Support plate and pick-and-place device including same

Abstract

A support plate according to an embodiment of the present invention has suction pads for suctioning an object suspended thereon and can be moved by a manipulator. The support plate may include a plate body, a center connector located at a center of the plate body and connected to the manipulator at an upper side, a plurality of side connectors formed on both sides in a width direction of the plate body and connected to the suction pads at a lower side, and a recess formed in the plate body to be spaced apart from the center connector and the side connectors and recessed to a predetermined depth in a thickness direction of the plate body.

Description

[Technical Field]

[0001] This application claims the benefit of priority based on Korean Patent Application No. 10-2021-0093791, filed on July 16, 2021, and all contents disclosed in the documents of that Korean patent application are incorporated herein by reference.

[0002] Technical Field The present invention relates to a support plate and a pick and place device including the same. [Background technology]

[0003] In general, secondary batteries are batteries that can be charged and discharged, unlike primary batteries that cannot be recharged, and are widely used in electronic devices such as mobile phones, notebook computers, and camcorders, as well as electric vehicles, etc. In particular, lithium secondary batteries have a larger capacity than nickel-cadmium batteries or nickel-metal hydride batteries and a higher energy density per unit weight, so their use is rapidly increasing.

[0004] Lithium secondary batteries may be classified according to the structure of the electrode assembly, which has a positive electrode / separator / negative electrode structure. Representative examples include a jelly roll electrode assembly in which long sheet-shaped positive and negative electrodes are wound with a separator interposed therebetween, a stacked electrode assembly in which a plurality of positive and negative electrodes cut into predetermined sizes are stacked in order with a separator interposed therebetween, and a stack / folding electrode assembly in which a bi-cell or full-cell in which predetermined units of positive and negative electrodes are stacked with a separator interposed therebetween is wound.

[0005] In recent years, secondary battery cells with a structure in which a stacked or stacked / folding type electrode assembly is housed in a pouch-type battery case made of an aluminum laminate sheet have been attracting much attention due to their low manufacturing cost, light weight, and easy shape modification, and their usage is gradually increasing.

[0006] Meanwhile, a pick and place (p&p) device may be involved in the manufacturing process of such a secondary battery cell, and the pick and place device can adsorb and move objects such as electrode plates and secondary battery cells. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Korean Patent Publication No. 10-2021-0045182 (Published April 26, 2021) Summary of the Invention [Problem to be solved by the invention]

[0008] An object of the present invention is to provide a support plate that is lightweight while maintaining structural rigidity, and a pick-and-place device including the support plate. [Means for solving the problem]

[0009] A support plate according to an embodiment of the present invention may include a plate body, a center connector located at a center of the plate body and connected to the manipulator at an upper side, a plurality of side connectors formed on both sides of the plate body in a width direction and connected to the suction pads at a lower side, and recesses formed in the plate body at a distance from the center connector and the side connectors, the recesses being recessed to a predetermined depth in a thickness direction of the plate body.

[0010] The recessed groove may be located between the side connecting portions in the length direction of the plate body.

[0011] The recessed groove may be formed in a plurality of positions, and the side connecting portions and the recessed grooves may be alternately positioned in a length direction of the plate body.

[0012] The recessed groove may include a first recessed groove formed on one surface of the plate body; and a second recessed groove formed on the other surface of the plate body and facing the first recessed groove in a thickness direction of the support plate.

[0013] The first and second recesses may have the same depth.

[0014] The thickness between the first recessed groove and the second recessed groove may be 50% or less of the thickness of the plate body.

[0015] The support plate may further include a pair of openings formed on opposite sides of the center connecting portion in the length direction of the plate body, and the pair of openings may be positioned inward of the side connecting portion and the recessed groove in the width direction of the plate body.

[0016] The pair of openings may be larger than the recessed groove.

[0017] A plurality of reinforcing ribs may be provided inside the pair of openings, dividing the pair of openings into a plurality of holes and intersecting each other.

[0018] The plurality of reinforcing ribs may include first ribs extending side by side in the length direction of the plate body; and second ribs extending side by side in the width direction of the plate body and having a width wider than that of the first ribs.

