JP5061279B2 - Universal connector mechanism - Google Patents

Description

The present invention is a universal connector mechanism in which devices can be mechanically coupled together and electrically coupled simultaneously.
About.

  In various industrial fields in recent years, research and development of modularization using various independent functional parts in combination as necessary is underway. For example, the same is true in the field of robot technology. By modularizing robot mechanisms with various structures and robots that perform various functions, the user can select and combine various functions as necessary. It is considered to construct a robot with

  In this way, in order to modularize a robot and select and use any one of modules having various functions, it is necessary to mechanically connect the modules, and the modules are related to each other. It is possible to send and receive signals so that it can operate, and sometimes it is necessary to connect to a common power source. In such mechanical coupling and electrical connection, it is necessary to be able to perform a reliable and strong connection and connection without performing complicated operations.

A robot that is modularized and can be arbitrarily coupled by a coupling mechanism, and can be transported by holding the module by the coupling mechanism so that it can walk on a module structure. It is disclosed in Japanese Patent Application Laid-Open No. 2004-358636.
JP 2004-358636 A

  When a plurality of modularized robots or the like are combined and used as described above, it is necessary to securely perform mechanical coupling and electrical coupling. For example, between conventional circuit boards, The coupling means, the USB connector, the LAN connector, or the like does not have sufficient mechanical coupling strength, and cannot be used for applications in which two objects are firmly coupled and also electrically joined. This causes the same problem when connecting various modularized devices as well as when connecting modularized robots as described above.

  Therefore, according to the present invention, when a plurality of devices are mechanically and electrically coupled, there is sufficient mechanical strength, and the electrical coupling can be performed automatically and reliably when mechanically coupled. The main object is to provide a universal connector mechanism.

  In order to solve the above-described problem, the universal connector mechanism according to the present invention has a flange at the tip provided on the diagonal of the square on the connector surface at the same distance from the center and penetrates in the longitudinal direction inside. A shape in which two coupling protrusions provided with conductors and flanges of the coupling protrusions provided on the other diagonal lines of the quadrangle on the connector surface at equal intervals from the center can be fitted. When the coupling protrusion provided on the surface of another connector having the same configuration as the fitting hole is fitted into the fitting hole, the fitting hole is fitted into the fitting hole. A locking mechanism that moves between the rear surface of the flange fitted in the hole and the rear surface of the front plate to prevent the coupling protrusion from coming off from the fitting hole and mechanically couples both connectors; and the bottom of the fitting hole Located in the fitting hole When the coupling protrusion of the other connector is fitted, a contact point that contacts the end face of the conductor passing through the inside of the fitted coupling protrusion is fitted, and the coupling projection of the other connector is fitted into the fitting hole of the connector In this case, it is characterized in that a connector mechanism having the same structure is coupled by a connector that electrically couples the two connectors via the contact points with the conductor of the coupling protrusion of the other connector.

  Another universal connector mechanism according to the present invention includes a conductive pin that can be protruded by a spring from a hole formed in a connector surface plate in the universal connector mechanism, and is mechanically and electrically coupled to the other connector. Then, when the pins of both connectors abut against each other, both connectors perform another electrical connection through the pins.

  Another universal connector mechanism according to the present invention is characterized in that, in the universal connector mechanism, a plurality of the conductive pins are provided to perform power supply connection and communication line connection.

  Another universal connector mechanism according to the present invention is characterized in that, in the universal connector mechanism, an end surface of a conductor that contacts a contact of the other connector is disposed lower than a surface of the coupling protrusion.

  Another universal connector mechanism according to the present invention is characterized in that, in the universal connector mechanism, the locking portion for preventing the removal can be operated from the outside by an operation lever.

  According to another universal connector mechanism of the present invention, in the universal connector mechanism, the position of the pin is shifted from the center of the diagonal line, and when the pin is connected to another connector having the same configuration, the connection of the pins of both connectors is performed. By detecting this, the coupling angle with other connectors is detected.

  Another universal connector mechanism according to the present invention is characterized in that in the universal connector mechanism, the connector includes a circuit board.

  Another universal connector mechanism according to the present invention is characterized in that, in the universal connector mechanism, the connector is fixed to a block whose size is standardized.

  Another universal connector mechanism according to the present invention is characterized in that, in the universal connector mechanism, a plurality of the blocks are combined to form at least a part of a robot.

  Another universal connector mechanism according to the present invention is characterized in that, in the universal connector mechanism, a plurality of types of blocks each having a functional part having a different function are prepared, and a robot is configured by selecting a plurality of arbitrary blocks. To do.

