JP2000158376A - Electric connector and electric connection structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably carry a large electric current while forming an electric connector as a compact and simple structure when carrying an electric current to mutual hand side and arm side earth cables for flowing a welding earth current by respectively arranging a current collecting ring on the hand side of a rotary joint of a robot and the electric connector for carrying an electric current by contacting with the current collecting ring on the arm side. SOLUTION: An electric connector and an electric connection structure have a hollow cylindrical socket 37 having a contactor 38 in an inner peripheral part and a plunger 39 slidingly inserted into the socket 37, a tip contact part 40 capable of contacting with the contact surface 27 of a current collecting ring 26 is arranged on the tip of the plunger 39, an outer peripheral contact part 41 for electrically continuing with the contactor 38 in the socket 37 is arranged on the outer peripheral surface, respectively, and the plunger 39 is energized by a compression spring 46 so that the tip contact part 40 projects from the socket 37. There is no need to separately arrange a bar-shaped contact point contact part in the plunger by contact electric continuity of the contactor 38 at all time with the outer peripheral contact part 41.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric connector and an electric connection structure using the same, and more particularly, to a technical field related to a compact and simple structure capable of stably conducting a large current.

[0002]

2. Description of the Related Art Conventionally, as an electrical connector of this kind, for example, as shown in FIG. 16, a connected body c made of a conductive material at the tip is provided in a bottomed cylindrical barrel b to which a terminal a is connected. A plunger d having a contact portion d1 that can come into contact with the connection surface c1 is slidably fitted, a spring e is compressed in the barrel b, and the tip contact portion d1 projects from the barrel b by the spring e. And a spring configured to press the tip contact portion d1 of the plunger d against the connection surface c1 of the connected object c to supply electricity to the connected object c from the barrel b via the plunger d. Probes are known.

Further, as shown in FIG. 17, a spring e is compressed between a cylindrical barrel b and a plunger d inserted therein, so that the tip of the spring e is brought into contact with the connected object c. There is also known a spring probe which is biased to the side and provided with a terminal a at the base end of the plunger d.

However, in the former conventional example shown in FIG. 16, when the plunger d is pressed and urged by the spring e, the shaft center becomes unbalanced with respect to the barrel b and tilts so as to be inclined on the inner peripheral surface of the barrel b. The contact causes the barrel b and the plunger d to be electrically connected, which is inappropriate for flowing a large current.

On the other hand, the latter spring probe (FIG. 17)
Since the terminal a is provided in the plunger d itself, there is no contact structure between the barrel b and the plunger d as described above, and the electric connection can be reliably performed. However, since the terminal a reciprocates with the plunger d, the wiring connected to the terminal a is not fixed. For this reason, when a thick wire for a large current such as a ground cable for welding is used, a large stress is applied to the wire to cause a disconnection, and the movement of the plunger d is restricted.

On the other hand, conventionally, as shown in JP-A-8-78078, an internal contact is provided in a hollow cylindrical casing as a fixed electrode, and a plunger as a movable electrode is slid in the casing. And a spring for urging the plunger in the direction in which the tip contact portion protrudes from the socket and comes into contact with the body to be connected, and a rod-shaped contact contact portion is integrally provided on the base end side of the plunger. Is proposed in which the contact contact portion is inserted into an internal contact in a casing so as to be always in contact therewith.

[0007]

However, in the above-mentioned proposal, the current can flow stably irrespective of the moving position of the plunger. On the other hand, the internal contact inside the casing is located at the base end side of the plunger. It is necessary to integrally provide a bar-shaped contact contact portion that is inserted into and contacts the child, which complicates the structure of the electric connector and inevitably increases the size.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to improve the structure of an electric connector so that a large current can be stably supplied while the electric connector has a compact and simple structure. Is to do so.

[0009]

In order to achieve the above object, according to the present invention, a plunger is not provided with a rod-shaped contact contact portion as an electric connector, but a sliding portion of the plunger itself is provided with a casing. Is always brought into contact with the inner peripheral portion to conduct electricity.

More specifically, according to the first aspect of the present invention, a hollow cylindrical socket is slidably inserted into the socket as an electrical connector that is in contact with the connection surface of the body to be connected and is energized. And a plunger having an outer peripheral portion that is electrically connected to the tip contact portion, and a plunger that biases the plunger in a direction in which the tip contact portion protrudes from the socket. Power means.

A contact conducting portion is formed on at least one of the inner peripheral portion of the socket and the outer peripheral portion of the plunger, and a contact conducting portion is formed on the other side of the socket, the contact conducting portion being in constant contact with the contact conducting portion and conducting. The plunger is configured to slide in the socket in a state where the contact conduction portion and the contact conduction portion come into contact with each other and conduct.

With the above configuration, when the electric connector is connected to the object to be connected and energized, the tip contact portion of the plunger urged by the urging means in the electric connector is pressed against the connection surface of the object. . In this state, the tip contact portion of the plunger is urged by the urging means and pressed against the connection surface of the connected object, whereby the connection surface of the socket of the electrical connector and the connection object is connected to the inner peripheral portion of the socket. Alternatively, conduction is achieved via at least one contact conduction portion of the outer periphery of the plunger, the other contact conduction portion, and the tip contact portion of the plunger.

In this case, a contact conducting portion is provided on at least one of the inner peripheral portion and the plunger outer peripheral portion of the socket, and a contact conducting portion is provided on the other so as to be always in contact with the contact conducting portion to conduct. Therefore, there is no need to separately provide a rod-shaped contact point on the plunger as in the past,
The structure of the electric connector can be made simple and compact.

Further, since at least one of the inner peripheral portion of the socket or the outer peripheral portion of the plunger and the other conductive portion to be contacted are always in contact with each other in a pressed state and are conductive, even if a large current is applied, the contact is stable. Can be energized.

According to the second aspect of the present invention, the urging means is a spring. According to a third aspect of the present invention, the urging means is an actuator for urging the plunger by a fluid pressure, an electromagnetic force, or a combination of the fluid pressure or the electromagnetic force and a spring force. This makes it possible to embody desirable urging means.

In particular, according to the third aspect of the present invention, the pressing force of the plunger can be externally controlled by the actuator, or the tip contact portion of the plunger can be separated from the connection surface. In addition, the actuator for combining the fluid pressure or the electromagnetic force and the spring force can reduce the energy for urging the fluid pressure or the electromagnetic force, and the fluid pressure or the electromagnetic force may be reduced for any reason. Even when the connection is cut off, the pressing force can be secured only by the spring force and the minimum energized state can be maintained.

