JPH08219166A - Coupling device - Google Patents

Abstract

PURPOSE: To provide a joining device in which the structure is miniaturized and simplified so that a small-sized article subjected to joining can be handled. CONSTITUTION: A joining device is constituted of a joining mechanism 100 provided on an article subjected to joining 300, and a joining mechanism 200 provided on an article subjected to be joining 400. The joining mechanism 100 is provided with a projecting part 140 projecting from a joining surface 109 facing the joining mechanism 200 in joining, three finger parts 102 provided by taking their ends on the center side as a starting point so as to be oscillated, and a finger opening and locking mechanism for opening and closing three finger parts 102 by oscillating them. The joining mechanism 200 is provided with a recessed part 201 for housing the projecting part 140, and an engaging part 204 to be engaged with three finger parts 102 when three finger parts 102 are closed in a state where at least the projecting part 14 is housed in the recessed part 201.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art As a conventional coupling device, for example, there is one described in Japanese Patent Laid-Open No. 1-169121.

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

[0004]

However, in this conventional coupling device, since the claws of one coupling mechanism are coupled with the other coupling mechanism in the open state, it is necessary to provide a portion engaging with each claw on the outside. However, there is an unavoidable increase in the size of the other coupling mechanism. When the size of the other coupling mechanism is increased, the size of the coupling target to which the other coupling mechanism is attached is naturally large, and there is a problem that a small coupling target cannot be handled. Further, this coupling device requires a guide slope, a guide groove, and a fixing hole corresponding to each claw, but the shape tends to be complicated, and it is necessary to provide the same number as each claw.

In view of these problems, it is an object of the present invention to provide a coupling device having a compact structure and a simplified structure so that a compact coupling object can be handled.

[0006]

According to a first aspect of the present invention for achieving the above object, there is provided a joining device for joining two joining objects, the joining device comprising two joining objects. It is composed of 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. The coupling mechanism A faces the coupling mechanism B at the time of coupling. One projecting portion protruding from the surface, and the three projecting portions are arranged radially around the projecting portion and swingably provided with the end portion on the center side as a starting point.
One or more finger portions and a finger opening / closing mechanism that swings and opens the three or more finger portions, and the coupling mechanism B includes one concave portion for accommodating the convex portion and at least the convex portion. One engaging portion that engages with the three or more finger portions when the three or more finger portions are closed in a state of being housed in the concave portion, the one recess portion and the one engaging portion. Is provided by the same member.

According to a second aspect of the present invention for achieving the above object, in the first aspect, the coupling mechanism A is used.
Further includes three or more protrusions arranged so as to surround the protrusion, and the coupling mechanism B guides and engages with each of the three or more protrusions. A coupling device is provided, further comprising:

According to a third aspect of the present invention for achieving the above object, in the second aspect, the same member is a member protruding from a coupling surface facing the coupling mechanism A at the time of coupling. The concave portion is formed in the central portion of the same member and opens toward the coupling mechanism A, and each guide portion has a peripheral edge between an inner side surface and an outer side surface of the concave portion. A groove formed in the groove portion, the groove being wider than the width of the protrusion at the groove opening, and the width being narrower as the groove is deeper. A coupling device is provided.

According to a fourth aspect of the present invention for achieving the above object, in the second aspect, the same member is a member protruding from a coupling surface facing the coupling mechanism A at the time of coupling. The concave portion is formed in the central portion of the same member and opens toward the coupling mechanism A, and each guide portion has a peripheral edge between an inner side surface and an outer side surface of the concave portion. Is a groove formed in the portion, the groove is wider than the width of the protrusion at the groove opening, and from the groove opening to a predetermined depth, with a predetermined inclination angle as the groove becomes deeper. The coupling is characterized in that as the width becomes narrower and the groove becomes deeper than the predetermined depth, the width becomes narrower at an inclination angle larger than the predetermined inclination angle. Equipment It is.

According to a fifth aspect of the present invention for achieving the above object, in the first, second, third or fourth aspect, the coupling mechanism A penetrates the center of the convex portion. Provided in a state, and further comprising a connection portion A for making an electrical connection or a mechanical connection with the other coupling object, the coupling mechanism B is provided in a state of penetrating the center of the recess, Further, there is provided a coupling device, further comprising a connection portion B which is connected to the connection portion A to electrically or mechanically connect to the one coupling object.

