JPS591183A - Grip hand for battery of industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

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

The inventors of the present application have previously proposed a system as shown in FIG. 1 as an automatic battery loading system. This is done by positioning a car 2 transported by a conveyor 1 at a battery mounting position on an automobile assembly line, installing a robot box with an articulated arm 3 insulated in a work area close to the conveyor 1, and jointed arm 3
Attach a battery gripping hand H to the tip attachment part of the robot, and after gripping the batteries B, which are being conveyed neatly lined up on the pallet 4 without any gaps, with the battery gripping hand H, based on the robot's teaching information. The battery B is automatically transported and mounted in the engine room E of the automobile 2. In this system, as shown in FIG. 2, the battery gripping hand H includes a base member 5 fixed to the robot arm 3, and a pair of base members 5 provided at the bottom of the base member 5 and protruding from the upper surface of the batch IJB. A pair of gripping mechanisms 7 that grip terminals (hereinafter referred to as battery terminals) 6
The gripping mechanism 7 is fixed to the base member 5 via a connecting member 8, and is operated by an actuator such as an air cylinder 9.

Note that an insulator 10 is attached to the lower surface of the base member 5. Therefore, according to this battery gripping hand, even if the batteries B are conveyed on the pallet 4 in an orderly line without any gaps, it is possible to directly grip the batteries Bt. The manual work required when using a gripping hand, such as separating battery B to be loaded from other batches 9B to secure gripping space for battery B, is no longer required, and the battery This makes it possible to automate the entire B loading process.

However, in such a battery gripping hand, since the pair of gripping mechanisms 7 are uniquely fixed to the base member 5, it is inevitable that the battery gripping hand H can grip the battery type. The pitch t between the terminals 6 of battery B also becomes unique. However, the pitch t between the battery terminals 6 may differ due to differences in the capacity of battery B or differences in manufacturer even if the capacity is the same. It is necessary to prepare a battery gripping node (2) that matches the pitch between the battery terminals (6) of the battery, which results in a lack of versatility.

The present invention has been made based on the above-mentioned viewpoints, and its object is to provide an industrial robot that can reliably and safely grasp batteries of various specifications with different pitches between battery terminals. An object of the present invention is to provide a battery gripping hand.

The gist of the present invention is that, in a type equipped with a gripping mechanism for gripping battery terminals, a moving mechanism is provided that changes the relative position of the gripping mechanism according to the pitch between the battery terminals, and the vehicle power supply Insulating material so as not to degrade the battery mechanism! ! ! - This is a battery gripping hand for an industrial robot.

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

In the embodiment shown in FIGS. 3 to 8, the basic structure of the battery gripping hand H is a base member 5 and a battery B.
A pair of gripping mechanisms 7 gripping a pair of battery terminals protruding from the upper surface, and a pair of gripping mechanisms 7 provided between the base member 5 and the gripping mechanisms 7, the relative position of the gripping mechanisms 7 being variable according to the pitch between the battery terminals. It consists of a moving mechanism 11 that moves.

In this embodiment, the base member 5 is a flat plate member made of metal, and a mounting bracket 12 connected to the robot F-arm 3 is attached with a bolt at approximately the center of the upper surface of the base member 5.
is attached by a nut, while the base member 5
An insulator 10 made of epoxy resin, rubber, etc. is adhered to the lower surface of the insulator 10 .

Further, a pair of moving mechanisms 11 is disposed on both sides of the lower part of the base member 5, and this moving mechanism 11 has a plate-shaped inner plate extending in the left-right direction, as shown in FIGS. 3 to 7. It consists of a case 14 and an outer case 1T that is slidably attached to the inner case 14 via a ball 15 and a ring 16 along the longitudinal direction of the inner case 14. The inner case 14 has an insulating tube 19 at the bottom of the base member 5.
The inner case 14 and the base member 5 are insulated from each other by bolts 21 and nuts 22 via insulating washers 20. Furthermore, the outer case 17 comes into contact with a stopper (not shown), and the movement stroke of the outer case 17 relative to the inner case 14 is set depending on the position of this stopper.

