KR20230001679A - Stacking cell pulling apparatus and secondary cell stacking system with the same - Google Patents

Abstract

A stacked cell pooling device and a secondary battery high-speed cell stacking system comprising the same are disclosed. The stacked cell pooling device, according to an embodiment of the present invention, comprises: a pulling device body part disposed adjacent to a cell stacking device having a stacking stage on which cells are stacked through a stacking process of an anode, a separator, and a cathode; a pulling gripping unit which is supported on one side of the pulling device body part in a way that allows both sides to be transferable, and which grips the stacked cells that have completed stacking on the stacking stage; and a separator holding unit arranged independently of the pulling gripping unit, supported on both sides to be transferable on the other side of the pulling device body part, and holding the separator during the pulling operation on the stacked cells. The present invention prevents sagging or shaking and realizes high-speed transport.

Description

Stacked cell pulling apparatus and secondary battery high-speed cell stacking system having the same {Stacking cell pulling apparatus and secondary cell stacking system with the same}

The present invention relates to a stacked cell pulling device and a secondary battery high-speed cell stacking system having the same, and more particularly, to a stacked cell pulling operation that removes stacking cells from a stacking stage. It is possible to implement high-speed transfer by suppressing the occurrence of vibration or shaking, as well as shortening the transfer time, which can contribute to productivity improvement. It relates to a stacked cell pulling device capable of preventing quality deterioration and a high-speed secondary battery cell stacking system having the same.

Secondary cells (also called secondary cells) convert chemical energy into electrical energy to supply power to external circuits, and when discharged, receive external power and convert electrical energy into chemical energy to store electricity. indicates a battery capable of A secondary battery is also commonly referred to as a capacitor.

These secondary batteries may be classified in various ways according to the structure of the electrode assembly. For example, secondary batteries may be classified into a stack type structure, a winding type (jelly roll type) structure, a stack/holding type structure, and the like.

Among various classifications, a stacked structure refers to an electrode assembly, that is, a cell, by sequentially stacking an anode, a separator, and a cathode. At this time, a separator is disposed between the anode and the cathode, and a cell stacking device is used for this stacking process.

On the other hand, cells made in the cell stacking apparatus, that is, stacking cells in a state in which stacking is completed, need to be taken out from the stacking stage. At this time, a stacking cell pulling apparatus may be used.

When the stacked cell is taken out of the stacking stage by the action of the stacked cell pulling device, it is necessary to take the stacked cell out carefully so that the stacked state alignment of the stacked cell is not distorted.

However, the stacked cell pulling device currently in use has a structure in the form of a cantilever that is far from the support point due to space constraints, so deflection may occur during the pulling operation of taking the stacked cells out of the stacking stage, and vibration may occur during high-speed operation. Due to this, high-speed transfer is difficult, and various problems such as an increase in transfer time occur.

In addition, in the case of the prior art, considering that the quality may be adversely affected, such as the alignment of the stacked state of the stacked cells may be distorted due to the shaking phenomenon, technology development to solve this problem This is what is needed.

Korean Intellectual Property Office Application No. 10-2013-0104279

Therefore, the technical problem to be achieved by the present invention is that it is possible to realize high-speed transfer by preventing sagging or shaking during a pulling operation of taking out stacking cells from a stacking stage. Of course, due to this, the transfer time can be shortened, which can contribute to productivity improvement, and can prevent quality deterioration due to misalignment of the stacked state of the stacked cells as before, and a stacked cell pulling device having the same To provide a secondary battery high-speed cell stacking system.

According to one aspect of the present invention, the cell stacking device having a stacking stage in which cells are stacked through a stacking process of an anode, a separator, and a cathode, which is disposed adjacent to the cell stacking device; a pulling gripping unit that is transportably supported on one side of the main body of the pulling device and grips stacked cells stacked on the stacking stage; and a separator holding unit disposed independently of the pulling gripping unit, both sides of which are transportably supported on the other side of the pulling device main body, and hold the separator during a pulling operation on the stacked cell. A stacked cell pulling device characterized in that can be provided.

A pair of robot shafts for supporting both sides of the pulling gripping unit and the membrane holding unit may be spaced apart from each other and provided side by side in the main body of the pulling device.

a plurality of gripping unit synchronous driving units provided on one side of the robot shafts and synchronously driving the pulling gripping unit on the robot shaft; and a plurality of holding unit synchronous driving units respectively provided on the other side of the robot shafts and synchronously driving the separator holding unit on the robot shaft.

The pulling gripping unit and the separator holding unit may be independently transported on the pair of robot shafts to maintain the tension of the separator when the gripping unit synchronous driver and the holding unit synchronous driver act.

The pulling gripping unit may include a plurality of grippers gripping the stacked cells in a tongs manner; a gripper driver driving the gripper; and a gripper supporter mover supporting the gripper and the gripper driving unit and having both side areas movably connected to the pair of robot shafts.

The gripper may include a plurality of gripping blocks between which the stacked cells are gripped; and a plurality of block supporters drivably supporting the gripping blocks.

The separation membrane holding unit may include a holding bar having a vacuum pad holding the separation membrane and a vacuum hole disposed around the vacuum pad; a bar driver driving the holding bar; and a holding bar supporter mover supporting the holding bar and the bar driving unit and having both side areas movably connected to the pair of robot shafts.

