Connector device and connector module

Abstract

A connector device (EC) comprises connector modules (80A, 80B) each having electrically connectable contacts (83, 84). In the connector device (EC), the connector modules (80A, 80B) are each provided with a pair of first connector portion (81A, 81B) provided so as to face each other on the circumference of the same circle, across the center of the circle, and a pair of second connector portions (82A, 82B) provided on the circumference of the same circle, wherein the second connector portions (82A, 82B) are each provided in positions at which a first central angle (α1) formed by the second connector portion (82A) and the first connector portion (81A) is equal to a second central angle (α2) formed by the second connector portion (82B) and the first connector portion (81B).

Description

Connector device and connector module

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

[0002] JP2009-110697A discloses a connector having a receptacle on a wiring pattern of a circuit board and a plug provided at the end of a wiring connected to a device. In the invention disclosed in JP2009-110697A, the device and the wiring pattern can be electrically connected by inserting the plug into the receptacle.

[0003] However, the connector described in JP2009-110697A has limitations on the direction in which a plug can be inserted into a receptacle. Furthermore, the connector described in JP2009-110697A cannot connect plugs to each other or receptacles to each other. Therefore, the connector described in JP2009-110697A has limitations on the direction in which the connectors can be connected and the degree of freedom in combination.

[0004] The present invention has been made in view of the above problems, and has as its object to provide a connector device and a connector module that provide a high degree of freedom in connection.

[0005] According to one aspect of the present invention, a connector device includes a first connector module and a second connector module, each having electrically connectable contacts, wherein the first connector module and the second connector module each include a pair of first connector portions having contacts and arranged opposite each other on the same circumference of a circle, and a pair of second connector portions having contacts and arranged on the same circumference of a circle, wherein the pair of second connector portions are each arranged at a position where a first central angle formed by one second connector portion and one first connector portion is equal to a second central angle formed by the other second connector portion and the other first connector portion, and when the first connector module and the second connector module are connected, one of the pair of first connector portions provided on the first connector module is electrically connected to one of the pair of second connector portions provided on the second connector module, and one of the pair of second connector portions provided on the first connector module is electrically connected to one of the pair of first connector portions provided on the second connector module.

[0006] FIG. 1 is a side view of a leg of a modular robot to which a connector device according to an embodiment of the present invention is applied. FIG. 2 is a perspective view of the front side of a 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 coupling module according to an embodiment of the present invention. FIG. 6 is a plan view of a coupling module according to an embodiment of the present invention. FIG. 7 is a cross-sectional structural view of a coupling PM according to an embodiment of the present invention. FIG. 8 is a cross-sectional structural view of a coupling PF according to an embodiment of the present invention. FIG. 9 is a diagram for explaining the connected state of a coupling unit according to an embodiment of the present invention. FIG. 10 is a diagram for explaining the connected state of a coupling unit according to an embodiment of the present invention. FIG. 11 is a diagram for explaining the connected state of a coupling unit according to an embodiment of the present invention. FIG. 12 is a diagram for explaining the connected state of a coupling unit according to an embodiment of the present invention. FIG. 13 is a perspective view of a connector device according to an embodiment of the present invention attached to a connecting module. FIG. 14 is a plan view of a connector device according to an embodiment of the present invention attached to a connecting module. FIG. 15 is a perspective view of a connecting unit according to an embodiment of the present invention in an unconnected state. Fig. 16 is an exploded view of a connecting module according to an embodiment of the present invention. Fig. 17 is an enlarged view of the vicinity of the cylinder and second flange portion of the connecting module according to an embodiment of the present invention, where (A) shows the connecting modules in a non-connected state and (B) shows the connecting modules in a connected state. Fig. 18 is a plan view of a connector module according to an embodiment of the present invention. Fig. 19 is a diagram for explaining the connected state of connector modules according to an embodiment of the present invention. Fig. 20 is a diagram for explaining the connected state of connector modules according to an embodiment of the present invention. Fig. 21 is a diagram for explaining the connected state of connector modules according to an embodiment of the present invention. Fig. 22 is a diagram for explaining the connected state of connector modules according to an embodiment of the present invention. Fig. 23 is a plan view of a connector module according to a modified example.

