WO2023033611A1 - 셀 그리퍼 및 이를 포함하는 셀 이송장치 - Google Patents
셀 그리퍼 및 이를 포함하는 셀 이송장치 Download PDFInfo
- Publication number
- WO2023033611A1 WO2023033611A1 PCT/KR2022/013233 KR2022013233W WO2023033611A1 WO 2023033611 A1 WO2023033611 A1 WO 2023033611A1 KR 2022013233 W KR2022013233 W KR 2022013233W WO 2023033611 A1 WO2023033611 A1 WO 2023033611A1
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- WIPO (PCT)
- Prior art keywords
- cell
- pair
- gripper
- frame
- coupled
- Prior art date
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- 238000010168 coupling process Methods 0.000 claims description 43
- 230000008878 coupling Effects 0.000 claims description 42
- 238000005859 coupling reaction Methods 0.000 claims description 42
- 238000000034 method Methods 0.000 abstract description 16
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007772 electrode material Substances 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
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- 230000000630 rising effect Effects 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
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Classifications
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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
- H01M10/0409—Machines for assembling batteries for cells with wound electrodes
-
- 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
- H01M10/05—Accumulators with non-aqueous electrolyte
- H01M10/058—Construction or manufacture
- H01M10/0587—Construction or manufacture of accumulators having only wound construction elements, i.e. wound positive electrodes, wound negative electrodes and wound separators
-
- 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
Definitions
- the present invention relates to a cell gripper and a cell transfer device including the same, in which both sides of the cell are pressed and fixed during the cell transfer process, thereby preventing the cell from slipping away from the transfer device and performing separate positioning
- the present invention relates to a cell gripper capable of improving tact time by minimizing the time required for a process and improving productivity without increasing a device load factor, and a cell transfer device including the same.
- Secondary batteries unlike primary batteries that cannot be charged, refer to batteries that can be charged and discharged. They store not only small electronic devices such as cell phones and laptops, but also large products that require high output, such as electric vehicles, and surplus generated power or renewable energy. It is widely used in energy storage systems (ESS) and backup power storage devices.
- ESS energy storage systems
- an electrode assembly mounted inside a battery case is a power generating device capable of charging and discharging with a laminated structure of anode/separator/cathode.
- the electrode assembly is a jelly-roll type wound with a separator interposed between a sheet-type positive electrode and a negative electrode coated with an electrode active material slurry, and a cell in which a separator is interposed between a plurality of cut positive electrodes and negative electrodes
- FIG. 1 is a perspective view showing a conventional cell transfer device and a cell seated in the cell transfer device.
- the conventional cell transfer device is provided with a U-shaped guide so that the cell can be seated in an upright state.
- the transfer speed of the conveyor had to be limited to a certain speed or less in order to prevent the cells from escaping, which led to a decrease in productivity.
- the present invention has been made to solve the above problems, and the object of the present invention is to prevent the cells from slipping away from the transfer device by pressing and fixing both sides of the cells during the cell transfer process, and separate positioning
- An object of the present invention is to provide a cell gripper and a cell transfer device capable of improving tact time by minimizing the time required for a positioning process and improving productivity without increasing the load factor of the device.
- the cell gripper includes a housing and a grip assembly mounted inside the housing, and the grip assembly is provided on both sides of the cell support groove formed with a cell seating groove through which cells can be entered and seated from the top, and , a pair of pinion gears that convert the vertical linear motion of the cell support into rotational motion, a pair of gear frames coupled to the pair of pinion gears and transmitting the rotational motion of the pinion gear, and an end of the pair of gear frames and a pair of cell fixing members for pressing and fixing the cells seated in the cell seating grooves from both sides.
- a pair of pinion gears are rotated by the descending of the cell support, and a pair of gear frames and a pair of cell fixing members are moved in the direction of the cell seating groove by the rotation of the pair of pinion gears, thereby moving the cells in both directions. It can be fixed by pressing from the side.
- the grip assembly may further include an elastic member provided under the cell support and providing elastic force in the vertical direction of the cell support.
- the cell support has a length in the vertical direction and is spaced apart from each other, and includes a pair of rack gears formed with teeth on the outer surface and a connection part provided below the pair of rack gears to connect the pair of rack gears to each other. can do.