In the invention of claim 4, the socket constitutes a terminal. In this case, it is not necessary to provide the terminal separately from the socket, so that the structure of the electrical connector can be further simplified and the number of parts can be reduced.

According to a fifth aspect of the present invention, a contact conducting portion is formed on the outer peripheral portion of the plunger separately from the tip contact portion, and the tip contact portion is made of a soft conductive material having a low contact resistance (for example, a sintered connection of silver and tungsten). Gold), while the contact conducting portion is made of a wear-resistant conductive material (for example, chromium copper). According to this configuration, when the tip contact portion of the plunger is pressed against the connection surface of the connected body, the conductivity between the two can be enhanced by the soft conductive material. On the other hand, the contact conductive portion on the outer periphery of the plunger, which is always in sliding contact with the conductive portion to be contacted on the inner peripheral portion of the socket, can improve its wear resistance.
Therefore, the current supply stability and reliability of the electrical connector can be maintained for a long period of time.

According to the sixth aspect of the present invention, the plunger includes:
A locking portion is provided which can be locked by a locking tool for pulling out the plunger from the proximal end side of the socket. Thus, for example, when replacing the plunger whose tip contact portion or outer peripheral contact portion has been worn, it is sufficient to lock the locking tool on the locking portion on the base end side and pull out the plunger from the socket to the base end side. Can easily be exchanged.

According to a seventh aspect of the present invention, there is provided an electrical connection structure using the electrical connector according to any one of the first to sixth aspects,
The connector support for supporting the socket of the electric connector such that the sliding direction of the plunger is substantially perpendicular to the connection surface of the connected body is moved in the direction inclined with respect to the sliding direction of the plunger, and is moved to the connected body. The connector support body is provided so that the plunger of the electrical connector slides in the socket by sliding the tip contact portion into contact with the connection surface of the connected body.

With this arrangement, when the connector support comes into contact with and separates from the object to be connected and the tip contact portion of the plunger of the electric connector comes into contact with the connection surface of the object, the tip contact portion is connected to the connection surface each time the contact is made. Contact while sliding. Due to such contact, the tip contact portion rubs the connection surface, and even if an oxide film is formed or dust adheres to the tip contact portion or the connection surface, the coating or dust is automatically removed. The self-cleaning effect can stabilize the connection of the electrical connector.

In this case, according to the invention of claim 8, a pair of connection surfaces are provided on the object to be connected symmetrically with respect to a reference plane along a moving direction of the connector support, while the connector support is provided with a pair of connection surfaces. A pair of electrical connectors each having a plunger capable of contacting the pair of connection surfaces is provided symmetrically with respect to the reference surface. Thus, when the plungers of the electric connectors on both sides are pressed obliquely against a pair of connection surfaces of the connected object, the pressing forces on both sides can be canceled and balanced, and a stable connection state can be obtained. can get.

According to the ninth aspect of the present invention, the above-mentioned seventh or eighth aspect is provided.
In the invention, one of the connected object or the connector support is provided on the arm side of the robot, while the other of the connected object or the connector support is provided on the hand side detachably mounted on the robot arm. It shall be provided. Thus, when the robot hand is attached to and detached from the arm, it is possible to easily and stably energize the electric connector between the arm side and the hand side.

According to a tenth aspect of the present invention, in the electrical connection structure using the electrical connector according to any one of the first to sixth aspects, the sliding direction of the plunger of the socket of the electrical connector is substantially orthogonal to the connection surface of the body to be connected. Is provided so as to be rotatable relative to the connected object around a rotation axis substantially parallel to the sliding direction of the plunger, and the relative rotation between the connected object and the connector support member is provided. Thus, the tip contact portion of the plunger is configured to be in sliding contact with the connection surface of the connected body.

In this case, in a state where the tip contact portion of the plunger of the electric connector is pressed against the connection surface of the object to be connected,
The connector support and the connected body rotate relative to each other about the rotation axis, and at this time, the tip contact portion of the plunger comes into sliding contact with the connection surface of the connected body. Accordingly, the oxide film formed on the tip contact portion or the connection surface and the attached dust are automatically removed, and the connection of the electrical connector can be stabilized.

According to an eleventh aspect of the present invention, in the invention of the tenth aspect, one of the connected object and the connector support is provided on the arm side of the robot, and the other of the connected object and the connector support is It is provided on the hand side rotatably mounted on the arm of the robot. Thus, when the robot hand rotates with respect to the arm, it is possible to easily and stably supply electricity between the arm side and the hand side.

According to the twelfth aspect of the present invention, the above-mentioned 7-1 to 7-1
In any one of the inventions, it is assumed that the connector support forms a terminal. This can simplify the electric connection structure and reduce the number of parts.

[0028]

(Embodiment 1) FIG. 5 shows a workpiece holding robot R having an electric connection structure according to Embodiment 1 of the present invention. The robot R is composed of an articulated robot and includes a base 1 and an arm 3 whose base end (rear end) is supported by the base 1 via a parallel link arm mechanism 2 so as to be able to move back and forth. At the tip (front end) of the arm 3, a work gripping hand 8 can swing up and down via a wrist 4 around the left and right horizontal axis and can rotate via a rotary joint 13 around the front and rear horizontal axis. Is provided.

The work gripping hand 8 is supported by a lower finger 9 having lower claws 9a, 9a,... On an upper surface, and movable upward and downward so as to be in contact with and separated from the lower finger 9. Upper finger 1 having portions 10a, 10a,.
0, and an air cylinder 11 for raising and lowering the upper finger 10. The operation of the air cylinder 11 causes the first work W1 (one of the works to be welded) to be moved to the upper and lower fingers 9,
The ten clamp claws 9a, 10a are clamped.

W2 is the work holding robot R
Is the workpiece to be welded (the other of the workpieces to be welded) to be welded to the first workpiece W1 clamped to the first workpiece W1. On the front side of the work holding robot R, a welding torch T for performing arc welding is provided, for example, being held by a welding robot (not shown). The two workpieces W2 are applied, and the welding part W between the two workpieces W1 and W2 is welded by the welding torch T while the hand 8 of the robot R is rotated by the rotary joint 13 in this state.

The rotary joint 13 has a bottomed cylindrical fixed housing 14 arranged and fixed on the arm 3 side and open to the front side, as shown in an enlarged manner in FIGS.
A disk-shaped rotating housing 21 is provided at the front side of the fixed housing 14 so as to be concentrically arranged so as to close its opening. The fixed housing 14 includes a disk portion 15 having a cylindrical boss portion 15a formed at the center portion, and a cylindrical portion 1 having a rear end portion mounted and fixed concentrically on the front surface of an outer peripheral portion of the disk portion 15.
The disk 15 is attached and fixed to the front end of a cylindrical wrist fixing flange 5 provided on the front side of the wrist 4 on the rear surface. In addition, a cutout portion 17 is formed in a part of the inner peripheral portion of the cylindrical portion 16 from the front end surface to a substantially central portion in the front-rear direction.

