JPH06191448A - Robot hand for carrying seat in car body - Google Patents

Abstract

PURPOSE:To grasp a seat even though it is of a different size, by composing a robot for seat carrying into a car body with a seat cushion grasping means; and a seat back grasping means which consists of a means to lock one side presser member either an inner presser member or an outer presser member, movable to a substrate unitary with a robot main body, and connected by a cylinder, to the substrate. CONSTITUTION:When a seat is grasped by a robot hand 27H, a side locator 53, a front locator 54, and a bottom locator 55 are abutted to the side surface, the front surface, and the bottom surface of a seat cushion 2L-1, an upper presser member 73 is lowered by a cylinder 72 to press the seat cushion 21-1 from the upper side, and the seat cushion 21-1 is grasped. Then, an air cylinder 65 is operated to pull back a piston rod 65R, and either an outer plate 61 or an inner plate 67, which has the smaller load, is moved, an outer presser member 63 or an inner presser member 68 is abutted to a seat back 2L-2, and the seat back 2L-2 is grasped between the outer and the inner pressers 63 and 68.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot hand for carrying in a seat body.

[0002]

2. Description of the Related Art Conventionally, the work of loading a front seat of an automobile into the automobile has been carried out by an operator in an in-vehicle loading process section. Specifically, as shown in FIG. 5, the operator can keep the right front seat 2R and the left front seat 2L from the state in which they are delivered from the seat manufacturer, that is, from the state of being fixed on the pallet 1. It is taken out by hand and carried into the car body as it is.

Since such a carrying-in operation in the vehicle body imposes a heavy burden on an operator, automation by a robot has been proposed.

[0004]

When the robot carries out the work of loading the seat into the vehicle body, the seat of the seat cushion and the seat back are gripped by the hand of the robot. If the thickness, angle, etc. are different, the grip may not be properly held.

On the other hand, in a hand that sandwiches the seat cushion portion, even if the hand can enter the vehicle body together with the seat while gripping the seat, the seat is then released and only the hand portion is held inside the vehicle body. When pulling out from
Sometimes a part of the hand hits the center pillar of the car and cannot be removed.

Therefore, an object of the present invention is to provide a hand capable of satisfactorily gripping sheets of different sizes.

A further object of the present invention is to provide a hand which can easily remove the seat from the inside of the vehicle body after carrying the seat into the vehicle body and releasing the seat.

[0008]

In order to achieve the above object, the present invention is configured as follows.

(1). A cushion gripping means for gripping a seat cushion portion and a back gripping means for gripping a seat back portion are provided. The back gripping means is a substrate integrated with the robot body, and an outer retainer configured to be movable with respect to the substrate. A member, an inner pressing member configured to be movable with respect to the substrate, a cylinder connecting the outer pressing member and the inner pressing member, and a positional relationship between the substrate and either the outer pressing member or the inner pressing member are fixed. It has a locking means (Claim 1).

(2). In (1), the outer pressing member is pivotally mounted, and the outer plate slidable with respect to the substrate, the rotating means for rotating the outer pressing member, and the inner pressing member are supported and slid on the substrate. It has a movable inner plate (claim 2).

[0011]

According to the first aspect of the present invention, when the cylinder operates, either the outer pressing member or the inner pressing member first comes into contact with the seat cushion, and then the remaining members of the outer pressing member or the inner pressing member are removed. Abut on the seat cushion and pinch the seat cushion.

According to the second aspect of the present invention, the outer pressing member is positioned so as to overlap the seat cushion by the rotating means.
You can choose the position to release from the seat cushion.

[0013]

【Example】

1. Configuration In FIG. 1, reference numeral 27 indicates a robot body, and a substrate 50 is provided via a joint 49. The joint 49 has a function of rotating the substrate 50 about axes Z1 and X1 orthogonal to each other. The components preceding the substrate 50 constitute the robot hand 27H.

One end of a bent plate 51 is fixed to the lower end of the substrate 50. A side locator 53 that abuts a side portion of the seat cushion, a front locator 54 that abuts a front end portion of the seat cushion, and a bottom locator 55 that abuts a bottom portion of the seat cushion are fixed to the bending plate 51. Each of these locators, an up-pressing member 73 described later, and the like constitute cushion gripping means for gripping the seat cushion portion of the front seat.

