JP6572677B2 - Conveying member conveying method and conveying member conveying apparatus - Google Patents

Description

  The present invention relates to a transport method for a transported member and a transport device for a transported member.

  2. Description of the Related Art Conventionally, there is an apparatus that uses a pair of holding members (support plates) to hold and transfer a member to be transferred (a work such as a battery module) from both sides. In this apparatus, another holding member (locating pin) is inserted into a hole provided in the member to be transported, and positioning is performed with reference to the hole (see, for example, Patent Document 1).

JP 2010-201517 A

  By the way, there are cases where the members to be transported are housed densely in the housing box, or there are other structures around the members to be transported. Even in such a case, it is desirable that the holding member (support plate) can avoid interference with the storage box and other structures when holding the member close to the transported member.

  Also, when another holding member (locating pin) is inserted into the hole of the transported member while avoiding interference with the storage box or other structures, the hole is fully engaged from the inside to prevent it from falling off. It is desirable to be able to do it.

  As described above, there is a demand for a transport method and a transport apparatus that can transport a member to be transported while being sufficiently held even when the member to be transported is disposed in a narrow space.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to provide a transport method and a transport device for a transported member that can transport the transported member while sufficiently holding the transported member in a narrow space. .

The transporting method of the transported member according to the present invention that achieves the above object is a method of transporting the transported member by holding the transported member by engaging the holding member with a hole provided in the transported member. In this transport method, holding members that expand and contract along the axial direction of the hole and the radial direction intersecting the axial direction when the medium is supplied are used. Here, by supplying a medium to the inside of the holding member, the holding member is extended along the axial direction from the reduced state, inserted into the hole, and extended along the radial direction to press the side surface of the hole. And is conveyed while holding the member to be conveyed.

A transport apparatus for a transported member according to the present invention that achieves the above object includes a holding member and a moving member. The holding member expands and contracts along the axial direction of the hole provided in the transported member and the radial direction intersecting the axial direction, presses the hole from the inside, engages the hole, and holds the transported member To do. The moving member supports the base end side of the holding member and moves the holding member holding the transported member. The holding member is formed in a cylindrical shape that is openable at the base end portion, closed at the tip end portion extending from the base end portion, and expandable / contractable. The transport device for the transported member further includes an adjustment unit that expands or contracts the holding member by increasing or decreasing the amount of medium supplied from the base end side to the inside of the holding member.

  According to the transport method and transport device for the transported member configured as described above, the holes of the transported member are engaged by extending the holding member along the axial direction and the radial direction, respectively. That is, the holding member can be inserted into the hole of the transported member while being extended after approaching the hole of the transported member in a state where the holding member is contracted. Therefore, the transported member transport method and transport apparatus can transport the transported member while holding the transported member sufficiently in a narrow space.

It is a perspective view which shows typically the conveying apparatus of the battery module which concerns on embodiment. It is a principle figure which shows the principal part of a conveying apparatus. It is a perspective view which shows typically the conveyance method of the battery module using a conveying apparatus, Comprising: (A) shows the state which has made the conveying apparatus stand up in the storage container, and has approached the battery module accommodated, ( B) shows a state in which the battery module is held and taken out from the storage container while standing up, (C) shows a state in which the taken out battery module is rotated 90 ° to be horizontal, and (D) is made horizontal. A state in which the battery modules are stacked is shown. It is a schematic diagram which shows the holding | maintenance method of the battery module using a holding member regarding the transfer method of the battery module using a conveying apparatus, Comprising: (A) is the one end side of a battery module with the base end part a side of a holding member. (B) shows a state in which the tip of the holding member is extended along the axial direction X and is inserted into the sleeve while being inserted through the first eyelet. C) shows a state in which the tip of the holding member is further extended along the axial direction X to protrude from the second eyelet provided on the other end of the battery module, and (D) shows the holding member in the radial direction θ. And the inner peripheral surfaces of the first eyelet, the sleeve, and the second eyelet are pressed radially outward to engage with each other. FIG. 7 is a schematic diagram showing a method for separating a holding member from a battery module with respect to a method for conveying a battery module using a conveying device, wherein (A) shows a state in which a first eyelet, a sleeve, and a second eyelet are engaged by the holding member. (B) has shown the state which extracted the holding member from the 1st eyelet, the sleeve, and the 2nd eyelet.

  Embodiments according to the present invention will be described below with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. The sizes and ratios of the members in the drawings are exaggerated for convenience of explanation and may be different from the actual sizes and ratios.

  The transport apparatus 100 is an apparatus that embodies a method in which a holding member 111 is engaged with a hole 10a provided in a transported member (battery module 10), and the battery module 10 is held and transported by the holding member 111. (FIGS. 1-3, etc.). Here, the battery module 10 is one in which one or more single cells are stacked and accommodated in a frame. The frame of the battery module 10 has holes 10a at four corners, for example. As shown in FIG. 3D, the battery modules 10 are stacked, and then inserted into each hole 10a and fastened to each other to constitute an assembled battery. The battery module 10 uses the terminal 10b provided on the side surface when outputting electric power from the unit cell accommodated therein or charging the unit cell accommodated therein (FIG. 3).

  The battery module 10 may anchor a tubular anchoring member (eyelet 20) at the end of the hole 10a (FIG. 4). The battery module 10 may be disposed by inserting a cylindrical sleeve 30 through the hole 10a (FIG. 4). In the present embodiment, the holes provided in the transported member will be described as including the opening 20a of the eyelet 20 and the opening 30a of the sleeve 30 in addition to the hole 10a of the battery module 10.