On the other hand, a shaft portion 22 is attached to and fixed to the center of the rotary housing 21 at the front end so as to rotate integrally with the boss portion 15a of the disk portion 15 in the fixed housing 14. The shaft portion 22 is inserted, and the rear end portion of the shaft portion 22 is attached and fixed to the front end portion of the wrist rotating flange 6 inserted into the cylindrical wrist fixing flange. The rotary joint 13 connects an air supply / discharge passage to the air cylinder 11 and a signal system even when the work gripping hand 8 is rotating.

As shown in FIG. 5, in order to ground the first work W1 (second work W2) clamped to the work holding hand 8 in the welding state by the welding torch T, the work holding hand 8 is handed to the work holding hand 8. A grounding cable 23 (rotating-side grounding cable) is connected, and the hand-side grounding cable 23 is connected to an arm-side grounding cable 24 (fixed-side grounding cable) via the rotary joint 13. This rotary joint 13
In the hand-side and arm-side grounding cables 23,2
The electrical connection structure for connecting the four components is as follows. That is, on the outer peripheral portion of the rear surface (the side surface of the fixed housing 14) of the rotating housing 21, a ring-shaped current collecting ring 26 as a connected body made of a conductive material is provided with the insulating plate 2.
The current collecting ring 26 is concentrically mounted and fixed by bolts 29 in a state of being insulated by 8. For example, two hand-side terminals 30, 30 (wire connection portions) to which the rear end of the hand-side ground cable 23 is connected are penetrated through the rotary housing 21 from the front surface to the rear surface on the outer peripheral portion of the rotary housing 21 in an insulated manner. The rear end of the hand-side terminal 30 is fixed to the current collecting ring 26 in an energized state.

On the other hand, the fixed housing 14 is provided with a plurality of electrical connectors 36, 36,. As shown in FIG. 1, each of the electrical connectors 36 has a hollow cylindrical socket 37 made of a conductive material. The socket 37 extends from the bottom (rear surface) of the cutout 17 in the cylindrical portion 16 of the fixed housing 14. 1
It is fitted with a gap in a socket mounting hole 18 formed to penetrate up to 6 bottom surfaces. A screw portion 37a is formed on the outer peripheral surface of the socket 37, and the socket 37
Is a screw hole 33 of a terminal ring 32 made of a conductive material.
And is fixed by a nut 45. The terminal ring 32 constitutes a connector support, and is arranged in the insulated state with respect to the fixed housing 14 behind the inside of the cutout 17 of the cylindrical portion 16 in the fixed housing 14. The front end of the arm-side grounding cable 24 is connected to the outer peripheral portion of the cylindrical portion 16 corresponding to the portion of the fixed housing 14 that is diametrically opposed to the screw hole 33 of the terminal ring 32, for example, on the two arm sides. Terminals 34, 34 (electric wire connection portions) are provided in a state where they penetrate the cylindrical portion 16 in an insulating manner from the outer peripheral surface to the inner peripheral surface. The inner end of the arm side terminal 34 is conductively fixed to the terminal ring 32. I have.

As shown in FIG. 1, an inner peripheral portion of the socket 37 has, for example, an intermediate portion in the longitudinal direction, and a number of contacts 38 as contacted conductive portions projecting from the inner peripheral surface of the socket 37 in a curved shape, for example. , 38,... Are arranged over the entire circumferential direction, and each contact 38 has elasticity (spring property), and is constantly in contact with an outer peripheral contact portion 41 of a plunger 39 described later in a pressed state to conduct. .

A cylindrical plunger 39 with a bottom made of a conductive material is inserted through the inside of the socket 37 so as to be slidable in the front-rear direction with the bottom part disposed on the front side. At the tip of the plunger 39, a tip contact portion 40 capable of contacting the connection surface 27 on the rear surface of the current collecting ring 26, and on the outer peripheral surface, contacts 38, 38,. Peripheral contact portions 41 are provided as contact conduction portions that are always in contact with and conduct to the peripheral portion.
1 (contact conducting part) is a contact 38 of the socket 37, 38,
The plunger 39 slides in the socket 37 in a state where it is in contact with the (conductive part to be contacted) and becomes conductive.
The tip contact portion 40 and the outer peripheral contact portion 41 are formed separately (alternatively, may be formed integrally) and are electrically connected to each other. The tip contact portion 40 is made of a soft conductive material having a low contact resistance, for example, a silver- and tungsten-based, silver-based, copper- and tungsten-based, silver- and graphite-based alloy, or a sintered alloy. The contact portion 40 can improve lubricity by impregnating these sintered alloys with lubricating oil. On the other hand, the outer peripheral contact portion 41 is made of a wear-resistant conductive material such as chromium copper, bronze, pure copper, brass, Corson alloy, and beryllium copper.

As shown in FIG.
Screw hole 1 penetrating between the front and rear surfaces of
9 is formed corresponding to the socket mounting hole 18 in the cylindrical portion 16, and this screw hole 19 is closed by a plug 42 as a spring receiver screwed from the rear side. The hexagonal hole 43
The plug 42 is attached to and detached from the screw hole 19 by inserting and turning a hexagon wrench 49 (see FIG. 2) into the screw hole 19.

The plunger 39 has a spring hole 44 opened at the center of the rear surface of the plunger 39. In the spring hole 44, a compression spring 46 as urging means has a front end abutting on the bottom surface of the spring hole 44. The rear end of the compression spring 46 is pressed against the front surface of the plug 42 via an insulating material 47.
9 is urged toward the distal end (front side) so that the distal end contact portion 40 projects from the socket 37 and is pressed against the connection surface 27 of the current collecting ring 26.

As described above, the current collecting ring 26 (connected body)
The connection surface 27 of the electric connector 36 and the sliding direction of the plunger 39 of each electric connector 36 are substantially orthogonal, and the terminal ring 32 as a connector support for supporting the socket 37 of the electric connector 36 Plunger 3
9 is provided so as to be relatively rotatable about a rotation axis that is substantially parallel to the sliding direction, and the relative rotation between the current collecting ring 26 and the terminal ring 32 causes the tip contact portion 40 of the plunger 39 to connect to the connecting surface of the current collecting ring 26. 27. Incidentally, reference numeral 25 in FIG. 3 denotes a rotating side electrical signal connector, and FIG.
Reference numeral 20 denotes a fixed-side electrical signal connector, 35 in FIG.
Are slip rings (rotary connectors for electric signals), which transmit the operation signals from the arm 3 to the hand 8.

