Automatic cutting-off system for tape and resin of battery pack

Abstract

An automatic removal system for automatically removing tape and resin exposed to the outside of a battery module according to the present invention comprises: a removal assembly having a removal device for removing tape and resin; and an automatic multi-axis robot connected to the removal assembly and driven to remove tape and resin of the battery module.

Description

Technology Field

[0001] The present invention relates to an automatic tape and resin removal system for battery modules. Background Technology

[0003] A battery module is formed by stacking multiple battery cells, and its exterior is covered by a casing. In the manufacturing process of the battery module, liquid resin is sometimes injected into the spaces inside the pack as a heat dissipation material to prevent temperature rise inside the casing and to fix and protect the cells in place, thereby compactly filling the pack. To verify that the resin has solidified properly while filling the inside of the pack, multiple check holes are formed in a row on the outside of the casing, and tape, which is an adhesive material covering the check holes, is attached. The tape has openings perforated at positions corresponding to the check holes. When the resin fills the inside of the pack, occupies the entire space, and solidifies, protrusions are created that ooze out through the check holes and the openings in the tape.

[0004] When the tape attached to the battery module casing is removed during the testing process (first removal), the tape and the resin portion protruding through the tape's opening are removed together; however, since a portion of the resin still protrudes outward through the check hole, this part is removed using a knife, which is a removal device (second removal). Then, the outer surface of the casing is cleaned to a single flat surface, and the exterior of the casing is finished smoothly.

[0005] However, in the current process, two workers are each performing tape removal, resin removal, and visual inspection. As such, two personnel are required, the speed of the removal process varies from worker to worker, and there is a problem that removing the tape and resin requires effort.

[0006] To resolve the above problems, the inventor developed an automatic tape and resin removal system for battery modules that automatically removes tape and resin using a multi-axis automatic robot. Prior art literature

[0008] Korean Published Patent No. 10-2021-0056824, Japanese Published Patent No. 2000-269168, Japanese Published Patent No. 2020-173981 The problem to be solved

[0009] The present invention has been devised to solve the above-mentioned problems and aims to provide a new structure of an automatic tape and resin removal system for a battery module that can automatically, quickly, and reliably remove tape and resin exposed to the outside of the battery module, increase production yield, and reduce labor costs. means of solving the problem

[0011] An automatic removal system for automatically removing tape and resin exposed to the outside of a battery module according to the present invention comprises: a removal assembly having a removal device for removing tape and resin; and an automatic multi-axis robot connected to the removal assembly and driven to remove tape and resin of the battery module.

[0012] In a specific example, the removal device comprises a first removal device for removing a tape and resin attached to the tape.

[0013] In another embodiment, the removal device further comprises a second removal device for removing resin remaining on the battery module after resin removal by the first removal device.

[0014] In another embodiment, the automatic removal system further includes a material removal module, said material removal module grasps a battery module and moves it to a transfer shuttle.

[0015] In another embodiment, the transfer shuttle includes a long pair of transfer rails extending adjacent to each other, and the battery module is loaded onto the transfer rails and moved to a forward alignment section.

[0016] In a specific embodiment, the alignment unit includes a stopper and a pair of pressurizing means installed on the outer side of each transfer rail, wherein the pressurizing means includes a pressurizing rod that enters into or exits from the interior of the transfer rail, and the pressurizing rod pressurizes the side or rear of the battery module while it is in the interior of the transfer rail, and the stopper blocks the forward movement of the battery module, thereby fixing the battery module in place.

[0017] In a specific embodiment, the automatic removal system further includes a blower module comprising a spray nozzle arranged to spray high-pressure air, and the compressed air discharged from the spray nozzle causes a portion of the tape to be detached from the casing of the battery module and directed in a certain direction, thereby enabling the first removal device of the removal assembly to easily grip the tape.

[0018] In another embodiment, the automatic removal system further includes a cleaning device that contacts the second removal device to remove residual resin adhering to the second removal device.

[0019] In another embodiment, the automatic removal system further includes a collection unit for collecting tape attached to the first removal device.

[0020] In a specific embodiment, the first removal device comprises a rod that is arranged side by side along one side of the base of the removal assembly and each extends downward, and a gripper integrally formed at the front end of the rod.

[0021] In another embodiment, the first removal device comprises a block arranged to face downward along one side of the base of the removal assembly, and a scraper mounted on the bottom surface of the block for removing tape and resin.

