JP2852195B2 - Coupling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a connecting device for connecting two objects to be connected.

[0002]

2. Description of the Related Art A conventional coupling device is disclosed in, for example, Japanese Patent Application Laid-Open No. 1-169121.

In this coupling device, one coupling mechanism has a link mechanism, and a pawl forming a part of the link mechanism is opened to couple with the other coupling mechanism.

[0004]

However, in this conventional coupling device, since one of the coupling mechanisms is coupled to the other coupling mechanism while the pawl is open, it is necessary to provide a portion to be engaged with each pawl on the outside. And the other coupling mechanism is inevitably increased in size. When the size of the other coupling mechanism is increased, the size of the coupling object to which the other coupling mechanism is attached naturally becomes large, and there is a problem that a small coupling object cannot be handled. Further, in this coupling device, guide slopes, guide grooves, and fixing holes corresponding to the respective claws are required, but the shapes tend to be complicated, and it is necessary to provide as many as the number of claws.

[0005] In view of such problems, an object of the present invention is to provide a coupling device having a small and simple structure so that a small coupling object can be handled.

[0006]

According to a first aspect of the present invention, there is provided a connecting device for connecting two objects to be connected, wherein the connecting device comprises two objects to be connected. A coupling mechanism A provided on one of the objects, and a coupling mechanism B provided on the other of the two objects to be coupled, wherein the coupling mechanism A is coupled to the coupling mechanism B at the time of coupling. and one convex portion protruding from the surface, those
Three or more projections arranged so as to surround the projection, and three projections arranged radially around the projection and provided so as to be able to swing from the end on the center side, respectively.
And a finger opening / closing mechanism for swinging and opening the three or more finger portions, wherein the coupling mechanism B includes one recess for accommodating the projection, and the three or more projections. Department of it
Three or more guide portions for guiding and engaging each of the three or more finger portions when the three or more finger portions are closed with at least the convex portion housed in the concave portion; An engaging portion that engages, the one concave portion and the one engaging portion are formed in the same member, and the same member is
Protruded from the coupling surface facing the coupling mechanism A at
A member, wherein the recess is formed in the center of the same member.
And opened toward the coupling mechanism A.
Each of the guides has an inner side surface and an outer side surface of the recess.
Is a groove formed in the peripheral portion between, the width of the groove, the groove
In the mouth, the groove is wider than the width of the protrusion, and the groove is deeper.
A coupling device is provided, characterized in that the coupling device becomes narrower as it becomes smaller .

According to a second aspect of the present invention for achieving the above object, a connecting device for connecting two objects to be connected is provided.
And the coupling device is one of two coupling objects.
Coupling mechanism A provided on one side and two coupling targets
Is composed of a coupling mechanism B provided in the other, the binding
The coupling mechanism A faces the coupling mechanism B at the time of coupling.
One protruding portion protruding from the coupling surface and surrounding the protruding portion
And three or more projections arranged in
Are arranged in a radial pattern, and each end on the center side
Three or more finger portions provided so as to be able to swing from
A finger opening / closing mechanism for swinging the three or more finger portions to open / close.
And the coupling mechanism B has one
Guides and engages each of the recesses and the three or more protrusions.
Three or more guide portions to be combined, and at least the convex portion
When the three or more fingers are closed in the state of being housed in the recess,
One engagement portion engaged with the three or more finger portions,
The one concave portion and the one engaging portion are formed in the same member.
And the same member is connected to the joining machine at the time of joining.
A member protruding from the coupling surface facing the structure A, the concave
The part is formed at the center of the same member, and
Opening toward the coupling mechanism A, each of the guides is
Formed on the peripheral edge between the inner side and outer side of the recess
And the width of the groove is the same as that of the protrusion at the groove opening.
Is wider than the width of the
As the groove becomes deeper, it becomes narrower at a predetermined inclination angle,
As the groove becomes deeper than the predetermined depth,
To be narrower at an inclination angle larger than the predetermined inclination angle.
Coupling apparatus is provided which is characterized by comprising.

[0008] According to a third aspect of the present invention for achieving the above object, in the first or second aspect, the connection is performed.
The joint mechanism A is provided so as to penetrate the center of the projection.
And the other connection object is electrically connected or
Further comprising a connecting portion A for performing械的connection, the coupling
The mechanism B is provided in a state penetrating the center of the concave portion,
In addition, the one connection target is connected to the connection portion A and
Connect a connection B for making an electrical or mechanical connection.
Coupling apparatus is provided, characterized in that it comprises the al.

