Connection unit

Abstract

A connection unit (100) comprises connection modules (60A, 60B) that are connected to each other. The connection modules (60A, 60B) are each provided with: a plurality of arc-shaped upright sections (63) that each extend in the axial direction of a body section (62) from an end surface (62a) of the body section (62), and that are provided at equal intervals in the circumferential direction; arc-shaped first flange sections (64) that each protrude radially outward from a tip end part of a respective upright section (63); recesses (65) that are respectively provided between adjacent upright sections (63); second flange sections (66) that each protrude radially outward from the bottom of a respective recess (65); and a fixing member (67) that is provided radially outward of the second flange sections (66) and that is for fixing the connection modules (60A, 60B).

Description

Connecting unit

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

[0002] JP2021-28514A discloses an invention of a coupling that detachably connects an adapter and a coupler.

[0003] However, the coupling described in JP2021-28514A cannot connect adapters to each other or couplers to each other, which limits the degree of freedom in connection.

[0004] The present invention has been made in consideration of the above problems, and has an object to provide a connecting unit that has a high degree of freedom in connection.

[0005] According to one aspect of the present invention, a connection unit is a connection unit including a first connection module and a second connection module that are connected to each other, and each of the first connection module and the second connection module includes a cylindrical or columnar main body portion as a connection target, a plurality of arc-shaped erected portions extending from an end face of the main body portion in the axial direction of the main body portion or extending from a radially outer side of the main body portion in the axial direction of the main body portion and provided at equal intervals in the circumferential direction, arc-shaped first flange portions protruding radially outward from the tip end of each erected portion, recesses respectively provided between adjacent erected portions, and bottoms of each recess. and a fixing portion provided radially outward from the first connecting module and the second connecting module, and configured to fix the first connecting module and the second connecting module together. When the raised portions and recessed portions of the first connecting module and the second connecting module are combined and the first flange portions and the second flange portions are in contact with each other, the fixing portion of the first connecting module clamps the second flange portion of the first connecting module and the first flange portion of the second connecting module, and the fixing portion of the second connecting module clamps the second flange portion of the second connecting module and the first flange portion of the first connecting module.

[0006] FIG. 1 is a side view of a leg of a modular robot to which a connection unit according to an embodiment of the present invention is applied. FIG. 2 is a perspective view of the front side of the module. FIG. 3 is a schematic view of ports and oil passages formed in a cylinder block. FIG. 4 is a schematic view of oil passages when modules according to an embodiment of the present invention are connected to each other. FIG. 5 is a perspective view of a joint module according to an embodiment of the present invention. FIG. 6 is a plan view of a joint module according to an embodiment of the present invention. FIG. 7 is a cross-sectional structural view of a joint PM according to an embodiment of the present invention. FIG. 8 is a cross-sectional structural view of a joint PF according to an embodiment of the present invention. FIG. 9 is a diagram for explaining the connected state of a joint unit according to an embodiment of the present invention. FIG. 10 is a diagram for explaining the connected state of a joint unit according to an embodiment of the present invention. FIG. 11 is a diagram for explaining the connected state of a joint unit according to an embodiment of the present invention. FIG. 12 is a diagram for explaining the connected state of a joint unit according to an embodiment of the present invention. FIG. 13 is a perspective view of a connection unit according to a first embodiment of the present invention in an unconnected state. FIG. 14 is a plan view of a state in which a joint module is incorporated into a main body of a connection module according to the first embodiment of the present invention. FIG. 15 is an exploded view of a connection module according to the first embodiment of the present invention. 16A and 16B are enlarged views of the vicinity of the cylinder and second flange portion of the connecting module according to the first embodiment of the present invention, where (A) shows the connecting modules in a disconnected state and (B) shows the connecting modules in a connected state. FIG. 17 is a perspective view of a connecting module according to a second embodiment of the present invention. FIG. 18 is an exploded view of the connecting module according to the second embodiment of the present invention. FIG. 19 is an enlarged view of a cross section of the vicinity of the rotor and second flange portion of the connecting module according to the second embodiment of the present invention. FIG. 20 is a developed view of the vicinity of a groove provided in the rotor of the connecting module according to the second embodiment of the present invention, developed on a plane. FIG. 21 is a perspective view of a connecting unit according to a third embodiment of the present invention in a disconnected state. FIG. 22 is a perspective view of a connecting module according to the third embodiment of the present invention. FIG. 23 is a plan view of the connecting module according to the third embodiment of the present invention. FIG. 24 is a front view of the connecting module according to the third embodiment of the present invention.25A and 25B are enlarged views of the vicinity of the second flange portion of the connecting module according to the third embodiment of the present invention, in which (A) shows the connecting modules in a non-connected state and (B) shows the connecting modules in a connected state.

[0007] First Embodiment A connecting unit 100 according to a first embodiment of the present invention will be described with reference to the drawings.

[0008] The connection unit 100 includes a pair of detachably connectable connection modules 60 (connection module 60A and connection module 60B) (see FIGS. 1, 3, etc.). The connection unit 100 is used, for example, to connect modules M that make up a modular robot MR (see FIG. 1). The connection modules 60 are attached to each module M, and by connecting the connection modules 60 together, the modules M are maintained in a connected state. In this embodiment, a joint module 20, which will be described later, is attached inside each connection module 60, and by connecting the connection modules 60 together, the joint modules 20 are also maintained in a connected state.

[0009] First, the modular robot MR and the module M to which the connecting unit 100 is applied will be described with reference to Figures 1 to 4. Figure 1 is a diagram showing the legs of the modular robot MR. Figure 2 is a perspective view of the front side of the module M. Figure 3 is a diagram schematically showing the ports and oil passages formed in the cylinder block 32.

[0010] The modular robot MR shown in FIG. 1 is configured by connecting a plurality of modules M shown in FIG.

[0011] As shown in Figures 1 to 3, the module M has a first link 1, a second link 2 connected to the first link 1 so as to be freely movable relative to the first link 1, and a hydraulic cylinder 3 (see Figure 3) that moves the first link 1 and the second link 2 relative to each other.

[0012] The first link 1 and the second link 2 are rotatably connected via a rotary shaft 4. A third link 5 is rotatably connected to the hydraulic cylinder 3 and the second link 2.

[0013] The hydraulic cylinder 3 is an actuator that expands and contracts using hydraulic oil (working fluid) supplied from a pump (not shown) serving as a hydraulic pressure supply source. As shown in Fig. 3, the hydraulic cylinder 3 includes a cylinder block 32 in which a cylinder chamber 31 is formed, a piston 33a that is slidably inserted into the cylinder chamber 31 and divides the cylinder chamber 31 into a rod-side chamber 31a and 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 1a (see FIG. 2) of the first link 1 and is fixed to the housing 1a 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 37 (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 32a of the cylinder block 32. A cylinder head 34 is provided on the end face 32a of the cylinder block 32 to close the opening of the cylinder chamber 31 and through which a piston rod 33b passes. The cylinder head 34 is provided with a bearing 35 that slidably supports the piston rod 33b and a seal member 36 that prevents hydraulic oil from leaking from the cylinder chamber 31.

[0015] As shown in Figure 2, a slider 6 is coupled to the tip of the piston rod 33b, and one end of a third link 5 is rotatably connected to the slider 6 via a rotation shaft. The slider 6 is disposed between a pair of linear guides provided along the axial direction of the piston rod 33b within the housing 1a, and moves while being guided by the linear guides. The other end of the third link 5 is rotatably connected to the second link 2 via a rotation shaft 7.

[0016] The hydraulic cylinder 3 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 3 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 3 extends and contracts, the linear motion of the piston rod 33b is converted into rotational motion of the second link 2 via the third link 5, and the first link 1 and the second link 2 rotate relatively around the rotation axis 4. In this way, by driving the hydraulic cylinder 3, the first link 1 and the second link 2 can be rotated relatively. The module M has one degree of freedom of rotation about the rotation axis 4, and the first link 1, the second link 2, and the hydraulic cylinder 3 are connected to form a single degree of freedom.

[0017] Next, the ports and oil passages 37 formed in the cylinder block 32 will be described in detail with reference to FIG.

[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 M via a hose or piping, and unused pump ports P are sealed with plugs. Similarly, at least one of the tank ports T formed on the three surfaces is connected to the tank or another module M via a hose or piping, and unused tank ports T are sealed with plugs. In the example shown in FIGS. 1 to 4 , three ports are provided on the outer surface of the module M: ​​a pump port P, a 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 38a communicating with the pump port P, a discharge port 38b communicating with the tank port T, a rod-side port 38c communicating with the rod-side chamber 31a, and a counter-rod-side port 38d communicating with the counter-rod-side chamber 31b. Depending on its position, the servo valve switches communication between the supply port 38a and the discharge port 38b and the rod-side port 38c and the counter-rod-side port 38d.