The front seat 2L by the hand 27H
When the vehicle is gripped, the side locator 53 comes into contact with the side portion of the seat cushion 2L-1, and at this time, the front locator 54 is at the front end of the substantially central portion of the seat cushion, and the bottom locator 55 is the substantially central portion of the seat cushion 2L-1. Position the hand relative to the front seat at the bottom of each part.

The surface of the substrate 50 has four shafts 56, 57, 5
8 and 59 are implanted and opposing substrates 60 are attached to the ends of these shafts. Therefore, the substrate 5
A space is formed between 0 and the substrate 60, and an outer plate 61 is provided in the facing space.

The outer plate 61 is guided by engaging guide means (not shown) provided on the substrate 50 and is slidable in the direction of arrow a.

A groove-shaped auxiliary plate 62 is fixed to the surface of the outer plate 61 facing the substrate 50, and an outer pressing member 63 is pivotally attached to the auxiliary plate 62. Also,
A support plate 64 stands upright on the outer plate 61, and a piston rod 65R of an air cylinder 65 is pivotally attached to the support plate 64.

Due to this pivotal connection, the piston rod 65R
Is swingable in the plane orthogonal to the substrate 61 and the direction a.

One end of an arm 66 is pivotally attached to the end of the air cylinder 65. By this pivotal attachment, the arm 6
6 and the air cylinder 65 have the freedom of swing in the same plane as the piston rod 65R.

The other end of the arm 66 is integrated with the inner plate 67. The inner plate 67 faces the back side of the substrate 60 and is slidable in the a direction by guide means (not shown) provided on the substrate 60.

A base 67a is integrally erected on the inner plate 67, and an inner pressing member 68 penetrates along the axis 69 at the top of the base 67a. As a result, the inner pressing member 68 is rotatably supported by the inner plate 67.

A foot 69 is provided integrally with the inner plate 67, and a foot 70 is provided. A guide 71 is provided at the end of the foot.
An upper pushing member 73 that reciprocates by the cylinder 72 is provided.

The upper pushing member 73 is the bottom locator 5
5 is facing. Therefore, by driving the cylinder 72, the seat cushion 2L-1 can be sandwiched.

Next, the rotating means for rotating the outer pressing member 63 and other auxiliary structures will be described with reference to FIG. In FIG. 2, the outer pressing member 63 is fixed to an end portion of the shaft 74 and a portion protruding from the outer plate 61.

The shaft 74 is supported by bearings 75 and 76 provided on the back surface of the auxiliary plate 62. A bevel gear G1 is fixed to the other end of the shaft 74. A bevel gear G2 is meshed with the bevel gear G1.

The shaft of this bevel gear G2 is cantilevered by a bearing 77 fixed to the outer plate 61. One end of an arm 78 is fixed to the intermediate portion of this shaft, and the other end of the arm 78 is connected to a piston rod 80a via a knuckle joint 79.

A plate 81 is added to the outer plate 61. A support member 82 is fixed to the plate 81 that is replenished, and the piston rod 80 is fixed to the support member 82.
The end of the cylinder 80 of a is pivotally attached. The above is the configuration of the rotating means.

When the cylinder 80 is driven in this rotating means, the arm 78 swings in response to the movement of the piston rod 80a, whereby the bevel gear G2 and the bevel gear G1 rotate, and the outer pressing member 63 rotates. Move. The range of this rotation is about 90 ° as shown by the solid line and the two-dot chain line in FIG.

An air cylinder 32 is fixed near the bent portion of the bent plate 51. Further, as shown in FIG. 4, a pin 33 is provided at the tip of the air cylinder 32 via a spring. Is provided.

Next, the locking means will be described. A rack 83 is fixed to the upper portion of the auxiliary plate 62. A claw piece 84 is located above the rack 83. The claw 84a formed at the tip of the claw piece 84 is located on the rack 83 and can engage with the rack.

