Joint module

Abstract

This joint module (70) comprises a plurality of joints (PM) that are provided to an end surface (71a) of a body part (71) so as to be opened at equal intervals on a virtual circle, and a joint (PF) that is provided so as to open to an intermediate position between two adjacent joints (PM) on the virtual circle. A flow path (46) of the plurality of joints (PM) provided on the virtual circle and a flow path (56) of the joint (PF) communicate with each other.

Description

Fitting Module

[0001] The present invention relates to a coupling module.

[0002] JP2013-2585A discloses an invention of a pipe joint having a male member to which a plurality of male joints are attached and a female member to which a plurality of female joints are attached.

[0003] In the invention disclosed in JP2013-2585A, the male and female components cannot be connected unless their orientations are aligned. Therefore, in the invention described in JP2013-2585A, if it becomes necessary to change the orientation of the bracket to which the male component is fixed, the orientations of the male and female components will no longer match, and they will no longer be able to be connected.

[0004] The present invention has been made in consideration of the above-mentioned problems, and has an object to provide a joint module that can be connected regardless of orientation.

[0005] According to one aspect of the present invention, a joint module comprises a main body portion, a plurality of first joint portions each having a first flow path therein, arranged at equal intervals on a first imaginary circle, and each opening onto an end face of the main body portion, a second joint portion each having a second flow path therein, arranged at an intermediate position on the first imaginary circle between two adjacent first joint portions, and opening onto the end face of the main body portion, and a first communication passage connecting the first flow paths of the plurality of first joint portions and the second flow path of the second joint portion to each other.

[0006] FIG. 1 is a side view of a leg of a modular robot to which a coupling unit according to an embodiment of the present invention is applied. FIG. 2 is a perspective view of the front side of the module. FIG. 3 is a diagram schematically showing ports and oil passages formed in a cylinder block. FIG. 4 is a diagram schematically showing oil passages when modules according to an embodiment of the present invention are connected. FIG. 5 is a perspective view of a coupling module according to an embodiment of the present invention. FIG. 6 is a plan view of a coupling module according to an embodiment of the present invention. FIG. 7 is a cross-sectional structural view of a coupling PM according to an embodiment of the present invention. FIG. 8 is a cross-sectional structural view of a coupling PF according to an embodiment of the present invention. FIG. 9 is a cross-sectional structural view of a state in which a coupling PM and a coupling PF according to an embodiment of the present invention are connected. FIG. 10(A) is a schematic diagram showing a configuration in which a tip of a coupling PM protrudes from an end face of a main body portion and a tip of a coupling PF does not protrude from the end face of the main body portion. FIG. 10(B) is a schematic diagram showing a configuration in which a tip of a coupling PF protrudes from the end face of a main body portion and a tip of a coupling PM does not protrude from the end face of the main body portion. Fig. 11 is a diagram for explaining the connection state of the joint unit according to an embodiment of the present invention. Fig. 12 is a diagram for explaining the connection state of the joint unit according to an embodiment of the present invention. Fig. 13 is a diagram for explaining the connection state of the joint unit according to an embodiment of the present invention. Fig. 14 is a diagram for explaining the connection state of the joint unit according to an embodiment of the present invention. Fig. 15 is a cross-sectional structural view of a joint PM according to a modified example. Fig. 16 is a cross-sectional structural view of a joint PF according to a modified example. Fig. 17 is a perspective view of a joint module according to a modified example.

[0007] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0008] The joint unit J of this embodiment is a fluid joint for connecting a plurality of flow paths or for separating a plurality of flow paths. First, a modular robot 100 to which the joint unit J is applied will be described with reference to Figures 1 to 4. Figure 1 is a diagram showing a leg of the modular robot 100.

[0009] The modular robot 100 shown in FIG. 1 is configured by connecting a plurality of modules 101 shown in FIG. 2 and the like.

[0010] The module 101 will be described with reference to Figures 2 and 3. Figure 2 is a perspective view of the front side of the module 101.

[0011] The module 101 has a first link 10 (see Figure 2), a second link 20 (see Figure 2) connected to the first link 10 so as to be freely movable relative to the first link 10, and a hydraulic cylinder 30 (see Figure 3) that moves the first link 10 and the second link 20 relative to each other.

[0012] The first link 10 and the second link 20 are rotatably connected via a rotary shaft 1. The hydraulic cylinder 30 and the second link 20 are rotatably connected to a third link 2.

[0013] The hydraulic cylinder 30 is an actuator that expands and contracts using hydraulic oil (working fluid) supplied from a pump (not shown in FIGS. 1 and 2) serving as a hydraulic pressure supply source. As shown in FIG. 3, the hydraulic cylinder 30 includes a cylinder block 32 in which a cylinder chamber 31 is formed, a piston 33a that is slidably inserted into the cylinder chamber 31 and divides the cylinder chamber 31 into a rod-side chamber 31a and a counter-rod-side chamber 31b, and a piston rod 33b that has one end connected to the piston 33a and the other end extending from the cylinder chamber 31 to the outside.

[0014] The cylinder block 32 is accommodated in the housing 11 (see FIG. 2 ) of the first link 10 and is fixed to the housing 11 so as not to rotate. As shown in FIG. 3 , the cylinder block 32 is formed in a substantially rectangular parallelepiped block shape, and has a cylinder chamber 31 and an oil passage (described later) communicating with the cylinder chamber 31 formed therein. The cylinder chamber 31 is formed as a cylindrical hole opening in an end face 32 a of the cylinder block 32. A cylinder head 34 is provided on the end face 32 a of the cylinder block 32 to close the opening of the cylinder chamber 31 and through which a piston rod 33 b passes. The cylinder head 34 is provided with a bearing 35 that slidably supports the piston rod 33 b and a seal member 36 that prevents hydraulic oil from leaking from the cylinder chamber 31.

[0015] A slider 80 (see FIG. 2) is coupled to the tip of the piston rod 33b, and one end of the third link 2 is rotatably connected to the slider 80 via a rotation shaft (not shown). The slider 80 is disposed between a pair of linear guides provided along the axial direction of the piston rod 33b inside the housing 11, and moves while being guided by the linear guides. The other end of the third link 2 is rotatably connected to the second link 20 via a rotation shaft 83.