[0022] In this case, the second removal device may consist of a support bracket or block formed on the side opposite to where the first removal device is arranged, and a knife or scraper installed on the support bracket or block to remove resin.

[0023] In a specific embodiment, the automatic multi-axis robot is a multi-joint structure comprising a body, a first robot arm connected to the body, and a second robot arm connected to the first robot arm, wherein a coupling portion is formed at the tip of the second robot arm to be coupled to a pivotable driving arm and a base of a removal assembly in turn.

[0024] In addition, as another aspect of the present invention, a method for automatically removing tape and resin exposed outside of a battery module using the above automatic removal system is provided, wherein the removal method comprises the step of moving a first removal device along the direction of the tape attached to the battery module to remove the tape and the resin attached to the tape.

[0025] In a specific embodiment, the method of the present invention further includes the step of removing residual resin by moving a second removal device in a direction perpendicular to the tape attached to the battery module. Effects of the invention

[0027] The present invention automatically removes tape and resin from battery modules using an automatic multi-axis robot, thereby enabling rapid, accurate, and significantly increased work speed.

[0028] Since the automatic multi-axis robot of the present invention is capable of free rotation, bending, and parallel movement, it can remove tape and resin from battery modules in various ways by attaching a tape and resin removal device, thereby offering good adaptability to working environments and good compatibility.

[0029] The automatic removal system of the present invention is an unmanned device, which can save on labor costs and associated expenses, and is economical and cost-effective. Brief explanation of the drawing

[0031] Figure 1 is a configuration diagram of the automatic tape and resin removal system of the battery module of the present invention. FIG. 2 is a drawing illustrating an example of implementing the automatic removal system of the present invention according to FIG. 1. FIG. 3 is a perspective view of the automatic multi-axis robot of the present invention. FIG. 4 is a perspective view of the removal assembly of the present invention. FIG. 5 is a perspective view of a removal assembly according to another embodiment of the present invention. FIG. 6 is a perspective view illustrating the transfer shuttle, alignment unit, blower module, and cleaning device of the present invention. FIG. 7 is a diagram illustrating an overview of a tape and resin work process using an automatic multi-axis robot of the present invention. FIG. 8 is a drawing illustrating an actual example in which the upper surface of a casing is cleaned using the automatic multi-axis robot and removal assembly of the present invention. Specific details for implementing the invention

[0032] The present invention will be described in detail below. Prior to this, terms or words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings. Instead, based on the principle that the inventor may appropriately define the concepts of terms to best describe their invention, they must be interpreted in a meaning and concept consistent with the technical spirit of the present invention.

[0033] In this application, terms such as "comprising" or "having" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. Furthermore, when a part is described as being "connected" to another part, this means not only a physical connection, either directly or indirectly, but also a connection via wireless or wired means, or a connection through electrical signals.

[0034] In this application, terms such as "upper," "lower," "front," "rear," or "arrangement" should not be interpreted as having a restrictive meaning, but as exemplifying words indicating a location, orientation, or physical arrangement.

[0036] The present invention will be described in detail below.

[0037] FIG. 1 is a configuration diagram of a tape and resin automatic removal system (1) of a battery module (B) of the present invention. The tape (T) is an example of an attachment member, and the resin (R) is an example of a heat dissipation member; other members that achieve the same function may also be applied, and these terms do not limit the scope of the present invention.

[0038] The automatic removal system (1) of the present invention includes a control unit (100) that functions as the main control unit (MCU) of the entire system, an automatic multi-axis robot (10), a transfer shuttle (20), an alignment unit (30), a material removal module (40), a removal assembly (50), a blower module (60), and a cleaning device (70). These components are connected to the control unit (100) via wired or wireless connection and are driven by signals from the control unit (100).

[0039] The battery module (B) transferred by the material module (40) moves along the transfer shuttle (20) and is fixed in place at the alignment unit (30), and the tape (T) and resin (R) are removed by driving the removal assembly (50) coupled to the automatic multi-axis robot (10). The removal assembly (50) is cleaned by the cleaning device (70), the tape (T) is collected in a collection unit not shown in FIG. 1, the battery module (B) that has finished cleaning is moved for another task, the automatic multi-axis robot (10) returns to its original position and waits for the supply of the next battery module (B).