Furthermore, a pair of air cylinders n serving as actuators for operating the pair of moving mechanisms 11 are provided at the bottom of the base member 5 so as to be offset in the front-rear direction. It is attached via an insulated bracket 24. And, as shown in FIGS. 6 and 8, the tip of the piston rod δ of the air cylinder n indicated by F is indicated by +J[25a], as shown in FIGS.
Connecting piece 2 of connecting member 32 fixed with bolt 33 to the lower part of 7
The distal end portion 25a of the piston lorado 3 is disposed to pass through the insertion hole 27 of the connecting piece 26, and between the adjuster nut 28 provided at the tip thereof and the connecting piece 26, and Since the piston rod 25 is connected to the connecting piece 26 with springs 30 and 31 interposed between the flat washer 29 provided at the base end and the connecting piece 26, the connecting member 32 is attached to the tip of the piston rod 25. A relative movement allowance of approximately ±311WL is secured with respect to the portion 25a, and the outer case 17 is moved within ±3 s in the sliding direction.
There will be a play of about um. Incidentally, since the springs 30 and 31 bias the connecting piece 26 from both directions, the normal position of the connecting piece 26 relative to the piston rod 3 is maintained at a constant position. Furthermore, the air cylinder 23 is operated by a command signal from a control device (not shown) based on teaching information of the robot, and when the air cylinder η is not operating, the inside of the air cylinder n is opened to the atmosphere. When the air cylinder n is activated, the piston rod δ protrudes or retreats depending on the direction of air supply from the boat.The gripping mechanism I also has a connection member as shown in FIGS. 3 to 6. The fixed body 35 has a cylindrical fixed body 35 connected to the lower part of the fixed body 32 by a port 34, and this fixed body 35 is formed with a through hole 35a penetrating in the vertical direction. A stepped cylindrical portion 35b with a reduced diameter is formed in the cylindrical portion 35b. An annular cam 3 is provided on the cylindrical portion 35b.
6 is rotatably fitted, and this annular cam 36 is held between the stepped portion 35C of the fixed main body 350 and a presser plate 37 fixed to the lower surface of the fixed main body 35.
As shown in FIG. 6, the inner circumferential surface of No.
It has a circumferential surface inscribed in the circumferential surface, and three arcuate cam grooves 368 are recessed in this circumferential surface at equal angular intervals. And also below the columnar part 35b. As shown in FIGS. 4 and 6, the surface has three guide grooves 38 at equal angular intervals.
A chuck 39 is formed extending radially from the inner circumferential surface toward the outer circumferential surface, and between the guide groove 38 and the presser plate 37 is a chuck 39 that is slidable in the radial direction of the cylindrical portion 35b. is installed. The chuck 39 includes a guide portion 39a that fits into the guide groove 38, and a presser plate that is bent downward at the inner end of the guide portion 39a and corresponds to the through hole 3 portion 35a of the fixed body 35. 37
and a terminal abutting part 39b protruding downward from the opening 37a, and the guide part 39a has a fixed main body 35.
A spring 41 is built in, one end of which is engaged with a stopper 40 fixed to the chuck 39, and this spring 41 always urges the chuck 39 to contact the annular cam 36. On the other hand, the inner end surface of the terminal abutting portion 39b is a tapered surface 42 having an arcuate cross section and abutting against the circumferential surface of the battery terminal 6.

Further, each of the connecting members 32 is provided with an air cylinder 43 (support bracket) 4 as an actuator of the gripping mechanism 7.
4f1: Installed through the air cylinder 4
The tip of the piston rod 45 (is the adjustment nut 46
A connector 47 whose position is adjustable in the axial direction is provided, and this connector 47 is connected with a pin 49 to a mounting piece 48 protruding in the radially outward direction of the annular cam 36, so that the piston rod 45 can be linearly interlocked. is converted into rotational movement of the annular cam 360 via the connector 47. Supply ← Reference key connector 41, Bin 4 of mounting piece 48
The hole into which 9 is inserted is a long hole (not shown). The air cylinder 43 is operated by a command signal from a control device (not shown) based on the teaching information of the robot R, and when the near cylinder 43 is not operated, the inside of the air cylinder 43 is open to the atmosphere. When the near cylinder 43 is in operation and air is supplied from one boat to move the piston rod 45 in the protruding direction, the chuck 39 moves against the cam of the annular cam 36 as the annular cam 360 rotates. When the piston rod 45 is moved in the backward direction by supplying air from the other boat while reaching the position where it contacts the groove 36a, the chuck 39 moves centripetally as the annular cam 360 rotates. There is.

