KR102370748B1 - Loading device for electrode plate for secondary battery and alignment loading method - Google Patents

Abstract

The present invention relates to an electrode plate loading device for a secondary battery, comprising: an electrode plate pick-up part which picks up an electrode plate stacked and supplied to a magazine unit individually; a vision inspection part configured to install a plurality of cameras above the electrode plate of the electrode plate pick-up part to read an alignment state of the electrode plate; a loading drive part loading the electrode plate onto a stack table by moving the electrode plate pick-up part to the stack table; and a control device calculating a position correction value and transmitting the same to the loading drive part when the alignment of the electrode plate adsorbed to a vacuum pad is distorted as a result of reading from the vision inspection part so that the electrode plate is loaded with the corrected position value. The present invention is to produce high-quality stacked cell products by minimizing the error range which may occur in the lamination process of the cathode and anode films.

Description

Electrode plate loading device for secondary battery and electrode plate alignment loading method

The present invention relates to an electrode plate loading device for a secondary battery and an electrode plate alignment loading method, and more particularly, by providing a vision inspection unit capable of reading the alignment state of an electrode plate in the electrode plate loading device for a secondary battery. It relates to an electrode plate loading device for a secondary battery and an electrode plate alignment loading method capable of producing high-quality stack cell products by minimizing the error range that may occur in the lamination process of an anode film and an anode film.

In general, a chemical cell is a battery composed of a pair of electrodes and an electrolyte of a positive and negative plate, and the amount of energy that can be stored varies depending on the materials constituting the electrode and the electrolyte. These chemical batteries are divided into primary batteries used only for one-time discharge and secondary batteries that can be reused through repeated charging and discharging.

Secondary batteries are being applied to various technical fields throughout the industry due to the above-described repetitive charging and discharging. For example, secondary batteries are widely used as an energy source for high-tech electronic devices such as wireless mobile devices, as well as hybrid electricity, which is being proposed as a way to solve the air pollution of existing gasoline and diesel internal combustion engines that use fossil fuels. It is also attracting attention as an energy source for automobiles and the like.

As anyone can know, secondary batteries are formed in a form in which a positive plate, a separator, and a negative plate are sequentially stacked and dipped in an electrolyte solution.

That is, in the case of a small secondary battery, a method of arranging a negative plate and a positive plate on a separator and winding them to produce a jelly-roll type is widely used. A method of manufacturing a negative electrode plate, a positive electrode plate and a separator by stacking them in an appropriate order is widely used.

In addition, there are various methods of manufacturing the internal cell stack of the secondary battery in a stacked manner, but among them, in the Z-stacking method, a separator is folded in a zigzag manner, and a negative plate is formed between the separators. and positive electrode plates are stacked alternately inserted.

A secondary battery internal cell stack formed in such a Z-stacking form is disclosed in Korean Patent Publication No. 10-0313119 and Korean Patent Publication No. 10-1140447, and the like.

On the other hand, the internal cell stack of a secondary battery in the form of Z-stacking is a process in which a negative plate and a positive plate inserted into the magazine unit in a stacked form are adsorbed one by one and aligned on each align table. Then, each of the rearranged negative and positive plates is alternately inserted between separators folded in a zigzag form by a stack table.

However, there is a problem in that the negative and positive plates (hereinafter referred to as "electrode plates") inserted into the magazine unit in a stacked form are closely adhered to each other due to static electricity caused by friction and chemicals used in the manufacturing process. When adsorbing the preceding electrode plate, there was a problem in that the trailing electrode plate rises along the preceding electrode plate and is loaded on the alignment table.

Republic of Korea Patent Registration No. 10-2120799

An object of the present invention, devised to solve the problems of the prior art, is to provide a vision inspection unit that can read the alignment state of the electrode plate in the electrode plate loading device for secondary batteries, so that in the lamination process of the positive electrode film and the negative electrode film An object of the present invention is to provide an electrode plate loading device for a secondary battery and an electrode plate alignment loading method capable of producing high-quality stack cell products by minimizing the error range that may occur.

Another object of the present invention is to cover the contamination of the lower electrode plate by foreign substances by installing the vision inspection unit to be positioned on the upper part of the electrode plate.

Another object of the present invention is to accurately read the degree of distortion of the picked-up electrode plate through the vision inspection unit, and to calculate a correction value according to the reading result and perform automatic position control through the loading driver.