[0020] 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 has a supply passage 37a connecting the pump port P with a supply port 38a of the servo valve, a discharge passage 37b connecting the tank port T with a discharge port 38b of the servo valve, a rod-side passage 37c connecting a rod-side port 38c of the servo valve with the rod-side chamber 31a, and a counter-rod-side passage 37d connecting a counter-rod-side port 38d of the servo valve with the counter-rod-side chamber 31b.

[0021] When the servo valve connects the supply port 38a and the rod-side port 38c and connects the discharge port 38b and the counter-rod-side port 38d, 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 3 to contract. On the other hand, when the servo valve connects the supply port 38a and the counter-rod-side port 38d and connects the discharge port 38b and the rod-side port 38c, 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 3 to extend.

[0022] Incidentally, when modules M are connected together for use as shown in Fig. 1, it is necessary to connect the pump port P and the tank port T provided on the modules M together as shown in Fig. 4. Therefore, in this embodiment, a coupling unit C is used to connect the pump port P and the tank port T of the modules M together without using hoses or piping.

[0023] The joint unit C according to this embodiment will be described in detail below with reference to FIGS. 5 to 12. FIG.

[0024] The coupling unit C includes a pair of coupling modules 20A and 20B. In this embodiment, the coupling modules 20A and 20B have the same shape, and therefore only the coupling module 20A will be described below. Note that, hereinafter, when describing matters common to the coupling modules 20A and 20B, the term "coupling module 20" will be used. The coupling module 20 is provided inside the main body 62 of the connecting module 60 (see FIGS. 2 and 14 ), which will be described later. In the example shown in FIGS. 1 to 4 , the coupling modules 20 are provided inside the connecting modules 60 provided on the end faces of the first link 1 and the second link 2. The coupling module 20 provided on the end face of the second link 2 is connected to the oil passage 37 in the cylinder block 32 by a tube or the like (not shown). Note that FIGS. 5 to 12 only show the structure of the coupling module 20.

[0025] 6, 7, 8, etc., the joint module 20 includes a disk-shaped main body 21, 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 21 a of the main body 21, 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 opens to the end surface 21 a of the main body 21. Note that in FIGS. 5, 6, 9 to 12, for ease of explanation, the joints PM are numbered as joints PM1a to PM1d, joints PM2a to PM2d, and joints PM2a to PM3d, but these joints have the same configuration. When explaining common matters related to these, the expression "joint PM" is used. Similarly, regarding the joint PF, although they are numbered joints PF1 to PF3, they have the same configuration. When explaining common matters related to these, the expression "joint PF" is used.

[0026] As shown in FIG. 6 , in the joint module 20 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 20 of this embodiment, three joints PM are arranged radially on the end face 21a of the main body portion 21, and these three joints PM are arranged at 90° intervals in the circumferential direction.

[0027] 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.

[0028] 6, the joints PM1a, PM1b, PM1c, PM1d, and PF1 provided on the imaginary circle C1 communicate with each other via an annular flow path 22 provided inside the main body 21. The joints PM2a, PM2b, PM2c, PM2d, and PF2 provided on the imaginary circle C2 communicate with each other via an annular flow path 23 provided inside the main body 21. The joints PM3a, PM3b, PM3c, PM3d, and PF3 provided on the imaginary circle C3 communicate with each other via an annular flow path 24 provided inside the main body 21. When the coupling unit C is used to connect the flow paths of the modules M shown in Figure 4, the flow path 22 communicates with the pump port P of the module M, the flow path 23 communicates with the spare port S (not shown in Figure 4) of the module M, and the flow path 24 communicates with the tank port T of the module M.

[0029] 7 and 8 , the main body 21 has a disk-shaped first main body 21A and a disk-shaped second main body 21B. The first main body 21A has a recess 25 that opens to one end face 21a and accommodates the joints PM and PF, and annular grooves (flow paths 22, 23, and 24) that open to the other end face 21b. The second main body 21B is fixed to the first main body 21A with bolts so as to cover the openings of the flow paths 22, 23, and 24.

[0030] Next, the structure of the joint PM will be described with reference to FIG.

[0031] 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 21 (first main body 21A) and housed in a recess 25 that opens to the end face 21a. The coupling PM has a valve element 42 as a first on-off valve provided in a 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 25 of the first main body 21A, and a spring retainer 45 that holds one end of the spring 43.

[0032] The housing 41 has a large diameter portion 41a that fits into the recess 25 of the first main body portion 21A, and a small diameter portion 41b that is smaller in diameter than the large diameter portion 41a and is inserted into 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.

[0033] 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 22, 23, and 24 through a communication path 26 that is provided so as to open to the bottom surface of the recess 25 of the first main body portion 21A.

[0034] The joint PM is fixed in the recess 25 by, for example, providing an internal thread in the recess 25 of the first main body portion 21A and providing an external thread in the large diameter portion 41a of the housing 41, and screwing these together. In this embodiment, the joint PM is provided so as not to protrude from the end surface 21a of the first main body portion 21A.

[0035] Next, the structure of the joint PF will be described with reference to FIG.

[0036] 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 21 (first main body 21A) and housed in a recess 25 that opens to the end face 21a. The coupling PF has 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 25 of the first main body 21A, and a spring retainer 55 that holds one end of the spring 53.

[0037] The housing 51 has a cylindrical base portion 51a that fits into the recess 25 of the first main body portion 21A, and a cylindrical fitting portion 51b that extends from the base portion 51a and into which the small diameter portion 41b of the joint PM is inserted. A space 56a 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.

[0038] 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.

[0039] 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 22, 23, and 24 through a communication path 26 that is provided so as to open to the bottom surface of the recess 25 of the first main body portion 21A. 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 22, 23, and 24.

[0040] The joint PF is fixed in the recess 25 by, for example, providing a female thread in the recess 25 of the first main body portion 21A 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 21a of the first main body portion 21A.

[0041] 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 surface of the valve element 42 of the joint PM and the tip 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.

[0042] Next, with reference to Figures 9 to 12, a description will be given of changes in the connection state due to changes in the relative positions of the joint modules 20A and 20B when the joint modules 20A and 20B are connected. Note that Figures 9 to 12 show a front view of the main body 21 of the joint module 20A as seen from the front side (the end surface 21a side), and a rear view of the main body 21 of the joint module 20B as seen from the rear side (the surface opposite the end surface 21a). Furthermore, in Figures 9 to 12, in order to make it easier to understand the joints to which the joints PM and PF are connected, the connected joints PM and PF in the joint modules 20A and 20B are shown with thick solid lines.

[0043] 9, PF1, PF2, and PF3 of the joint module 20A are connected to PM1a, PM2a, and PM3a of the joint module 20B, respectively, and PM1a, PM2a, and PM3a of the joint module 20A are connected to PF1, PF2, and PF3 of the joint module 20B, respectively. As a result, the flow path 22 of the joint module 20A and the flow path 22 of the joint module 20B are communicated with each other via PF1 of the joint module 20A and PM1a of the joint module 20B, and PM1a of the joint module 20A and PF1 of the joint module 20B. Similarly, the flow path 23 of the coupling module 20A and the flow path 23 of the coupling module 20B communicate with each other through PF2 of the coupling module 20A and PM2a of the coupling module 20B, and through PM2a of the coupling module 20A and PF2 of the coupling module 20B. The flow path 24 of the coupling module 20A and the flow path 24 of the coupling module 20B communicate with each other through PF3 of the coupling module 20A and PM3a of the coupling module 20B, and through PM3a of the coupling module 20A and PF3 of the coupling module 20B.

[0044] Next, the connection state of the joint module 20A and the joint module 20B in the state shown in Fig. 10 will be described. Fig. 10 shows a state in which the joint module 20B has been rotated 90° clockwise around point O from the position shown in Fig. 9.

[0045] 10, PF1, PF2, and PF3 of the joint module 20A are connected to PM1b, PM2b, and PM3b of the joint module 20B, respectively, and PM1b, PM2b, and PM3b of the joint module 20A are connected to PF1, PF2, and PF3 of the joint module 20B, respectively. As a result, the flow path 22 of the joint module 20A and the flow path 22 of the joint module 20B are communicated through PF1 of the joint module 20A and PM1b of the joint module 20B, and PM1b of the joint module 20A and PF1 of the joint module 20B. Similarly, the flow path 23 of the coupling module 20A and the flow path 23 of the coupling module 20B communicate with each other through PF2 of the coupling module 20A and PM2b of the coupling module 20B, and through PM2b of the coupling module 20A and PF2 of the coupling module 20B. The flow path 24 of the coupling module 20A and the flow path 24 of the coupling module 20B communicate with each other through PF3 of the coupling module 20A and PM3b of the coupling module 20B, and through PM3b of the coupling module 20A and PF3 of the coupling module 20B.

