Electrode alignment device and method

Abstract

According to the present disclosure, there is provided an electrode alignment apparatus and method, the electrode alignment apparatus comprising: an electrode transfer machine that transfers a plurality of electrodes; the first measuring instrument is used for shooting the electrode on the electrode transfer machine to obtain a first image; an alignment table on one surface of which the electrode transferred from the electrode transfer machine is placed, the alignment table being movable; the first pickup machine is used for transferring the electrode on the electrode transfer machine to the alignment table; and a controller performing, before the electrode is placed on the alignment table, a pre-movement of moving the alignment table so that the alignment table corresponds to a position of the electrode displayed in the first image.

Description

Technical Field

[0001] This disclosure relates to an electrode alignment device and method. Background Technology

[0002] A secondary battery is a rechargeable and dischargeable battery. Secondary batteries can be used in smartphones, electric vehicles, and energy storage devices. A secondary battery can be structured by stacking a positive electrode, a separator, and a negative electrode within a casing and filling it with an electrolyte. The manufacturing process of the battery cell requires stacking the positive electrode, separator, and negative electrode. Before stacking the positive electrode, separator, and negative electrode, the positive and negative electrodes need to be aligned in a predetermined direction. Failure to align the positive and negative electrodes can lead to defects within the battery cell.

[0003] (Patent Document 1) KR 10-1140447 B1 Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] According to one aspect of this disclosure, an electrode alignment apparatus and method are provided, wherein, before moving the electrode to an alignment stage, the position of the electrode is measured, and the alignment stage is moved to align the position of the alignment stage with that of the electrode, and then the electrode is moved to the alignment stage.

[0006] According to one aspect of this disclosure, an electrode alignment apparatus and method are provided, wherein a portion of the alignment stage is formed of a transparent material to allow for photographing the apex of the electrode with a camera.

[0007] According to one aspect of this disclosure, an electrode alignment apparatus and method are provided, wherein a hole for adsorbing an electrode placed on an alignment stage is provided at a position adjacent to the edge of the electrode.

[0008] The electrode alignment apparatus and method according to one aspect of this disclosure can be applied to the manufacturing process of batteries, which are widely used in electric vehicles, battery charging stations, and other green technology fields such as solar power generation and wind power generation that utilize batteries.

[0009] The electrode alignment apparatus and method according to one aspect of this disclosure can be applied to the manufacturing process of batteries used in eco-friendly electric vehicles, hybrid vehicles, etc., to prevent climate change by suppressing air pollution and greenhouse gas emissions.

[0010] (II) Technical Solution

[0011] According to one aspect of this disclosure, an electrode alignment apparatus may include: an electrode transfer machine for transferring a plurality of electrodes; a first measuring instrument for capturing images of the electrodes on the electrode transfer machine to obtain a first image; an alignment stage on one side of which the electrodes transferred from the electrode transfer machine are placed, and the alignment stage is movable; a first pickup for transferring the electrodes on the electrode transfer machine to the alignment stage; and a controller for performing a pre-movement of the alignment stage to correspond to the position of the electrodes shown in the first image before placing the electrodes on the alignment stage.

[0012] According to one embodiment, when the position of the electrode shown in the first image is outside the alignable range relative to the reference position, the controller can determine that the electrode is defective and output a removal command.

[0013] According to one embodiment, the electrode alignment device may further include: a second measuring instrument for capturing an image of an electrode placed on the pre-moved alignment platform to obtain a second image, and the controller may further perform an alignment movement by moving the alignment platform to align the position of the electrode shown in the second image with a reference position.

[0014] According to one embodiment, the second measuring instrument can capture an image of an electrode placed on the alignment platform of the alignment movement to obtain a third image, and the controller can further perform a realignment movement to move the alignment platform so that the position of the electrode shown in the third image is aligned with the reference position.

[0015] According to one embodiment, the alignment stage may include: an opaque region formed of an opaque material; and a transparent region formed of a transparent material, such that an electrode placed on the upper surface of the alignment stage can be observed from the lower surface side of the alignment stage, and the second measuring instrument can photograph the electrode from the lower surface side of the alignment stage through the transparent region, the lower surface being the surface opposite to the upper surface of the alignment stage on which the electrode is placed.

[0016] According to one embodiment, the controller can move a region of interest for detecting the position of the electrode shown in the second image based on the movement of the alignment platform shown in the second image, and detect the position of the electrode.

[0017] According to one embodiment, the alignment stage may have a plurality of fixing portions formed along the edge where the electrode is placed to fix the electrode.

[0018] According to one embodiment, the electrode alignment method may include the following steps: an electrode transfer machine transfers a plurality of electrodes; a first measuring instrument captures an image of the electrodes on the electrode transfer machine to obtain a first image; a controller executes a movement alignment stage to pre-move the alignment stage to correspond to the position of the electrodes shown in the first image; and a first pickup machine transfers the electrodes on the electrode transfer machine to the alignment stage.

[0019] According to one embodiment, the electrode alignment method may further include the following steps: when the controller determines that the position of the electrode on the electrode transfer machine exceeds the alignable range relative to the reference position, the electrode is determined to be defective and a removal command is output.

[0020] According to one embodiment, the electrode alignment method may further include the following steps: a second measuring instrument takes a picture of the electrode placed on the pre-moved alignment platform to obtain a second image; and the controller performs an alignment movement to move the alignment platform so that the position of the electrode shown in the second image is aligned with a reference position.

[0021] According to one embodiment, the electrode alignment method may further include the following steps: the second measuring instrument captures an image of the electrode on the alignment stage during alignment movement to obtain a third image; and the controller performs a realignment movement by moving the alignment stage so that the position of the electrode shown in the third image is aligned with a reference position.

[0022] According to one embodiment, the alignment stage may include: an opaque region formed of an opaque material; and a transparent region formed of a transparent material, such that an electrode placed on the upper surface of the alignment stage can be observed from the lower surface side of the alignment stage. In the step of acquiring the second image, the second measuring instrument can photograph the electrode from the lower surface side of the alignment stage through the transparent region, the lower surface being the surface opposite to the upper surface of the alignment stage where the electrode is placed.

[0023] According to one embodiment, in the step of performing alignment movement, the controller can move the region of interest for detecting the position of the electrode displayed in the second image and detect the position of the electrode according to the movement of the alignment platform, and can perform alignment movement by moving the alignment platform to align the position of the electrode displayed in the second image with a reference position.

[0024] According to one embodiment, the electrode alignment method may further include the step of fixing the electrode placed on the alignment platform using a plurality of fixing portions formed along the edge on which the electrode is placed on the alignment platform.

[0025] (III) Beneficial Effects

[0026] According to one embodiment of this disclosure, by measuring the position of the electrodes in advance on the electrode transfer machine and moving the alignment stage in advance, the operating range and alignment time for aligning the electrodes can be reduced.

[0027] According to one embodiment of this disclosure, by measuring the position of the electrodes in advance on the electrode transfer machine and removing electrodes that are out of alignable range relative to the reference position before transferring the electrodes to the alignment stage, the time spent aligning the unalignable electrodes can be eliminated.

[0028] According to one embodiment of this disclosure, by uniformly adsorbing the surface of an electrode placed on an alignment stage, the position of the electrode can be accurately measured without measurement errors caused by curling at the electrode edges. Attached Figure Description

[0029] Figure 1 This is a diagram illustrating an electrode alignment device according to one embodiment.

[0030] Figure 2 This is a diagram showing the state of electrode transfer according to one embodiment of an electrode transfer machine.

[0031] Figure 3 This is a diagram showing the state of the alignment platform being pre-moved according to one embodiment.

[0032] Figure 4 This is a diagram illustrating the state of an electrode being transferred from an electrode transfer machine to a pre-moved alignment stage according to one embodiment.

[0033] Figure 5 This is a diagram illustrating the state of electrodes on a pre-moved alignment stage according to one embodiment.

[0034] Figure 6 This is a diagram illustrating the state of alignment movement of the alignment platform according to one embodiment.

[0035] Figure 7 This is a diagram illustrating the state of the electrodes on the alignment stage during image alignment movement according to one embodiment.

[0036] Figure 8 This is a diagram illustrating the state of realignment of the alignment platform according to one embodiment.

[0037] Figure 9 This is a diagram illustrating a state where electrodes are aligned on an alignment table and there are no electrodes on the stacker, according to one embodiment.

[0038] Figure 10 This is a diagram illustrating the state of an electrode being transferred from an alignment stage to a stacking machine according to one embodiment.

[0039] Figure 11 This is a diagram showing the transparent area and fixing part of the alignment platform according to one embodiment.

[0040] Figure 12 It is along Figure 11 The cross-sectional view taken from line A-A' shows the diagram of the second measuring instrument.

[0041] Figure 13 It shows from Figure 12 A diagram of the C1 observation electrode and alignment stage.

[0042] Figure 14 It shows from Figure 12 The image shows the C2 observation electrode and alignment stage.

[0043] Figure 15 This is a diagram illustrating the location of the region of interest in an image of the alignment stage before pre-movement, according to one embodiment.

[0044] Figure 16 This is a diagram illustrating the location of the region of interest in an image of an alignment platform after pre-movement, according to one embodiment.