  Another universal connector mechanism according to the present invention is the universal connector mechanism, wherein the plurality of types of blocks include a connecting block that connects the other blocks at an arbitrary angle by the connector, and various sensors and output devices therein. Center block, battery block with a battery inside, CPU block with a CPU inside, joint motor block consisting of two blocks that have a motor inside and can rotate with each other, and can rotate with each other with a predetermined rotation Angle fixed block that can be fixed in position, 360-degree rotary motor block with a motor inside and a rotating shaft that protrudes from the side of the block, free-rotating tire block with a tire that rotates freely by moving the block, and contact with the side Contact sensor block with sensor, block to be combined Wherein the the angle which is either connectable with the connector direction conversion block correspondingly.

  Since the present invention is configured as described above, there is no difference between males and females, and it is possible to perform coupling by a strong locking mechanism at two or four points by simple lever operation between coupling connectors. Electrical coupling can also be performed without operation. Moreover, the mechanical coupling is strong and the electrical coupling is reliable. Also, by connecting them with conductive pins and connecting them with communication lines, you can connect a group of information devices with a common bus, or connect multiple robot modules in a daisy chain to control the whole, or a completely different device It is also possible to connect them via this connector.

  The present invention provides a universal connector mechanism that has a sufficient mechanical strength when mechanically and electrically coupling a plurality of devices, and automatically and reliably performs electrical coupling when mechanically coupled. A conductor having a flange at the tip and penetrating in the longitudinal direction is provided on one diagonal line of the quadrangle on the connector surface at a position where the distance from the center is equal. Two coupling protrusions and other diagonals of the quadrangle on the connector surface have a shape and a size that can be fitted with flanges of the coupling protrusions provided at equal intervals from the center and equal to the distance. Two fitting holes and a flange fitted into the fitting hole when the coupling protrusion provided on the surface of another connector having the same configuration as the fitting hole is fitted into the fitting hole. And the back of A locking mechanism that mechanically couples both connectors by moving between the back surface of the face plate and preventing the coupling protrusions from coming out of the fitting holes, and located at the bottom of the fitting hole, A contact point that contacts the end face of the conductor passing through the inside of the inserted coupling protrusion when the coupling protrusion of the other connector is inserted, and the coupling protrusion of the other connector is inserted into the fitting hole of the connector In this case, the connector is electrically connected to each other by a connector mechanism having the same structure by means of a connector for electrically connecting the two connectors via the contact points with the conductors of the connecting protrusions of the other connectors.

  Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an embodiment of a universal connector mechanism according to the present invention, in which (a) is an exploded view showing the main part thereof, and (b) is a view showing an assembled state. As shown mainly in FIG. 1 (a), the universal connector 1 as a whole has a coupling protrusion 2, a cover 3, a lock mechanism 4, a spring pin mechanism 5, and a circuit board 6 that protrude upward from the top in the drawing. The circuit component 7 and the like.

  The coupling protrusion 2 is provided with a flange 12 extending on both sides at the tip of the shaft portion 11, and as shown in a schematic sectional view in the assembled state in FIG. 2A, a screw hole 13 for contact is formed through the center portion. A conductive screw 14 is inserted through the screw hole 13 for contact, and a nut 16 provided on the back side of the circuit board 6 through the cover 3, the lock guide ring 15 and the opening of the circuit board 6 respectively. So that the whole can be integrated. In the example of FIG. 2, the lower end of the coupling protrusion 2 is illustrated as being supported by the concave portion of the cover 3, but it can be provided in various modes such as through the cover. When the coupling protrusion 2 is fixed with the screw 14 as described above, the screw head 17 of the screw 14 is finally buried in the hole 18 of the coupling protrusion 2 so as to enter slightly from the surface of the coupling protrusion 2. . This is because the head of the communication pin 25 slightly protruding from the other connector surface 3 and the head of the conductive screw 14 in the protrusion 2 are not brought into contact with each other when the connector is coupled.

  Of the four corners of the quadrangular cover 3, a total of two coupling protrusions 2 are provided in one diagonal direction, and the shape and size of the coupling protrusion 2 can be fitted in the other diagonal direction. A total of two holes 20 are provided. As shown in FIG. 2B, the fitting hole 20 has a leaf spring contact 21 disposed in the hole of the circuit board 6 below the fitting hole 20 as shown in a sectional view in the assembled state. As a result, as will be described later, when a joint projection of a universal connector having another similar configuration is fitted into the fitting hole 20, it is inserted into the hole 18 of the joint projection 2 as shown in FIGS. 5 (a2) and 5 (b2). The leaf spring contact 21 enters and contacts the head of the screw 14 as a conductor so that electrical coupling can be performed.