According to another aspect of the present invention, a cell stacking device having a stacking stage in which cells are stacked through a stacking process of an anode, a separator, and a cathode; and a stacked cell pulling device disposed adjacent to the cell stacking device and interacting with the cell stacking device to pull stacked cells on the stacking stage, wherein the stacked cell pulling device comprises: a pulling device main body disposed adjacent to the cell stacking device; a pulling gripping unit that is transportably supported on one side of the main body of the pulling device and grips stacked cells stacked on the stacking stage; and a separator holding unit disposed independently of the pulling gripping unit, both sides of which are transportably supported on the other side of the pulling device main body, and hold the separator during a pulling operation on the stacked cell. A secondary battery high-speed cell stacking system characterized in that can be provided.

The stacked cell pulling device may include a plurality of gripping unit synchronous driving units provided on one side of the robot shafts and synchronously driving the pulling gripping units on the robot shafts; and a plurality of holding unit synchronous driving units respectively provided on the other side of the robot shafts and synchronously driving the separator holding unit on the robot shaft.

When the gripping unit synchronous drive unit and the holding unit synchronous drive unit act, the pulling gripping unit and the separation membrane holding unit may be independently transported on the pair of robot shafts to maintain the tension of the separator, A pair of robot shafts for supporting both sides of the pulling gripping unit and the membrane holding unit may be spaced apart from each other and provided side by side in the main body of the device.

The pulling gripping unit may include a plurality of grippers gripping the stacked cells in a tongs manner; a gripper driver driving the gripper; and a gripper supporter mover supporting the gripper and the gripper driving unit and having both side areas movably connected to the pair of robot shafts.

The gripper may include a plurality of gripping blocks between which the stacked cells are gripped; and a plurality of block supporters drivably supporting the gripping blocks.

The separation membrane holding unit may include a holding bar having a vacuum pad holding the separation membrane and a vacuum hole disposed around the vacuum pad; a bar driver driving the holding bar; and a holding bar supporter mover supporting the holding bar and the bar driving unit and having both side areas movably connected to the pair of robot shafts.

It may further include a separator cutting device that is disposed adjacent to the stacked cell pulling device and cuts the separator.

The separator cutting device may include a cutting device main body; A conveying electric rail provided on the main body of the cutting device; and a separator cutting unit including a cutter for cutting the separator, and a cutter holder supporting the cutter and being connected to the transfer rail and transferred along the transfer rail.

A system control device for controlling the operations of the cell stacking device, the stacked cell pulling device, and the separator cutting device through an organic mechanism so that the pulling operation for the stacked cells can be automatically performed may be further included.

The cell stacking device includes a separator supply unit disposed between an anode and a cathode and supplying a separator forming a secondary battery cell while stacking with the anode and the cathode; and a cell stacking unit allowing the cells to be stacked through a stacking process of the anode, the separator, and the cathode.

The cell stacking unit may include a stage tilting driver connected to the stacking stage and tilting and driving the stacking stage; A stage up connected to the stacking stage and the stage tilting driver and selectively driving the stacking stage and the stage tilting driver up/down to prevent reverse movement of the separator during the stacking process. /down drive unit; and a plurality of unit grippers disposed around the stacking stage and gripping one of the anode, the separator, and the cathode stacked on the stacking stage.

The stage tilting driving unit may include a stage rotation shaft connected to the stacking stage and forming a rotation axis of the stacking stage; a tilting motor connected to one end of the stage rotation shaft and generating power for rotation of the stage rotation shaft; and a rotation support module connected to the stage rotation shaft at an opposite side of the tilting motor and rotatably supporting the stage rotation shaft at a corresponding position.

The stage up/down driving unit may include a plurality of fixing posts spaced apart from each other and fixed to corresponding positions; an up/down beam integrally supporting the stacking stage and the stage tilting driving unit and having both sides connected up/down to the plurality of fixing posts; an up/down ball screw connected to the up/down beam; an up/down motor connected to the up/down ball screw and generating power for up/down of the up/down beam via the up/down ball screw; and an up/down LM guide connected to the fixed post and the up/down beam and guiding an up/down operation of the up/down beam with respect to the fixed post.

The cell stacking unit may include: a gripper moving unit connected to the unit grippers and moving the unit grippers to each other; and a stacking up/down driving unit that is connected to the stacking stage and drives the stacking stage stepwise up/down when the anode, the separator, and the cathode are stacked one by one on the stacking stage. can include

The cell stacking device may include: an anode stacking unit movably disposed on one side of the separator supply unit and stacking the anodes on the stacking stage in cooperation with the cell stacking unit; and a cathode stacking unit movably disposed on the other side of the separator supply unit and stacking the cathodes on the stacking stage in cooperation with the cell stacking unit.

The anode stacking unit may include an anode alignment stage for aligning the anodes; an anode transfer hand transferring the anode on the anode align stage to the stacking stage; and an anode vision camera provided on the anode transfer tilting hand and capturing an image of a stacking state of the anode when the anode transfer tilting hand transfers the anode to the stacking stage and stacks the anode, , The positive transfer hand may be a positive transfer tilting hand that tilts and drives a predetermined first tilting axis.

The cathode stacking unit may include a cathode alignment stage in which the cathodes are aligned; a cathode transfer hand transferring the cathode on the cathode align stage to the stacking stage; and a cathode vision camera provided on the cathode transfer tilting hand and capturing an image of a stacking state of the cathode when the cathode transfer tilting hand transfers the cathode to the stacking stage and stacks the cathode. , The cathode transfer hand may be a cathode transfer tilting hand that tilts and drives a predetermined second tilting axis as an axis.