[0016] The hydraulic cylinder 30 contracts when hydraulic oil is supplied from the pump to the rod-side chamber 31a and the hydraulic oil in the anti-rod-side chamber 31b is discharged to a tank (not shown). Meanwhile, the hydraulic cylinder 30 extends when hydraulic oil is supplied from the pump to the anti-rod-side chamber 31b and the hydraulic oil in the rod-side chamber 31a is discharged to the tank. When the hydraulic cylinder 30 extends and contracts, the linear motion of the piston rod 33b is converted into rotational motion of the second link 20 via the third link 2, and the first link 10 and the second link 20 rotate relatively around the rotation axis 1. In this way, by driving the hydraulic cylinder 30, the first link 10 and the second link 20 can be rotated relatively. The module 101 has one degree of freedom of rotation about the rotation axis 1, and the first link 10, the second link 20, and the hydraulic cylinder 30 are connected to form a single degree of freedom.

[0017] Next, the ports and oil passages formed in the cylinder block 32 will be described in detail with reference to Figures 3 and 4. Figure 3 is a diagram schematically showing the ports and oil passages formed in the cylinder block 32. Figure 4 is a diagram schematically showing the oil passages when the modules 101 are connected to each other.

[0018] A pump port P connectable to a pump and a tank port T connectable to a tank are formed and open on the outer surface of the cylinder block 32. In this embodiment, the pump port P and the tank port T are formed on three of the multiple outer surfaces of the cylinder block 32. At least one of the pump ports P formed on the three surfaces is connected to the pump or another module 101 via a hose or piping, and the unused pump port P is sealed with a plug. Similarly, at least one of the tank ports T formed on the three surfaces is connected to the tank or another module 101 via a hose or piping, and the unused tank port T is sealed with a plug. In the example shown in FIGS. 1 to 4 , three ports are provided on the outer surface of the module 101: the pump port P, the tank port T, and a spare port S. In the example shown in FIGS. 1 to 4 , the spare port S is unused and is therefore blocked with a plug (not shown in FIGS. 3 and 4 ).

[0019] A servo valve (not shown) is provided in the cylinder block 32 as a control valve. The servo valve controls communication between the pump port P and the tank port T and the cylinder chamber 31. The servo valve has a supply port 5a communicating with the pump port P, a discharge port 5b communicating with the tank port T, a rod-side port 5c communicating with the rod-side chamber 31a, and a counter-rod-side port 5d communicating with the counter-rod-side chamber 31b. Depending on its position, the servo valve switches communication between the supply port 5a and the discharge port 5b and the rod-side port 5c and the counter-rod-side port 5d.

[0020] 3, an oil passage 37 is formed in the cylinder block 32, connecting the pump port P and the tank port T with the cylinder chamber 31. The oil passage 37 includes a supply passage 37a connecting the pump port P with the supply port 5a of the servo valve, a discharge passage 37b connecting the tank port T with the discharge port 5b of the servo valve, a rod-side passage 37c connecting the rod-side port 5c of the servo valve with the rod-side chamber 31a, and a counter-rod-side passage 37d connecting the counter-rod-side port 5d of the servo valve with the counter-rod-side chamber 31b.

[0021] When the servo valve connects the supply port 5a and the rod-side port 5c and connects the discharge port 5b and the counter-rod-side port 5d, hydraulic oil is supplied from the pump port P to the rod-side chamber 31a and the hydraulic oil in the counter-rod-side chamber 31b is discharged to the tank port T, causing the hydraulic cylinder 30 to contract. On the other hand, when the servo valve connects the supply port 5a and the counter-rod-side port 5d and connects the discharge port 5b and the rod-side port 5c, hydraulic oil is supplied from the pump port P to the counter-rod-side chamber 31b and the hydraulic oil in the rod-side chamber 31a is discharged to the tank port T, causing the hydraulic cylinder 30 to extend.

[0022] As shown in Figure 1, when modules 101 are connected together for use, it is necessary to connect the pump port P and the tank port T provided on the modules 101 together. Therefore, it is conceivable to connect the pump port P and the tank port T of the modules 101 together with a hose or a pipe. However, in this case, the work of connecting the pipes takes time. For this reason, it is conceivable to connect the ports together with a quick coupling.

[0023] However, because the direction in which the modules 101 are connected to each other varies depending on the application, there is a risk that the positions of the joints connected to the respective pump ports P and tank ports T will not match depending on the orientation of the connected modules 101. Specifically, for example, if one of the modules 101 is turned 180 degrees, the positions of the pump port P and the tank port T will be reversed, and it may become impossible to connect the pump port P and the tank port T to each other.

[0024] Therefore, by using a coupling unit J in the port portion of the module 101, it becomes possible to connect the ports of the modules 101 regardless of the orientation of the modules 101. The coupling unit J according to this embodiment will be described in detail below with reference to Figs. 5 to 14 .

[0025] The coupling unit J includes a pair of coupling modules 70A, 70B. In this embodiment, the coupling modules 70A and 70B have the same shape, and therefore only the coupling module 70A will be described below. Note that, hereinafter, when describing matters common to the coupling modules 70A and 70B, the expression "coupling module 70" will be used. Note that, in the example shown in FIGS. 1 to 4 , the coupling modules 70 are provided on the end surfaces of the first link 10 and the second link 20. The coupling module 70 provided on the end surface of the second link 20 is connected to the oil passage 37 in the cylinder block 32 by a tube or the like (not shown).