[0046] Next, the connection state of the joint module 20A and the joint module 20B in the state shown in Fig. 11 will be described. Fig. 11 shows a state in which the joint module 20B has been rotated 90° clockwise around point O from the position shown in Fig. 10.

[0047] 11, PF1, PF2, and PF3 of the joint module 20A are connected to PM1c, PM2c, and PM3c of the joint module 20B, respectively, and PM1c, PM2c, and PM3c of the joint module 20A are connected to PF1, PF2, and PF3 of the joint module 20B, respectively. As a result, the flow path 22 of the joint module 20A and the flow path 22 of the joint module 20B are communicated with each other via PF1 of the joint module 20A and PM1c of the joint module 20B, and PM1c of the joint module 20A and PF1 of the joint module 20B. Similarly, the flow path 23 of the joint module 20A and the flow path 23 of the joint module 20B communicate with each other through PF2 of the joint module 20A and PM2c of the joint module 20B, and through PM2c of the joint module 20A and PF2 of the joint module 20B. The flow path 24 of the joint module 20A and the flow path 24 of the joint module 20B communicate with each other through PF3 of the joint module 20A and PM3c of the joint module 20B, and through PM3c of the joint module 20A and PF3 of the joint module 20B.

[0048] Next, the connection state of the joint module 20A and the joint module 20B in the state shown in Fig. 12 will be described. Fig. 12 shows a state in which the joint module 20B has been rotated 90° clockwise around point O from the position shown in Fig. 11.

[0049] 12, PF1, PF2, and PF3 of the joint module 20A are connected to PM1d, PM2d, and PM3d of the joint module 20B, respectively, and PM1d, PM2d, and PM3d of the joint module 20A are connected to PF1, PF2, and PF3 of the joint module 20B, respectively. As a result, the flow path 22 of the joint module 20A and the flow path 22 of the joint module 20B are communicated through PF1 of the joint module 20A and PM1d of the joint module 20B, and PM1d of the joint module 20A and PF1 of the joint module 20B. Similarly, the flow path 23 of the coupling module 20A and the flow path 23 of the coupling module 20B communicate with each other through PF2 of the coupling module 20A and PM2d of the coupling module 20B, and through PM2d of the coupling module 20A and PF2 of the coupling module 20B. The flow path 24 of the coupling module 20A and the flow path 24 of the coupling module 20B communicate with each other through PF3 of the coupling module 20A and PM3d of the coupling module 20B, and through PM3d of the coupling module 20A and PF3 of the coupling module 20B.

[0050] In this way, in the joint unit C, a plurality of joints PM are provided at equal intervals on an imaginary circle on each end surface 21 a of the main body 21 of the joint modules 20A, 20B, 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 20A, 20B change.

[0051] In the joint unit C, the joint modules 20A and 20B have joints PM1a-PM1d, 2a-PM2d, and 3a-PM3d spaced circumferentially at 90° intervals, and joints PF1-PF3 are provided at intermediate positions between adjacent joints PM1a-PM3a and PM1d-PM3d (positions where the angle formed by the joints PM1a-PM3a and PM1d-PM3d with point O as the apex is 45°). Furthermore, in the joint unit C, the joint modules 20A and 20B are arranged so that the positions of the joints PF and PM are shifted by 45° from each other. 9 to 12, in the joint unit C, when the joint module 20B is rotated 90° relative to the joint module 20A, the joints PF1 to PF3 of the joint module 20A are opposed in order to the joints PM1a to 1d, 2a to 2d, 3a to 3d, and 4a to 4d of the joint module 20B. Furthermore, the joints PF1 to PF3 of the joint module 20B are opposed in order to the joints PM1a to 1d, 2a to 2d, 3a to 3d, and 4a to 4d of the joint module 20A. In this way, in the joint unit C, the joint PF can be connected to any of the joints PM even if the relative positions of the pair of joint modules 20A and 20B are changed.

[0052] Furthermore, in the joint unit C, the positions of the joints PF, PM of the joint modules 20A, 20B are shifted from each other in the circumferential direction by 45°. As shown in Figures 9 to 12, when the joint PF of the joint module 20A is opposed to one of the joints PM of the joint module 20B, the joint PF of the joint module 20B can be opposed to one of the joints PM of the joint module 20A. In other words, in the joint unit C, when the joint PF of the joint module 20A is connected to the joint PM of the joint module 20B, the joint PF of the joint module 20B can be connected to the joint PM of the joint module 20A. As a result, when the joint modules 20A, 20B are connected, two joints are connected in each of the flow paths 22, 23, and 24, and the flow rate of the fluid passing through the joint unit C can be increased.

[0053] Furthermore, in the joint unit C, three joints PM and three joints PF are arranged radially in a row, and these are connected to the annular flow paths 22, 23, and 24, respectively. Therefore, even if the relative positions of the joint modules 20A and 20B change and the joints to be connected change, the flow paths 22, 23, and 24 can be connected to each other.

[0054] Therefore, by using a coupling unit C to connect the flow paths of the modules M that make up the modular robot MR as shown in Figures 1 to 4, it is possible to connect the pump ports P to each other through the flow paths 22 of the coupling unit C, and to connect the tank ports T to each other through the flow paths 24, regardless of the connection direction of the modules M.

[0055] In the above embodiment, an example was described in which only the joint PF protrudes from the end face 21a of the first main body portion 21A, but this is not limited to this. It is also possible to configure only the joint PM to protrude from the end face 21a of the first main body portion 21A, or to configure both the joint PF and the joint PM to protrude from the end face 21a of the first main body portion 21A.

[0056] In addition, in the above embodiment, an example was described in which the end faces 21a of the first main body portions 21A of the joint modules 20A, 20B come into contact with each other when the joint PM and the joint PF are connected, but the end faces 21a of the first main body portions 21A of the joint modules 20A, 20B may be spaced apart when the joint PM and the joint PF are connected.

[0057] 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).

[0058] 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.

[0059] Next, the connecting unit 100 according to the first embodiment will be described with reference to FIGS. 13 to 16 . FIG. 13 is a perspective view of the connecting unit 100 (connecting modules 60A and 60B) in a disconnected state. FIG. 14 is a plan view of the connecting module 60 with the joint module 20 assembled into the main body 62. FIG. 15 is an exploded view of the connecting module 60. FIG. 16 is an enlarged view of the vicinity of the cylinder 70 and second flange 66 of the connecting module 60A, where (A) shows the connecting module 60A in a disconnected state and (B) shows the connecting module 60A connected to the connecting module 60B. Note that in FIGS. 13 , 15 , and 16 , the joint module 20 is omitted, and only the structure of the connecting module 60 is shown.

[0060] The connecting unit 100 is used to hold the module M and the joint module 20 in a connected state.

[0061] 13, the connecting unit 100 includes a connecting module 60A as a first connecting module and a connecting module 60B as a second connecting module. Since the connecting module 60A and the connecting module 60B of this embodiment have the same shape, only the connecting module 60A will be described below. Note that, below, when describing matters common to the connecting module 60A and the connecting module 60B, the term "connecting module 60" will be used.

[0062] 13 to 16 , the connecting module 60 includes a base member 61A, a cover member 61B that forms a housing with the base member 61A, a main body portion 62 that is provided radially inside the cover member 61B and serves as a connecting object fixed to the base member 61A, a plurality of arc-shaped upright portions 63 that extend from an end face 62 a of the main body portion 62 in the axial direction of the main body portion 62 and are provided at equal intervals in the circumferential direction of the main body portion 62, arc-shaped first flange portions 64 that protrude radially outward from the tip ends of each of the upright portions 63, recesses 65 that are provided between adjacent upright portions 63, arc-shaped second flange portions 66 that protrude radially outward from the bottoms 65 a of each of the recesses 65, a fixing member 67 that is provided radially outside the second flange portions 66 and serves as a fixing portion for connecting and fixing the connecting modules 60 to each other, and a guide portion 68 formed to protrude radially outward from the base end side of the upright portions 63. The term "axial direction" refers to the axial direction of the main body 62, and the term "radial direction" refers to the radial direction of the main body 62.

[0063] The base member 61A is formed in the shape of an annular plate from a metal material such as aluminum. The connection module 60 is attached to the module M by fixing the base member 61A to the module M with bolts or the like.

[0064] The cover member 61B is formed into a cylindrical shape from a metal material such as aluminum. As shown in Figures 15 and 16, the cover member 61B has a cylindrical first cylindrical portion 61a and a second cylindrical portion 61b that extends from an end face of the first cylindrical portion 61a and has an inner diameter larger than that of the first cylindrical portion 61a. The tip of the second cylindrical portion 61b of the cover member 61B is fixed to the base member 61A, thereby integrating the base member 61A and the cover member 61B.