As shown in FIG. 6, a bolt 50 as a locking tool is provided in the opening of the spring hole 44 of the plunger 39.
A screw portion 44a is formed so that a screw tip of the screw hole 44 can be screwed and locked. With the plug 42 and the insulating material 47 removed from the screw hole 19, a screw 50 of the bolt 50 is screwed into the screw portion 44a of the spring hole 44. The distal end portion is screwed and locked, and the plunger 39 is pulled out from the rear end side (base end side) of the socket 37 (note that the plunger 39 is not limited to the screw portion 44a, and the plunger 39 can be connected to the base end of the socket 37). It is sufficient to provide a locking portion that can be locked by a locking tool for pulling out from the side).

Therefore, in the above embodiment, the first
When welding the workpiece W1 and the second workpiece W2, the first workpiece W1 is gripped by the hand 8 of the workpiece gripping robot R, and the second workpiece W2 is brought into contact with the first workpiece W1. Rotating housing 21
Is rotated with respect to the fixed housing 14, so that the work gripping hand 8 rotates together with the first work W1 and the second work W2, and the welding portion W between the works W1 and W2 is welded by the welding torch T.

At this time, due to the welding, the first work W1 (second work W2) is grounded via the hand-side ground cable 23, the rotary joint 13 and the arm-side ground cable 24.
In the above, the hand-side terminal 30 of the rotary housing 21 to which the hand-side ground cable 23 is connected, the current collecting ring 26, the respective electrical connectors 36 in contact with the current collecting ring 26, Terminal ring 32 and arm-side ground cable 2
4 are connected to each other through the connected arm side terminal 34, and each electrical connector 3 in the rotary joint 13 is
6 and the current collecting ring 26 make contact with the fixed housing 1.
The electrical connection between the ground cables 23 and 24 is performed while the rotary housing 21 rotates together with the hand 8 relative to the hand 4.

In each of the electrical connectors 36, the plunger 39 is urged forward by the compression spring 46 so that the tip contact portion 40 projects from the socket 37. The tip contact portion 40 of the plunger 39 It is pressed against the connection surface 27. As a result, the socket 37 in contact with the terminal ring 32 and the connection surface 27 of the current collecting ring 26 are brought into contact with the contacts 38, 3 on the inner peripheral portion of the socket 37.
8,..., The contact elements 38, 38,... Are always in contact with the outer peripheral contact portion 41 of the plunger 39 and the leading end contact portion 40 of the plunger 39. That is,
Even when the hand 8 of the robot R rotates with respect to the arm 3, the hand-side and arm-side ground cables 23,
24 can be easily and stably energized.

At this time, in each of the electrical connectors 36, the contacts 38, 38,... Are provided so as to be always in contact with and electrically connected to the contacts 38, 38,..., So that it is not necessary to separately provide a rod-shaped contact contact portion on the plunger 39.
Accordingly, the structure of the electrical connector 36 can be made simple and compact.

The contact 3 is provided on the inner periphery of the socket 37.
Are provided, and the contacts 38, 38,... And the outer peripheral contact portion 41 of the plunger 39 are always in a pressed state and are in a conductive state, so that a large ground current for welding is required. Even when the power is supplied, the power can be supplied stably.

Further, the tip contact portion 4 of the plunger 39
0 and the outer peripheral contact portion 41 are formed separately, and the tip contact portion 4
0 is made of a soft conductive material having a low contact resistance, while the outer peripheral contact portion 41 is made of a wear-resistant conductive material, so that when the tip contact portion 40 of the plunger 39 is pressed against the connection surface 27 of the current collecting ring 26, the contact between the two is made. Can be improved in conductivity. Also, the contacts 38, 38,.
The abrasion resistance of the outer peripheral contact portion 41, which is always in sliding contact with the electrical connector 36, can also be increased, and the conduction stability and reliability of the electrical connector 36 can be maintained for a long period of time.

Further, the rotating housing 21 of the rotary joint 13 rotates relative to the fixed housing 14 in a state where the tip contact portion 40 of the plunger 39 is pressed against the connection surface 27 of the current collecting ring 26. Of the current collecting ring 26 is in contact with the tip contact portion 40 of the current collecting ring 26 while sliding. By such contact, the tip contact portion 40 rubs the connection surface 27, and even if an oxide film is formed on the tip contact portion 40 or the connection surface 27 or dust adheres, the film and dust are automatically removed. A self-cleaning effect is obtained, and the connection of the electrical connector 36 can be stabilized by the self-cleaning effect.

Further, since the screw portion 44a is formed in the opening of the spring hole 44 of the plunger 39, when the plunger 39 is replaced, for example, when the tip contact portion 40 or the outer peripheral contact portion 41 is worn, a hexagonal screw is used. Plug 4 with wrench 49
2 is removed together with the insulating material 47 from the screw hole 19, and thereafter, the screw tip of the bolt 50 is screwed into the screw portion 44 a of the spring hole 44, and the plunger 39 is connected to the rear end side (base end side) of the socket 37. ), Plunger 39
Can be easily performed without disassembling the rotary joint 13.

Further, since the socket 37 is screwed to the terminal ring 32, the socket 37 can be easily attached and detached for replacement or the like, and the electrical connection structure is simplified and the number of parts is reduced. Can be achieved.

In the above embodiment, the terminal ring 32 is provided on the fixed housing 14 on the arm 3 side of the robot R in the rotary joint 13 and the current collecting ring 26 is provided on the rotary housing 21 on the robot hand 8 side. However, conversely, the terminal ring 32 may be provided on the rotary housing 21 on the robot hand 8 side in the rotary joint 13, and the current collecting ring 26 may be provided on the fixed housing 14 on the robot arm 3 side of the rotary joint 13.

(Embodiment 2) FIGS. 7 to 10 show Embodiment 2 of the present invention (in the following embodiments, FIGS. 1 to 6).
The same reference numerals are given to the same parts as those described above, and the detailed description thereof is omitted.) In the above embodiment, the electric connector 36 is connected to the rotary joint 13 at the tip of the arm 3 of the robot R.
Is attached to the quick changer.