The separator supply unit may be a web-type separator supply unit that supplies the separator in a continuous web type between them when the positive electrode and the negative electrode are sequentially stacked.

According to the present invention, it is possible to implement high-speed transfer by preventing sagging or shaking during a pulling operation of taking stacking cells out of a stacking stage, and thus reducing the transfer time. can be shortened, which can contribute to productivity improvement, and can also prevent quality deterioration due to misalignment of the stacked state of stacked cells, as in the past.

1 is a side configuration diagram of a secondary battery high-speed cell stacking system according to an embodiment of the present invention.
FIG. 2 is a plan view of a state in which the separator cutting device in FIG. 1 is removed.
FIG. 3 is a view of a state in which the pulling gripping unit and the membrane holding unit in FIG. 2 are transferred toward the stacking stage.
Figure 4 is a perspective view of Figure 3;
FIG. 5 is an enlarged view of a main part of FIG. 4 .
6 and 7 are enlarged views of regions P and Q of FIG. 5, respectively.
8 is a structural diagram of a separator cutting device.
9 is a control block diagram of the secondary battery high-speed cell stacking system of FIG. 1 .
10 to 12 are structural diagrams of a cell stacking device and are diagrams illustrating a process in which cells are stacked.
13 to 17 are diagrams schematically illustrating a cell stacking process step by step.
18 is a configuration diagram of a separation membrane supply unit.
19 is a perspective view of a cell stacking unit.
FIG. 20 is a plan view of FIG. 19 showing cathode stacking imaging positions.
FIG. 21 is a plan view of FIG. 19 in which an anode stacking photographing position is marked.
Fig. 22 is a side view of Fig. 19;
FIG. 23 is a view of FIG. 19 with the fixing post removed.
Fig. 24 is a front view of Fig. 23;

In order to fully understand the present invention and the advantages in operation of the present invention and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

1 is a side configuration diagram of a secondary battery high-speed cell stacking system according to an embodiment of the present invention, FIG. 2 is a plan view of a state in which the separator cutting device is removed from FIG. 1, and FIG. 3 is a pulling gripping unit and 4 is a perspective view of FIG. 3, FIG. 5 is an enlarged view of main parts of FIG. 4, and FIGS. 6 and 7 are respectively for areas P and Q of FIG. 5. 8 is a structure diagram of a separator cutting device, FIG. 9 is a control block diagram for the high-speed secondary battery cell stacking system of FIG. 1, and FIGS. 10 to 12 are structure diagrams of the cell stacking device, in which cells are stacked. 13 to 17 are diagrams schematically illustrating a cell stacking process step by step, FIG. 18 is a configuration diagram of a separator supply unit, FIG. 19 is a perspective view of a cell stacking unit, and FIG. 19 is a plan view showing the cathode stacking shooting position, FIG. 21 is a plan view of FIG. 19 showing the anode stacking shooting position, FIG. 22 is a side view of FIG. 19, and FIG. 23 is a fixed post in FIG. It is a removed drawing, and FIG. 24 is a front view of FIG. 23 .

Referring to these drawings, but first referring to FIG. 1, in the secondary battery high-speed cell stacking system according to the present embodiment, sagging occurs during a pulling operation of taking out the stacked cells from the stacking stage 140. It is possible to realize high-speed transfer by suppressing the vibration or shaking phenomenon, as well as shorten the transfer time, which can contribute to productivity improvement, and also, as before, the alignment of stacked cells is distorted to improve quality. This degradation can be prevented.

The secondary battery high-speed cell stacking system according to the present embodiment capable of providing such an effect includes a cell stacking device 100, a stacked cell pulling device 200, a separator cutting device 300, and a system control device 400. .

First, the cell stacking device 100 will be described. The cell stacking device 100 will be examined with reference to FIGS. 1 to 4 and 10 to 24 .

The cell stacking device 100 may include a separator supply unit 170 , a cathode stacking unit 110 , a cathode stacking unit 120 , and a cell stacking unit 130 .

The separator supply unit 170 serves to supply a separator forming a secondary battery cell. As described above, an electrode assembly, that is, a cell, is manufactured by sequentially stacking, or stacking, an anode, a separator, and a cathode. At this time, the separator supply unit 170 supplies the separator disposed between the anode and the cathode.

Various types of separator supply unit 170 may be applied, but in this embodiment, it is applied as a web type separator supply unit 170. The web-type separator supply unit 170 serves to supply a continuous web-type separator between the positive electrode and the negative electrode when the positive electrode and the negative electrode are sequentially stacked.

In other words, the separator applied to this embodiment is not a single piece, but a web-type separator in the form of a roll, such as a sheet. Therefore, after the negative electrode is stacked, the web-type separator can be stacked with the negative electrode and the positive electrode in such a way that when the web-type separator covers the top of the negative electrode and the positive electrode is stacked on top of it again, the web-type separator covers the top of the positive electrode again. The web-type separator supply unit 170 is applied to continuously or organically supply the same web-type separator.

Although an embodiment, the web-type separator supply unit 170 is connected to the separator supply unit 171 for supplying the web-type separator and the separator supply unit 171, as shown in FIG. A separator supply roller 172 transferred to the stacking stage 140 of the stacking unit 130 and a roller driving unit 173 connected to the separator supply roller 172 and driving or stopping the operation of the separator supply roller 172 includes The roller driving unit 173 includes a motor, and the separator supply roller 172 is operated or stopped by an on/off operation of the motor.