[0065] The main body 62 is formed into a cylindrical shape from a metal material such as aluminum. One end of the main body 62 is fixed to the base member 61A (see FIG. 16 , etc.). The main body 21 of the joint module 20 is fitted into the main body 62 (see FIG. 14 ). The main body 62 may be formed integrally with the main body 21 of the joint module 20.

[0066] As shown in FIG. 15 and other figures, the main body 62 is provided with a cylindrical support portion 62 b that extends axially from an end face 62 a and has an outer diameter smaller than that of the main body 62 .

[0067] The erected portions 63 are provided so as to extend in the axial direction from one end surface 62 a of the main body portion 62. In this embodiment, the erected portions 63 are formed in an arc shape with a central angle of approximately 45°, and four erected portions 63 are provided at 90° intervals in the circumferential direction of the main body portion 62.

[0068] The first flange portion 64 is formed in an arc shape along the outer peripheral surface of the standing portion 63. An end face 64a on one side of the axial direction (the tip end side) of the first flange portion 64 is formed flush with an end face 63a of the standing portion 63. An end face 64b on the other side of the axial direction (the base end side) of the first flange portion 64 is formed by a tapered surface in which the first flange portion 64 tapers radially outward (see FIG. 16 , etc.).

[0069] The recesses 65 are formed between adjacent standing portions 63 in the circumferential direction. The recesses 65 are formed by the opposing side surfaces of adjacent standing portions 63 and the end surface 62a of the main body portion 62. In this embodiment, the recesses 65 are formed in an arc shape with a central angle of approximately 45° on the same circle as the standing portions 63, and four recesses 65 are provided at 90° intervals in the circumferential direction of the main body portion 62. The circumferential length of the recesses 65 is formed to be approximately equal to the circumferential length of the standing portions 63 or slightly longer than the standing portions 63. This allows the standing portions 63 of the mating connecting module 60 to be connected to fit into the recesses 65.

[0070] The second flange portions 66 are formed to protrude radially outward from bottoms 65a of the recesses 65, i.e., from the vicinity of the end faces 62a of the main body portion 62. One axial end face 66a of the second flange portions 66 is formed flush with the bottom faces of the recesses 65 (end faces 62a of the main body portion 62). The other axial end face 66b of the second flange portions 66 is formed by a tapered surface that tapers radially outward (see FIG. 16 ).

[0071] The fixing member 67 is an arc-shaped member made of a metal material such as aluminum. As shown in Figures 15 and 16, a tapered groove 67a extending in the circumferential direction and widening radially inward is formed on the inner peripheral surface of the fixing member 67. A tapered surface portion 67b narrowing in the axial direction (toward the base member 61A) is formed on the outer peripheral surface of the fixing member 67 (see Figure 16). Also, as shown in Figure 15, the fixing member 67 is provided with guide grooves 67c that open on both circumferential end surfaces and slidably fit into the guide portions 68.

[0072] Four fixing members 67 are provided so as to face the four second flange portions 66, respectively, and each fixing member 67 is provided in a position where the groove 67a faces the second flange portion 66. Coil springs 69 are provided between the fixing members 67 and the main body portion 62, and between the fixing members 67 and the standing portions 63, as first biasing members that bias the fixing members 67 radially outward.

[0073] As shown in FIG. 16 and other figures, the connection module 60 further includes a cylinder 70 as a drive mechanism for driving the fixing member 67 in the radial direction.

[0074] The cylinder 70 drives the fixed member 67 in the radial direction by supplying and discharging fluid pressure. As shown in Fig. 16 , the cylinder 70 has a piston 71 that is driven by the supply of fluid pressure, a pressure chamber 72 to which the fluid pressure for driving the piston 71 is introduced, and a coil spring 73 that urges the piston 71 toward its initial position.

[0075] The piston 71 has a circular pressure-receiving portion 71a having a pressure-receiving surface on which fluid pressure acts, and a pressing portion 71b extending axially from one end face of the pressure-receiving portion 71a (the end face opposite the pressure chamber 72).

[0076] The pressure-receiving portion 71a is provided with a sealing member 74a that seals between the outer surface of the pressure-receiving portion 71a and the second cylindrical portion 61b of the cover member 61B, and a sealing member 74b that seals between the inner surface of the pressure-receiving portion 71a and the outer surface of the main body portion 62.

[0077] The inner periphery of the pressing portion 71b is provided with a tapered surface 71c that expands in diameter toward the tip (toward the fixed member 67) and comes into sliding contact with the tapered surface portion 67b of the fixed member 67. A seal member 74c is provided between the pressing portion 71b and the first cylindrical portion 61a of the cover member 61B to seal the gap therebetween.

[0078] The pressure chamber 72 is defined by the base member 61A, the second cylindrical portion 61b of the cover member 61B, the outer circumferential surface of the main body portion 62, and the pressure-receiving portion 71a of the piston 71. Hydraulic oil discharged from a pump (not shown) provided in the module M or the like is supplied to the pressure chamber 72 through a supply / discharge port (not shown) provided in the base member 61.

[0079] Next, a method for connecting the connecting module 60A and the connecting module 60B (connecting modules 60) will be described with reference to FIG. 16 and other figures.

[0080] When connecting the connecting module 60A and the connecting module 60B (the connecting modules 60), first, the upright portions 63 and the recessed portions 65 of the connecting module 60A and the connecting module 60B are mated together. Specifically, the upright portions 63 of the connecting module 60A are inserted into the recessed portions 65 of the connecting module 60B, and the upright portions 63 of the connecting module 60B are inserted into the recessed portions 65 of the connecting module 60A.

[0081] Then, the end face 64a of the first flange portion 64 of the connecting module 60A is abutted against the end face 66a of the second flange portion 66 of the connecting module 60B, and the end face 66a of the second flange portion 66 of the connecting module 60A is abutted against the end face 64a of the first flange portion 64 of the connecting module 60B (see Figure 16 (B)).

[0082] Next, hydraulic oil (fluid pressure) is supplied to the pressure chambers 72 of the cylinders 70 of the connecting modules 60A and 60B. As a result, each piston 71 moves toward the fixing member 67 (upward in the connecting module 60A shown in FIG. 16 ) against the biasing force of the coil spring 73. At this time, in each of the connecting modules 60A and 60B, the tapered surfaces 71c of the pistons 71 and the tapered surfaces 67b of the fixing members 67 form a wedge effect, pushing the fixing members 67 radially inward as the tapered surfaces 71c of the pistons 71 rise, and the fixing members 67 move radially inward against the biasing force of the coil springs 69. As a result, the first flange portion 64 and the second flange portion 66, which are in contact with each other, fit into the grooves 67a of each fixing member 67 (see FIG. 16B ).

[0083] As described above, the groove 67a of the fixing member 67 is formed in a tapered shape that widens radially inward, and the end face 64b of the first flange portion 64 and the end face 66b of the second flange portion 66 are formed by tapered surfaces that taper radially outward, so that the wedge effect of these causes the first flange portion 64 and the second flange portion 66 to be pressed against each other.

[0084] In this way, in the connecting unit 100 of this embodiment, with the erected portions 63 and recessed portions 65 of the connecting modules 60A and 60B combined with each other, the connecting modules 60A and 60B can be connected by supplying fluid pressure to the cylinders 70 (pressure chambers 72) of the connecting modules 60A and 60B. Furthermore, by maintaining a state in which hydraulic oil is supplied to each pressure chamber 72, the connected state of the connecting modules 60A and 60B can be maintained.

[0085] It should be noted that it is not necessary to keep the pump running all the time in order to maintain the connected state of the connection module 60A and the connection module 60B, and for example, a normally closed valve or a pilot check valve may be provided in the flow path connecting the pump and the pressure chamber 72. In this case, energy such as electricity is not required to maintain the connected state, and therefore energy consumption can be reduced.

[0086] To release the connection between the connecting module 60A and the connecting module 60B, the fluid pressure supplied to the cylinder 70 (pressure chamber 72) is simply discharged. When the fluid pressure in the pressure chamber 72 decreases, the piston 71 moves toward its initial position (the position shown in FIG. 16A) due to the biasing force of the coil spring 73. This reduces the radially inward pressing force of the piston 71, and the fixing member 67 moves radially outward due to the biasing force of the coil spring 69. As a result, the first flange portion 64 and the second flange portion 66 come out of the groove 67a of the fixing member 67, and the connection between the connecting module 60A and the connecting module 60B is released.

[0087] The connecting unit 100 according to the first embodiment described above provides the following effects.