[0019] The corners of the inner peripheries of the holes may be rounded to have a predetermined radius of curvature.

[0020] The plate body may be made of a non-metallic plastic material.

[0021] The plate body may be made of unilate or polycarbonate material.

[0022] The outer circumferential corners of the plate body may be rounded to have a predetermined radius of curvature.

[0023] A support plate according to an embodiment of the present invention may include: a plate body; a center connection portion located in a central portion of the plate body and connected to the manipulator at an upper side; a plurality of side connection portions formed on both sides in a width direction of the plate body and connected to the suction pad at a lower side; and cutout portions formed on the plate body to be spaced apart from the center connection portion and the side connection portions and recessed inward from the outer periphery of the plate body.

[0024] The cutout portion may be recessed in the length direction of the plate body toward a space between the side connecting portions.

[0025] A pick-and-place device according to an embodiment of the present invention may suction and move an object. The pick-and-place device may include a manipulator including a suction pad that vacuum-sucks the object from above, a support plate coupled to an upper side of the suction pad, and a plurality of links and a platform connected to the plurality of links and fastened to the upper side of the support plate. The support plate may include a recessed groove recessed to a predetermined depth in a plate body to which the platform and the suction pad are connected, or a cutout portion recessed inward from an outer periphery of the plate body. [Effects of the Invention]

[0026] According to a preferred embodiment of the present invention, the support plate includes a recess, which reduces the weight of the support plate, thereby reducing the load acting on the connecting arm of the manipulator and preventing the connecting arm from breaking or deforming.

[0027] In addition, since the support plate includes not only recesses but also openings, the weight of the support plate is further reduced, and by arranging the connection portions to which the manipulator and vacuum pad are connected, the openings, and the recesses in a balanced manner, it is possible to prevent a decrease in the structural rigidity of the support plate.

[0028] Furthermore, since a plurality of reinforcing ribs that intersect with each other are provided inside the opening, the structural rigidity of the support plate can be maintained at a high level.

[0029] Furthermore, the support plate is made of a non-metallic plastic material that has a lower density than metal, which further reduces the weight of the support plate.

[0030] In addition to these, the present invention also includes other effects that can be easily predicted by those skilled in the art from the configurations of the preferred embodiments of the present invention. [Brief explanation of the drawings]

[0031] [Figure 1] FIG. 1 is a side view of a pick and place device according to one embodiment of the present invention. [Figure 2] FIG. 1 is an exploded perspective view of a pick and place device according to an embodiment of the present invention. [Figure 3] FIG. 2 is a perspective view of a support plate according to one embodiment of the present invention. [Figure 4] FIG. 2 is a plan view of a support plate according to one embodiment of the present invention. [Figure 5] FIG. 5 is a cross-sectional view taken along line AA' in FIG. [Figure 6] FIG. 10 is a perspective view of a support plate according to another embodiment of the present invention. [Figure 7] FIG. 10 is a plan view of a support plate according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0032] The present invention will be described in detail below with reference to the accompanying drawings, so that those skilled in the art can easily understand the preferred embodiments of the present invention. However, the present invention can be realized in various different forms and is not limited to the following embodiments.

[0033] In order to clearly explain the present invention, detailed descriptions of parts that are not relevant to the explanation or related known technologies that may unnecessarily obscure the gist of the present invention will be omitted, and when adding reference symbols to components in each drawing in this specification, the same or similar reference symbols will be used for the same or similar components throughout the specification.

[0034] Furthermore, the terms and words used in this specification and claims should not be interpreted in a limited way to their ordinary or dictionary meanings, but should be interpreted in a way that is consistent with the technical idea of ​​the present invention, based on the principle that an inventor can appropriately define the concept of a term in order to explain his or her invention in the best possible way.

[0035] FIG. 1 is a side view of a pick and place device according to one embodiment of the present invention, FIG. 2 is an exploded perspective view of a pick and place device according to one embodiment of the present invention, FIG. 3 is a perspective view of a support plate according to one embodiment of the present invention, FIG. 4 is a plan view of a support plate according to one embodiment of the present invention, and FIG. 5 is a cross-sectional view taken along line A-A' in FIG. 4.