Therefore, according to the battery gripping hand according to this embodiment, as shown in FIG. to reach the position shown by the solid line or the position shown by the two-dot chain line. Therefore, the gripping mechanism 7 fixed to the outer case 17 also moves following the outer case 17, and assuming that the movement strokes of the respective outer cases 17 are equal, the chucks of the pair of gripping mechanisms 7 The relative distance between 39 parts is 3
This will result in two measurements being taken. That is, when the piston rods δ of the pair of air cylinders 23 both project, the distance between the chucks 39 takes the maximum dimension Bnax,
Further, when one piston rod 3 is operated to protrude and the other piston rod δ is operated to retreat, the chuck portion 3
The distance between the chucks 39 is the normal dimension/Jnidl, and when both piston rods 25 move backward, the distance between the chucks 39 is the minimum dimension 7nini. Therefore, the distance between the chuck 39 parts, ax, zmid
, three dimensions of tmin? If three different pitches are set between the battery terminals 6, the battery gripping hand H is configured to be able to grip three types of batteries B with different pitches between the battery terminals 6.

As shown in FIG. 10(a), first, based on the robot's teaching information, the battery gripping hand H is placed above the battery B to be mounted on the pallet 2. In this state, a pair of air cylinders n are operated as appropriate in response to a specification selection command signal from a control device (not shown), and the moving mechanism 11 is moved as appropriate, depending on the pitch between the battery terminals 6 of the battery B to be mounted. A gripping mechanism 7 is arranged. At this time, the chuck 39 of the gripping mechanism 7
The section is located in the vertical direction of the battery terminal 6 of the battery B to be mounted. As shown in FIG. 6, the gripping mechanism 7 is
The driving air cylinder 43 operates in the direction of protruding the piston rod 45, and the annular cam 36 rotates in the counterclockwise direction M1 by that amount, and the chuck 39 rotates radially until it comes into contact with the cam groove 36a of the annular cam 36. This causes the chuck 39 to be retracted outward, and the chuck 39 is set in the open state. At this time, the operating pressure of the air cylinder 43 is detected and a feedback signal is sent from the control device to the robot R, and the robot R grasps the battery terminal 6 with the chuck 39 as shown in FIG. 10(b). Lower the battery gripping hand H to a position where it can be held.

In this state, the terminal contact portion 3 of each chuck 39 is
9b come into contact with the battery terminal 60 surfaces, respectively. In other words, since the pitch between the battery terminals 6 generally includes an error within the permissible tolerance (±3 mm), it is assumed that the center line of the chuck 39 and the axis of the battery terminal 6 are perfectly aligned. is not limited. For this reason, one chuck 3
This may result in a situation where only the terminal contacting portions 39b of the chuck 9 contact the circumferential surface of the battery terminal 6, and the terminal contacting portions 39b of the other chucks 39 do not contact the circumferential surface of the battery terminal 6. The outer case 17 constituting the mechanism 11 moves ±3111I in the sliding direction due to the action of the spring recess 31!
As the position of the chuck 39 is lowered, the chuck 39 coupled to the outer case 17 is guided by the tapered peripheral surface of the battery terminal 6 and relatively moves in a self-centripetal manner. Therefore, the terminal contact portions 39b of each chuck 39 come into contact with the circumferential surface of the battery terminal 60.

In this state, as shown in FIG. 6, the air cylinder 43 operates in the direction of retracting the piston rod 45 in response to a command signal from the control device, and the annular cam 36 rotates clockwise in multiple directions M.

At this time, each of the chucks 39 further moves centripetally while sliding in the cam groove 36a of the annular cam 36, and as a result, the terminal contact portion 39b comes into pressure contact with the circumferential surface of the battery terminal 60. , the battery terminal 6 is gripped by the tightening force. And at this stage, chuck 3
9 clamping operation is completed.

After that, when the operating pressure of the air cylinder 43 is detected and a feedback signal (clamping operation completion signal of the chuck 39) is sent from the control device to the robot H, the battery gripping hand H moves as shown in FIG. 10(C). , move to the upper position and lift up battery B. Then, based on the teaching information of the robot, the battery gripping handle (I-Iu), the engine room of the car 2, the Et-ie
The battery B is automatically transported, stops at a position above the battery support 50 in the engine room E, and then descends toward the battery support 50 position, as shown in FIG. 10(d). Then, when the battery B reaches a position where it contacts or approaches the battery support 50, the air cylinder 43 becomes inactive due to a command signal from the control device based on the robot's teaching information. At this time, since the gripping state of the battery terminal 6 by the chuck 39 is naturally released, the battery Bt is mounted on the battery support 50 by the single layer, and the gripping operation of the battery B by the battery gripping hand H is completed. After this,
Based on the teaching information of the robot) H, the battery gripping hand H returns to its original position in preparation for the next battery mounting process.