[0040] The present invention can quickly and reliably remove a large amount of tape (T) and resin (R) from a battery module (B) by repeating the above automatic removal operation cycle.

[0041] FIG. 2 illustrates an example of implementing the automatic removal system (1) of the present invention according to FIG. 1. In the following description, so that the present invention can be clearly understood, the illustration and description of components such as motors, pneumatic actuators, cylinders, and cables, which are naturally provided in a conventional automatic process system, are omitted except in special cases.

[0042] A battery module (B), having completed the lamination of battery cells, injection of resin (R), and attachment of tape (T), moves from an unloader (1004) to a conveyor (1000) and moves along the x-axis direction. The conveyor (1000) is arranged lengthwise along the x-axis direction, and the automatic multi-axis robot (10), transfer shuttle (20), and alignment unit (30) are arranged along the y-axis direction, which is perpendicular to this overall. The movement of the unloader (1004), the conveyor (1000), and the battery module (B) following them is exemplified based on the current process system, and various modifications are possible, such as supplying the battery module (B) directly in front of the transfer shuttle (20).

[0043] A transfer module (40) is installed adjacent to a conveyor (1000) and a transfer shuttle (20). The transfer module (40) includes a lower fixed stand (42), a pivoting body (44) installed on the fixed stand (42) that is rotatable left and right and has an MCU built in, and an extension arm (46) that extends from one side of the pivoting body (44) and is rotatable left and right and up and down. A heavy, pincer-shaped battery gripper (48) is installed at the front end of the extension arm (46). The grippers of the battery gripper (48) can pivot between a grip position, where the front ends are rotated so as to be close to each other to firmly grip the battery module (B), and a non-grip position, where the front ends are rotated so as to be spaced apart from each other to be separated from the battery module (B).

[0044] When a battery position detection sensor, not shown in FIG. 2, detects that the battery module (B) has arrived at a predetermined position on the conveyor (1000), the extension arm (46) pivots downward at a predetermined angle to face both sides of the battery module (B), and the battery gripper (48) moves inward toward the side to form a grip position that presses against the side of the battery module (B). In this state, the extension arm (46) is rotated upward, and the pivot body (44) is pivoted toward the transfer shuttle (20), and then the extension arm (46) is rotated downward to place the battery module (B) onto the transfer shuttle (20). When the transfer process of the battery module (B) is completed in this way, the battery gripper (48) can be switched to a non-grip position.

[0045] The above describes an example of a material module (40), and any device of any structure can be appropriately adopted as long as it performs the function of moving a battery module (B) from a conveyor (1000) to an alignment unit (30). In addition, the application target of the material module (40) is not limited, such as targeting a battery module (B) that is loaded and transported by a rotary turntable instead of a conveyor (1000).

[0046] Next, prior to the structure of the transfer shuttle (20) and the alignment unit (30), the automatic multi-axis robot (10) and the removal assembly (50) of the present invention will be described first.

[0047] In the automatic removal system (1), the automatic multi-axis robot (10) is spaced apart from the platform (200) on which other components are installed so as to secure sufficient workspace.

[0048] As shown in FIG. 3, the automatic multi-axis robot (10) of the present invention is a multi-joint structure comprising a body (120), a first robot arm (108) that is connected to the body (120) through a boss (110) and extends upward, and a second robot arm (102) that extends horizontally from the end of the first robot arm (108). A pivotable driving arm (104) is coupled to the tip of the second robot arm (102), and a coupling part (106) that is coupled to a removal assembly (50) is formed at the tip of the driving arm (104). An MCU is embedded in the body (120) and communicates with a control unit (100). The first robot arm (108) freely rotates in three-dimensional space to set basic positions up, down, left, and right, and the second robot arm (102) performs rotation and bending movements. The driving arm (104) is connected to the spindle of the second robot arm (102) and moves independently in a bending and turning motion.

[0049] The above automatic multi-axis robot (10) is described as an example, and its structure can be appropriately modified to suit the working environment. For example, the connecting part (106) can be made in a finger shape, or the arm can be used as an independent arm that performs other functions, and it is also possible to integrate the automatic multi-axis robot (10) into the platform (200) in a compact structure.

[0050] The coupling part (106) of the automatic multi-axis robot (10) is coupled with the removal assembly (50), and the latter freely moves, rotates, rotates, and performs joint movements by driving the former.