That is, in this embodiment, as shown in FIG. 10, the work gripping hand 8 is moved to the front end (front end) of the arm 3 of the robot R via the quick changer 53 by the wrist 4 around the left and right horizontal axis. Rotation about a horizontal axis and swinging in the vertical direction are provided. The work gripping hand 8 is for gripping or releasing the first work W1 by bringing the upper finger 10 into and out of contact with the lower finger 9 by the air cylinder 11 as in the first embodiment. The changer 53 is detachable from the arm 3 side. Reference numerals 52, 52 denote a tool table on which the currently unused work gripping hand 8 is placed in a standby state. On each of the tool tables 52, a different type of work gripping hand 8 is provided with a tool plate 55 described later.
Are placed on the upper side and supported by the robot R, and the robot R is mounted while replacing the hand 8 of each tool table 52 as necessary.

As shown in FIG. 7 to FIG. 9, the quick changer 53 has a substantially disk-shaped master plate 54 mounted and fixed to the arm 3 and a substantially same shape mounted and fixed to the hand 8 side. A master plate 54 having a master side attachment / detachment mechanism 54a,
The master side attachment / detachment mechanism 54a allows the tool plate 55
The (hand 8) is attached and detached, and when the tool plate 55 is mounted, the air supply / discharge passage for the air cylinder 11, the signal system, and the like are connected.

As an electrical connection structure for grounding the first work W1 (second work W2) held by each of the work holding hands 8 to the arm 3 side during welding, the outer peripheral side surface of the tool plate 55 A substantially triangular prism-shaped hand-side ground contact 5 made of a conductive material as a connected body
7 is insulated and attached to the ground contact 57.
Is connected to the hand-side ground cable 23. still,
The attachment / detachment of the master plate 54 and the tool plate 55 (attachment / detachment of the hand 8) is performed in a state where each hand 8 is supported on the corresponding tool table 52. The master plate 54 faces up and down so that the master plate 54 is located on the upper side and the tool plate 55 is located on the lower side. Therefore, the description will be made based on the posture when the hand 8 is attached and detached.

That is, a pair of left and right connection surfaces 27 is formed on the upper part of the hand-side ground contact 57, and the left connection surface 27 is inclined upward, for example, at 45 ° to the right, while the right connection surface 27 is inclined rightward. Is inclined at the same angle to the left toward the upper side, and both inclined surfaces 27,
Reference numeral 27 is provided symmetrically with respect to the left and right reference plane P along the up-down direction (moving direction of the arm-side ground contact 58 described later) which is the attaching / detaching direction of the hand 8.

On the other hand, on the outer peripheral side surface of the master plate 54, an arm-side ground contact 5 as a connector support is provided.
8 is attached in an insulated state.
8 is connected to an arm-side ground cable 24. The arm-side ground contact 58 is made of a plate material of a conductive material bent in a substantially L-shape, and the lower surface of the left side thereof is connected to the left connection surface 27 of the hand-side ground contact 57.
The lower surface of the right side is inclined at the same angle as the right connection surface 27 of the hand-side ground contact 57. On the left side of the arm-side ground contact 58, sockets 37, 37 of the two left electrical connectors 36, 36 are provided, and on the right side, sockets 37, 37 of the two right electrical connectors 36, 36 are similarly spaced from each other. The left and right electric connectors 36 are mounted symmetrically with respect to the left and right reference planes P. Each of the electrical connectors 36 has the same structure as that of the first embodiment (see FIG. 1), and a plunger 39 similar to that of the first embodiment is slidably inserted into the socket 37 thereof. The plunger 39 in the left socket 37 is substantially perpendicular to the left connection surface 27 of the hand-side ground contact 57, and the plunger 39 in the right socket 37 is in the right connection surface 27 of the ground contact 57.
, Respectively, so as to slide in a direction substantially perpendicular thereto.

Therefore, the arm-side ground contact 5
The arm 3 moves up and down to attach and detach the work gripping hand 8 and the master plate 54
Along with the operation of attaching and detaching the tool plate 55, the electric connector 36 is provided so as to move in the vertical direction inclined with respect to the sliding direction of the plunger 39 in the socket 37 of each electric connector 36 so as to come into contact with and separate from the hand side ground contact 57. When the arm-side ground contact 58 contacts and separates from the hand-side ground contact 57, the four electrical connectors 3
Each of the plungers 39 of 6, 36,... Slides inside the socket 37 while sliding the tip contact portion 40 with the corresponding connection surface 27 of the arm-side ground contact 58.

In each of the electrical connectors 36 of this embodiment, a pair of left and right spring seats 60, 60 are provided and fixed to the left and right upper surfaces of the arm-side ground contact 58, respectively. A compression spring 46 is compressed between the plunger 39 and the plunger 39. Also, plunger 3
9 is urged toward the distal end by the compression spring 46 so that the socket 3
A stop ring 61 that can be brought into contact with the socket 37 is locked at the rear end of the plunger 39 in order to prevent the plunger 39 from slipping out of the housing 7 (for the detailed structure, see FIG. 14 of a fourth embodiment described later).

Therefore, in this embodiment, when the robot R replaces the hand 8 mounted on the arm 3, first, the arm 3 of the robot R is moved to the tool table corresponding to the currently mounted hand 8. The hand 8 is moved up and down so that the master plate 54 on the arm 3 side of the quick changer 53 is located on the upper side and the tool plate 55 on the hand 8 side is located on the lower side. It is placed on the tool table 52. Thereafter, the tool plate 55 of the hand 8 is separated from the master plate 54 on the arm 3 side, and the hand 8 is detached from the arm 3 by the upward movement of the arm 3 and transferred to the tool table 52.

Further, with the separation of the tool plate 55 from the master plate 54, the arm-side ground contact 58 of the master plate 54 is separated from the hand-side ground contact 57 of the tool plate 55 and attached to the arm-side ground contact 58. Are separated from the corresponding connection surfaces 27 on the upper surface of the hand-side ground contact 57, respectively, so that the hand-side ground cable 23 and the arm-side ground. The electrical connection to the cable 24 is broken.

Thereafter, when the other work gripping hand 8 supported by the tool table 52 is mounted on the arm 3 of the robot R, the operation reverse to that at the time of mounting is performed. That is, the arm 3 of the robot R moves to the tool table 52 supporting the hand 8 to be mounted next, and the arm 3
The master plate 54 moves downward to move the tool table 52
And the hand 8 is mounted on the arm 3 by joining the plates 54 and 55 together. Thereafter, the hand 8 is lifted from the tool table 52 by the elevation of the arm 3, and the mounting of the hand 8 is completed.