According to one aspect of the present invention, there may be provided an electrode plate loading device for a secondary battery in which a plurality of cameras are installed on the electrode plate of the electrode plate pickup unit to read the alignment state of the electrode plate and correct the position.

According to another aspect of the present invention, an electrode plate pickup unit for picking up the electrode plates stacked and supplied to the magazine unit in sheets;

a vision inspection unit configured to read the alignment state of the electrode plate by installing a plurality of cameras on the electrode plate of the electrode plate pickup unit;

a loading driver for loading the electrode plate onto the stack table by moving the electrode plate pickup unit to a position of the stack table; and

Secondary battery electrode including; a control device that calculates a position correction value when the alignment of the electrode plate adsorbed to the vacuum pad is misaligned as a result of the reading by the vision inspection unit and transmits it to the loading driver to load the electrode plate with the corrected position value A plate loading device may be provided.

At this time, the electrode plate pickup unit, an installation bracket to provide a space for installing parts therein;

a suction unit mounted on the installation bracket to vacuum-adsorb the electrode plate;

a lifting actuator that lifts and lowers the suction unit in a vertical direction;

an inductive proximity sensor mounted on the installation bracket and configured to check whether two or more electrode plates adsorbed to the vacuum pad are simultaneously adsorbed by static electricity or the like; and

and a vision inspection unit mounted on the installation bracket to inspect the alignment state of the electrode plate adsorbed to the vacuum pad.

In addition, the suction unit, a plurality of vacuum pads in direct contact with the surface of the electrode plate;

a suction plate formed of a plate to which the vacuum pads are fixedly coupled; and

and a fitting part installed on the upper portion of the suction plate to connect the vacuum pad and the suction hose.

Then, the vacuum pads are dispersedly installed on the four sides of the suction plate in a crisscross shape.

Then, the vision inspection unit installs three measuring cameras on the upper plate, and installs a light to illuminate the upper part of the electrode plate on either side of the left plate or the right plate.

In addition, the vision inspection unit forms a virtual reference line L1 connecting the focus P1 of the first camera and the focus P2 of the second camera in which the first camera and the second camera are positioned on a straight line, and is orthogonal to the reference line L1 A virtual reference line L2 is formed, the focus P3 of the third camera is positioned on the reference line L2, and the intersection point P4 where the reference line L1 and the reference line L2 intersect is formed as a reference point to read the relative position of the electrode plate, A position correction value is calculated so that the edge P5 of the electrode plate coincides with the intersection point P4 and the reference lines L1 and L2 and the sides of the electrode plate coincide.

And, the loading driving unit, a driving body formed on the upper end of the support;

a first horizontal joint segment coupled to enable rotational movement in the horizontal direction of the driving body;

It includes; a second horizontal joint segment coupled to enable rotational movement in the horizontal direction of the first horizontal joint segment.

According to another aspect of the present invention, the first step of preparing the loaded magazine unit of the electrode plate for a secondary battery;

Step 2 of positioning the electrode plate pickup unit on the top of the magazine unit;

Step 3 of lowering the suction part of the electrode plate pickup part so that the vacuum pad is in contact with the electrode plate surface;

A fourth step of forming a vacuum pressure on the vacuum pad so that the electrode plate is adsorbed to the vacuum pad;

inductive proximity sensor; Step 5 of detecting whether the electrode plate is bipolar by oscillating;

Step 6 of elevating the suction plate so that the electrode plate is closely supported on the lower plate;

Step 7 of operating the vision inspection unit to read the alignment state of the adsorbed electrode plate;

8 step of calculating a position correction value when the alignment of the electrode plate is misaligned as a result of the vision inspection unit reading; and

An electrode plate alignment loading method for a secondary battery can be provided, including a 9 step of notifying the calculated position correction value to the control device and driving the loading driver to load the electrode plate to the calculated correction value position.

Then, the on/off operation of the vacuum pad proceeds to separate the double sheet and the separated electrode falls to the magazine unit.

And, when the vision inspection unit operates, the electrode plate is illuminated with light from the top.