[0036] A pick-and-place device according to an embodiment of the present invention may be a device included in a secondary battery manufacturing system or may be a device for transferring manufactured secondary batteries. The pick-and-place device can adsorb and move an object P. For example, the object P may be an electrode plate, an electrode cell, or a pouch-type secondary battery.

[0037] More specifically, the pick-and-place device may include a suction pad 30 that adsorbs the object P from above, a support plate 20 on which the suction pad 30 is suspended, and a manipulator 10 that moves the support plate 20.

[0038] The following description will be given taking as an example a case where the manipulator 10 is a parallel robot, although the configuration of the manipulator 10 is not limited to this.

[0039] The manipulator 10 may include a body 11 , a plurality of links 13 coupled to the body 11 , and a platform 16 coupled to the plurality of links 13 .

[0040] The main body 11 may be provided with a plurality of actuators 12. Each actuator 12 may be a motor having a horizontal rotation axis. The plurality of actuators 12 may be arranged along the circumferential direction of the main body 11.

[0041] Each link 13 may be coupled to an actuator 12. More specifically, the link 13 may include a drive arm 14 coupled to the actuator 12 and a linkage arm 15 rotatably coupled to the drive arm 14.

[0042] The drive arm 14 may be provided to extend horizontally or in a direction inclined downwardly from the main body 11. A plurality of drive arms 14 arranged along the circumference of the main body 11 may extend in different directions.

[0043] Each drive arm 14 may be connected to a pair of connecting arms 15 arranged side by side.

[0044] The connecting arm 15 may have an upper end connected to the drive arm 14 and a lower end connected to a platform 16, which will be described later. Preferably, the connecting arm 15 may have an upper end hinged to the drive arm 14 and a lower end hinged to the platform 16.

[0045] The lower ends of the multiple connecting arms 15 may be connected in parallel around the platform 16. The multiple connecting arms 15 connected to different drive arms 14 may extend in directions that approach each other as they go downward.

[0046] The platform 16 may be connected to a plurality of links 13, more specifically, a plurality of connecting arms 15, and may be moved vertically and horizontally by driving a plurality of actuators 12.

[0047] The platform 16 may be spaced downward from the main body 11 or may be disposed horizontally. The platform 16 may be formed to be smaller in size than the main body 11.

[0048] The platform 16 may be fastened to the upper side of a support plate 20, which will be described later. That is, the platform 16 may be configured to fasten the support plate 20 to the manipulator 10.

[0049] The support plate 20 supports the suction pad 30 (described later) and the object P sucked thereto. That is, the load of the support plate 20, the suction pad 30, and the object P generates a load on the link 13 of the manipulator 10, particularly on the connecting arm 15. The greater the load, the more the acceleration / deceleration of the actuator 12 decreases, causing deformation or breakage of the connecting arm 15. Therefore, it is necessary to reduce the load as much as possible. The detailed configuration of the support plate 20 for this purpose will be described later.

[0050] The suction pad 30 may be suspended from the support plate 20, and may vacuum-suck the object P from above.

[0051] More specifically, the suction pad 30 may include a pad 31 and a vacuum nozzle 32 provided on the pad 31. The suction pad 30 may further include a spacer 33.

[0052] The pad 31 may be disposed horizontally or may be in contact with the upper surface of the object P. Furthermore, in order to stably lift the object P, a plurality of pads 31 may be provided spaced apart from each other in the length direction of the support plate 20, and each pad 31 may be formed long in the width direction of the support plate 20. For example, four pads 31 may be suspended and supported on the support plate 20.

[0053] In this case, the gaps between the pads 31 may be covered with a cover 40. The cover 40 may be made of a plastic material such as polycarbonate. This prevents airflow generated by a vacuum nozzle 32 (described later) from flowing between the pads 31.

[0054] However, the present invention is not limited to this, and the pad 31 may be formed integrally with a large area.