At this time, the master plate 54
When the tool plate 55 is joined to the arm-side ground contact 58, the arm-side ground contact 58 approaches the hand-side ground contact 57, and the plungers 39 of the four left and right electrical connectors 36, 36,. The tip contact portions 40 respectively contact the corresponding connection surfaces 27 on the upper surface of the hand-side ground contact 57, thereby electrically connecting the hand-side ground cable 23 and the arm-side ground cable 24.

Then, the hand-side ground contact 5
7 is substantially perpendicular to the sliding direction of the plunger 39 of each of the left and right electrical connectors 36 corresponding to the right and left connection surfaces 27, but the arm-side ground supporting the socket 37 of each electrical connector 36. Since the contact 58 moves up and down in the vertical direction inclined with respect to the sliding direction of the plunger 39 to come into contact with and separate from the hand-side ground contact 57, the arm-side ground contact 58 is attached to and detached from the hand 8 as described above. When the plunger 39 of each electrical connector 36 comes into contact with or separates from the connection surface 27 of the hand-side ground contact 57, the tip contact portion 40 of each plunger 39 is inclined with respect to the connection surface 27 at each contact. It comes in contact while sliding. By such contact, an oxide film and dust on the tip contact portion 40 or the connection surface 27 are automatically removed, so that the connection of each electrical connector 36 can be performed stably.

The hand-side ground contact 57
Left and right connection surfaces 27, 27 are symmetrically arranged with respect to the left and right reference plane P along the direction of movement of the arm-side ground contact 58, and the left and right electrical connectors 36 attached to the arm-side ground contact 58. , 36,... Are also provided symmetrically with respect to the left and right reference planes P, so that the plungers 39, 39 of these left and right electric connectors 36, 36 are connected to the hand-side ground contacts 5 respectively.
7, when pressed obliquely onto the connection surfaces 27, 27, the pressing forces on both the left and right sides cancel each other out to balance, so that a stable connection state is obtained.

In the second embodiment, the connection surface 27 is formed on the hand-side ground contact 57, and the electric connector 36 is attached to the arm-side ground contact 58. The surface 27 may be provided so that the electric connector 36 is attached to the hand-side ground contact 57.

(Embodiment 3) FIGS. 11 to 13 show Embodiment 3 of the present invention.
(See FIGS. 2 to 4) and the quick changer 53 (see FIGS. 7 to 9) in the second embodiment are integrally combined.

That is, in this embodiment, the rotary housing 21 of the rotary joint 13 and the master plate 54 of the quick changer 53 are integrated. A flat hand-side ground contact 57 made of a conductive material as an object to be connected is insulated and attached to the outer peripheral portion of the upper surface of the tool plate 55 in the quick changer 53. One connection surface 27 is formed.

On the other hand, an arm-side ground contact 58 is attached to the outer peripheral portion of the lower surface of the master plate 54 in an insulated state. The ground contact 58 is connected to a current collecting ring (not shown) provided on the rotary housing 21 (see FIG. 2). On the other hand, it is always conductive through the conductive plate 56 and the bolt 56a. Further, the four electrical connectors 3 having the same structure as that of the first embodiment are connected to the ground contact 58.
The sockets 37, 37,... Are attached and fixed at intervals and penetrate the ground contact 58 vertically. A plunger 39 is slidably inserted into the socket 37 of each of the electrical connectors 36, and each plunger 39 extends in a direction substantially orthogonal to the connection surface 27 of the hand-side ground contact 57 (when the hand 8 is attached or detached). By moving in the vertical direction, the distal end contact portion 40 comes into contact with the connection surface 27 and becomes conductive.

Accordingly, in this embodiment, since the rotary housing 21 of the rotary joint 13 and the master plate 54 of the quick changer 53 are integrated, the rotary housing 2 of the rotary joint 13 is integrated.
1 and the master plate 54 of the quick changer 53 need not be pulled out of the rotary housing 21 or the outside of the master plate 54, such as ground current and electric signal wiring, air pressure supply piping, and the like. Becomes For example, wiring for electric signals, piping for supplying air pressure, and the like may be disposed inside the rotary housing 21 and the master plate 54, or wiring and piping on the rotary joint 13 side may be directly connected to corresponding portions of the master plate 54. The wiring for the ground current can be attached and electrically connected by conductive structural members such as the ground contacts 57 and 58 on the hand side and the arm side.

In the third embodiment, it is preferable to use the same ones as those in the second embodiment as long as there is a mounting space as the hand-side and arm-side ground contacts 57, 58.

(Embodiment 4) FIGS. 14 and 15 show Embodiment 4, which is applied not to the electric connection structure between the arm 3 and the hand 8 in the robot R as in the above embodiments, but to other electric connection structures. It was done.

That is, in this embodiment, as shown in FIG. 15, a movable body 65 suspended from and supported by the slide rail 63 and slidable along the slide rail 63 by the rolling of the rollers 64, 64 is provided. One end of the moving body 65 is connected to a piston rod 66a of a cylinder 66.
The moving body 65 is connected to the distal end, and moves along the slide rail 63 by the expansion and contraction operation of the cylinder 66. Below the slide rail 63, a fixed contact 70 as a connected body is disposed in parallel, and a connection surface 27 is formed on the upper surface of the fixed contact 70.

An electric connector 36 similar to that of the first embodiment is attached to the other end of the moving body 65. The electric connector 36 has a socket 37 as shown in an enlarged manner in FIG. 14, and the socket 37 is screwed in contact with a screw hole 68 a of a terminal 68 provided at the other end of the moving body 65. It is fixed by a nut 69. The distal end contact portion 40 at the lower end of the plunger 39 inserted into the socket 37 slidably contacts the connection surface 27 on the upper surface of the fixed contact 70, and in this contact state, the moving body 6
When the cylinder 5 moves by the cylinder 66, current flows between the fixed contact 70 and the terminal 68 of the moving body 65. Therefore, in this embodiment, the same operation and effect as those of the above embodiment can be obtained.

In each of the above embodiments, the electric connector 3
6 terminal 37 (terminal ring 3
2, arm side ground contact 58, terminal 68)
Although the terminal is mounted in a contact state, the terminal may be constituted by the socket itself. This eliminates the need to provide a terminal separately from the socket, so that the structure of the electrical connector can be further simplified and the number of components can be reduced.

The urging means for urging the plunger 39 in the direction in which the tip contact portion 40 projects from the socket 37 is not limited to the compression spring 46 as in each of the above embodiments.
In addition, a spring such as a tension spring or a leaf spring can be used.