[0051] As shown in FIG. 4, the removal assembly (50) of the present invention comprises a flat-shaped base (52), a rod (54a) arranged side by side along one side of the lower surface of the base (52) and each extending vertically downward, and a clamp-shaped gripper (54b) integrally formed at the front end of the rod (54a). The front surface of the base (52) is coupled to the coupling part (106) of the driving arm (104) of the automatic multi-axis robot (10).

[0052] The gripper (54b) can rotate between a grip position, in which the tips of the grippers are rotated so that they are close to each other to firmly grip the tape (T), and a non-grip position, in which the tips are rotated so that they are separated from the tape (T), similar to the battery gripper (48).

[0053] The gripper (54b) can be modified in various ways, such as being replaced with a flat pad having an embossing or mesh structure to which the tape (T) can be attached.

[0054] On one side and the opposite side where the first removal device (54) is arranged, a plurality of support brackets (502) are installed side by side, and a second removal device (504) that functions as a knife for removing resin (R) is mounted at the entrance of each support bracket (502).

[0055] The above shows an example of the structure and operation of the removal assembly (50), and it is obvious that the following variations are possible.

[0056] First, when the tape (T) is arranged in a single line in the battery module (B), only one first and second removal device (54, 504) is installed, and the size and number of the first and second removal devices (54, 504) can be varied depending on the size of the battery module (B), the alignment position and number of check holes. In this regard, it is preferable that the removal assembly (50) of the present invention be an interchangeable type that can be attached to and detached from the automatic multi-axis robot (10) so as to facilitate modification and maintenance.

[0057] Second, in many actual cases, the tape (T) and resin (R) can be completely removed by the first removal operation, and in this case, the second removal device (504) may be omitted. In this case, the first removal device (54) can be said to have the function of the second removal device (504).

[0058] As a second embodiment, FIG. 5 shows a perspective view of a removal assembly (50) according to another embodiment of the present invention.

[0059] A plurality of blocks (510) are installed on one side of the lower surface of the base (52) in a direction perpendicular to the lower surface, and a scraper (512) is mounted on the lower surface of each block (510). The removal assembly (50) is configured so that the scraper (512) contacts most of the upper surface of the casing in the left and right directions so as to move along the longer side, i.e., the length direction, of the casing of the battery module (B), thereby allowing all material protruding above the upper surface to be removed while moving parallel over the casing. That is, the operation of simultaneously removing the tape (T) and the resin (R) by applying the same force while adhering to them simultaneously can be performed sequentially on a plurality of rows of tapes (T) attached along the width direction of the casing.

[0060] In the case of the second embodiment of the present invention, the working time can be further reduced compared to the previous embodiment.

[0061] The block (510) and scraper (512) of the second embodiment of the present invention can be modified in various ways, such as replacing the second removal device (504) of the first embodiment or adding it in parallel to the removal assembly (50) of the first embodiment.

[0062] Next, the transfer shuttle (20), alignment unit (30), blower module (60), and cleaning device (70) of the present invention will be described with reference to the perspective view of FIG. 6.

[0063] The transfer shuttle (20) of the present invention includes a long pair of transfer rails (22) that extend adjacent to each other. That is, the transfer shuttle (20) is a belt structure similar to a conveyor. The width of the transfer rails (22) is manufactured to a size sufficient to support the length of the battery module (B). The transfer module (40) places the battery module (B) on the transfer rails (22) so that the battery module (B) is exactly perpendicular to the direction of movement of the transfer rails (22). The placed battery module (B) moves forward along the transfer rails (22) and is supplied to the alignment unit (30).

[0064] The alignment unit (30) of the present invention includes a front stopper (32) and a pair of cylinder actuators (34) as pressurizing means installed on the outer side of each transfer rail (22).

[0065] The stopper (32) is installed so as to protrude in the width direction at a predetermined position on the platform (200) and prevents the battery module (B) from moving further forward.

[0066] The cylinder actuator (34) includes a pressure rod (36) that enters into or exits the transfer rail (22) by driving a piston inside the body. The pressure rod (36) enters or exits the transfer rail (22) in an inclined direction to apply pressure to both side or rear corners of the battery module (B) from behind. The left and right cylinder actuators (34) can be connected by a bridge (38) to operate simultaneously in real time.