[0026] 6, 7, and 8, the joint module 70 includes a disk-shaped main body 71, a plurality of joints PM serving as first and third joints, each of which has a flow path 46 therein as a first flow path and a third flow path (see FIG. 7), and which are arranged at equal intervals on imaginary circles C1, C2, and C3 and open to an end surface 71 a of the main body 71, and a joint PF serving as a second and fourth joint, each of which has a flow path 56 therein as a second flow path and a fourth flow path (see FIG. 8), and which is arranged at an intermediate position between two adjacent joints PM on the imaginary circles C1, C2, and C3 and which opens to the end surface 71 a of the main body 71. Note that in FIGS. 5, 6, and 11 to 14, the joints PM are numbered as joints PM1a to PM1d, joints PM2a to PM2d, and joints PM2a to PM3d for ease of explanation, but these joints have the same configuration. When explaining common matters relating to these, the expression "joint PM" is used. Similarly, regarding the joint PF, although they are numbered as joints PF1 to PF3, they have the same configuration. When explaining common matters relating to these, the expression "joint PF" is used. Furthermore, any one of the imaginary circles C1, C2, and C3 corresponds to the "first imaginary circle" in the claims, and the remaining imaginary circles C1, C2, and C3 other than the "first imaginary circle" correspond to the "second imaginary circle" in the claims.

[0027] As shown in FIG. 6 , in the joint module 70 of this embodiment, four joints PM (joints PM1a-PM1d, joints PM2a-PM2d, and joints PM3a-PM3d) are provided on imaginary circles C1, C2, and C3, each centered at point O, at 90° intervals in the circumferential direction. Furthermore, the joints PM1a, PM2a, and PM3a provided on the imaginary circles C1, C2, and C3, respectively, are arranged radially side by side (on the same normal line). Similarly, the joints PM1b, PM2b, and PM3b are arranged radially side by side, the joints PM1c, PM2c, and PM3c are arranged radially side by side, and the joints PM1d, PM2d, and PM3d are arranged radially side by side. In this way, in the joint module 70 of this embodiment, three joints PM are arranged radially aligned on the end face 71a of the main body portion 71, and these three joints PM are arranged at 90° intervals in the circumferential direction.

[0028] The joint PF is provided on the same imaginary circle as the joints PM, i.e., on each of the imaginary circles C1, C2, and C3, at a midpoint between two adjacent joints PM. More specifically, as shown in Fig. 6, the joint PF1 is provided on the imaginary circle C1 at a midpoint between two adjacent joints PM1a and PM1d, in other words, at a position where the angle formed with each of the joints PM1a and PM1d, with point O as the vertex, is 45°. Similarly, the joint PF2 is provided on the imaginary circle C2 at a midpoint between two adjacent joints PM2a and PM2d, and the joint PF3 is provided on the imaginary circle C3 at a midpoint between two adjacent joints PM3a and PM3d.

[0029] 6, the joints PM1a, PM1b, PM1c, PM1d, and PF1 provided on the imaginary circle C1 communicate with each other via an annular flow path 72 provided inside the main body 71. The joints PM2a, PM2b, PM2c, PM2d, and PF2 provided on the imaginary circle C2 communicate with each other via an annular flow path 73 provided inside the main body 71. The joints PM3a, PM3b, PM3c, PM3d, and PF3 provided on the imaginary circle C3 communicate with each other via an annular flow path 74 provided inside the main body 71. When the coupling unit J is used to connect the flow paths of the modules 101 shown in Figure 4, the flow path 72 communicates with the pump port P of the module 101, the flow path 73 communicates with the spare port S (not shown in Figure 4) of the module 101, and the flow path 74 communicates with the tank port T of the module 101.

[0030] 7 and 8 , the main body 71 includes a disk-shaped first main body 71A and a disk-shaped second main body 71B. The first main body 71A has a recess 75 that opens to one end face 71a and accommodates the joints PM and PF, and annular grooves (flow paths 72, 73, and 74) that open to the other end face 71b. The second main body 71B is fixed to the first main body 71A with bolts so as to cover the openings of the flow paths 72, 73, and 74.

[0031] Next, the structure of the joint PM will be described with reference to FIG.

[0032] As shown in Figure 7, the coupling PM is a male quick release coupling with an automatic on-off valve. The coupling PM is provided in the main body 71 (first main body 71A) and housed in a recess 75 that opens to the end face 71a. The coupling PM has a valve element 42 as a first on-off valve provided in the housing 41, a spring 43 that biases the valve element 42 in the valve closing direction, a seal member 44 that seals between the housing 41 and the recess 75 of the first main body 71A, and a spring retainer 45 that holds one end of the spring 43.

[0033] The housing 41 has a large diameter portion 41a that fits into the recess 75 of the first main body portion 71A, and a small diameter portion 41b that is smaller in diameter than the large diameter portion 41a and is inserted into a fitting portion 51b (described later) of the joint PF. A space 46a that houses the valve body 42 and the spring 43 is provided within the housing 41. The opening of the space 46a is closed by a spring retainer 45. In the joint PM, the space 46a and a through hole 46b provided in the spring retainer 45 form a flow path 46 that passes through the joint PM.

[0034] The housing 41 is provided with a seat portion 41c against which the valve element 42 abuts. When the valve element 42 abuts against the seat portion 41c, the flow of fluid in the flow path 46 is blocked. When the valve element 42 moves away from the seat portion 41c, the flow of fluid in the flow path 46 is permitted. The flow path 46 in the joint PM is connected to one of the flow paths 72, 73, and 74 through a communication path 76 that is provided so as to open to the bottom surface of the recess 75 of the first main body portion 71A.

[0035] The joint PM is fixed in the recess 75 by, for example, providing a female thread in the recess 75 of the first main body portion 71A and providing a male thread in the large diameter portion 41a of the housing 41, and screwing these together. In this embodiment, the joint PM is provided so as not to protrude from the end surface 71a of the first main body portion 71A.

[0036] Next, a specific method for assembling the joint PM will be described.

[0037] First, the valve body 42 and the spring 43 are housed in the space 46a of the housing 41, and then the opening of the space 46a is closed by the spring retainer 45. Then, the female thread provided in the recess 75 of the first main body portion 71A is screwed into the male thread provided in the large diameter portion 41a of the housing 41. In this way, the joint PM is attached to the first main body portion 71A.

[0038] Next, the structure of the joint PF will be described with reference to FIG.