The base end portion of the claw piece 84 is fixed to a shaft 85, and the shaft 85 is pivotally attached to a plate 86 that is fixed to overlap with the substrate 60. This plate 86 has two pins 87 and 88.
Are planted, and these pins 87, 88 and shaft 85 are
Due to the spring 89 wound around, the claw piece 84 has a tendency to rotate in the counterclockwise direction about the shaft 85.
Therefore, normally, the claw 84a is separated from the rack above.

A pressing means 90 is provided above the claw 84a. The pressing member 91 of this pressing means has a claw 84a.
It is possible to select two modes, that is, a separating position separated from the position and a position in which the claw 84a is pressed to engage the claw with the rack 83. As the pressing means, an electromagnetic solenoid, a pneumatic cylinder, a hydraulic cylinder or the like can be appropriately selected and used.

2. Operation The operation when the robot hand according to the present invention grips a sheet will be described.

When the robot hand grabs the sheet, the robot hand is attached to the sheet positioning device when the sheet is loaded on the pallet as it is delivered from the sheet maker to be conveyed to the positioning device. There are two ways to grip an existing seat when carrying it from the seat positioning device to the vehicle body.

Since the operation mode is the same in any case, the operation for grasping the sheet positioned and fixed by the sheet positioning device will be described here.

Referring to FIG. 4, the front seat 2R
Is positioned at a predetermined position with the rail 4 placed on the cradle 3 which is a part of the sheet positioning device,
It is fixed by the vertical positioning means 9 and other positioning and fixing means not shown.

The vertical positioning means 9, which is a means for positioning and fixing, has a positioning piece 11 pivotally mounted on a shaft 11 which is integral with the immovable member, and the positioning piece 11 is pivoted by an air cylinder 12 to rotate the rail. By pressing 4, the front seat 2R is fixed on the seat positioning device.

As described above, assuming that the front seat 2R is fixed on the seat positioning device, as shown in FIG.
The operation of gripping the sheet will be described with reference to FIGS. 2 and 4.

(1). In FIG. 1, the robot 27 is
By adjusting the position of the substrate 50, the side locator 53 is located on the side of the seat cushion 2L-1, the bottom locator 55 is located on the bottom of the center of the front end of the seat cushion 2L-1, and the front locator 54 is located on the seat cushion 2L-.
The front end of 1 is brought into contact with each other.

Next, the cylinder 72 is driven to lower the upper pushing member 73, and the bottom locator 55 and the upper pushing member 73 sandwich the seat cushion 2L-1. This allows
The seat cushion 2L-1 is grasped by the hand.

(2). Next, the operation of gripping the seat back 2L-2 will be described. As shown in FIGS. 1 and 2, the outer pressing member 63 is in a position facing the seat back as indicated by a two-dot chain line.

At this time, the inner pressing member 68 and the outer pressing member 63 are in the open state, and the seat back 2L-2
The inner pressing member 68 and the outer pressing member 63 are in a state of facing each other with a margin before and after.

As long as there is a seat back located between the inner pressing member 68 and the outer pressing member 63, even a seat back having a different thickness can be gripped by the hand, as described below. .

First, by driving the air cylinder 65, the piston rod 65R is retracted. Then, one with a smaller sliding load, that is, either the outer plate 61 or the inner plate 67 moves, and the outer pressing member 63 or the inner pressing member 68 contacts the seat back 2L-2.

Then, the member opposed to the member that has previously come into contact with the seat back moves, and finally the seat back is gripped by the outer pressing member 63 and the inner pressing member 68.

The inner pressing member 68 rotatably provided around the axis 69 is the axis 6 in FIG.
A force (not shown) for rotating in a counterclockwise direction about 9 is applied by a spring (not shown), and the opening operation by this force is blocked by a stopper (not shown).

By driving the air cylinder 65,
As described above, the inner pressing member 68 is the seat back 2L.
-2, and accordingly, the inner pressing member 68 is rotated in the clockwise direction. When the inner pressing member 68 is pressed against the seat back with a predetermined pressure and cannot rotate any more, the proximity switch 92 is pressed. Works.

When the proximity switch 92 operates, a control circuit (not shown) operates in response to the signal, and the driving of the air cylinder 65 is stopped. The air cylinder 65 is locked in that condition by closing the fluid valve.