[0088] In the connecting unit 100, each of the connecting modules 60A and 60B has a plurality of arc-shaped upright portions 63 provided at equal intervals in the circumferential direction, and recesses 65 provided between adjacent upright portions 63. Specifically, in the connecting unit 100, each of the connecting modules 60A and 60B has the upright portions 63, recesses 65, first flange portions 64, second flange portions 66, and fixing members 67 provided at 90° intervals. This allows the connecting modules 60A and 60B to be connected and fixed together even if the relative angle between them is changed by rotating them relative to each other in the circumferential direction, specifically, every time the relative angle between the connecting modules 60A and 60B is shifted by 90°.

[0089] Furthermore, for example, if only one of the connecting modules 60A and 60B is equipped with the fixing member 67 and the cylinder 70, it is not possible to connect the connecting modules 60A to each other or the connecting modules 60B to each other. In contrast, in the connecting unit 100 of this embodiment, both the connecting modules 60A and the connecting modules 60B are equipped with the fixing member 67 and the cylinder 70, so that it is possible to connect and fix the connecting modules 60 to each other, even if the connecting modules 60A are connected to each other or the connecting modules 60B are connected to each other. Therefore, the connecting unit 100 can increase the degree of freedom in connecting the connecting modules 60 to each other.

[0090] Furthermore, by making the connecting module 60A and the connecting module 60B have the same shape, it is possible to reduce costs and the number of types of parts.

[0091] Furthermore, in the connecting unit 100, the upright portions 63 and recesses 65 of the connecting modules 60A and 60B are fitted together, which makes it possible to restrict relative rotation between the connecting modules 60A and 60B. Furthermore, in the connecting unit 100, the support portions 62b are provided radially inside the recesses 65, so that when the upright portions 63 and recesses 65 of the connecting modules 60A and 60B are fitted together, radial movement of the upright portions 63 can be restricted by the support portions 62b of the other modules.

[0092] Furthermore, in the connection unit 100, the connection module 60A and the connection module 60B can be maintained in a connected state simply by supplying fluid pressure to the cylinder 70, and the connection state between the connection module 60A and the connection module 60B can be released simply by discharging the fluid pressure from the cylinder 70.

[0093] The connection unit 100 can also be used as a means for connecting and fixing the joint modules 20 to each other or the modules M to each other. Furthermore, by using the connection unit 100, the joint modules 20 can be connected to each other or the modules M even when they are rotated relative to each other. Furthermore, since the connection unit 100 and the joint module 20 are not distinguished by gender, when the modular robot MR is to be used at a disaster site or the like, for example, the modules M to which the connection unit 100 and the joint module 20 are attached can be transported to the site in separate pieces, and the modular robot MR can be easily assembled at the site.

[0094] In the above embodiment, the first flange portion 64 of the connecting module 60A and the second flange portion 66 of the connecting module 60B abut against each other, but this is not limiting. For example, the tip surfaces of the support portions 62b may abut against each other, or the bottom portion 65a of the recess 65 may abut against the end surface 63a of the standing portion 63. In this case, a slight gap may exist between the first flange portion 64 of the connecting module 60A and the second flange portion 66 of the connecting module 60B.

[0095] In addition, in the above embodiment, the cylinder 70 is described as a so-called single-acting fluid pressure cylinder equipped with a coil spring 73 that biases the piston 71, but this is not limited to this, and the cylinder 70 may also be a double-acting type.

[0096] In the above embodiment, the case where the connecting modules 60A and 60B can be connected to each other at relative angles of exactly 90° has been described as an example, but this is not limiting, and the angular intervals between the erected portions 63 and the recessed portions 65 may be smaller (for example, 60° or 45°). This allows for greater flexibility in connecting the connecting modules 60 to each other.

[0097] In the above embodiment, the connection unit 100 is used to connect the joint units C (joint modules 20) or the modular robots MR (modules M), but there is no limitation on the objects to be connected. Also, for example, the main body 62 itself may be a pipe or a piping for flowing fluids.

[0098] Second Embodiment Next, a connection unit 200 according to a second embodiment will be described with reference to Figs. 17 to 20. Fig. 17 is a perspective view of a connection module 260 associated with the connection unit 200. Fig. 18 is an exploded view of the connection module 260. Fig. 19 is an enlarged view of the vicinity of the second flange portion 66 of the connection module 260A. Note that Figs. 17 to 19 illustrate the structure of only one of the connection modules 260 associated with the connection unit 200. Furthermore, Figs. 17 to 19 omit the joint module 20 and illustrate the structure of only the connection module 260, and Fig. 18 omits a ring gear 272, which will be described later.

[0099] The connecting unit 100 (connecting module 60) according to the first embodiment is provided with an arc-shaped fixing member 67 and a cylinder 70 that drives the fixing member 67 in the radial direction, whereas the connecting unit 200 (connecting module 260) according to the second embodiment is provided with a cylindrical fixing member 267 and a rotation mechanism 270 that rotationally drives the fixing member 267. Only the differences from the connecting unit 100 and connecting module 60 according to the first embodiment will be described below, and the same components will be assigned the same numbers and will not be described again.

[0100] The connection unit 200 includes a pair of connection modules 260 (connection module 260A and connection module 260B). In this embodiment, the connection modules 260A and 260B have the same shape, and therefore only the connection module 260A will be described below. Note that, below, when describing matters common to the connection modules 260A and 260B, the term "connection module 260" will be used.

[0101] As shown in FIGS. 17 to 19 , the connecting module 260 includes a base member 261, a main body portion 262 as a connecting object fixed to the base member 261, and a fixing member 267 as a fixing portion for connecting and fixing the connecting modules 260 to each other. The main body portion 262 of this embodiment differs from the main body portion 62 of the first embodiment in that it does not include the guide portion 68 of the connecting module 60 of the first embodiment, and in that, while the thickness of the first flange portion 64 of the first embodiment is uniform in the circumferential direction, the end surface 264b of the first flange portion 64 is formed as a tapered surface that slopes toward one side in the circumferential direction so that the thickness increases toward one side (the X1 direction in FIGS. 18 and 20 ). Apart from these two differences, the main body portion 62 and the main body portion 262 have the same shape. Hereinafter, the direction opposite to the X1 direction in FIGS. 18 and 20 is referred to as the “X2 direction.”

[0102] 18 and other figures, the base member 261 of this embodiment is formed in the shape of an annular plate from a metal material such as aluminum. The connecting module 260 is attached to the module M by fixing the base member 261 to the module M with bolts or the like.

[0103] 18 and 19, the fixing member 267 is a cylindrical member made of a metal material such as aluminum. The fixing member 267 houses the main body 262 therein.

[0104] The fixing member 267 has a cylindrical first cylindrical portion 267a and a second cylindrical portion 267b that extends from the end face of the first cylindrical portion 267a and has an inner diameter larger than that of the first cylindrical portion 267a. A step portion 267c, with which the end face 66b of the second flange portion 66 slides, is provided at the boundary between the first cylindrical portion 267a and the second cylindrical portion 267b. The step portion 267c is formed by an annular tapered surface that has approximately the same inclination angle as the end face 66b of the second flange portion 66.

[0105] A circular first protrusion 267d protruding radially outward is provided at the tip of the second cylindrical portion 267b of the fixing member 267. Furthermore, four second protrusions 267e, each having a sector-shaped cross section in the axial direction, are provided on the outer circumferential surface of the first cylindrical portion 267a of the fixing member 267 and protruding radially outward at predetermined intervals (approximately 90°).

[0106] A tapered groove 267f extending in the circumferential direction and widening toward one side in the circumferential direction (X2 direction) is formed on the inner circumferential surface of the second cylindrical portion 267b of the fixing member 267 (see FIG. 18). The groove 267f will be described in detail later.

[0107] 17 to 19 , the connection module 260 further includes a rotation mechanism 270 serving as a drive mechanism for rotating the fixed member 267. The rotation mechanism 270 includes a cylindrical rotating body 271, a ring gear 272 attached to the outer periphery of the rotating body 271, and a plurality of coil springs 273 serving as second biasing members that bias the fixed member 267 and the rotating body 271 in opposite circumferential directions.

[0108] The fixed member 267 and the main body 262 are housed inside the rotating body 271. Recesses 271a that house the second protrusion 267e and coil spring 273 of the fixed member 267 are provided on the inner circumferential surface of the rotating body 271. The recesses 271a are formed by cutting out the inner circumferential surface of the fixed member 267 to form arc-shaped recesses. The recesses 271a are provided in four locations at predetermined intervals (approximately 90°) apart.

[0109] The rotating body 271 is held between the first protrusion 267d of the fixing member 267 and the base member 261, and the fixing member 267 is held between the second flange portion 66 of the main body portion 62 fixed to the base member 261 and the base member 261. In other words, the fixing member 267 and the rotating body 271 are held rotatably between the base member 261 and the main body portion 62.