According to a fourth aspect of the present invention for achieving the above object, in the first or second aspect, the above-mentioned connection is provided.
The coupling mechanism A is composed of the coupling mechanism A and the one coupling object.
And between the two objects to be combined
A finger opening / closing mechanism, further comprising detection means for detecting a force;
Opens and closes each finger using the detection result of the detection means.
There is provided a coupling device characterized in that it is performed .

According to a fifth aspect of the present invention for achieving the above object, in the first or second aspect, the first aspect is provided.
One of the objects to be coupled is a manipulator for moving the coupling mechanism A.
The other connecting object is a part of the
A coupling device is provided , which is an operation target handled by a manipulator .

[0011]

[0012]

[0013]

[0014]

In the first aspect, the finger opening / closing mechanism closes the three or more finger portions and engages them with the one engagement portion in a state in which the protrusion is housed in the recess. Can be. By using a single engaging portion in this manner, the size and simplification of the coupling mechanism B can be achieved. Further , since the one concave portion and the one engaging portion are formed by the same member, the number of parts is reduced. further,
Formed on the peripheral edge between the inner side and outer side of the recess
Since each of the above-mentioned guide portions is constituted by the groove formed,
There is no need to provide a member having a portion.

[0015]

[0016]

In a second aspect, the finger opening and closing mechanism is
In a state where the convex portion is housed in the concave portion, the three or more fingers
Parts are closed so that they can be engaged with the one engaging part.
Can be. In this way, by using only one engaging part,
The size and simplification of the combination mechanism B can be achieved. Also,
Formed on the peripheral edge between the inner side and outer side of the recess
Since each of the above-mentioned guide portions is constituted by the groove formed,
There is no need to provide a member having a portion. Then, the width of the groove decreases from the groove opening to a predetermined depth at a predetermined inclination angle as the groove becomes deeper, and as the groove becomes deeper than the predetermined depth, Since the width is reduced at an inclination angle larger than the predetermined inclination angle, the protrusion can be caught over a wide range from the groove to a predetermined depth, and the predetermined inclination angle At a portion where the width is narrower at a larger inclination angle, the protrusion can be engaged.

According to the third aspect, the connection between the connection portion A and the connection portion B enables an electrical connection or a mechanical connection between the one connection object and the other connection object. .

In a fourth aspect, the finger opening / closing mechanism performs the opening / closing operation of each finger using the detection result of the detection means.

[0020]

In a fifth aspect, the coupling mechanism A is coupled to the coupling mechanism B provided on an operation target of the manipulator by movement by the manipulator.

[0022]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 7 show a first embodiment.

As shown in FIGS. 1 and 2, the coupling device of the present embodiment is a device for coupling two coupling objects 300 and 400, and includes a coupling mechanism 10 provided on the coupling object 300.
0 and a coupling mechanism 200 provided on the coupling object 400.

The coupling mechanism 100 has a coupling surface 1 facing the coupling mechanism 200 when coupled with the coupling mechanism 200.
A projection 140 projecting from the projection 09 and the projection 140 are arranged radially around the projection 140, and are attached to the center end (hereinafter referred to as a base end) so as to be swingable. And two fingers 102, 102, 102 (one of which is shown in FIG. 1). These fingers are arranged such that the base ends have a predetermined distance therebetween. Protrusions 108 are formed on the distal ends of the fingers 102, 102, 102. Fingers 102, 10
2 and 102 are end plates 10 whose base ends are
7 and rotates around the pin axis. The link 104 is attached to the finger 102 via the pin 103, and rotates around the pin axis. The other end of the link 104 is attached to a push plate 106 via a pin 105. The push plate 106 is provided with a ball nut 115. The ball nut 115 engages with the screw 114 and moves back and forth by rotation of the screw. Screw 114
Is connected to a speed reducer 113, and a link drive motor 110 is connected to the speed reducer 113 via gears 111 and 112.

At the center of the end plate 107 and the push plate 106,
A through-hole penetrating in the direction of the coupling mechanism 200 is formed, and a torque transmission shaft 124 provided with a socket wrench 125 at the tip is rotatably arranged in the through-hole.
A transmission drive motor 120 for rotationally driving the torque transmission shaft 124 is provided in the coupling mechanism 100, and is connected to the torque transmission shaft 124 via gears 121 and 122 and a speed reducer 123.