[0039] As shown in Figure 8, the coupling PF is a female quick release coupling with an automatic on-off valve. The coupling PF is provided in the main body 71 (first main body 71A) and housed in a recess 75 that opens to the end face 71a. The coupling PF includes a housing 51, a valve element 52 serving as a second on-off valve provided in the housing 51, a spring 53 that biases the valve element 52 in the valve closing direction, a seal member 54a that seals between the housing 51 and the recess 75 of the first main body 71A, and a spring retainer 55 that holds one end of the spring 53.

[0040] The housing 51 has a cylindrical base portion 51a that fits into the recess 75 of the first main body portion 71A, and a cylindrical fitting portion 51b that extends from the base portion 51a and into which the small diameter portion 41b of the joint PM is inserted. A space 56a that houses the valve body 52 and the spring 53 is provided within the base portion 51a of the housing 51. The opening of the space 56a is closed by a spring retainer 55.

[0041] A seal member 54b is provided on the inner peripheral surface of the fitting portion 51b, which seals between the small diameter portion 41b of the joint PM and the fitting portion 51b when the small diameter portion 41b of the joint PM is inserted. In the joint PF, a flow path 56 that passes through the joint PF is formed by the space within the fitting portion 51b, the space 56a, and the through hole 56b provided in the spring retainer 55.

[0042] The housing 51 is provided with a seat portion 51c against which the valve element 52 abuts. When the valve element 52 abuts against the seat portion 51c, the flow of fluid in the flow path 56 is blocked. When the valve element 52 moves away from the seat portion 51c, the flow of fluid in the flow path 56 is permitted. The flow path 56 in the joint PF communicates with one of the flow paths 72, 73, and 74 through a communication path 76 that opens into the bottom surface of the recess 75 of the first main body portion 71A. In other words, the joints PM and PF that are provided on the same imaginary circle (imaginary circles C1, C2, and C3) communicate with each other through the flow paths 72, 73, and 74.

[0043] The joint PF is fixed in the recess 75 by, for example, providing a female thread in the recess 75 of the first main body portion 71A and providing a male thread in the base portion 51a of the housing 51, and screwing these together. In this embodiment, the joint PF is provided so that a portion thereof protrudes from the end surface 71a of the first main body portion 71A.

[0044] Next, a specific method for assembling the joint PF will be described.

[0045] First, the valve body 52 and the spring 53 are housed in the space 56a of the housing 51, and then the opening of the space 56a is closed by the spring retainer 55. Then, the female thread provided in the recess 75 of the first main body portion 71A is screwed into the male thread provided in the base portion 51a of the housing 51. In this way, the joint PF is attached to the first main body portion 71A.

[0046] To connect the joint PM and the joint PF, first, the small diameter portion 41b of the joint PM is inserted into the fitting portion 51b of the joint PF. Then, as the joint PM and the joint PF are brought closer together, the tip end surface of the valve element 42 of the joint PM and the tip end surface of the valve element 52 of the joint PF come into contact with each other. As the joint PM and the joint PF are brought closer together from that state, the valve element 42 of the joint PM and the valve element 52 of the joint PF press against each other, opening the valves. This connects the flow path 46 in the joint PM and the flow path 56 in the joint PF (see FIG. 9 ). Although not shown, a holding mechanism for holding the joint modules 70A and 70B is provided to maintain the connection between the joint PM and the joint PF.

[0047] In addition, in this embodiment, as shown in FIG. 9 , when the joint PM and the joint PF are connected, the end faces 71 a of the main body portions 71 (first main body portions 71A) of the joint modules 70A and 70B are configured to come into contact with each other. This prevents the pressing force generated when the joint modules 70A and 70B are connected from acting on the tip portions of the connected joints PM and PF. This prevents deformation and damage to the tip portions of the joints PM and PF. Furthermore, when the joint modules 70A and 70B are connected, it is possible to prevent a gap from occurring between the joint modules 70A and 70B.

[0048] The joint module 70 is preferably configured so that the joint PM does not protrude at its tip from the end face 71 a of the main body portion 71 (first main body portion 71A), and the joint PF protrudes at its tip from the end face 71 a of the main body portion 71 (first main body portion 71A). The advantages of this configuration will be described with reference to Figures 10(A) and 10(B). Figure 10(A) is a schematic diagram illustrating a configuration in which the tip of the joint PM protrudes from the end face 71 a of the main body portion 71, and the tip of the joint PF does not protrude from the end face 71 a of the main body portion 71. Figure 10(B) is a schematic diagram illustrating a configuration in which the tip of the joint PF protrudes from the end face 71 a of the main body portion 71, and the tip of the joint PM does not protrude from the end face 71 a of the main body portion 71.

[0049] 10(A), a space S into which the tip of the joint PM is inserted must be provided where the joint PF is provided. In other words, the valve body 52 of the joint PF must be provided at a position recessed from the end face 71a of the main body 71 by the amount of the space S. For this reason, when the joint PF is provided inside the main body 71, as shown in FIG. 10(A), a space of depth H1 is required from the end face 71a of the main body 71 to the end of the joint PF (the end of the valve body 52).

[0050] In contrast, in the configuration shown in FIG. 10(B), the tip of the joint PF protrudes from the end face 71a of the main body 71, and a space S into which the joint PM is inserted can be provided in this protruding portion. Therefore, the valve body 52 of the joint PF can be provided closer to the end face 71a of the main body 71 (at a shallower position) than in the configuration shown in FIG. 10(A). Therefore, when the joint PF is provided in the main body 71, as shown in FIG. 10(B), it is sufficient to ensure a space of depth H2 from the end face 71a of the main body 71 to the end of the joint PF (the end of the valve body 52). Furthermore, to provide the joint PM within the main body 71, it is sufficient to ensure a space of depth H3 from the end face 71a of the main body 71 to the end of the joint PM (the end of the valve body 42).

[0051] 10(B) is configured to have the joint PF protrude from the end surface 71 a of the main body 71, and the joint PM not protrude from the end surface 71 a of the main body 71, thereby making it possible to reduce the thickness of the main body 71. This allows the weight of the joint module 70 to be reduced, and costs to be reduced.