[0007] A connector device EC according to an embodiment of the present invention will be described with reference to the drawings.

[0008] The connector device EC includes a pair of connector modules 80 (connector module 80A and connector module 80B), each having electrically connectable contacts. The connector device EC is used, for example, to connect electrical wiring provided on modules M when connecting modules M that make up a modular robot MR (see FIG. 1 ).

[0009] 1, modules M are connected to each other by a connection unit 100. The connection unit 100 includes a pair of detachably connectable connection modules 60 (connection module 60A and connection module 60B). The connection modules 60 are attached to each module M, and by connecting the connection modules 60 to each other, the modules M are maintained in a connected state.

[0010] In this embodiment, the connector module 80 is attached to the outer periphery of the connecting module 60 (see, for example, FIG. 13 ). A joint module 20 (described later) is attached inside each connecting module 60, and by connecting the connecting modules 60 together, the joint modules 20 are also held in a connected state.

[0011] First, the modular robot MR and the module M 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 ports and oil passages formed in the cylinder block 32.

[0012] The modular robot MR shown in FIG. 1 is configured by connecting a plurality of modules M shown in FIG.

[0013] 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 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.

[0014] The first link 1 and the second link 2 are rotatably connected via a rotary shaft 4. The hydraulic cylinder 3 and the second link 2 are rotatably connected to a third link 5.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] Next, the ports and oil passages 37 formed in the cylinder block 32 will be described in detail with reference to FIG.

[0020] 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 ).

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] The joint unit C according to this embodiment will be described in detail below with reference to FIGS. 5 to 12. FIG.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Next, the structure of the joint PM will be described with reference to FIG.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] Next, the structure of the joint PF will be described with reference to FIG.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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).

[0060] 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.

[0061] Next, the connection unit 100 according to this embodiment will be described with reference to FIGS. 13 to 17 . FIG. 13 is a perspective view of the connection module 60 with the connector module 80 and the joint module 20 attached thereto. FIG. 14 is a plan view of the connection module 60 with the connector module 80 and the joint module 20 attached thereto. FIG. 15 is a perspective view of the connection unit 100 (connection modules 60A and 60B) in a disconnected state. FIG. 16 is an exploded view of the connection module 60. FIG. 17 is an enlarged view of the vicinity of the cylinder 70 and the second flange portion 66 of the connection module 60A, where (A) shows the connection module 60A in a disconnected state and (B) shows the connection module 60A connected to the connection module 60B. Note that FIGS. 15 to 17 illustrate the structure of only the connection module 60.

[0062] The connecting unit 100 is used to hold the module M and the joint module 20 in a connected state.

[0063] 15 , 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.

[0064] 15 to 17 , 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.

[0065] 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.

[0066] The cover member 61B is formed into a cylindrical shape from a metal material such as aluminum. As shown in Figures 16 and 17, the cover member 61B has a cylindrical first cylindrical portion 61a and a second cylindrical portion 61b that extends from 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.

[0067] 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. 17 , etc.). The main body 21 of the joint module 20 is fitted into the main body 62 (see FIGS. 13 and 14 ). The main body 62 may be formed integrally with the main body 21 of the joint module 20.

[0068] As shown in FIG. 16 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 .

[0069] 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.

[0070] 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. 17 , etc.).

[0071] 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.

[0072] 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 62. One axial end face 66a of the second flange portions 66 is formed flush with the bottom faces 65b of the recesses 65 (end faces 62a of the main body 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. 17 ).

[0073] The fixing member 67 is an arc-shaped member made of a metal material such as aluminum. As shown in Figures 16 and 17, 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 17). Also, as shown in Figure 16, 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.

[0074] 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.

[0075] As shown in FIG. 17 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.

[0076] The cylinder 70 drives the fixed member 67 in the radial direction by supplying and discharging fluid pressure. As shown in Fig. 17 , 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.

