JPH0327351B2 - - Google Patents

Description

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

The applicant has previously proposed an automatic battery mounting system as shown in FIG. 1.
This is done by positioning a car 2 transported by a conveyor 1 at a battery loading position on an automobile assembly line, and placing a robot R having an articulated arm 3 in an insulated manner in a work area close to the conveyor 1. A battery gripping hand H is attached to the end attachment part of the multi-joint arm (hereinafter referred to as robot arm) 3, and based on the teaching information of the robot R, the batteries B are conveyed in an orderly line without any gaps on the pallet 4. After the battery is gripped by the battery gripping hand H, it is automatically transported and mounted in the engine compartment E of the automobile 2.

In this system, the battery gripping hand H includes a base member 6 fixed to the robot arm 3 via a rotational positioning mechanism 5, and a gripping mechanism 10 provided at the bottom of the base member 6, as shown in FIG. This gripping mechanism 10 has:
It consists of a mounting plate 11 and a pair of chucks 8 which are attached to the mounting plate 11 via a connecting member 9 and grip a pair of terminals (hereinafter referred to as battery terminals) 7 which protrude from the upper surface of the battery B. In addition, since the battery terminal 7 generally has a substantially truncated conical shape that is difficult to grip as shown in FIG. Therefore, a support clamper 50 is provided on one side of the base member 6 so as to be movable in the vertical direction and to support the bottom surface Bb of the battery B when it is projected downward. The support clamper 50 includes a rotary support arm 5 connected via a link mechanism 52 to a drive cylinder 51 attached to the upper surface of one side of the base member 6 and a lower end of a piston rod 51a that slides inside the drive cylinder 51.
It consists of 3.

FIGS. 1 and 4 show an example of an automatic battery B mounting system, and particularly show the process of mounting the battery B in an automobile 2F having a front hinge type hood F. According to this, the battery terminal 7 of the battery B being conveyed on the pallet 4 is gripped by the gripping mechanism 10, the battery B is lifted up, the bottom surface Bb of the battery B is supported by the support clamper 50, and the fourth As shown in the figure, while rotating the battery gripping hand H in the direction of arrow S by the rotary positioning mechanism 5 attached to the tip of the robot arm 3, the battery B is transported to a predetermined position in the automobile 2 and placed in the engine room E. It is equipped. Also, battery B is installed in a fixed direction due to wiring reasons.

By the way, if the process of mounting the battery B in the vehicle 2F having the front hinge type hood described above is applied to the vehicle 2R having the rear hinge type hood, as shown in FIGS. 5 and 6, the drive of the support clamper 50 will be Since the cylinder 51 protrudes above the rotary positioning mechanism 5 of the robot R, there was a problem in that it collided with the erected hood F. In order to avoid this, the battery B is supplied in the opposite direction on the pallet 4 to grip the battery terminal 7, and the battery gripping hand H is rotated in the opposite direction to the direction of the arrow S to move the drive cylinder 51 into the hood. It is conceivable to transport the battery B away from the hood F so that the drive cylinder 51 and the hood F do not collide with each other, and to mount the battery B in a fixed direction on the automobile 2R. However, in general, as shown in FIG. 3, the battery terminal 7 is provided offset from the center line Even if you try to hold the battery terminal 7 so that it can support the bottom surface Bb of the chuck, the position of the battery terminal 7 will deviate from the chuck 8 position by twice the deviation dimension m.
Therefore, it is not possible to grip the battery with the chuck 8, and in order to make this possible, it is necessary to separately prepare a battery gripping hand H in which the chuck 8 is attached at a different position.

Therefore, in the mixing line where cars 2F with front hinge type hoods and cars 2R with rear hinge type hoods are mixed and assembled, two types of battery gripping hands H must be prepared, so one robot However, there was a problem in that it was not compatible with the automatic battery loading system, and a dedicated robot had to be installed for each robot.

The present invention has been made in view of the above points, and its object is to create a mixing line for assembling a vehicle having a front hinge type hood and a vehicle having a rear hinge type hood. An object of the present invention is to provide a battery gripping hand necessary for automating a battery mounting system using a single robot.