The end plate 107 is provided with three projections 141, 141, 141 in addition to the above-mentioned projection 140. The three protrusions are arranged so as to surround the protrusion 140, and are formed to have a predetermined length in the radial direction, respectively. The convex portion 140 is a socket wrench 125
Is provided so as to cover with a gap.

On the other hand, the coupling mechanism 200 is
A concave portion 201 for accommodating the convex portion 140 is provided. The three fingers 1 of the coupling mechanism 100
Engaging portions 204 are formed to engage with 02, 102 and 102 when they are closed. After the three fingers are closed, the engagement portion 204 is constricted so that these do not come off. At the center of the concave portion 201, a torque transmission shaft 203 having a bolt head 205 fitted on the socket wrench 125 at the tip is arranged.

In the recess 201, there are formed V-grooves 202, 202, 202 for guiding the projections 141, 141, 141 of the coupling mechanism 100 and engaging them thereafter. The groove width of the V groove 202 is such that the protrusion 14
1 and is formed so as to become narrower as the groove becomes deeper.

Various objects can be considered as the objects 300 and 400 to be combined.
The coupling mechanism 100 is a manipulator that moves in a three-dimensional space, and the coupling object 400 is a payload. Examples of the payload include a tool attached to the manipulator and holding an object.

A force torque sensor 310 is provided between the coupling mechanism 100 and the manipulator 300. The force torque sensor 310 is connected to the various motors 11 described above.
0 and 120 and a control device 500 for controlling the joint operation of the manipulator 300 via a signal line 510. The coupling mechanism 200 is attached to the payload 400 via an elastic member 401.

Next, the operation of the coupling device of this embodiment will be described.

As shown in FIG. 3, the coupling mechanisms 100, 20
0, the fingers 102, 102, 102
Is most open.

Then, in order to couple the coupling mechanisms 100 and 200 to each other, first, the manipulator 300 is driven,
Approximate positioning of the coupling mechanism 100 relative to the coupling mechanism 200 in a direction perpendicular to the X axis is performed. Thereafter, the manipulator 300 is further driven to move the coupling mechanism 100 in the X-axis direction and to approach the coupling mechanism 200. When the coupling mechanism 100 approaches the coupling mechanism 200, as shown in FIG. 4, the tip of the convex portion 140 of the coupling mechanism 100 contacts the inside of the concave portion 201 of the coupling mechanism 200.
40 moves along this. At this time, the control device 50
0 controls the operation of the manipulator 300 based on the signal from the force torque sensor 310 so that the force and moment detected by the force torque sensor 310 are reduced. On the other hand, since the socket wrench 125 is covered by the convex portion 140, the socket wrench 12
5 is not damaged.

When the coupling mechanism 100 is further moved in the X-axis direction, as shown in FIG.
Along the X axis, the Y axis, and the Z axis.
Accurate positioning around the axis and in the Y-axis and Z-axis directions is performed. This operation is performed as shown in FIG.
Is completed when the end plate 107 abuts on the distal end of the concave portion 201 of the coupling mechanism 200. At this time, the positioning in the X-axis, Y-axis, and Z-axis directions and around the three axes ends.

When the three-dimensional positioning is completed by the above operation, the link drive motor 110 is driven to
14 rotates, and the push plate 106 moves together with the ball nut 115 in a direction approaching the coupling mechanism 200. The link 104 is pushed forward by the movement of the push plate 106, and the finger 1
Numeral 02 swings with the pin 101 as a base point, and the three fingers are closed until they are engaged with the engaging portions 204. This situation is
This is shown in FIG. And the fingers 102, 102, 10
When 2 is fully closed, the positioning of the coupling mechanisms 100 and 200 can be maintained.

In this embodiment, the coupling mechanisms 100, 2
00 performs the coupling operation of closing the fingers after abutting each other, but may perform the coupling operation of coupling each other such that each finger of the coupling mechanism 100 pulls the engaging portion 204 of the coupling mechanism 200. Specifically, in the state of FIG.
By driving the link drive motor 110, the finger 1
02, 102, 102 are closed and the fingers 102, 102, 10
Then, the engaging portion 204 is retracted into 2. In this retracting process, three-dimensional positioning is realized by the protrusion 141 and the V-groove 202 as described above.
This positioning is completed in the fully closed state of 2, 102.

When the connection operation is completed, the connection between the socket wrench 125 and the bolt head 205 is completed at the same time, and the torque can be transmitted.

