Grip device

Abstract

The present invention relates to a grip device. The grip device according to an aspect of the present invention is a grip device capable of gripping or placing a cylindrical secondary battery and comprises: a gripper including a pad and a frame supporting the pad; and an actuator for moving the gripper in one direction, wherein the pad may include: a pad portion including a grip surface that may be in surface contact with the outer circumferential portion of the cylindrical secondary battery; and a coupling portion provided on one side of the pad portion and coupled to the frame in a form-fitting manner.

Description

grip device

[0001] Cross-citation with related applications

[0002] This application claims the benefit of priority based on Korean Patent Application No. 10-2024-0188530 filed on December 17, 2024, and all contents disclosed in the document of said Korean Patent Application are incorporated herein as part of this specification.

[0003] Technology field

[0004] The present invention relates to a gripping device, and more specifically, to a gripping device for picking up or placing a cylindrical secondary battery.

[0005] While secondary batteries have traditionally been applied to small-scale applications such as mobile devices and laptop computers, research directions have recently expanded to medium and large-scale fields. They are widely used in areas requiring high voltage and large capacity, such as Energy Storage Systems (ESS) and Electric Vehicles (EVs). A secondary battery can consist of an electrode assembly in which a positive electrode, a separator (or all-solid-state), and a negative electrode are sequentially stacked, and a case that houses this assembly. Depending on the type or structure of the case, secondary batteries can be classified into cylindrical, pouch-type, or prismatic secondary batteries. Among these, the case of a cylindrical secondary battery is formed as a can-shaped structure.

[0006] Such cylindrical secondary batteries can be picked up or placed in a specific position by a gripping device during the manufacturing or transport process. Conventional gripping devices consist of a pair of frames that move apart or closer together, configured to pick up or release secondary batteries placed between them. However, such gripping devices can only reliably pick up or release secondary batteries of a preset size; to pick up secondary batteries of other sizes, the entire existing frame must be replaced with a frame of a different size or shape, which is inconvenient. Furthermore, conventional gripping devices have the problem of being unable to reliably pick up secondary batteries because the frames are prone to bending or deformation during repetitive operations. To resolve this deformation issue, replacing the frame material with a high-rigidity metal resulted in another problem, such as damage to the secondary battery, including scratches, during the gripping process. Accordingly, there is an urgent need for the development of a gripping device capable of reliably picking up or releasing cylindrical secondary batteries of various sizes without damage.

[0007] The present invention has been devised to solve the above-mentioned problems, and the objective of the present invention is to provide a gripping device capable of stably picking up or placing secondary batteries of various sizes without damage.

[0008] The problems of the present invention are not limited to those mentioned above, and other unmentioned problems will be clearly understood by a person skilled in the art to which the present invention pertains from the description below.

[0009] According to one aspect of the present invention, a gripping device capable of picking up or placing a cylindrical secondary battery is provided, comprising: a gripper including a pad and a frame supporting the pad; and an actuator for moving the gripper in one direction, wherein the pad includes a pad portion having a gripping surface capable of contacting the outer periphery of the cylindrical secondary battery; and a coupling portion provided on one side of the pad portion and coupled to the frame in a shape-matched manner.

[0010] At this time, the grippers are configured as a pair, and the pair of grippers can be arranged to face each other in a direction parallel to the one direction.

[0011] At this time, the frame may be made of a material with higher rigidity than the pad.

[0012] At this time, the material of the frame may include metal, and the material of the pad may include plastic.

[0013] At this time, the frame is extended in a direction perpendicular to the one direction, the pad is positioned adjacent to the end of the frame, and the grip surface of the pad portion can face the one direction.

[0014] At this time, the gripper further includes a coupling member, the coupling portion is provided with a coupling hole, the frame is provided with a corresponding coupling hole connected to the coupling hole, and the coupling member can be coupled to the coupling hole and the corresponding coupling hole.

[0015] At this time, the above coupling hole and the above corresponding coupling hole may be composed of a plurality of them.

[0016] At this time, the frame is extended in a direction perpendicular to the one direction, and the plurality of coupling holes and corresponding coupling holes may be arranged in a direction parallel to the first direction.