And, the step of calculating the position correction value for the misaligned electrode plate,

forming a virtual reference line L1 connecting a focus P1 of the first camera and a focus P2 of the second camera so that the first camera and the second camera are positioned on a straight line;

forming an imaginary reference line L2 orthogonal to the reference line L1, wherein a focus P3 of a third camera is positioned on the reference line L2;

calculating a coordinate correction value such that the corner P5 of the electrode plate coincides with the intersection point P4 at which the reference line L1 and the reference line L2 intersect as a reference point;

calculating an angle correction value by obtaining a displacement angle at the side of the electrode plate with respect to the reference lines L1 and L2;

tilting the entire electrode plate pickup unit by the loading driver according to the calculated coordinate correction value and angle correction value; and

It further includes; transferring the electrode plate pickup unit to the position of the stack table so that the electrode plate is finally loaded.

The present invention provides a high-quality stack cell product by minimizing the error range that may occur in the lamination process of the positive electrode film and the negative electrode film by providing a vision inspection unit that can read the alignment state of the electrode plate in the electrode plate loading device for secondary batteries has the effect of producing

In addition, the present invention has the effect of covering the contamination of the electrode plate located on the lower portion by installing the vision inspection unit to be located on the upper portion of the electrode plate.

In addition, the present invention can accurately read the degree of distortion of the electrode plate picked up through the vision inspection unit, and has the effect of improving productivity by calculating a correction value according to the reading result and performing automatic position control through the loading driving unit. .

1 is an overall perspective view showing an electrode plate loading device for a secondary battery according to the present invention.
2 is a perspective view showing a structure of an electrode plate pickup unit according to the present invention.
Figure 3 is a front view showing an example of picking up the electrode plate from the magazine using the electrode plate pickup unit according to the present invention.
4 is a bottom perspective view showing the structure of the electrode plate pickup unit according to the present invention.
5 is a conceptual diagram illustrating a vacuum pad arrangement structure of a suction plate according to the present invention.
6 to 8 is an alignment process diagram of the electrode plate according to the present invention.

Specific structural or functional descriptions of the embodiments according to the concept of the present invention disclosed herein are only exemplified for the purpose of explaining the embodiments according to the concept of the present invention, and the embodiment according to the concept of the present invention These may be embodied in various forms and are not limited to the embodiments described herein.

Since the embodiments according to the concept of the present invention may have various changes and may have various forms, the embodiments will be illustrated in the drawings and described in detail herein. However, this is not intended to limit the embodiments according to the concept of the present invention to specific disclosed forms, and includes changes, equivalents, or substitutes included in the spirit and scope of the present invention.

Terms such as first or second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from other components, for example, without departing from the scope of rights according to the concept of the present invention, a first component may be named a second component, Similarly, the second component may also be referred to as the first component.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Expressions describing the relationship between elements, for example, “between” and “between” or “directly adjacent to”, etc. should be interpreted similarly.

The terminology used herein is used only to describe specific embodiments, and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as "comprise" or "have" are intended to designate that the described feature, number, step, operation, component, part, or combination thereof exists, and includes one or more other features or numbers, It should be understood that the possibility of the presence or addition of steps, operations, components, parts or combinations thereof is not precluded in advance.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present specification. does not

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or limited by these embodiments. Like reference numerals in each figure indicate like elements.

As described above, although the embodiments have been described with reference to the limited drawings, various modifications and variations are possible by those skilled in the art from the above description. For example, the described techniques are performed in an order different from the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

1 is an overall perspective view showing an electrode plate loading device for a secondary battery according to the present invention, the electrode plate loading device 100 for a secondary battery of the present invention as shown in the same figure is stacked and supplied to the magazine unit 1 An electrode plate pickup unit 110 that picks up the electrode plate 2 to be a single sheet, and a plurality of cameras are installed on the electrode plate 2 of the electrode plate pickup unit 110 to align the electrode plate 2 a vision inspection unit 120 configured to read As a result of the reading of the vision inspection unit 120, when the alignment of the electrode plate 2 adsorbed to the vacuum pad 112a is misaligned, a position correction value is calculated and transmitted to the loading driver 130 to convert the corrected position value to the electrode plate ( 2) the control device 140 to be loaded; may be configured to include.

First, with reference to FIG. 2 , the magazine unit 1 will be described.

The magazine unit 1 is positioned under the electrode plate pickup unit 110 to supply the loaded electrode plates 2 to the electrode plate pickup unit 110 .

The magazine unit (1) forms a tray body (1a) with an open upper portion capable of loading a large amount of electrode plates (2) cut to a uniform size.