As such, by applying the web-type separator supply unit 170 of the roll to roll method, there is an advantage in that the efficiency of supplying the web-type separator can be increased.

Between or around the separator supply unit 171 and the separator supply roller 172, a plurality of guide rollers 174 are disposed for each position and guide the web-type separator at the corresponding position. The guide rollers 174 are applied as unpowered free rotating rollers.

Between the guide rollers 174, a separator centering unit 175 for centering the web-type separator is provided. Due to the separator centering unit 175, the web-type separator can be supplied correctly without being distorted.

A separator buffer unit 176 is provided between the guide rollers 174 to control the supply amount of the web-type separator. The separator buffer unit 176 also has a roll shape, and controls the supply amount of the web-type separator while moving up and down.

As shown in FIGS. 10 to 17 , the anode stacking unit 110 is movably disposed on one side of the separator supply unit 170 and cooperates with the cell stacking unit 130 to stack the anodes on the stacking stage 140 . play a role

The anode stacking unit 110 includes an anode alignment stage 111 for aligning anodes and a cathode transfer hand 112 for transferring anodes on the anode alignment stage 111 to the stacking stage 140. can include

The anode alignment stage 111 forms a place where the anodes are aligned and loaded.

In this embodiment, the positive transfer hand 112 is applied as a positive transfer tilting hand 112 that tilts and drives a predetermined first tilting shaft 113 as an axis.

In addition, in the anode transfer tilting hand 112, when the anode transfer tilting hand 112 transfers the anode to the stacking stage 140 and stacks the anode, an image of the stacking state of the anode placed at the position indicated by B in FIG. A positive vision camera 114 for taking pictures is provided.

When the anodes are stacked on the stacking stage 140 by the action of the anode transfer tilting hand 112 as shown in FIG. filming Therefore, the delay time according to the image capture of the stacking state of the anode can be reduced compared to the prior art, thereby contributing to productivity improvement due to the decrease in the tact time.

The cathode stacking unit 120 is movably disposed on the other side of the separator supply unit 170 and serves to stack cathodes on the stacking stage 140 in cooperation with the cell stacking unit 130 .

The cathode stacking unit 120 includes a cathode align stage 121 for aligning cathodes, and a cathode transfer hand 122 for transferring the cathodes on the cathode align stage 121 to the stacking stage 140. can do.

Like the cathode align stage 111, the cathode stacking unit 120 also serves as a place where cathodes are aligned and stacked.

In this embodiment, the negative transfer hand 122 is applied as a negative transfer tilting hand 122 that tilts and drives a predetermined second tilting shaft 123 as an axis.

In addition, in the cathode transfer tilting hand 122, when the cathode transfer tilting hand 122 transfers the cathode to the stacking stage 140 and stacks the cathode, an image of the stacking state of the cathode placed at the position indicated by A in FIG. A cathode vision camera 124 for taking pictures is provided.

When the cathode vision camera 124 is also stacked on the stacking stage 140 by the action of the cathode transfer tilting hand 122 as shown in FIG. 17, the image of the stacking state of the cathode placed at the position indicated by A in FIG. to film Therefore, the delay time according to the image capture of the stacking state of the cathodes can be reduced compared to the prior art, thereby contributing to productivity improvement due to the decrease in the tact time.

Meanwhile, the cell stacking unit 130 serves to stack cells through a stacking process of an anode, a separator, and a cathode.

As shown in FIGS. 19 to 24 , the cell stacking unit 130 may include a stacking stage 140 , a stage tilting driver 150 and a stage up/down driver 160 .

The stacking stage 140 forms a place where cells are stacked and fabricated. Vacuum pressure can cause the anode, separator and cathode to be stacked. A plurality of unit grippers 131 are disposed around the stacking stage 140 so that the electrodes stacked on the stacking stage 140 are not disturbed.

That is, the stacking stage 140 tilts as shown in FIGS. 13 to 17, and during this tilting operation, a plurality of unit grippers 131 are provided so that the anode, cathode, or separator already stacked on the stacking stage 140 is not disturbed. will be. In other words, the unit gripper 131 is disposed around the stacking stage 140 and serves to grip one of the anode, separator, and cathode stacked on the stacking stage 140 .

A cylinder 132 is connected to the unit gripper 131 . The cylinder 132 serves to provide uniform pressure when the unit gripper 131 grips one of the anode, separator, and cathode.

And, the gripper moving parts 133 are connected to the unit grippers 131 . The gripper moving unit 133 is connected to the unit grippers 131 and serves to move the unit grippers 131 to each other. The gripper moving unit 133 may be applied in a structure such as a motor and a ball screw.

A stacking up/down driver 144 is connected to the stacking stage 140 . The stacking up/down driver 144, which can be applied in the structure of a motor and a ball screw, is connected to the stacking stage 140, and when the anode, separator, and cathode are stacked one by one on the stacking stage 140, the stacking stage 140 ) is driven step by step down. For example, when one anode is stacked on the stacking stage 140, the stacking stage 140 is down by the stacking up/down driving unit 144 by the thickness of one anode, and the cathode is moved to one cathode. When stacked, the stacking stage 140 may be down by the thickness of one sheet of cathode due to the action of the stacking up/down driver 144 .

The stage tilting driver 150 is connected to the stacking stage 140 as shown in FIGS. 13 to 17 and serves to tilt and drive the stacking stage 140 .