[0055] The vacuum nozzles 32 may protrude upward from the pads 31. A pair of vacuum nozzles 32 may be provided, spaced apart in the longitudinal direction of each pad 31, i.e., in the width direction of the support plate 20. Each vacuum nozzle 32 may have a hollow space that is open to the bottom surface of the pad 31. Each vacuum nozzle 32 may be connected to a high-pressure pipe (not shown) through which air flows and which communicates with the hollow space.

[0056] Therefore, when air is sucked in by a pump (not shown) connected to the high-pressure pipe, an adsorption force is generated from the vacuum nozzle 32, and the object P is maintained in close contact with the bottom surface of the pad 31.

[0057] On the other hand, when air is blown out by a pump connected to the high-pressure pipe, the air is blown out from the vacuum nozzle 32 to form an air flow, and the object P is quickly separated from the bottom surface of the pad 31. In this case, the cover 40 can prevent the air flow from flowing between the multiple pads 31.

[0058] The spacers 33 may maintain a predetermined amount of play between the pad 31 and the vacuum nozzle 32 and the support plate 20. The spacers 33 may be disposed above the vacuum nozzle 32 or may protrude above the vacuum nozzle 32. The spacers 33 may also be fastened to the support plate 20, more specifically to the side connectors 23 described below.

[0059] However, the suction pad 30 may not include the spacer 33. In this case, the vacuum nozzle 32 may be fastened to the support plate 20, more specifically, to the side connector 23 described below.

[0060] Meanwhile, the support plate 20 according to this embodiment may include a plate body 21, a center connecting portion 22, a side connecting portion 23, and a recessed groove 24. The support plate 20 may further include an opening 25.

[0061] The plate body 21 may be disposed horizontally. The plate body 21 may be a rectangular plate having a pair of long sides aligned in the lengthwise direction and a pair of short sides aligned in the widthwise direction. However, the shape of the plate body 21 is not limited to this.

[0062] Corners 21a on the outer periphery of plate body 21 may be rounded to have a predetermined radius of curvature. Corners 21a may connect the long and short sides of plate body 21. By rounding corners 21a, stress and load can be prevented from concentrating around corners 21a.

[0063] The plate body 21 may be made of a non-metallic material, more specifically, a plastic material. Preferably, the support plate 20 may be made of a unilate or polycarbonate material. This reduces the weight of the plate body 21 compared to when it is made of a metal material, thereby reducing the load acting on the connecting arm 15.

[0064] The platform 16 of the manipulator 10 may be connected to the center connecting portion 22. The center connecting portion 22 may be located in the center of the plate body 21. More specifically, the center connecting portion 22 may be located in the center of the plate body 21 in the width direction and length direction.

[0065] For example, the center connector 22 may include a plurality of fastening hole groups formed in a ring shape in the central region of the plate body 21 and a through-hole positioned inside the ring shape. However, the configuration of the center connector 22 is not limited thereto.

[0066] The suction pads 30 may be connected to the side connecting portions 23. The side connecting portions 23 may be located on both widthwise sides of the plate body 21. Furthermore, a plurality of side connecting portions 23 may be provided, formed at predetermined intervals along the length of the plate body 21.

[0067] Each side connection portion 23 may be made up of a plurality of fastening hole groups formed in a ring shape, but the configuration of the side connection portion 23 is not limited to this.

[0068] The recessed grooves 24 may be formed by recessing to a predetermined depth in the thickness direction of the plate body 21. Therefore, the recessed grooves 24 reduce the weight of the support plate 20 and the load acting on the connecting arm 15. Furthermore, compared to when through holes of the same shape are formed at the same positions, it is possible to prevent the structural rigidity of the support plate 20 from becoming too low.

[0069] The recessed grooves 24 may be formed in the plate body 21 so as to be spaced apart from the center connecting portion 22 and the side connecting portion 23. More specifically, the recessed grooves 24 may be located on both widthwise sides of the plate body 21. A plurality of recessed grooves 24 may be provided, formed at predetermined intervals along the length of the plate body 21.