- the cell seating groove may be formed to have a U-shaped vertical cross section by a connection portion provided on an inner surface of a pair of rack gears facing each other and a lower portion of the pair of rack gears.
- shaft through-holes penetrating both side surfaces of the pinion gear may be formed at a position corresponding to the virtual rotation axis, and coupling protrusions protruding outward from the side surfaces where the shaft through-holes are formed may be formed.
- the gear frame includes a first frame coupled to the side of the pinion gear and a second frame coupled to the first frame at one side and coupled to the cell fixing member at the other side, wherein the first frame is coupled to the pinion gear at one side. It is positioned to correspond to the shaft through-hole and is coupled to the pinion gear, coupled to the second frame on the other side, and coupled to the coupling protrusion of the pinion gear between one side and the other side.
- the gear frame may further include a third frame coupled to the second frame on one side and rotatably coupled to the housing on the other side.
- the third frame may be coupled to be positioned between the cell fixing member and the first frame in the second frame.
- the cell fixing member may include a pressing portion formed as a flat surface and a pair of coupling portions bent backward at both sides of the pressing portion.
- the second frame may be rotatably coupled by inserting the other side opposite to one side to which the first frame is coupled between the pair of coupling parts.
- a notch groove having a U-shaped vertical cross section may be formed at a position facing the cell seating groove.
- the notch groove may be larger than the size of the cell seating groove.
- the cell transfer device includes at least one cell gripper and a cradle for fixing the cell gripper at a lower portion of the cell gripper, the cell gripper includes a housing and a grip assembly mounted inside the housing, and a grip
- the assembly includes a cell stand with a cell seating groove through which cells can enter and be seated from the top, a pair of pinion gears provided on both sides of the cell stand and converting the vertical linear motion of the cell stand into rotational motion, and a pair of pinion gears.
- a cell gripper and a cell transfer device include a housing and a grip assembly mounted inside the housing, and the grip assembly includes a cell support groove having a cell seating groove in which cells can be entered and seated from the top, and the amount of the cell support
- a pair of pinion gears provided on the side and converting the vertical linear motion of the cell support into rotational motion, a pair of gear frames coupled to the pair of pinion gears and transmitting the rotational motion of the pinion gear, and a pair of It is provided at the end of the gear frame and includes a pair of cell fixing members for pressing and fixing the cells seated in the cell seating grooves from both sides, thereby pressing and fixing both sides of the cells during the cell transfer process, thereby transferring the cells. It is possible to prevent cells from sliding away from the device, to improve the tact time by minimizing the time required for a separate positioning process, and to improve productivity without increasing the device load factor. .
- FIG. 1 is a perspective view showing a conventional cell transfer device and a cell seated in the cell transfer device.
- FIG. 2 is a perspective view illustrating a cell gripper according to a first embodiment of the present invention and a cell seated on the cell gripper.
- FIG 3 is an exploded perspective view of the cell gripper according to the first embodiment of the present invention.
- FIG. 4 is a perspective view showing a coupling relationship between a pinion gear, a gear frame, and a cell fixing member of a cell gripper according to a first embodiment of the present invention.
- FIG. 5 is a perspective view showing a cell transfer device according to a second embodiment of the present invention.
- FIG. 2 is a perspective view illustrating a cell gripper 10 and a cell seated on the cell gripper 10 according to the first embodiment of the present invention.
- 3 is an exploded perspective view of the cell gripper 10 according to the first embodiment of the present invention.
- the cell gripper 10 includes a housing 100 and a grip assembly 200 mounted inside the housing 100 .
- the housing 100 is provided to surround a part of the outer portion of the grip assembly 200, fixes the grip assembly 200 inside, and protects the grip assembly 200 from external impact. ) may be configured to protect. Accordingly, the housing 100 may be formed according to the shape of the grip assembly 200 to be described later. However, a notch groove having a U-shaped vertical cross section may be formed in the housing 100 at a position facing the cell seating groove of the grip assembly 200 to be described later. The notch groove may serve to prevent collision between the end of the cell and the housing 100 when the cell is seated in the cell seating groove.