[0017] At this time, the coupling portion protrudes outward from the pad portion, and the frame may include a frame portion having a coupling space into which the coupling portion is inserted.

[0018] At this time, so that the joint part and the frame part can be joined by shape matching, the joint space may have a shape corresponding to the joint part.

[0019] At this time, the coupling space is open in the one direction, and the coupling portion may protrude from the pad portion in a direction opposite to the one direction.

[0020] At this time, the frame portion extends in a direction perpendicular to the one direction, and with respect to the length direction of the frame portion, one side of the coupling space is open, and the other side opposite to the one side may be blocked by the inner wall of the frame portion.

[0021] At this time, the frame may include a side cover portion that wraps around the side portion of the pad portion.

[0022] At this time, the side cover portions are composed of a pair, and the pair of side cover portions can be arranged side by side with the coupling space in between.

[0023] At this time, the side cover portion can be combined with the side portion in a shape-matched manner.

[0024] At this time, the pad portion includes a back surface facing the grip surface; and a side surface provided between the grip surface and the back surface, and the side cover portion may include a back cover portion covering at least a portion of the back surface; and a side cover portion extending from the back cover portion and covering at least a portion of the side surface.

[0025] At this time, based on the above length direction, the side cover portion may have a length that is longer than or equal to the pad portion.

[0026] At this time, the above-mentioned coupling part may be provided on the above-mentioned back surface.

[0027] According to one aspect of the present invention, since the pad is provided with a connecting part that can be combined with the frame in a shape-matched manner, the pad and the frame, made of different materials, can be stably combined through a simple structure.

[0028] As a result, since the frame can be made of a material with higher rigidity than the pad that directly contacts the secondary battery, secondary batteries of various sizes or shapes can be stably gripped or placed. In particular, since the existing pad can be easily replaced with a pad of a different shape or size, it is possible to respond more actively to changes in the size or external shape of the secondary battery.

[0029] In addition, bending or deformation of the frame part can be minimized during the repetitive gripping process, allowing the secondary battery to be gripped stably while minimizing damage to the secondary battery caused by the pad.

[0030] The effects of the present invention are not limited to the effects described above, and unmentioned effects will be clearly understood by those skilled in the art from this specification and the attached drawings.

[0031] FIG. 1 is a schematic diagram illustrating the process of a gripping device according to one embodiment of the present invention picking up or placing a cylindrical secondary battery.

[0032] FIG. 2 is a perspective view taken from above showing the gripper of a gripping device according to one embodiment of the present invention facing the side of a cylindrical secondary battery.

[0033] FIG. 3 is an exploded perspective view of a gripper of a gripping device according to one embodiment of the present invention.

[0034] Figure 4 is a cross-sectional view according to II of Figure 2.

[0035] Figure 5 is a front view of the frame of the gripper shown in Figure 2.

[0036] Preferred embodiments of the present invention are described in detail so that those skilled in the knowledge can easily implement them. However, the present invention may be embodied in various different forms and is not limited or restricted by the following embodiments.

[0037] In order to clearly explain the present invention, detailed descriptions of related prior art that are irrelevant to the explanation or that may unnecessarily obscure the essence of the invention have been omitted. Furthermore, when assigning reference numerals to the components of each drawing in this specification, identical or similar reference numerals are assigned to identical or similar components throughout the entire specification.

[0038] In addition, terms or words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0039] FIG. 1 is a schematic diagram illustrating the process of a gripping device according to an embodiment of the present invention picking up or placing a cylindrical secondary battery. FIG. 2 is an upper perspective view of the gripper of the gripping device according to an embodiment of the present invention facing the side of the cylindrical secondary battery. FIG. 3 is an exploded perspective view of the gripper of the gripping device according to an embodiment of the present invention. FIG. 4 is a cross-sectional view according to II of FIG. 2. FIG. 5 is a front view of the frame of the gripper shown in FIG. 2.

[0040] FIGS. 1 to 5 disclose a gripping device according to an embodiment of the present invention. Referring to FIG. 1, the gripping device (1) according to an embodiment of the present invention may be a device for stably gripping or placing cylindrical secondary batteries (B) of various sizes or shapes without damage.

