JPS6243838B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a battery gripping hand for an industrial robot, and more particularly to a battery gripping hand for an industrial robot that is necessary for automating the battery mounting process, which is a part of an automobile assembly line.

In the conventional battery mounting process on an automobile assembly line, a worker grasps a battery on a pallet, transports it to a vehicle on the line, and then mounts the battery in a predetermined location. Due to the heavy weight of batteries, manual loading of batteries has become extremely troublesome, and there is an increasing demand for automating the battery loading process.

Therefore, various systems using industrial robots have been proposed to automate the battery mounting process. One system, for example, as shown in Figure 1, The taught battery mobile robot (not shown) is installed, and a battery gripping hand H is attached to the lifting device 1 of the battery mobile robot that can be raised and lowered, and the battery B is gripped by the battery gripping hand H. However, there is also a system in which the battery B on the pallet 2 is automatically transported and loaded onto a vehicle. In this system, the battery gripping hand H includes a clamper 3 consisting of a pair of clamp arms pivotally supported by a shaft pin 3a, a spring 4 that biases the clamper 3 in the direction of expanding the clamper 3,
The clamper 3 is configured to clamp both sides of the battery B when the battery B is gripped.

However, in the battery loading process described above, the batteries B are generally conveyed on the pallet 2 in an orderly line without any gaps, so in order to grip the batteries B on the pallet 2 using the battery gripping hand H, it is necessary to Batsuteri B trying to
is separated from the other batteries B group to secure a space 6, and then the battery gripping hand H is lowered from above the batteries B to the bottom, and the clamper 3 is placed at a position facing both sides of the batteries B. There must be. In this case, the task of separating the battery B to be mounted from the other battery B groups and obtaining the battery is added, which does not meet the demand for automating the entire battery mounting process.

The present invention has been made based on the above-mentioned viewpoints, and its purpose is to automate the entire battery loading process by moving the batteries on the pallet without manually moving them. To provide a battery gripping hand for an industrial robot which can directly grip a battery.

The gist of the present invention is to focus on a pair of battery terminals protruding from the top surface of the battery, and to provide a gripping mechanism for gripping the battery terminals so as not to reduce the function of the battery as a vehicle power source. This is a battery gripping hand for an industrial robot that is made of an insulating material. For details, please refer to the base member fixed to the robot arm.
A pair of gripping mechanisms each having a finger for gripping a battery terminal and a driving means for driving the finger in the gripping and opening direction is provided, and an electric path formed between the pair of battery terminals is formed between the pair of gripping mechanisms and the base member. An insulating member is interposed in the middle.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.

FIG. 2 is a perspective view schematically showing the battery loading process system. In FIG. 2, a car 10
is placed on the conveyor 11 and moved, and is positioned when it reaches the battery loading position.In addition, a robot R having a multi-jointed arm 12 is located in the work area near the conveyor 11. The battery gripping hand H is attached to the distal end attachment part of the multi-joint arm 12, and the batteries B are conveyed over the pallet 2 in an orderly manner without any gaps. Based on the teaching information of the robot R, the battery gripping hand H directly grips the battery B on the pallet 2, and then automatically transports it to the engine compartment E of the automobile 10.
It is equipped with a battery B inside.

In this embodiment, as shown in FIGS. 3 to 6, the battery gripping hand H includes a base member 13 and a pair of terminals (hereinafter referred to as It consists of a pair of gripping mechanisms 15 that grip a battery terminal (14).

The base member 13 is a flat plate member made of metal, and a mounting bracket 16 connected to the robot arm 12 is attached to the approximate center of the upper surface of the base member 13 with bolts and nuts.
An insulator 17 made of epoxy resin, rubber, etc. is adhered to the lower surface of the base member 13. On both sides of the lower part of the base member 13, a connecting member 18 supporting the gripping mechanism 15 is connected to an insulating tube 19 and an insulating washer 2.
0 via a bolt 21 and a nut 22, and this connecting member 18 and base member 13 are insulated.