- the notch groove may be formed larger than the size of the cell seating groove to be described later, and more specifically, may be formed to a size that does not collide with the housing 100 even when the cell is seated in the cell seating groove and descends. The descent of the cell seating groove will be described in detail below.
- the grip assembly 200 has a configuration in which both sides of the cell are pressed and fixed to prevent the cell from sliding out during the cell transfer process, and the cell support 210 and the pinion gear 220 , It includes a gear frame 230 and a cell fixing member 240.
- the cell support 210 is formed with a cell seating groove in which the cell can enter from the top and be seated.
- the cell may refer to an electrode assembly unit in which electrodes and separators are alternately stacked and cut to have a rectangular plane having a long side and a short side, and It may include various types of cells such as a bi-cell, a mono-cell, and a half-cell.
- the cell enters from the upper part of the cell support 210, but the long side may enter and be seated in the upper part of the cell seating groove in a state in which the cell is erected.
- a pair of pinion gears 220 is provided on both sides of the cell support 210, and converts the vertical linear motion of the cell support 210 into rotational motion.
- the cell stand 210 can move downward or in the direction of gravity by the weight of the cell (hereinafter referred to as 'descent of the cell stand'), and the pinion gear 220 is the cell stand 210 ) It is provided to engage with the side surface of the cell pedestal 210 is rotated according to the lowering.
- the pair of pinion gears 220 may be provided to be positioned opposite to each other with the cell support 210 in the middle, and therefore, the rotational directions of the pair of pinion gears 220 are clockwise or counterclockwise.
- the cell stand 210 when the cell is removed from the cell stand 210, the cell stand 210, which has been lowered by its own weight, can move upward or in the opposite direction of gravity (hereinafter referred to as 'elevation of the cell stand'), and the pinion gear 220 ) may rotate in a direction opposite to the direction in which the cell pedestal 210 is lowered.
- the gear frame 230 is each coupled to the pair of pinion gears 220, transmits the rotational motion of the pinion gear 220, and the cell fixing member 240 is at the end of the pair of gear frames 230. It is provided, and the cell seated in the cell seating groove is pressed and fixed from both sides.
- the cell fixing member 240 presses and fixes both sides of the cell, thereby preventing the cell from sliding out during the transfer process and requiring a separate positioning process. It is possible to improve tact time by minimizing the time required to perform the operation, and productivity can be improved without increasing the load factor of the device.
- the grip assembly 200 rotates a pair of pinion gears 220 by the descent of the cell support 210, and rotates a pair of gear frames 230 and a pair of gear frames 230 by the rotation of the pair of pinion gears 220.
- the cell fixing member 240 of the cell can be fixed by moving in the direction of the cell receiving groove and pressurizing the cell from both sides.
- the pair of pinion gears 220 rotate in the opposite direction to the direction in which the cell support 210 rotates as the cell support 210 descends, and the pair of pinion gears ( 220), the pair of gear frames 230 and the pair of cell fixing members 240 move in a direction away from the cell seating groove, thereby releasing the fixation at both sides of the cell. That is, when the cell is seated on the grip assembly 200 and cell weight is applied, the cell fixing member 240 presses and fixes the cell from both sides, and when the cell is taken out and the cell weight is removed, the cell fixing member 240 ) can be actuated to unfreeze the cell.
- the grip assembly 200 may further include an elastic member 250 provided under the cell support 210 to provide elastic force in the vertical direction of the cell support 210 .
- the elastic member 250 may be selected as a spring, but is not necessarily limited thereto, and it is sufficient to have a material or structure that is compressed when the cell is seated on the cell support 210 and restored again when the cell is removed.
- the elastic force of the elastic member 250 may be formed such that when the cell is seated on the cell support 210, the cell support and the cell's own weight can lower the initial position of the cell support 210.
- FIGS. 3 and 4 is a perspective view showing the coupling relationship between the pinion gear 220, the gear frame 230, and the cell fixing member 240 of the cell gripper 10 according to the first embodiment of the present invention.
- the cell support 210 may include a rack gear 211 and a connecting portion 212 .