The gist of the present invention is to provide a base member fixed to a robot, a gripping mechanism for gripping a pair of battery terminals, a support clamper for supporting the bottom surface of the battery and ensuring the gripping state of the battery. A battery for an industrial robot, comprising: a moving mechanism provided between the base member and the gripping mechanism to move the gripping mechanism relative to the base member in a direction horizontally orthogonal to a line connecting the battery terminals. It's in the gripping hand.

The present invention will be described in detail below based on embodiments shown in the accompanying drawings.

In the embodiment shown in FIGS. 7 to 10, the basic structure of the battery gripping hand is as follows:
a gripping mechanism 10 that is provided at the lower part of the base member 6 and grips a pair of battery terminals 7 that protrudes from the upper surface of the battery B; Support clamper 5 that supports the bottom of battery B at times
0, and a moving mechanism 20 that is provided between the base member 6 and the gripping mechanism 10 and moves the gripping mechanism 10 relative to the base member 6 in a direction horizontally orthogonal to a line connecting the battery terminals. It consists of

In this embodiment, the base member 6 is fixed to a rotary positioning mechanism 5 attached to the tip of the robot arm 3.

The gripping mechanism 10 also includes a flat mounting plate 11.
and a pair of chucks 8 that are attached to this via a substantially rectangular parallelepiped-shaped connecting member 9 and grip a pair of battery terminals 7 that protrude from the upper surface of the battery B. An insulator 11a made of epoxy resin, insulating rubber, etc. is adhered to the lower part of the mounting plate 11.

Moreover, the pair of chucks 8 are shown in FIGS. 7 to 1.
As shown in FIG. 0, each fixed body 12 has a cylindrical shape.
The fixed main body 12 is formed with a through hole 12a that penetrates in the vertical direction, and
A stepped cylindrical part 12 with a reduced diameter is provided at the lower part of the fixed body 12.
b is formed. Then, the cylindrical portion 12b
An annular cam 13 is rotatably fitted in the annular cam 13, and this annular cam 13 is connected to the stepped portion 12 of the fixed main body 12.
c and a presser plate 14 fixed to the lower surface of the fixed body 12, and the inner peripheral surface of the annular cam 13 has a circumferential surface inscribed in the cylindrical portion 12b, as shown in FIG. However, three arcuate cam grooves 13a are formed in this circumferential surface at equal angular intervals. Furthermore, as shown in FIGS. 8 and 10, three guide grooves 15 are formed extending in the radial direction at equal angular intervals on the lower surface of the cylindrical portion 12b. A claw 16 that is slidable in the radial direction of the cylindrical portion 12b is mounted between the presser plate 14 and the presser plate 14, respectively. This nail 16
is a guide portion 16a that fits into the guide groove 15.
The guide portion 16a is bent downward at the inner end thereof and is provided through the through hole portion 1 of the fixed body 12.
2a, and a terminal abutting part 16b protruding downward from the opening 14a of the holding plate 14 corresponding to the holding plate 14, and the guide part 16a has a spring 18, one end of which is latched to a stopper 17 fixed to the fixed body 12. is built in, and the claw 16 is always urged to contact the annular cam 13 by the spring 18, while the terminal contact portion 16b
The inner end surface of the battery terminal 7 is a tapered surface 19 having an arcuate cross section and abutting against the circumferential surface of the battery terminal 7. Furthermore, the mounting plate 11 to which the pair of chucks 8 is fixed is
It is provided at the lower part of the base member 6 so as to be relatively movable via a moving mechanism 20 .