  First, the configuration of the transfer device 100 of the battery module 10 will be described with reference to FIGS. 1 and 2.

  FIG. 1 is a perspective view schematically showing a transfer device 100 for a battery module 10 according to the embodiment. FIG. 2 is a principle view showing a main part of the transport apparatus 100.

  The transport apparatus 100 includes a holding unit 110 that holds the battery module 10 by the holding member 111, an adjustment unit 120 that expands and contracts the holding member 111, a rotating unit 130 that rotates the holding member 111, a moving unit 140 that moves the holding member 111, and The control part 150 which controls the adjustment part 120, the rotation part 130, and the moving part 140 is included.

  The holding unit 110 is shown in FIGS. 1 and 2 and holds the battery module 10 by a holding member 111. The holding unit 110 includes a holding member 111 that is inserted into the hole 10 a of the battery module 10 and holds the battery module 10, and a support plate 112 that supports the plurality of holding members 111.

  As shown in FIG. 2, the holding member 111 is formed in a long cylindrical shape by opening the base end portion 111a and closing the tip end portion 111c extending from the base end portion 111a. . The holding member 111 extends (extends) along the axial direction X and the radial direction θ intersecting the axial direction X by allowing a medium (air) to flow into the interior 111b. On the other hand, the holding member 111 is reduced along the axial direction X and the radial direction θ by discharging air from the inside 111b. The holding member 111 is made of rubber or resin having elasticity. The holding member 111 has a distal end portion 111c branched. As shown in the enlarged view of FIG. 2, the holding member 111 is formed so that the layer thickness between the outer surface and the inner surface becomes relatively thicker from the base end portion 111a toward the tip end portion 111c. As shown in FIG. 1, for example, four holding members 111 are provided in the holding unit 110, and engage with holes 10 a provided at four corners of the battery module 10.

  As shown in FIG. 2, the holding member 111 extends along the axial direction X by the adjusting unit 120 and is inserted into the hole 10 a of the battery module 10, and the tip end part 111 c protrudes from the hole 10 a. Further, the holding member 111 extends along the radial direction θ intersecting the axial direction X, thereby pressing the side surface of the hole 10a of the battery module 10 and causing the tip end portion 111c to be more radial than the edge of the hole 10a. It is extended greatly along θ. In this way, the holding member 111 holds the battery module 10.

  On the other hand, the holding member 111 is reduced along the radial direction θ by the adjusting unit 120 and released along the axial direction X while releasing the pressure on the side surface of the hole 10a of the battery module 10 and separated from the hole 10a. To do. In this way, the holding member 111 stops holding the battery module 10.

  The support plate 112 is formed in a plate shape. The support plate 112 includes communication ports 112c penetrating from the upper surface 112a toward the lower surface 112b at the four corners. The intervals between the four communication ports 112 c are the same as the intervals between the holes 10 a of the battery module 10. The support plate 112 may be configured to correspond to various intervals of the holes 10a of the battery module 10 by adding a mechanism (for example, a biaxial stage) that varies the interval of the four communication ports 112c manually or automatically. The support plate 112 joins the base end portion 111a of the holding member 111 from the lower surface 112b side to the communication port 112c. The support plate 112 joins the front end of the outer tube 127M of the adjustment unit 120 to the communication port 112c from the upper surface 112a side. The support plate 112 joins the connecting base 131d of the rotating arm 131 to the center of the upper surface 112a.

  The adjustment unit 120 extends and contracts the holding member 111 as shown in FIGS. 1 and 2. That is, the adjustment unit 120 expands and contracts the holding member 111 by increasing or decreasing the amount of air supplied from the base end portion 111 a side to the inside 111 b of the holding member 111.

  The adjusting unit 120 includes a first flow path 120P that causes air to flow into the inside 111b of the holding member 111 and expands the holding member 111, and a second channel that discharges air from the inside 111b of the holding member 111 and reduces the holding member 111. A flow path 120Q is provided.

  The first flow path 120P allows air to flow from the proximal end portion 111a side of the holding member 111 toward the inside 111b. As shown in FIG. 2, the first flow path 120 </ b> P has an outer tube 127 </ b> M disposed at the downstream end thereof opposed to the base end portion 111 a of the holding member 111 along the axial direction X, in the radial direction θ. It arrange | positions circularly along. The first flow path 120P allows the air sucked from the outside by the purge pump 124 to flow into the inside 111b of the holding member 111 via the outer pipe 127M.

  The first piping 122 connects these members in the order of the first regulator 123S, the purge pump 124, the microvalve 125, the flow pressure gauge 126, and the outer pipe 127M toward the upstream side reaching the holding member 111. . The first piping 122 is configured by a rubber tube or the like that elastically deforms at least a portion between the flow pressure gauge 126 and the outer tube 127M so as to correspond to the movement of the holding unit 110. The first regulator 123S adjusts (increases or decreases) the flow rate of the air supplied from the air supply pipe 121 to the purge pump 124.

  The purge pump 124 discharges air sucked from the outside through the air supply port 124 a toward the holding member 111 and causes the air to flow into the inside 111 b of the holding member 111. The purge pump 124 is controlled by the air supplied from the air supply pipe 121. That is, the purge pump 124 uses air supplied from the air supply pipe 121 as a drive source. The microvalve 125 adjusts (increases / decreases) the flow rate of air flowing into the holding member 111 from the purge pump 124. The flow pressure gauge 126 measures and displays the flow rate and pressure of air flowing into the outer pipe 127M from the purge pump 124.

