Workpiece lifting apparatus and workpiece lifting method

Abstract

To provide a workpiece lifting apparatus that measures the suction pressure of a suction unit, confirms that the suction pressure is within a predetermined pressure range, and lifts a workpiece.SOLUTION: A workpiece lifting apparatus comprises: a suction unit which suctions a workpiece from above the workpiece; a pressure measurement unit which measures the suction pressure of the suction unit and confirms that the suction pressure is within a predetermined pressure range; and a vertical movement mechanism which is attached to the suction unit for lifting the suctioned workpiece. The workpiece is a lithium battery. The workpiece lifting apparatus may further comprise: a liquid injection port pressing unit which presses a liquid injection port of the lithium battery; and a reaction force receiving unit which is provided so as to be opposed to the liquid injection port pressing unit and receive a reaction force generated by the liquid injection port pressing unit.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a workpiece lifting device and a workpiece lifting method.

Background Art

[0002] Patent Document 1 discloses a robot control method and a suction holding device capable of suppressing the occurrence of wrinkles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, Patent Document 1 does not disclose measuring the suction pressure. Therefore, an object of the present disclosure is to provide a workpiece lifting device that measures the suction pressure of a suction unit, confirms that the suction pressure is within a predetermined pressure range, and then lifts the workpiece.

Means for Solving the Problems

[0005] The workpiece lifting device of the present disclosure includes: a suction unit that sucks the workpiece from above the workpiece; a pressure measurement unit that measures the suction pressure of the suction unit and confirms that the suction pressure is within a predetermined pressure range; and a mechanism that moves up and down to lift the adsorbed workpiece, which is attached to the suction unit.

[0006] With the above configuration, a workpiece lifting device is provided that measures the suction pressure of the suction unit, confirms that the suction pressure is within a predetermined pressure range, and then lifts the workpiece.

[0007] The workpiece lifting device of the present disclosure is wherein the workpiece is a lithium battery, a liquid injection port pressing part for pressing the liquid injection port of the lithium battery, and a reaction force receiving part provided to receive the reaction force generated by the liquid injection port pressing part facing the liquid injection port pressing part.

[0008] With the above configuration, the lithium-ion battery can be lifted without workpiece displacement.

[0009] The workpiece lifting device of the present disclosure is characterized in that the predetermined pressure is defined in advance so that displacement of the workpiece does not occur.

[0010] The above configuration determines a predetermined pressure in advance so that workpiece displacement does not occur.

[0011] The workpiece lifting device of the present disclosure is characterized by comprising a pivoting mechanism for changing the direction of the liquid injection port pressing part.

[0012] With the above configuration, the direction of the liquid injection port pressing part can be changed to suppress workpiece displacement.

[0013] The workpiece lifting method of the present disclosure is the adsorbing part adsorbs the workpiece from above the workpiece, measures the adsorption pressure of the adsorbing part, and confirms that the adsorption pressure is within a predetermined pressure range, and the up-and-down mechanism to which the adsorbing part is attached lifts the adsorbed workpiece.

[0014] With the above configuration, a workpiece lifting method is provided in which the adsorption pressure of the adsorbing part is measured, and it is confirmed that the adsorption pressure is within a predetermined pressure range before lifting the workpiece.

Advantages of the Invention

[0015] According to the present disclosure, there is provided a work lifting device that measures the adsorption pressure of an adsorption part, confirms that the adsorption pressure is within a predetermined pressure range, and lifts a work piece.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0017] Embodiment Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the invention according to the claims is not limited to the following embodiments. Also, not all of the configurations described in the embodiments are essential as means for solving the problems. For the sake of clarity of explanation, the following description and drawings have been appropriately omitted and simplified. In each drawing, the same reference numerals are assigned to the same elements, and redundant explanations are omitted as necessary.

[0018] (Description of the work lifting device according to the embodiment) FIG. 1 is a schematic diagram of a work piece and an adsorption part according to an embodiment. FIG. 2 is a schematic diagram of a work piece and a work gripping device according to an embodiment. FIG. 3 is a schematic perspective view of a work lifting device according to an embodiment. FIG. 4 is a side view of a work lifting device and a work piece according to an embodiment. The work lifting device according to the embodiment will be described with reference to FIGS. 1 to 4.

[0019] As shown in FIGS. 1 and 4, the lifting device 100 includes a suction part 101, a pressure measurement part 107, and a mechanism 105 that moves up and down. As shown in FIG. 2, the lifting device 100 may further include a liquid injection port pressing part 102 and a reaction force receiving part 103. As shown in FIG. 3, the lifting device 100 may further include a swinging mechanism 104.

[0020] The suction part 101 is, for example, a suction pad, and a plurality of them are installed. The suction part 101 is attached to the mechanism 105 that moves up and down. The suction part 101 is pushed into the work W by a specified amount from above the work W by the mechanism 105 that moves up and down, and the work W is suctioned. The work W may be, for example, a large lithium-ion battery. Hereinafter, the work W is also referred to as a lithium-ion battery.