  The cover 3 has a power supply pin insertion hole 22 in the central portion, and a total of eight each in the four sides of the rectangular cover, and a total of two in one diagonal position between these four directions, and the remaining A total of 11 communication pin insertion holes 23 in the figure are provided at the diagonal position. The power supply pin 24 inserted into the power supply pin insertion hole 22 and the communication pin 25 inserted into the communication pin insertion hole 23 constitute a part of the spring pin mechanism 5, and the power supply pin 24 is shown in FIG. Arrange as shown in (c).

  In the example of the power supply pin 24 shown in FIG. 2 (c), one end is abutted against the leaf spring-like contact 30 entering the hole of the circuit board 6, and the spring 27 is placed inside the cylindrical communication pin case 26. A protruding contact 28 is provided so as to be separated from each other by the spring 27. 2C shows an example in which the protruding contact 28 is movable on both sides. However, for example, as shown in FIG. 2C ', a spring 27 or the like is not provided in the power supply pin. The pin-shaped member 9 may be integrated, and the lower ends may be coupled by caulking connection portions 31 to simplify the structure and enable stable power supply. However, in any case, it is possible to energize from one protruding contact to the other protruding contact. Further, the tip of the power supply pin 24 is sufficiently projected from the surface of the cover 3 in the assembled state as shown in FIGS. 2C and 2C, and another universal connector is provided on the surface side of the cover. Makes contact with the power supply pin at this position, and can supply a current of 14.5 V, for example, as VCC.

  The communication pin 25 has the same configuration as the power supply pin 24. As shown in FIG. 2D, the communication pin case 26 includes a spring 27 in the communication pin case 26, and the protruding contact 28 is separated from the spring 27 by the spring 27. Provided. The communication pin 25 can be implemented in various manners similarly to the power supply pin 24. In the communication pin 25, a land hole 29 on the circuit board is appropriately provided in order to transmit a signal to the back surface of the circuit board 6 or to a printed circuit embedded in the board.

  As shown in FIG. 1A, the lock mechanism 4 includes a ring-shaped lock guide ring 15 and a ring-shaped lock lever ring 32 that is guided by the lock guide ring 15 and is rotatable on the ring-shaped lock guide ring 15. . The lock guide ring 15 is provided with two fixing portions 33 at positions facing each other, and the screws 14 are passed through the fixing holes 34 provided in the fixing portion 33 as shown in FIG. Thus, when the fitting protrusion 2 is integrated with the cover 3 and the circuit board 6 with the screw 14, the lock guide ring 15 can also be integrated.

  The lock lever ring 32 includes two lock portions 35 protruding in a direction perpendicular to the fixing portion 33 of the lock guide ring 15, and the lock lever ring 32 is fitted by fitting the lock lever ring 32 and the recess of the lock guide ring 15. Is rotated by being guided by the lock guide ring 15 so that the lock portion 35 can rotate integrally in the circumferential direction. For example, as shown in FIG. 5, the lock portion 35 includes a lock operation lever 36 that protrudes perpendicularly from the circumference of the ring of the lock lever ring 32, an outer key portion 37 provided on the distal end side of the lock operation lever 36, An outer key portion 37 and an inner key portion 39 positioned via a key groove 38 are provided, and a hook portion 41 that can be operated by a user by hooking a nail or the like is formed at the extreme end of the lock operation lever 36. The key groove 38 is inserted into the outer periphery of the shaft portion 11 of the coupling protrusion 2 so as to be able to enter between the rear surface 10 of the flange 12 of the coupling protrusion 2 and the rear surface 19 of the surface plate 8 of the fitting hole 20 portion. Yes.

  As a result, as shown in FIG. 5 (a2), when the coupling protrusion 2 of the second universal connector B is about to be fitted into the fitting hole 20 of the first universal connector A, as shown in FIG. The portion 35 is in a retracted position from the fitting hole 20, whereby the coupling protrusion 2 can be fitted into the fitting hole 20 as shown in FIG. At this time, the head of the screw 14 is in contact with the leaf spring contact 21 as described above.