[0041] In this embodiment, the gripping device (1) may include an actuator (10). The actuator (10) may be configured to provide a driving force for operating the gripper (20) described later. A gripping force for picking up the secondary battery (B) may be generated by the actuator (10).

[0042] In this embodiment, the actuator (10) may be composed of a hydraulic cylinder, an electric motor, etc., but the structure or type of the actuator (10) is not particularly limited as long as it can provide a driving force and a gripping force to operate the gripper (20).

[0043] Referring to FIGS. 1 and 2, a gripping device (1) according to one embodiment of the present invention may include a gripper (20). The gripper (20) may be configured to directly pick up or place a secondary battery (B). The gripper (20) may be operatively connected to an actuator (10).

[0044] In this embodiment, the gripper (20) may be configured as a pair. The pair of grippers (20) may be arranged along the front-rear direction (X-axis direction). The gripper (20) may be configured to move in the front-rear direction (X-axis direction) by means of an actuator (10).

[0045] As illustrated, a secondary battery (B) can be positioned between a pair of grippers (20). As the pair of grippers (20) move in a direction toward each other, the gripping device (1) can pick up the secondary battery (B). As the pair of grippers (20) move in a direction toward each other, the gripping device (1) can place the secondary battery (B).

[0046] Hereinafter, the gripper (20) of the gripping device (1) according to one embodiment of the present invention will be described in more detail. The description will be based on the gripper (20) located relatively at the rear (negative direction of the X-axis) among a pair of grippers (20).

[0047] Referring to FIGS. 2 to 5, a gripper (20) of a grip device according to one embodiment of the present invention may include a frame (30). The frame (30) may be configured to support a pad (40) described later. A gripping force generated from an actuator may be transmitted to the pad (40) through the frame (30).

[0048] In this embodiment, the frame (30) may be made of a material that is more rigid than the pad (40). For example, the frame (30) may be made of a metal such as stainless steel, but is not limited thereto.

[0049] As a result, even if the grip device (1) repeatedly picks up or releases the secondary battery (B), deformation such as bending caused by the gripping force on the frame (30) can be minimized. That is, the grip device (1) can stably pick up or release the secondary battery (B).

[0050] In this embodiment, the frame (30) may include a frame portion (32). The frame portion (32) may be extended in an up-and-down direction (Z-axis direction). The upper part of the frame portion (32) may be operatively connected to an actuator. A coupling space (S) may be provided at the lower part of the frame portion (32). The coupling space (S) may be configured such that the coupling portion (44) of the pad (40), which will be described later, is coupled in a shape-matching manner. To this end, the coupling space (S) may have a shape corresponding to the coupling portion (44).

[0051] Here, the statement that the coupling space (S) and the coupling part (44) have corresponding shapes may mean that the coupling space (S) and the coupling part (44) have the same shape overall so that the coupling part (44) can fit snugly into the coupling space (S) and be seated. Of course, considering tolerances or ease of coupling, the coupling space (S) may have a size slightly larger than the coupling part (44).

[0052] More specifically, the coupling space (S) may be provided as a concavely recessed space in the lower part of the frame portion (32). The coupling space (S) may be defined by the bottom surface (32a), the catch surface (32b), and the guide surface (32c) of the frame portion (32). The bottom surface (32a), the catch surface (32b), and the guide surface (32c) may be collectively referred to as the inner surface (or inner wall) of the coupling space (S).

[0053] In this embodiment, the bottom surface (32a) may be a surface covering the rear portion (negative direction of the X-axis) of the coupling space (S). The bottom surface (32a) may be a surface facing forward (positive direction of the X-axis). The bottom surface (32a) may be a flat plane in the left-right and up-down directions (Y-axis and Z-axis directions).

[0054] The bottom surface (32a) can come into contact with the rear of the joint (44). The joint space (S) can be opened forward (in the positive direction of the X-axis). As a result, the joint (44) can enter through the front of the joint space (S).

[0055] In this embodiment, the locking surface (32b) may be a surface covering the upper part (positive direction of the Z-axis) of the coupling space (S). The locking surface (32b) may be a surface facing the lower side (negative direction of the Z-axis). The locking surface (32b) may be a flat plane in the front-back and left-right directions (X-axis and Y-axis directions).