The urging means may use an actuator that urges the plunger 39 by a fluid pressure such as hydraulic pressure or an electromagnetic force or an actuator that combines the fluid pressure or the electromagnetic force with a spring force. it can. When using the fluid pressure actuator, for example, the plunger 3
9 is pressed by a fluid pressure cylinder or the like from the side opposite to the tip contact portion 40, or a structure in which the outer peripheral portion of the plunger 39 is air-tightly or liquid-tightly sealed to apply fluid pressure to the plunger 39 itself. is there. On the other hand, when an electromagnetic actuator is used, the plunger 39 is connected to the tip contact portion 4.
What is necessary is just to employ | adopt the structure energized with an electromagnetic solenoid etc. from the side opposite to 0. Using an actuator by such fluid pressure, electromagnetic force or a combination of them and spring force,
Not only can the pressing force of the plunger 39 be controlled externally, but also, if necessary, by switching the direction of the electromagnetic force in the case of an electromagnetic force actuator, and by introducing a negative pressure in the case of a fluid pressure actuator. The plunger 39 is retracted, and the tip contact portion 40 is brought into contact with the contact surface 27.
Can be placed in a non-energized state by separating from the power supply. By doing so, the plunger 39 is urged only when energization is required, or the pressing force is made variable in accordance with the current to be energized, so that the plunger 39 is connected between the tip contact portion 40 and the connection surface 27. Wear can be reduced. Further, if the present invention is applied to the rotary joints 13 of the first and third embodiments, the rotation torque can be reduced, and the fourth embodiment can reduce the rotational torque.
By applying to the slidable moving body 65, the sliding force can be reduced.

Further, in particular, if an actuator combining fluid pressure or electromagnetic force and spring force is used, the plunger 39 can be biased by the spring force to give the plunger 39 a preload to the connection surface 27. Accordingly, there is an advantage that energy for urging by fluid pressure or electromagnetic force can be saved and reduced. Moreover, even if the energy for the urging by the fluid pressure or the electromagnetic force is interrupted for any reason, the pressing force of the plunger 39 can be secured by the preloading action by the spring force, and the minimum energized state can be maintained. There are also benefits that you can do.

Further, in each of the above-described embodiments, the contacts 38, 38,... Serving as the contact conducting portions are provided on the inner peripheral portion of the socket 37 of the electrical connector 36, and the outer contact portions serving as the contact conducting portions are provided on the outer peripheral portion of the plunger 39. The contact portions 41 are formed on the inner periphery of the socket 37, and conversely, the contacts are formed on the outer periphery of the plunger 39. A contact conducting portion and a contact conducting portion can be formed on both the inner peripheral portion 37 and the outer peripheral portion of the plunger 39, respectively. Further, the contacted conductive portion is not limited to the contact, but may be one having a slot formed directly on the inner peripheral portion of the socket 37 or the outer peripheral portion of the plunger 39 to have elasticity.

[0079]

As described above, according to the first aspect of the present invention, a hollow cylindrical socket is slidably inserted into the socket as an electrical connector for contacting and energizing a connected body. A plunger having a tip contact portion capable of contacting the connection surface of the body to be connected, a contact conducting portion on at least one of the socket inner peripheral portion or the plunger outer peripheral portion,
Further, on the other side, a contact conducting portion that is in contact with the contact conducting portion in a constantly pressed state and conducts is provided, so that the plunger slides in the socket in a contact conducting state between the contact conducting portion and the contact conducting portion, By providing an urging means for urging the plunger in a direction in which the tip contact portion protrudes from the socket, the contact conduction portion between the socket outer peripheral portion and the plunger outer peripheral portion and the contact conduction portion are always in contact with each other by the contact state. Thereby, stable current supply of a large current can be ensured, and it is not necessary to separately provide a rod-shaped contact contact portion on the plunger as in the related art, so that the structure of the electrical connector can be simplified and downsized.

In the invention of claim 2, the biasing means is a spring. Further, in the invention of claim 3, the urging means is an actuator for urging the plunger by a fluid pressure, an electromagnetic force, or a combination of the fluid pressure or the electromagnetic force and a spring force. According to these inventions, desirable urging means can be embodied. In particular, according to the invention of claim 3,
The actuator can control the pressing force of the plunger from the outside or separate the contact portion at the tip of the plunger from the connection surface. In the case of an actuator that combines fluid pressure or electromagnetic force and spring force, it applies the fluid pressure or electromagnetic force. In addition to reducing the energy for the power, even when the fluid pressure or the electromagnetic force is cut off, the minimum energized state can be ensured by the pressing force only by the spring force.

According to the fourth aspect of the present invention, since the terminal is constituted by the socket itself, the structure of the electrical connector can be further simplified and the number of parts can be reduced.

According to the fifth aspect of the present invention, the tip contact portion of the plunger is formed of a soft conductive material having a low contact resistance, and the contact conduction portion is provided on the outer peripheral portion separately from the tip contact portion. Due to the formation of the wear-resistant conductive material, conductivity is improved when the tip contact portion of the plunger is pressed against the connection surface of the connected body, and the socket is always in sliding contact with the connected conductive portion of the inner peripheral portion of the socket to conduct. By improving the abrasion resistance of the contact conduction portion, it is possible to maintain the conduction stability and reliability of the electric connector for a long period of time.

According to the sixth aspect of the present invention, the plunger is provided with the locking portion capable of locking the locking tool, so that the plunger can be easily replaced.

According to the seventh aspect of the present invention, as an electric connection device using the electric connector, the connection surface of the object to be connected and the sliding direction of the plunger of the electric connector are arranged substantially orthogonally,
The connector support is moved in a direction inclined with respect to the sliding direction of the plunger and is provided so as to be able to contact and separate from the object to be connected. By sliding in the socket while making sliding contact, each time the tip contact portion of the plunger of the electrical connector comes into contact with the connection surface of the connected object, the tip contact portion and the connection surface can be rubbed. The self-cleaning effect of automatically removing the film and dust on the contact portion or the connection surface is obtained, and the connection of the electrical connector can be stabilized.

In this case, according to the invention of claim 8, a pair of connecting surfaces are provided symmetrically with respect to a reference plane along the moving direction of the connector support on the connected object, while the connector support has
By providing a pair of electrical connectors each having a plunger capable of contacting the connection surface with respect to the reference surface, a pressing force when the plungers of the paired electrical connector are each pressed obliquely against the connection surface of the connected body. Can be balanced by canceling each other, and the connection of the electrical connection structure can be stabilized.

According to the ninth aspect of the present invention, one of the connected object and the connector support is provided on the arm side of the robot, and the other is provided on the hand side detachably mounted on the arm of the robot. Accordingly, when the robot hand is attached to and detached from the arm, the electric connector can be easily and stably supplied between the arm side and the hand side by the electric connector.