According to a sixth aspect of the present invention for achieving the above object, in the first, second, third, fourth or fifth aspect, the coupling mechanism A is the same as the coupling mechanism A. The detection device is provided between the one coupling object and further includes a detection unit that detects a force or a velocity applied to the one coupling target, and the finger opening / closing mechanism uses the detection result of the detection unit. A coupling device is provided, which is configured to open and close each finger.

According to a seventh aspect of the present invention for achieving the above object, there is provided a joining device for joining two joining objects, wherein the joining device is one of the two joining objects. It is composed of a coupling mechanism A provided and a coupling mechanism B provided on the other of the two coupling objects, and the coupling mechanism A is one protruding from the coupling surface facing the coupling mechanism B at the time of coupling. A convex portion and three or more finger portions that are arranged radially around the convex portion and that are swingably provided with the end portion on the center side as a starting point,
A finger opening / closing mechanism for swinging and opening and closing the three or more finger portions is provided, and the coupling mechanism B has one concave portion for accommodating the convex portion and at least the convex portion in the concave portion. A coupling device is provided, which comprises one engagement portion that engages with the three or more fingers when the three or more fingers are closed.

According to an eighth aspect of the present invention for achieving the above object, in the first, second, third, fourth, fifth or sixth aspect, the one binding object is A coupling device is provided, which is a part of a manipulator for moving the coupling mechanism A, and the other coupling object is an operation target handled by the manipulator.

[0014]

In the first aspect, the finger opening / closing mechanism closes the three or more fingers in the state where the convex portion is housed in the concave portion and engages these with the one engaging portion. You can In addition, by having only one engaging portion, the coupling mechanism B
Can be downsized and simplified. Furthermore, 1
Since one concave portion and the one engaging portion are formed by the same member, the number of parts is reduced.

In the second aspect, the three or more guide portions guide and engage with each of the three or more protrusions. This makes it possible to improve the positioning of the coupling mechanisms A and B during coupling and the coupling force in a predetermined direction.

In the third aspect, each of the guide portions is a groove formed in the peripheral edge portion between the inner side surface and the outer side surface of the recess. According to this structure, the member having the guide portion is formed. There is no need to prepare further.

In the fourth aspect, the groove becomes narrower at a predetermined inclination angle as the groove becomes deeper from the groove opening to a predetermined depth, and the groove becomes smaller than the predetermined depth. As the depth becomes deeper, the width becomes narrower at an inclination angle larger than the predetermined inclination angle, so that the protrusion can be captured over a wide range until the depth reaches a predetermined depth from the groove opening. It is possible to engage with the protrusion at a portion whose width is narrow at an inclination angle larger than the predetermined inclination angle.

In the fifth aspect, the connection between the connection portion A and the connection portion B enables electrical connection or mechanical connection between the one coupling object and the other coupling object. .

In the sixth aspect, the finger opening / closing mechanism opens / closes each finger using the detection result of the detecting means.

In a seventh aspect, the finger opening / closing mechanism is configured such that, in a state where the convex portion is accommodated in the concave portion, the three or more finger portions are closed and these are engaged with the one engaging portion. You can Further, by using only one engaging portion, it is possible to reduce the size and simplification of the coupling mechanism B.

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

[0022]

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

A first embodiment is shown in FIGS.

As shown in FIGS. 1 and 2, the joining device of this embodiment is a device for joining two joining objects 300 and 400, and a joining mechanism 10 provided on the joining 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.
09, and the protrusions 140 that are radially arranged around the protrusion 140, and are attached so as to be swingable from the center-side end (hereinafter referred to as the base end) as a starting point. Two fingers 102, 102, 102 (one of which is shown in FIG. 1) are provided. These fingers are arranged so that the base ends have a predetermined distance from each other. A convex portion 108 is formed on the tip side of each of the fingers 102, 102, 102. Fingers 102, 10
2, 102, the base end portion of which is the end plate 10 by the pin 101.
It is attached to 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 the push plate 106 via a pin 105. The push plate 106 is provided with a ball nut 115, and the ball nut 115 engages with the screw 114 and moves back and forth by the rotation of the screw. Screw 114
Is connected to the speed reducer 113, and the 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 having a socket wrench 125 at its tip is rotatably arranged therein.
A transmission drive motor 120 that rotationally drives the torque transmission shaft 124 is provided in the coupling mechanism 100, and the transmission drive motor 120 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 protrusions 141, 141, 141 in addition to the above-mentioned protrusion 140. The three protrusions are arranged so as to surround the protrusion 140, and are formed so as to each have a predetermined length in the radial direction. 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 the coupling mechanism 100.
A concave portion 201 for accommodating the convex portion 140 is provided. On the outer side surface of the recess 201, the three fingers 1 of the coupling mechanism 100 are provided.
Engagement portions 204 are formed to engage with 02, 102, and 102 when they are closed. After the three fingers are closed, the engaging portion 204 is constricted so that these fingers do not come off. At the center of the recess 201, a torque transmission shaft 203 having a bolt head 205 that fits into the socket wrench 125 at the tip is arranged.