Dozens to hundreds of electrode plates 2 can be loaded on the tray body 1a, and an observation window 1b is opened by cutting the side of the tray body 1a to observe whether the electrode plates 2 are exhausted. can be formed

In addition, the tray body (1a) may be provided with a measuring sensor that can check whether the electrode plate (2) is exhausted.

The measurement sensor may cause an alarm to sound through a buzzer when the electrode plate 2 is all exhausted, or a lamp or an alarm display to be displayed on the control unit screen.

At this time, the tray body may be moved by installing a separate transfer rail or by installing a caster.

Hereinafter, the configuration of the electrode plate pickup unit 110 will be described with reference to the accompanying drawings.

2 is a perspective view illustrating an electrode plate pickup unit according to the present invention, FIG. 3 is a front view illustrating an example of picking up an electrode using the electrode plate pickup unit according to the present invention, and FIG. 4 is an electrode plate pickup unit according to the present invention. It is an illustrated bottom perspective view.

As shown in FIGS. 2 to 4 , the electrode plate pickup unit 110 of the present invention is provided with an installation bracket 111 .

The installation bracket 111 combines the upper plate 111a, the lower plate 111b, the left plate 111c, and the right plate 111d in the vertical, left and right directions, respectively, to provide a space for installing parts therein.

At this time, each of the plates 111a, 111b, 111c, and 111d leaves only a minimal flesh portion, not a closed surface, and removes the remaining portions to form a grid structure with a minimized area.

Through such a grid structure, a structure in which the inside of the installation bracket 111 is opened is provided. It is possible to provide an advantageous structure.

In addition, a suction unit 112 for vacuum adsorbing the electrode plate 2 is mounted on the installation bracket 111 .

The suction unit 112 forms a plurality of vacuum pads 112a in direct contact with the surface of the electrode plate 2 . The vacuum pads (112a) are coupled in place to the lower surface of the suction plate (112b) made of a plate shape.

A fitting portion 112c connecting the vacuum pad 112a and the suction hose is formed on the suction plate 112b.

5 is a conceptual diagram illustrating the arrangement structure of a suction plate of a vacuum pad according to the present invention. As shown in FIG. 5, the vacuum pads 112a are distributed and installed at predetermined positions of the suction plate 112b, preferably may be dispersedly installed in a crisscross shape on four sides of the suction plate 112b. In this case, the vacuum pad 112a may be provided in the form of individual suction nozzles, or may be provided in the form of a plate-shaped pad in which a plurality of suction nozzles are connected.

In addition, the suction plate 112b may be formed of two plates spaced apart from the upper and lower portions. In this case, the vacuum pad 112a may be installed using the space between the two plate materials.

In this case, a line filter 112d connected to a suction hose may be further provided on the upper side of the installation bracket 111 . The line filter 112d is installed to remove foreign substances such as dust contained in the air sucked into the suction hose.

In addition, the suction plate 112b is vertically lifted and lowered by the lift actuator 113 .

The lifting actuator 113 may be a solenoid valve or a hydraulic cylinder.

In the lifting actuator 113, the actuator body 113a is coupled to the upper surface plate 111a of the installation bracket 111, and the rod part 113b that operates retractably is the suction plate 112b of the suction part 112. combined with the side

The lifting actuator 113 lowers the suction plate 112b toward the electrode plate 2 so that the electrode plate 2 is adsorbed to the vacuum pad 112a. The electrode plate 2 is in surface contact with the lower plate 111b by elevating the 112b.

In this way, the loading operation is performed in a state in which the electrode plate 2 is in surface contact with the lower plate 111b. As the electrode plate 2 is brought into close contact with the lower plate 111b, the supporting force is improved, so that in the loading operation process It is possible to prevent the misalignment of the alignment (alignment) state of the electrode plate 2 due to vibration.

An inductive proximity sensor 114 is installed on the installation bracket 111 .

The inductive proximity sensor 114 is for checking whether two or more electrode plates 2 adsorbed to the vacuum pad 112a are simultaneously adsorbed by static electricity, etc. It can be installed in a vertical direction by using the joint member 114a on the left side plate 111c to the right side plate 111d of the installation bracket 111 .

In addition, the installation bracket 111 is provided with a vision inspection unit 120 for inspecting the alignment state of the electrode plate 2 adsorbed to the vacuum pad 112a.

The vision inspection unit 120 installs three measurement cameras on the upper plate 111a, and illuminates the upper portion of the electrode plate 2 on either side of the left plate 111c or the right plate 111d. Illumination 124 has a configuration to install

6 to 8 is an alignment process diagram of the electrode plate according to the present invention.