[0070] Each recessed groove 24 may be located between multiple side connecting portions 23 in the length direction of the plate body 21. That is, the multiple side connecting portions 23 and the multiple recessed grooves 24 may be located alternately with each other in the length direction of the plate body 21.

[0071] The inner periphery of each recessed groove 24 may include a recess formed inward to correspond to the ring shape of each side connecting portion 23. This makes it possible to ensure that the area of ​​the recessed groove 24 is as large as possible while preventing interference with the side connecting portion 23.

[0072] The recessed grooves 24 may include a first recessed groove 24a and a second recessed groove 24b that are opposed to each other and recessed toward each other on both sides of the plate body 21. The first recessed groove 24a may be formed by recessing downward from one surface of the plate body 21, i.e., the top surface, and the second recessed groove 24b may be formed by recessing upward from the other surface of the plate body 21, i.e., the bottom surface.

[0073] The thickness t2 between the first recessed groove 24a and the second recessed groove 24b may be 50% or less of the thickness t1 of the plate body 21. Therefore, the weight of the support plate 20 is effectively reduced.

[0074] The first recessed grooves 24a and the second recessed grooves 24b may have the same depth, so that the first recessed grooves 24a and the second recessed grooves 24b can be easily formed without dividing both surfaces of the plate body 21.

[0075] Meanwhile, the openings 25 may be formed so as to penetrate the plate body 21. More specifically, a pair of openings 25 may be provided, formed on opposite sides of the center connecting portion 22. The pair of openings 25 may have symmetrical shapes. Furthermore, each opening 25 may be formed larger than the recessed groove 24.

[0076] The openings 25 further reduce the weight of the support plate 20, further reducing the load acting on the connecting arm 15.

[0077] The openings 25 may be located inside the side connecting portions 23 and the recessed grooves 24 in the width direction of the plate body 21. Therefore, the structural rigidity of the support plate 20 is maintained at a high level compared to when the openings 25 are formed on both sides in the width direction, i.e., at the positions of the recessed portions (recessed grooves 24).

[0078] Furthermore, a plurality of reinforcing ribs (first rib 27, second rib 28) may be provided inside each opening 25 to reinforce the structural rigidity of the support plate 20. The plurality of reinforcing ribs 27, 28 may intersect with each other to divide the opening 25 into a plurality of holes 26. For example, each opening 25 may be divided into four holes 26.

[0079] The corners 26a on the inner periphery of the holes 26 may be rounded to have a predetermined radius of curvature, thereby preventing stress and load from concentrating around the corners 26a.

[0080] More specifically, the reinforcing ribs 27, 28 may include a first rib 27 extending side by side in the length direction of the plate body 21 and a second rib 28 extending side by side in the width direction of the plate body 21. In other words, the first rib 27 and the second rib 28 may intersect each other perpendicularly.

[0081] The width of the second rib 28 may be wider than the width of the first rib 27. Therefore, the second rib 28 can effectively withstand the bending moment generated in the width direction of the plate body 21 due to the load of the suction pad 30 fastened to the side fastening portion (side connecting portion 23).

[0082] FIG. 6 is a perspective view of a support plate according to another embodiment of the present invention, and FIG. 7 is a plan view of the support plate according to another embodiment of the present invention.

[0083] The support plate 20' according to this embodiment may include a cutout portion 29 instead of the recessed groove 24, and is otherwise similar to the above-described embodiment. Therefore, the following description will omit overlapping details and focus on the differences.

[0084] The cutout portion 29 may be recessed inward from the outer periphery of the plate body 21. Cutout section 29 This reduces the weight of the support plate 20 and reduces the load acting on the connecting arm 15.

[0085] The cutout portions 29 may be formed in the plate body 21 so as to be spaced apart from the center connecting portion 22 and the side connecting portions 23. More specifically, the cutout portions 29 may be formed by recessing both widthwise edge portions of the plate body 21 inward.

[0086] More specifically, the cutout portions 29 may be recessed between the side connecting portions 23 in the longitudinal direction of the plate body 21. In addition, the second rib 28 is located between the pair of cutout portions 29, and can compensate for the loss of rigidity caused by the cutout portions 29.