  The outer tube 127M is formed in a cylindrical shape, and the distal end portion is open and the proximal end portion is closed. The outer tube 127M has its distal end portion (downstream of the first flow path 120P) joined to the proximal end portion 111a of the holding member 111. On the other hand, the outer pipe 127M has the first pipe 122 inserted through the base end portion (upstream side of the first flow path 120P). An inner tube 127N of the second flow path 120Q is disposed on the radially inner side of the outer tube 127M. The air discharged from the purge pump 124 toward the outer tube 127M flows into the holding member 111 through an annular space between the outer tube 127M and the inner tube 127N. That is, since air is discharged from between the outer tube 127M and the inner tube 127N and air is sucked from the inner tube 127N, these have a double tube structure.

  The second flow path 120Q discharges the air in the interior 111b of the holding member 111 from the base end 111a side. As shown in FIG. 2, the second flow path 120Q has an inner pipe 127N arranged at the upstream end thereof, in the inner direction along the radial direction θ of the outer pipe 127M of the first flow path 120P. 111 is arranged to face the base end portion 111a of 111. The second flow path 120Q discharges air sucked from the holding member 111 via the inner pipe 127N by the suction pump 129 to the outside.

  The second pipe 128 connects those members in the order of the suction pump 129 and the second regulator 123T from the holding member 111 toward the downstream side. The second pipe 128 is constituted by a rubber tube or the like that elastically deforms at least a portion between the inner pipe 127N and the suction pump 129 so as to correspond to the movement of the holding unit 110. The second regulator 123T adjusts (increases / decreases) the flow rate of the air supplied from the air supply pipe 121 to the suction pump 129.

  The suction pump 129 sucks air from the inside 111b of the holding member 111 and discharges the air to the outside through the exhaust port 129a. The suction pump 129 is controlled by the air supplied from the air supply pipe 121, similarly to the purge pump 124.

  The inner tube 127N is formed in a cylindrical shape, and the distal end portion and the proximal end portion are open. The inner tube 127N is accommodated in the outer tube 127M. The inner tube 127N is joined with its opened proximal end portion (downstream of the second flow path 120Q) in close contact with the closed proximal end portion of the outer tube 127M. The inner tube 127N has its opened tip (upstream of the second flow path 120Q) disposed along the opened tip of the outer tube 127M. The inner pipe 127N has the second pipe 128 inserted through the base end portion (downstream of the second flow path 120Q) through the base end portion of the outer pipe 127M. The air sucked from the holding member 111 toward the suction pump 129 passes through the inner pipe 127N and is discharged to the outside from the exhaust port 129a of the suction pump 129. At this time, at least the distal end portion 111c of the holding member 111 is sucked and accommodated in the inner tube 127N.

  The rotating unit 130 rotates the holding member 111 as shown in FIG. The rotating unit 130 includes a rotating arm 131 that rotates the holding member 111.

  The rotary arm 131 includes a motor 131a, a stator case 131b, a pair of rotor cases 131c, a connection base 131d, and a pair of connection columns 131e. The motor 131a is formed of a stepping motor, and rotates the shaft of the rotor protruding from both ends of the stator at a predetermined angle (for example, 90 °) along the clockwise or counterclockwise direction. The stator case 131b has a cylindrical shape and houses and fixes the stator of the motor 131a. The rotor case 131c is composed of a pair. The pair of rotor cases 131c has a cylindrical shape, is disposed at both ends of the stator case 131b, and accommodates and fixes both ends of the rotor shaft of the motor 131a. The connection base 131d has a rectangular shape and connects the stator case 131b and the support plate 112. The connecting column 131e is composed of a pair. The pair of connecting struts 131e has a cylindrical shape, and connects the pair of rotor cases 131c and the robot arm 141.

  When the motor 131a is rotated, the pair of connecting columns 131e and the pair of rotor cases 131c suspended by the robot arm 141 remain stationary, and the stator case 131b and the connecting base 131d that accommodates the motor 131a rotate. Accordingly, the support plate 112 connected to the connection table 131d rotates following the connection table 131d. As a result, the plurality of holding members 111 supported by the support plate 112 rotate. That is, as shown in FIG. 1, the rotating unit 130 rotates the holding member 111 in the vertical direction, for example, by 90 ° and arranges it along the horizontal direction, or arranges it along the horizontal direction. For example, the holding member 111 in a state of being rotated is rotated by 90 ° to stand up and down.

  The moving unit 140 moves the holding member 111 as shown in FIG. The moving unit 140 includes a moving member (robot arm 141) that moves the holding member 111.

  The robot arm 141 is a device configured by connecting a plurality of struts with respective rotatable drive shafts, and moving the tip portion to an arbitrary position in space. The robot arm 141 supports the base end portion 111a side of the holding member 111 and moves the holding member 111 holding the battery module 10 in the horizontal direction and the vertical direction. Instead of the robot arm 141, the moving member may be a crane that is used by being suspended from the ceiling of the factory. Further, the moving member may be constituted by a three-axis linear motion stage that drives along the vertical direction in addition to the horizontal direction instead of the robot arm 141.

  The control part 150 is shown in FIG. 1, and controls the adjustment part 120, the rotation part 130, and the moving part 140. FIG. The control unit 150 includes a controller 151 that controls driving of each of the driving members of the adjustment unit 120, the rotation unit 130, and the moving unit 140.