[0110] The ring gear 272 meshes with a gear attached to the rotating shaft of a rotary power device such as a motor (not shown). By driving the rotary power device, the rotating body 271 rotates together with the ring gear 272. There are no particular restrictions on the type of rotary power device, but it is preferable that the rotary power device be a motor equipped with a locking mechanism that locks the rotation of the rotating shaft when not energized.

[0111] The coil spring 273 is housed in the recess 271 a in a compressed state between the side surface of the recess 271 a and the side surface of the second protruding portion 267 e inserted into the recess 271 a. As a result, the coil spring 273 biases the fixed member 267 and the rotating body 271 in opposite circumferential directions, thereby suppressing rattling caused by, for example, backlash of gears such as the ring gear 272, or wear of the first flange portion 64, the second flange portion 66, or the third protruding portion 267 g.

[0112] Next, the groove 267f will be specifically described with reference to Fig. 20. Fig. 20 is a development view of the vicinity of the groove 267f developed on a plane.

[0113] As shown in FIG. 20 , the inner circumferential surface of the second cylindrical portion 267b of the fixing member 267 is provided with third protrusions 267g that protrude radially inward and extend circumferentially (see also FIG. 18 ). The third protrusions 267g are formed in an arc shape along the inner circumferential surface of the second cylindrical portion 267b, and are provided in four locations at predetermined intervals (approximately 90°). In this embodiment, the grooves 267f are formed by gaps between the stepped portions 267c and the third protrusions 267g in the axial direction. The grooves 267f are formed so as to widen in the X2 direction by inclining the side surface 267h of the third protrusions 267g that faces the stepped portions 267c.

[0114] Next, a method of connecting the connecting module 260A and the connecting module 260B (connecting modules 260) will be described. Note that, although only the connection using the connecting module 260A will be described below, the connection using the connecting module 260B is also performed in the same procedure as the connection using the connecting module 260A.

[0115] When connecting the connecting module 260A and the connecting module 260B (connecting modules 260), the upright portions 63 and recesses 65 of the connecting module 260A and the connecting module 260B are combined with each other, as with the connecting module 60A and the connecting module 60B in the first embodiment.

[0116] Furthermore, the end face 64a of the first flange portion 64 of the connecting module 260A is abutted against the end face 66a of the second flange portion 66 of the connecting module 260B, and the end face 66a of the second flange portion 66 of the connecting module 260A is abutted against the end face 64a of the first flange portion 64 of the connecting module 260B (see Figure 20 (A)).

[0117] Next, the motor of the connecting module 260A is driven to rotate the rotors 271 in the X2 direction. As a result, the side surfaces of the recesses 271a of the rotors 271 press the second protrusions 267e of the fixing members 267 via the coil springs 273, causing the fixing members 267 to rotate in the X2 direction.

[0118] When the fixing member 267 rotates in the X2 direction, the abutting second flange portion 66 of the connecting module 260A and the first flange portion 64 of the connecting module 260B enter the groove 267f of the fixing member 267 of the connecting module 260A. As described above, the groove 267f widens in the X2 direction, in other words, tapers in the X1 direction, so that as the fixing member 267 moves in the X2 direction, the wedge effect of the groove 267f presses the first flange portion 64 and the second flange portion 66 against each other.

[0119] In this way, in the connection unit 200 of this embodiment, with the upright portions 63 and recesses 65 of the connection modules 260A and 260B assembled together, the connection modules 260A and 260B can be connected by driving the rotation mechanisms 270 of each of the connection modules 260A and 260B to rotate the fixing members 267. If the motor serving as the rotational power device is equipped with a locking mechanism, the connection state between the connection modules 260A and 260B can be maintained even if the supply of power to the motor is stopped. In this case, energy such as electric power is not required to maintain the connection state, and energy consumption can be reduced.

[0120] To release the connection between the connecting module 260A and the connecting module 260B, the rotary power unit is rotated in the reverse direction. Reverse rotation of the motor rotates the rotor 271 in the X1 direction. This causes the second protrusion 267e to abut against the side surface of the recess 271a of the rotor 271, causing the fixing member 267 to rotate in the X1 direction together with the rotor 271. As a result, the third protrusion 267g (groove 267f) moves in the X1 direction, releasing the connection between the connecting module 260A and the connecting module 260B.

[0121] The connecting unit 200 according to the second embodiment described above has the following advantages in addition to the advantages of the connecting unit 100 according to the first embodiment.

[0122] In the connecting unit 200, the rotation mechanism 270 is driven by a motor, so there is no need to install fluid pressure piping. Furthermore, compared to when the cylinder 70 is used, the number of parts can be reduced, and there is no need to secure space for the piston 71 and the pressure chamber 72, so the device can be kept small.

[0123] Third Embodiment Next, a connection unit 300 according to a third embodiment will be described with reference to Figs. 21 to 25. Fig. 21 is a perspective view of the connection unit 300 (connection modules 360A, 360B) in an unconnected state. Fig. 22 is a perspective view of the connection module 360 ​​of the connection unit 300. Fig. 23 is a plan view of the connection module 360 ​​of the connection unit 300. Fig. 24 is a front view of the connection module 360 ​​of the connection unit 300. Fig. 25 is an enlarged view of the vicinity of the second flange portion 66 of the connection module 360A. Note that Figs. 21 to 25 omit the joint module 20 and illustrate the structures of only the connection unit 300 and the connection module 360.

[0124] The connection unit 100 (connection module 60) according to the first embodiment moves the fixing members 67 in the radial direction by driving the cylinder 70, whereas the connection unit 300 (connection module 360) according to the third embodiment moves the fixing members 67 in the radial direction by pulling the ropes 371 with a tensioning device 372. Only the differences from the connection unit 100 and connection module 60 according to the first embodiment will be described below, and the same components will be assigned the same numbers and will not be described again.

[0125] The connection unit 300 includes a pair of connection modules 360 (connection module 360A and connection module 360B). In this embodiment, the connection modules 360A and 360B have the same shape, and therefore only the connection module 360A will be described below. Note that, below, when describing matters common to the connection modules 360A and 360B, the term "connection module 360" will be used.

[0126] 21 to 25 , the connecting module 360 ​​includes a base member 361, a main body portion 362 as a connection target fixed to the base member 361, a fixing member 367 as a fixing portion for connecting and fixing the connecting modules 360 to each other, and a holding portion 368 that holds the fixing member 367 so that it can move freely in the radial direction. The main body portion 362 of this embodiment differs from the connecting module 60 of the first embodiment in that it does not include the guide portion 68 formed on the connecting module 60 of the third embodiment, and in that the main body portion 362 of the third embodiment is provided on its outer circumferential surface with a spring bearing portion 362c that supports one end of a coil spring 369, which will be described later. Apart from these two differences, the main body portion 62 and the main body portion 362 have the same shape.

[0127] The base member 361 is formed in a flat plate shape from a metal material such as aluminum. The connection module 360 ​​is attached to the module M by fixing the base member 361 to the module M with bolts or the like.

[0128] The main body 362 is formed into a cylindrical shape from a metal material such as aluminum. One end of the main body 362 is fixed to the base member 361. The main body 21 of the joint module 20 is fitted into the main body 362. Note that the main body 362 may be formed integrally with the main body 21 of the joint module 20.

[0129] A spring bearing portion 362c is provided on the outer peripheral surface of the main body portion 362 to support one end of a coil spring 369, which will be described later.

[0130] The fixing member 367 is an arc-shaped member made of a metal material such as aluminum. A tapered groove 367a extending in the circumferential direction and widening radially inward is formed on the inner peripheral surface of the fixing member 367 (see FIG. 25 ). A groove 367b extending in the circumferential direction is formed on the outer peripheral surface of the fixing member 367, into which a cable 371 (described later) is inserted.

[0131] The fixing members 367 are provided so as to face the four second flange portions 66, respectively (see FIGS. 22 and 23 ). Each fixing member 367 is provided in a position where the groove 367 a faces the second flange portion 66. A coil spring 369 is provided between the fixing member 367 and the main body portion 362 as a first biasing member that biases the fixing member 367 radially outward (see FIG. 25 ).

[0132] The retaining portion 368 has a guide member 368a attached to the end of the fixed member 367 on the base member 361 side, a support member 368b provided between adjacent guide members 368a and fixed to the base member 361, a regulating portion 368c provided at the tip of the support member 368b and protruding circumferentially from the support member 368b, and a slip-out prevention portion 380 provided radially outward of the fixed member 367.

[0133] The guide member 368a has a length that protrudes from both circumferential side surfaces of the fixed member 367, and is attached to the fixed member 367 so as to be slidable relative to the base member 361. The restricting portion 368c is formed so that both ends thereof overlap the ends of the guide member 368a when viewed in the axial direction. The guide member 368a and the restricting portion 368c are arranged so as to be slidable relative to each other.