The stage tilting driver 150 is connected to the stacking stage 140 and is connected to the stage rotation shaft 151 forming the center of rotation of the stacking stage 140 and one end of the stage rotation shaft 151, and the stage rotation shaft 151 A tilting motor 152 generating power for rotation of the tilting motor 152, and a rotation support module 153 connected to the stage rotational shaft 151 on the opposite side of the tilting motor 152 and rotatably supporting the stage rotational shaft 151 at that position. ) may be included.

Accordingly, when the tilting motor 152 is driven to rotate the stage rotation shaft 151 clockwise or counterclockwise, the stacking stage 140 is linked to the positive stacking unit 110 or the negative stacking unit as shown in FIGS. 13 to 17 ( 120) can be tilted toward.

The stage up/down driving unit 160 is connected to the stacking stage 140 and the stage tilting driving unit 150, and the stacking stage 140 and the stage tilting driving unit 150 prevent reverse movement of the separator during the stacking process. It serves to selectively drive up/down.

The stage up/down driving unit 160 integrally supports a plurality of fixing posts 161 spaced apart from each other and fixed at corresponding positions, a stacking stage 140, and a stage tilting driving unit 150, while both sides have a plurality of An up/down beam (162, up/down beam) connected to the fixed post 161 in an up/down manner, and an up/down ball screw 163 connected to the up/down beam 162 , Up / down motor 164 connected to the up / down ball screw 163 and generating power for the up / down beam 162 to be up / down via the up / down ball screw 163, An up/down LM guide connected to the fixed post 161 and the up/down beam 162 and guiding the up/down motion of the up/down beam 162 relative to the fixed post 161 ( 165).

That is, after the anode is stacked on the stacking stage 140 by interaction with the anode stacking unit 110 as shown in FIG. 13, the separator is stacked on the anode and the stacking stage 140 moves toward the cathode stacking unit 120 as shown in FIG. In tilting, at this time, the separator has no choice but to reversely move in engagement with the operation of the stacking stage 140 . However, in this embodiment, when the stacking stage 140 tilts toward the cathode stacking unit 120 as shown in FIG. 14, the stacking stage 140 and the stage tilting driver ( 150) is operated down so that the separator does not move backward. Therefore, it is possible to effectively solve the problem of non-uniform tension of the separator.

Meanwhile, as shown in FIGS. 1 to 7 , the stacked cell pulling device 200 is disposed adjacent to the cell stacking device 100 and interacts with the cell stacking device 100 to stack on the stacking stage 140 . It plays the role of pulling the cell, that is, taking it out.

The stacked cell pulling device 200 performing this role may include a pulling device main body 210, a pulling gripping unit 230, and a separator holding unit 250.

The pulling device main body 210 is a structure disposed adjacent to the aforementioned cell stacking device 100 having a stacking stage 140 on which cells are stacked through a stacking process of an anode, a separator, and a cathode. to be.

A pair of robot shafts 211 for supporting both sides of the pulling gripping unit 230 and the membrane holding unit 250 are spaced apart from each other and provided side by side in the pulling device main body 210 .

The pulling gripping unit 230, the separator holding unit 250, and means for driving them may be mounted on the pulling device main body 210 by location.

The pulling gripping unit 230 is transportably supported on both sides of one side of the pulling device main body 210, and serves to grip the stacking cells stacked on the stacking stage 140.

The pulling gripping unit 230 includes a plurality of grippers 231 gripping the stacked cells in a tongs manner, a gripper driving unit 232 driving the grippers 231, and the grippers 231 and the gripper driving unit 232. It includes a gripper supporter mover 233 which supports and is transportably connected to both side areas of a pair of robot shafts 211. Since both side areas of the gripper supporter mover 233 are transportably connected to a pair of robot shafts 211, the transport is more stable than the conventional cantilever method. Therefore, it is possible to implement high-speed transfer by preventing sagging or shaking during the pulling operation, as well as shortening the transfer time, thereby contributing to productivity improvement, and also, as before, the stacked state of stacked cells It is possible to prevent quality deterioration due to misalignment of the alignment.

In this embodiment, the gripper 231 may include a plurality of gripping blocks 231a between which the stacked cells are gripped, and a plurality of block supports 231b that drively support the gripping blocks 231a. there is.

Also, the gripper driving unit 232 may be a cylinder for opening or closing the tongs type gripper 231 .

A holding unit synchronous driver 260 is provided to drive the pulling gripping unit 230, that is, to move it forward and backward. The holding unit synchronous driving unit 260 is provided on one side of each of the robot shafts 211 and serves to synchronously drive the pulling gripping unit 230 on the robot shaft 211 .

The separator holding unit 250 is disposed independently of the pulling gripping unit 230, but both sides are supported to be transportable on the other side of the pulling device main body 210, and serves to hold the separator during the pulling operation on the stacked cells. do.

The separation membrane holding unit 250 includes a vacuum pad 252 for holding the separation membrane, a holding bar 251 having a vacuum hole 253 disposed around the vacuum pad 252, and a holding bar 251 A bar driving unit 254 for driving a bar driving unit 254 and a holding bar supporter mover 255 supporting the holding bar 251 and the bar driving unit 254 but having both side areas transportably connected to a pair of robot shafts 211 can include Since both side areas of the holding bar supporter mover 255 are transportably connected to a pair of robot shafts 211, it is more stable in transport than the conventional cantilever method. Therefore, it is possible to implement high-speed transfer by preventing sagging or shaking during the pulling operation, as well as shortening the transfer time, thereby contributing to productivity improvement, and also, as before, the stacked state of stacked cells It is possible to prevent quality deterioration due to misalignment of the alignment.