  The controller 151 includes a ROM, a CPU, and a RAM. A ROM (Read Only Memory) stores a control program for each driving member. The control program relates to the drive timing and drive time of the purge pump 124, for example. A CPU (Central Processing Unit) controls each drive member based on a control program stored in the ROM. A RAM (Random Access Memory) temporarily stores various data regarding each driving member being controlled. The data relates to the flow rate and pressure of the air flowing into the holding member 111 measured by the flow rate pressure gauge 126, for example.

  Next, an outline of a method for transporting the battery module 10 using the transport device 100 will be described with reference to FIG.

  FIG. 3 is a perspective view schematically showing a method for transporting the battery module 10 using the transport device 100. FIG. 3A shows a state in which the transport device 100 stands up in the storage box 40 and approaches the battery module 10 that is stored. FIG. 3B shows a state in which the battery module 10 is held and taken out from the storage box 40 while standing. FIG. 3C shows a state in which the battery module 10 that has been taken out is rotated 90 degrees to be horizontal. FIG. 3D shows a state in which the battery modules 10 that are leveled are stacked.

  As shown in FIG. 3A, the storage box 40 stores the battery modules 10 in a dense manner. Each battery module 10 is accommodated such that its hole 10a is positioned along the horizontal direction. The conveying device 100 reduces the holding member 110 in a state where the holding member 111 is reduced and the support plate 112 is raised to a narrow gap between the battery module 10 and the storage box 40 or a narrow gap between adjacent battery modules 10. On the other hand, it is inserted downward from above.

  Further, as shown in FIG. 3B, the transport device 100 moves the battery module 10 from below to above in the state where the hole 10a of the battery module 10 is engaged by the extended holding member 111. To remove from the storage box 40. In other words, the transfer device 100 takes out the battery module 10 from the storage box 40 while standing.

  Furthermore, as illustrated in FIG. 3C, the transport device 100 causes the rotating unit 130 to rotate the battery module 10 by 90 ° to make it horizontal. Since the battery module 10 rotates above the storage box 40, the battery module 10 does not interfere with the storage box 40. The transport apparatus 100 may rotate the battery module 10 while moving it.

  Further, as shown in FIG. 3D, the transfer device 100 stacks the horizontally suspended battery modules 10 above the battery modules 10 that are already stacked in plural. Depending on the number of stacked battery modules 10, the transportation of the battery modules 10 shown in FIGS. 3A to 3D is repeated.

  Next, a method for holding the battery module 10 using the holding member 111 will be described with reference to FIG.

  FIG. 4 is a schematic diagram illustrating a method for holding the battery module 10 using the holding member 111 in relation to the method for transferring the battery module 10 using the transfer device 100. 4A shows a state in which the base end portion 111a side of the holding member 111 is in contact with the first eyelet 21 provided on one end side of the battery module 10. FIG. FIG. 4B shows a state in which the distal end portion 111 c of the holding member 111 is extended along the axial direction X and inserted into the sleeve 30 while the first eyelet 21 is inserted. FIG. 4C shows a state in which the distal end portion 111 c of the holding member 111 is further extended along the axial direction X and protrudes from the second eyelet 22 provided on the other end side of the battery module 10. 4D, the holding member 111 is extended along the radial direction θ, and the inner peripheral surfaces of the first eyelet 21, the sleeve 30, and the second eyelet 22 are pressed outward in the radial direction to be engaged with them. It shows the state.

  The holding method of the battery module 10 using the holding member 111 shown in FIGS. 4 (A) to 4 (D) is performed during the transporting process of the battery module 10 shown in FIGS. 3 (A) to 3 (B). It is what is said.

  As shown in FIG. 4A, the transport apparatus 100 is provided with the base end portion 111a side of the holding member 111 on one end side of the battery module 10 by moving the holding portion 110 in which the holding member 111 is reduced. The first eyelet 21 is brought into contact with the edge. At this time, the transport device 100 accommodates the tip end portion 111c of the holding member 111 by sucking it into the inner tube 127N.

  Further, as shown in FIG. 4B, the transport device 100 allows air to flow from between the outer tube 127M and the inner tube 127N from the base end portion 111a of the holding member 111 toward the inner portion 111b. As a result, the holding member 111 extends from the proximal end portion 111 a toward the distal end portion 111 c, and the distal end portion 111 c is inserted into the sleeve 30 while being inserted through the first eyelet 21. Here, the holding member 111 is linearly smooth along the axial direction X without being buckled or decentered by the annular airflow injected from the annular space between the outer tube 127M and the inner tube 127N. Elongate.

  Furthermore, as illustrated in FIG. 4C, the transport device 100 further causes air to flow from the base end portion 111 a of the holding member 111 toward the inside 111 b. As a result, the holding member 111 further extends from the base end portion 111 a toward the tip end portion 111 c, and the tip end portion 111 c passes through the sleeve 30 and the second eyelet 22 provided on the other end side of the battery module 10. Protruding. At this time, the holding member 111 expands while being deformed so that the branched portions are separated from each other, and greatly extends so as to cover the edge of the second eyelet 22.

  Further, as shown in FIG. 4D, the transport apparatus 100 further causes air to flow from the base end portion 111a of the holding member 111 toward the inside 111b. As a result, the holding member 111 that has finished extending along the axial direction X extends along the radial direction θ, and the inner peripheral surfaces of the first eyelet 21, the sleeve 30, and the second eyelet 22 are radially outward. Press to engage them. Further, the holding member 111 is engaged by the proximal end portion 111a and the distal end portion 111c so as to sandwich the first eyelet 21, the sleeve 30, and the second eyelet 22 along the axial direction X.