  From this state, when the lock lever ring 32 is rotated in the direction of the arrow in the figure by, for example, operating the hook 41 at the tip of the lock operation lever 36 as shown in the same figure (b1), in the same figure (c1) (c2). As shown, the shaft portion 11 of the coupling protrusion 2 is fitted into the key groove 38, whereby the outer key portion 37 and the inner key portion 39 of the lock portion 35 are inserted into the lower surface of the flange 12 of the coupling protrusion 2, and the first universal connector. A and the second universal connector B are mechanically firmly coupled. At this time, the screw 14 connected to the circuit on the circuit board 6 of the first universal connector B and the leaf spring-like contact 21 connected to the circuit board 6 of the second universal connector B are surely in contact with each other. The electrical connection between them can also be reliably performed at the same time.

  When the user or the like operates the hook portion 41 from this state and rotates the lock portion 35 in the reverse direction, the lock is released and the first universal connector A and the second universal connector B can be separated. The electrical connection portion is also automatically released. In the example shown in the figure, the hooking portion 41 is rotated by a user or the like to perform locking and unlocking, but an electromagnetic mechanism that operates in response to an instruction signal is provided in this portion or another portion. It can be easily automated.

  The two universal connectors can be locked and unlocked by the locking mechanism as described above. At this time, the power supply pin 24 and the communication pin 25 protruding from the cover 3 are also connected to each other at their tips. Abut. At that time, as shown in FIGS. 6A and 6B, the first universal connector A and the second universal connector B are coupled from the state shown in FIG. 6A to the state shown in FIG. At this time, the protruding contacts 28 are pressed against each other, the leaf spring-shaped contacts 30 are pressed, and the surfaces of the covers are brought into contact with each other. At this time, both the universal connectors are coupled by a lock mechanism, and when the ground terminal of the contact portion is also connected, the power supply pins 24 are also connected to each other, so that power can be supplied from the universal connector on one side to the universal connector on the other side. . Further, by using the integrated pin member 9 as described above, a relatively large current can be supplied.

  The communication pin 25 is also the same as the power supply pin 24 as shown in FIGS. 6C and 6D. From the state shown in FIG. 6C, the first universal connector A as shown in FIG. When the second universal connector B is brought close to each other, the protruding contacts 28 are pressed against each other, and the internal spring 29 is pressed and contracted. In the example shown in the figure, these communication pins have a small current flow, so that the circuit board 6 is directly connected to the circuit board 6 via the land hole 29 on the circuit board without using the leaf spring contact 30 like the power supply pin 24. Yes.

  A large number of these communication pins 25 can be provided as shown in FIG. 1 and the like. For example, as shown in FIGS. 3A and 3B, four sides of a rectangular cover with the power supply pin 24 as the center. A total of eight basic communication pins, two each in the direction, are grouped into two in the direction perpendicular to each other, allowing various signals to be exchanged, and one of these four directions The two communication pins p and q provided at the diagonal position can be supplied with currents of, for example, 5 V and 2.5 V, respectively. When both universal connectors are joined and energized, both voltages are detected by detecting the voltages. It is possible to detect the joint state of the universal connectors, and both the universal connectors rotate 180 degrees depending on whether or not only one communication pin r in the remaining diagonal positions is connected. Thereby enabling detecting whether joined Te.

  As shown in FIG. 4A, in this universal connector 1, a minute connector recess 46 for wiring is provided on the circuit board 6, and a minute connector projection 45 which is a projection of the minute connector is provided in this minute connector recess 46. It can be easily connected and removed. As a result, the universal connector having the above-described mechanism is attached to individual modules of the robot, and when performing an operation specific to each module, the control circuit can be easily changed to a control circuit suitable for each module.

  FIG. 4 is a perspective view showing a state in which two universal connectors having the above structure are coupled. As shown in FIG. 6A, when the first universal connector A and the second universal connector B are connected as described above, both are connected as shown in FIG. An example in which such a universal connector in the present invention is used in a modular robot will be described below. In order to actually make various robots with various structures by combining various modules, an example in which the universal connector as described above is provided in a standard-sized module having various functions is shown in FIGS. Shown in

  FIG. 7 shows a coupling block 51 as the most basic configuration in which a universal connector (hereinafter abbreviated as a connector) having the above-described configuration is used as a robot module. In this coupling block 51, a connector fixing member 52 having the same outer shape as the connector fixed on both sides thereof is used. That is, the first connector 53 is fixed to one surface of the relatively thin connector fixing member 52, and the second connector 54 is fixed to the other surface. By using such a connecting block 51, various blocks as will be described later can be arbitrarily connected. Particularly, when adjusting the length, etc., it is possible to cope by connecting an appropriate number of these blocks.