Since the vacuum pad 252 and the vacuum hole 253 are applied together to the holding bar 251, it is advantageous to adsorb and pull the separation membrane tight. Therefore, there is no error in the separator cutting operation by the separator cutting device 300 .

A holding unit synchronous driver 260 is provided to drive the separation membrane holding unit 250, that is, to move it forward and backward. The holding unit synchronous driver 260 is provided on the other side of the robot shafts 211 and serves to synchronously drive the membrane holding unit 250 on the robot shaft 211 .

At this time, the pulling gripping unit 230 and the separator holding unit 250 are installed on a pair of robot shafts 211 to maintain the tension of the separator when the gripping unit synchronous driver 240 and the holding unit synchronous driver 260 act. Each can be transported independently.

Next, the separator cutting device 300 is disposed adjacent to the stacked cell pulling device 200 as shown in FIGS. 1 and 8 and serves to cut the separator.

The separator cutting device 300 includes a cutting device main body 310, a transfer electric rail 320 provided on the cutting device main body 310, and a separator cutting unit 330.

The separator cutting unit 330 includes a cutter 331 that substantially cuts the separator, and a cutter holder 322 that supports the cutter 331 and is connected to the transfer transmission rail 320 and transferred along the transfer transmission rail 320. ). Since the cutter 331 cuts the separator while transferring it on the transfer electric rail 320 through the cutter holder 322, the cutting quality of the separator can be improved.

On the other hand, the system control device 400 controls the operations of the cell stacking device 100, the stacked cell pulling device 200, and the separator cutting device 300 with an organic mechanism so that the pulling operation for the stacked cells can be automatically performed. do.

The system controller 400 performing this role may include a central processing unit 410 (CPU), a memory 420 (MEMORY), and a support circuit 430 (SUPPORT CIRCUIT).

In this embodiment, the central processing unit 410 controls the operations of the cell stacking device 100, the stacked cell pulling device 200, and the separator cutting device 300 so that the pulling operation for the stacked cells can be automatically performed. It may be one of a variety of computer processors that can be applied industrially to control.

The memory 420 (MEMORY) is connected to the central processing unit 410. The memory 420 is a computer-readable recording medium that can be installed locally or remotely, and is readily available, such as, for example, random access memory (RAM), ROM, floppy disk, hard disk, or any digital storage form. It may be at least one memory.

The support circuit 430 (SUPPORT CIRCUIT) is coupled with the central processing unit 410 to support typical operations of the processor. The support circuit 430 may include a cache, a power supply, a clock circuit, an input/output circuit, a subsystem, and the like.

In this embodiment, the system control device 400 controls the operations of the cell stacking device 100, the stacked cell pulling device 200, and the separator cutting device 300 so that the pulling operation for the stacked cells can be automatically performed. , and such a series of control processes may be stored in the memory 420. Typically software routines may be stored in memory 420 . Software routines may also be stored or executed by other central processing units (not shown).

Although processes according to the present invention have been described as being executed by software routines, it is possible that at least some of the processes of the present invention are performed by hardware. As such, the processes of the present invention may be implemented in software running on a computer system, implemented in hardware such as an integrated circuit, or implemented by a combination of software and hardware.

Hereinafter, the operation of the secondary battery high-speed cell stacking system according to the present embodiment will be described.

First, a cell stacking process by the cell stacking device 100 is performed. That is, assuming that the anodes are stacked first, the stacking stage 140 is tilted toward the anode stacking unit 110 as shown in FIG. 13 for stacking the anodes. Subsequently, the anodes are stacked on the stacking stage 140 by interaction with the anode transfer tilting hand 112 .

At this time, when the anode vision camera 114 is stacked on the stacking stage 140 by the action of the anode transfer tilting hand 112 as shown in FIG. 13, the stacking state of the anode placed at the position indicated by B in FIG. Take a video. Therefore, the delay time according to the image capture of the stacking state of the anode can be reduced compared to the prior art, thereby contributing to productivity improvement due to the decrease in the tact time.

Next, while the separator is stacked on the anode, the stacking stage 140 tilts toward the cathode stacking unit 120 as shown in FIG. 14 .

At this time, the separator must move backward in engagement with the operation of the stacking stage 140, but in the case of this embodiment, when the stacking stage 140 tilts toward the cathode stacking unit 120 as shown in FIG. 14, the stage up/down as shown in FIG. 15 The stacking stage 140 and the stage tilting driving unit 150 are operated down by the driver 160 to prevent reverse movement of the separator. Therefore, it is possible to effectively solve the problem of non-uniform tension of the separator.

Next, when the stacking stage 140 is tilted toward the cathode stacking unit 120 as shown in FIG. 17 by the tilting operation of the stacking stage 140 continued as in FIG. 16, then, the interaction with the cathode transfer tilting hand 122 stacks the stage On 140 the cathodes are stacked.

At this time, when the cathode vision camera 124 is also stacked on the stacking stage 140 by the action of the cathode transfer tilting hand 122 as shown in FIG. 17, the cathode placed at the position indicated by A in FIG. shoot a video about Therefore, the delay time according to the image capture of the stacking state of the cathodes can be reduced compared to the prior art, thereby contributing to productivity improvement due to the decrease in the tact time.