Further, in the concave portion 201, V-grooves 202, 202, 202 for guiding the projections 141, 141, 141 of the coupling mechanism 100 and engaging thereafter are formed. The groove width of the V groove 202 is such that the protrusion 14 is formed at the groove opening.
The width is wider than 1 and narrows as the groove deepens.

Although various objects can be considered as the object to be combined 300, 400, the object to be combined 300 in this embodiment is
It is a manipulator that moves the coupling mechanism 100 in a three-dimensional space, and the coupling object 400 is a payload. As the payload, there is a tool which is attached to a manipulator and holds an object.

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

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

As shown in FIG. 3, the coupling mechanism 100, 20
Before the mutual connection of 0s, the fingers 102, 102, 102
Is in the most open position.

Then, in order to couple the coupling mechanisms 100 and 200 with each other, first, the manipulator 300 is driven,
The general positioning of the coupling mechanism 100 with respect to the coupling mechanism 200 is performed in a direction perpendicular to the X axis. After that, the manipulator 300 is further driven to move the coupling mechanism 100 in the X-axis direction and bring it closer to 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, and then the convex portion 1
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 become small. On the other hand, since the socket wrench 125 is covered by the convex portion 140, when the socket wrench 125 comes into contact with the socket wrench 12,
5 is not damaged.

When the coupling mechanism 100 is moved closer to the X-axis direction, as shown in FIG.
It is guided along the 3 axis of the X-axis, Y-axis, Z-axis
Accurate positioning is performed around the axis and in the Y-axis and Z-axis directions. This operation is performed by the coupling mechanism 100 as shown in FIG.
The end plate 107 is completed when the end plate 107 comes into contact with the tip of the recess 201 of the coupling mechanism 200, and at this time, the positioning in the three axial directions of the X axis, the Y axis, the Z axis, and around the three axes is completed.

When the three-dimensional positioning is completed by the above operation, the link drive motor 110 drives to drive the screw 1
14 rotates, and the push plate 106 moves together with the ball nut 115 toward the coupling mechanism 200. The link 104 is pushed forward by the movement of the push plate 106, and the finger 1
02 swings around the pin 101 as a base point, and the three fingers are closed until they are engaged with the engaging portion 204. This situation is
It is shown in FIG. And the fingers 102, 102, 10
When 2 is fully closed, it becomes possible to maintain the mutual positioning of the coupling mechanisms 100 and 200.

In this embodiment, the coupling mechanisms 100, 2
00 performs the coupling operation of closing the fingers after they abut each other, but the fingers of the coupling mechanism 100 may perform the coupling operation of pulling the engaging portion 204 of the coupling mechanism 200 to couple each other. Specifically, in the state of FIG.
The link drive motor 110 is driven to operate the finger 1 according to the above principle.
02, 102, 102 closed, fingers 102, 102, 10
The engaging portion 204 is pulled in to (2). In this retraction process, similarly to the above, three-dimensional positioning is realized by the projection 141 and the V groove 202, and then the fingers 102, 10
This positioning is completed in the fully closed state of 2,102.

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

After the completion of the predetermined work after the completion of the coupling, the link driving motor 110 may be rotated in the reverse direction to release the coupling in the reverse order of the coupling operation described above. As a result, the coupling mechanism 100 and the coupling mechanism 200 are separated.

Further, instead of the socket wrench, an electric connector A (not shown) is provided in the coupling mechanism 100, and further, in the coupling mechanism 200, an electrical connector B for joining with the electrical connector A is provided instead of the bolt head, Signals and power may be exchanged.

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

FIG. 8 shows the coupling mechanism 600, 210, 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 similar to the coupling mechanism 200 of the first embodiment, but in this embodiment, the coupling mechanisms 210 and 220.
The groove widths of the V grooves are different from each other. Coupling mechanism 210
Are attached to the payload 410 having high mechanical strength via the elastic material 411. On the other hand, the coupling mechanism 220
Are attached to the payload 420 having low mechanical strength via the elastic material 421. Specifically, the mechanical strength of the payload 420 is weaker than that of the payload 410.

