WO2000037223A1 - Dispositif de connexion et robot - Google Patents
Dispositif de connexion et robot Download PDFInfo
- Publication number
- WO2000037223A1 WO2000037223A1 PCT/JP1999/007178 JP9907178W WO0037223A1 WO 2000037223 A1 WO2000037223 A1 WO 2000037223A1 JP 9907178 W JP9907178 W JP 9907178W WO 0037223 A1 WO0037223 A1 WO 0037223A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- connection
- connection means
- unit
- robot
- component
- Prior art date
Links
- 238000011144 upstream manufacturing Methods 0.000 claims description 46
- 210000000078 claw Anatomy 0.000 claims description 24
- 241000282472 Canis lupus familiaris Species 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
Definitions
- the present invention relates to a connection device and a robot, and is suitably applied to, for example, a connection device for connecting components, and a robot and a software using the connection device.
- a plurality of downstream components 43, 4 having different sizes with respect to one upstream component 42. 4 is selectively and removably connected by means of mechanical and electrical connection means 4 5, usually its mechanical and electrical connection irrespective of the size of downstream components 4 3, 4 4 Means, structure and size of the means 45 were limited to one type.
- the size of the mechanical and electrical connection means 45 becomes smaller.
- the size of the downstream component 43 has to be increased to match the size of the mechanical and electrical connection means 45, as shown in Fig. 14. If the size of the downstream component 44 is larger than that of the upstream component 42, the size of the mechanical and electrical connection means 45 is too small with respect to the downstream component 44. Therefore, problems such as insufficient strength of the connection means 45 were likely to occur.
- downstream components 43 etc. which are small in size, consume less power
- downstream components 44 etc. which have a large size, consume more power.
- the connection means 45 As shown in Fig. 14, when a large downstream component 44 is connected to the upstream component 42, the current that can be There was a problem that a large current corresponding to the size of the large downstream component 44 was passed, that is, the power required by the large downstream component 44 could not be sufficiently supplied. Disclosure of the invention
- the present invention has been made in consideration of the above points, and selectively and detachably connects a plurality of downstream components having different sizes to an upstream component by mechanical and electrical connection means.
- it is intended to propose a connection device that can make a connection commensurate with the size of the downstream component, and a mouth bot using the connection device.
- the upstream component is provided with a plurality of mechanical and electrical connection means arranged according to a certain rule, and the upstream component is selectively provided to the upstream component.
- Each of the plurality of downstream components connected in different sizes corresponded to the mechanical and electrical connection means of the upstream component, and corresponded to the size of these downstream components.
- a number of mechanical and electrical connection means are provided.
- this connecting device shares the mechanical and electrical connection means of the upstream component when the downstream component having a different size is selectively and detachably connected to the upstream component.
- the connection can be made by mechanical and electrical connection means having a size corresponding to the size of the downstream component.
- the connecting device and the robot of the present invention configured as above can provide the following effects.
- the connecting device is characterized in that when a downstream component having a different size is selectively and detachably connected to an upstream component, the upstream component is connected to the upstream component.
- the mechanical and electrical connection means of the unit are shared, and the components on the downstream side can be connected by mechanical and electrical connection means of a size commensurate with the size of the unit. Therefore, it is possible to freely connect various downstream components with different sizes to the upstream component, and at that time, to connect with the connection strength that matches the size of the downstream component and the size of the downstream component. Proper current supply can be performed.
- connection device wherein the mechanical connection means comprises a plurality of connection holes and connection claws, and the electrical connection means comprises a main connection terminal arranged at a fixed position and a plurality of connection holes. And the sub-connecting terminals connected by the connecting claws, making it possible to make effective use of the coupling force of the connecting holes and connecting terminals to achieve stable electrical connection and to simplify the structure. realizable.
- the robot according to claim 3 is capable of selectively and detachably connecting a plurality of robot-constituting units to a plurality of surfaces of a common fuselage unit by mechanical and electrical connection means. Robots of various forms can be assembled freely and easily.
- the plurality of robot-constituting units are composed of a head unit, a tail unit, a leg unit, and a wheel unit, various types of robots that resemble animals such as dogs and cats can be used. It can be easily assembled.