6 to 8 , in the vision inspection unit 120 , the first camera 121 and the second camera 122 are positioned on a straight line, and the focus P1 of the first camera 121 and the second camera (122) to form a virtual reference line L1 connecting the focal point P2, to form a virtual reference line L2 orthogonal to the reference line L1, and to form a focal point P3 of the third camera 123 on the reference line L2, The relative position of the electrode plate 2 is read by forming the intersection P4 where the reference line L1 and the reference line L2 intersect as a reference point, the edge P5 of the electrode plate 2 coincides with the intersection P4, and the reference lines L1 and L2 and the electrode plate ( 2) Calculate the position correction value to make the sides coincide.

The calculated position correction value is sent to the control device 140 to drive the loading driver 130 so that the position of the electrode plate 2 is corrected.

A loading driving unit 130 for loading the electrode plate 2 onto the stack table 3 by moving the electrode plate pickup unit 110 to a position of the stack table 3 is disclosed.

6 is a non-correction alignment process, wherein the alignment state of the picked-up electrode plate 2 is in a fixed position without being distorted.

Accordingly, the control device 140 loads the electrode plate 2 onto the stack table 3 without performing an alignment correction operation.

7 is an X and Y-axis misalignment correction alignment process, in which the alignment state of the picked up electrode plate 2 is biased in the X-axis direction and moved over, and the corner point P5 of the electrode plate 2 is the vision inspection unit 120 . It is a state located to the right of the intersection of P4.

Accordingly, the control device 140 drives the loading driver 130 to correct the position value so that the corner point P5 of the electrode plate 2 moves to the position of the intersection point P4 . At this time, the edge point P5 of the electrode plate 2 is moved to the position of P5' (left horizontal direction), and the intersection point P4 is moved to the position of P4' (left horizontal direction).

Thereafter, the electrode plate 2 on which the position value correction has been performed is transferred and loaded onto the stack table 3 by the loading driver 130 .

8 is an angular misalignment correction alignment process, in which the alignment state of the picked-up electrode plate 2 is the coordinates of the corner point P5 and the angle is all misaligned, and the corner point P5 of the electrode plate 2 is the vision inspection unit 120 It is a state located in the upper diagonal direction to the left of the intersection of P4.

Accordingly, the control device 140 drives the loading driver 130 to correct the position value so that the corner point P5 of the electrode plate 2 moves to the position of the intersection point P4 . At this time, the edge point P5 of the electrode plate 2 is moved to the position of P5' (lower right diagonal direction), and the intersection point P4 is moved to the position of P4' (the lower right diagonal direction).

Thereafter, the control device 140 drives the loading driver 130 to correct the angle value so that the sides of the electrode plate 2 coincide with the virtual lines L1 and L2.

Thereafter, the electrode plate 2 on which the position and angle values have been corrected is transferred and loaded onto the stack table 3 by the loading driver 130 .

Hereinafter, the loading driving unit 130 will be described with reference to FIG. 1 .

The loading driving unit 130 forms a driving body 132 on the upper end of the support 131 .

A first horizontal joint segment 133 and a second horizontal joint segment 134 are respectively coupled to the driving body 132 for rotational movement.

And, the electrode plate pickup unit 110 is coupled to the second horizontal joint segment 134 , and is linked with the lifting actuator 113 to make an axial linear motion.

The driving body 132 may be provided with a motor for supplying rotational power and a control device 140 for controlling the coordinates of the loading driving unit 130 .

The control device 140 calculates a position correction value when the alignment of the electrode plate 2 adsorbed to the vacuum pad 112a is misaligned as a result of the reading of the vision inspection unit 120, and transmits the corrected value to the loading driver 130. The electrode plate 2 is loaded with the position value.

Hereinafter, an electrode plate alignment loading method for a secondary battery of the present invention will be described.

First, as shown in FIG. 3 , the magazine unit 1 on which the electrode plate 2 for a secondary battery is loaded is prepared.

Thereafter, the electrode plate pickup unit 110 is positioned above the magazine unit 1 .

Thereafter, the suction part 112 of the electrode plate pickup part 110 is lowered so that the vacuum pad 112a comes into contact with the surface of the electrode plate 2 .

Thereafter, a vacuum pressure is applied to the vacuum pad 112a so that the electrode plate 2 is adsorbed to the vacuum pad 112a.