[0052] Next, with reference to Figures 11 to 14, a description will be given of changes in the connection state due to changes in the relative positions of the joint modules 70A and 70B when the joint modules 70A and 70B are connected. Note that Figures 11 to 14 show a front view of the main body 71 of the joint module 70A as seen from the front side (the end surface 71a side), and a rear view of the main body 71 of the joint module 70B as seen from the rear side (the surface opposite the end surface 71a). Furthermore, in Figures 11 to 14, the connected joints PM and PF in the joint modules 70A and 70B are shown with thick solid lines to make it easier to understand the joints to which the joints PM and PF are connected.

[0053] 11, PF1, PF2, and PF3 of the joint module 70A are connected to PM1a, PM2a, and PM3a of the joint module 70B, respectively, and PM1a, PM2a, and PM3a of the joint module 70A are connected to PF1, PF2, and PF3 of the joint module 70B, respectively. As a result, the flow path 72 of the joint module 70A and the flow path 72 of the joint module 70B are connected via PF1 of the joint module 70A and PM1a of the joint module 70B, and via PM1a of the joint module 70A and PF1 of the joint module 70B. Similarly, the flow path 73 of the coupling module 70A and the flow path 73 of the coupling module 70B communicate with each other through PF2 of the coupling module 70A and PM2a of the coupling module 70B, and through PM2a of the coupling module 70A and PF2 of the coupling module 70B. The flow path 74 of the coupling module 70A and the flow path 74 of the coupling module 70B communicate with each other through PF3 of the coupling module 70A and PM3a of the coupling module 70B, and through PM3a of the coupling module 70A and PF3 of the coupling module 70B.

[0054] Next, the connection state of the joint module 70A and the joint module 70B in the state shown in Fig. 12 will be described. Fig. 12 shows a state in which the joint module 70B has been rotated 90° clockwise around point O from the position shown in Fig. 11.

[0055] 12, PF1, PF2, and PF3 of the joint module 70A are connected to PM1b, PM2b, and PM3b of the joint module 70B, respectively, and PM1b, PM2b, and PM3b of the joint module 70A are connected to PF1, PF2, and PF3 of the joint module 70B, respectively. As a result, the flow path 72 of the joint module 70A and the flow path 72 of the joint module 70B are connected via PF1 of the joint module 70A and PM1b of the joint module 70B, and via PM1b of the joint module 70A and PF1 of the joint module 70B. Similarly, the flow path 73 of the coupling module 70A and the flow path 73 of the coupling module 70B communicate with each other through PF2 of the coupling module 70A and PM2b of the coupling module 70B, and through PM2b of the coupling module 70A and PF2 of the coupling module 70B. The flow path 74 of the coupling module 70A and the flow path 74 of the coupling module 70B communicate with each other through PF3 of the coupling module 70A and PM3b of the coupling module 70B, and through PM3b of the coupling module 70A and PF3 of the coupling module 70B.

[0056] Next, the connection state of the joint module 70A and the joint module 70B in the state shown in Fig. 13 will be described. Fig. 13 shows a state in which the joint module 70B has been rotated 90° clockwise around point O from the position shown in Fig. 12.

[0057] 13, PF1, PF2, and PF3 of the joint module 70A are connected to PM1c, PM2c, and PM3c of the joint module 70B, respectively, and PM1c, PM2c, and PM3c of the joint module 70A are connected to PF1, PF2, and PF3 of the joint module 70B, respectively. As a result, the flow path 72 of the joint module 70A and the flow path 72 of the joint module 70B are connected via PF1 of the joint module 70A and PM1c of the joint module 70B, and PM1c of the joint module 70A and PF1 of the joint module 70B. Similarly, the flow path 73 of the coupling module 70A and the flow path 73 of the coupling module 70B communicate with each other through PF2 of the coupling module 70A and PM2c of the coupling module 70B, and through PM2c of the coupling module 70A and PF2 of the coupling module 70B. The flow path 74 of the coupling module 70A and the flow path 74 of the coupling module 70B communicate with each other through PF3 of the coupling module 70A and PM3c of the coupling module 70B, and through PM3c of the coupling module 70A and PF3 of the coupling module 70B.

[0058] Next, the connection state of the joint module 70A and the joint module 70B in the state shown in Fig. 14 will be described. Fig. 14 shows a state in which the joint module 70B has been rotated 90° clockwise around point O from the position shown in Fig. 13.

[0059] 14, PF1, PF2, and PF3 of the joint module 70A are connected to PM1d, PM2d, and PM3d of the joint module 70B, respectively, and PM1d, PM2d, and PM3d of the joint module 70A are connected to PF1, PF2, and PF3 of the joint module 70B, respectively. As a result, the flow path 72 of the joint module 70A and the flow path 72 of the joint module 70B are connected to each other via PF1 of the joint module 70A and PM1d of the joint module 70B, and via PM1d of the joint module 70A and PF1 of the joint module 70B. Similarly, the flow path 73 of the coupling module 70A and the flow path 73 of the coupling module 70B communicate with each other through PF2 of the coupling module 70A and PM2d of the coupling module 70B, and through PM2d of the coupling module 70A and PF2 of the coupling module 70B. The flow path 74 of the coupling module 70A and the flow path 74 of the coupling module 70B communicate with each other through PF3 of the coupling module 70A and PM3d of the coupling module 70B, and through PM3d of the coupling module 70A and PF3 of the coupling module 70B.

[0060] In this way, in the joint unit J, a plurality of joints PM are provided at equal intervals on an imaginary circle on each end surface 71 a of the main body 71 of the joint modules 70A, 70B, and further, the joint PF is provided on the same imaginary circle as the joints PM. This allows the joint PF to be connected to any of the joints PM even if the relative positions of the pair of joint modules 70A, 70B change.