  Next, a method for separating the holding member 111 from the battery module 10 will be described with reference to FIG.

  FIG. 5 is a schematic diagram illustrating a method for separating the holding member 111 from the battery module 10 with respect to the method for transporting the battery module 10 using the transport device 100. FIG. 5A shows a state in which the first eyelet 21, the sleeve 30, and the second eyelet 22 are engaged by the holding member 111. FIG. 5B shows a state in which the holding member 111 is removed from the first eyelet 21, the sleeve 30, and the second eyelet 22.

  The method of separating the holding member 111 shown in FIGS. 5 (A) to 5 (B) from the battery module 10 ends the transport process of the battery module 10 shown in FIGS. 3 (A) to 3 (D). This is performed before the battery module 10 is transferred to the state shown in FIG.

  As shown in FIG. 5A, the conveying device 100 uses the holding member 111 to keep filling the first eyelet 21 and the sleeve by continuously filling air from the base end portion 111a of the holding member 111 toward the inside 111b. 30 and the second eyelet 22 are engaged. This state corresponds to the state shown in FIG.

  Furthermore, as illustrated in FIG. 5B, the transport device 100 stops filling the holding member 111 with air. At the same time, the transport device 100 sucks air inside the holding member 111 from the inner tube 127N and discharges it to the outside. As a result, the holding member 111 is reduced along the axial direction X and the radial direction θ, and the distal end portion 111c is sucked into the inner tube 127N and accommodated therein. Here, the holding member 111 is smoothly reduced along the axial direction X without being buckled or decentered by the uniform air flow along the axial direction X toward the center of the base end portion 111a. In this way, the holding member 111 is removed from the first eyelet 21, the sleeve 30, and the second eyelet 22.

  According to embodiment mentioned above, there exists an effect by the following structures.

  The method for transporting the battery module 10 is a method in which the holding member 111 is engaged with the hole 10 a provided in the battery module 10, and the battery module 10 is held and transported by the holding member 111. In this conveying method, the holding member 111 that expands and contracts along the axial direction X and the radial direction θ intersecting the axial direction X is used. Here, the holding member 111 is extended from the reduced state along the axial direction X and inserted into the hole 10a, and extended along the radial direction θ to press the side surface of the hole 10a to engage with the hole 10a. The battery module 10 is conveyed while being held.

  The transfer device 100 of the battery module 10 includes a holding member 111 and a robot arm 141. The holding member 111 expands and contracts along the axial direction X of the hole 10a provided in the battery module 10 and the radial direction θ intersecting the axial direction X, and presses the hole 10a from the inside to engage with the hole 10a. The battery module 10 is held. The robot arm 141 supports the base end portion 111 a side of the holding member 111 and moves the holding member 111 holding the battery module 10.

  According to the transport method and transport device 100 of the battery module 10 having such a configuration, the holding member 111 is extended along the axial direction X and the radial direction θ, respectively, thereby engaging the hole 10a of the battery module 10. That is, the holding member 111 can be inserted into the hole 10a of the battery module 10 while being extended, after approaching the hole 10a of the battery module 10 in a contracted state. Therefore, the method for transporting the battery module 10 and the transport apparatus 100 can transport the battery module 10 while sufficiently holding it in a narrow space.

  Furthermore, in this transport method, the hole 10a is formed of a through hole. Here, the end portion (tip portion 111c) of the holding member 111 is protruded from the hole 10a while being extended along the axial direction X, and is extended more greatly along the radial direction θ than the edge of the hole 10a.

  According to the transport method having such a configuration, the base end portion 111a and the front end portion 111c of the holding member 111 can be engaged so as to sandwich the hole 10a of the battery module 10. That is, the holding member 111 can hold the battery module 10 firmly. Therefore, it is possible to prevent the battery module 10 being transported from dropping from the holding member 111.

  In particular, according to the transport method having such a configuration, for example, the battery module 10 is transported so that the battery module 10 is suspended with the proximal end portion 111a of the holding member 111 positioned upward and the distal end portion 111c positioned downward. It is effective in such cases. That is, the edge of the hole 10a of the battery module 10 can be held by being hooked from below by the tip 111c of the holding member 111. Therefore, it is possible to prevent the battery module 10 from being scraped off from the holding member 111.

  Furthermore, in this transport method, the hole 10a is formed of a through hole. The battery module 10 includes a tubular eyelet 20 that is anchored at the end of the hole 10a. Here, the distal end portion 111c of the holding member 111 is extended from the opening 20a of the eyelet 20 while extending along the axial direction X, and is extended to be larger along the radial direction θ than the edge of the opening 20a.

  According to the transport method having such a configuration, the proximal end portion 111a and the distal end portion 111c of the holding member 111 can be engaged so as to sandwich the eyelet 20 and the hole 10a of the battery module 10 together. That is, the holding member 111 can firmly hold the battery module 10 while the eyelet 20 is moored in the hole 10a. Therefore, it is possible to prevent the eyelet 20 provided in the battery module 10 or the battery module 10 itself from dropping from the holding member 111 during the transportation of the battery module 10.

  Moreover, according to the conveyance method of such a structure, since the eyelet 20 does not lift up or drop out from the hole 10a of the battery module 10, it is possible to prevent the eyelet 20 from being deformed or damaged. Further, since the eyelet 20 does not fall out from the hole 10a of the battery module 10, the eyelet 20 is removed from the battery module 10 (the battery module 10 from which the eyelet 20 has fallen off, or another battery module placed below the eyelet 20 from which the eyelet 20 has fallen off. It is possible to prevent the internal electric member from being short-circuited and coming into contact with the terminal 10b of 10). Therefore, the battery module 10 can maintain mechanical and electrical quality.