  FIG. 8 shows an example of a second combined block 55 as an extension of the combined block 51 of FIG. The coupling block 55 has a first connector 57 and a second connector 58 fixed to both sides of the connector fixing member 56 provided at the center thereof and having the same outer shape as the above-described connector. The third connector 59 and the fourth connector 60 are fixed to the opposite end surfaces. In such a connecting block 55, an arbitrary block can be fixed on the four surfaces of the block, and a minimum shape can be obtained as a block for performing such a function.

  FIG. 9 shows an example of a third combined block 61 that can perform the same function as the second combined block 55 shown in FIG. In this example, by embedding the first connector 63, the second connector 64, the third connector 65, and the fourth connector 66 at the center position of each side of the main body 62 that forms a square when viewed from the front, the outer periphery is substantially flat. It is a block that makes. The width of the main body is the same as that of the connector.

  The coupling block 61 as shown in FIG. 9 serves as a center block that serves as a center for coupling various functional modules by incorporating various sensors and the like inside the main body 62 in addition to simply coupling various blocks. Can be used. In this case, for example, a PSD distance sensor 71 is provided on one side of the sensor block 70 and a microphone 72 is provided on the other side, as shown in FIG. The speaker 73, the digital temperature / humidity sensor 74, the illuminance sensor 75, the infrared LED 76, and the main body 77 are made of a light-transmitting resin or the like so that the LED array 78 provided inside is turned on and used as illumination or various display units. be able to. In addition, a single-axis gyro, a three-axis accelerometer, or the like can be further incorporated in the main body if necessary. The center block 70 can be applied to various types of robots by providing connectors on four sides of the center block 70.

  FIG. 11 shows an example of the battery block 80. This block is used by one or a combination of several battery blocks 80 as necessary. In the example shown in the figure, the third connector 61 or The size is such that two center blocks 70 are connected. As a result, six connectors are mounted on the entire outer periphery. Various types of batteries can be used. For example, a lithium polymer rechargeable battery can be used, and two battery blocks of a predetermined size are connected in parallel and built in various modes. Can do. In this battery block, it is preferable to measure and manage current, voltage, temperature, and the like. Also, a Bluetooth module may be built in for communication between hosts. In addition, a center block compatible substrate may be mounted to enable replacement. The block forming the outer shape of FIG. 11 may be used as a CPU block 81 in which a small mother board is mounted and which can perform high-speed processing with a relatively large capacity.

  FIG. 12 shows an example of the joint motor block 83, where (a) is the same size as one side of the center block 70 whose width is standardized, and a rotation support block 84 on one side and the rotation support block 84. And a motor fixing block 85 that rotates relative to the motor. Each block is provided with the same connector as described above. In the example shown in the figure, a rotation detection unit 86 is provided on one side of the motor fixing block 85 so that the rotation amount and the rotation speed can be detected, thereby enabling the speed control and positioning of the motor 87. FIG. 2B shows an example of a joint motor block 83 whose bottom is the size of a connector. When the entire block is connected to each other in the size of this connector, or a particularly small connector. Use when you want to use.

  FIG. 13 shows an example of an angle fixing block 90. In this block, the first block 91 and the second block 92 can be rotated around a central rotating shaft, and an angle fixing knob provided at the end of the shaft. The state can be maintained when the user rotates 93. Connectors 94 and 95 similar to those described above are provided at the bottom of each block. The connectors 94 and 95 can be freely inserted and removed with respect to the bottom surface of each block by an internal movable mechanism. The connectors 94 and 95 are drawn into the interior from the illustrated projecting state, whereby the projecting portions such as the coupling projections of the connector 94 are not obstructed. The entire block may be made independent on the bottom surface. Moreover, a rotation angle detection part can be provided inside and it can also acquire an attachment angle value. Note that this angle fixing block can be a small block as in FIG. 12B.

  FIG. 14 shows an example of a 360-degree rotating motor block 100. As shown in FIG. 14A, a rotating shaft 102 protrudes from a side surface of a main body 101 provided with a motor inside. An example in which a tire 103 is fixed to a shaft 102 with a nut 104 to form a one-side tire block as shown in FIG. In the illustrated 360-degree rotating motor block 100, an example in which three connectors as described above are provided is shown. The 360-degree rotating motor block 100 can be used as a block for rotating various devices in addition to providing the tire as described above, and can be used for rotating a pan head, for example. In addition, positioning at an arbitrary rotational position can be performed by an internal motor, and the rotational speed can be controlled. When rotating a tire, wheels with various outer diameters are prepared as necessary, and can be arbitrarily selected and used. Furthermore, in the illustrated example, the tire 103 is provided only on one side, but it is also possible to protrude the rotating shaft 102 from the other side surface and fix the tire 103 on both sides of the block. In that case, in the example shown in the figure, there are only two connectors at the top and bottom in the figure.