Further, according to the battery gripping hand H, the base member 5
and the pair of gripping mechanisms 7 are insulated by the insulator 10, etc., so even if the battery terminals 6 are gripped by the pair of gripping mechanisms 7, there will be no short circuit between the battery terminals 14, and the battery B will not be loaded. There is no concern that battery B will become over-discharged at any time.

In the above embodiment, the gripping mechanism 7 is configured with a chuck 39 capable of centripetal movement, but it is not necessarily limited to this. For example, as shown in FIG. A pair of clamp arms 56 pivoted at 51 are arranged substantially horizontally, and the clamp arms 56 are opened and closed by the air cylinder 5B.
The design may be changed as appropriate, such as by configuring the battery terminal 6 to be clamped by the clamp arm 56.

Further, in the above embodiment, the base member 5 and the gripping mechanism 7
12, for example, as shown in FIG. An insulating cover 59 may be attached to the inner end surface to insulate this chuck 39 portion. In this case, at least if the chuck 39 that grips the positive terminal of the battery terminal 6 is covered with an insulating cover 59, if the battery gripping hand H in operation while gripping the batch IJB is connected to another device, etc. Even if the contact area comes into contact with the contact area, sparks will not be scattered due to electrical discharge, ensuring safety in the workplace. Furthermore, the moving mechanism 1
1 is not limited to that shown in the above embodiment, and the design may be changed as appropriate. Furthermore, as an actuator for driving this moving mechanism 1ift, in addition to the above-mentioned air cylinder B, a shift actuator, a step motor, etc. may be used. May be used. Also, the specific shape of the battery gripping hand H.

Of course, the actuator and the like of the gripping mechanism 7 can also be selected as appropriate.

As described above, according to the battery gripping hand for an industrial robot according to the present invention, there is a gap between the battery terminals between the base member and the gripping mechanism that grips a pair of battery terminals protruding from the top surface of the battery. Since we have provided a moving mechanism that changes the relative position of the gripping mechanism according to the Is it possible to completely automate the battery mounting process using a bot? In the battery mounting process, batteries of different specifications with different pitches between battery terminals can be reliably gripped with one battery gripping hand. The versatility of the gripping hand can be improved. Further, according to the present invention, since the insulating member is provided in the middle of the path from one gripping mechanism to the other gripping mechanism via the base member, there is no short circuit between the battery terminals when the battery is gripped, and the battery There is no possibility that the battery will become over-discharged.

[Brief explanation of the drawing]

FIG. 1 is a perspective explanatory view showing an example of an automatic battery 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 a battery gripping hand according to the present invention. FIG. 4 is a partially cutaway bottom view of the embodiment as seen from the direction of arrow A in FIG. 3; FIG. 5 is a right side view thereof; FIG. 6 is a partially cutaway bottom view of the embodiment; FIG. 7 is a perspective view showing the specific configuration of the moving mechanism, FIG. 8 is an enlarged cross-sectional view of the part (■) in FIG. 6, FIG. 9 is an explanatory diagram showing the operating state of the battery gripping hand, and FIGS. (d)
11 is an explanatory diagram showing each step of the battery mounting process, FIG. 11 is an explanatory diagram showing a modified example of the gripping mechanism, and FIG. 12 is an explanatory diagram of main parts showing a modified example of the insulation structure of the battery gripping hand. B...Battery H...Battery gripping hand 4...Pallet 5...Base member 6...
・Battery terminal 7 River gripping mechanism 10... Insulator (
Insulating member) 11... Moving mechanism 59... Insulating cover (
Insulating member) Fig. 7 + 4 Fig. 8 Fig. 9 Fig. 10 (0) Fig. 10 (b) B 9
Figure 10 (C) Figure 10 (d) Ichimura Figure 11 R Figure 12

Claims (1)

[Claims] a base member fixed to the robot arm, a pair of gripping mechanisms for gripping a pair of battery terminals protruding from the upper surface of the battery, and a gripping mechanism provided between the base member and the gripping mechanism according to the pitch between the battery terminals A moving mechanism that changes the relative position of the gripping mechanism, and a base member from one gripping mechanism? A battery gripping hand for an industrial robot, characterized in that an insulating member is provided in the middle of a path leading to the other gripping mechanism.