At the same time, the pressing means 90 is actuated to cause the pressing member 91 to protrude, and the pawl piece 84 is rotated to move the pawl 84a.
To move. As a result, the claw 84a is bitten by the rack 83, and the positional relationship between the inner pressing member 68 and the outer pressing member 63 is mechanically locked.

Even if the air cylinder 65 is locked by closing the fluid control valve of the air cylinder 65, the relationship between the substrate 60 and the outer plate 61, and the relationship between the substrate 60 and the inner plate 67 will be any. Also, since the sliding means is interposed, the inner plate 67 and the outer plate 61 may be displaced with respect to the substrate 60 while maintaining a constant relationship.

Then, the claw pieces 84 are pressed by the pressing means 90.
By swinging the plate to keep the relationship between the substrate 60 and the outer plate 61 in the locked state, the relationship between the substrate 60 and the outer pressing member 63 and the inner pressing member 68 is fixed.

Although the story goes back and forth, the pin 33 is for maintaining the positional relationship between the front seat and the hand on the seat positioning device, and the rail 4 of the front seat is preliminarily set before the gripping operation by the hand. It is assumed that it is inserted in the mounting hole 34 formed in the.

By inserting the pin 33, it is possible to prevent the relative position between the hand and the front seat from being displaced while the soft portion of the front seat is gripped and conveyed.

(3). Next, when it is confirmed that the front seat has been gripped by the hand, the various clamp mechanisms in the seat positioning device are released, and the front seat 2R moves in the vehicle body 93 together with the hand 27H as shown in FIG. And is placed in a predetermined seat mounting position in the vehicle body.

This placed position is a position where the mounting holes 34 formed in the seat coincide with the mounting holes in the vehicle body.

In FIG. 3, after the front seat 2R is placed, the hand is released from the gripped state of the front seat, and the part of the hand is retracted from the inside of the vehicle body. Even if the player tries to pull it out in the direction, he cannot hit it by hitting the center pillar 94.

Then, the cylinder 80 shown in FIG. 2 is driven to drive the bevel gears G2 and G1 and the outer pressing member 63 is rotated to change the position from the two-dot chain line state to the solid line state. .

As a result, the outer pressing member 63 becomes the outer plate 61.
When the hand is moved in the direction of arrow 96, it can be moved without hitting any obstacle, and then the hand can be pulled out of the vehicle body in the direction of arrow 95. It will be possible.

[0060]

According to the present invention, it is possible to satisfactorily grip sheets having different sizes. Further, according to the present invention, after the seat is carried into the vehicle body and the seat is released, the seat can be easily removed from the vehicle body.

[Brief description of drawings]

FIG. 1 is an exploded perspective view of an entire hand according to the present invention.

FIG. 2 is a partial exploded perspective view of a hand according to the present invention.

FIG. 3 is a diagram illustrating a state when a sheet is carried into a vehicle body using a hand according to the present invention.

FIG. 4 is a diagram illustrating a part of a sheet positioning device and a hand.

FIG. 5 is a diagram for explaining a conventional loading operation of a seat in a vehicle body.

[Explanation of symbols]

 27 Robot 50 Substrate 63 Outer Pressing Member 65 Air Cylinder 68 Inner Pressing Member 84 Claw Piece 90 (As Locking Means) Pressing Means

Claims (2)

[Claims] 1. A robot hand for gripping a seat and carrying it into a vehicle body, comprising: a cushion gripping means for gripping a seat cushion portion; and a back gripping means for gripping a seat back portion. Includes a substrate integrated with the robot body, an outer pressing member configured to be movable with respect to the substrate, an inner pressing member configured to be movable with respect to the substrate, the outer pressing member and the inner pressing member. A robot for carrying in a seat vehicle body, comprising a cylinder connecting a pressing member, and a locking means for fixing a positional relationship between the substrate and either the outer pressing member or the inner pressing member, as main components. hand. 2. The outer pressing member according to claim 1, wherein the outer pressing member is pivotally mounted, and the outer plate is slidable with respect to the substrate, the rotating means for rotating the outer pressing member, and the inner pressing member are supported. At the same time, an inner plate that is slidable with respect to the substrate is a main component, and a robot hand for carrying in a seat vehicle body.