- the rack gear 211 has a length in the vertical direction, is spaced apart from each other, and is provided as a pair, and teeth may be formed on the outer surface.
- the teeth formed on the outer surface of the rack gear 211 are engaged with the above-described pinion gear 220 to transfer the linear motion of the rising or falling of the cell support 210 to the pinion gear 220.
- the connection part 212 is provided under the pair of rack gears 211 to connect the pair of rack gears 211 to each other. As a result, the pair of rack gears can be raised or lowered in one movement, and the pair of pinion gears 220 can also be rotated by the same angle.
- the cell seating groove formed in the cell support 210 is U by the connection portion 212 provided on the inner surface of the pair of rack gears 211 facing each other and the lower portion of the pair of rack gears 211. It may be formed to have a vertical cross section of a letter. That is, when the long side of the cell enters and is seated in the upper portion of the cell seating groove in a state in which the cell is erected, the connecting portion 212 supports the lower portion of the cell and a pair of rack gears 211 provided at the upper portion of the connecting portion 212 ) The wide side of the cell can be supported without being separated by the inner surface of the cell.
- the pinion gear 220 is formed with shaft through-holes penetrating both sides of the pinion gear 220 at a position corresponding to a virtual rotational axis, and the side surface on which the shaft through-hole is formed.
- a coupling protrusion protruding outward from may be formed.
- a fixed shaft is passed through the shaft through-hole of the pinion gear 220 so that the pinion gear 220 can rotate while being fixed in the vertical direction.
- the fixed shaft may be formed on the inner surface of the housing 100 .
- the coupling protrusion may be formed at a side surface where the shaft through-hole is formed, and spaced apart from the shaft through-hole by a predetermined distance.
- the predetermined distance determines the size of the distance that the gear frame 230 and the cell fixing member 240, which will be described later, move by the rotation of the pinion gear 220, and the larger the distance between the coupling protrusion and the shaft through-hole, the gear
- the moving distance of the frame 230 and the cell fixing member 240 increases, and the moving distance of the gear frame 230 and the cell fixing member 240 decreases as the distance between the coupling protrusion and the shaft through hole is relatively small.
- the gear frame 230 may include a first frame 230-1, a second frame 230-2, and a third frame 230-3.
- the first frame 230-1 may be coupled from the side of the pinion gear 220. Describing this in detail, the first frame 230-1 may be positioned to correspond to the shaft through-hole of the pinion gear 220 at one side and coupled with the pinion gear 220. At this time, a coupling hole (not shown) may be formed on one side of the first frame 230-1, and the coupling hole on one side of the first frame 230-1 and the shaft through hole of the pinion gear 220 may be formed.
- the first frame 230-1 may be coupled to the side of the pinion gear 220 in a state in which the aforementioned fixing shaft is simultaneously penetrated.
- the first frame 230-1 is coupled to the second frame 230-2 on the other side, and may be coupled to the coupling protrusion of the pinion gear 220 between one side and the other side.
- a coupling hole may be formed on the other side of the first frame 230-1, and a coupling protrusion formed on the second frame 230-2 is inserted to form the other side of the first frame 230-1.
- the first frame 230-1 and the second frame 230-2 may be rotatably coupled.
- a coupling hole may be formed between one side and the other side of the first frame 230-1, and the above-described coupling protrusion formed on the side surface of the pinion gear 220 may be inserted and coupled.
- coupling protrusions are formed on the first frame 230-1 and the pinion gear 220 and the second frame 230-2 ) may be coupled to each other by forming coupling holes.
- the second frame 230-2 may be coupled to the first frame 230-1 on one side and coupled to the cell fixing member 240 on the other side.
- a structure in which the second frame 230-2 is combined with the cell fixing member 240 will be described later.
- the third frame 230-3 may be coupled to the second frame 230-2 on one side and rotatably coupled to the housing 100 on the other side. Describing this in detail, a coupling hole may be formed on one side of the third frame 230-3, and a coupling protrusion formed on the second frame 230-2 is inserted so that the third frame 230-3 and the second The frames 230-2 may be rotatably coupled to each other.