[0134] The retaining portions 380 are provided on the radially outer side of each of the four fixing members 367, and restrict radial movement of the fixing members 367. The retaining portions 380 include a plurality of support posts 380a fixed to the base member 361, and a plate 380b connecting the tips of the plurality of support posts 380a to each other.

[0135] In the holding portion 368 configured in this manner, the action of the guide member 368a and the restricting portion 368c allows radial movement of the fixed member 367 while restricting axial movement of the fixed member 367. Furthermore, the retaining portion 380 restricts radial movement of the fixed member 367 by eliminating overlap between the guide member 368a and the restricting portion 368c, i.e., preventing the guide member 368a from slipping out of the restricting portion 368c. This allows the holding portion 368 to hold the fixed member 367 on the base member 361 while allowing radial movement of the fixed member 367. Note that the retaining portion 380 in this embodiment also functions to prevent the cable 371, described later, from slipping out of the groove 367b.

[0136] The connection module 360 ​​further includes a drive mechanism 370 that drives the fixing members 367 in the radial direction (see FIGS. 22 and 23). The drive mechanism 370 includes a cable 371 wound around the outer circumferential surfaces of all the fixing members 367, and a tension device 372 that tensions the cable 371.

[0137] In this embodiment, the cable 371 is, for example, a steel wire rope made by twisting wires together. However, the cable 371 is not limited to this, and may be a rope made of resin such as nylon. One end of the cable 371 is fixed to the base member 361, and the cable 371 is wound approximately once around the outer periphery of the four fixing members 367 so as to be inserted into the grooves 367 b formed in each of the four fixing members 367. The other end of the cable 371 is then wound around the tensioning device 372.

[0138] The tensioning device 372 includes a reel (not shown) around which the cable 371 is wound, and a motor (not shown) that rotates the reel. The motor used in the tensioning device 372 in this embodiment is preferably a motor that includes a locking mechanism that locks rotation when not energized.

[0139] Next, a method for connecting the connecting module 360A and the connecting module 360B (connecting modules 360) will be described.

[0140] When connecting the connecting module 360A and the connecting module 360B (connecting modules 360), the upright portions 63 and recessed portions 65 of the connecting module 360A and the connecting module 360B are combined, similar to the connecting module 60A and the connecting module 60B in the first embodiment.

[0141] Furthermore, the end face 64a of the first flange portion 64 of the connecting module 360A is abutted against the end face 66a of the second flange portion 66 of the connecting module 360B, and the end face 66a of the second flange portion 66 of the connecting module 360A is abutted against the end face 64a of the first flange portion 64 of the connecting module 360B (see Figure 25 (B)).

[0142] Next, the tensioning devices 372 of the connecting modules 360A and 360B are driven to wind up the ropes 371. As a result, the ropes 371 tighten around the four fixing members 367, and the fixing members 367 move radially inward against the biasing force of the coil springs 369. As a result, the first flange portion 64 and the second flange portion 66, which are in contact with each other, fit into the grooves 367a of the fixing members 367 (see FIG. 25B). As described above, the grooves 367a of the fixing members 367 are tapered so as to widen radially inward, and the end faces 64b of the first flange portion 64 and the end faces 66b of the second flange portion 66 are tapered so as to narrow radially outward. This wedge effect presses the first flange portion 64 and the second flange portion 66 against each other.

[0143] In this way, in the connection unit 300 of this embodiment, the connection modules 360A and 360B can be connected to each other by combining the upright portions 63 and recessed portions 65 of the connection modules 360A and 360B and driving the tensioning devices 372 of each of the connection modules 360A and 360B.

[0144] To release the connection between the connecting module 360A and the connecting module 360B, the tensioning device 372 is driven to loosen the cable 371. When the cable 371 is loosened, the fixing member 367 moves radially outward due to the biasing force of the coil spring 369. As a result, the first flange portion 64 and the second flange portion 66 come out of the groove 367a of the fixing member 367, and the connection between the connecting module 360A and the connecting module 360B is released.

[0145] The connecting unit 300 according to the third embodiment described above has the following advantages in addition to the advantages of the connecting unit 100 according to the first embodiment.

[0146] The connecting unit 300 uses a motor to slacken the wires 371, eliminating the need for fluid pressure piping. Furthermore, compared to using the cylinder 70, the number of parts can be reduced, and there is no need to reserve space for the piston 71 and pressure chamber 72. This prevents the device from becoming too large, and reduces costs.

[0147] In the above embodiment, the case where the cable 371 is pulled by the tensioning device 372 has been described, but this is not limited to this. For example, a fixing means for fixing the cable 371 to the base member 361 may be provided, and the cable 371 may be pulled manually using a tool or the like, and the cable 371 may be fixed to the fixing means.

[0148] In the above embodiment, the main body portions 62, 262, 362 of the connecting modules 60, 260, 360 are cylindrical, but this is not limiting. The main body portions 62, 262, 362 of the connecting modules 60, 260, 360 may be cylindrical (not through-holes) or, for example, may be polygonal, as shown in FIG. 26 . Even in this case, it is sufficient that the erected portions 63 and the recessed portions 65 are provided at equal intervals and the first flange portion 64 and the second flange portion 66 are provided on the same circumference. In this case, the radially inner surface of the erected portion 63 is formed as a flat surface that matches the main body portion 362.

[0149] Furthermore, in the above embodiment, the standing portion 63 of the connecting module 60, 260, 360 is formed integrally with the main body portion 62, 262, 362, but this is not limited to this. The standing portion 63 may be formed separately from the main body portion 62, 262, 362. In this case, the standing portion 63 may be formed radially outward of the main body portion 62, 262, 362 so as to extend in the axial direction of the main body portion 62, 262, 362, and may be directly fixed to the base member 61A, 261, 361.

[0150] The configuration, operation, and effects of the embodiment of the present invention configured as above will be described below.

[0151] The connection units 100, 200, 300 include connection modules 60A, 260A, 360A (first connection modules) and connection modules 60B, 260B, 360B (second connection modules) that are connected to each other. In the connection units 100, 200, 300, each of the connection modules 60A, 260A, 360A (first connection modules) and the connection modules 60B, 260B, 360B (second connection modules) includes a cylindrical or columnar main body 62, 262, 362 as a connection target, and a circumferentially extending end 62a of the main body 62, 262, 362 extending in the axial direction of the main body 62, 262, 362, or extending in the axial direction of the main body 62, 262, 362 from an end surface 62a of the main body 62, 262, 362 at the radially outer side of the main body 62, 262, 362, and extending evenly in the circumferential direction. a plurality of arc-shaped standing portions 63 provided at intervals; arc-shaped first flange portions 64 protruding radially outward from the tip ends of the standing portions 63; recesses 65 provided between adjacent standing portions 63; second flange portions 66 protruding radially outward from the bottoms 65a of the recesses 65; and connecting modules 60A, 260A, 360A (first connecting modules) and 60B, 260B, 360B (second connecting modules) provided radially outward from the second flange portions 66. and fixing members 67, 267, 367 (fixing portions) for fixing the connecting modules 60A, 260A, 360A (first connecting modules) and the connecting modules 60B, 260B, 360B (second connecting modules), and in a state in which the respective upright portions 63 and recessed portions 65 of the connecting modules 60A, 260A, 360A (first connecting modules) and the connecting modules 60B, 260B, 360B (second connecting modules) are combined and the respective first flange portions 64 and second flange portions 66 are abutted against each other, the fixing members 67, 267, 367 (fixing portions) of the connecting modules 60A, 260A, 360A (first connecting modules) The fixing members 67, 267, 367 (fixing portions) of the connecting modules 60B, 260B, 360B (second connecting modules) clamp the second flange portion 66 of the connecting modules 60B, 260B, 360B (second connecting modules) and the first flange portion 64 of the connecting modules 60A, 260A, 360A (first connecting modules).

[0152] In this configuration, each of the connecting modules 60A, 260A, 360A (first connecting modules) and the connecting modules 60B, 260B, 360B (second connecting modules) includes standing portions 63 provided at equal intervals and recesses 65 provided between adjacent standing portions 63. Furthermore, each of the connecting modules 60A, 260A, 360A (first connecting modules) and the connecting modules 60B, 260B, 360B (second connecting modules) includes fixing members 67, 267, 367 (fixing portions) that sandwich the first flange portions 64 and second flange portions 66 in a state where they are in contact with each other. This allows the connecting modules 60A, 260A, 360A (first connecting modules) and the connecting modules 60B, 260B, 360B (second connecting modules) to be connected by combining the upright portions 63 and recessed portions 65 of each other and clamping the first flange portions 64 and second flange portions 66 with fixing members 67, 267, 367 (fixing portions), thereby connecting the connecting modules 60A, 260A, 360A (first connecting modules) and the connecting modules 60B, 260B, 360B (second connecting modules). Furthermore, since the connecting modules 60A, 260A, 360A (first connecting modules) and the connecting modules 60B, 260B, 360B (second connecting modules) are not gender-specific, they can be connected regardless of the combination of connecting modules 60A, 260A, 360A (first connecting modules) and connecting modules 60B, 260B, 360B (second connecting modules). Furthermore, since the upright portions 63 and recessed portions 65 of the connecting modules 60A, 260A, 360A (first connecting modules) and connecting modules 60B, 260B, 360B (second connecting modules) are arranged at equal intervals, they can be connected even when rotated relative to one another. This increases the degree of freedom in connecting the connecting units 100, 200, 300.