[0045] Figure 17 This is a diagram illustrating the location of the region of interest in an image taken of an electrode placed on a pre-moved alignment stage, according to one embodiment.

[0046] Figure 18 This is a diagram illustrating the location of the region of interest in an image of an electrode on an alignment stage after alignment movement, according to one embodiment.

[0047] Figure 19 This is a diagram illustrating the function of the fixing part according to one embodiment.

[0048] Figure 20 This is a diagram used to illustrate the relationship between the position of the fixing part and the electrode according to the comparative example.

[0049] Figure 21 This is a diagram illustrating an electrode alignment method according to one embodiment.

[0050] Explanation of reference numerals in the attached figures:

[0051] 1: Electrode

[0052] 1p: Positive electrode

[0053] 1n: Negative electrode

[0054] 100: Electrode alignment device

[0055] 110: Electrode transfer machine

[0056] 120: First measuring instrument

[0057] 131: First Pickup Machine

[0058] 132: Second pickup machine

[0059] 140: Alignment Platform

[0060] 141: Transparent Area

[0061] 142: Opaque Area

[0062] 143: Fixing part

[0063] 144: Air lines

[0064] 150: Second measuring instrument

[0065] 160: Stacker

[0066] 170: Controller Detailed Implementation

[0067] The present disclosure will now be described in detail (with reference to the accompanying drawings). However, this is only an example, and the present disclosure is not limited to the specific embodiments described herein.

[0068] Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the accompanying drawings.

[0069] Figure 1 This is a diagram illustrating an electrode alignment device 100 according to one embodiment.

[0070] An electrode alignment device 100 according to one embodiment may include: an electrode transfer machine 110 for transferring a plurality of electrodes 1; a first measuring instrument 120 for photographing the electrodes 1 on the electrode transfer machine 110 to obtain a first image Im1; an alignment platform 140 for placing the electrodes 1 transferred from the electrode transfer machine 110 on one side of the alignment platform 140, and the alignment platform 140 is movable; a first pickup 131 for transferring the electrodes 1 on the electrode transfer machine 110 to the alignment platform 140; and a controller 170 for performing a pre-movement of the alignment platform 140 to correspond to the position of the electrodes 1 displayed in the first image Im1 before placing the electrodes 1 on the alignment platform 140.

[0071] Electrode alignment device 100 is a device that aligns electrode 1 with a predetermined position before supplying electrode 1 to stacker 160. Electrode alignment device 100 can align electrode 1 placed on alignment stage 140 with a reference position. Electrode 1 can be a positive electrode 1p or a negative electrode 1n. Electrode 1 can have a structure in which a mixture layer is coated on a current collector and a tab 1a is formed on one side of the current collector. Electrode 1 can be transferred from electrode manufacturing apparatus or electrode storage apparatus to electrode transfer machine 110. Electrode 1 can be transferred towards alignment stage 140 via electrode transfer machine 110. Electrode manufacturing apparatus may include one or more devices for performing processes such as coating, drying, grooving, and cutting. Electrode storage apparatus may include a magazine or similar device for holding multiple electrodes 1.

[0072] Electrode transfer machine 110 can transfer multiple electrodes 1. Electrode transfer machine 110 may include a conveyor belt, a linear motion system (LMS), etc. Electrode transfer machine 110 can transfer electrodes 1 toward the alignment stage 140. Electrode transfer machine 110 may include a positive electrode transfer machine 110p and a negative electrode transfer machine 110n. Positive electrode transfer machine 110p can transfer positive electrode 1p. Negative electrode transfer machine 110n can transfer negative electrode 1n.

[0073] The first measuring instrument 120 can capture images of the electrode 1 being transferred on the electrode transfer machine 110 to generate a first image Im1. The first measuring instrument 120 may include a camera. The first measuring instrument 120 can provide the first image Im1 to the controller 170. The first measuring instrument 120 may be located above the electrode transfer machine 110 so as to capture images toward the upper surface of the electrode transfer machine 110. Multiple first measuring instruments 120 may be provided. For example, in two first measuring instruments 120, one can capture images of the portion of the electrode 1 where the tab 1a is present, and the other can capture images of the portion of the electrode 1 where the tab 1a is not present. Two first measuring instruments 120 can capture images of the positive electrode 1p, and two other first measuring instruments 120 can capture images of the negative electrode 1n.

[0074] Alignment platform 140 aligns the position of electrode 1 with a reference position. The reference position is the position where electrode 1 supplied to stacker 160 should be aligned on alignment platform 140. Alignment platform 140 may include a plate capable of placing electrode 1 on one side. Alignment platform 140 may be formed from a plate larger than electrode 1. Alignment platform 140 can be moved based on the control of controller 170. Alignment platform 140 can move along the X-axis and Y-axis directions relative to the side where electrode 1 is placed, and can also rotate around a T-axis perpendicular to the side. Alignment platform 140 can also rotate and move in a clockwise or counterclockwise direction. Alignment platform 140 can also move using (X, Y, T) or (U, V, W) methods. Alignment platform 140 can be moved by a motor, gears, shafts, and various other control mechanisms, or by electromagnetic force, etc. Various configurations can be used to move alignment platform 140. The configurations for moving alignment platform 140 are omitted in the accompanying drawings.

[0075] The first pick-up device 131 can transfer the electrode 1 from the electrode transfer device 110 to the alignment stage 140. The second pick-up device 132 can transfer the electrode 1 from the alignment stage 140 to the stacker 160. The first pick-up device 131 and the second pick-up device 132 can be pick-up and placement devices. The first pick-up device 131 and the second pick-up device 132 can include a suction machine for adsorbing the electrode 1 or a clamp for gripping the electrode 1, and can include a robotic arm or moving frame for moving the suction machine or clamp. The first pick-up device 131 picks up the electrode 1 from the transfer device, moves the picked-up electrode 1 to the alignment stage 140, and releases the pick-up to set the electrode 1 on the alignment stage 140. The first pick-up device 131 and the second pick-up device 132 can also be a single pick-up device. A single pick-up device can transfer the electrode 1 from the electrode transfer device 110 to the alignment stage 140, or it can transfer the electrode 1 from the alignment stage 140 to the stacker 160.

[0076] The controller 170 can receive a first image Im1 from the first measuring instrument 120. The controller 170 can control the movement of the alignment stage 140 to align the electrode 1. The controller 170 can control the first pickup 131 to transfer the electrode 1 from the electrode transfer machine 110 to the alignment stage 140.

[0077] The controller 170 may include a processor and a storage unit connected to the processor to transmit or receive data. The storage unit may include temporary or non-temporary memory, a hard disk, an optical storage medium, etc. The storage unit may store program code for performing each step of the electrode alignment method. The storage unit may store various data or instructions required to perform the electrode alignment method. The processor can read and execute the program code stored in the storage unit to perform the electrode alignment method. The controller 170 may further include input / output interfaces, including output devices such as displays or speakers capable of providing data or alignment results to a user visually or audibly, and input devices such as touchpads, keyboards, buttons, mice, etc. capable of receiving data or instructions from a user. The controller 170 may further include a communication interface capable of transmitting or receiving data or instructions with a system controlling the secondary battery manufacturing process, a PLC, a computer device, etc. The communication interface may include circuits, communication chips, antennas, etc., capable of using wired network methods such as IPv4, IPv6, Ethernet, LAN, WAN, etc., and wireless network methods such as 5G, 6G, Wi-Fi, Bluetooth, etc.

[0078] The controller 170 can analyze the first image Im1 to determine the position of electrode 1. The first measuring instrument 120 can be located at a predetermined position on the upper part of the electrode transfer machine 110, and the first measuring instrument 120 can capture a predetermined area of ​​the electrode transfer machine 110. In the first image Im1, electrode 1 on the electrode transfer machine 110 can be displayed. Details of how the controller 170 identifies the position of electrode 1 displayed in the first image Im1 will be described later.

[0079] Before placing electrode 1 on alignment stage 140, controller 170 may perform a pre-movement. Pre-movement means setting alignment stage 140 to a position corresponding to the position of electrode 1 shown in the first image Im1. The details of controller 170's pre-movement of alignment stage 140 will be explained later.

[0080] When the position of electrode 1 displayed in the first image Im1 is outside the alignable range relative to the reference position, the controller 170 can determine that electrode 1 is defective and output a removal command. The removal command can be transmitted to the pickups 131, 132, 133 or the electrode transfer unit 110.

[0081] The alignment stage 140 can be restricted in its movable range. Alternatively, if the alignment time using the alignment stage 140 is too long, it may delay the cell manufacturing process. Therefore, the controller 170 can pre-set the alignable range and treat electrodes 1 outside the alignable range as defective.

[0082] Using a removal command output by controller 170, pickers 131, 132, and 133 can remove electrodes 1 that are out of alignment range from the manufacturing line. There are various methods for using pickers 131, 132, and 133 to remove electrodes 1 that are out of alignment range or that fail to align.

[0083] The first pickup 131 can pick up electrodes 1 that are outside the alignable range and move them to a location where defective electrodes are collected.

[0084] Alternatively, the first pickup 131 can pick up an electrode 1 that is out of alignment range and place it on the alignment stage 140, the controller 170 does not perform the measurement using the second measuring instrument 150, and the second pickup 132 can pick up an electrode 1 that is out of alignment range placed on the alignment stage 140 and move it to a location for collecting defective electrodes.