- FIG. 1 is an exploded perspective view illustrating an example of a robot using a connection device to which the present invention is applied.
- FIG. 2 is a perspective view of the robot shown in FIG. 1 in an assembled state.
- FIG. 3 is a side view of the robot of FIG.
- FIG. 4 is an exploded perspective view illustrating another example of the robot of FIG.
- FIG. 5 is a perspective view of the robot shown in FIG. 1 in an assembled state.
- FIG. 6 is a side view of the robot of FIG.
- FIG. 7 is a perspective view illustrating an embodiment of a connection device to which the present invention is applied, in which a downstream component having a large size is connected to an upstream component.
- FIG. 8 is a perspective view of FIG. 7 viewed from below.
- FIG. 9 is a perspective view when a small downstream component is connected to the upstream component of FIG.
- FIG. 10 is a perspective view illustrating a sub-connection terminal connected to the connection hole and the connection claw portion of the connection device in FIG.
- FIG. 11 is a perspective view of FIG. 10 viewed from below.
- FIG. 12 is a side view of FIGS. 10 and 11.
- FIG. 13 is a perspective view illustrating a conventional connection device.
- FIG. 14 is a perspective view illustrating a conventional connection device. BEST MODE FOR CARRYING OUT THE INVENTION
- connection device 1 mechanically connects a plurality of downstream components 3 and 4 having different sizes with respect to one upstream component 2. It can be connected selectively and detachably by means of electrical and electrical connection means.
- the mechanical connection means includes a number of connection holes 5 and one or more positioning holes 6 formed in the upstream component 2, and a number of connection claws formed in the downstream components 3 and 4. 7 and one positioning claw 8.
- the positioning claw 8 is formed on the elastic piece 9.
- 16 connection holes 5 of the upstream component 2 are arranged according to a certain rule.
- the number of connection claws 7 of the downstream component 3 having a large size is formed in a number corresponding to all the connection holes 5 of the upstream component 2, for example, 16 pieces.
- Small downstream component 4 connecting claw 7 is upstream component 2
- the number corresponding to a part of the depression of the sixteen connection holes 5 is formed, for example, six.
- the connection holes 5 have a substantially L-shaped planar shape, and the connection claws 7 have a substantially L-shaped side surface.
- the electrical connection means includes a plurality of main connection terminals 1 2 common to the downstream components 3 and 4 disposed on the top of the convex portion 11 formed substantially at the center of the connection area of the upstream component 2. And 16 sub-connection terminals 14 arranged in all 6 connection holes 5 and a recess 15 formed almost at the center of the connection area of the downstream components 3 and 4 Downstream components located at the bottom 3, 4 Common multiple main connection terminals 16 and 16 and 6 connection claws 7 16 and 6 sub-connections respectively located at 7 parts And terminal 18.
- a terminal lift lever 13 is provided on the side surface of the convex portion 11 of the upstream component 2, and a lift lever drive is provided on the inner side surface of the concave portion 15 of the downstream component 3, 4.
- the part 17 is formed.
- This connecting device 1 is configured as described above, and as shown in FIGS. 7 and 8 and FIGS. 10 to 12, when a large-sized downstream component 3 is connected to the upstream component 2.
- the downstream component 3 is brought close to the upstream component 2 from the vertical direction in the direction of the arrow a, and all the sixteen connection claws 7 are set in the large opening of the sixteen connection holes 5.
- the downstream component 3 is horizontally slid with respect to the upstream component 2 in the direction of the arrow b, and all the 16 connecting claws 7 are connected to all the 16 connecting claws.
- the downstream component 3 is mechanically connected to the upstream component 2 so as to restrain the horizontal return of the component 3.
- the terminal lift lever 13 is moved in the direction of the arrow b by the lift lever driving portion 17.
- a plurality of common main connection terminals 12 While being pressed against a plurality of main connection terminals 16, all 16 sub-connection terminals 14, 18 are pressed against each other by all 16 connection pawls 7 (being pinched) ),
- the downstream component 3 is electrically connected to the upstream component 2.