  FIG. 15 shows an example of the idle tire block 105. In the example of the idle tire block 105 in FIG. 5A, two support arms 107 of a base 106 are provided, and a tire 108 is rotatably supported on a shaft supported by the support arms 107. A sensor for measuring the rotation of the tire 108 is provided in the support arm 107, the amount of rolling of the tire is measured by detecting the rotation angle, and the moving distance and speed of the mobile robot, etc., and the moving state of the object in contact with the tire Etc. can be measured and used as an input device. A connector 109 similar to the above is provided at the center of the bottom surface of the base 106. In the example of FIG. 5B, an example in which the base 106 is the same size as the connector 109 is shown.

  FIG. 16 shows an example of the contact sensor block 110. In the example of the contact sensor block in FIG. 5A, an example in which a total of six contact sensors 112 divided into two on each surface are provided with respect to the sensor block fixing surface that is formed to project from the main body 111 on three surfaces. Is shown. A connector 113 similar to that described above is provided on the bottom surface of the main body 111, and this is connected to the end of a robot to which various blocks are connected. When the robot is a moving object, contact with surrounding objects is detected, etc. , It is detected in which direction and with what force the robot is touched. The example of FIG. 5B shows an example in which sensor block fixing surfaces projecting on three surfaces are provided according to another aspect, and the contact state is detected by a total of six contact sensors 112 in the same manner as described above. Further, as shown in the example of FIG. 7C, a block constituting a robot is provided by providing six contact sensors 112 shown in the figure on the end surface, and touching any one of the contact sensors 112 with a user's finger or the like. For example, when the joint motor block 83 as shown in FIG. 12 is provided in any of the above, it can be used as an instruction signal output means for the user, such as instructing an arbitrary rotation angle to the internal motor.

  FIG. 17 shows an example of the connector direction changing block 115. In the connector according to the present invention as described above, when the first block and the second block are coupled, they can be coupled in a state rotated by 180 degrees, but cannot be coupled by a rotation of 90 degrees. That is, for example, the first connection block 116 shown in FIG. 17 (a) and the second connection block 117 shown in FIG. 17 (b) are blocks having the above-described structure, and both blocks are combined in this state. be able to. However, when the block shown in (b) is rotated 90 degrees and arranged as shown in FIG. 4 (d), the connecting protrusions of the connectors facing each other and the fitting holes face each other, and both blocks can be connected. Can not.

  Therefore, in the example of FIG. 17, the second connector 120 fixed to the opposite side of the first connector 119 on the left side of the fixing member 118 in FIG. Yes. As a result, the blocks 117 rotated 90 degrees as shown in FIG. As a result, for example, as shown in FIG. 18, when the second block 122 located on the right side is coupled to the standing first block 121 like the block located on the left side in the drawing, It can couple | bond by interposing the connector direction change block 115 between both. In the illustrated example, the connector portion is schematically indicated by dot hatching. The same applies to the subsequent drawings.

  By preparing blocks for performing the various functions as described above in advance, it is possible to configure a wide variety of robots. An example is shown in FIG. FIG. 19 shows an example of a three-wheel traveling robot 130. The idling tire block 105 in FIG. 15 (a), the joint motor block 83 in FIG. 12 (a), and a center block 70 as shown in FIG. Are connected in series, and a 360-degree rotating motor block 100 as shown in FIG. As a result, the robot travels while the tires 103 on both sides are rotated by the CPU programmed in advance. At that time, it is possible to perform a predetermined traveling by performing feedback control based on the measured values of the traveling speed and the traveling distance by the idle tire block 105. As a result of trial manufacture of this three-wheeled traveling robot, it was possible to perform a desired operation.

  FIG. 20 shows an example of a swinging robot 131 whose tip end swings in an arbitrary direction according to a user instruction. This rocking robot 131 has a connecting block 55 shown in FIG. 8, a small joint motor block 83 shown in FIG. 12B, and two connecting blocks 51 similar to the above connected in series, and an end shown in FIG. The contact sensor block 110 as shown in FIG. When the blocks are actually combined and a motor rotation angle instruction is programmed in advance for each contact sensor 112, the motor in the joint motor block 83 can be obtained by touching the predetermined contact sensor with a finger. It was possible to perform desired swinging and bend and swing by a desired angle as shown in FIG.