Thereafter, the inductive proximity sensor 114 is oscillated to detect whether the electrode plate 2 is bipolar.

If it is confirmed in the inductive proximity sensor sensing result that the double-sheet state is confirmed, the on/off operation of the vacuum pad 112a is repeated to generate vibration to separate the overlapping electrode plates 2 so that they fall into the magazine unit 1 .

Thereafter, the suction plate 112b is lifted so that the electrode plate 2 is closely supported by the lower plate 111b.

Thereafter, the vision inspection unit 120 is operated to read the alignment state of the adsorbed electrode plate 2 .

At this time, as a result of the reading of the vision inspection unit 120 , when the alignment of the electrode plate 2 is misaligned, the position correction value is calculated and notified to the control device 140 so that the electrode plate 2 is loaded to the calculated correction value position. The loading driving unit 130 is driven.

At this time, when the vision inspection unit 120 operates, the electrode plate 2 is illuminated with a light 124 from the top so that a clear reading is made.

Hereinafter, a method of calculating a position correction value for the misaligned electrode plate will be described.

When explaining the method of calculating the position correction value for the misaligned electrode plate (2),

The first camera 121 and the second camera 122 are positioned on a straight line, and a virtual reference line L1 connecting the focus P1 of the first camera 121 and the focus P2 of the second camera 122 is formed. .

Then, an imaginary reference line L2 orthogonal to the reference line L1 is formed, and the focus P3 of the third camera 123 is positioned on the reference line L2.

Then, a coordinate correction value is calculated so that the edge P5 of the electrode plate 2 coincides with the intersection point P4 where the reference line L1 and the reference line L2 intersect as a reference point.

Then, a displacement angle at the side of the electrode plate 2 with respect to the reference lines L1 and L2 is obtained, and an angle correction value is calculated.

Then, the loading driving unit 130 tilts the entire electrode plate pickup unit 110 according to the calculated coordinate correction value and angle correction value.

Then, the electrode plate pickup unit 110 is transferred to the position of the stack table 3 so that the electrode plate 2 is finally loaded.

As described above, the present invention is provided with a vision inspection unit capable of reading the alignment state of the electrode plate in the electrode plate loading device for a secondary battery, thereby minimizing the error range that may occur in the lamination process of the positive electrode film and the negative electrode film. of stack cell products.

In addition, the present invention can cover the contamination of the lower electrode plate by foreign substances by installing the vision inspection unit to be located on the upper part of the electrode plate, and accurately read the degree of distortion of the electrode plate picked up through the vision inspection unit, , by calculating a correction value according to the reading result and performing automatic position control through the loading driver, productivity can be improved.

100: electrode plate loading device for secondary battery 110: electrode plate pickup unit
111: installation bracket 111a: top plate
111b: lower plate 111c: seat plate
111d: right side plate
112: suction unit 112a: vacuum pad
112b: suction plate 112c: fitting part
112d: line filter
113: lifting actuator 113a: actuator body
113b: rod part
114: inductive proximity sensor
114a: joint member
120: vision inspection unit 121: first camera
122: second camera 123: third camera
124: lighting
130: loading driving unit 131: support
132: drive body 133: first horizontal joint segment
134: second horizontal joint segment
140: control device
1: Magazine unit 1a: Tray body
1b: observation window
2: electrode plate 3: stack table
L1: imaginary baseline L2: imaginary baseline
P1: focus of the first camera P2: focus of the second camera
P3: 3rd camera focus P4: intersection of imaginary lines L1 and L2
P5: edge of electrode plate

Claims (12)