- the downstream component 3 having a large size can be mechanically connected to the upstream component 2 by using all 16 connection holes 5 and connection claws 7. It is possible to obtain a sufficient connection strength corresponding to the size of the downstream component 3 and to connect the large downstream component 3 to the upstream component 2 by using the common main connection terminals 1, 2, 1, and 1. Since all six sub-connection terminals 14 and 18 can be used for electrical connection, a large-capacity electrical connection that matches the size of the downstream component 3 can be made. As a result, a large current can be supplied from the upstream component 2 to the downstream component 3. Next, as shown in FIGS.
- the terminal lift is performed by the lift lever driving portion 17.
- the lever 13 is driven in the direction of the arrow b to push the common plurality of main connection terminals 1 2 against the plurality of main connection terminals 16, and the six connection claws 7 to The connection terminals 14 and 18 are pressed together (sandwiched). O), the downstream component 4 is electrically connected to the upstream component 2.
- the downstream component 4 having a small size is used for the upstream component 2 by using six connection holes 5 and connection claws 7 corresponding to the size of the downstream component 4.
- mechanical connection it is possible to obtain a connection strength that is commensurate with the size of the downstream component 4 and to reduce the size of the downstream component 4 to the upstream component 2.
- a small-capacity electrical connection can be made, and a small current can be supplied from the upstream component 2 to the downstream component 4.
- a trunk unit which is a common unit 22 has a rectangular parallelepiped shape, the left and right side surfaces 22a have a large area, and the upper and lower side surfaces 22b have a small area.
- Each of the left and right side surfaces 2 2 a and the upper and lower side surfaces 2 2 b has a total of six surfaces, each having a number of connection holes 5, one or more positioning holes, and a common
- a plurality of main connection terminals 12, a large number of sub connection terminals 14, and the like are each formed in two sets, for a total of 12 sets.
- a plurality of robot unit units, one head unit 23, one tail unit 25, and a total of four leg units 2 are combined with the body unit 22 to form a head unit base 24 and a tail unit base 2, respectively.
- 6 and the leg unit base 28 are mechanically and electrically detachably connected by the head unit base 24, the tail unit base 26 and the leg unit base 28. Is a large number of connection claws 7, one positioning claw 8, a plurality of common main connection terminals 16, many sub connection terminals 18, etc. It is connected.
- the head unit 23 and the tail unit 25 are connected mechanically and electrically detachably by the head unit base 24 and the tail unit base 26, respectively, before and after the upper surface 2 2b where the area of the body unit 22 is small.
- a total of four leg unit 27 are connected to the front and rear sides 22 a of the left and right side surfaces 22 a with a large area of the body unit 22 so as to be detachable mechanically and electrically by the leg unit base 28, respectively.
- the robot 21 shown in FIGS. 2 and 3 can be assembled.
- the robot 21 shown in FIGS. 4 to 6 uses the trunk unit 22 and the tail unit 25 in common, and combines a total of four leg units 27 as robot configuration units into two wheel units 29. Is replaced with In addition, the same mechanical and electrical connection means as the other head unit base 24 and tail unit base 26 are formed also on the wheel unit base 30 of each of the two wheel units 29. Then, the robot 21 rotates the trunk unit 22 by 90 °, and places the head unit 23 and the tail unit 25 around the upper side surface 22 a having a large area, respectively.
- the tail unit base 26 are mechanically and electrically detachably connected by the unit unit base 26, and the two wheel unit 29 are respectively connected by the wheel unit base 30 before and after the lower side surface 22a having a large area of the body unit 22. It is assembled by mechanically and electrically detachably connecting.
- the robot unit 22 which is a common unit has various robot configuration units having different shapes and sizes.
- the head unit 23 and the tail unit 25 for the torso unit 2 2 can be obtained by using the above-described connecting device 1 when selectively connecting the unit 25, the leg unit 27 and the wheel unit 29.
- the mounting locations of the leg unit 27 and the wheel unit 29 can also be freely changed, so that robots of various forms can be freely and easily assembled.
- connection device 1 is not limited to a connection device for a robot, and is widely applicable to connection devices for various components.