  In addition, various robots can be configured by combining various blocks using the connector according to the present invention. In this case, for example, a vehicle type robot 132 driven by four wheels as shown in FIG. 21 may be used. . In this vehicle type robot 132, the contact sensor block 110 as shown in FIG. 16A is provided on both sides at the tip portion, and the center block 70 of FIG. 10 incorporating various sensors is provided above the tip of the main body portion. ing. Further, the front and rear parts of the vehicle body can be steered by changing the angle to an arbitrary angle by the joint motor block 83 of FIG. 12A, and the joint motor block 83 is centered on the vertical axis in the figure. In order to make it rotate, it is necessary to rotate it 90 degrees from the normal use. For this purpose, connector direction changing blocks 115 shown in FIG. 17C are used on both sides of the joint motor block 83.

  FIG. 22 shows an example in which the dog-type robot 133 is configured using various blocks. In this robot, the front and rear legs can be extended as shown in FIG. 6A and the robot can be bent as shown in FIG. Further, by driving the joint motor blocks 134, 135 and 136 constituting the left and right joint portions according to a predetermined program, the walking operation can be performed in the state shown in FIG.

  Various robots can be constructed by connecting various blocks using the connectors as described above, and large robots can be easily formed by increasing the size of these blocks. Alternatively, by further reducing the size of these blocks, a smaller robot can be formed, and can be implemented in various modes depending on the field of use.

  The universal connector mechanism according to the present invention as described above can be used as an interface for fixing various information devices in a spacecraft in addition to the robot field, and can also be used as a modular interface for other various devices. It can also be used as an information outlet that can be connected to a power source and a communication line, and can also be used as a connector for information appliances.

It is a figure which shows the Example of the universal connector mechanism by this invention, (a) is a disassembled perspective view, (b) is a perspective view which shows an assembly state. It is a figure which shows the principal part cross section which performs the mechanical and electrical coupling action used with the universal connector mechanism, (a) is a coupling protrusion, (b) is a fitting hole and a contact portion into which the coupling protrusion is fitted, (C) is a power connection pin, and (d) is a signal line connection pin portion. It is a figure which shows the whole general | schematic outline of the universal connector mechanism, (a) is a perspective view of the surface side, (b) is a front view of the front side, (c) is a figure which shows the back surface. It is a perspective view which shows the aspect when connecting the two universal connector mechanisms by this invention, (a) shows the state before a coupling | bonding, (b) shows the state after a coupling | bonding. It is a figure which shows the operation | movement outline | summary of the coupling mechanism used with the universal connector mechanism, (a) is a state where both connectors are separated, (b) is a state where the surfaces of both connectors are in close contact and electrically connected, (C) shows a state mechanically coupled by a lock mechanism. It is sectional drawing which shows the action | operation of the pin used with the universal connector mechanism, (a) (b) shows a power supply pin, (a) is a state before connection, (b) is a state after the connection. Show. Further, (c) and (d) show communication pins, (c) shows a state before connection, and (d) shows a state after connection. It is a perspective view which shows the example which fixed the universal connector mechanism to both surfaces of the block, and was set as the coupling block. It is a perspective view which shows the example which fixed the universal connector mechanism to 4 surfaces of a block, and was set as the coupling block. It is a perspective view which shows the example which embedded the universal connector mechanism in 4 surfaces of the block, and was set as the coupling block. It is a perspective view which shows the example of the center block which fixed the universal connector mechanism to each surface, (a) is a front side, (b) is a figure which shows the back surface side. It is a perspective view which shows the example which fixed the said universal connector mechanism to each surface as a battery block which put the internal battery which fixed the universal connector mechanism to each surface, or a CPU block which provided CPU inside. It is a perspective view which shows the example of the joint motor block which fixed the universal connector mechanism to each surface, (a) shows a 1st aspect, (b) shows a 2nd aspect. It is a perspective view which shows the example of the angle fixed block which fixed the universal connector mechanism to each surface. It is a perspective view which shows the example of the 360 degree rotation motor block which fixed the universal connector mechanism to each surface. It is a perspective view which shows the example of the idle tire block which fixed the universal connector mechanism, (a) shows a 1st aspect, (b) shows a 2nd aspect. It is a perspective view which shows the example of the contact sensor block which fixed the universal connector mechanism, (a) is a 1st aspect, (b) is a 2nd aspect, (c) shows a 3rd aspect. It is a perspective view explaining the example of a connector direction change block which fixed the universal connector mechanism to each surface, and a use condition. It is a perspective view which shows the usage condition of the connector direction change block. It is a perspective view which shows the example which connected the various blocks and comprised the three-wheeled traveling robot. It is a perspective view which shows the example which connected the various blocks and comprised the rocking | fluctuation robot. It is a perspective view which shows the example which connected the various blocks and comprised the vehicle type robot. It is a perspective view which shows the example which connected the various blocks and comprised the dog type | mold robot.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Universal connector mechanism 2 Coupling protrusion 3 Cover 4 Lock mechanism 5 Spring pin mechanism 6 Circuit board 7 Circuit component 8 Surface plate 9 Pin member 10 Back surface 11 Shaft part 12 Flange 13 Contact screw hole 14 Screw 15 Lock guide ring 16 Nut 17 Screw Head 18 hole 19 Back surface 20 Fitting hole 21 Leaf spring contact 22 Power supply pin insertion hole 23 Communication pin insertion hole 24 Power supply pin 25 Communication pin 26 Communication pin case 27 Spring 28 Projecting contact 29 Land hole on circuit board 30 Plate Spring contact 31 Caulking part 32 Lock lever ring 33 Fixing part 34 Fixing hole 35 Lock part 36 Locking lever 37 Outer key part 38 Key groove 39 Inner key part 41 Hook part 45 Micro connector convex part 46 Micro connector concave part