As shown in FIGS. 7 to 10, the moving mechanism 20 includes a convex inner case 21 extending in the front-rear direction, and a concave outer case slidably attached to the inner case 21 in the longitudinal direction. case 24
The inner case 21 and the outer case 24 have tapered surfaces 22 and 23 respectively formed on opposing surfaces to prevent them from falling.
It is designed to mesh and slide between the two. The inner case 21 is fixed to the lower part of the base member 6, while the outer case 2
A chuck 8 is fixed to 4 via a mounting plate 11. A position adjusting cylinder 29 for operating the moving mechanism 20 is provided at the lower front of the base member 6 via a mounting flange 30, and a piston rod 32 of this position adjusting cylinder 29 has a shaft attached to the tip with an adjuster nut 35. A connector 36 whose position can be adjusted in both directions is attached, and this connector 36 is connected to a connecting piece 33 provided on the front side of the mounting plate 11 with a pin 38.

Even if the relative position of the battery terminal 7 protruding from the top surface of the battery B with respect to the battery gripping hand H changes depending on the front-rear direction of the battery B, the position adjustment cylinder 29 adjusts the mounting plate 11 accordingly. The position of the chuck 8 provided at the bottom can be changed.

Further, a stopper 39 having a threaded structure is attached to the mounting bracket 30 on which the position adjustment cylinder 29 is provided, with which the upper receiving portion 33a of the connecting piece 33 comes into contact when the piston rod 32 of the position adjustment cylinder 29 is retracted. By adjusting the threaded portion 39a of this stopper 39, the movement stroke of the piston rod 32 can be adjusted. The change in the relative position of the battery terminal 7 with respect to the battery gripping hand H due to the difference in the front and rear directions of the battery B is 2 of the deviation dimension m from the center line X of the battery B to the position of the battery terminal 7. Since it is twice
The movement width of the gripping mechanism 10 may also be set to twice the displacement dimension m, and the threaded portion 3 of the stopper 39
The movement width of the gripping mechanism 10 is set by adjusting 9a. For this reason, the gripping mechanism 10
As shown in FIG. 9, the position adjustment cylinder 2
As the moving mechanism 20 moves in accordance with the operation of 9, it is possible to move between the position shown in the actual battle and the position shown by the two-dot chain line.

Further, drive cylinders 43 for driving the chucks 8 are attached to the lower part of each of the connecting members 9 via support brackets 44, and a piston rod 43a of each of the drive cylinders 43 is attached at its tip with a nut 45 in the axial direction. A connecting rod 46 whose position can be adjusted is provided, and this connecting rod 46 is connected to a mounting piece 47 projecting in the radial direction of the annular cam 13.
A pin 48 is connected to the piston rod 43.
The linear movement of a is caused by the annular cam 13 via the connecting rod 46.
It is now converted into rotational motion. The drive cylinder 43 is actuated by a command signal from a control device (not shown) based on teaching information of the robot R, and when the piston rod 43a of the drive cylinder 43 operates to protrude, the chuck 16 is activated. When the piston rod 43a of the drive cylinder 43 moves backward while reaching the position where it contacts the cam groove 13a of the annular cam 13, the chucks 16 move centripetally as the annular cam 13 rotates.

Further, in this embodiment, the support clamper 50
is provided on the front side of the base member 6, as shown in FIGS. 7 to 8 and 11, and the basic structure of this support clamper 50 is
A drive cylinder 51 is disposed in the vertical direction on the top and has a piston rod 51a that moves forward and backward below the base member 6;
It consists of a rotation support arm 53 connected to the lower end of 1a via a link mechanism 52.

In this support clamper 50, a pair of guide rods 54, 55 are attached to the front side of the base member 6 so as to be slidable in the front and rear, sandwiching the piston rod 51a.
The lower ends of the guide rods 54 and 55 are connected by a holding plate 56, and a stopper 57 is adjustably attached to the upper ends of the guide rods 54 and 55.
The protrusion amount of 5 is regulated. The lower end of the piston rod 51a passes through the insertion hole 56a of the holding plate 56, and the protrusion stroke of the piston rod 51a is caused by the guide rod 54,
55 is set to be slightly larger than the maximum amount of protrusion from the base member 6.