- the coupling protrusion formed on the second frame 230-2 has a different configuration from the above-described coupling protrusion to which the first frame 230-1 is coupled, and in the second frame 230-2, the cell fixing member ( 240) and the first frame 230-1 may be formed at a point between the coupled positions.
- the third frame 230-3 may be coupled to be positioned between the cell fixing member 240 and the first frame 230-1 in the second frame 230-2, whereby the second frame ( 230-2) can be properly limited, and the cell fixing member 240 to be described later can accurately press the side of the cell.
- the third frame 230-3 may be rotatably coupled to the housing 100 on the other side, and in detail, another coupling hole may be formed on the other side of the third frame 230-3.
- a fixed shaft formed on the inner side of the housing 100 can be coupled through.
- the fixed shaft formed on the inner side of the housing 100 has a different configuration from the above-described fixed shaft passing through the pinion gear 220 and the first frame 230-1, and only the third frame 230-3 It may be a fixed configuration. Accordingly, one side of the third frame 230-3 combined with the second frame 230-2 may be moved while the other side of the third frame 230-3 is fixed to the housing 100.
- the cell fixing member 240 may include a pressing part 241 and a coupling part 242 .
- the pressing unit 241 is formed as a flat surface, and may be a surface that presses and fixes the flat surface of the cell. Since the pressing portion 241 is formed as a flat surface, it is possible to effectively fix the cell while minimizing damage to the cell compared to a method of clamping and fixing the cell.
- the pair of coupling parts 242 may be formed by bending backward from both sides of the pressing part 241 .
- the rear may mean the opposite direction to the flat surface on which the pressing unit 241 presses and fixes the cell.
- the pair of coupling parts 242 are bent toward the rear of the pressing part 241 to form a space between the coupling parts 242.
- the second frame 230-2 is the first frame 230-1.
- the other side opposite to the coupled one side may be inserted between the pair of coupling parts 242 and rotatably coupled thereto.
- a coupling hole may be formed in the pair of coupling portions 242, and the second frame A coupling hole may also be formed on the other side of the 230-2, and a fixing pin or screw passing through the coupling hole of the coupling part 242 and the coupling hole of the second frame 230-2 correspond to each other. etc. can be combined.
- Embodiment 5 is a perspective view showing a cell transfer device according to a second embodiment of the present invention.
- Embodiment 2 of the present invention is different from embodiment 1 in that it is a cell transfer device including the cell gripper of embodiment 1.
- Example 1 Contents common to Example 1 will be omitted as much as possible, and Example 2 will be described with a focus on differences. That is, it is obvious that the content not described in Example 2 can be regarded as the content of Example 1 when necessary.
- the cell transfer device 1 includes at least one cell gripper 10, and a cradle for fixing the cell gripper 10 at the lower part of the cell gripper 10. (20). That is, one or more cell grippers 10 may be provided as needed, and preferably, as shown in FIG. 5, two cell grippers 10 are fixed and mounted on the cradle 20. appearance is shown. Accordingly, when the cell is seated in the long side direction, the two cell grippers 10 can more stably fix the cell.
- the cell transfer device 1 including the cell gripper 10 and the holder 20 for fixing the cell gripper 10 may be moved by means such as a conveyor belt.
- the cell gripper 10 includes a housing 100 and a grip assembly 200 mounted inside the housing 100, and the grip assembly 200 has a cell seating groove in which a cell enters from the top and is seated therein.
- a pair of pinion gears 220 and a pair of pinion gears provided on both sides of the formed cell support 210 and the cell support 210 and converting the vertical linear motion of the cell support 210 into rotational motion 220, provided at the ends of a pair of gear frames 230 and a pair of gear frames 230 that transmit the rotational motion of the pinion gear 220, and the cells seated in the cell seating grooves. It includes a pair of cell fixing members 240 that are fixed by pressing from the side.
- the cell transfer device 1 according to the present invention can prevent cells from slipping and leaving, and can improve tact time by minimizing the time required for a separate positioning process. Productivity can be improved without increasing the load factor.
- the detailed configuration of the cell gripper 10 in the cell transfer device 1 according to the second embodiment of the present invention and the resulting effect can be understood as the same as in the first embodiment.