After the completion of the predetermined work after the completion of the connection, the link drive motor 110 is rotated in the reverse direction to release the connection in the reverse order of the above-described connection operation. Thereby, the coupling mechanism 100 and the coupling mechanism 200 are separated.

Further, an electric connector A (not shown) is provided in the coupling mechanism 100 instead of the socket wrench, and an electric connector B to be joined to the electric connector A is provided in the coupling mechanism 200 instead of the bolt head. Transmission and reception of signals and power may be performed.

Next, a second embodiment will be described with reference to FIG.

FIG. 8 shows coupling mechanisms 600, 210 and 22.
0 is shown. The coupling mechanism 600 is similar to the coupling mechanism 100 described in the first embodiment. Coupling mechanism 2
10 and 220 are the same as the coupling mechanism 200 of the first embodiment, but in this embodiment, the coupling mechanisms 210 and 220 are used.
Have different groove widths. Coupling mechanism 210
Is attached to the payload 410 having high mechanical strength via the elastic member 411. On the other hand, the coupling mechanism 220
Is attached to the payload 420 having low mechanical strength via the elastic member 421. Specifically, the mechanical strength of the payload 420 is weaker than that of the payload 410.

The coupling mechanisms 210 and 220 are respectively provided with concave portions 211 and 221 for accommodating the convex portions 140 of the coupling mechanism 600.
Is provided. Each of the recesses 211 and 221 is
As described above, engagement portions 214 and 224 that engage with the three fingers 102, 102, and 102 of the coupling mechanism 600 when the fingers are closed are formed on the outer side surface. Further, the three protrusions 141 of the coupling mechanism 600
Three V-grooves 212 for guiding and engaging 141, 141,
212, 212 are formed. Similarly, three V-grooves 222, 222, 222 are formed in the recess 221. The V-groove 212 is formed so as to be wider than the width of the protrusion 141 at the groove opening and narrow as the groove becomes deeper. On the other hand, the V-groove 222 has a wider groove width than the V-groove 212.

The coupling mechanism 600 can be coupled to each of the coupling mechanisms 210 and 220 in the same order as in the first embodiment.

By the way, the coupling mechanism 600 and the coupling mechanism 21
At the time of the coupling with the zero, the coupling force for coupling them is determined by the holding torque proportional to the motor current of the link drive motor 110 and the degree of engagement between the V-groove 212 and the projection 141. This coupling force is transmitted as a load to the payload 410. If a load equal to or greater than the above-described coupling force is applied between the coupling mechanisms 600 and 210 to separate them, this load is applied to the fingers 102, 102 and 102. The power is transmitted to the link mechanism and reaches the link drive motor 110. When the load transmitted to the link drive motor 110 is larger than the holding torque of the motor, the finger 1
02, 102 and 102 will move in the opening direction.

Therefore, if the holding torque of the link drive motor 110 and the shape (specifically, the groove width) of the V-groove 212 are set so that a load greater than a predetermined amount is not applied to the payload 410, the payload 410 Can be prevented from being damaged.

As described above, the width of the V groove 222 formed in the concave portion 221 of the coupling mechanism 220 is
It is wider than the V groove 212 formed in the ten recesses 211. That is, when the coupling mechanism 600 and the coupling mechanism 220 are coupled, the coupling force is equal to the coupling mechanisms 600 and 2.
It will be weaker than that between ten. In particular,
When considering a V-groove 242 having an angle α as shown in FIG. 9, a torque Mx around the X-axis, which is one of the coupling forces by the V-groove, has the following relationship.

[0048]

(Equation 1)

As shown in the equation (1), the larger the angle α (the smaller the V groove), the higher the holding force. The coupling force by the V-groove includes a force in the Y-axis and Z-axis directions and a torque in the Y-axis and Z-axis directions in addition to the torque around the X-axis.

By changing the groove width of the V-groove as described above, an arbitrary coupling force can be set even if the holding torque of the link drive motor 110 (specifically, the motor current) is constant. . In the present embodiment, the mechanical strength of the payload 420 is weaker than that of the payload 410, and the width of the V-groove 222 is wider than that of the V-groove 212 according to this degree.

When the V-shaped groove 252 as shown in FIG. 10 is used, the allowable deviation at the time of positioning is increased, and the holding force can be increased. The V groove is 2
Stepped taper portions 252a and 252b are provided, and the taper portion 252b in a deeper groove has a steeper inclination angle than the tapered portion 252a closer to the groove opening. The taper portion 252a guides the protrusion 141 of the coupling mechanism 600, and the taper portion 252b engages with the protrusion 141.

