JP7178939B2 - 把持装置 - Google Patents
把持装置 Download PDFInfo
- Publication number
- JP7178939B2 JP7178939B2 JP2019060374A JP2019060374A JP7178939B2 JP 7178939 B2 JP7178939 B2 JP 7178939B2 JP 2019060374 A JP2019060374 A JP 2019060374A JP 2019060374 A JP2019060374 A JP 2019060374A JP 7178939 B2 JP7178939 B2 JP 7178939B2
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- JP
- Japan
- Prior art keywords
- work
- pressing member
- gripping device
- gripping
- pressing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/04—Construction or manufacture in general
- H01M10/0404—Machines for assembling batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/009—Gripping heads and other end effectors with pins for accurately positioning the object on the gripping head
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M2220/00—Batteries for particular applications
- H01M2220/20—Batteries in motive systems, e.g. vehicle, ship, plane
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Manipulator (AREA)
- Automatic Assembly (AREA)
Description
前記ワークの側方を支持又は解放する側方支持手段と、
前記ワークを下方に向かって押圧する複数個の押圧部材と、
前記押圧部材を前記ワークに対して接近又は離間する方向に変位させる押圧部材用変位手段と、
少なくとも一部の前記押圧部材の内部に配設され、前記ワークに形成された貫通孔に対して係合する係合ピンと、
を備える把持装置が提供される。
14…水平リニアガイド 16…水平移動スライダ
20…バッテリモジュール 22…ケーシング
24…底板 26…天井板
30a~30d…第1~第4スタッドボルト
32a~32d…第1~第4ボルト挿通孔
34…左方凹部 36…右方凹部
40…バッテリケース 50…懸吊部
52…把持部 56…左側方把持手段
58…右側方把持手段 60…保持柱
62…フローティングベアリング 64…左エアシリンダ
68…左進退ロッド 70a~70d…第1~第4押圧部材
72a~72d…第1~第4昇降用エアシリンダ
76a、76b…第1、第2係合ピン
78a、78b…第1、第2コイルスプリング
80…係合穴 84…左把持用回転ロッド
92…左把持爪 100…右エアシリンダ
106…右前把持用回転ロッド 108…右後把持用回転ロッド
116…右進退ロッド 120…右前把持爪
122…右後把持爪
Claims (6)
- 搬送機構に設けられ、前記搬送機構によって搬送されるワークを保持する把持装置において、
前記ワークの外側面を保持することで該ワークの側方を支持する一方、前記ワークの前記外側面から離脱することで該ワークを解放する側方支持手段と、
前記ワークを下方に向かって押圧する複数個の押圧部材と、
前記押圧部材を前記ワークに対して接近又は離間する方向に変位させる押圧部材用変位手段と、
少なくとも一部の前記押圧部材の内部に配設され、前記ワークに形成された貫通孔に対して係合する係合ピンと、
を備え、
前記側方支持手段は、前記ワークに対して接近又は離間する爪部材を含み、
前記押圧部材が前記ワークにおける前記外側面よりも外方に延出する底板の上面を押圧することで前記複数個の押圧部材から前記ワークに押圧力を付与するとともに、前記爪部材が、前記底板の前記上面よりも上方で前記ワークを支持した状態で、前記ワークを搬送する把持装置。 - 請求項1記載の把持装置において、前記係合ピンは前記押圧部材の内部で進退可能であり、前記貫通孔に対して退避可能に係合する把持装置。
- 請求項1又は2記載の把持装置において、前記爪部材が回動可能であり、回動によって前記ワークを支持又は解放する把持装置。
- 請求項1~3のいずれか1項に記載の把持装置において、当該把持装置を前記搬送機構にフローティング支持するための懸吊部を備え、
前記搬送機構にフローティング支持された当該把持装置は、前記懸吊部によって水平方向に揺動可能である把持装置。 - 請求項4記載の把持装置において、前記懸吊部がフローティングベアリングを含む把持装置。
- 請求項1~5のいずれか1項に記載の把持装置において、前記側方支持手段が、保持部材に対して位置変更可能に保持されている把持装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019060374A JP7178939B2 (ja) | 2019-03-27 | 2019-03-27 | 把持装置 |
US16/827,748 US11626611B2 (en) | 2019-03-27 | 2020-03-24 | Gripping device |
CN202010231917.8A CN111745366B (zh) | 2019-03-27 | 2020-03-27 | 把持装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019060374A JP7178939B2 (ja) | 2019-03-27 | 2019-03-27 | 把持装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2020157433A JP2020157433A (ja) | 2020-10-01 |
JP7178939B2 true JP7178939B2 (ja) | 2022-11-28 |
Family
ID=72604995
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019060374A Active JP7178939B2 (ja) | 2019-03-27 | 2019-03-27 | 把持装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US11626611B2 (ja) |
JP (1) | JP7178939B2 (ja) |