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Abstract
Description
Claims (14)
- 하우징; 및상기 하우징의 내부에 장착되는 그립 어셈블리를 포함하고,상기 그립 어셈블리는,셀이 상부에서 진입하여 안착될 수 있는 셀 안착홈이 형성된 셀 받침대;상기 셀 받침대의 양 측면에 구비되며, 상기 셀 받침대의 상하 방향 직선 운동을 회전 운동으로 변환하는 한 쌍의 피니언 기어;상기 한 쌍의 피니언 기어에 결합되며, 상기 피니언 기어의 회전 운동을 전달하는 한 쌍의 기어 프레임; 및상기 한 쌍의 기어 프레임의 단부에 구비되며, 상기 셀 안착홈에 안착되는 셀을 양 측에서 가압하여 고정하는 한 쌍의 셀 고정부재를 포함하는 셀 그리퍼.
- 제1항에 있어서,상기 그립 어셈블리는,상기 셀 받침대의 하강에 의해 상기 한 쌍의 피니언 기어가 회전하고, 상기 한 쌍의 피니언 기어의 회전에 의해 상기 한 쌍의 기어 프레임과 상기 한 쌍의 셀 고정부재가 상기 셀 안착홈 방향으로 이동하여 셀을 양 측에서 가압하여 고정하는 것을 특징으로 하는 셀 그리퍼.
- 제1항에 있어서,상기 그립 어셈블리는,상기 셀 받침대의 하부에 구비되어, 상기 셀 받침대의 상하 방향으로 탄성력을 제공하는 탄성부재를 더 포함하는 셀 그리퍼.
- 제1항에 있어서,상기 셀 받침대는,상하 방향으로 길이를 가지고 서로 이격되어 구비되되, 외측면으로 톱니가 형성되는 한 쌍의 랙 기어; 및상기 한 쌍의 랙 기어의 하부에 구비되어 상기 한 쌍의 랙 기어를 서로 연결하는 연결부를 포함하는 셀 그리퍼.
- 제4항에 있어서,상기 셀 안착홈은,상기 한 쌍의 랙 기어가 서로 마주보는 내측면과 상기 한 쌍의 랙 기어의 하부에 구비되는 연결부에 의해, U자형의 수직 단면을 갖도록 형성되는 것을 특징으로 하는 셀 그리퍼.
- 제1항에 있어서,상기 피니언 기어는,가상의 회전축에 대응되는 위치에서 상기 피니언 기어의 양 측면을 관통하는 축 관통홀이 형성되고,상기 축 관통홀이 형성된 측면에서 외측으로 돌출되는 결합돌기가 형성되는 것을 특징으로 하는 셀 그리퍼.
- 제1항에 있어서,상기 기어 프레임은,상기 피니언 기어의 측면에서 결합되는 제1 프레임; 및일 측에서 상기 제1 프레임과 결합되고, 타 측에서 상기 셀 고정부재와 결합되는 제2 프레임을 포함하되,상기 제1 프레임은,일 측에서 상기 피니언 기어의 축 관통홀과 대응되게 위치하여 상기 피니언 기어와 결합되고,타 측에서 상기 제2 프레임과 결합되며,상기 일 측과 상기 타 측의 사이에서 상기 피니언 기어의 결합돌기와 결합되는 것을 특징으로 하는 셀 그리퍼.
- 제7항에 있어서,상기 기어 프레임은,일 측에서 상기 제2 프레임과 결합되고, 타 측에서 상기 하우징에 회전 가능하도록 결합되는 제3 프레임을 더 포함하는 셀 그리퍼.
- 제8항에 있어서,상기 제3 프레임은,상기 제2 프레임에서 상기 셀 고정부재와 상기 제1 프레임의 사이에 위치하도록 결합되는 것을 특징으로 하는 셀 그리퍼.
- 제7항에 있어서,상기 셀 고정부재는,평평한 면으로 형성되는 가압부; 및상기 가압부의 양 측에서 후방으로 절곡되는 한 쌍의 결합부를 포함하는 셀 그리퍼.
- 제10항에 있어서,상기 제2 프레임은,상기 제1 프레임이 결합된 일 측의 반대 측인 타 측이 상기 한 쌍의 결합부 사이에 삽입되어 회전 가능하게 결합되는 것을 특징으로 하는 셀 그리퍼.