Furthermore, knuckles 58, 59, 60 are fixed to the lower ends of the piston rod 51a and both guide rods 54, 55, respectively, and the rotary support arm 53 is pivotally supported on the knuckle 59 near the battery B via a mounting piece 53a. A link arm 52a constituting the link mechanism 52 is attached to the knuckle 58.
is pivotally supported, and the other end of the link arm 52a is rotatably connected to the intermediate portion of the mounting piece 53a. Therefore, the piston rod 51a
Knuckle 58 and Knuckle 59 with the protruding movement of
When the relative position with the link arm 5 changes, the link arm 5
2a gradually collapses from the state shown in FIG. 12 to the state shown in FIG. 13, and the rotary support arm 53 rotates counterclockwise about the pivot 59s, resulting in the non-horizontal state shown in FIG. from 1st
It is placed in the horizontal state shown in Figure 3. At this time, in the state shown in FIG. 12, the tip of the rotary support arm 53 is set at a position away from the front side of the battery B, and in the state shown in FIG. A rotatably supported roller 61 is set at a position where it comes into contact with the bottom surface of the battery B. On the other hand, other link arms 5 constituting the link mechanism 52 are attached to the knuckle 58.
2b is coaxially supported with the link arm 52a, and the other end of the link arm 52b is rotatably connected to a link arm 52c which has one end pivoted on a knuckle 60 on the side away from the battery B. There is. When the relative position between the knuckle 58 and the knuckle 59 changes as the piston rod 51a protrudes, the link arm 52b gradually collapses from the state shown in FIG. 12 to the state shown in FIG. The arm 52c rotates clockwise about the pivot 60s, and is arranged so as to change from the non-vertical state shown in FIG. 12 to the vertical state shown in FIG.
It comes into contact with a stopper surface 62 formed on the surface and stops.
Note that when the link arm 52c is in contact with the stopper surface 62, the link arms 52a and 52b are arranged substantially in a straight line, as shown in FIG. A spring 63 is interposed between the knuckle 53 and the knuckle 60 to bias them toward each other.

Therefore, the automatic battery loading system using the battery gripping hand according to this embodiment was applied to a mixing line where automobiles 2F having a front hinge type hood and automobiles 2R having a rear hinge type hood are mixed and assembled. Case 1
This will be explained based on FIG. 4 and FIG. 15. First, to explain the case where the battery B is installed on the second floor of a car having a front hinge type hood, Fig. 14a
As shown in FIG. 2, first, based on the teaching information of the robot R, the battery gripping hand H is placed above the battery B to be mounted on the pallet 4. In this case, the battery B to be mounted is installed in advance on the pallet 4 with the bottom surface Bb on the front side Bf side of the battery B facing in a direction that can be supported by the support clamper 50. In this state,
A specification selection command signal is issued from a control device (not shown), and this specification selection command signal causes the gripping mechanism 10 to
The position adjustment cylinder 29 moves backward, and the moving mechanism 20 moves in a direction horizontally orthogonal to the line connecting the battery terminals, and the chuck 8 of the gripping mechanism 10 is positioned at the battery terminal of the battery B to be mounted. It will be set to the corresponding one. At this time, since the piston rod 43a of the drive cylinder 43 of the chuck 8 is operating in a protruding manner, the pawl 16 is engaged with the annular cam 1.
The claw 16 is set in the open state by contacting the groove 13a of No. 3, and when the position setting of the gripping mechanism 10 is completed, a signal is sent from the control device to the robot R.
As shown in FIG. 14b, the robot R lowers the battery gripping hand H and moves the chuck 8 of the gripping mechanism 10 to the battery terminal 7 gripping position.

In this state, as shown in FIG. 9, the piston rod 51a of the drive cylinder 51 constituting the support clamper 50 is moved backward and is at the highest position, so even if the battery gripping hand H is lowered, The piston rod 51a does not collide with the battery B on the pallet 4, and the chuck 8 of the gripping mechanism 10 is set at the battery terminal 7 gripping position. After this,
As shown in FIG. 10, the piston rod 4 of the drive cylinder 43 is
3a moves backward, at this time, the pawl 16 further moves centripetally while sliding in the cam groove 13a of the annular cam 13, and along with this,
The terminal contact portion 13b comes into pressure contact with the circumferential surface of the battery terminal 7, and the battery terminal 7 is gripped by its tightening force. At this stage, the clamping operation of the chuck 8 is completed.

