relatively on the coupled robot modules is concentrated on the engaging arms which have a longitudinal length in the buttock direction. Therefore, in situations such as transmitting rotational force between robot modules, the engaging arms are prone to breakage, resulting in a problem of low coupling strength in the torsional direction.

[0006] This invention was made in view of these problems, and aims to provide a coupling mechanism with high coupling strength in the torsional direction. [Means for solving the problem]

[0007] 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 first coupling portion of the robot module comprises a plurality of engagement portions arranged in an annular pattern at the end of the base, and a drive unit that operates each of the engagement portions. The other robot module's second coupling portion includes multiple engagement portions arranged in an annular pattern at the end of the base, The engaging portion of the first joint and the engaging portion of the second joint are butted together so as to be adjacent to each other in an alternating manner in the circumferential direction. The engaging portion of the first coupling is characterized by being moved radially by the drive unit, thereby being pressed between the engaging portions of two adjacent second couplings. According to this feature, when the engaging portions of the first and second connecting parts are engaged by the drive unit while they are adjacent to each other in an alternating manner in the circumferential direction, both circumferential sides of the engaging portion of the first connecting part are pressed between the two adjacent engaging portions of the second connecting part. As a result, the engaging portions of the first and second connecting parts, which are adjacent to each other in an alternating manner in the circumferential direction, are tightly connected by pushing against each other in the circumferential direction, resulting in a coupling mechanism with extremely high coupling strength against torsion.

[0008] The engaging portion of the first joint and the engaging portion of the second joint are characterized in that their circumferential side surfaces are tapered in the inward or outward direction. This feature ensures that the side surfaces of adjacent engaging parts come into secure contact when the engaging action is performed, thereby increasing the bonding strength in the torsional direction.

[0009] The engaging portion of the first joint and the engaging portion of the second joint are characterized in that they are arranged at equal intervals in the circumferential direction. This feature allows for a high degree of freedom in connecting robot modules due to their multiple symmetries, enabling rapid completion of the connection process.

[0010] The engagement portion is provided at the tip of the transmission portion that constitutes the drive portion, and the transmission portion includes a rotating shaft portion that protrudes laterally in the circumferential direction, and the rotating shaft portion is loosely fitted into a guide groove formed in the base portion and is rotatably supported. The guide groove is characterized by having an elongated length from the outer diameter side to the inner diameter side, and the inner diameter side being inclined forward in the butt joint direction. According to this feature, the rotating shaft portion of the transmission unit is guided by the guide groove, and during the engagement operation by the drive unit, the engaging portion tilts radially and retracts backward. This causes adjacent engaging portions to pull against each other in the axial direction, generating a strong reaction force at the contact point of the butted joints, resulting in a robust coupling mechanism without rattle.

[0011] The drive unit comprises a rotating member that is rotated by a drive source, and the rotating member has a plurality of elongated holes into which the rear portions of the plurality of transmission units are loosely fitted, and the elongated holes are characterized by having an elongated length in the circumferential direction and an inclined shape having a radial component and a circumferential component. According to this feature, when the rotating member rotates, the rear ends of the multiple engaging parts are guided into the elongated holes and move from the inner diameter side to the outer diameter side. Consequently, the engaging parts provided at the tip of the transmission part are synchronously tilted from the outer diameter side to the inner diameter side, allowing the connecting parts of the robot module to be precisely aligned and connected.

[0012] The first and second connecting parts are characterized by having the same structure. This feature means there is no distinction between male and female, resulting in a high degree of freedom in how robot modules are connected to each other. [Brief explanation of the drawing]

[0013] [Figure 1] A perspective view showing a coupling mechanism applied to a robot module in an embodiment of the present invention. [Figure 2] This is a perspective view showing the coupling mechanism with its connecting parts separated. [Figure 3] This is an exploded perspective view of the joint. [Figure 4] This is an exploded perspective view of the base section. [Figure 5] (a) to (c) are diagrams showing the shape of the engagement part from different angles. [Figure 6] (a) and (b) are side views illustrating the engagement operation of the transmission and engagement parts. [Figure 7] (a) and (b) are side views illustrating the butt joints between the connecting parts. [Figure 8] (a) to (c) are diagrams illustrating the engagement operation of opposing engaging parts, showing a view from the butt direction and a side view. [Figure 9] This is a rear view diagram showing the relationship between the elongated hole in the rotating member and the transmission part. [Figure 10]It is a view in the butting direction showing the seal member. [Figure 11] It is a side view showing the seal member when the engaging portion is in an open state. [Figure 12] It is a side view showing the seal member when the engaging portion is in an engaged state.

Mode for Carrying Out the Invention

[0014] A mode for carrying out the coupling mechanism according to the present invention will be described below based on examples.

Example

[0015] The coupling mechanism according to the example will be described with reference to FIGS. 1 to 12.

[0016] The coupling mechanism in this example is used when docking robot modules in a robot apparatus composed of a plurality of robot modules. The robot apparatus operates, for example, in outer space which is an extraterrestrial environment, on the moon which is an extraterrestrial celestial body, on a planet, an asteroid, on the earth, or within the earth's atmosphere. The robot module of this example is assumed to be used on the lunar surface as an example, and will be described as having a defensive performance against the intrusion of lunar regolith. As described above, the robot module described below is not limited to being used on the lunar surface.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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 the electrode placement portion 6 is attached so as to close this hole 5b.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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).

[0033] 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.

[0034] 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).

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] In addition, the outer diameter end of the projection 22a is positioned opposite the outer diameter inner surface of the recess 14b 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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)).

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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 in synchronously, and all the engaging parts 7 tilt inward, allowing the first coupling part 3A and the second coupling part 3B to be precisely aligned and coupled.