CN (1) | CN111745366B (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7347890B1 (ja) | 2023-08-02 | 2023-09-20 | 株式会社Braing | クランプ装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004009192A (ja) | 2002-06-05 | 2004-01-15 | Daihatsu Motor Co Ltd | ワークのハンドリング装置及びハンドリング方法 |
JP2010201517A (ja) | 2009-02-27 | 2010-09-16 | Nissan Motor Co Ltd | ワーク搬送方法およびワーク搬送装置 |
US20170050342A1 (en) | 2014-05-09 | 2017-02-23 | Bayerische Motoren Werke Aktiengesellschaft | Transport Device and Transport Method for Transporting a Semi-Finished Product and Processing Device for Processing a Semi-Finished Product |
Family Cites Families (18)
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US2025363A (en) * | 1929-10-31 | 1935-12-24 | Joseph Weldenhoff Inc | Battery testing clip |
US2295768A (en) * | 1941-06-07 | 1942-09-15 | Modiste L Le Gro | Storage battery carrier |
US2613982A (en) * | 1947-12-22 | 1952-10-14 | Theodore R Gottstein | Battery lifter |
US2926801A (en) * | 1956-08-14 | 1960-03-01 | Anchor Hocking Glass Corp | Container handling mechanism |
JPS5422807B2 (ja) | 1973-12-26 | 1979-08-09 | ||
JPS5095760U (ja) * | 1973-12-28 | 1975-08-11 | ||
JPS52148884A (en) * | 1976-06-07 | 1977-12-10 | Hitachi Ltd | Device for assembling plates |
JPS6389232A (ja) * | 1986-10-01 | 1988-04-20 | Mitsubishi Electric Corp | 産業用ロボツト |
JPS63306134A (ja) * | 1987-06-05 | 1988-12-14 | Dainippon Screen Mfg Co Ltd | 板状物の搬送装置 |
JPH01187192A (ja) * | 1988-01-18 | 1989-07-26 | Kanayama Kikai Kk | 運搬箱の吊り上げ用保持具 |
JP2943828B2 (ja) * | 1992-07-15 | 1999-08-30 | 三菱自動車エンジニアリング株式会社 | オイルパン組付装置 |
US7867444B2 (en) | 2002-05-30 | 2011-01-11 | Siemens Healthcare Diagnostics, Inc. | Lab cell centrifuging module |
JP4784159B2 (ja) | 2005-06-08 | 2011-10-05 | 日産自動車株式会社 | ワーク受け渡し方法及びワーク受け渡し装置 |
JP4609295B2 (ja) * | 2005-12-02 | 2011-01-12 | 日産自動車株式会社 | ワーク搬送装置 |
JP6247723B1 (ja) * | 2016-07-15 | 2017-12-13 | 本田技研工業株式会社 | フロントエンドモジュールの取付方法及びその装置 |
CN106964957A (zh) * | 2017-04-28 | 2017-07-21 | 苏州三基铸造装备股份有限公司 | 气动式嵌件抓手装置 |
CN108417879B (zh) * | 2018-03-19 | 2023-05-02 | 福建星云电子股份有限公司 | 一种机器人用双模组自适应夹具 |
CN108942161A (zh) * | 2018-09-25 | 2018-12-07 | 中山精航智能科技有限公司 | 一种气缸阀片自动上料的机构 |
-
2019
- 2019-03-27 JP JP2019060374A patent/JP7178939B2/ja active Active
-
2020
- 2020-03-24 US US16/827,748 patent/US11626611B2/en active Active
- 2020-03-27 CN CN202010231917.8A patent/CN111745366B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2004009192A (ja) | 2002-06-05 | 2004-01-15 | Daihatsu Motor Co Ltd | ワークのハンドリング装置及びハンドリング方法 |
JP2010201517A (ja) | 2009-02-27 | 2010-09-16 | Nissan Motor Co Ltd | ワーク搬送方法およびワーク搬送装置 |
US20170050342A1 (en) | 2014-05-09 | 2017-02-23 | Bayerische Motoren Werke Aktiengesellschaft | Transport Device and Transport Method for Transporting a Semi-Finished Product and Processing Device for Processing a Semi-Finished Product |
Also Published As
Publication number | Publication date |
---|---|
JP2020157433A (ja) | 2020-10-01 |
US11626611B2 (en) | 2023-04-11 |
US20200313221A1 (en) | 2020-10-01 |
CN111745366B (zh) | 2022-03-25 |
CN111745366A (zh) | 2020-10-09 |
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