Next, a third embodiment will be described with reference to FIG.

The structure of the coupling mechanism 700 is the same as that of the coupling mechanism 100 shown in the first embodiment, and a description thereof will be omitted. The coupling mechanism 230 is the coupling mechanism 2 shown in the first embodiment.
The structure is almost the same as that of the torque transmission shaft 2.
03 and the bolt head 205 are different. The coupling mechanism 230 is attached to the payload 430 via an elastic member 431. Payload 430
Is configured to be able to move on the rail 432.

FIG. 11 shows a state in which the coupling between the coupling mechanism 700 and the coupling mechanism 230 has been completed in the same order as in the first embodiment. In FIG. 11, the coupling mechanism 700 includes a coupling mechanism 23 by the manipulator 300.
0, and the protrusion 141 is engaged with the V groove 232. In this state, the manipulator 30
When 0 is moved in the longitudinal direction of the rail 432, the payload 430 moves along the rail 432.

By the way, during this moving operation, a load greater than the coupling force between the coupling mechanisms 700 and 230 may be applied due to, for example, vibration of the manipulator 300. However, such a load is often applied momentarily, and in this case, each finger does not come off completely. Even if the load is applied slightly longer (for example, continuously for several seconds), since the manipulator 300 generates a pressing force, the V-shaped groove 232 and the protrusion 1 are formed.
The engagement with 41 will be maintained. Also, V-groove 232
Even when the engagement between the coupling mechanism 700 and the projection 141 is released, since the link drive motor 110 continues to generate the holding torque, each finger of the coupling mechanism 700 pulls the engagement section 234 of the coupling mechanism 230 so as to pull in. Operate. That is, the finger 102,
Even if the fingers 102, 102 are slightly disengaged from the engaging portions 234, at the next moment, the fingers 102, 102, 102 close again to hold the engaging portions 234, and the moving operation can be continued in a completely connected state. .

Although the first to third embodiments have been described above, the coupling need not necessarily be performed with three fingers, but may be performed with four or more fingers. Further, as a mechanism for opening and closing each finger, a mechanism other than those described in the first to third embodiments may be used.

If the fingers 102, 102, 102 are formed in an appropriate shape, it is possible to further provide a coupling mechanism for opening and coupling the fingers as described in Japanese Patent Application Laid-Open No. 1-169121. is there.

[0058]

According to the coupling device of the present invention, since the other coupling mechanism coupled to one coupling mechanism having the gripping mechanism is reduced in size and simplified, the object attached to the other coupling mechanism. Can handle small ones. In addition, accurate positioning of the objects to be combined in the three-dimensional space can be reliably performed. Furthermore, the coupling force can be adjusted without changing the gripping force of each finger of one coupling mechanism, and an object having various mechanical strengths can be handled.

[0059]

[Brief description of the drawings]

FIG. 1 is a partial sectional view of a coupling device according to a first embodiment of the present invention.

FIG. 2 is an external view of a coupling device according to a first embodiment of the present invention.

FIG. 3 is a partial cross-sectional view of the coupling device according to the first embodiment of the present invention before coupling.

FIG. 4 is a partial cross-sectional view of the coupling device according to the first embodiment of the present invention when coupling is started.

FIG. 5 is a partial cross-sectional view of the coupling device according to the first embodiment of the present invention at the time of correcting a displacement.

FIG. 6 is a partial cross-sectional view of the coupling device according to the first embodiment of the present invention at the time of completion of correction of positional deviation.

FIG. 7 is a partial sectional view of the coupling device according to the first embodiment of the present invention when coupling is completed.

FIG. 8 is an external view of a coupling device according to a second embodiment of the present invention.

FIG. 9 is an explanatory diagram relating to a V-groove of the coupling device according to the present invention.

FIG. 10 is an explanatory diagram relating to a V-groove of the coupling device according to the present invention.

FIG. 11 is a partial sectional view of a third embodiment according to the present invention.