  In addition, according to the transport method having such a configuration, the eyelet 20 does not rise or fall from the hole 10a of the battery module 10, so that the eyelet 20 is prevented from being deformed or damaged, and the holes of the eyelet 20 and the battery module 10 are prevented. It is possible to prevent the relative position of 10a from deviating and the interval between the pair of eyelets 20 provided at both ends of the hole 10a from deviating (the interval widening). Therefore, for example, when a plurality of battery modules 10 are stacked or moved to another place, the position of the battery module 10 is accurately determined by using the eyelet 20 that is not deformed or damaged and that is not displaced. It can be carried out. For this reason, it is particularly effective in the case where an assembled battery is configured by stacking the battery modules 10 and then inserting the through bolts into the holes 10a and fastening them together.

  Furthermore, in this transport method, the battery module 10 includes a plurality of holes 10 a that are separated from each other, and two or more holes 10 a among the plurality of holes 10 a are engaged by the holding member 111.

  According to the transport method having such a configuration, when the hole 10a of the battery module 10 is engaged and transported by the holding member 111, the battery module 10 can be prevented from rotating around the single hole 10a. Accordingly, it is possible to prevent interference between the battery module 10 and the surrounding structure and displacement (position) of the battery module 10.

  Moreover, according to the conveyance method of such a structure, the load applied to the battery module 10 by the holding by the holding member 111 can be dispersed using the two or more holes 10a. That is, it is possible to prevent stress from being concentrated in one hole 10a of the battery module 10 and damaging the battery module 10. Similarly, the load applied to the holding member 111 due to the weight of the battery module 10 can be dispersed using the plurality of holding members 111. That is, it is possible to prevent the holding member 111 from being damaged. Thus, the battery module 10 can be stably transported without applying an excessive load to the battery module 10 and the holding member 111, respectively.

  Further, in the transport device 100, the holding member 111 is formed in a cylindrical shape that can be expanded and contracted by opening the proximal end portion 111a and closing the distal end portion 111c extending from the proximal end portion 111a. The transport apparatus 100 further includes an adjustment unit 120. The adjusting unit 120 expands or contracts the holding member 111 by increasing or decreasing the amount of air supplied from the base end 111a side to the inside 111b of the holding member 111.

  According to the transport device 100 having such a configuration, the battery module 10 is inserted into the hole 10a of the battery module 10 while expanding the holding member 111 and pressed from the inside by a very simple configuration. 10 can be held. Furthermore, the conveyance device 100 can stop holding the battery module by releasing the pressure on the hole 10a of the battery module 10 while reducing the holding member 111 and separating the holding member 111 from the hole 10a.

  In addition, according to the transport device 100 having such a configuration, the holding member 111 is formed in an expandable / contractible cylindrical shape, and therefore, compared with a large-scale configuration including a mechanical holding mechanism such as a robot arm. The size along the radial direction θ can be suppressed. Therefore, the holding member 111 can be inserted and engaged with the hole 10a having a smaller diameter as compared with the case where a configuration such as a robot arm is used.

  Moreover, according to the transport apparatus 100 having such a configuration, the holding member 111 can be extended according to the shape of the hole 10 a of the battery module 10. That is, the holding member 111 expands along the inner surface of the hole 10 a of the battery module 10 and can hold the battery module 10. Therefore, the holding member 111 can be extended and held in accordance with the hole 10a even if the size and shape of the hole 10a of the battery module 10 are various.

  Further, according to the transport apparatus 100 having such a configuration, the holding force of the battery module 10 by the holding member 111 can be easily adjusted by the size of the expansion of the holding member 111. That is, by adjusting the amount of air flowing into the interior 111b of the holding member 111 according to the shape of the hole 10a of the battery module 10, the own weight of the battery module 10, the material of the holding member 111, etc., an appropriate holding force Can be obtained. As the holding member 111 expands, the pressing force that presses the hole 10a of the battery module 10 from the inside increases. Therefore, the battery module 10 can be held more firmly by the holding member 111.

  Moreover, according to the transport apparatus 100 having such a configuration, the inner surface of the hole 10a of the battery module 10 can be flexibly engaged by the holding member 111 formed from an expandable and contractible cylindrical shape. Therefore, the holding member 111 can be sufficiently engaged without damaging the hole 10a of the battery module 10.

  Further, according to the transport device 100 having such a configuration, the holding member 111 is inserted into the hole 10a of the battery module 10 while being extended from a contracted state (a state smaller than the diameter of the hole 10a). Even if there is a slight displacement between 111 and the battery module 10, the holding member 111 can be inserted into the hole 10a of the battery module. Furthermore, since the holding member 111 inserted into the hole 10a of the battery module 10 is stabilized in a state of being uniformly expanded with respect to the radial direction θ, Misalignment can be corrected like self-alignment. That is, the holding member 111 that is stably expanded in the radial direction θ can function as a positioning pin.

  Further, in the transport device 100, the holding member 111 is formed such that the layer thickness between the outer surface and the inner surface is relatively thick from the base end portion 111a toward the tip end portion 111c.