[0061] Furthermore, in the joint unit J, the joint modules 70A and 70B have joints PM1a-1d, 2a-2d, and 3a-3d provided at 90° intervals in the circumferential direction, and joints PF1-3 are provided at intermediate positions between adjacent joints PM1a-3a and PM1d-3d (positions where the angle formed by each of the joints PM1a-3a and PM1d-3d with point O as the apex is 45°). Furthermore, in the joint unit J, the joint modules 70A and 70B are arranged so that the positions of the joints PF and PM are shifted by 45° from each other. 11 to 14, in the joint unit J, when the joint module 70B is rotated 90° relative to the joint module 70A, the joints PF1 to PF3 of the joint module 70A are opposed in order to the joints PM1a to 1d, 2a to 2d, 3a to 3d, and 4a to 4d of the joint module 70B. Furthermore, the joints PF1 to PF3 of the joint module 70B are opposed in order to the joints PM1a to 1d, 2a to 2d, 3a to 3d, and 4a to 4d of the joint module 70A. In this way, in the joint unit J, the joint PF can be connected to any of the joints PM even if the relative positions of the pair of joint modules 70A and 70B are changed.

[0062] Furthermore, in the joint unit J, the positions of the joints PF, PM of the joint modules 70A, 70B are shifted from each other in the circumferential direction by 45°. As shown in Figures 11 to 14, when the joint PF of the joint module 70A is opposed to one of the joints PM of the joint module 70B, the joint PF of the joint module 70B can be opposed to one of the joints PM of the joint module 70A. In other words, in the joint unit J, when the joint PF of the joint module 70A is connected to the joint PM of the joint module 70B, the joint PF of the joint module 70B can be connected to the joint PM of the joint module 70A. As a result, when the joint modules 70A, 70B are connected, two joints are connected in each of the flow paths 72, 73, and 74, and the flow rate of the fluid passing through the joint unit J can be increased.

[0063] Furthermore, in the joint unit J, three joints PM and three joints PF are arranged radially in a row, and these are connected to the annular flow paths 72, 73, and 74, respectively. Therefore, even if the relative positions of the joint modules 70A and 70B change and the joints to be connected change, the flow paths 72, 73, and 74 can be connected to each other.

[0064] More specifically, by using a coupling unit J to connect the flow paths of modules 101 that make up a modular robot 100 such as that shown in Figure 4, pump ports P can be connected to each other through flow paths 72 of the coupling unit J, and tank ports T can be connected to each other through flow paths 74, regardless of the connection direction of the modules 101.

[0065] Furthermore, since the joint modules 70 are not gender-neutral, when the modular robot 100 is to be used at a disaster site, for example, the module 101 to which the joint modules 70 are attached can be disassembled and transported to the site, and the modular robot 100 can be easily assembled on site.

[0066] In the above embodiment, an example was described in which only the joint PF protrudes from the end face 71a of the first main body portion 71A, but this is not limited to this. It is also possible to configure only the joint PM to protrude from the end face 71a of the first main body portion 71A, or to configure both the joint PF and the joint PM to protrude from the end face 71a of the first main body portion 71A.

[0067] In addition, in the above embodiment, an example was described in which the end faces 71a of the first main body portions 71A of the joint modules 70A, 70B come into contact with each other when the joint PM and the joint PF are connected, but the end faces 71a of the first main body portions 71A of the joint modules 70A, 70B may be spaced apart when the joint PM and the joint PF are connected.

[0068] In the above embodiment, four joints PM are provided on one imaginary circle (imaginary circles C1, C2, and C3) at 90° intervals. However, this is not limiting. For example, the number of joints PM may be any number (three, five, or more) as long as the joints PM are provided at equal intervals on the same imaginary circle (imaginary circles C1, C2, and C3). For example, three joints PM may be provided at 120° intervals, and a joint PF may be provided between two adjacent joints PM at a position where the angle between them and point O is 60°. In this case, the joint modules 70A and 70B can be connected to each other by changing their relative positions by 120°. Furthermore, by reducing the angular intervals at which the joints PM are provided (for example, 60° or 45°), more precise angle changes can be accommodated.

[0069] Furthermore, in the above embodiment, an example was given in which multiple (four) male joints PM and one female joint PF were provided on each of the imaginary circles C1, C2, and C3, but multiple (four) female joints PF and one male joint PM may also be provided on one imaginary circle (imaginary circles C1, C2, and C3).

[0070] Furthermore, in the above embodiment, an example has been described in which three joints PM and PF are arranged in the radial direction, but this is not limiting. For example, there may be only one joint PM and PF arranged in the radial direction, or two or four or more joints PM and PF may be arranged in the radial direction.

[0071] In the above embodiment, an example has been described in which the flow paths 72, 73, and 74 that communicate with the joints PM and the joints PF that are provided on the same imaginary circles C1, C2, and C3 are provided inside the main body 71, but this is not limiting. For example, flow paths that open on the end face opposite the end face 71a of the main body 71 and communicate with each of the joints PM and the joints PF may be provided, and hoses or pipes may be connected to these flow paths to communicate with each other at locations other than the joint modules 70A and 70B.

[0072] The joints PM and PF may also be configured as shown in Figures 15 and 16. First, a modified example of the joint PM will be described with reference to Figure 15.

[0073] In the modified example shown in Fig. 15, the housing 41 of the joint PM shown in Fig. 7 is formed integrally with a first main body portion 71A. As shown in Fig. 15, the first main body portion 71A in this modified example is provided with a cylindrical portion 71c that protrudes from the bottom surface of the recess 75 toward the end surface 71a, a recess 71e that opens into one of the flow paths 72, 73, or 74, and a seat portion 71d that is provided in the recess 71e and against which the valve element 42 abuts. In addition, the second main body portion 71B in this modified example is provided with a guide hole 71f for guiding the valve element 42.

[0074] The function of the joint PM shown in FIG. 15 is similar to that of the joint PM shown in FIG. 7, and therefore a description thereof will be omitted.

[0075] The joint PM shown in FIG. 15 does not require the housing 41, the seal member 44, and the spring retainer 45 of the joint PM shown in FIG. 7, and therefore the number of parts can be reduced.

[0076] Next, a modified example of the joint PF will be described with reference to FIG.