[0056] The catch surface (32b) can come into contact with the upper part of the coupling part (44). The coupling space (S) can be opened downward (in the negative direction of the Z-axis). As a result, the coupling part (44) can enter through the lower part of the coupling space (S).

[0057] In this embodiment, the catch surface (32b) can function as a reference surface for the shape-matching connection between the connecting part (44) and the connecting space (S). For example, when the frame (30) and the pad (40) are connected, the connecting part (44) moves upward (in the positive direction of the Z-axis) in the connecting space (S), and the relative positions of the frame (30) and the pad (40) can be determined.

[0058] At this time, the position where the connecting part (44) and the locking surface (32b) come into contact with each other can be set to the relative rated position of the frame (30) and the pad (40). As a result, the assembly and connection of the frame (30) and the pad (40) can be improved.

[0059] Meanwhile, in this embodiment, the guide surface (32c) may be composed of a pair. The pair of guide surfaces (32c) may be surfaces that cover the left (negative direction of the Y-axis) and right (positive direction of the Y-axis) portions of the coupling space (S), respectively.

[0060] The guide surface (32c) may be extended in the vertical direction (Z-axis direction). The guide surface (32c) may be a flat plane in the front-back and vertical directions (X-axis and Z-axis directions). A pair of guide surfaces (32c) may face each other in the left-right direction (Y-axis direction). The guide surface (32c) may face and come into contact with the side of the coupling part (44).

[0061] At this time, the guide surface (32c) may perform the function of guiding the movement of the coupling part (44) when the frame (30) and the pad (40) are combined. More specifically, when the coupling part (44) that has entered the coupling space (S) moves toward the rated position, the side of the coupling part (44) can be guided in the up-and-down direction (Z-axis direction) by sliding along the guide surface (32c). Through this, the assembly and coupling properties of the pad (40) and the frame (30) can be improved.

[0062] Meanwhile, in this embodiment, the inner wall of the coupling space (S) is described as being composed of a plurality of planes. However, if necessary, the inner wall of the coupling space (S) may have a partially curved or stepped shape.

[0063] Referring again to FIGS. 3 to 5, in this embodiment, the frame portion (32) may be provided with a corresponding coupling hole (33). The corresponding coupling hole (33) may be a hole to which a coupling member (50), described later, is coupled.

[0064] In this embodiment, the corresponding coupling hole (33) may be formed through the frame portion (32) in the front-rear direction (X-axis direction). One opening of the corresponding coupling hole (33) may be located on the bottom surface (32a). In this embodiment, the corresponding coupling hole (33) may be composed of a plurality of holes. The plurality of corresponding coupling holes (33) may be arranged in the up-down direction (Z-axis direction).

[0065] However, if the connecting member (50) is connected through the frame (30) and the pad (40) can be fixed relatively, the position or number of corresponding connecting holes (33) is not particularly limited. For example, the corresponding connecting holes (33) may be formed through the frame part (32) in the left-right direction (Y-axis direction) and configured so that one opening is located on the guide surface (32c).

[0066] Meanwhile, in this embodiment, the coupling space (S) is described as being covered by the upper side (positive direction of the Z-axis), left side (negative direction of the Y-axis), right side (positive direction of the Y-axis), and rear side (negative direction of the X-axis) respectively by the catch surface (32b), guide surface (32c), and bottom surface (32a), and is open at the front (positive direction of the X-axis) and lower side (negative direction of the Z-axis). However, the direction (or part) in which the coupling space (S) is open is not particularly limited as long as the coupling part (44) of the pad (40) can be fitted into the shape.

[0067] Referring to FIGS. 2 to 5, the frame (30) of a grip device (1) according to one embodiment of the present invention may include a side cover portion (34). The side cover portion (34) may be configured to cover the side portion of the pad portion (42) described later. The side cover portion (34) may be configured as a pair. The pair of side cover portions (34) may each cover both side portions of the pad portion (42). The two side portions of the pad portion (42) may be joined between the pair of side cover portions (34) in a shape-matched manner.