After that, when a signal is sent from the control device to the robot R, the robot R raises the battery gripping hand H and lifts the battery B from above the pallet 4, as shown in Fig. 14c. When the bottom surface Bb reaches above the top surface of the battery B on the pallet 4, it is temporarily stopped. At this time, a command signal is issued from the control device based on the teaching information of Robot R, and the first
As shown in FIG. 4D, the piston rod 51a of the drive cylinder 51 constituting the support clamper 50 is operated to protrude downward. In this state,
The piston rod 51a is a pair of guide rods 5
4 and 55 without shaking, and the rotary support arm 53 descends to a lower position on the front side of the battery B without interfering with the front side of the battery B while maintaining the state shown in FIG. 12. When the stopper nuts 57 of the guide rods 54, 55 come into contact with the upper base 5a, only the piston rod 51a is further lowered, and as shown in FIGS. 13 and 14e, it is rotatably supported by the ring mechanism 52. Arm 53
rotates to a predetermined position and supports the bottom surface Bb of the battery B. In this state, link arm 52a
and 52b are arranged substantially linearly, but due to the actuation force of the piston rod 51a, the pivot shafts 58s of the link arms 52a, 52b are shifted by a dimension δ from the horizontal position of the respective link arms 52a, 52b.
The link arms 52a, 52b are arranged in a gentle V-shape, and the urging force of the spring 63 pushes the link arms 52a, 52b toward each other. Therefore, even if the operating pressure of the drive cylinder 51 were to drop due to a break in the air hose or the like, the positional relationship between the link arms 52a and 52b would not change at all.
The rotation support arm 53 maintains a state of supporting the bottom surface Bb of the battery B.

In this state, when a clamp operation completion signal of the support clamper 50 is sent from the control device to the robot R, the robot R moves the battery gripping hand H to the front hinge type according to the teaching information, as shown in FIG. 14f. Car with hood 2
Transport the battery B by moving it toward the upper part of the engine room E of the vehicle F from the rear side of the vehicle body. In the process of transporting the battery B, the robot R's teaching information moves the battery gripping hand H to arrow _S1.
The drive cylinder 51 of the support clamper 50 and the hood F are prevented from colliding with each other when the battery gripping hand H is positioned above the engine room E.

Also, in the process of transporting this battery B,
In addition to the gripping mechanism 10 of the battery gripping hand H gripping the battery terminal 7, the support clamper 50 supports the bottom surface Bb of the battery B, so even if the battery terminal 7 is not gripped by the chuck 8 of the gripping mechanism 10, Even if the operating pressure of the drive cylinder 43 of the chuck 8 is reduced due to a break in the air hose, etc., and the pawl 16 of the chuck 8 opens as a result, the battery B
There is no danger that the battery B will immediately fall downward, and the state in which the battery B is gripped by the battery gripping hand H is extremely safe. In addition, Batsuteri B
Regarding the falling of the battery B in the left-right direction, since at least one of the battery terminals 7 is kept fitted into the claw 16, the falling of the battery B is substantially prevented.

Furthermore, as shown in FIG. 12g, the robot R
stops when the battery B reaches a position above the battery support 71 in the engine room E and its installation direction is set correctly. At this time,
A stop signal is issued from the control device, and the clamping operation of the support clamper 50 is released. That is, the piston rod 51a of the drive cylinder 51 constituting the support clamper 50 moves backward, and the link mechanism 52 moves the rotary support arm 53 to the thirteenth position.
Since the state shown in the figure changes to the state shown in FIG. 12, the rotary support arm 53 rises and returns to the lower surface of the upper base 5a without contacting the front side surface of the battery B. At this time, the spring 63 acts to quickly guide the link mechanism 52 to the state shown in FIG. 12.