[0085] Alternatively, the first pickup unit 131 may not pick up electrodes 1 that are outside the alignable range, and the electrode transfer unit 110 may transfer electrodes 1 according to a predetermined operation. Electrodes 1 that are not picked up by the electrode transfer unit 110 may be unloaded at the end of the electrode transfer unit 110. Electrodes 1 unloaded at the end of the electrode transfer unit 110 may enter the box 2 for collecting defective electrodes. The box 2 is the location for collecting defective electrodes.

[0086] Alternatively, the electrode alignment device 100 may further include a third pickup 133 for picking up electrodes 1 that are outside the alignable range. The third pickup 133 can pick up electrodes 1 that are outside the alignable range located on the electrode transfer machine 110 and move them to a location for collecting defective electrodes. The third pickup 133 can also pick up electrodes 1 that have already undergone alignment operations on the alignment table 140 and have undergone realignment operations but still fail to align, and move them to a location for collecting defective electrodes. The location for collecting defective electrodes may be the aforementioned box 2 or another box located elsewhere.

[0087] Alternatively, the first pickup 131 can pick up an electrode 1 that is outside the alignable range and place it on the alignment stage 140. Additionally, the controller 170 may not perform measurements using the second measuring instrument 150, and the third pickup 133 can pick up the electrode 1 on the alignment stage 140 and move it to a location for collecting defective electrodes.

[0088] Since electrodes 1 that extend beyond a predetermined range (e.g., ±00mm) from the reference position are processed (discarded) as defective before being moved to the alignment stage 140, the processing time for defective products can be reduced. Because electrodes 1 that extend beyond the alignable range can be removed before being supplied to the alignment stage 140, defective electrodes 1 can be discarded in a shorter time compared to cases where alignment is attempted on the alignment stage 140 but deemed unalignable and the electrodes 1 are removed. Furthermore, since only electrodes 1 within the alignable range are moved to the alignment stage 140, as the distance the electrodes 1 extend beyond the reference position decreases, the time required to detect the boundary 1b of the electrodes 1 in the area of ​​interest and the travel distance of the alignment stage 140 during alignment are both reduced, allowing alignment to be achieved in a shorter time. Therefore, the overall cell manufacturing time can be reduced.

[0089] Since only electrodes 1 within the alignable range are supplied to the alignment stage 140, the reference position and the position of electrode 1 can be approximately the same. Therefore, the distance that the alignment stage 140 needs to move for alignment can be reduced, and the time it takes for the alignment stage 140 to move and align electrode 1 can be reduced.

[0090] When it is difficult to directly transfer electrode 1 from electrode transfer machine 110 to the defective electrode 1 discharge location, controller 170 can use first pickup 131 to transfer electrode 1 from electrode transfer machine 110 to alignment stage 140, and control second pickup 132 to discharge electrode 1 from electrode transfer machine 110 as defective. In this case, controller 170 does not need to perform pre-movement or alignment movement of alignment stage 140. That is, when electrode 1 that is out of alignment range is transferred from electrode transfer machine 110 to alignment stage 140, it can be immediately transferred from alignment stage 140 to the discharge location of defective electrode 1.

[0091] Reference Figures 2 to 8 The alignment of electrode 1 will be explained.

[0092] Figure 2 This is a diagram showing the state in which the electrode transfer machine 110 transfers the electrode 1 according to one embodiment. Also refer to... Figure 1 and Figure 2 . Figures 2 to 8 The electrode transfer machine 110 and the alignment stage 140 are shown from a top-down view.

[0093] The reference positions RP1 and RP2 may include a longitudinal reference line RP1 and a transverse reference line RP2. The longitudinal reference line RP1 and the transverse reference line RP2 may be represented by thick dashed lines, and the center point where the longitudinal reference line RP1 and the transverse reference line RP2 intersect is shown as being obscured by the alignment platform 140.

[0094] The longitudinal centerline M2a and the transverse centerline M2b of the alignment platform 140 are represented by a single-dotted line on the alignment platform 140. The position of the alignment platform 140 may include the position of the center point where the longitudinal centerline M2a and the transverse centerline M2b intersect and the angle of rotation of the alignment platform 140 relative to the reference positions RP1 and RP2.

[0095] The longitudinal centerline M1a and the transverse centerline M1b of electrode 1 are represented by thin dashed lines on the electrode. The position of electrode 1 may include the position of the center point where the longitudinal centerline M1a and the transverse centerline M1b intersect and the angle of rotation of electrode 1 relative to the reference positions RP1 and RP2.

[0096] like Figure 2 As shown, when the electrode transfer machine 110 performs the step of transferring multiple electrodes 1 (S10), the electrodes 1 can be stopped when they are transferred to a predetermined position on the electrode transfer machine 110. The electrode transfer machine 110 can transfer multiple electrodes 1 in the direction of arrow B1 so that the multiple electrodes 1 are spaced apart. The electrode transfer machine 110 stops transferring when the electrodes 1 are at the predetermined position. The predetermined position on the electrode transfer machine 110 can be the position where the first pickup machine 131 performs pickup, or it can be the position corresponding to the area of ​​the electrode 1 captured by the first measuring instrument 120.

[0097] When the electrode transfer machine 110 is temporarily stopped, the step (S20) of the first measuring instrument 120 photographing the electrode 1 on the electrode transfer machine 110 to obtain a first image Im1 can be executed. The first measuring instrument 120 can photograph the electrode 1 on the electrode transfer machine 110 to generate the first image Im1. The first measuring instrument 120 can transmit the first image Im1 to the controller 170. Two first measuring instruments 120 can each generate the first image Im1 and provide it to the controller 170. Figure 2 As shown, a first measuring instrument 120 can capture images of a first imaging area A (120A) on the electrode transfer machine 110. The first imaging area A (120A) may include the portion of the electrode 1 on the electrode transfer machine 110 where the tab 1a is located. Therefore, as Figure 2 As shown in the enlarged view, the first measuring instrument 120 can acquire a first image Im1 displaying the tab 1a. For example... Figure 2 As shown, another first measuring instrument 120 can capture a first imaging area B (120B) on the electrode transfer machine 110. The first imaging area B (120B) may include the portion of the electrode 1 on the electrode transfer machine 110 where the tab 1a is not present. Therefore, the first measuring instrument 120 can acquire a first image (not shown) that does not display the tab 1a.

[0098] The controller 170 can detect the boundary 1b of the electrode 1 displayed in the first image Im1. One or more first regions of interest (ROIs) 1 can be formed at predetermined locations in the first image Im1, and the coordinates of the boundary 1b of the electrode 1 existing across the first regions of interest ROIs 1 can be confirmed. The first regions of interest ROIs 1 can be located at predetermined locations in the first image Im1. When the coordinates of the boundary 1b of the electrode 1 are obtained, the vertical centerline M1a and the horizontal centerline M1b of the electrode 1 can be calculated using the horizontal width and vertical length of the electrode 1. The controller 170 can identify the position of the electrode 1 by the coordinates of the center point where the centerlines M1a and M1b of the electrode 1 intersect on the electrode transfer machine 110 and the angle of inclination of the centerlines M1a and M1b relative to the reference positions RP1 and RP2.

[0099] During the process of measuring the position of electrode 1 on electrode transfer machine 110, alignment stage 140 can remain in the previously aligned position of electrode 1.

[0100] After identifying the position of electrode 1, controller 170, as shown in reference... Figure 1 The description states that when it is determined that electrode 1 is outside the alignable range, a step (S30) can be executed to determine electrode 1 as defective and output a removal command.

[0101] Figure 3 This is a diagram showing the state of the alignment platform 140 being pre-moved according to one embodiment.

[0102] When the controller 170 uses the first image Im1 to obtain the position of the electrode 1, the controller 170 can execute a pre-movement execution step (S40) to move the alignment platform 140 so that the alignment platform 140 corresponds to the position of the electrode 1 shown in the first image Im1.

[0103] When the position of electrode 1 displayed in the first image Im1 is confirmed, a pre-movement of the alignment platform 140 can be performed to align the alignment platform 140 with the position of electrode 1. Pre-movement means that before moving electrode 1 to the alignment platform 140, the alignment platform 140 is moved so that its position matches the position of electrode 1. The position of electrode 1 can be represented by its position on the alignment platform 140 when it is moved (refer to electrode 1W indicated by the dashed line). When the position of electrode 1 differs from the reference positions RP1 and RP2, if the alignment platform 140 is pre-moved to align with the position of electrode 1, the position of electrode 1 and the position of the alignment platform 140 can correspond when electrode 1 is moved to the alignment platform 140. That is, the center lines M2a and M2b of the alignment platform 140 can coincide with the center lines M1a and M1b of the electrode 1 to be moved by the first pickup unit 131.

[0104] The centerlines M2a and M2b of the alignment stage 140 in the pre-movement state can differ from the reference positions RP1 and RP2. This is because the alignment stage 140 moves to correspond to the position of electrode 1. During the pre-movement, the alignment stage 140 can rotate along the rotation direction of electrode 1, or move electrode 1 beyond the X-axis or Y-axis direction to a certain extent. For example, as... Figure 3 As shown, when electrode 1 rotates counterclockwise, the alignment platform 140 can also rotate counterclockwise accordingly (refer to arrow T1).