  According to the transport apparatus 100 having such a configuration, the holding member 111 has a taper from the proximal end portion 111a toward the distal end portion 111c, so that the relative thickness is larger than that of the distal end portion 111c having a relatively thick layer. In particular, the base end portion 111a having a thin layer thickness is more easily deformed. For this reason, when air is caused to flow into the inside 111b from the base end portion 111a side of the holding member 111, the base end portion 111a side is deformed more greatly than the tip end portion 111c. That is, when air flows into the interior 111b, the holding member 111 starts to deform first from the base end portion 111a and deforms so as to continuously extend from the base end portion 111a toward the front end portion 111c. Therefore, when the holding member 111 is extended along the axial direction X and inserted into the hole 10a of the battery module 10, the portion between the proximal end portion 111a and the distal end portion 111c and the distal end portion 111c are deformed first. Without buckling, the base end 111a can be smoothly extended toward the front end 111c.

  Furthermore, in the conveying apparatus 100, the holding member 111 is formed in a long cylindrical shape along the axial direction X, and is folded and reduced.

  According to the transport apparatus 100 having such a configuration, the holding member 111 in a folded and reduced state is formed in a long cylindrical shape in advance, so that when air flows into the inside 111b, the holding member 111 is folded back along the axial direction X. It can be extended as quickly as possible. Therefore, the holding member 111 extends along the radial direction θ while being fully inserted into the hole 10a while extending along the axial direction X, and presses the inner surface of the hole 10a to engage with the hole 10a. Can do. That is, the holding member 111 extends along the radial direction θ and strongly presses the side surface of the hole 10a before it is sufficiently inserted into the hole 10a of the battery module 10 while extending along the axial direction X, for example. Therefore, it is possible to prevent the extension along the axial direction X from being hindered in the middle.

  Furthermore, in the conveying apparatus 100, the holding member 111 has a leading end 111c branched.

  According to the transport device 100 having such a configuration, when the air flows into the branched tip end portion 111c, the holding member 111 expands while being greatly deformed so that the branched portions are separated from each other. It extends greatly along the radial direction θ. For this reason, the holding member 111 is engaged with the base end portion 111a and the tip end portion 111c that greatly extends along the axial direction X along the radial direction θ with the hole 10a of the battery module 10 sufficiently interposed therebetween. Can do. That is, the holding member 111 can firmly hold the battery module 10 such that the tip portion 111c that is greatly expanded serves as an anchor and is caught by the edge of the hole 10a. Therefore, it is possible to prevent the battery module 10 being transported from dropping from the holding member 111.

  Further, according to the transport apparatus 100 having such a configuration, the holding member 111 is engaged with the hole 10a of the battery module 10 sandwiched between the base end portion 111a and the front end portion 111c. Therefore, the transport apparatus 100 can improve the positioning accuracy of the battery module 10 with reference to the position of the base end portion 111a of the holding member 111. For this reason, it is particularly effective in the case where an assembled battery is configured by stacking the battery modules 10 and then inserting the through bolts into the holes 10a and fastening them together.

  Furthermore, in the transport apparatus 100, the adjustment unit 120 includes a first flow path 120P and a second flow path 120Q. The first flow path 120P faces the base end portion 111a along the axial direction X and is annularly arranged along the radial direction θ, and allows air to flow into the inside 111b from the base end portion 111a side. The second flow path 120Q is disposed opposite to the base end portion 111a in the inner direction along the radial direction θ than the first flow path 120P, and discharges air in the inside 111b from the base end portion 111a side.

  According to the transport apparatus 100 having such a configuration, when the holding member 111 is extended, air is caused to flow in an annular shape from the edge of the base end portion 111a of the holding member 111 through the first flow path 120P. Therefore, the holding member 111 can be smoothly extended along the axial direction X without being buckled or decentered by the annular uniform airflow. On the other hand, when the holding member 111 is reduced, the second flow path 120Q sucks air toward the center of the base end portion 111a of the holding member 111. Therefore, the holding member 111 can be smoothly reduced along the axial direction X without being buckled or decentered by a uniform air flow from the radially outer side to the center.

  Further, in the transport device 100, the second flow path 120Q accommodates at least the distal end portion 111c by folding while discharging air from the base end portion 111a side.

  According to the transport apparatus 100 having such a configuration, since the holding member 111 is protected inside the second flow path 120Q, when the battery module 10 is not being held, the battery module 10 is moved. 10 and the surrounding structure can be avoided, and damage due to contact with them can be prevented. In particular, the holding member 111 that is formed of an expandable / contractible cylindrical shape and is easily deformed is a second member for preventing contact with surrounding structures and the like when moving without holding the battery module 10. It is preferable to protect the inside of the flow path 120Q.

  Further, the transport apparatus 100 further includes a rotating unit 130 that rotates the holding member 111.

  According to the transport apparatus 100 having such a configuration, for example, the arrangement can be changed by rotating the battery module 10 erected along the vertical direction along the horizontal direction by the rotating unit 130. Similarly, the transport device 100 can change the arrangement by rotating the battery module 10 that is placed horizontally along the horizontal direction so that the rotating unit 130 follows the vertical direction.

  In particular, according to the transport apparatus 100 having such a configuration, a plurality of battery modules 10 are densely accommodated in the accommodation box 40, and the holes 10a of the battery modules 10 are arranged along the horizontal direction. It is effective when installed. That is, the holding member 111 in a reduced state can be inserted from the upper side to the lower side into a narrow space such as a gap between the battery module 10 and the storage box 40 or a gap between adjacent battery modules 10. Next, the holding member 111 can extend in the axial direction X (horizontal direction) and the radial direction θ to engage the hole 10 a of the battery module 10. Thereafter, the holding member 111 can move the battery module 10 from the lower side to the upper side and take it out from the storage box 40. Here, the rotating module 130 can rotate the battery module 10 90 degrees to make it horizontal. The battery modules 10 in a horizontal state can be stacked so as to be stacked in the vertical direction, for example.