[0077] 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).

[0078] 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.

[0079] 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.

[0080] 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 61A.

[0081] Next, a method for connecting the connecting module 60A and the connecting module 60B (connecting modules 60) will be described with reference to FIG. 17 and other figures.

[0082] 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.

[0083] 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 17 (B)).

[0084] 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. 17 ) 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. 17B ).

[0085] 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.

[0086] In this way, in the connecting unit 100 of this embodiment, the connecting modules 60A and 60B can be connected to each other by supplying fluid pressure to the cylinders 70 (pressure chambers 72) of the connecting modules 60A and 60B while the erected portions 63 and recessed portions 65 of the connecting modules 60A and 60B are combined together. 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.

[0087] 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.

[0088] 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. 17A) 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.

[0089] Next, the connector device EC will be described with reference to Figures 13, 14, 18 to 22. Note that Figure 18 shows only the connector device EC.

[0090] 13, 14, 18, etc., the connector device EC includes a connector module 80A as a first connector module and a connector module 80B as a second connector module, each having electrically connectable contacts 83, 84. Since the connector modules 80A and 80B of this embodiment have the same shape, only the connector module 80A will be described below. Note that when describing matters common to the connector modules 80A and 80B, the term "connector module 80" will be used.

[0091] The connector module 80 includes a pair of first connector portions 81A, 81B, each having a plurality of contacts 83 (contacts 83a to 83f), and a pair of second connector portions 82A, 82B, each having a plurality of contacts 84 (contacts 84a to 84f). Note that the first connector portion 81A and the first connector portion 81B have the same shape, and therefore, when describing matters common to the first connector portion 81A and the first connector portion 81B, the term "first connector portion 81" is used. Furthermore, the second connector portion 82A and the second connector portion 82B have the same shape, and therefore, when describing matters common to the second connector portion 82A and the second connector portion 82B, the term "second connector portion 82" is used.

[0092] The first connector portion 81 includes a plurality of contacts 83 (contacts 83a to 83f) and a housing 85 that holds the contacts 83. The housing 85 is made of a material such as resin and is formed in an arc shape that fits along the outer peripheral surface of the housing (cover member 61B) of the connecting module 60. The first connector portion 81A and the first connector portion 81B are disposed on the same circumference (on circle C4) facing each other with the center O in between (see FIG. 18 ). The first connector portion 81 is attached to the cover member 61B of the connecting module 60 by fixing the housing 85 to the cover member 61B of the connecting module 60.

[0093] The contacts 83 are configured by spring terminals whose tips (contact portions) are expandable and contractible. In this embodiment, there are six contacts 83, namely, contacts 83a to 83f, but the number of contacts 83 may be any number. The contacts 83a to 83f are arranged at equal intervals in the circumferential direction.

[0094] The contacts 83a to 83f are connected to, for example, a main power supply, a microcomputer power supply, a signal line, etc. Note that signals communicated via the signal line include, for example, serial transmission signals for controlling various devices of the modular robot MR.

[0095] The contacts 83a of the first connector portion 81A and the contacts 83a of the first connector portion 81B are electrically connected. Similarly, the contacts 83b are electrically connected to each other, the contacts 83c are electrically connected to each other, the contacts 83d are electrically connected to each other, the contacts 83e are electrically connected to each other, and the contacts 83f are electrically connected to each other.

[0096] The second connector portion 82 includes a plurality of contacts 84 (contacts 84a to 84f) and a housing 86 that holds the contacts 84. The housing 86 is made of a material such as resin and is formed into an arc shape that fits along the housing (cover member 61B) of the connection module 60.

[0097] 18 , the second connector portion 82A and the second connector portion 82B are provided on the same side of the same circumference (circle C4) with the first connector portion 81A and the first connector portion 81B as the boundary, at positions where a first central angle α1 formed between the second connector portion 82A and the first connector portion 81A and a second central angle α2 formed between the second connector portion 82B and the first connector portion 81B are equal, with the center O as the vertex. In this embodiment, the central angles α1 and α2 are set to approximately 45°. The second connector portion 82 is attached to the cover member 61B of the connecting module 60 by fixing the housing 86 to the cover member 61B of the connecting module 60.