In this state, the battery B is supported only by the gripping mechanism 7.

Thereafter, when a clamp operation release completion signal for the support clamper 50 is sent from the control device to the robot R, the robot R moves the battery gripping hand H based on the teaching information, as shown in FIG. 12h.
toward the battery support 71 position and lower it. And battery B is battery support 71
When the piston rod 43 of the drive cylinder 43 of the chuck 8 of the gripping mechanism 10 reaches a position in which it comes into contact with or is close to the
a will operate to protrude, and at this time, the claw 16
The gripping state of the battery terminal 7 is released, and the battery B is mounted on the battery support 71 by its own weight, and the gripping operation of the battery B by the battery gripping hand H is completed. After this, Robot R
In order to prepare for the next battery mounting process, by returning the battery gripping hand H to its original position, the vehicle 2F with a front hinge type hood is
One step of the battery loading process is completed.

Further, according to the battery gripping hand H, since the mounting plate 11 of the gripping mechanism 10 and the pair of chucks 8 are insulated by the insulator 11a or the like,
Even if the battery terminals 7 are held by the pair of chucks 8, there will be no short circuit between the battery terminals 7, and there is no fear that the battery B will be over-discharged when the battery B is installed.

Next, a car with a rear hinge type hood 2
To explain the case where the battery B is mounted on the robot R, as shown in FIG.
is placed on the pallet 4 above the battery B to be loaded. In this case, the battery B to be mounted is placed on the pallet 4 in advance with the bottom surface Bb on the rear Br side of the battery B facing in a direction that can be supported by the support clamper 50, unlike in the case of the automobile 2F having a front hinge type hood. is set up. In this state, a specification selection command signal is issued from a control device (not shown), and this specification selection command signal causes the position adjustment cylinder 29 of the gripping mechanism 10 to move forward so that it is parallel to the line connecting the battery terminals. The moving mechanism 20 moves in the orthogonal direction, and the chuck 8 of the gripping mechanism 10 is placed at the position of the battery terminal of the battery B to be mounted, which is displaced by a distance of 2 m from the case of the automobile 2F having the front hinge type hood. It will be set to the corresponding one. After this, there is a step of lifting the battery B and supporting the bottom surface Bb of the battery B with the support clamper 50.
This is similar to that shown and explained in FIG. 4e. When the clamping operation by the support clamper 50 is completed,
As shown in FIG. 15b, the battery gripping hand H is moved from the front side of the vehicle toward the upper part of the engine compartment E of the automobile 2R having a rear hinge type hood according to the teaching information, and the battery B is conveyed. In this process of transporting battery B,
Based on the teaching information of Robot R, this time,
Move the battery gripping hand H to arrow S ₂ in the opposite direction to arrow S ₁ .
When the battery gripping hand H is rotated in the direction shown in FIG. The process until the battery B is then mounted on the battery support 71 is the same as that shown and explained in FIGS. 14g and 14h for the automobile 2F having the front hinge type hood. The rear robot R returns the battery gripping handle H to its original position in preparation for the next battery loading process, and one step of the battery loading process to the automobile 2R having a rear hinge type hood is completed.

In the above embodiments, the specific shape of the base member 6 is not particularly limited, and the design may be changed as appropriate. Further, in the above embodiment, the chuck 8 of the gripping mechanism 10 is configured with a claw 16 capable of centripetal movement, but the chuck 8 is not necessarily limited to this.
As shown in FIG. 6, a pair of clamp arms 77 supported by a pivot shaft 78 are arranged approximately horizontally, and the clamp arms 77 are opened and closed by an air cylinder 79. The design may be changed as appropriate, such as by configuring it to hold 7.