The coupling mechanisms 210 and 220 respectively have 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
Similar to the above, on the outer side surface thereof, the engaging portions 214 and 224 that engage with the three fingers 102, 102, 102 of the coupling mechanism 600 when they are closed are formed. In addition, in the recess 211, the three protrusions 141 of the coupling mechanism 600,
Three V-grooves 212 that guide and engage 141, 141,
212, 212 are formed. Similarly, three V-shaped grooves 222, 222, 222 are formed in the recess 221. The V groove 212 is formed so that it is wider than the width of the protrusion 141 at the groove opening and narrows 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 coupling with 0, 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 protrusion 141. This coupling force is transmitted as a load to the payload 410, but when a load equal to or greater than the coupling force is applied between the coupling mechanisms 600 and 210 to separate them, the load is applied from the fingers 102, 102, 102. It 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, 102 will move in the opening direction.

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

The width of the V groove 222 formed in the concave portion 221 of the coupling mechanism 220 is, as described above, the coupling mechanism 2
It is wider than the V groove 212 formed in the recessed portion 211 of the No. 10. That is, when the coupling mechanism 600 and the coupling mechanism 220 are coupled, the coupling force is equal to the coupling mechanism 600, 2.
It will be weaker than that of 10. In particular,
Considering a V groove 242 having an angle α as shown in FIG. 9, the torque Mx around the X axis, which is one of the coupling forces of the V groove, has the following relationship.

[0048]

[Equation 1]

As shown in the equation (1), the larger the angle α is (the narrower the V groove is), the higher the holding force can be obtained. In addition to the torque about the X axis, the coupling force by the V groove includes a force about the Y axis and the Z axis and a torque about the Y axis and the Z axis.

By changing the groove width of the V groove in this way, an arbitrary coupling force can be set even if the holding torque (specifically, the motor current) of the link drive motor 110 is constant. . In this 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.

If the V-shaped groove 252 as shown in FIG. 10 is used, the allowable deviation in positioning can be 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 having a deeper groove has a steeper inclination angle than the taper portion 252a closer to the groove opening. Then, the taper portion 252a guides the projection portion 141 of the coupling mechanism 600, and the taper portion 252b engages with the projection portion 141.

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

Since the coupling mechanism 700 has the same structure as the coupling mechanism 100 shown in the first embodiment, its explanation is omitted. The coupling mechanism 230 is the coupling mechanism 2 shown in the first embodiment.
The structure is almost the same as that of 00, but the torque transmission shaft 2
03 and bolt head 205 are different. The coupling mechanism 230 is attached to the payload 430 via the elastic material 431. Payload 430
Are configured to be movable on the rail 432.

Then, FIG. 11 shows a state in which the coupling between the coupling mechanism 700 and the coupling mechanism 230 is completed through the same sequence as in the first embodiment. In FIG. 11, the coupling mechanism 700 is the coupling mechanism 23 by the manipulator 300.
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 larger 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 is not completely removed. Further, even if the load is applied a little longer (for example, continuously for several seconds), since the manipulator 300 generates a pressing force, the V groove 232 and the protrusion 1
The engagement with 41 will be maintained. Also, the V groove 232
Even if the engagement between the protrusion 141 and the protrusion 141 is released, the link drive motor 110 continues to generate the holding torque, so that each finger of the coupling mechanism 700 pulls in the engagement portion 234 of the coupling mechanism 230. Operate. That is, the finger 102,
Even if 102 and 102 are slightly disengaged from the engaging portion 234, at the next moment, the fingers 102, 102 and 102 can be closed again to hold the engaging portion 234, and the moving operation can be continued in the completely coupled state. .

Although the first to third embodiments have been described above, it is not always necessary to use three fingers for connection, and four or more fingers may be used for connection. 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.

Further, if the fingers 102, 102, 102 are formed in an appropriate shape, it is possible to further include a coupling mechanism as described in Japanese Patent Laid-Open No. 1-169121 for coupling the fingers while opening them. 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 downsized and simplified, the object attached to the other coupling mechanism. As for, small things can be handled. Further, it is possible to surely perform the accurate positioning of the combined objects in the three-dimensional space. Further, the coupling force can be adjusted without changing the gripping force of each finger of the one coupling mechanism, and it becomes possible to handle objects having various mechanical strengths.

[0059]

[Brief description of 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 the coupling device according to the first embodiment of the present invention.