delete an electrode plate pickup unit that picks up the electrode plates stacked and supplied to the magazine unit in sheets;
a vision inspection unit configured to read the alignment state of the electrode plate by installing a plurality of cameras on the electrode plate of the electrode plate pickup unit;
a loading driver for loading the electrode plate onto the stack table by moving the electrode plate pickup unit to a position of the stack table; and
A control device that calculates a position correction value and transmits it to the loading driver so that the electrode plate is loaded with the corrected position value when the alignment of the electrode plate adsorbed to the vacuum pad is misaligned as a result of the vision inspection unit reading;
The vision inspection unit forms a virtual reference line L1 connecting the first camera and the second camera on a straight line, connecting the focus P1 of the first camera and the focus P2 of the second camera, and is orthogonal to the reference line L1. The reference line L2 is formed, the focus P3 of the third camera is positioned on the reference line L2, and the intersection point P4 where the reference line L1 and the reference line L2 intersect is formed as a reference point to read the relative position of the electrode plate, and the electrode plate An electrode plate loading device for a secondary battery, characterized in that the position correction value is calculated so that the edge P5 of the junction coincides with the intersection point P4 and the reference lines L1 and L2 and the sides of the electrode plate coincide.
3. The method of claim 2,
The electrode plate pickup unit,
an installation bracket to provide a space for installing parts inside;
a suction unit mounted on the installation bracket to vacuum-adsorb the electrode plate;
a lifting actuator that lifts and lowers the suction unit in a vertical direction;
an inductive proximity sensor mounted on the installation bracket and configured to check whether two or more electrode plates adsorbed to the vacuum pad are simultaneously adsorbed by static electricity or the like; and
A secondary battery electrode plate loading device including a; a vision inspection unit mounted on the installation bracket to inspect the alignment state of the electrode plate adsorbed to the vacuum pad.
4. The method of claim 3,
The suction unit may include: a plurality of vacuum pads in direct contact with the surface of the electrode plate;
a suction plate formed of a plate to which the vacuum pads are fixedly coupled; and
A secondary battery electrode plate loading device comprising a; a fitting part installed on the upper portion of the suction plate to connect between the vacuum pad and the suction hose.
5. The method of claim 4,
The electrode plate loading device for secondary batteries, characterized in that the vacuum pads are distributed in a crisscross shape on the four sides of the suction plate.
3. The method of claim 2,
The vision inspection unit installs three measuring cameras on the upper plate, and installs a light to illuminate the upper part of the electrode plate on either side of the left plate or the right plate.
delete 3. The method of claim 2,
The loading driving unit,
a driving body formed on the top of the support;
a first horizontal joint segment coupled to enable rotational movement in the horizontal direction of the driving body;
Secondary battery electrode plate loading device comprising a; a second horizontal joint segment coupled to enable rotational movement in the horizontal direction of the first horizontal joint segment.
Step 1 in which the stacked magazine unit of the electrode plate for the secondary battery is prepared;
Step 2 of positioning the electrode plate pickup unit on the top of the magazine unit;
Step 3 of lowering the suction part of the electrode plate pickup part so that the vacuum pad is in contact with the electrode plate surface;
A fourth step of forming a vacuum pressure on the vacuum pad so that the electrode plate is adsorbed to the vacuum pad;
a fifth step of oscillating an inductive proximity sensor to detect whether the electrode plate is bipolar;
Step 6 of elevating the suction plate so that the electrode plate is closely supported on the lower plate;
Step 7 of operating the vision inspection unit to read the alignment state of the adsorbed electrode plate;
8 step of calculating a position correction value when the alignment of the electrode plate is misaligned as a result of the vision inspection unit reading; and
9 step of notifying the calculated position correction value to the control device and driving the loading driver so that the electrode plate is loaded at the calculated correction value position;
The step of calculating the position correction value for the misaligned electrode plate,
forming a virtual reference line L1 connecting a focus P1 of the first camera and a focus P2 of the second camera so that the first camera and the second camera are positioned on a straight line;
forming an imaginary reference line L2 orthogonal to the reference line L1, wherein a focus P3 of a third camera is positioned on the reference line L2;
calculating a coordinate correction value such that the corner P5 of the electrode plate coincides with the intersection point P4 at which the reference line L1 and the reference line L2 intersect as a reference point;
calculating an angle correction value by obtaining a displacement angle at the side of the electrode plate with respect to the reference lines L1 and L2;
tilting the entire electrode plate pickup unit by the loading driver according to the calculated coordinate correction value and angle correction value; and
The electrode plate alignment loading method for a secondary battery, characterized in that it further comprises; transferring the electrode plate pickup unit to the position of the stack table so that the electrode plate is finally loaded.
10. The method of claim 9,
Electrode plate alignment for secondary batteries, characterized in that when the double-sheet state is confirmed in the sensing result of the inductive proximity sensor, the on/off operation of the vacuum pad is repeated to generate vibration to separate the overlapping electrode plates and drop them into the magazine unit. loading method.
10. The method of claim 9,
When the vision inspection unit operates, the electrode plate alignment loading method for a secondary battery, characterized in that to illuminate the electrode plate with a light from the top.
delete

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