[Explanation of symbols]

100, 200, 210, 220, 230, 600, 7
00: coupling mechanism, 101, 103, 105: pin
102: finger, 104: link, 106: press plate,
107 ... end plate, 108, 140 ... convex part, 109
..Connection surfaces, 110... Link drive motors, 111, 1
12, 121, 122 ... gear, 113, 123 ... reducer, 114 ... screw, 115 ... ball nut, 1
20: transmission drive motor 124: torque transmission shaft
125: socket wrench, 141: protrusion, 2
01, 211, 221, 231,... Recesses, 202, 2
12, 222, 232, 242, 252... V groove, 2
03: Torque transmission shaft, 204, 214, 224, 2
34 ... engagement part, 205 ... bolt head, 300 ...
Manipulator, 310 ... force torque sensor, 40
1, 411, 421, 431 ... elastic material, 400, 4
10, 420, 430: payload, 432: rail, 500: control device, 510: signal line

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Mitsushige Oda 2-4-1 Hamamatsucho, Minato-ku, Tokyo World Trade Center Building 21F Space Development Corporation (56) References JP-A-7-24755 (JP, A) JP-A-5-23989 (JP, A) JP-A-3-43469 (JP, Y2) (58) Fields investigated (Int. Cl. ⁶ , DB name) F16D 1/02 B25J 15/04 B25J 15 /Ten

Claims (5)

(57) [Claims] 1. A coupling device for coupling two coupling objects, wherein the coupling device includes a coupling mechanism A provided on one of the two coupling objects, and the other of the two coupling objects. Mechanism B provided for
The coupling mechanism A comprises: one projection protruding from a coupling surface facing the coupling mechanism B at the time of coupling; and three or more projections arranged so as to surround the projection. Three or more finger portions that are arranged radially around the convex portion and that are swingably provided with the end on the center side as a starting point, and swing the three or more finger portions. A finger opening / closing mechanism for opening / closing, wherein the coupling mechanism B comprises: one concave portion for accommodating the convex portion; and three or more guide portions for guiding and engaging each of the three or more projecting portions; When the three or more fingers are closed in a state in which the convex portion is housed in the concave portion, the one or more fingers are closed. The one engaging portion engages with the three or more fingers. One engaging portion is formed on the same member, and the same member is A member protruding from a coupling surface facing the coupling mechanism A, wherein the concave portion is formed in a central portion of the same member, and is open toward the coupling mechanism A; A groove formed in a peripheral portion between an inner side surface and an outer side surface of the concave portion, wherein a width of the groove is wider than a width of the protrusion at a groove opening and becomes narrower as the groove becomes deeper. Characteristic coupling device. 2. A coupling device for coupling two coupling objects, wherein the coupling device includes a coupling mechanism A provided on one of the two coupling objects and the other of the two coupling objects. The coupling mechanism A is provided with a projection that projects from a coupling surface that faces the coupling mechanism B during coupling, and three projections that are arranged to surround the projection. The above-mentioned protrusions, three or more finger portions which are arranged radially around the protrusion and are provided so as to be swingable from the end on the center side as a starting point, and the three or more fingers. A finger opening / closing mechanism for swinging a part to open / close the part, wherein the coupling mechanism B is configured to guide and engage one concave part for accommodating the convex part and the three or more protrusion parts, respectively. And a shape in which at least the convex portion is accommodated in the concave portion. And when the three or more finger portions are closed, the one or more engaging portions engage with the three or more finger portions. The one concave portion and the one engaging portion are the same member. And the same member is a member protruding from a coupling surface facing the coupling mechanism A at the time of coupling, and the concave portion is formed at a central portion of the same member, and the coupling mechanism A And each of the guide portions is a groove formed in a peripheral portion between an inner side surface and an outer side surface of the concave portion, and the width of the groove is larger than the width of the protrusion at the groove opening. Also, from the groove opening to a predetermined depth, the groove becomes narrower at a predetermined inclination angle as the groove becomes deeper, and as the groove becomes deeper than the predetermined depth, it becomes smaller than the predetermined inclination angle. A coupling device characterized by narrowing at a large inclination angle 3. The coupling mechanism A according to claim 1, wherein the coupling mechanism A is provided so as to penetrate a center of the projection, and performs an electrical connection or a mechanical connection with the other coupling object. The coupling mechanism B is provided in a state penetrating the center of the concave portion, and is connected to the connection part A to electrically or mechanically connect to the one coupling object. The coupling device further comprising a connecting portion B for performing the following. 4. The coupling mechanism A according to claim 1, wherein the coupling mechanism A is provided between the coupling mechanism A and the one coupling target, and detects a force applied to the one coupling target. A coupling device, further comprising a detection unit, wherein the finger opening / closing mechanism performs an opening / closing operation of each finger using a detection result of the detection unit. 5. The connecting object according to claim 1, wherein the one connecting object is a part of a manipulator for moving the connecting mechanism A, and the other connecting object is handled by the manipulator. A coupling device, which is an operation target.