FIG. 3 is a partial 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 at the start of coupling.

FIG. 5 is a partial cross-sectional view of the coupling device according to the first embodiment of the present invention when the positional deviation is corrected.

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

FIG. 7 is a partial cross-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 view of a V groove of the coupling device according to the present invention.

FIG. 10 is an explanatory view of 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 ... push plate,
107 ... End plate, 108, 140 ... Convex part, 109
... Coupling surface, 110 ... Link drive motor, 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 ... Engaging portion, 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

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mitsushige Oda 2-4-1, Hamamatsucho, Minato-ku, Tokyo World Trade Center Building 21F, Space Development Agency

Claims (8)

[Claims] 1. A joining device for joining two joining objects, the joining device comprising a joining mechanism A provided on one of the two joining objects and the other of the two joining objects. And a coupling mechanism B provided on the coupling mechanism B. The coupling mechanism A has one convex portion projecting from a coupling surface facing the coupling mechanism B at the time of coupling and arranged radially around the convex portion. And a finger opening / closing mechanism for swinging and opening and closing the three or more finger portions, each of which is provided so as to be capable of swinging with the end on the center side as a starting point. B is one concave portion for accommodating the convex portion, and 1 is engaged with the three or more finger portions when the three or more finger portions are closed with at least the convex portion accommodated in the concave portion. Two engaging portions, the one recess and the one engaging portion The binding apparatus characterized by being formed by the same member. 2. The coupling mechanism A according to claim 1, wherein the coupling mechanism A is arranged so as to surround the convex portion.
The coupling device further includes one or more protrusions, and the coupling mechanism B further includes three or more guides that guide and engage each of the three or more protrusions. 3. The same member according to claim 2, wherein the same member is a member protruding from a joining surface facing the joining mechanism A at the time of joining, and the recess is formed in a central portion of the same member. At the same time, the guide portion is a groove formed in the peripheral portion between the inner side surface and the outer side surface of the recess, and the groove is opened at the groove opening. A coupling device, wherein the coupling device is formed so as to be wider than the width of the protrusion and narrower as the groove becomes deeper. 4. The same member according to claim 2, wherein the same member is a member protruding from a joining surface facing the joining mechanism A at the time of joining, and the recess is formed in a central portion of the same member. At the same time, the guide portion is a groove formed in the peripheral portion between the inner side surface and the outer side surface of the recess, and the groove is opened at the groove opening. While being wider than the width of the protrusion, the width becomes narrower at a predetermined inclination angle as the groove becomes deeper from the groove opening to a predetermined depth, and the groove is further deeper than the predetermined depth. The coupling device is formed so that the width thereof becomes narrower at an inclination angle larger than the predetermined inclination angle as it becomes deeper. 5. The coupling mechanism A according to claim 1, wherein the coupling mechanism A is provided so as to penetrate the center of the convex portion, and is electrically connected or mechanically connected to the other coupling target object. A connecting portion A for making a connection is further provided, and the coupling mechanism B is provided in a state of penetrating the center of the recessed portion, and is electrically connected to the one coupling object by coupling with the connecting portion A. Alternatively, the coupling device further comprises a connecting portion B for making a mechanical connection. 6. The coupling mechanism A according to claim 1, wherein the coupling mechanism A is provided between the coupling mechanism A and the one coupling object, and the coupling mechanism A is provided on the one coupling object. Further comprising a detection means for detecting such force or speed, the finger opening and closing mechanism,
A coupling device for performing opening / closing operation of each finger by using a detection result of the detection means. 7. A joining device for joining two joining objects, the joining device comprising a joining mechanism A provided on one of the two joining objects and the other of the two joining objects. And a coupling mechanism B provided on the coupling mechanism B. The coupling mechanism A has one convex portion projecting from a coupling surface facing the coupling mechanism B at the time of coupling and arranged radially around the convex portion. And a finger opening / closing mechanism for swinging and opening and closing the three or more finger portions, each of which is provided so as to be capable of swinging with the end on the center side as a starting point. B is one concave portion for accommodating the convex portion, and 1 is engaged with the three or more finger portions when the three or more finger portions are closed with at least the convex portion accommodated in the concave portion. A coupling device comprising: one engaging portion. 8. The coupling object according to claim 1, 2, 3, 4, 5 or 6, wherein the one coupling object is a part of a manipulator for moving the coupling mechanism A, and the other coupling object. Is an operation target handled by the manipulator.