[0105] Figure 4 This is a diagram showing the state in which an electrode 1 is transferred from an electrode transfer machine 110 to a pre-moved alignment stage 140 according to one embodiment.

[0106] After the pre-movement is performed, the first pick-up unit 131 can move the electrode 1 from the electrode transfer unit 110 to the alignment stage 140 (S50). The controller 170 can control the first pick-up unit 131 to move the electrode 1 (arrow B2) to the alignment stage 140 after the pre-movement is performed. The first pick-up unit 131 can directly pick up the electrode 1 from the electrode transfer unit 110, move it to the alignment stage 140 in a picked-up state, and then release the pick-up to place the electrode 1 on the alignment stage 140. Figure 4 As shown, when the first pickup 131 transfers electrode 1, electrode 1 may be placed directly on the alignment stage 140 at an incorrect position on the electrode transfer machine 110. As a result, the center lines M1a and M1b of electrode 1 may coincide with the center lines M2a and M2b of the alignment stage 140. During the process of the first pickup 131 picking up and releasing electrode 1, due to the incorrect position of electrode 1, the center lines M1a and M1b of electrode 1 may not be consistent with the center lines M2a and M2b of the alignment stage 140, but the degree of inconsistency will be very small. This is because, through pre-movement, the alignment stage 140 has already moved to the position where electrode 1 will be transferred.

[0107] Figure 5 This is a diagram showing the state of the electrode 1 on the pre-moved alignment stage 140 according to one embodiment.

[0108] After electrode 1 is moved from electrode 1 supply machine to alignment stage 140, the step of second measuring instrument 150 taking a picture of electrode 1 placed on the pre-moved alignment stage 140 to obtain a second image Im2 can be performed (S70). Electrode alignment device 100 may further include second measuring instrument 150 taking a picture of electrode 1 placed on the pre-moved alignment stage 140 to obtain a second image Im2.

[0109] The second measuring instrument 150 can photograph the electrode 1 and generate an image similar to the first measuring instrument 120. The second measuring instrument 150 may include a camera. The second measuring instrument 150 can photograph the electrode 1 placed on the alignment stage 140 and generate a second image Im2. Multiple second measuring instruments 150 may be provided. For example, one of the two second measuring instruments 150 can photograph a second photographing area A (150A) of the alignment stage 140. The second photographing area A (150A) may include the portion of the electrode 1 on the alignment stage 140 where the tab 1a is present. The other second measuring instrument 150 can photograph a second photographing area B (150B) of the alignment stage 140. The second photographing area B (150B) may include the portion of the electrode 1 where the tab 1a is not present. The second image Im2 obtained by photographing the second photographing area A (150A) is... Figure 5 The enlarged view shows that the second measuring instrument 150 can provide the second image Im2 to the controller 170.

[0110] like Figure 1 As shown, the second measuring instrument 150 can be located below the alignment stage 140 to capture images toward the lower surface 140b of the alignment stage 140. A portion of the alignment stage 140 can be formed of a transparent material so that the second measuring instrument 150 can capture images of the electrode 1 located above the alignment stage 140 from below the alignment stage 140. The area of ​​the alignment stage 140 formed of transparent material will be described later.

[0111] Or, with Figure 1 The position of the second measuring instrument 150 shown is different. The second measuring instrument 150 can be located on the upper part of the alignment stage 140 so as to take pictures toward the upper surface 140a of the alignment stage 140 where the electrode 1 is placed. Figure 5 The enlarged view shows the second image Im2 acquired by the second measuring instrument 150 in a state where it is positioned to take pictures of the upper surface 140a of the alignment stage 140.

[0112] The controller 170 can analyze the second image Im2 acquired from the second measuring instrument 150 to identify the position of electrode 1. The controller 170 can detect the boundary 1b of electrode 1 displayed in the second image Im2. One or more second regions of interest (ROIs) 2 can be formed at predetermined locations in the second image Im2, and the coordinates of the boundary 1b of electrode 1 existing within the second ROI 2 can be confirmed. The second ROI 2 can be located at predetermined locations in the second image Im2. Specific details regarding the position of the second ROI 2 will be explained later. When the controller 170 acquires the coordinates of the boundary 1b of electrode 1, it can calculate the vertical centerline M1a and horizontal centerline M1b of electrode 1 using the lateral and longitudinal dimensions of electrode 1. The controller 170 can identify the position of electrode 1 by the coordinates of the center point where the centerlines M1a and M1b of electrode 1 intersect on the alignment stage 140 and the angle of inclination of the centerlines M1a and M1b relative to the reference positions RP1 and RP2. More detailed information regarding the controller 170's identification of the position of electrode 1 displayed in the second image Im2 will be explained later.

[0113] Figure 6 This is a diagram illustrating the alignment movement of the alignment platform 140 according to one embodiment.

[0114] When the controller 170 acquires the position of electrode 1 on the alignment stage 140, the controller 170 may execute an alignment movement execution step (S80) to move the alignment stage 140 so that the position of electrode 1 displayed in the second image Im2 is aligned with the reference position. The controller 170 may further execute an alignment movement to move the alignment stage 140 so that the position of electrode 1 displayed in the second image Im2 is aligned with the reference positions RP1, RP2.

[0115] Alignment movement refers to moving the electrode 1, which is located on the alignment platform 140 in a pre-moved state, to the reference positions RP1 and RP2 by moving the alignment platform 140. After the alignment movement is performed, the vertical center line M1a and the horizontal center line M1b of the electrode 1 can be aligned with the reference positions RP1 and RP2. At this time, the center lines M2a and M2b of the alignment platform 140 can also be aligned with the reference positions RP1 and RP2. However, since there may be slight differences between the center lines M2a and M2b of the alignment platform 140 and the center lines M1a and M1b of the electrode 1, the center lines M2a and M2b of the alignment platform 140 may have slight differences from the reference positions RP1 and RP2 when the center lines M1a and M1b of the electrode 1 are aligned with the reference positions RP1 and RP2. However, since the electrode 1 is aligned with the reference positions RP1 and RP2, the slight differences between the center lines M2a and M2b of the alignment platform 140 and the reference positions RP1 and RP2 are not a problem.

[0116] After the first pickup 131 picks up the electrode 1 from the electrode transfer machine 110 and transfers it to the alignment stage 140, the electrode transfer machine 110 can be operated again to transfer the electrode 1. During the steps of acquiring the second image Im2 (S70) and performing the alignment movement (S80), the electrode transfer machine 110 transfers the electrode 1 (refer to arrow B3) to a predetermined position, thereby reducing the overall time for aligning the electrode 1.

[0117] Figure 7 This is a diagram showing the state of the electrode 1 on the alignment stage 140 for shooting alignment movement according to one embodiment.

[0118] After the alignment movement is performed, the second measuring instrument 150 can take a picture of the electrode 1 on the alignment stage 140 of the alignment movement to obtain a third image Im3 (S90). The second measuring instrument 150 can take a picture of the electrode 1 placed on the alignment stage 140 of the alignment movement to obtain a third image Im3.

[0119] The third image Im3 is an image of electrode 1 on the alignment stage 140 after alignment movement. Electrode 1 is aligned so that its center lines M1a and M1b are aligned with reference positions RP1 and RP2. The third image Im3 may be generated to determine whether electrode 1 is aligned with reference positions RP1 and RP2 after alignment movement. The second measuring instrument 150 can generate the third image Im3 and provide it to the controller 170. The controller 170 can analyze the third image Im3 received from the second measuring instrument 150 to identify the position of electrode 1. The third image Im3 can be generated in the same manner as the second measuring instrument 150 capturing the second image Im2, and the process by which the controller 170 identifies the position of electrode 1 from the third image Im3 can also be generated in the same manner as the process by which it identifies the position of electrode 1 from the second image Im2.

[0120] Figure 8 This is a diagram showing the state of realignment of the alignment platform 140 according to one embodiment.

[0121] The controller 170 can obtain the position of electrode 1 on the alignment stage 140, and when the difference between the position of electrode 1 and the reference positions RP1 and RP2 is less than a predetermined standard, it can choose not to perform realignment movement.

[0122] When the controller 170 determines that the position of electrode 1 on the alignment stage 140 is inconsistent with the reference positions RP1 and RP2, the controller 170 may execute a realignment movement execution step (S100) to move the alignment stage 140 so that the position of electrode 1 displayed in the third image Im3 is aligned with the reference positions RP1 and RP2. The controller 170 may further execute the realignment movement to move the alignment stage 140 so that the position of electrode 1 displayed in the third image Im3 is aligned with the reference positions RP1 and RP2.

[0123] Realignment movement refers to moving electrode 1 back to the reference positions RP1 and RP2 when it is not aligned with the reference positions RP1 and RP2 in the alignment movement state. Even if the alignment movement has been performed, realignment movement can be further performed if electrode 1 is not aligned with the reference positions RP1 and RP2 within a predetermined standard.

[0124] Realignment movement refers to moving the electrode 1 located on the alignment platform 140 back to the reference positions RP1 and RP2 by moving the alignment platform 140. After realignment movement, the vertical center line M1a and the horizontal center line M1b of the electrode 1 can be aligned with the reference position. Since realignment movement simply aligns the electrode 1, which has already undergone alignment movement, back to the reference positions RP1 and RP2, the movement distance is short and the movement time may be relatively short.