[0077] In the modified example shown in Fig. 16, the housing 51 of the joint PF shown in Fig. 8 is formed integrally with a first main body portion 71A. As shown in Fig. 16, the first main body portion 71A in this modified example is provided with a cylindrical portion 71g protruding from the end surface 71a, a recess 71h opening to one of the flow paths 72, 73, or 74, and a seat portion 71i provided in the recess 71h and against which the valve element 42 abuts. Furthermore, the second main body portion 71B in this modified example is provided with a guide hole 71j for guiding the valve element 42.

[0078] The function of the joint PF shown in FIG. 16 is similar to that of the joint PF shown in FIG. 8, and therefore a description thereof will be omitted.

[0079] Next, a method of assembling the joints PF and PM shown in FIGS. 15 and 16 will be described.

[0080] First, the valve body 42 and spring 43 are inserted into the recess 71e of the first main body 71A, and the valve body 42 and spring 53 are inserted into the recess 71h. Next, the second main body 71B is placed on the first main body 71A so as to cover the openings of the flow paths 72, 73, and 74, and these are fixed in place with bolts.

[0081] As such, according to this modified example, not only the number of parts but also the number of assembly steps are reduced compared to the configurations of the joints PM and PF shown in Figures 7 and 8, so the joints PM and PF, and further the joint module 70, can be easily assembled.

[0082] Next, a modified example of the joint module 70 will be described with reference to FIG.

[0083] In the joint module 70 shown in Fig. 17, the housings 51 of three radially aligned joints PF (cylindrical portions 71g of the joint PF configuration shown in Fig. 16) are configured with a single protrusion 151. In addition, in the joint module 70 shown in Fig. 17, the three recesses 75 that respectively accommodate the housings 41 of three radially aligned joints PM are formed with a single recess 175.

[0084] The joint module 70 shown in Fig. 17 has a protrusion 151 that protrudes from the end surface 71a of the first main body portion 71A and is formed to extend in the radial direction. As shown in Fig. 17, the protrusion 151 is formed, for example, with an oval cross section. The joints PF1, PF2, and PF3 are aligned in the radial direction and are provided so as to each open at the end surface of the protrusion 151.

[0085] 17, recesses 175 are provided on the end face 71a, each of which opens and extends in the radial direction. The recesses 175 are provided radially at intervals of 90°.

[0086] 17 are connected to each other, the protrusion 151 provided on one of the coupling modules 70 fits into the recess 175 provided on the other coupling module 70, and the protrusion 151 provided on the other coupling module 70 fits into the recess 175 provided on one of the coupling modules 70. The height of the protrusion 151 and the depth of the recess 175 are set so that the end faces 71 a of the main bodies 71 abut against each other when the coupling modules 70 are connected to each other.

[0087] According to this modified example, compared to the configuration in which three adjacent cylindrical portions 71g of the joint PF shown in Fig. 16 are machined, it is only necessary to machine one protruding portion 151, making the machining easier. Furthermore, because the three cylindrical portions 71g are integrally formed, the strength of the protruding portion of the joint PF can be improved.

[0088] The protrusion 151 may be formed separately from the main body 71. In this case, for example, a recess similar to the recess 175 may be provided at the position where the protrusion 151 is to be provided on the end surface 71 a of the main body 71, and the protrusion 151 formed separately may be fitted into this recess for attachment.

[0089] The configuration, operation, and effects of the embodiment of the present invention configured as above will be described below.

[0090] The joint module 70 comprises a main body 71, a plurality of joints PM (first joint parts) having a flow path 46 (first flow path) therein, arranged at equal intervals on an imaginary circle C1 (first imaginary circle) on an end face 71a of the main body 71, and each opening to the end face 71a of the main body 71, a joint PF (second joint part) having a flow path 56 (second flow path) therein, arranged at an intermediate position between two adjacent joints PM (first joint parts) on the imaginary circle C1 (first imaginary circle), and opening to the end face 71a of the main body 71, and a flow path 72 (first communication passage) that connects the flow paths 46 (first flow paths) of the plurality of joints PM (first joint parts) and the flow path 56 (second flow path) of the joint PF (second joint part) to each other.

[0091] In this configuration, joints PM (first joints) and joints PF (second joints) are provided on an imaginary circle C1 (first imaginary circle) on the end surface 71a of the main body 71. Furthermore, in this configuration, the joints PM (first joints) are provided at equal intervals, and the joints PF (second joints) are provided at intermediate positions between two adjacent first joints. As a result, when connecting joint modules 70 to each other, even if the orientation of the joint module 70A (first joint module) and the joint module 70B (second joint module) is changed, one of the multiple joints PM (first joint portion) provided in one joint module 70 can be connected to the joint PF (second joint portion) provided in the other joint module 70, and the joint PF (second joint portion) provided in one joint module 70 can be connected to one of the multiple joints PM (first joint portion) provided in the other joint module 70. Therefore, the joint module 70A (first joint module) and the joint module 70B (second joint module) can be connected regardless of orientation. Furthermore, with this configuration, because the joint modules 70A and 70B have the same shape, there is no need to prepare two types of joint members, male and female members. This reduces costs.

[0092] In the joint module 70, the joint PM (first joint part) further has a valve body 42 (first on-off valve) that opens and closes the flow path 46 (first flow path), and the joint PF (second joint part) further has a valve body 52 (second on-off valve) that opens and closes the flow path 56 (second flow path). When the joint modules 70 are connected to each other, one of the multiple joints PM (first joint part) provided in one joint module 70 and the joint PF (second on-off valve) provided in the other joint module 70 are connected to each other. A joint PF (second joint portion) provided in one joint module 70 is connected to one of a plurality of joints PM (first joint portions) provided in the other joint module 70, and the valve body 42 (first on-off valve) of the connected joint PM (first joint portion) and the valve body 52 (second on-off valve) of the joint PF (second joint portion) press against each other, thereby opening the respective valves and connecting the flow path 46 (first flow path) and the flow path 56 (second flow path).