Meanwhile, after the cells are stacked on the stacking stage 140 in the above method, the stacked cell pulling device 200 operates as shown in FIGS. 2 to 3 under the control of the system controller 400 . That is, while the pulling gripping unit 230 grips the stacked cells, the separator holding unit 250 grips the separator. Thereafter, through the same operation as in FIG. 2 in FIG. 3 , the stacked cells may be pulled and the separator may be cut.

According to the present embodiment, which operates based on the structure as described above, it is possible to prevent sagging or shaking during a pulling operation of taking out stacking cells from the stacking stage 140. It is possible to implement high-speed transfer by blocking, as well as shorten the transfer time due to this, which can contribute to productivity improvement, and also prevent quality deterioration due to misalignment of the stacked state of stacked cells as before. there will be

As such, the present invention is not limited to the described embodiments, and it is obvious to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Accordingly, it should be said that such modifications or variations fall within the scope of the claims of the present invention.

100: cell stacking device 110: anode stacking unit
120: cathode stacking unit 130: cell stacking unit
140: stacking stage 144: stacking up/down driving unit
150: stage tilting driving unit 160: stage up/down driving unit
170: Separator supply unit 200: Stacked cell pulling device
210: pulling device body 211: robot shaft
230: pulling gripping unit 231: gripper
231a: gripping block 231b: block support
232: gripper driving unit 233: gripper supporter mover
240: gripping unit synchronous driving unit 250: membrane holding unit
251: holding bar 252: vacuum pad
253: vacuum hole 254: bar driving unit
255: holding bar supporter mover 260: holding unit synchronous driving unit
300: separator cutting device 310: cutting device body
320: transfer electric rail 330: separator cutting unit
331: cutter 332: cutter holder
400: system control device

Claims (25)