[0125] After performing the realignment movement, the second measuring instrument 150 takes another picture of electrode 1 on the alignment stage 140 to obtain a fourth image (not shown), and the controller 170 can further determine whether the position of electrode 1 in the fourth image is consistent with the reference positions RP1, RP2. When it is determined that electrode 1 is not aligned with the reference positions RP1, RP2, the controller 170 can use the second pickup 132 or the third pickup 133 to pick up electrode 1 on the alignment stage 140 and discharge it to a place that accommodates defective electrodes.

[0126] Alternatively, if it is determined that electrode 1 is not aligned with the reference positions RP1 and RP2, the controller 170 may perform a realignment movement again, but the realignment movement may be set to be performed only a predetermined number of times. Even if the predetermined number of realignment movements is performed, if it is still determined that electrode 1 is not aligned with the reference positions RP1 and RP2, the controller 170 may pick up electrode 1 on the alignment stage 140 and discharge it to a place that accommodates defective electrodes.

[0127] Figure 9 This is a diagram showing a state in which electrode 1 is aligned on alignment stage 140 and there is no electrode 1 on stacker 160 according to one embodiment.

[0128] When controller 170 determines that electrode 1 is aligned at reference positions RP1 and RP2, electrode 1 is placed on alignment platform 140. Electrode 1 may not be present on stacker 160.

[0129] Figure 10 This is a diagram showing the state in which the electrode 1 is transferred from the alignment stage 140 to the stacker 160 according to one embodiment.

[0130] The controller 170 can control the second pickup unit 132 to pick up the electrode 1 on the alignment stage 140, move the picked-up electrode 1 (refer to arrow B4) to the stacker 160, and place the picked-up electrode 1 on the stacker 160. When the second pickup unit 132 supplies the electrode 1 to the stacker 160, the stacker 160 can stack the positive electrode 1p, the separator, and the negative electrode 1n.

[0131] During the supply of electrode 1 to the stacker 160, electrode transfer machine 110 can be in a state of moving electrode 1 to a predetermined position. Additionally, first measuring instrument 120 can capture images of first imaging area A (120A) and first imaging area B (120B) on electrode transfer machine 110, and controller 170 can execute the process of acquiring the position of electrode 1 on electrode transfer machine 110. In terms of time, if the step of capturing images of electrode 1 on electrode transfer machine 110 (S20) and the process of supplying electrode 1 to stacker 160 are performed simultaneously, the overall time required for electrode alignment can be shortened.

[0132] Figure 11 This is a diagram showing the transparent area 141 and the fixing part 143 of the alignment platform 140 according to one embodiment. Figure 12 It is along Figure 11 The cross-sectional view taken from line A-A' shows the diagram of the second measuring instrument.

[0133] The alignment stage 140 may include an opaque region 142 formed of an opaque material and a transparent region 141 formed of a transparent material to allow observation of the electrode placed on the upper surface 140a from the lower surface 140b side.

[0134] The transparent region 141 can be formed to include a region corresponding to a portion of the edge of the electrode 1 at the position of the electrode 1 placed on the alignment stage 140. The transparent region 141 is used by the second measuring instrument 150 to photograph the electrode 1 placed on the upper surface 140a of the alignment stage 140 in a direction toward the lower surface 140b of the alignment stage 140. The second measuring instrument 150 can photograph the electrode 1 from the lower surface 140b side through the transparent region 141 formed of a transparent material, the lower surface 140b being the surface opposite to the upper surface 140a in the alignment stage 140 where the electrode 1 is placed.

[0135] The opaque area 142 may be located at the center of the alignment platform 140. The transparent area 141 may be located at one end, the other end, or both ends of the alignment platform 140.

[0136] To measure the position of electrode 1, the second measuring instrument 150 can capture images of predetermined shooting areas 150A and 150B on the alignment stage 140. Shooting areas 150A and 150B captured by the second measuring instrument 150 can include regions covering both ends of electrode 1. Specifically, the second shooting area A (150A) can capture the portion of electrode 1 where tab 1a is present at one end, and the second shooting area B (150B) can capture the portion of electrode 1 where tab 1a is absent at the other end. Alternatively, the shooting area can capture the region corresponding to the vertex or edge of electrode 1. Therefore, the position and size of the transparent area 141 can be determined such that at least a portion overlaps with the region captured by the second measuring instrument 150. When the boundary 1b of electrode 1 is displayed in the image generated by the second measuring instrument 150 through the transparent area 141, the coordinates of the boundary 1b of electrode 1 can be obtained, the position of the centerline of electrode 1 can be calculated, and the position of electrode 1 can be determined.

[0137] Figure 13 It shows from Figure 12 A diagram of the C1 observation electrode and alignment stage. Figure 14 It shows from Figure 12 The image shows the C2 observation electrode and alignment stage.

[0138] and Figure 1 Similar to the first measuring instrument 120, the second measuring instrument 150 can be located above the alignment stage 140 and facing the upper surface 140a of the alignment stage 140 where the electrode 1 is placed. That is, the second measuring instrument 150 is located on... Figure 12 Observe the alignment platform 140 in the C1 direction. For example... Figure 13 As shown, since electrode 1 is located on the alignment stage 140, electrode 1 is not obstructed by the second measuring instrument 150. Even if the alignment stage 140 is opaque, the boundary 1b of electrode 1 can be displayed in the image as long as the second measuring instrument 150 captures an image of electrode 1.

[0139] like Figure 1 and Figure 12 As shown, the second measuring instrument 150 can be located below the alignment stage 140 and facing the lower surface 140b of the alignment stage 140. That is, the second measuring instrument 150 is located at... Figure 12 The alignment stage 140 is observed in the C2 direction. In this case, as... Figure 14 As shown, there is a portion of electrode 1 that is obscured by the opaque region 142 of the alignment stage 140. Since the alignment stage 140 includes a transparent region 141, the second measuring instrument 150 can photograph electrode 1 through the transparent region 141.

[0140] Refer again Figures 11 to 14 .

[0141] The alignment platform 140 may have a plurality of fixing portions 143 formed along the edge 1b where the electrode 1 is placed to fix the electrode 1. The fixing portions 143 can fix the electrode 1 placed on the alignment platform 140 to the alignment platform 140. The fixing portions 143 may include adsorption holes or adsorption pads for adsorbing the electrode 1. The electrode alignment device 100 may further include a negative pressure supply device (not shown), which forms a negative pressure for adsorption at the fixing portions 143 of the alignment platform 140. The fixing portions 143 may also include a coil for fixing the electrode 1 to the alignment platform 140 using magnetic force.

[0142] According to one embodiment, the alignment stage 140 may further include an air line 144 for transmitting negative pressure to a plurality of fixing portions 143. The air line 144 may include a tube formed inside the alignment stage 140. The air line 144 may be formed across an opaque region 142 and a transparent region 141. The air line 144 may be connected to the plurality of fixing portions 143. The air line 144 may be connected to a negative pressure supply device to transmit negative pressure generated by the negative pressure supply device to the fixing portions 143. The plurality of fixing portions 143 may use the negative pressure transmitted from the air line 144 to press the electrode 1 firmly against the alignment stage 140.

[0143] When electrode 1 is placed on the alignment platform 140, the fixing part 143 can be operated to at least temporarily fix electrode 1 on the alignment platform 140. When the alignment platform 140 moves while the fixing part 143 is in operation, the electrode 1 can also move because it is fixed on the alignment platform 140. Even if the alignment platform 140 moves slightly, electrode 1 can move slightly along with it. Therefore, electrode 1 can be accurately aligned with the reference position.

[0144] Electrode 1 placed on alignment platform 140 may curl. Curl refers to the shape in which the edge or corner of electrode 1 curls up or down. According to one embodiment, alignment platform 140 can prevent both upward and downward curling at the same time.

[0145] The transparent area 141 of the alignment platform 140 can support the four vertices and edges of the electrode 1. Therefore, the electrode 1 does not droop downwards along the lower direction of the alignment platform 140. Therefore, no downward curling appears on the electrode 1 shown in the second image Im2 and the third image Im3.

[0146] Since the fixing part 143 of the alignment platform 140 can adhere to the edge of the electrode 1, the edge of the electrode 1 can be in close contact with the alignment platform 140. Therefore, the electrode 1 does not bend in the upward direction of the alignment platform 140. Therefore, no upward curling appears on the electrode 1 shown in the second image Im2 and the third image Im3.

[0147] Reference Figures 15 to 17 The movement of the second region of interest ROI2 in relation to the movement of the alignment platform 140 according to one embodiment will be described. Figures 15 to 17 The second measuring instrument 150 is shown with its orientation toward the lower surface 140b of the alignment stage 140 as a reference.

[0148] The controller 170 can move the region of interest (ROI) for detecting the position of electrode 1 displayed in the second image Im2 based on the movement of the alignment platform 140 shown in the second image Im2, and detect the position of electrode 1.

[0149] Figure 15 This is a diagram illustrating the location of the region of interest (ROI) in an image of the alignment platform 140 before pre-movement, according to one embodiment.