[0093] In this configuration, the flow path 46 (first flow path) and the flow path 56 (second flow path) can be blocked by the valve element 42 (first on-off valve) and the valve element 52 (second on-off valve), respectively, preventing fluid from flowing out from the joint PM (first joint portion) and the joint PF (second joint portion). Furthermore, when the joint modules 70 (joint modules 70A, 70B) are connected to each other, the valve element 42 (first on-off valve) and the valve element 52 (second on-off valve) press against each other, automatically opening the valve element 42 (first on-off valve) and the valve element 52 (second on-off valve), thereby eliminating the need for work to open the valves.

[0094] The joint module 70 further includes a plurality of joints PM (third joint parts) each having a flow path 46 (third flow path) therein, the joints being arranged at equal intervals on imaginary circles C2, C3 (second imaginary circles) that are concentric with the imaginary circle C1 (first imaginary circle) and have a different diameter from the imaginary circle C1 (first imaginary circle), and each opening onto an end face 71 a of the main body part 71; a joint PF (fourth joint part) having a flow path 56 (fourth flow path) therein and opening at an intermediate position between two adjacent joints PM (third joint parts) on the imaginary circles C2, C3 (second imaginary circle); and flow paths 73, 74 (second communication passages) that connect the flow paths 46 (third flow paths) of the plurality of joints PM (third joint parts) to the flow path 56 (fourth flow path) of the joint PF (fourth joint part).

[0095] In this configuration, multiple flow paths can be connected simultaneously.

[0096] In the joint module 70, the main body 71 is provided with a protrusion 151 that protrudes from the end face 71a and extends radially, and a recess 175 that opens into the end face 71a and extends radially, and the joints PM (first joint part and third joint part) are arranged radially side by side within the recess 175, and the joints PF (second joint part and fourth joint part) are arranged radially side by side within the protrusion 151.

[0097] In this configuration, the protruding portion 151 is the only portion that protrudes from the end surface 71 a of the main body 71, which makes processing easier than a configuration in which the joints PF (second joint part and fourth joint part) protrude individually. Also, since the portions of the joints PF (second joint part and fourth joint part) that protrude from the end surface 71 a are integrated, strength is improved.

[0098] When the joint modules 70 are connected to each other, the end faces 71a of the main bodies 71 of the joint modules 70 come into contact with each other.

[0099] In this configuration, when the joint modules 70 are connected to each other, the end faces 71 a of the main bodies 71 come into contact with each other, so that the pressing force generated when the joint modules 70 are connected to each other can be prevented from acting on the tip portions of the connected joints PM (first joint portion) and joints PF (second joint portion). This prevents deformation and damage to the tip portions of the joints PM (first joint portion) and joints PF (second joint portion). Furthermore, when the joint modules 70 are connected to each other, gaps can be prevented from occurring between the joint modules 70.

[0100] In the joint module 70, the first joint part is a male joint configured so that its tip does not protrude from the end face 71a of the main body part 71, and the second joint part is a female joint configured so that its tip protrudes from the end face 71a of the main body part 71.

[0101] In this configuration, the main body 71 can be made thinner than when the tip of the male coupling protrudes from the end surface 71 a of the main body 71 and the tip of the female coupling protrudes from the end surface 71 a of the main body 71. This allows the coupling module 70 to be made lighter and less expensive.

[0102] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above embodiments.

[0103] In the above embodiment, an example was described in which a valve body 42 is provided in the joint PM and a valve body 52 is provided in the joint PF, but a valve body may be provided in only one of the joints PM and PF, or a valve body may not be provided in either of them.

[0104] The joint unit J can be applied to various devices, specifically to devices that use liquid, such as hydraulic devices, and devices that use gas.

[0105] This application claims priority based on Japanese Patent Application No. 2024-099964 filed with the Japan Patent Office on June 20, 2024, and Japanese Patent Application No. 2024-149892 filed with the Japan Patent Office on August 30, 2024, the entire contents of which are incorporated herein by reference.

Claims

1. A coupling module comprising: a main body; a plurality of first coupling parts each having a first flow path therein, the first coupling parts being arranged at equal intervals on a first imaginary circle and each opening onto an end face of the main body; a second coupling part each having a second flow path therein, the second coupling part being arranged at an intermediate position on the first imaginary circle between two adjacent first coupling parts and opening onto an end face of the main body; and a first communication passage connecting the first flow paths of the plurality of first coupling parts and the second flow path of the second coupling part to each other.

2. A coupling module according to claim 1, wherein the first coupling part further has a first on-off valve that opens and closes the first flow path, and the second coupling part further has a second on-off valve that opens and closes the second flow path, and when the coupling modules are connected to each other, one of the plurality of first coupling parts provided on one of the coupling modules is connected to the second coupling part provided on the other coupling module, and the second coupling part provided on one of the coupling modules is connected to one of the plurality of first coupling parts provided on the other coupling module, and the first on-off valve of the first coupling part and the second on-off valve of the second coupling part that are connected press against each other to open, thereby connecting the first flow path and the second flow path.

3. A coupling module as described in claim 1, further comprising: a plurality of third coupling parts each having a third flow path therein, the third coupling parts being arranged at equal intervals on a second imaginary circle that is concentric with the first imaginary circle and has a different diameter from the first imaginary circle, the third coupling parts each opening onto an end face of the main body; a fourth coupling part each having a fourth flow path therein, the fourth coupling part being arranged on the second imaginary circle so as to open at an intermediate position between two adjacent third coupling parts; and a second communication passage that connects the third flow paths of the plurality of third coupling parts and the fourth flow path of the fourth coupling part to each other.

4. A joint module as described in claim 3, wherein the main body is provided with a protruding portion that protrudes from the end face and extends radially, and a recess that opens into the end face and extends radially, the first joint portion and the third joint portion are male joints and are arranged side by side in the radial direction within the recess, and the second joint portion and the fourth joint portion are female joints and are arranged side by side in the radial direction within the protruding portion.

5. A joint module according to claim 1, wherein when the joint modules are connected to each other, the end faces of the main body portions of the joint modules come into contact with each other.

6. A coupling module according to claim 1, wherein the first coupling part is a male coupling configured so that its tip does not protrude from the end face of the main body part, and the second coupling part is a female coupling configured so that its tip protrudes from the end face of the main body part.

Images