- 제1항에 있어서,상기 하우징은,상기 셀 안착홈과 마주하는 위치에서 U자형의 수직 단면을 갖는 노치홈이 형성되는 것을 특징으로 하는 셀 그리퍼.
- 제12항에 있어서,상기 노치홈은,상기 셀 안착홈의 크기보다 크게 형성되는 것을 특징으로 하는 셀 그리퍼.
- 적어도 하나 이상이 구비되는 셀 그리퍼; 및상기 셀 그리퍼의 하부에서 상기 셀 그리퍼를 고정하는 거치대를 포함하고,상기 셀 그리퍼는,하우징; 및상기 하우징의 내부에 장착되는 그립 어셈블리를 포함하고,상기 그립 어셈블리는,셀이 상부에서 진입하여 안착될 수 있는 셀 안착홈이 형성된 셀 받침대;상기 셀 받침대의 양 측면에 구비되며, 상기 셀 받침대의 상하 방향 직선 운동을 회전 운동으로 변환하는 한 쌍의 피니언 기어;상기 한 쌍의 피니언 기어에 결합되며, 상기 피니언 기어의 회전 운동을 전달하는 한 쌍의 기어 프레임; 및상기 한 쌍의 기어 프레임의 단부에 구비되며, 상기 셀 안착홈에 안착되는 셀을 양 측에서 가압하여 고정하는 한 쌍의 셀 고정부재를 포함하는 셀 이송장치.
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CN202280051038.4A CN117677573A (zh) | 2021-09-03 | 2022-09-02 | 单体夹持器和包括所述单体夹持器的单体转移装置 |
EP22865113.9A EP4361070A1 (en) | 2021-09-03 | 2022-09-02 | Cell gripper and cell transfer device comprising same |
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KR1020210117974A KR20230034800A (ko) | 2021-09-03 | 2021-09-03 | 셀 그리퍼 및 이를 포함하는 셀 이송장치 |
KR10-2021-0117974 | 2021-09-03 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4874194A (en) * | 1988-06-28 | 1989-10-17 | Nicky Borcea | Gripper device |
US20120177473A1 (en) * | 2011-01-12 | 2012-07-12 | Bradley Kenneth Smith | Gripper Assembly for Bottles for Pharmaceutical Prescriptions |
US20140021731A1 (en) * | 2012-07-20 | 2014-01-23 | GM Global Technology Operations LLC | Reconfigurable gripping device |
KR101962568B1 (ko) * | 2018-02-06 | 2019-03-26 | 경남대학교 산학협력단 | 다관절 그립퍼 |
KR102214766B1 (ko) * | 2019-10-23 | 2021-02-10 | 주식회사 알파로보틱스 | 파지력이 향상된 산업용 로봇 그리퍼 |
-
2021
- 2021-09-03 KR KR1020210117974A patent/KR20230034800A/ko unknown
-
2022
- 2022-09-02 EP EP22865113.9A patent/EP4361070A1/en active Pending
- 2022-09-02 WO PCT/KR2022/013233 patent/WO2023033611A1/ko active Application Filing
- 2022-09-02 CN CN202280051038.4A patent/CN117677573A/zh active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4874194A (en) * | 1988-06-28 | 1989-10-17 | Nicky Borcea | Gripper device |
US20120177473A1 (en) * | 2011-01-12 | 2012-07-12 | Bradley Kenneth Smith | Gripper Assembly for Bottles for Pharmaceutical Prescriptions |
US20140021731A1 (en) * | 2012-07-20 | 2014-01-23 | GM Global Technology Operations LLC | Reconfigurable gripping device |
KR101962568B1 (ko) * | 2018-02-06 | 2019-03-26 | 경남대학교 산학협력단 | 다관절 그립퍼 |
KR102214766B1 (ko) * | 2019-10-23 | 2021-02-10 | 주식회사 알파로보틱스 | 파지력이 향상된 산업용 로봇 그리퍼 |
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KR20230034800A (ko) | 2023-03-10 |
EP4361070A1 (en) | 2024-05-01 |
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