[0067] In the present invention, each of the two pressure rods (36) that have entered the front stopper (32) and the transfer rail (22) must firmly grip the front and rear sides of the battery module (B) to stably fix its position so that the battery module (B) does not shake or move slightly during the removal process. Accordingly, the distance between the stopper (32) and the pressure rods (36) is also determined to match the width of the battery module (B).

[0068] The blower module (60) of the present invention includes a plurality of spray nozzles (62) arranged to spray high-pressure air. The opening of the spray nozzle (62) is upward, and the compressed air discharged from the spray nozzle (62) flows from bottom to top at the front of the battery module (B), so that a portion of the tape (T) is detached from the casing and faces upward. This operation helps the gripper (54b) of the removal assembly (50) to grip the tape (T).

[0069] The cleaning device (70) of the present invention includes a cleaner (72), and the cleaner (72) is made of an elastic material with a brush or bristles formed on its outer surface, for example, in the shape of a roller, to remove resin adhering to a knife or scraper, which is a second removal device. The removal assembly (50) may reciprocate and come into contact with the cleaner (72) to remove the resin, or the cleaner (72) may rotate while the removal assembly (50) is fixed. In addition, the cleaning device (70) can be modified in various ways, such as by replacing it with a nozzle that ejects high-pressure air, as long as the same purpose is achieved.

[0070] A collection unit (80) is installed along the height direction of the platform (200) in front of the cleaning device (70). Tape (T) held by the first removal device (54) falls into the collection unit (80) and is collected. It is preferable that the collection unit (80) be mounted in a box shape so as to be replaceable on the platform (200).

[0071] Next, based on FIGS. 6 and FIGS. 7, the removal operation will be described with a focus on the automatic multi-axis robot (10) and the removal assembly (50) in the automatic removal system (1) of the present invention described above.

[0072] A tape (T) is attached in three rows along the width direction on the upper surface of the casing of the base module (B), and accordingly, three first removal devices (54) and second removal devices (504) are also mounted. When the MCU of the automatic multi-axis robot (10) is driven by a signal from the control unit (100), the driving arm (104), and thus the removal assembly (50), can rotate clockwise or counterclockwise, or advance or retract along the y-axis direction.

[0073] The removal assembly (50) is positioned so that the base (52) is nearly vertical and adjacent to the upper surface of the front of the battery module (B), and the gripper (54b) is positioned adjacent to the tape (T). Then, the removal assembly (50) is rotated to position the tape (T) in the space between the grippers (54b). When the gripper (54b) is switched to the gripping position to close the space, the tape (T) is gripped, and when the removal assembly (50) is rotated counterclockwise, the gripped tape (T) is lifted from the outer surface of the casing. When the removal assembly (50) is moved parallel along the direction (A'), the tape (T) is gradually separated, and the tape (T) and the resin (R) attached thereto are removed together. The gripping operation of the tape (T) is further facilitated by the blowing of the spray nozzle (62). This operational state is illustrated in FIG. 7a.

[0074] In this state, after moving the removal assembly (50) along the direction (B') to the collection section (80) and opening the gripper (54b) to a non-grip state, the tape (T) automatically falls by gravity and is collected in the box.

[0075] Then, in order to completely remove the resin (R) remaining on the upper surface of the casing, the automatic multi-axis robot (10) is driven to rotate the removal assembly (50) in a vertical direction so that the second removal device (504) is positioned to contact the upper surface of the casing along the longitudinal direction of the battery module (B), and then the removal assembly (50) is moved linearly along the longitudinal direction. This working state is illustrated in FIG. 7b. Through this process, the resin (R) remaining on the casing is removed.

[0076] After that, the automatic multi-axis robot (10) is driven to rotate the removal assembly (50) in a vertical direction, and then moved again along the direction (B') to the cleaning device (70) to come into contact with the cleaner (72) and remove the resin (R) adhering to the second removal device (504).

[0077] Alternatively, unlike FIG. 7b, a modification is also possible in which, for example, with the tape (T) removed, the removal assembly (50) is slowly rotated clockwise in the opposite direction to the previous one so that the tip of the knife, which is the second removal device (504), contacts the upper surface of the casing, and then the remaining resin (R) is removed by moving it parallel along the direction (B').

[0078] FIG. 8 illustrates an actual example in which the upper surface of a casing is cleaned using the automatic multi-axis robot (10) and removal assembly (50) of the present invention.