According to the tenth aspect of the present invention, as an electric connection device using an electric connector, the connection surface of the object to be connected and the sliding direction of the plunger of the electric connector are arranged substantially orthogonally, and the connector support is covered. With respect to the connection body, provided so as to be relatively rotatable around a rotation axis substantially parallel to the sliding direction of the plunger,
The distal contact portion of the plunger of the electrical connector is brought into sliding contact with the connection surface of the connected object by the relative rotation between the connected object and the connector support. When the connector support and the connected body rotate relative to each other about the rotation axis while being pressed against the surface, the oxide film and dust on the contact portion at the tip end or the connection surface are automatically removed, and the electrical connector Connection stabilization can be achieved.

According to the eleventh aspect of the present invention, one of the connected object or the connector support is provided on the robot arm side, and the other is provided on the hand side rotatably mounted on the robot arm. In the robot in which the hand rotates with respect to the arm, the current can be easily and stably supplied between the arm side and the hand side.

According to the twelfth aspect of the present invention, since the terminal is constituted by the connector support, the electrical connection structure can be simplified and the number of parts can be reduced.

[Brief description of the drawings]

FIG. 1 is an enlarged cross-sectional view showing an exploded electric connector in an electric connection structure according to a first embodiment of the present invention.

FIG. 2 is a cross-sectional view of a rotary joint of the robot having the electrical connection structure according to the first embodiment.

FIG. 3 is a view in the direction of the arrow III in FIG. 2;

FIG. 4 is a view in the direction of arrow IV in FIG. 2;

FIG. 5 is a side view of the robot.

FIG. 6 is an explanatory view showing a state of operation for removing a plunger.

FIG. 7 is an exploded side view of a quick changer of a robot having an electric connection structure according to a second embodiment of the present invention.

FIG. 8 is a plan view showing a master plate in the quick changer.

FIG. 9 is a plan view showing a tool plate in the quick changer.

FIG. 10 is a front view of the robot.

FIG. 11 is a side view of a quick changer of a robot having an electric connection structure according to Embodiment 3 of the present invention.

FIG. 12 is a plan view showing a master plate in the quick changer.

FIG. 13 is a plan view showing a tool plate in the quick changer.

FIG. 14 is an enlarged sectional view of an electric connector in an electric connection structure according to a fourth embodiment of the present invention.

FIG. 15 is a side view showing an electric connection structure according to a fourth embodiment.

FIG. 16 is a sectional view showing a conventional electrical connector.

FIG. 17 is a sectional view showing another conventional electric connector.

[Explanation of symbols]

 R Work gripping robot 3 Arm 8 Work gripping hand 13 Rotary joint 14 Fixed housing 21 Rotating housing 23, 24 Earth cable 26 Current collecting ring (connected body) 27 Connection surface 32 Terminal ring (Connector support) 36 Electric connector 37 Socket 38 Contact (contacted conductive part) 39 Plunger 40 Tip contact part 41 Outer peripheral contact part (contact conductive part) 44 Spring hole 44a Screw part (locking part) 50 Bolt (locking tool) 53 Quick changer 57 Hand-side ground contact ( Connected body) 58 Arm side ground contact (Connector support) 68 Terminal (Connector support) 70 Fixed contact (Connected body) P Left and right reference plane T Welding torch W1, W2 Work

Claims (12)

[Claims] 1. An electrical connector for contacting and energizing a connection surface of a connected object, comprising: a hollow cylindrical socket; slidably inserted into the socket; A plunger having a tip contact portion capable of contacting the plunger and having an outer peripheral portion connected to the tip contact portion; and a biasing means for biasing the plunger in a direction in which the tip contact portion protrudes from the socket. A contact conducting portion is formed on at least one of an inner peripheral portion of the plunger or an outer peripheral portion of the plunger, and a contact conducting portion which is in constant contact with the contact conducting portion in a pressed state is formed on the other. An electrical connector characterized by being configured to slide in a socket in a state in which a contact conducting portion and a contact conducting portion come into contact with each other and conduct. 2. The electrical connector according to claim 1, wherein the biasing means is a spring. 3. The electrical connector according to claim 1, wherein the biasing means is an actuator that biases the plunger by a fluid pressure, an electromagnetic force, or a combination of the fluid pressure or the electromagnetic force and a spring force. Characteristic electrical connector. 4. The electrical connector according to claim 1, wherein the socket forms a terminal. 5. The electrical connector according to claim 1, wherein a contact conducting portion is formed on an outer peripheral portion of the plunger separately from the tip contact portion, and the tip contact portion is a soft conductive member having a low contact resistance. The electrical connector, wherein the contact conductor is made of a wear-resistant conductive material while being made of a material. 6. The electrical connector according to claim 1, wherein the plunger is provided with a locking portion capable of locking a locking tool for pulling out the plunger from the base end side of the socket. Characteristic electrical connector. 7. An electrical connection structure using the electrical connector according to claim 1, wherein a socket of the electrical connector is supported such that a sliding direction of a plunger is substantially perpendicular to a connection surface of a body to be connected. A connector support that moves in a direction inclined with respect to the sliding direction of the plunger and comes into contact with and separates from the object to be connected. An electrical connection structure characterized in that the electrical connection structure is configured to slide in a socket while sliding on a connection surface of a body. 8. The electrical connection structure according to claim 7, wherein a pair of connection surfaces are provided symmetrically with respect to a reference plane along a moving direction of the connector support on the connected body, And a pair of electrical connectors each having a plunger capable of contacting the pair of connection surfaces, respectively, and provided symmetrically with respect to the reference surface. 9. The electrical connection structure according to claim 7, wherein one of the connected object and the connector support is provided on an arm side of the robot, and the other of the connected object and the connector support is the robot. An electric connection structure provided on a hand side detachably attached to an arm. 10. An electrical connection structure using the electrical connector according to any one of claims 1 to 6, wherein the socket of the electrical connector is supported such that a sliding direction of a plunger is substantially perpendicular to a connection surface of a body to be connected. A connector support that relatively rotates with respect to the connected body around a rotation axis substantially parallel to a sliding direction of the plunger, and the tip of the plunger is brought into contact by relative rotation between the connected body and the connector support. The electrical connection structure, wherein the portion is configured to be in sliding contact with a connection surface of the body to be connected. 11. The electrical connection structure according to claim 10, wherein one of the connected object and the connector support is provided on an arm side of the robot, and the other of the connected object and the connector support is an arm of the robot. An electric connection structure provided on a hand side rotatably mounted on a hand. 12. The electrical connection structure according to claim 7, wherein the connector support forms a terminal.