Further, in the above embodiment, the moving mechanism 20 is not particularly limited, and for example, the first
As shown in FIG. 7, it is composed of a plate-shaped slide member 80 that extends in the left-right direction, and a slide case 83 that is slidably mounted along the longitudinal direction of this slide member 80 via a ball 81 and a rail 82. A moving mechanism may be used, and the design may be changed as appropriate. Further, the specific structure of the support clamper 50 is not shown in the embodiments described above, and the design may be particularly changed. Furthermore, in the above embodiment, the width by which the gripping mechanism 10 is moved by the moving mechanism 20 is set to twice the deflection dimension m of the battery terminal 7, but the width is not limited to this. 50 can be set in any way as long as it can reliably support the bottom surface Bb of the battery B. In this case, depending on the front and rear direction of the battery B, the relative position of the battery gripping hand H with respect to the battery B is also changed according to the teaching information of the robot R so that the chuck 8 is located at the position of the battery terminal 7.

As explained above, according to the battery gripping hand for an industrial robot according to the present invention, in the type composed of a base member, a gripping mechanism, and a support clamper that supports the bottom surface of the battery, the base member and the gripping mechanism are Since a moving mechanism is provided in between, the battery terminal can be gripped by the gripping mechanism while ensuring support of the bottom surface of the battery by the support clamper regardless of the front-to-back orientation of the battery. When mounting a battery on a car that has a rear hinge type hood, or when mounting a battery on a car that has a rear hinge type hood, the battery gripping hand is rotated according to the car model, and the support clamp that protrudes above the base member is rotated. This prevents collision between the drive cylinder and the car hood.
The battery mounting system can be automated by a single robot in a mixing line that mixes and assembles automobiles with front hinge type hoods and automobiles with rear hinge type hoods.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an example of a battery automatic loading system, FIG. 2 is a perspective view showing an example of a battery gripping hand used in the system shown in FIG. 1, and FIG. 3 is an external view showing an example of a battery. Figure 4 is an explanatory diagram showing part of the battery installation process when the system shown in Figure 1 is applied to a car with a front hinge type hood, and Figure 5 is an explanatory diagram showing a part of the battery installation process when the system shown in Figure 1 is applied to a car with a front hinge type hood. An explanatory diagram showing a part of the battery mounting process when applied to a car with a hood, Figure 6 is a front view seen from the direction of arrow _A in Figure 5, and Figure 7 is a diagram of the industrial robot according to the present invention. A perspective view showing an embodiment of the battery gripping hand, FIG. 8 is a partially cutaway front view seen from _two directions indicated by arrow A in FIG. 7, FIG. 9 is a right side view thereof, and FIG. 10 is a partially cutaway view. A bottom view, FIG. 11 is an enlarged perspective view of the main parts showing the specific structure of the support clamper, FIG. 12 is an explanatory view showing the operating state of the support clamper when it is not clamped, and FIG. 13 is when the support clamper is in clamping operation. 14A to 14H are explanatory diagrams showing each step of the battery mounting process in a car having a front hinge type hood,
Figures 15a and 15b are explanatory diagrams showing a part of the battery mounting process in an automobile having a rear hinge type hood, Figure 16 is an explanatory diagram showing a modification of the gripping mechanism, and Figure 17 is a modification of the moving mechanism. FIG. B...Battery grip, H...Battery gripping hand,
R...Robot, 3...Robot arm, 4...
Pallet, 6...Base member, 7...Battery terminal, 8...Chuck, 10...Gripping mechanism, 11...
... Mounting plate, 20 ... Movement mechanism, 29 ... Position adjustment cylinder, 50 ... Support clamper, 51 ... Drive cylinder.

Claims (1)

[Claims] 1 Base member 6 fixed to robot arm 3
A gripping mechanism 10 is provided on the base member 6 and grips a pair of battery terminals 7 protruding from the upper surface of the battery, and a gripping mechanism 10 is provided on the base member 6 to be movable in the vertical direction and grips the bottom surface Bb of the battery B when protruding downward. Provided between a support clamper 50 for supporting, the base member 6 and the gripping mechanism 10,
A battery gripping hand for an industrial robot, comprising a moving mechanism 20 that moves the gripping mechanism 10 relative to the base member 6 in a direction horizontally orthogonal to a line connecting the battery terminals 7.