[0098] The contacts 84 are configured by terminals having flat surfaces at their tips that can come into contact with the contacts 83. In this embodiment, there are six contacts 84, contacts 84a to 84f, but there may be any number of contacts 84. The contacts 84a to 84f are arranged at equal intervals in the circumferential direction.

[0099] The contacts 84a of the second connector portion 82A and the contacts 84a of the second connector portion 82B are electrically connected. Similarly, the contacts 84b are electrically connected to each other, the contacts 84c are electrically connected to each other, the contacts 84d are electrically connected to each other, the contacts 84e are electrically connected to each other, and the contacts 84f are electrically connected to each other.

[0100] It is also possible to integrally form the housing 85 of the first connector portion 81A and the housing 86 of the second connector portion 82A, and to integrally form the housing 85 of the first connector portion 81B and the housing 86 of the second connector portion 82B. In the example shown in Figures 13 and 14, a spacer 87 is provided between the housings 85 of the first connector portions 81A and 81B and between the housings 86 of the second connector portions 82A and 82B to form a ring shape, but the housings 85, 86 of the first connector portions 81A and 81B and the second connector portions 82A and 82B may be formed as a single ring-shaped housing.

[0101] Next, referring to Figures 19 to 22, a description will be given of changes in the connection state due to changes in the relative positions of the connector modules 80A and 80B when the connector modules 80A and 80B are connected. Note that Figures 19 to 22 show a front view of the connector module 80A as seen from the front side (the side of the contacts 83 and 84), and a rear view of the connector module 80B as seen from the rear side (the side opposite to the side on which the contacts 83 and 84 are provided). For ease of explanation, Figures 19 to 22 only show the connector modules 80A and 80B, and only show three contacts 83 and three contacts 84. Furthermore, in Figures 19 to 22, the first connector portion 81, the second connector portion 82, the contacts 83, and the contacts 84 connected in the connector modules 80A and 80B are indicated by thick solid lines to clearly show the contacts 83 and 84 that are connected.

[0102] 19 , the first connector portion 81A of the connector module 80A is connected to the second connector portion 82A of the connector module 80B, and the second connector portion 82A of the connector module 80A is connected to the first connector portion 81A of the connector module 80B. More specifically, contacts 83a, 83b, and 83c of the first connector portion 81A of the connector module 80A are connected to contacts 84a, 84b, and 84c of the second connector portion 82A of the connector module 80B, respectively. Similarly, contacts 84a, 84b, and 84c of the second connector portion 82A of the connector module 80A are connected to contacts 83a, 83b, and 83c of the first connector portion 81A of the connector module 80B, respectively.

[0103] Next, a description will be given of the connection state between connector module 80A and connector module 80B in the state shown in Fig. 20. Fig. 20 shows a state in which connector module 80B has been rotated 90° clockwise around point O from the position shown in Fig. 19.

[0104] 20 , the first connector portion 81B of the connector module 80A is connected to the second connector portion 82B of the connector module 80B, and the second connector portion 82B of the connector module 80A is connected to the first connector portion 81B of the connector module 80B. More specifically, contacts 83a, 83b, and 83c of the first connector portion 81B of the connector module 80A are connected to contacts 84a, 84b, and 84c of the second connector portion 82B of the connector module 80B, respectively. Similarly, contacts 84a, 84b, and 84c of the second connector portion 82B of the connector module 80A are connected to contacts 83a, 83b, and 83c of the first connector portion 81B of the connector module 80B, respectively.

[0105] Next, a description will be given of the connection state between connector module 80A and connector module 80B in the state shown in Fig. 21. Fig. 21 shows a state in which connector module 80B has been rotated 90° clockwise around point O from the position shown in Fig. 20.