[0079] In this invention, tape (T) and resin (R) can be removed reliably and quickly in various ways based on the free turning and moving motion of the automatic multi-axis robot (10).

[0080] When the tape (T) and resin (R) of the battery module (B) are both removed by the above process, the automatic multi-axis robot (10) returns to its initial position. The pressure rod (36) of the cylinder actuator (34) retracts and moves out of the area of ​​the transfer rail (22), and the fixed state of the battery module (B) is released. The battery module (B) then moves linearly along the opposite direction by the rotation of the transfer rail (22) and is delivered to the location of the material module (40). The material module (40) operates in the reverse order as described with reference to FIG. 2 to place the battery module (B) back onto the conveyor (1000), and the battery module (B) is delivered along the conveyor (1000) to a subsequent work process.

[0081] The above describes an example of a finishing process, and various modifications are possible, such as using an unillustrated automatic arm to move the battery module (B), from which the tape (T) and resin (R) have been removed, from the alignment section (30) to an adjacent workbench.

[0082] The above description is merely an illustrative explanation of the technical concept of the present invention, and those skilled in the art to which the present invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the present invention.

[0083] Accordingly, the drawings disclosed in this invention are intended to explain, not limit, the technical concept of the invention, and the scope of the technical concept of the invention is not limited by these drawings. The scope of protection of this invention shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of this invention. Explanation of the symbols

[0085] 1: Automatic Tape and Resin Removal System 10: Automatic Multi-axis Robot 20: Transfer Shuttle 30: Alignment section 40: Lee Jae Module 50: Remove assembly 60: Blower Module 70: Cleaning device B: Battery module T: Tape R: Resin

Claims

Claim 1 An automatic removal system for automatically removing tape and resin exposed to the outside of a battery module, wherein the system comprises: an automatic multi-axis robot, wherein the automatic multi-axis robot comprises: a robot arm; a base coupled to the end of the robot arm; at least one gripper coupled to the base to grip and remove tape from the battery module; and a scraper coupled to the base to remove resin remaining on the battery module after tape removal by the at least one gripper. Claim 2 delete Claim 3 delete Claim 4 In claim 1, the automatic removal system further includes a material removal module, wherein the material removal module grasps a battery module and moves it to a transfer shuttle. Claim 5 In claim 4, the transfer shuttle comprises a long pair of transfer rails extended adjacent to each other, and the battery module is loaded on the transfer rails and moved to a forward alignment section, an automatic removal system. Claim 6 An automatic removal system according to claim 5, wherein the alignment unit comprises a stopper and a pair of pressurizing means installed on the outer side of each transfer rail, wherein the pressurizing means comprises a pressurizing rod that enters into or exits from the interior of the transfer rail, and wherein the pressurizing rod presses the side or rear of the battery module while in the interior of the transfer rail, and the stopper blocks the forward movement of the battery module, thereby fixing the battery module in place. Claim 7 In claim 1, the automatic removal system further comprises a blower module including a spray nozzle arranged to spray high-pressure air, wherein the compressed air discharged from the spray nozzle causes a portion of the tape to be detached from the casing of the battery module and directed in a certain direction. Claim 8 In claim 1, the automatic removal system further includes a cleaning device for removing residual resin adhering to the scraper. Claim 9 In claim 1, the automatic removal system further comprises a collection unit for collecting tape attached to at least one gripper. Claim 10 An automatic removal system according to claim 1, wherein at least one gripper is arranged side by side along one side of the base and each is integrally formed at the front end of a downwardly extended rod. Claim 11 delete Claim 12 An automatic removal system according to claim 1, further comprising a support bracket or block formed on a base opposite to one side of a base on which at least one gripper is arranged, wherein the scraper is installed on the support bracket or block. Claim 13 In claim 1, the automatic multi-axis robot is a multi-joint structure comprising a body, a first robot arm connected to the body, and a second robot arm connected to the first robot arm, wherein a pivotable driving arm and a coupling part for coupling to the base are formed in sequence at the tip of the second robot arm, an automatic removal system. Claim 14 A method for automatically removing tape and resin exposed outside a battery module using the automatic removal system of claim 1, comprising the step of removing the tape and the resin attached to the tape by moving at least one gripper along the direction of the tape attached to the battery module. Claim 15 A removal method according to claim 14, further comprising the step of moving a scraper in a direction perpendicular to the tape attached to the battery module to remove residual resin.

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