Further, as shown in FIGS. 3 and 4, the gripping mechanism 15 includes a finger 28 that grips the battery terminal 14, an annular cam 25, and an air cylinder 3, which will be described later.
2, etc., and a driving means for driving the fingers 28 in the gripping and releasing directions. This gripping mechanism 15 has a bolt 2 attached to the connecting member 18.
The fixing body 24 has a cylindrical fixing body 24 connected by 3, and the fixing body 24 is formed with a through hole 24a penetrating in the vertical direction. Stepped cylindrical part 2
4b is formed. Then, the cylindrical portion 24
An annular cam 25 is rotatably fitted in b, and this annular cam 25 is connected to the stepped portion 2 of the fixed main body 24.
4c and the presser plate 26 fixed to the lower surface of the fixed body 24
As shown in FIG. 6, the inner circumferential surface of the annular cam 25 has a circumferential surface inscribed in the cylindrical portion 24b, and three arcuate cams are provided on this inner circumferential surface. Grooves 25a are recessed at equal angular intervals. Furthermore, as shown in FIGS. 4 and 6, three guide grooves 27 are formed at equal angular intervals on the lower surface of the cylindrical portion 24b, extending in the radial direction from the inner circumferential surface to the outer circumferential surface. A finger 28 is mounted between the guide groove 27 and the presser plate 26 and is slidable in the radial direction of the cylindrical portion 24b. The finger 28 includes a guide portion 28a that fits into the guide groove 27, and a presser plate 26 that is bent downward at the inner end of the guide portion 28a and that corresponds to the through hole portion 24a of the fixed body 24. The guide portion 28a has a built-in spring 30, one end of which is locked to a stopper 29 fixed to the fixed body 24. The finger 28 is always urged by the spring 30 so as to come into contact with the annular cam 25. On the other hand, the terminal contact portion 28b
The inner end surface of the battery terminal 14 is a tapered surface 31 having an arcuate cross section and abutting against the circumferential surface of the battery terminal 14 .

Further, each of the connecting members 18 is provided with an air cylinder 3.
2 is attached via a support bracket 33, and a connector 36 whose position can be adjusted in the axial direction by an adjustment nut 35 is provided at the tip of the piston rod 34 of each air cylinder 32. A pin 38 is connected to a mounting piece 37 protruding radially outward of the annular cam 25, so that the linear movement of the piston rod 34 is converted into rotational movement of the annular cam 25 via a connector 36. The air cylinder 32 is actuated by a command signal from a control device (not shown) based on teaching information from the robot R, and when the air cylinder 32 is not in operation, the inside of the air cylinder 32 is opened to the atmosphere. When the air cylinder 32 is in operation and air is supplied from one port to move the piston rod 34 in the protruding direction,
As the annular cam 25 rotates, the finger 28 reaches a position where it comes into contact with the cam groove 25a of the annular cam 25. On the other hand, when air is supplied from the other port to move the piston rod 34 in the backward direction, the annular cam 25 As the finger 2 rotates, the finger 2
8 is now moving centripetally.

Therefore, if the automatic loading system for the battery B using the battery gripping hand according to this embodiment will be explained based on FIGS. 2 to 7, first, as shown in FIG. Based on the information, the battery gripping hand H
It is placed above the battery B to be installed. In this state, the fixed body 2 constituting the pair of gripping mechanisms 15 of the battery gripping hands H
The through holes 24a of each of the four through holes 24a are located in the vertical direction of the battery terminal 14, and at this time, as shown in FIG. The air cylinder 32 operates to move in the direction, and the annular cam 25 rotates counterclockwise (direction B in the figure) by that amount, and the finger 28 moves outward from the radius to the position where it abuts the cam groove 25a of the annular cam 25. The fingers 28 are set in an open state. Then, when the operating pressure of the air cylinder 32 is detected and a feedback signal is sent from the control device to the robot R, the battery gripping hand H
As shown in FIG. 7b, the finger 28 descends to a position where it grips the battery terminal 14. At this time, the battery terminal 14 and the finger 28 are in a state of slight contact.

In this state, the air cylinder 32 is operated in response to a command signal from the control device so that the piston rod 34 moves backward, and the annular cam 25 rotates clockwise (direction C in the figure) by that amount. do. At this time, each of the fingers 28 moves centripetally while sliding in the cam groove 25a of the annular cam 25, and as a result, the terminal abutting portion 28b comes into pressure contact with the circumferential surface of the battery terminal 14. Therefore, the battery terminal 14 is tightened by each finger 28 and is securely gripped.