[0053] 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.

[0054] As shown in Figures 8(a) to 8(b), first, the engaging portion 7 of one of the first connecting parts 3A is moved from the open state to the engaged state. At this time, the engaging portion 7 of one of the first connecting parts 3A is moved in the 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 part 3B is moved from the open state to the engaged state, the wide portions 7f, 7f of the side portions 7c, 7c of one of the engaging portions 7 are moved to wrap around to the back of the wide portions 7f, 7f of the side portions 7c, 7c of the adjacent engaging portion 7'. This completes the connection between the first connecting part 3A and the second connecting part 3B.

[0055] In this way, 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, thereby mutually restricting the movement of the engaging portion 7 and the engaging portion 7' ​​in the disengagement direction. In addition, when the engaging portion 7 is engaged by the drive unit 9 while the engaging portion 7 of the first connecting portion 3A and the engaging portion 7' ​​of the second connecting portion 3B are adjacent to each other in an alternating manner in the circumferential direction, the side portions 7c, 7c on both sides of the engaging portion 7 of the first connecting portion 3A are pressed between the two adjacent engaging portions 7' of the second connecting portion 3B. In other words, 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 a coupling mechanism 1 with extremely high coupling strength in the torsional direction can be obtained.

[0056] Furthermore, since the side portions 7c, 7c of the engaging portion 7 are tapered in the inward direction, when the engaging action is performed, it reliably contacts the side portions 7c, 7c of the adjacent engaging portion 7', thereby increasing the bonding strength in the torsional direction.

[0057] Furthermore, since the engaging portions 7 are arranged at equal intervals in the circumferential direction, they have multiple symmetries, resulting in a high degree of freedom in the coupling between the first coupling portion 3A and the second coupling portion 3B, allowing the coupling operation to be completed quickly.

[0058] Furthermore, since the first joint 3A and the second joint 3B have the same structure and there is no distinction between male and female, there is a high degree of freedom in the way the first joint 3A and the second joint 3B are connected to each other.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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 with 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] Thus, 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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 relatively high mechanical strength, mainly composed of metal.

[0077] 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 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.

[0078] 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.

[0079] 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, but a part of the housing of the robot module may also serve as the base portion. Also, in environments where contamination by sand, dust, etc. is not a concern, the sealing member 5 may be omitted.

[0080] 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.

[0081] Furthermore, the engaging portion 7 of the first connecting portion 3A and the engaging portion 7' ​​of the second connecting portion 3B are not limited to having the same shape. For example, one engaging portion may have a wider circumferential width than the other engaging portion.

[0082] Furthermore, the engaging portion 7 of the first connecting portion 3A and the engaging portion 7' ​​of the second connecting portion 3B are not limited to being equally spaced in the circumferential direction if they interlock with each other.

[0083] Furthermore, the operation of the engaging portion 7 during engagement is not limited to tilting; for example, it may also be a sliding movement in the radial direction.

[0084] Furthermore, in the above embodiment, the engaging portion 7 is configured to tilt from the outer diameter side to the inner diameter side when engaged, but it is not limited to this configuration, and may also be configured to tilt from the inner diameter side to the outer diameter side. In this case, it is preferable that the side portion of the engaging portion tapers toward the outer diameter side.

[0085] Furthermore, although the engagement portion 7 in the above embodiment has a substantially trapezoidal shape when viewed in the direction of butt joint, it is not limited to this, and may be substantially T-shaped, for example, with protrusions on the outer diameter side of the side portion.

[0086] Furthermore, the wide portions 7f, 7f formed on the side portions 7c, 7c of the engaging portion 7 are not limited to the mountain shape as in the above embodiment. For example, the wide portions may be formed by making the side portion a sloping surface that rises sharply in one direction in the front-rear direction, or a convex shape with a planar top may be used instead of a mountain shape with a peak.

[0087] 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]

[0088] 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 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 first coupling portion of the robot module comprises a plurality of engagement portions arranged in an annular pattern at the end of the base, and a drive unit for operating each of the engagement portions. The other robot module's second coupling portion includes multiple engagement portions arranged in an annular pattern at the end of the base, The engaging portion of the first joint and the engaging portion of the second joint are butted together so as to be adjacent to each other in an alternating manner in the circumferential direction. A coupling mechanism characterized in that the engaging portion of the first coupling portion is moved radially by the drive unit, thereby being pressed between the engaging portions of two adjacent second coupling portions.

2. The coupling mechanism according to claim 1, characterized in that the engaging portion of the first coupling and the engaging portion of the second coupling each have a circumferential side surface that is tapered in the inward or outward direction.

3. The coupling mechanism according to claim 1, characterized in that the engaging portion of the first coupling and the engaging portion of the second coupling are each arranged at equal intervals in the circumferential direction.

4. The engagement portion is provided at the tip of the transmission portion that constitutes the drive portion, and the transmission portion includes a rotating shaft portion that protrudes laterally in the circumferential direction, and the rotating shaft portion is loosely fitted into a guide groove formed in the base portion and is rotatably supported. The coupling mechanism according to claim 1, characterized in that the guide groove has an elongated length from the outer diameter side to the inner diameter side, and the inner diameter side is inclined toward the front in the butt joint direction.

5. The coupling mechanism according to claim 4, wherein the drive unit comprises a rotating member that is rotated by a drive source, and the rotating member has a plurality of elongated holes into which the rear portions of a plurality of transmission units are loosely fitted, and the elongated holes have a longitudinal length in the circumferential direction and an inclined shape having a radial component and a circumferential component.

6. The coupling mechanism according to any one of claims 1 to 5, characterized in that the first coupling portion and the second coupling portion have the same structure.

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