[0106] 21 , the first connector portion 81B of the connector module 80A is connected to the second connector portion 82A of the connector module 80B, and the second connector portion 82A of the connector module 80A is connected to the first connector portion 81B of the connector module 80B. More specifically, contacts 83a, 83b, and 83c of the first connector portion 81B of the connector module 80A are connected to contacts 84a, 84b, and 84c of the second connector portion 82A of the connector module 80B, respectively. Similarly, contacts 84a, 84b, and 84c of the second connector portion 82A of the connector module 80A are connected to contacts 83a, 83b, and 83c of the first connector portion 81B of the connector module 80B, respectively.

[0107] Next, a description will be given of the connection state between connector module 80A and connector module 80B in the state shown in Fig. 22. Fig. 22 shows a state in which connector module 80B has been rotated 90° clockwise around point O from the position shown in Fig. 21.

[0108] 22 , the first connector portion 81A of the connector module 80A is connected to the second connector portion 82B of the connector module 80B, and the second connector portion 82B of the connector module 80A is connected to the first connector portion 81A of the connector module 80B. More specifically, contacts 83a, 83b, and 83c of the first connector portion 81A of the connector module 80A are connected to contacts 84a, 84b, and 84c of the second connector portion 82B of the connector module 80B, respectively. Similarly, contacts 84a, 84b, and 84c of the second connector portion 82B of the connector module 80A are connected to contacts 83a, 83b, and 83c of the first connector portion 81A of the connector module 80B, respectively.

[0109] In this way, in the connector device EC, a pair of first connector parts 81A, 81B are arranged in each of the connector modules 80A, 80B on the same circumference (on circle C4) facing each other with the center O in between, and a pair of second connector parts 82A, 82B are arranged on the same circumference (on circle C4) as the first connector parts 81A, 81B at positions where the central angles α1, α2 are equal to those of the first connector parts 81A, 81B. 19 to 22 , even when the connector module 80B is rotated 90° with respect to the connector module 80B, any one of the first connector portions 81A, 81B of the connector module 80A can be connected to any one of the second connector portions 82A, 82B of the connector module 80B, and any one of the second connector portions 82A, 82B of the connector module 80A can be connected to any one of the first connector portions 81A, 81B of the connector module 80B. Therefore, even when the relative angle between the connector module 80A and the connector module 80B is changed, specifically, even when the relative angle between the connecting module 60A and the connecting module 60B is shifted by 90°, they can still be electrically connected.

[0110] Furthermore, by making the connector module 80A and the connector module 80B the same shape, costs and the number of types of parts can be reduced.

[0111] Furthermore, by applying the connector device EC to the connection unit 100, the connector device EC can be maintained in a connected state. Furthermore, by using the connection unit 100, the connector modules 80 can be connected even when they are rotated relative to each other. Furthermore, since the connector modules 80, connection modules 60, and joint modules 20 are not distinguished by gender, when the modular robot MR is used at a disaster site or the like, for example, the modules M to which the connector modules 80, connection modules 60, and joint modules 20 are attached can be transported separately to the site, and the modular robot MR can be easily assembled at the site.

[0112] The configuration, operation, and effects of the embodiment of the present invention configured as above will be described below.

[0113] The connector device EC includes a connector module 80A (first connector module) and a connector module 80B (second connector module), each having electrically connectable contacts 83, 84. In the connector device EC, the connector module 80A (first connector module) and the connector module 80B (second connector module) each include a pair of first connector parts 81A, 81B having the contacts 83, 84 and provided on the same circumference (on circle C4) so ​​as to face each other with a center (point O) therebetween, and a pair of second connector parts 82A, 82B having the contact 83 and provided on the same circumference (on circle C4), and the pair of second connector parts 82A, 82B are provided at positions where a first central angle α1 formed by the second connector part 82A and the first connector part 81A and a second central angle α2 formed by the second connector part 82B and the first connector part 81B are equal, and the connector module 80A (first connector module) When the connector module 80A (first connector module) is connected to the connector module 80B (second connector module), one of the pair of first connector portions 81A, 81B provided in the connector module 80A (first connector module) is electrically connected to one of the pair of second connector portions 82A, 82B provided in the connector module 80B (second connector module), and one of the pair of second connector portions 82A, 82B provided in the connector module 80A (first connector module) is electrically connected to one of the pair of first connector portions 81A, 81B provided in the connector module 80B (second connector module).