[0087] The inner periphery of the cutout portion 29 may be formed in a rounded shape, which can prevent stress and load from concentrating around the cutout portion 29.

[0088] The above description merely exemplifies the technical concept of the present invention, and various modifications and variations may be made by a person having ordinary knowledge in the technical field to which the present invention pertains without departing from the essential characteristics of the present invention.

[0089] Therefore, the embodiments disclosed in the present invention are for illustrative purposes only and are not intended to limit the technical idea of ​​the present invention, and the scope of the technical idea of ​​the present invention is not limited by such embodiments.

[0090] The scope of protection of the present invention should be interpreted by the appended claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention. [Explanation of symbols]

[0091] 10 Manipulator 11 Main unit 12 Actuators 13 Links 14 Drive arm 15 Connecting arm 16 Platform 20 Support Plate 21 Plate body 22 Center connection 23 Side connection 24 Depression 25 Aperture 26 holes 27 First Rib 28 Second Rib 30 suction pads 31 Pad 32 Vacuum nozzle 33 Spacer

Claims

1. A support plate on which a suction pad for adsorbing an object is suspended and supported and which is moved by a manipulator, a plate body consisting of a single structure; a center connection portion located at the center of the plate body and connected to the manipulator on the upper side; a plurality of side connecting portions formed on both sides in the width direction of the plate body, to which the suction pads are connected at their lower sides; and a recess formed in the plate body at a distance from the center connecting portion and the side connecting portion, the recess having a predetermined depth in a thickness direction of the plate body; and an opening formed through the plate body and spaced apart from the recessed groove; The recessed groove is a first recess formed on one surface of the plate body; and a support plate including a second recess formed on another surface of the plate body and facing the first recess in a thickness direction of the support plate;

2. The support plate according to claim 1 , wherein the recessed grooves are located between the side connecting portions in the length direction of the plate body.

3. The recessed grooves are formed in plurality, The support plate according to claim 1 , wherein the side connecting portions and the recessed grooves are alternately positioned in the longitudinal direction of the plate body.

4. The support plate of claim 1 , wherein the first recessed groove and the second recessed groove have the same depth.

5. The support plate according to claim 1 , wherein the thickness between the first recessed groove and the second recessed groove is 50% or less of the thickness of the plate body.

6. the openings are a pair of openings formed on opposite sides of the center connecting portion in the longitudinal direction of the plate body, The support plate according to claim 1 , wherein the pair of openings are located inward of the side connecting portions and the recessed grooves in the width direction of the plate body.

7. The support plate according to claim 6 , wherein the pair of openings are larger than the recessed grooves.

8. The support plate according to claim 6 , wherein a plurality of reinforcing ribs are provided inside the pair of openings, dividing the pair of openings into a plurality of holes and intersecting each other.

9. The plurality of reinforcing ribs are a first rib extending in a longitudinal direction of the plate body; and The support plate according to claim 8 , further comprising a second rib extending in parallel with the width of the plate body and having a width greater than that of the first rib.

10. The support plate according to claim 8 , wherein corners of the inner peripheries of the plurality of holes are rounded to have a predetermined radius of curvature.

11. The support plate of claim 1 , wherein the plate body is made of a non-metallic plastic material.

12. The support plate of claim 1 , wherein the plate body is made of a unilate or polycarbonate material.

13. The support plate according to claim 1 , wherein corners of the outer periphery of the plate body are rounded to have a predetermined radius of curvature.

14. The support plate of claim 1 , further comprising a cutout portion formed in the plate body to be spaced apart from the center connecting portion and the side connecting portion, the cutout portion being recessed inward from an outer periphery of the plate body.

15. The support plate according to claim 14 , wherein the cutout portion is recessed in the length direction of the plate body toward between the plurality of side connecting portions.

16. In a pick and place device that picks up and moves an object, The pick and place device the suction pad that vacuum-sucks the object from above; The support plate according to claim 1 , which is bonded to the upper side of the suction pad; and A pick and place device comprising the manipulator including a plurality of links and a platform to which the plurality of links are connected and fastened on an upper side of the support plate.

Images