- the robot 21 can be applied to various types of robots. Industrial applicability
- the present invention can be used for an entertainment robot.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/622,552 US6439951B1 (en) | 1998-12-21 | 1999-12-21 | Connecting apparatus and robot |
EP99959943A EP1084803A1 (en) | 1998-12-21 | 1999-12-21 | Connection device and robot |
KR1020007008071A KR20010034338A (ko) | 1998-12-21 | 1999-12-21 | 접속장치 및 로봇 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP36229898 | 1998-12-21 | ||
JP10/362298 | 1998-12-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000037223A1 true WO2000037223A1 (fr) | 2000-06-29 |
Family
ID=18476497
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1999/007178 WO2000037223A1 (fr) | 1998-12-21 | 1999-12-21 | Dispositif de connexion et robot |
Country Status (5)
Country | Link |
---|---|
US (1) | US6439951B1 (ja) |
EP (1) | EP1084803A1 (ja) |
KR (1) | KR20010034338A (ja) |
CN (1) | CN1291127A (ja) |
WO (1) | WO2000037223A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6616464B1 (en) * | 1999-05-10 | 2003-09-09 | Sony Corporation | Robot device |
US8225458B1 (en) | 2001-07-13 | 2012-07-24 | Hoffberg Steven M | Intelligent door restraint |
US7291052B2 (en) * | 2003-09-02 | 2007-11-06 | Steven Ellman | Toy figure play apparatus |
KR100796993B1 (ko) | 2006-12-19 | 2008-01-22 | 한국생산기술연구원 | 모듈형 로봇 |
KR20080107936A (ko) * | 2007-06-08 | 2008-12-11 | 주식회사 그랜드포트 | 구조적 모듈 시스템이 적용된 교육용 로봇 |
KR20150100165A (ko) * | 2014-02-24 | 2015-09-02 | 주식회사 로보빌더 | 모듈러 액츄에이터 결합장치 |
US11957991B2 (en) * | 2020-03-06 | 2024-04-16 | Moose Creative Management Pty Limited | Balloon toy |
CN219681680U (zh) * | 2022-07-07 | 2023-09-15 | 浙江菲元科技有限公司 | 一种拼插动物积木玩具 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6353874A (ja) * | 1986-08-22 | 1988-03-08 | キヤノン株式会社 | 接続端子装置 |
US4822296A (en) * | 1987-06-19 | 1989-04-18 | Anton/Bauer, Inc. | Electrical connection for battery charging apparatus or the like |
US5766077A (en) * | 1995-05-26 | 1998-06-16 | Kabushiki Kaisha Bandai | Game apparatus with controllers for moving toy and character therefor |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5223438A (en) * | 1975-08-16 | 1977-02-22 | Mitsubishi Pencil Co Ltd | Assembly type reminding model capsule and its coupler |
US4186515A (en) * | 1977-12-22 | 1980-02-05 | Takara Co., Ltd. | Toy horse vehicle |
US4712184A (en) * | 1984-09-12 | 1987-12-08 | Haugerud Albert R | Computer controllable robotic educational toy |
US5378184A (en) * | 1993-02-05 | 1995-01-03 | Today's Kids, Inc. | Toy figure having disassembleable appendages |
US6116932A (en) * | 1997-08-20 | 2000-09-12 | Sony Corporation | Connector device |
-
1999
- 1999-12-21 EP EP99959943A patent/EP1084803A1/en not_active Withdrawn
- 1999-12-21 CN CN99803137A patent/CN1291127A/zh active Pending
- 1999-12-21 WO PCT/JP1999/007178 patent/WO2000037223A1/ja not_active Application Discontinuation
- 1999-12-21 US US09/622,552 patent/US6439951B1/en not_active Expired - Fee Related
- 1999-12-21 KR KR1020007008071A patent/KR20010034338A/ko not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6353874A (ja) * | 1986-08-22 | 1988-03-08 | キヤノン株式会社 | 接続端子装置 |
US4822296A (en) * | 1987-06-19 | 1989-04-18 | Anton/Bauer, Inc. | Electrical connection for battery charging apparatus or the like |
US5766077A (en) * | 1995-05-26 | 1998-06-16 | Kabushiki Kaisha Bandai | Game apparatus with controllers for moving toy and character therefor |
Also Published As
Publication number | Publication date |
---|---|
CN1291127A (zh) | 2001-04-11 |
KR20010034338A (ko) | 2001-04-25 |
US6439951B1 (en) | 2002-08-27 |
EP1084803A1 (en) | 2001-03-21 |
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