A pulling device main body disposed adjacent to a cell stacking device having a stacking stage in which cells are stacked through a stacking process of an anode, a separator, and a cathode;
a pulling gripping unit that is transportably supported on one side of the main body of the pulling device and grips stacked cells stacked on the stacking stage; and
A separator holding unit disposed independently from the pulling gripping unit, both sides of which are transportably supported on the other side of the pulling device main body, and which holds the separator during the pulling operation on the stacked cell. Characterized by a stacked cell pulling device. According to claim 1,
The stacked cell pulling device, characterized in that a pair of robot shafts for supporting both sides of the pulling gripping unit and the separator holding unit are spaced apart from each other and provided side by side in the main body of the pulling device. According to claim 2,
a plurality of gripping unit synchronous driving units provided on one side of the robot shafts and synchronously driving the pulling gripping unit on the robot shaft; and
The stacked cell pulling device further comprises a plurality of holding unit synchronous driving units provided on the other side of the robot shafts and synchronously driving the separator holding unit on the robot shaft. According to claim 3,
The pulling gripping unit and the separator holding unit are independently transported on the pair of robot shafts to maintain the tension of the separator when the gripping unit synchronous driving unit and the holding unit synchronous driving unit operate. Cell pooling device. According to claim 1,
The pulling gripping unit,
a plurality of grippers gripping the stacked cells in a tongs manner;
a gripper driver driving the gripper; and
The multilayer cell pulling device comprising a gripper supporter mover supporting the gripper and the gripper driving unit and having both side areas transportably connected to the pair of robot shafts. According to claim 5,
The gripper,
a plurality of gripping blocks between which the stacked cells are gripped; and
Stacked cell pulling device characterized in that it comprises a plurality of block support for drivably supporting the gripping blocks. According to claim 1,
The separation membrane holding unit,
a holding bar having a vacuum pad for holding the separation membrane and a vacuum hole disposed around the vacuum pad;
a bar driver driving the holding bar; and
The stacked cell pulling device comprising a holding bar supporter mover supporting the holding bar and the bar driver and having both side areas transportably connected to the pair of robot shafts. A cell stacking device having a stacking stage in which cells are stacked through a stacking process of an anode, a separator, and a cathode; and
A stacked cell pulling device disposed adjacent to the cell stacking device and interacting with the cell stacking device to pull stacked cells on the stacking stage;
The stacked cell pulling device,
a pulling device main body disposed adjacent to the cell stacking device;
a pulling gripping unit that is transportably supported on one side of the main body of the pulling device and grips stacked cells stacked on the stacking stage; and
A separator holding unit disposed independently from the pulling gripping unit, both sides of which are transportably supported on the other side of the pulling device main body, and which holds the separator during the pulling operation on the stacked cell. Characterized by a secondary battery high-speed cell stacking system. According to claim 8,
The stacked cell pulling device,
a plurality of gripping unit synchronous driving units provided on one side of the robot shafts and synchronously driving the pulling gripping unit on the robot shaft; and
The secondary battery high-speed cell stacking system further comprises a plurality of holding unit synchronous driving units provided on the other side of the robot shafts and synchronously driving the separator holding unit on the robot shaft. According to claim 9,
The pulling gripping unit and the separator holding unit are independently transported on the pair of robot shafts to maintain the tension of the separator when the gripping unit synchronous driver and the holding unit synchronous driver act,
The secondary battery high-speed cell stacking system, characterized in that a pair of robot shafts for supporting both sides of the pulling gripping unit and the separator holding unit are spaced apart from each other and provided side by side in the main body of the pulling device. According to claim 8,
The pulling gripping unit,
a plurality of grippers gripping the stacked cells in a tongs manner;
a gripper driver driving the gripper; and
The secondary battery high-speed cell stacking system comprising a gripper supporter mover supporting the gripper and the gripper drive unit and having both side areas transportably connected to the pair of robot shafts. According to claim 11,
The gripper,
a plurality of gripping blocks between which the stacked cells are gripped; and
A secondary battery high-speed cell stacking system comprising a plurality of block supports for driving the gripping blocks. According to claim 8,
The separation membrane holding unit,
a holding bar having a vacuum pad for holding the separation membrane and a vacuum hole disposed around the vacuum pad;
a bar driver driving the holding bar; and
A secondary battery high-speed cell stacking system comprising a holding bar supporter mover supporting the holding bar and the bar driving unit and having both side areas transportably connected to the pair of robot shafts. According to claim 8,
The secondary battery high-speed cell stacking system, characterized in that it further comprises a separator cutting device disposed adjacent to the stacked cell pulling device and cutting the separator. According to claim 14,
The separator cutting device,
cutting device body;
A conveying electric rail provided on the main body of the cutting device; and
A secondary battery high-speed cell stacking system comprising a separator cutting unit including a cutter for cutting the separator and a cutter holder supporting the cutter and being connected to the transfer rail and transferred along the transfer rail. . According to claim 14,
A secondary battery characterized in that it further comprises a system control device for controlling the operation of the cell stacking device, the stacked cell pulling device, and the separator cutting device with an organic mechanism so that the pulling operation for the stacked cells can be automatically performed. High-speed cell stacking system. According to claim 8,
The cell stacking device,
A separator supply unit disposed between the positive electrode and the negative electrode and supplying a separator forming a secondary battery cell while being stacked together with the positive electrode and the negative electrode; and
A secondary battery high-speed cell stacking system comprising a cell stacking unit that allows the cells to be stacked through a stacking process of the positive electrode, the separator, and the negative electrode. According to claim 17,
The cell stacking unit,
a stage tilting driver connected to the stacking stage and tilting and driving the stacking stage;
A stage up connected to the stacking stage and the stage tilting driver and selectively driving the stacking stage and the stage tilting driver up/down to prevent reverse movement of the separator during the stacking process. /down drive unit; and
A secondary battery high-speed cell stacking system comprising a plurality of unit grippers arranged around the stacking stage and gripping one of the positive electrode, the separator, and the negative electrode stacked on the stacking stage. . According to claim 18,
The stage tilting driving unit,
a stage rotation axis connected to the stacking stage and forming a rotation axis of the stacking stage;
a tilting motor connected to one end of the stage rotation shaft and generating power for rotation of the stage rotation shaft; and
A secondary battery high-speed cell stacking system comprising a rotation support module connected to the stage rotation shaft at the opposite side of the tilting motor and rotatably supporting the stage rotation shaft at the corresponding position. According to claim 18,
The stage up/down driver,
A plurality of fixing posts arranged spaced apart from each other and fixed at corresponding positions;
an up/down beam integrally supporting the stacking stage and the stage tilting driving unit and having both sides connected up/down to the plurality of fixing posts;
an up/down ball screw connected to the up/down beam;
an up/down motor connected to the up/down ball screw and generating power for up/down of the up/down beam via the up/down ball screw; and
A secondary battery comprising an up/down LM guide connected to the fixed post and the up/down beam and guiding an up/down operation of the up/down beam with respect to the fixed post High-speed cell stacking system. According to claim 18,
The cell stacking unit,
a gripper moving unit that is connected to the unit grippers and moves the unit grippers to each other; and
It is connected to the stacking stage, and when the anode, the separator, and the cathode are stacked one by one on the stacking stage, a stacking up / down driving unit for driving the stacking stage up / down in stages is further included. Secondary battery high-speed cell stacking system, characterized in that. According to claim 17,
The cell stacking device,
a cathode stacking unit movably disposed on one side of the separator supply unit and stacking the anodes on the stacking stage in cooperation with the cell stacking unit; and
A secondary battery high-speed cell stacking system further comprising a negative electrode stacking unit disposed movably on the other side of the separator supply unit and stacking the negative electrode on the stacking stage in cooperation with the cell stacking unit. The method of claim 22,
The anode stacking unit,
an anode alignment stage for aligning the anodes;
an anode transfer hand transferring the anode on the anode align stage to the stacking stage; and
A cathode vision camera provided on the anode transfer tilting hand and capturing an image of a stacking state of the anode when the anode transfer tilting hand transfers the anode to the stacking stage and stacks the anode,
The secondary battery high-speed cell stacking system, characterized in that the positive transfer hand is a positive transfer tilting hand that tilts and drives a predetermined first tilting axis as an axis. According to claim 22,
The cathode stacking unit,
a cathode align stage in which the cathodes are aligned;
a cathode transfer hand transferring the cathode on the cathode align stage to the stacking stage; and
A cathode vision camera provided on the cathode transfer tilting hand and capturing an image of a stacking state of the cathode when the cathode transfer tilting hand transfers the cathode to the stacking stage and stacks the cathode,
The secondary battery high-speed cell stacking system, characterized in that the cathode transfer hand is a cathode transfer tilting hand that tilts and drives a predetermined second tilting axis as an axis. According to claim 17,
The separation membrane supply unit,
A secondary battery high-speed cell stacking system, characterized in that a web-type separator supply unit that allows the separator to be supplied in a continuous web type between them when the positive electrode and the negative electrode are sequentially stacked.

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