[0150] Figure 15 As shown, Figure 2 The image shown is generated when the second measuring instrument 150 captures the alignment stage 140 before the pre-movement. Although the second measuring instrument 150 does not capture the alignment stage 140 before the pre-movement, the second region of interest ROI2 is marked in the image captured by the second measuring instrument 150 to illustrate the movement of the second region of interest ROI2.

[0151] Before performing the pre-movement, the alignment platform 140 can be in a state where its longitudinal centerline M2a and transverse centerline M2b are aligned with reference positions RP1 and RP2. In this state, the second region of interest (ROI2) can be set to a predetermined location with reference to the position of the alignment platform 140 shown in the image. For example, the second region of interest (ROI2) can be set to a position spaced at predetermined intervals along the X and Y axes from the apex of the alignment platform 140.

[0152] Figure 16 This is a diagram illustrating the location of the region of interest (ROI) in an image captured by the alignment platform 140 after pre-movement, according to one embodiment.

[0153] Figure 16 As shown, Figure 3The image shown is generated when the second measuring instrument 150 captures the alignment stage 140 after the pre-movement. Although the second measuring instrument 150 does not capture the alignment stage 140 after the pre-movement, the second region of interest (ROI2) is marked in the image captured by the second measuring instrument 150 to illustrate the movement of the second ROI2.

[0154] After the pre-movement, the alignment platform 140 can be positioned so that its longitudinal centerline M2a and transverse centerline M2b are not aligned with the reference positions RP1 and RP2, but with the position of electrode 1 on the electrode transfer machine 110. In this state, since the position of the second measuring instrument 150 is fixed, the alignment platform 140 displayed in the image captured by the second measuring instrument 150 can be in a moving state. The second region of interest ROI2 can move with the alignment platform 140. The controller 1700 can move the position of the second region of interest ROI2 to follow the alignment platform 140. For example, the position of the second region of interest ROI2 can be moved from its original set position by the same distance as the pre-moved alignment platform 140. Figure 3 As shown, during the pre-movement, when the alignment platform 140 rotates along the T-axis, the position of the second region of interest (ROI2) can also move to the same extent as the alignment platform 140 rotates. However, this refers to the movement of the position of the second region of interest (ROI2), not a rotation of the second region of interest (ROI2) itself. The horizontal and vertical axes of the second region of interest (ROI2) can remain parallel to the horizontal and vertical axes of the image.

[0155] Figure 17 This is a diagram illustrating the location of the region of interest (ROI) in an image captured by an electrode 1 placed on a pre-moved alignment stage 140, according to one embodiment.

[0156] Figure 17 As shown, Figure 5 As shown, the second measuring instrument 150 captures a second image Im2 when the electrode 1 is placed on the alignment stage 140 after pre-movement. When the electrode 1 is placed on the pre-moved alignment stage 140, the second measuring instrument 150 can capture an image to generate the second image Im2 and provide it to the controller 170. The controller 170 can move the second region of interest ROI2 according to the position of the alignment stage 140 shown in the second image Im2 and measure the position of the electrode 1. The second region of interest ROI2 can be a region with predetermined coordinates in the second image Im2. There can be multiple second regions of interest ROI2. The second regions of interest ROI2 can also overlap each other. The second region of interest ROI2 is not the region shown in the second image Im2. The second region of interest ROI2 is the region where the controller 170 performs image analysis to detect the boundary 1b of the electrode 1.

[0157] To determine the location of the second region of interest (ROI2), the controller 170 can first detect the alignment platform 140 displayed in the second image Im2. The controller 170 can determine the position of the alignment platform 140 by detecting the vertices of the alignment platform 140 or by using the markings on the alignment platform 140 as a reference.

[0158] Alternatively, to determine the location of the second region of interest ROI2, the controller 170 can use the value of moving or rotating the alignment platform 140 during the pre-movement.

[0159] The controller 170 can position the second region of interest ROI2 at a predetermined location with the alignment platform 140 as a reference. For example, as shown in reference... Figure 16 As explained, during the pre-movement, when the alignment platform 140 rotates along the T-axis, the position of the second region of interest ROI2 can also be adjusted to the extent that the alignment platform 140 rotates.

[0160] Alternatively, the second region of interest (ROI2) can be moved on the second image Im2, thereby forming a predetermined position with reference to the center lines M2a and M2b of the alignment stage 140. Multiple second regions of interest (ROI2) are formed at predetermined positions with reference to the center lines M2a and M2b of the alignment stage 140, so that they can move together when the alignment stage 140 moves.

[0161] When the location of the second region of interest (ROI2) is determined, the controller 170 can use the second region of interest (ROI2) to detect the boundary 1b of the electrode 1. Detecting the boundary 1b of the electrode 1 can be performed to obtain the location of the electrode 1 displayed in the second image Im2. To detect the boundary 1b of the electrode 1, the controller 170 can set the second region of interest (ROI2) in the second image Im2 and detect the boundary 1b of the electrode 1 included within the second region of interest (ROI2).

[0162] To detect the boundary 1b of electrode 1, controller 170 may further utilize a third region of interest (ROI) 3. The third ROI 3 may be located within the second ROI 2. Therefore, the third ROI 3 may move along with the second ROI 2 as the alignment stage 140 moves. When the boundary 1b of electrode 1 is detected within the second ROI 2, multiple third ROI 3s may be formed within the second ROI 2 corresponding to the boundary 1b of electrode 1, thereby more accurately detecting the boundary 1b of electrode 1.

[0163] The controller 170 can use the coordinates of the boundary 1b of electrode 1 detected in the second region of interest ROI2 and the third region of interest ROI3, the lateral dimension and longitudinal dimension of electrode 1, etc., to calculate the X-axis spacing distance, Y-axis spacing distance and T-axis spacing angle of electrode 1 relative to the reference position. The T-axis spacing angle can represent the degree of rotation of electrode 1 relative to the reference position.

[0164] After accurately measuring the position of electrode 1 on alignment stage 140, controller 170 compares the position of electrode 1 with a reference position and calculates the degree to which electrode 1 has deviated from the reference position. Additionally, controller 170 can move alignment stage 140 to align the position of electrode 1 with the reference position.

[0165] Figure 18 This is a diagram showing the location of the region of interest (ROI) in an image of an electrode 1 on an alignment stage 140 after alignment movement, according to one embodiment. Figure 18 The second measuring instrument 150 is shown with its orientation toward the lower surface 140b of the alignment stage 140 as a reference.

[0166] Figure 18 As shown, Figure 7 As shown, the third image Im3 is generated when the second measuring instrument 150 captures an image of the electrode 1 on the alignment stage 140 after the alignment movement is performed. The second measuring instrument 150 can capture an image of the electrode 1 on the alignment stage 140 after the alignment movement is performed to generate the third image Im3 and provide it to the controller 170. The controller 170 can move the second region of interest ROI2 according to the position of the alignment stage 140 shown in the third image Im3 and measure the position of the electrode 1. Since the alignment stage 140 moves while performing the alignment movement, the controller 170 can move the second region of interest ROI2 according to the movement of the alignment stage 140.

[0167] The content regarding the position of the alignment platform 140 obtained by the controller 170 in order to determine the position of the second region of interest ROI2 has been referenced. Figure 16 Explanations have been provided, so repeated explanations will be omitted.

[0168] The controller 170 moves the position of the second region of interest ROI2 according to the movement of the alignment stage 140, and uses the third region of interest ROI3 to accurately detect the content of the boundary 1b of the electrode 1, which has been referenced. Figure 16 Explanations have been provided, so repeated explanations will be omitted.

[0169] During alignment movement, when the alignment stage 140 rotates in the opposite direction to the pre-movement, the position of the second region of interest ROI2 can also be adjusted by the degree of rotation of the alignment stage 140. When the position of the second region of interest ROI2 is determined, the controller 170 can use the second region of interest ROI2 to detect the boundary 1b of the electrode 1, and further form a third region of interest ROI3 inside the second region of interest ROI2, thereby enabling more accurate detection of the boundary 1b of the electrode 1.

[0170] The controller 170 can use the coordinates of the boundary 1b of the electrode 1 detected in the second region of interest ROI2 and the third region of interest ROI3, the lateral dimension of the electrode 1, the longitudinal dimension, etc., to determine whether the electrode 1 is aligned at the reference position.

[0171] Controller 170 in Figure 2 The method of obtaining the position of electrode 1 using the first region of interest (ROI1) in the first image Im1 is generally similar to the method of obtaining the position of electrode 1 in the second image Im2 described above.

[0172] Figure 19 This is a diagram illustrating the function of the fixing part 143 according to one embodiment. Figure 20 This is a diagram illustrating the relationship between the position of the fixing part 143 and the electrode 1 according to the comparative example. See also... Figure 19 and Figure 20 . Figure 19 and Figure 20 This shows the state in which the second measuring instrument 150 is positioned toward the lower surface 140b of the alignment stage 140.