Claims (11)

Two coupling protrusions provided with conductors penetrating in the lengthwise direction and having flanges at the ends, provided on the diagonal lines of the quadrangle on the connector surface at equal intervals from the center;
Two fitting holes provided on the other diagonal lines of the quadrangle on the connector surface at equal intervals from the center and having the same shape and size as the flanges of the coupling protrusions can be fitted; ,
In the fitting hole, when the coupling protrusion provided on the surface of another connector having the same configuration as the fitting hole is fitted, the back surface of the flange fitted into the fitting hole and the back surface of the surface plate A locking mechanism that moves between the two and mechanically couples both connectors by preventing the coupling protrusion from coming off from the fitting hole,
A contact point that is located at the bottom of the fitting hole and abuts against the end face of the conductor penetrating through the fitting protrusion when the fitting protrusion of the other connector is fitted into the fitting hole;
When the coupling protrusion of the other connector is inserted into the fitting hole of the connector, the connector mechanism having the same structure is provided by the connector that electrically couples both connectors via the contact by the conductor of the coupling protrusion of the other connector. Universal connector mechanism characterized by being coupled by Provided with conductive pins that can be projected by springs from holes formed in the connector surface plate,
When the other connector is mechanically and electrically coupled, the pins of both connectors abut against each other, whereby both connectors perform another electrical coupling via the pins. Item 6. The universal connector mechanism according to Item 1.   The universal connector mechanism according to claim 2, wherein a plurality of the conductive pins are provided to perform power supply connection and communication line connection.   The universal connector mechanism according to claim 2, wherein an end face of the conductor contacting the contact of the other connector is disposed lower than the surface of the coupling protrusion.   The universal connector mechanism according to claim 1, wherein the lock portion for preventing the removal is operable from the outside by an operation lever.   The position of the pin is shifted from the center of the diagonal line, and the connection angle between the connector and the other connector is detected by detecting the connection of the pin at the time of connection with the other connector having the same configuration. The universal connector mechanism according to claim 2. The universal connector mechanism according to claim 1, wherein the connector includes a circuit board.
  The universal connector mechanism according to claim 1, wherein the connector is fixed to a block whose size is standardized.   9. The universal connector mechanism according to claim 8, wherein a plurality of the blocks are combined to constitute at least a part of the robot.   10. The universal connector mechanism according to claim 9, wherein a robot is configured by selecting a plurality of arbitrary blocks from a plurality of types of blocks each having a function part having a different function.   The plurality of types of blocks include a connection block for connecting other blocks at an arbitrary angle by the connector, a center block having various sensors and output devices inside, a battery block having a battery inside, and a CPU inside. CPU block provided, joint motor block consisting of two blocks that can rotate with each other, a motor that is inside, an angle fixing block that can rotate with each other and can be fixed at a predetermined rotation position, and a side surface of the block with a motor inside 360 degree rotation motor block provided with a rotating shaft protruding from, free rotation tire block with a freely rotating tire, contact sensor block with a contact sensor on the side, and connectable according to the angle of the connecting block 11. The connector direction changing block according to claim 10. Universal connector mechanism.

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