[0114] The connector module 80 also has a pair of first connector parts 81A, 81B having contacts 83 and arranged opposite each other on the same circumference, and a pair of second connector parts 82A, 82B having contacts 84 and arranged on the same circumference, and the pair of second connector parts 82A, 82B are each arranged at a position where the first central angle α1 formed by the second connector part 82A and the first connector part 81A and the second central angle α2 formed by the second connector part 82B and the first connector part 81B are equal.

[0115] In these configurations, a pair of first connector portions 81A, 81B are disposed on the same circumference, facing each other across the center O, and a pair of second connector portions 82A, 82B are disposed at positions where the central angle α1 formed by the second connector portion 82A and the first connector portion 81A is equal to the central angle α1 formed by the second connector portion 82B and the first connector portion 81B. This allows the connector modules 80A, 80B to be connected, even when they are rotated relative to each other, such that one of the first connector portions 81A, 81B provided on the connector module 80A can be connected to one of the second connector portions 82A, 82B provided on the connector module 80B, and one of the second connector portions 82A, 82B provided on the connector module 80A can be connected to one of the first connector portions 81A, 81B provided on the connector module 80B. This increases the degree of freedom in connecting the connector modules 80 together.

[0116] In the connector device EC, the pair of second connector portions 82A, 82B are provided on the same side of the same circumference with respect to the pair of first connector portions 81A, 81B, and the central angles α1, α2 are 45°.

[0117] In this configuration, when connecting connector modules 80A and 80B to each other, the first connector portions 81A, 81B and second connector portions 82A, 82B can be connected to each other even if the relative positions of the connector modules 80A, 80B are changed by 90°.

[0118] 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.

[0119] 23 , in a connector module 80, first connector portions 81A, 81B may be provided on the same circumference to face each other across a center O, and second connector portions 82A, 82B may be provided on the same circumference as the first connector portions 81A, 81B to face each other across the center O. In this case, even if the relative positions of the connector modules 80A, 80B are changed by 180°, the first connector portions 81A, 81B and the second connector portions 82A, 82B can be connected to each other.

[0120] This application claims priority based on Japanese Patent Application No. 2024-149906, filed with the Japan Patent Office on August 30, 2024, the entire contents of which are incorporated herein by reference.

Claims

1. A connector device comprising a first connector module and a second connector module, each having electrically connectable contacts, wherein the first connector module and the second connector module each comprise: a pair of first connector parts having the contacts and arranged opposite each other on the same circumference of a circle, and a pair of second connector parts having the contacts and arranged on the same circumference of a circle, wherein the pair of second connector parts are each arranged at a position where a first central angle formed by one of the second connector parts and one of the first connector parts is equal to a second central angle formed by the other of the second connector parts and the other first connector part, and wherein when the first connector module and the second connector module are connected, any one of the pair of first connector parts provided on the first connector module is electrically connected to any one of the pair of second connector parts provided on the second connector module, and any one of the pair of second connector parts provided on the first connector module is also electrically connected to any one of the pair of first connector parts provided on the second connector module.

2. A connector module having electrical contacts, comprising: a pair of first connector parts having the contacts and arranged opposite each other on the same circumference of a circle with the center in between; and a pair of second connector parts having the contacts and arranged on the same circumference of the circle, wherein the pair of second connector parts are respectively arranged at positions where a first central angle formed by one of the second connector parts and one of the first connector parts is equal to a second central angle formed by the other of the second connector parts and the other of the first connector parts.

3. A connector device as claimed in claim 1, wherein the pair of second connector parts are provided on the same side of the same circumference with the pair of first connector parts as the boundary, and the first central angle and the second central angle are 45°.

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