In this state, when the operating pressure of the air cylinder 32 is detected and a feedback signal is sent from the control device to the robot R, the battery gripping hand H
, as shown in FIG. 7c, moves to the upper position and lifts the battery B. Next, based on the teaching information of the robot R, the battery gripping hand H moves into the engine compartment E of the automobile 10.
The battery B is automatically transported to the battery support 3 in the engine room E, as shown in Fig. 7d.
After stopping at the upper position of battery support 39, it descends toward the battery support 39 position. Then, when the battery B reaches a position where it contacts or approaches the battery support 39, the air cylinder 32 is brought into a non-operating state by a command signal from the control device based on the teaching information of the robot. At this time, the state in which the battery terminal 14 is held by the fingers 28 is naturally released, so the battery B is mounted on the battery support 39 by its own weight.
The gripping operation of the battery B by the battery gripping hand H is completed.

After that, the battery gripping hand H returns to its original position based on the teaching information of the robot R.
This will prepare for the next battery B mounting process.

Further, according to the battery gripping hand H, since the base member 13 and the pair of gripping mechanisms 15 are insulated by the insulator 17 or the like, the battery terminal 14 can be gripped by the pair of gripping mechanisms 15. Even if this happens, the insulator 17 will exist in the middle of the electrical path formed between the pair of battery terminals 14.
There is no short circuit between the battery terminals 14a and 14b, and there is no fear that the battery B will be over-discharged when the battery B is installed.

Note that the gripping mechanism 15 is not limited to that shown in the above embodiment. For example, as shown in FIG. The clamp arm 45 may be opened and closed by an air cylinder 47, and the battery terminal 14 may be held between the clamp arms 45 and other design changes as appropriate. Further, in the above embodiment, the base member 13 and the gripping mechanism 15 are insulated by an insulator 17, etc., but the insulation is not necessarily limited to this. For example, as shown in FIG. An insulating cover 48 is attached to the inner end surface of the terminal abutting portion 28b of the finger 28 constituting the gripping mechanism 15,
The finger 28 portion may be insulated. In this case, at least if the insulating cover 48 is attached to the finger 28 that grips the positive terminal of the battery terminal 14, the battery gripping hand H that is in operation when gripping the battery B will not be able to touch other devices, etc. Even if there is contact, sparks will not be scattered due to discharge at the contact portion, making it possible to ensure safety in the workplace. Furthermore, it goes without saying that the specific shape, actuator, etc. of the battery gripping hand H can be changed as appropriate.

As explained above, according to the battery gripping hand for an industrial robot according to the present invention, the base member of the battery gripping hand is provided with a gripping mechanism for gripping the pair of battery terminals protruding from the top surface of the battery. Batteries that are neatly lined up and transported on a pallet can be directly grasped without using human hands, and the battery loading process can be completely automated using an industrial robot. Further, according to the battery gripping hand for an industrial robot according to the present invention, an insulating member is interposed in the middle of the electric path formed between the pair of battery terminals via the pair of gripping mechanisms and the base member, so that the battery gripping hand is easy to use. This can prevent the battery terminal from being short-circuited and damaged.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an example of a battery gripping hand generally used in the battery mounting process;
FIG. 2 is a perspective explanatory view showing an example of a battery mounting process system using a battery gripping hand according to the present invention, FIG. 3 is a perspective view showing an embodiment of the battery gripping hand according to the present invention, and FIG. Fig. 3 is a partially cutaway front view seen from the direction of arrow A, Fig. 5 is a right side view, Fig. 6 is a partially cutaway bottom view, and Fig. 7a.
9 to d are explanatory diagrams showing each step of the battery mounting process, FIG. 8 is an explanatory diagram showing a modified example of the gripping mechanism, and FIG. 9 is an explanatory diagram of main parts showing a modified example of the insulation structure of the battery gripping hand. B...Battery grip, H...Battery gripping hand,
R...Robot, 2...Pallet, 12...Arm (robot arm) 13...Base member, 14
...Battery terminal, 15...Gripping mechanism, 17...
Insulator (insulating member), 28... finger, 48...
...Insulation cover (insulation member).

Claims (1)

[Claims] 1. A pair of gripping mechanisms each having a finger for gripping a battery terminal and a drive means for driving the finger in the gripping and releasing direction is provided on a base member fixed to the robot arm, and a pair of gripping mechanisms are provided through the pair of gripping mechanisms and the base member. A battery gripping hand for an industrial robot, characterized in that an insulating member is interposed in the middle of an electric path formed between battery terminals.