[0068] In this embodiment, the side cover portion (34) may include a back cover portion (36). The back cover portion (36) may extend from the lower part of the frame portion (32) in a left-right direction (Y-axis direction). The back cover portion (36) may be a portion that covers the back (42b) of the pad portion (42). At this time, the back (42b) of the pad portion (42) may be a surface facing the rear (negative direction of the X-axis).

[0069] In this embodiment, the back cover portion (36) may be extended in the vertical direction (Z-axis direction). The back cover portion (36) may have a vertical length greater than or equal to that of the pad portion (42). This configuration may be intended so that the back cover portion (36) completely covers the back surface (42b) of the pad portion (42). At this time, the back cover portions (36) of a pair of side cover portions (34) may be symmetrically configured with a coupling space (S) in between.

[0070] A side cover portion (34) of a grip device according to one embodiment of the present invention may include a side cover portion (38). The side cover portion (38) may extend forward (in the positive direction of the X-axis) from the back cover portion (36). The side cover portion (38) may be configured to cover a side surface (42c) of a pad portion (42). In this case, the side surface (42c) of the pad portion (42) may be a side facing in the left-right direction (in the Y-axis direction).

[0071] In this embodiment, the side cover portion (38) may be extended in the vertical direction (Z-axis direction). The vertical length of the side cover portion (38) may be longer than or equal to that of the pad portion (42). This configuration may be intended so that the side cover portion (38) completely covers the side surface (42c) of the pad portion (42).

[0072] At this time, the side cover portions (38) of the pair of side cover portions (34) can be symmetrically configured with a connecting space (S) in between. The pair of side cover portions (38) can cover the left side surface (42c) (negative direction of the Y-axis) and the right side surface (42c) (positive direction of the Y-axis), respectively. In other words, the pad portion (42) can be placed between the pair of side cover portions (38).

[0073] Meanwhile, in this embodiment, a pair of side cover portions (34) are described as being symmetrically configured around the coupling space (S). However, the pair of side cover portions (34) may have different structures or sizes depending on the shape of the pad portion (42), etc.

[0074] Referring to FIGS. 2 to 4, the gripper (20) of the grip device (1) according to one embodiment of the present invention may include a pad (40). The pad (40) may be configured to come into direct contact with the secondary battery (B).

[0075] In this embodiment, the pad (40) may be made of a material with lower rigidity than the frame (30). For example, the material of the pad (40) may be a plastic such as polyetheretherketone (PEEK). Of course, the material of the pad (40) is not particularly limited. For example, the material of the pad (40) may include rubber, etc.

[0076] As such, in this embodiment, the pad (40) of the gripper (20) is made of a material with relatively low rigidity, and the frame (30) can be made of another material with relatively high rigidity, so that deformation of the frame (30) due to repetitive operation can be prevented, and damage such as scratches applied to the outer surface of the secondary battery (B) can be minimized.

[0077] Furthermore, as the pad (40) comes into contact with the secondary battery (B) and applies a gripping force, a part of the pad (40) is deformed, allowing it to come into contact with the secondary battery (B) over a wider area. Through this, the gripper (20) of the grip device (1) can stably pick up or place secondary batteries (B) of various structures or shapes.

[0078] In this embodiment, the pad (40) may include a pad portion (42). The pad portion (42) may have a pad shape having a predetermined thickness in the front-rear direction (X-axis direction). The pad portion (42) may be positioned between a pair of side cover portions (34).

[0079] In this embodiment, the pad portion (42) may include a grip surface (42a) and a back surface (42b). The grip surface (42a) may be a surface facing forward (positive direction of the X-axis). The grip surface (42a) may come into contact with the outer surface of the secondary battery (B).

[0080] In this embodiment, the grip surface (42a) may be formed concavely in the rearward direction (negative direction of the X-axis). The grip surface (42a) may be formed as a concave curved surface, or it may be composed of several interconnected planes as illustrated. This configuration may be intended to allow the grip surface (42a) to contact the outer periphery of the secondary battery (B) with as large an area as possible.