[0021] The pressure measurement part 107 measures the suction pressure of the suction part 101. The pressure measurement part 107 determines whether the suction pressure is a predetermined pressure. When the suction pressure is within the range of the predetermined pressure, the work W is lifted. When the suction pressure is not within the range of the predetermined pressure, the suction part 101 is pushed into the work W again so that the suction pressure is within the range of the predetermined pressure. The predetermined pressure is a pressure that has been evaluated in advance so that work displacement does not occur.

[0022] With such a configuration, there is provided a work lifting device that measures the suction pressure of the suction part, confirms that the suction pressure is within the range of a predetermined pressure, and lifts the work.

[0023] The liquid injection port pressing part 102 is for pressing the liquid injection port of the lithium-ion battery. The liquid injection port pressing part 102 is attached to the mechanism 105 that moves up and down. The liquid injection port pressing part 102 is further attached to the swinging mechanism 104. The swinging mechanism 104 changes the direction of the liquid injection port pressing part 102. The liquid injection port pressing part 102 grips the lithium-ion battery by the swinging mechanism 104. Also, the liquid injection port pressing part 102 can absorb variations in the position of the liquid injection port and the suction height, etc. by the mechanism 105 that moves up and down and the swinging mechanism 104.

[0024] Further, the liquid injection port pressing portion 102 is attached to the servo motor 106. The liquid injection port pressing portion 102 can grip the workpiece W by torque control with the servo motor 106.

[0025] The reaction force receiving portion is provided so as to receive the reaction force generated by the liquid injection port pressing portion facing the liquid injection port pressing portion. The reaction force receiving portion 103 receives the reaction force transmitted from the liquid injection port pressing portion 102 by the swing mechanism. The reaction force receiving portion 103 is attached to the mechanism 105 that moves up and down. The reaction force receiving portion can absorb variations such as the adsorption height by the mechanism 105 that moves up and down.

[0026] Further, the reaction force receiving portion 103 is attached to the servo motor 106. The reaction force receiving portion 103 can grip the workpiece W by torque control with the servo motor 106. The lifting device 100 can lift the lithium-ion battery gripped by the liquid injection port pressing portion 102 and the reaction force receiving portion 103.

[0027] With the above configuration, a workpiece lifting device is provided that can grip and lift a lithium-ion battery without causing workpiece displacement.

[0028] (Explanation of the workpiece lifting method according to the embodiment) FIG. 5 is a flowchart of the workpiece lifting method according to the embodiment. The workpiece lifting method according to the embodiment will be described with reference to FIG. 5.

[0029] First, the workpiece position is confirmed (step S501). The lifting device 100 confirms the position of a workpiece such as a lithium-ion battery with an imaging device such as an RGB camera. Next, a specified amount is pushed in until all the suction portions 101 such as the suction pads are in close contact (step S502). The lifting device 100 pushes in the suction portion 101 by a specified amount so that the suction portion 101 having a mechanism capable of moving up and down is in close contact with the workpiece W.

[0030] Next, turn on the suction of the suction unit 101 (step S503). The suction of the suction unit 101 starts. Next, check the suction pressure (step S504). The pressure measurement unit 107 checks whether the suction pressure is within a predetermined pressure range where no workpiece deviation occurs as obtained in the pre-evaluation. If the suction pressure is not within the predetermined pressure (in the case of No in step S504), stop the suction and return to step S501.

[0031] If the suction pressure is within the predetermined pressure (in the case of Yes in step S504), set the gripping device (step S505). Set a gripping device including a liquid injection port pressing part 102 having an up-and-down mechanism 105 and a swing mechanism 104 and capable of torque control, and a reaction force receiving part 103 having an up-and-down mechanism 105 and capable of torque control.

[0032] Finally, lift the workpiece W (step S506). Lift the workpiece W such as a large lithium-ion battery.

[0033] With the above configuration, a workpiece lifting method is provided that measures the suction pressure of the suction unit, confirms that the suction pressure is within a predetermined pressure range, and lifts the workpiece.

[0034] Note that the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist thereof.

Description of Reference Numerals

[0035] 100 Lifting device, W Workpiece, 101 Suction unit, 102 Liquid injection port pressing part, 103 Reaction force receiving part, 104 Swing mechanism, 105 Up-and-down mechanism, 106 Servo motor, 107 Pressure measurement unit

Claims

1. a suction part that sucks the workpiece from above the workpiece; a pressure measurement part that measures the suction pressure of the suction part and confirms that the suction pressure is within a predetermined pressure range; a lifting mechanism that is attached to the suction part and moves up and down to lift the sucked workpiece, the workpiece lifting device comprising the same.

2. the workpiece is a lithium ion battery, a liquid injection port pressing part that presses the liquid injection port of the lithium ion battery; a reaction force receiving part that is provided so as to receive the reaction force generated by the liquid injection port pressing part and faces the liquid injection port pressing part, the workpiece lifting device according to claim 1 comprising the same.

3. the predetermined pressure is defined in advance so that the workpiece does not shift, the workpiece lifting device according to claim 1.

4. the workpiece lifting device according to claim 2, comprising a swinging mechanism that changes the direction of the liquid injection port pressing part.

5. the suction part sucks the workpiece from above the workpiece, measures the suction pressure of the suction part, confirms that the suction pressure is within a predetermined pressure range, a workpiece lifting method in which the lifting mechanism to which the suction part is attached lifts the sucked workpiece.

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