[0153] Furthermore, in the connecting unit 100, the fixing members 67 (fixing portions) are a plurality of arc-shaped members that extend circumferentially and have tapered grooves 67a formed on their inner surfaces that widen radially inward, and each of the connecting module 60A (first connecting module) and the connecting module 60B (second connecting module) further includes a cylinder 70 (driving mechanism) that drives the fixing members 67 (fixing portions) radially, and the cylinder 70 (driving mechanism) has a cylinder 70 that drives the fixing members 67 (fixing portions) by supplying and discharging fluid pressure, and by supplying fluid pressure to the cylinder 70, the tapered grooves 67a of the fixing portions are pressed against the abutting first flange portion 64 and second flange portion 66, thereby clamping the first flange portion 64 and the second flange portion 66.

[0154] In this configuration, simply by supplying fluid pressure to the cylinder 70, the connecting module 60A (first connecting module) and the connecting module 60B (second connecting module) can be maintained in a connected state.

[0155] Furthermore, in the connecting unit 300, the fixing members 367 (fixing portions) are multiple arc-shaped members that extend circumferentially and have tapered grooves 367a formed on their inner surfaces that widen radially inward, and each of the connecting module 60A (first connecting module) and the connecting module 60B (second connecting module) further includes a drive mechanism 370 that drives the fixing members 367 (fixing portions) radially, and the drive mechanism 370 has cords 371 that are wound around the outer peripheral surfaces of all of the fixing members 367 (fixing portions). By pulling the cords 371 and moving the fixing members 367 (fixing portions) radially inward, the tapered grooves 367a of the fixing members 367 (fixing portions) are pressed against the abutting first flange portion 64 and second flange portion 66, and the first flange portion 64 and second flange portion 66 are clamped together.

[0156] In this configuration, the connecting module 60A (first connecting module) and the connecting module 60B (second connecting module) can be held connected simply by pulling the cable 371, so the number of parts can be reduced compared to when a cylinder is used, for example. This prevents the device from becoming larger and reduces costs.

[0157] In addition, in the connection units 100, 300, each of the connection modules 60A, 360A (first connection module) and the connection modules 60B, 360B (second connection module) further includes a coil spring 69, 369 (first biasing member) that biases the fixing member 67, 367 (fixing portion) radially outward.

[0158] In this configuration, the connection between the connecting module 60A, 360A (first connecting module) and the connecting module 60B, 360B (second connecting module) can be released by moving the fixing member 67, 367 (fixing portion) radially outward using the biasing force of the coil spring 69, 369 (first biasing member).

[0159] Furthermore, in the connecting unit 200, the fixing member 267 (fixing portion) is a cylindrical member that extends circumferentially and has a tapered groove 267f formed on its inner surface that widens toward one side in the circumferential direction, and each of the connecting module 260A (first connecting module) and the connecting module 260B (second connecting module) further includes a rotation mechanism 270 (driving mechanism) that rotates the fixing member 267 (fixing portion), and when the rotation mechanism 270 (driving mechanism) rotates the fixing member 267 (fixing portion) toward the X2 direction (one side), the tapered groove 267f of the fixing member 267 (fixing portion) is pressed against the abutting first flange portion 64 and second flange portion 66, thereby clamping the first flange portion 64 and second flange portion 66.

[0160] In this configuration, the connecting module 260A and the connecting module 260B can be maintained in a connected state simply by rotating the fixing member 267 (fixing portion) using the rotation mechanism 270 (drive mechanism).

[0161] Furthermore, in the connection unit 200, the rotation mechanism 270 (drive mechanism) further includes a locking mechanism that locks the rotation of the fixing member 267 (fixing portion).

[0162] In this configuration, the connection state of the connection module 260A (first connection module) and the connection module 260B (second connection module) can be maintained by locking the rotation of the fixing member 267 (fixing portion) with the locking mechanism.

[0163] Furthermore, in the connecting unit 200, the rotation mechanism 270 (drive mechanism) is provided radially outside the fixed member 267 (fixed portion), and has a rotating body 271 for rotating the fixed member 267 (fixed portion), and a coil spring 273 (second biasing member) provided between the fixed member 267 (fixed portion) and the rotating body 271, which biases the fixed member 267 (fixed portion) and the rotating body 271 in opposite circumferential directions.

[0164] In this configuration, a coil spring 273 (second biasing member) is provided between the fixed member 267 (fixed portion) and the rotating body 271, so that it is possible to suppress rattling caused by, for example, backlash of gears such as the ring gear 272, and wear of the first flange portion 64, the second flange portion 66, or the third protrusion portion 267g.

[0165] Furthermore, in the connecting units 100, 200, and 300, the main body portions 62, 262, and 362 are provided with fluid couplings.

[0166] In this configuration, the fluid coupling (coupling module 20) can be maintained in a coupled state.

[0167] 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.

[0168] This application claims priority based on Japanese Patent Application No. 2024-149898, filed with the Japan Patent Office on August 30, 2024, the entire contents of which are incorporated herein by reference.

Claims

1. A connection unit comprising a first connection module and a second connection module to be connected to each other, wherein each of the first connection module and the second connection module comprises: a cylindrical or columnar main body portion as a connection target; a plurality of arc-shaped upright portions extending from an end face of the main body portion in the axial direction of the main body portion, or extending in the axial direction of the main body portion on the radially outer side of the main body portion and provided at equal intervals in the circumferential direction; arc-shaped first flange portions protruding radially outward from the tip ends of each of the upright portions; recesses provided between adjacent upright portions; second flange portions protruding radially outward from the bottoms of each of the recesses; and fixing portions provided radially outward of the second flange portions for fixing the first connection module and the second connection module; wherein when the upright portions and recesses of the first connection module and the second connection module are combined and the first flange portions and second flange portions abut against each other, A connection unit in which the fixing portion of the first connection module clamps the second flange portion of the first connection module and the first flange portion of the second connection module, and the fixing portion of the second connection module clamps the second flange portion of the second connection module and the first flange portion of the first connection module.

2. A connecting unit as described in claim 1, wherein the fixing portions are a plurality of arc-shaped members extending circumferentially and having tapered grooves formed on their inner surfaces that widen radially inward, and each of the first connecting module and the second connecting module further comprises a drive mechanism that drives the fixing portions in the radial direction, the drive mechanism having a cylinder that drives the fixing portions by supplying and discharging fluid pressure, and when fluid pressure is supplied to the cylinder, the tapered grooves of the fixing portions are pressed against the abutting first flange portion and second flange portion, thereby clamping the first flange portion and the second flange portion.

3. A connecting unit as claimed in claim 1, wherein the fixing portions are a plurality of arc-shaped members having tapered grooves formed on their inner surfaces that extend circumferentially and widen radially inward, and each of the first connecting module and the second connecting module further comprises a drive mechanism that drives the fixing portions radially, the drive mechanism having a cable wound around the outer circumferential surfaces of all of the fixing portions, and by pulling the cable and moving the fixing portions radially inward, the tapered grooves of the fixing portions are pressed against the abutting first flange portion and second flange portion, thereby clamping the first flange portion and the second flange portion.

4. A connection unit according to claim 2, wherein each of the first connection module and the second connection module further comprises a first biasing member that biases the fixing portion radially outward.

5. A connecting unit as described in claim 1, wherein the fixing portion is a cylindrical member having a tapered groove formed on its inner surface that extends circumferentially and widens toward one side in the circumferential direction, and each of the first connecting module and the second connecting module further comprises a drive mechanism that rotates the fixing portion, and when the drive mechanism rotates the fixing portion toward the one side, the tapered groove of the fixing portion is pressed against the abutting first flange portion and second flange portion, thereby clamping the first flange portion and the second flange portion.

6. A connection unit according to claim 5, wherein the drive mechanism has a locking mechanism that locks the rotation of the fixed part.

7. A connecting unit as claimed in claim 5, wherein the drive mechanism comprises a rotating body provided radially outside the fixed part for rotating the fixed part, and each of the first connecting module and the second connecting module comprises a second biasing member provided between the fixed part and the rotating body for biasing the fixed part and the rotating body in opposite circumferential directions.

8. A connection unit according to claim 1, wherein the main body is provided with a fluid coupling.

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