[0081] In this embodiment, the back surface (42b) may be a surface facing the rear (negative direction of the X-axis). The back surface (42b) may be covered by the frame portion (32) and the back cover portion (36) of the frame (30). The back surface (42b) may be a flat plane in the up-down and left-right directions (Y-axis and Z-axis directions). If necessary, at least a portion of the back surface (42b) may be curved or stepped.

[0082] In this embodiment, the pad portion (42) may include a side surface (42c). The side surface (42c) may be a surface formed in the thickness direction (X-axis direction) of the pad portion (42) between the back surface (42b) and the grip surface (42a).

[0083] At this time, the side surfaces (42c) may be configured as a pair. A pair of side surfaces (42c) may be provided on the left side (negative direction of the Y-axis) and the right side (positive direction of the Y-axis), respectively, of the pad portion (42). A pair of side surfaces (42c) may face the left side (negative direction of the Y-axis) and the right side (positive direction of the Y-axis).

[0084] In this embodiment, a pair of side surfaces (42c) can each be covered by a pair of side cover portions (38). As such, in this embodiment, since the left and right side portions of the pad portion (42) are wrapped by the side cover portions (34), the pad portion (42) can be protected from external impact or contamination, and the phenomenon of the pad portion (42) vibrating or shaking from side to side can also be prevented.

[0085] Meanwhile, the pad (40) of the grip device (1) according to one embodiment of the present invention may include a coupling portion (44). The coupling portion (44) may be configured to be coupled to the frame (30) in a shape-matched manner. As a result, since the pad (40) can be easily separated from the frame (30) and replaced, the grip device (1) can respond more actively to changes in the size or external shape of the secondary battery (B) during the process.

[0086] In this embodiment, the coupling portion (44) may be provided on the back surface (42b) of the pad portion (42). The coupling portion (44) may protrude rearward (in the negative direction of the X-axis) from the pad portion (42). The coupling portion (44) may have a square block shape corresponding to the coupling space (S). As a result, the coupling portion (44) can be inserted into the coupling space (S) with a snug fit.

[0087] At this time, in this embodiment, the coupling part (44) may be provided with a coupling hole (45). The coupling hole (45) may be arranged coaxially with the corresponding coupling hole (33) of the aforementioned frame (30). The coupling hole (45) may be composed of a plurality of holes corresponding to the number of corresponding coupling holes (33). Furthermore, the plurality of coupling holes (45) may be arranged parallel to the plurality of corresponding coupling holes (33).

[0088] A gripper (20) of a grip device (1) according to one embodiment of the present invention may include a coupling member (50). The coupling member (50) may be coupled through a coupling hole (45) arranged in parallel and a corresponding coupling hole (33). The coupling member (50) may assist in coupling the pad (40) and the frame (30).

[0089] At this time, the connecting member (50) may be configured to be detachably connected to the connecting hole (45) and the corresponding connecting hole (33). Here, the fact that the two components are detachably connected may mean that a worker can connect or disconnect the two components using bare hands or a simple tool.

[0090] For example, the connecting member (50) may be made of screws, bolts and nuts, etc. This may be to allow the pad (40) to be easily separated from or connected to the frame (30). However, the type or structure of the connecting member (50) is not particularly limited as long as it can connect the pad (40) and the frame (30).

[0091] As previously explained, in the grip device (1) according to one embodiment of the present invention, the pad (40) and the frame (30) supporting it may be made of materials having different rigidities, so that secondary batteries (B) of various sizes or shapes can be gripped or placed stably without damage.

[0092] Furthermore, in the grip device (1) according to one embodiment of the present invention, the pad (40) and the frame (30) are combined in a shape-matched manner, so the pad (40) can be easily replaced in response to changes in the shape or structure of the secondary battery (B). Through this, the grip device (1) can pick up or place secondary batteries (B) of a wider variety of sizes or shapes.

[0093] Meanwhile, in this embodiment, the shape-matching connection between the pad (40) and the frame (30) is described as being formed by a connection portion (44) protruding from the pad portion (42) and a connection space (S) concavely provided in the frame portion (32). However, a space concavely recessed and structurally similar to the connection space (S) of the frame (30) may be formed in the pad (40), and a connection portion structurally similar to the connection portion (44) may be provided in the frame (30).