[0173] A fixing portion 143 formed on the alignment stage 140 can be formed inside the area where the electrode 1 is placed. The fixing portion 143 can be disposed adjacent to the edge 1c of the area where the electrode 1 is placed. The edge 1c can represent the line connecting the body of the electrode 1 and the outer boundary of the tab 1a. The fixing portion 143 can be disposed adjacent to the vertices of the electrode 1 and the tab 1a. When the fixing portion 143 is in operation, the vertices of the electrode 1 and the tab 1a can be tightly attached to the upper surface 140a of the alignment stage 140 through the fixing portion 143. That is, it can prevent the curling phenomenon that may occur at the vertices or edges of the electrode 1. Curling can mean that the vertices or edges of the electrode 1 or the tab 1a are separated from the upper surface 140a of the alignment stage 140 and have a curled shape. When curling exists, the boundary 1b of the electrode 1 in the second image Im2 captured by the second measuring instrument 150 may show a different position than the actual position. Therefore, if the second image Im2 of the electrode 1 with curling is captured, it is difficult to accurately obtain the position of the electrode 1.

[0174] When the fixing part 143 is spaced apart from the edge of the electrode 1, the edge may curl even if the fixing part 143 adheres to the electrode 1. However, according to one embodiment, since the fixing part 143 is adjacent to the edge of the electrode 1, the fixing part 143 adheres to the edge of the electrode 1, thus preventing curling at the edge of the electrode 1. Therefore, the electrode 1 shown in the second image Im2 captured by the second measuring instrument 150 is in a state without curling, and the position of the electrode 1 can be accurately obtained using the second image Im2.

[0175] In one embodiment, the fixing part 143 is able to be formed adjacent to the edge 1c where the electrode 1 is placed because the alignment platform 140 performs a pre-movement.

[0176] When the alignment stage 140 is pre-moved by T1, it can be moved to correspond to the position of the electrode 1 on the electrode transfer machine 110. Therefore, the electrode 1 transferred to the alignment stage 140 can be placed in almost the same position each time. Thus, as... Figure 16 As shown, since the electrode 1 is moved to the alignment stage 140 in advance according to the position of the electrode 1, the position of the electrode 1 can cover all the fixing parts 143. Figure 13 As shown, electrode 1 can be placed on alignment stage 140 to cover all fixing parts 143. In this state, when the second measuring instrument 150 acquires the second image Im2, the fixing parts 143 will not be located outside the boundary 1b of electrode 1. Therefore, during the detection of the boundary 1b of electrode 1 using the second region of interest ROI2, false detection of fixing parts 143 instead of the boundary 1b of electrode 1 will not occur.

[0177] on the contrary, Figure 20 CASE 1 shows a comparative example where the fixing part 143 is disposed adjacent to the edge 1c of the area where the electrode 1 is placed, but no pre-movement is performed. Even if the fixing part 143 is disposed adjacent to the edge 1c of the area where the electrode 1 is placed, without pre-movement of the alignment platform 140, when the electrode 1, which has been removed from the reference positions RP1 and RP2, is placed on the alignment platform 140, the fixing part 143 may be located outside the boundary 1b of the electrode 1. That is, the electrode 1 may not cover all of the fixing part 143. In this state, when the second measuring instrument 150 acquires the second image Im2 or the third image Im3, the fixing part 143 may appear outside the boundary 1b of the electrode 1. When the fixing part 143 appears outside the boundary 1b of the electrode 1, in the reference... Figure 17 During the process of identifying the boundary 1b of electrode 1 using the second region of interest ROI2 or the third region of interest ROI3, the problem may occur where the fixing part 143 is mistakenly identified as the boundary 1b of electrode 1.

[0178] Therefore, even if the fixing part 143 is disposed adjacent to the edge of the area where the electrode 1 is placed, a pre-movement should be performed simultaneously to prevent the electrode 1 from curling and to prevent false detection of the boundary 1 of the electrode 1.

[0179] On the other hand, unlike CASE1, CASE2 is a comparative example in which the fixing portion 143 is formed at a position separated from the edge 1c of the area where the electrode 1 is placed, so that the fixing portion 143 is not located outside the boundary 1b of the electrode 1. When the fixing portion 143 is not formed adjacent to the edge 1c of the electrode 1, even if the electrode 1 is placed on the alignment stage 140 away from the reference positions RP1, RP2, the electrode 1 can cover all the fixing portions 143. However, although the fixing portion 143 can fix the center portion of the electrode 1, it cannot fix the edge 1c of the electrode 1, so curling may occur at the edge 1c of the electrode 1. Therefore, the image may show a curled electrode 1, resulting in the problem of difficulty in accurately obtaining the position of the electrode 1.

[0180] As comparative examples, both CASE1 and CASE2 suffer from problems due to the lack of pre-movement of the alignment platform 140. In contrast, according to one embodiment, since the electrode 1 is placed on the alignment platform 140 while pre-movement is being performed, all fixing portions 143 can be located within the boundary 1b of the electrode 1, even if they are formed adjacent to the edge 1c of the area where the electrode 1 is placed. Even if errors exist during the transfer of the electrode 1 to the alignment platform 140, these errors are minimal. This is because the alignment platform 140 is pre-moved to correspond to the position of the electrode 1. Therefore, the position of the electrode 1 transferred to the alignment platform 140 can be almost identical each time. Thus, the fixing portions 143 can consistently adhere to the four vertices of the electrode 1, thereby preventing curling of the electrode 1. The second image Im2 shows an electrode 1 without curling, and the position of the electrode 1 can be accurately detected.

[0181] Figure 21 This is a diagram illustrating an electrode alignment method according to one embodiment.

[0182] According to one embodiment, the electrode alignment method may include the following steps: an electrode transfer machine 110 transfers a plurality of electrodes 1 (S10); a first measuring instrument 120 captures images of the electrodes 1 on the electrode transfer machine 110 to obtain a first image Im1 (S20); a controller 170 performs a pre-movement of a moving alignment stage 140 to correspond to the position of the alignment stage 140 corresponding to the position of the electrodes 1 displayed in the first image Im1 (S40); and a first pickup 131 moves the electrodes 1 on the electrode transfer machine 110 to the alignment stage 140 (S50).

[0183] like Figure 2As shown, step S10 (transferring electrode 1) involves moving electrode 1 to a predetermined position using electrode transfer machine 110. Electrode transfer machine 110 can receive electrode 1 from an electrode manufacturing machine, electrode supply machine, or hopper and move it toward alignment table 140. Electrode transfer machine 110 can repeatedly perform the operation of moving electrode 1 to a predetermined position and stopping.

[0184] like Figure 1 and Figure 2 As shown, step (S20) of acquiring the first image Im1 involves using the first measuring instrument 120 to photograph the electrode 1 on the electrode transfer machine 110 to obtain the first image Im1, and then providing the first image Im1 to the controller 170. The two first measuring instruments 120 can respectively photograph the portion of the electrode 1 where the tab 1a exists and the portion where the tab 1a does not exist, to generate two first images Im1, which are then provided to the controller 170.

[0185] The controller 170 can detect the boundary 1b of electrode 1 in the received first image Im1 and obtain the position of electrode 1. The controller 170 can calculate the vertical centerline M1a and the horizontal centerline M1b of electrode 1, and calculate the degree of detachment of electrode 1 relative to reference positions RP1 and RP2. The controller 170 can calculate the distance of detachment of electrode 1 relative to reference positions RP1 and RP2 along the X-axis, the distance of detachment along the Y-axis, and the angle of detachment along the T-axis.

[0186] According to one embodiment, the electrode alignment method may further include the following steps: when the controller 170 determines that the position of the electrode 1 on the electrode transfer machine 110 exceeds the alignable range relative to the reference position, the electrode is determined to be defective and a removal command is output (S30). See also... Figure 1 As described, when electrode 1 on electrode transfer machine 110 is too far beyond the reference positions RP1 and RP2, controller 170 can determine that the alignment time is too long or that alignment is impossible, and classify electrode 1 as defective, so as to remove it from the process production line. Controller 170 can control pick-up machines 131, 132, and 133 and electrode transfer machine 110 to pick up electrode 1 and transfer it to the defective discharge location.

[0187] like Figure 3 As shown, the step of performing the pre-movement (S40) is the step of the controller 170 moving the alignment platform 140 so that the position of the alignment platform 140 corresponds to that of the electrode 1. The controller 170 can perform the pre-movement by moving the alignment platform 140 a distance away from the electrode 1 relative to the reference positions RP1, RP2 along the X-axis, moving the alignment platform 140 a distance away from the electrode 1 relative to the reference positions RP1, RP2 along the Y-axis, and rotating the alignment platform 140 by an angle away from the electrode 1 relative to the reference positions RP1, RP2.

[0188] like Figure 4 As shown, in step (S50) of transferring electrode 1 to alignment stage 140, controller 170 controls first pickup 131 to transfer electrode 1 from electrode transfer machine 110 to alignment stage 140. Controller 170 can control first pickup 131 to directly transfer electrode 1 from electrode transfer machine 110 to alignment stage 140. Electrode 1 can be transferred to alignment stage 140 in a state away from reference positions RP1, RP2. Because alignment stage 140 has been pre-moved, the center lines M1a, M1b of electrode 1 and the center lines M2a, M2b of alignment stage 140 can be aligned as a whole.

[0189] like Figure 19 As shown, the electrode alignment method according to one embodiment may further include the following steps: fixing the electrode 1 placed on the alignment platform 140 using a plurality of fixing portions 143 formed along the edge of the electrode 1 placed on the alignment platform 140 (S60). In the step of fixing the electrode 1 (S60), the controller 170 may control the fixing portions 143 to attract and fix the electrode 1 placed on the alignment platform 140. Since the fixing portions 143 are formed adjacent to the edge of the electrode 1, the edge of the electrode 1 will not curl. Since the electrode 1 is moved onto the alignment platform 140 in a pre-moved state, the electrode 1 can be placed on the alignment platform 140 to cover all the fixing portions 143.