  In addition, the present invention can be variously modified based on the configurations described in the claims, and these are also within the scope of the present invention.

  For example, the holes provided in the transported member are not limited to through holes. Even if the hole provided in the member to be transported is a hole having a predetermined depth, the transport device 100 can insert and hold the holding member 111 in the hole.

  In addition, when the hole provided in the member to be transported is a through hole, the transport device 100 is inserted and engaged with each hole provided in the plurality of members to be transported so as to communicate with the holding member 111. By doing so, a plurality of transported members can be transported simultaneously.

  Further, when the transported member has a plurality of holes, the transport apparatus 100 can insert and hold the holding member 111 into any one or more of the holes.

  Further, the holding member 111 may be formed in a so-called bellows shape from the base end portion 111 a to the tip end portion 111 c, and may be configured to be uniformly contracted along the axial direction X. In this case, when the holding member 111 is folded and reduced along the axial direction X, the holding member 111 is greatly reduced so as to be compressed along the axial direction X without being accommodated in a pipe or the like such as the inner pipe 127N. It can also be exposed to the outside.

  Further, the holding member 111 is not limited to a configuration in which the holding member 111 is uniformly extended outward in the radial direction θ with respect to the axial direction X or is uniformly reduced inward in the radial direction θ. You may extend and contract unevenly so that it may decenter along radial direction (theta) centering on the direction X. FIG.

10 Battery module (conveyed member),
10a hole,
10b terminal,
20 Eyelet (Mooring member),
20a opening,
21 First eyelet,
22 Second eyelet,
30 sleeves,
30a opening,
40 containment box,
100 transport device,
110 holder,
111 holding members,
111a proximal end,
111b inside,
111c tip,
112 support plate,
112a top surface,
112b lower surface,
112c communication port,
120 adjustment unit,
120P first flow path,
120Q second flow path,
121 air supply pipe,
122 First piping,
123S first regulator,
123T second regulator,
124 purge pump,
124a Air supply port,
125 microvalves,
126 Flow pressure gauge,
127M outer tube,
127N inner pipe,
128 second piping,
129 suction pump,
129a exhaust port,
130 rotating part,
131 rotating arm,
131a motor,
131b Case for stator,
131c rotor case,
131d coupling stand,
131e connecting struts,
140 moving part,
141 Robot arm (moving member),
150 control unit,
151 controller,
X-axis direction,
θ Radial direction.

Claims (11)

A method of engaging a holding member in a hole provided in a member to be transported and holding and transporting the member to be transported by the holding member,
By using the holding member that expands and contracts along the axial direction of the hole and the radial direction intersecting the axial direction by supplying the medium ,
By supplying a medium to the inside of the holding member, the holding member is extended along the axial direction from the reduced state and inserted into the hole, and is extended along the radial direction to press the side surface of the hole. A method of transporting a member to be transported, which is engaged with a hole and transported while holding the member to be transported. The hole comprises a through hole;
The transporting method for a transported member according to claim 1, wherein an end portion of the holding member is protruded from the hole while being extended along an axial direction, and is extended greatly along a radial direction rather than an edge of the hole. . The hole comprises a through hole;
The transported member includes a tubular mooring member moored at an end of the hole,
The to-be-conveyed member according to claim 1, wherein a tip end portion of the holding member is extended from an opening of the mooring member while being extended along an axial direction, and is extended to be larger along a radial direction than an edge of the opening. Transport method. The transported member includes a plurality of holes spaced apart from each other,
The conveyance method of the to-be-conveyed member of any one of Claims 1-3 which engages two or more said holes by the said holding member, respectively. The axial direction of the hole provided in the to-be-conveyed member and the radial direction intersecting with the axial direction are respectively expanded and contracted to press the hole from the inside to engage with the hole to hold the to-be-conveyed member A holding member;
Supporting the side of the base end portion of the holding member, possess the a moving member for moving the holding member holding the transported member,
The holding member is formed in a cylindrical shape in which the proximal end portion is open and the distal end portion extending from the proximal end portion is closed and can be expanded and contracted,
A transport apparatus for a transported member , further comprising an adjustment unit that increases or decreases an amount of a medium supplied from the base end side to the inside of the holding member to expand and contract the holding member . The said holding member is a conveying apparatus of the to-be-conveyed member of Claim 5 which formed the layer thickness between an outer surface and inner surfaces relatively thick toward the said front-end | tip part from the said base end part. The said holding member is a conveying apparatus of the to-be-conveyed member of Claim 5 or 6 which forms in an elongate cylinder shape along an axial direction, folds and shrinks. The said holding member is a conveying apparatus of the to-be-conveyed member of any one of Claims 5-7 in which the said front-end | tip part has branched. The adjustment portion is disposed in an annular shape along the radial direction so as to face the base end portion along the axial direction, and the first flow path for allowing the medium to flow into the inside from the base end portion side; A second flow path disposed opposite to the base end portion in the radial direction from the first flow path and discharging the medium from the base end side. The conveyance apparatus of the to-be-conveyed member of any one of Claims 5-8 . The transport device for a transported member according to claim 9, wherein the second flow path accommodates at least the tip end portion while discharging the medium from the base end portion side. The transport apparatus for a transported member according to claim 5 , further comprising a rotating unit that rotates the holding member.