[0094] Additionally, in this embodiment, among the pair of grippers (20), the gripper (20) located relatively forward (in the positive direction of the X-axis) may be configured symmetrically with respect to the gripper (20) described above in the forward-backward direction (in the X-axis direction). Of course, the pair of grippers (20) may have different structures or sizes as needed.

[0095] Although the present invention has been described above by limited embodiments and drawings, the present invention is not limited thereto, and various implementations are possible within the scope of the technical spirit of the present invention and the equivalent scope of the claims described below by those skilled in the art to which the present invention belongs.

[0096] [Explanation of the symbol]

[0097] 1: Grip device 10: Actuator

[0098] 20: Gripper 30: Frame

[0099] 32: Frame section 34: Side cover section

[0100] 36: Rear cover section 38: Side cover section

[0101] 40: Pad 42: Pad section

[0102] 44: Joint part 50: Joint member

[0103] B: Cylindrical secondary battery

Claims

1. A gripping device capable of picking up or placing a cylindrical secondary battery, A gripper comprising a pad and a frame supporting the pad; and It includes an actuator for moving the above gripper in one direction, and The above pad is, A pad portion including a grip surface capable of contacting the outer periphery of a cylindrical secondary battery; and A grip device comprising a coupling portion provided on one side of the pad portion and coupled to the frame in a shape-matched manner.

2. In Paragraph 1, The above gripper is composed of a pair, and A gripping device comprising a pair of grippers arranged to face each other in a direction parallel to the one direction.

3. In Paragraph 1, The above frame is a grip device made of a material with higher rigidity than the pad.

4. In Paragraph 3, The material of the above frame includes metal, The material of the above pad is a grip device comprising plastic.

5. In Paragraph 1, The above frame extends in a direction perpendicular to the above one direction, and The above pad is positioned adjacent to the end of the frame, and The grip surface of the above pad portion is a grip device facing the above one direction.

6. In Paragraph 1, The above gripper is, It further includes a connecting member, The above-mentioned coupling part is provided with a coupling hole, and The above frame is provided with a corresponding coupling hole connected to the coupling hole, and The above coupling member is a grip device coupled to a coupling hole and a corresponding coupling hole.

7. In Paragraph 6, A grip device comprising a plurality of the above coupling holes and the above corresponding coupling holes.

8. In Paragraph 7, The above frame extends in a direction perpendicular to the above one direction, and The above plurality of coupling holes and corresponding coupling holes are a grip device arranged along the vertical direction.

9. In Paragraph 1, The above-mentioned connecting portion protrudes outward from the pad portion, and The above frame is, A grip device comprising a frame portion having a coupling space into which the above-mentioned coupling portion is inserted.

10. In Paragraph 9, A grip device having a joint space having a shape corresponding to the joint portion so that the joint portion and the frame portion can be joined by shape matching.

11. In Paragraph 9, The above coupling space is open in the above one direction, and The above-mentioned coupling portion is a grip device protruding from the pad portion in a direction opposite to the one direction.

12. In Paragraph 11, The above frame portion extends in a direction perpendicular to the above one direction, and A grip device having, based on the longitudinal direction of the frame portion, one side of the coupling space is open, and the other side opposite to the one side is blocked by the inner wall of the frame portion.

13. In Paragraph 9, The above frame is, A grip device comprising a side cover portion that wraps around the side portion of the pad portion.

14. In Paragraph 13, The above-mentioned side cover portion is composed of a pair, and The above pair of side cover portions are a grip device arranged side by side with the above coupling space in between.

15. In Paragraph 13, The above-described side cover portion is a grip device that is coupled to the above-described side portion in a shape-matched manner.

16. In Paragraph 15, The above pad portion is, A rear surface facing the above-mentioned grip surface; and It includes a side surface provided between the above grip surface and the above back surface, The above side cover portion is, A back cover portion covering at least a portion of the back surface; and A grip device comprising a side cover portion extending from the above-mentioned rear cover portion and covering at least a portion of the above-mentioned side surface.

17. In Paragraph 16, A grip device having a length greater than or equal to that of the pad portion based on the above length direction.

18. In Paragraph 16, The above coupling part is a grip device provided on the back surface.

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