[0190] like Figure 5 As shown, the electrode alignment method according to one embodiment may further include the following steps: a second measuring instrument 150 photographs the electrode 1 placed on a pre-moved alignment stage 140 to obtain a second image Im2 (S70). In the step of obtaining the second image Im2 (S70), the controller 170 may control the second measuring instrument 150 to perform the photographing.

[0191] The alignment stage 140 may include an opaque region 142 formed of an opaque material and a transparent region 141 formed of a transparent material, allowing observation of the electrode placed on the upper surface 140a from the lower surface 140b side. Additionally, in the step of acquiring the second image Im2 (S70), the second measuring instrument 150 can photograph the electrode 1 from the lower surface 140b side through the transparent region 141, where the lower surface 140b is the surface opposite to the upper surface 140a in the alignment stage 140 where the electrode 1 is placed. (See reference...) Figure 11 As described, the alignment platform 140 may include an opaque area 142 and a transparent area 141. Additionally, as shown in the reference... Figure 12As described above, the second measuring instrument 150 is located below the alignment stage 140, which includes a transparent area 141, and can capture images of the electrode 1 through the transparent portion of the alignment stage 140 to obtain a second image Im2.

[0192] The electrode alignment method may further include the following steps: the controller 170 performs an alignment movement (S80) by moving the alignment stage 140 to align the position of the electrode 1 displayed in the second image Im2 with the reference positions RP1, RP2.

[0193] In the step of performing the alignment movement (S80), the controller 170 moves the region of interest (i.e., the second region of interest ROI2) for detecting the position of the electrode 1 displayed in the second image Im2 according to the movement of the alignment stage 140 and detects the position of the electrode 1, and can perform the alignment movement by moving the alignment stage 140 to align the position of the electrode 1 displayed in the second image Im2 with the reference position.

[0194] To detect the position of electrode 1 displayed in the second image Im2, controller 170 can move the area of ​​interest with reference to alignment stage 140. (See reference...) Figure 16 and Figure 17 As described above, the controller 170 can move the second region of interest ROI2 to correspond to the movement of the alignment stage 140. Therefore, when detecting the position of electrode 1 displayed in the second image Im2, since a specific portion of electrode 1 is always located within the second region of interest ROI2, the boundary 1b of electrode 1 can be easily detected.

[0195] After the controller 170 acquires the position of electrode 1 displayed in the second image Im2, the controller 170 can perform alignment movement. (See reference...) Figure 6 As described, the controller 170 can move the alignment stage 140 to align the electrode 1 on the alignment stage 140 with the reference positions RP1 and RP2. Alignment movement refers to aligning the position of the electrode 1 displayed in the second image Im2 with the reference positions RP1 and RP2. Alignment movement can perform one or more of the following: X-axis movement, Y-axis movement, and T-axis rotation.

[0196] The electrode alignment method may further include the following steps: a second measuring instrument 150 photographs the electrode 1 on the alignment stage 140 during alignment movement to obtain a third image Im3 (S90). See reference... Figure 7 As described above, the step of acquiring the third image Im3 (S90) can be performed after the alignment stage 140 has moved. Acquiring the third image Im3 is to confirm whether the alignment state of electrode 1 is consistent with the reference positions RP1 and RP2.

[0197] For reference Figure 18According to the description, the second measuring instrument 150 can capture images of the electrode 1 on the alignment stage 140 after the alignment movement is performed to generate a third image Im3, which is then provided to the controller 170.

[0198] The electrode alignment method may further include the following steps: performing a realignment movement (S100) by moving the alignment stage 140 to align the position of electrode 1 displayed in the third image Im3 with a reference position. (See reference...) Figure 8 The realignment movement step (S100) can be performed when the result of the alignment movement is that electrode 1 is not aligned with the reference positions RP1 and RP2. The realignment movement may include moving the alignment stage 140 along the X-axis, Y-axis, or T-axis. After performing the alignment movement, a third image Im3 is acquired. If the position of electrode 1 displayed in the third image Im3 is consistent with the reference positions RP1 and RP2, the realignment movement may not be performed.

[0199] The electrode alignment method may further include the following steps: when electrode 1 on alignment stage 140 is aligned with reference positions RP1, RP2, controller 170 uses second pick-up device 132 to move electrode 1 to stacker 160 (S110). See reference... Figure 9 and Figure 10 As described above, when it is determined that electrode 1 on alignment stage 140 is aligned with reference positions RP1 and RP2, controller 170 can control second pickup 132 to move electrode 1 on alignment stage 140 to stacker 160. Stacker 160 can use the received electrode 1 to stack positive electrode 1p, diaphragm and negative electrode 1n to manufacture electrode assembly.

[0200] The electrode alignment device 100 and method described above can quickly and accurately align the electrode 1 with a reference position in order to supply the electrode 1 to the stacker 160.

[0201] The present disclosure has been described in detail above through specific embodiments. The above description is merely an example of applying the principles of the present disclosure, and other configurations may be further included without departing from the scope of the present disclosure.

Claims

1. An electrode alignment device, comprising: Electrode transfer machine, for transferring multiple electrodes; A first measuring instrument photographs the electrodes on the electrode transfer machine to obtain a first image; An alignment stage on one side of which an electrode transferred from the electrode transfer machine is placed, and the alignment stage is movable; The first pickup device transfers the electrodes from the electrode transfer machine to the alignment stage; as well as The controller performs a pre-movement of the alignment platform to align it with the position of the electrode shown in the first image before placing the electrode on the alignment platform.

2. The electrode alignment device according to claim 1, wherein, When the position of an electrode appearing in the first image is outside the alignable range relative to the reference position, the controller determines the electrode as defective and outputs a removal command.

3. The electrode alignment device according to claim 1, further comprising: A second measuring instrument photographs the electrodes placed on the pre-moved alignment stage to obtain a second image. The controller further performs an alignment movement by moving the alignment platform to align the position of the electrode shown in the second image with the reference position.

4. The electrode alignment device according to claim 3, wherein, The second measuring instrument captures images of the electrodes placed on the alignment stage during alignment movement to obtain a third image. The controller further performs a realignment movement by moving the alignment platform to align the position of the electrode shown in the third image with the reference position.

5. The electrode alignment device according to claim 3, wherein, The alignment platform includes: Opaque areas, formed of opaque materials; and A transparent region, formed of a transparent material, allows electrodes placed on the upper surface of the alignment stage to be observed from the lower surface side of the alignment stage. The second measuring instrument takes a picture of the electrode through the transparent area from the lower surface side of the alignment stage, the lower surface being the surface opposite to the upper surface of the alignment stage where the electrode is placed.

6. The electrode alignment device according to claim 3, wherein, The controller moves the region of interest used to detect the position of the electrode shown in the second image based on the movement of the alignment platform shown in the second image, and detects the position of the electrode.

7. The electrode alignment device according to any one of claims 1 to 6, wherein, The alignment platform has multiple fixing parts formed along the edge where the electrode is placed to fix the electrode.

8. An electrode alignment method, comprising the following steps: Electrode transfer machine transfers multiple electrodes; A first measuring instrument captures an image of the electrodes on the electrode transfer machine to obtain a first image; The controller performs a movement alignment stage to move the alignment stage in advance to correspond to the position of the electrode shown in the first image; as well as The first pickup moves the electrode from the electrode transfer machine to the alignment stage.

9. The electrode alignment method according to claim 8 further comprises the following steps: When the controller determines that the position of the electrode on the electrode transfer machine is outside the alignable range relative to the reference position, it determines that the electrode is defective and outputs a removal command.

10. The electrode alignment method according to claim 8, further comprising the following steps: A second measuring instrument photographs the electrodes placed on the pre-moved alignment stage to obtain a second image; as well as The controller performs an alignment movement by moving the alignment platform to align the position of the electrode shown in the second image with a reference position.

11. The electrode alignment method according to claim 10, further comprising the following steps: The second measuring instrument captures images of the electrodes on the alignment stage as they move to obtain a third image; as well as The controller performs a realignment movement by moving the alignment platform to align the position of the electrode shown in the third image with the reference position.

12. The electrode alignment method according to claim 10, wherein, The alignment platform includes: Opaque areas, formed of opaque materials; and A transparent region, formed of a transparent material, allows electrodes placed on the upper surface of the alignment stage to be observed from the lower surface side of the alignment stage. In the step of acquiring the second image The second measuring instrument takes a picture of the electrode through the transparent area from the lower surface side of the alignment stage, the lower surface being the surface opposite to the upper surface of the alignment stage where the electrode is placed.

13. The electrode alignment method according to claim 10, wherein, In the step of performing the alignment move... The controller moves the region of interest used to detect the position of the electrode displayed in the second image and detects the position of the electrode according to the movement of the alignment platform, and performs an alignment movement to move the alignment platform so that the position of the electrode displayed in the second image is aligned with the reference position.

14. The electrode alignment method according to any one of claims 8 to 13, further comprising the following steps: The electrode placed on the alignment platform is fixed by a plurality of fixing parts formed along the edge on which the electrode is placed.

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