Method and apparatus for manufacturing a battery
Patent Information
- Application Number
- EP2023840960
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-12-23
- Filing Date
- 2023-12-22
- Publication Date
- 2025-10-29
AI Technical Summary
The high cost and precision requirements of machine tools needed for accurately positioning electrode stacks within battery pouches during battery production pose challenges in maintaining precision and reducing waste, while existing methods are inefficient and require expensive equipment.
A method and device that utilize a workpiece carrier with a pocket blank and a gripping device, where optical position detection devices measure and correct the alignment of the electrode stack relative to the pocket blank, allowing for precise positioning using a single machine tool and reducing the need for expensive machinery.
This approach enables precise and efficient battery production by correcting positioning errors in real-time, reducing waste, and improving battery quality without the need for expensive, precise transport devices, thus lowering production costs.
Smart Images
Figure 1.1
Abstract
Description
[0001] DESCRIPTION
[0002] Method and device for producing a battery
[0003] The invention relates to a method for producing a battery comprising an electrode stack and a pocket for receiving the electrode stack. Furthermore, the invention relates to an apparatus for producing such a battery.
[0004] During the production of such a battery, an electrode stack—for example, a welded package of anodes, cathodes, and separator foils—is inserted into a pouch. The pouch can then be filled with the required battery chemicals and sealed. Alternative designs for such batteries include a solid electrolyte, which is inserted into the pouch along with the battery stack.
[0005] The more precisely the electrode stack is inserted into the pocket, the more precisely the permissible dimensions of the battery can be maintained. Precise placement of the electrode stack also has a positive impact on the battery's service life. Furthermore, correct positioning of the battery stack is important to ensure that no battery elements, such as an electrode and / or separator film, are damaged when closing the pocket. This reduces production waste and increases battery quality.
[0006] Machine tools that can precisely position both the pocket or a pocket blank for forming the pocket and the electrode stack are expensive to purchase and operate.
[0007] Against this background, the present invention has the object of developing a method and a device for producing a battery of the type mentioned at the outset in such a way that the costs are reduced while maintaining or improving precision.
[0008] The object is achieved by a method according to claim 1 and a device according to claim 5. Further advantageous embodiments are the subject of the dependent claims.
[0009] To achieve the object, a method for producing a battery having an electrode stack and a pocket for receiving the electrode stack comprises the following steps: a) moving a workpiece carrier with a pocket blank arranged thereon into an insertion position; b) measuring a position of at least two structures of a recess in the pocket blank relative to a reference system; c) moving a carrier of a gripping device with the electrode stack fixed to the carrier from a receiving position into the insertion position; d) during step c), measuring a position of at least two structures of the electrode stack relative to the reference system;e) calculating an alignment correction for the electrode stack from the positions of the structures such that when the electrode stack is inserted into the recess, the structures of the electrode stack and the recess each lie adjacent to one another and f) rotating and / or shifting, during step c), the carrier with the electrode stack according to the alignment correction;
[0010] This method has the advantage that the workpiece carrier can be transported using an imprecise transport device. Any positioning errors of the workpiece carrier are corrected while the carrier is moving in the gripping device. Thus, only a precise machine tool is required. Furthermore, the on-the-fly correction results in a time advantage compared to other methods.
[0011] In some embodiments, the method comprises the steps of: h) prior to step a), picking up a pocket blank from a transfer position; i) placing the pocket blank on the workpiece carrier; and j) fixing the pocket blank on the workpiece carrier.
[0012] This ensures that the pocket blank is reliably held in its position, so that the calculated alignment correction is not invalidated by a change in the position of the pocket blank.
[0013] In some embodiments, the method comprises the steps of: k) prior to step c), moving a second material carrier, on which the electrode stack is fixed, into the receiving position; i) unlocking the fixing of the electrode stack to the second material carrier; and m) receiving the electrode stack by means of the carrier.
[0014] This ensures safe transport of the electrode stack until it is picked up by the carrier.
[0015] In some embodiments, the method comprises the following steps: In step b) creating at least one image of one or more corners of the recess of the pocket blank by means of a first camera and / or a second camera of a first optical position detection device and / or in step d) creating at least one image of one or more corners of the electrode stack by means of a first camera and / or a second camera of a second optical position detection device, at least one image of one or more corners of the electrode stack is created, wherein the measurement is carried out by means of image processing on the basis of the image recordings.
[0016] Such measurement using cameras allows the position detection devices to be positioned away from the travel path of the electrode stack and / or the pocket blank. Only visual contact with the corners is necessary. The position detection devices therefore do not occupy the limited space near the transport path, simplifying their installation and maintenance.
[0017] The invention is further achieved by a device for producing a battery, which has an electrode stack and a pocket for receiving the electrode stack, which can be produced from a pocket blank with at least one recess by folding along a fold line, comprising a plurality of movable workpiece carriers, on each of which a pocket blank can be arranged, a gripping device with a carrier that can be positioned in two spatial directions and is rotatable about one of the spatial directions for transporting the electrode stack from a receiving position to an insertion position in one of the recesses, a first optical position detection device for detecting a position of the pocket blank arranged on one of the workpiece carriers relative to a reference system,a second optical position detection device for detecting a position of the electrode stack relative to the reference system and a control device for determining an alignment correction for the carrier and / or the workpiece carrier, comprising translation and / or rotation information for positioning the electrode stack in the recess.
[0018] Thus, only one machine tool is required that allows precise positioning. For example, the gripping device and / or its carrier allow precise positioning. In this case, the positioning of the pocket blank on the workpiece carrier may have larger tolerances. The resulting deviations can then be compensated for by the gripping device and / or carrier by applying alignment correction.
[0019] In some embodiments, the second optical position detection device is arranged and configured to detect the position during the transport of the electrode stack from the receiving position to the insertion position. This achieves particularly rapid production, since the electrode stack does not have to be stopped for position detection.
[0020] In some embodiments, the second optical position detection device is arranged on a side of the electrode stack facing the gripping device.
[0021] This makes the second optical position detection device easily accessible, simplifying assembly and setup of the optical position detection device.
[0022] In some embodiments, the second optical position detection device is arranged and configured to detect the positions of at least two structures, in particular corners of the electrode stack.
[0023] Corners are particularly easy to identify and still allow precise detection of the alignment of the electrode stack.
[0024] In some embodiments, the first optical position detection device is arranged and configured to detect the positions of at least two corners of a recess of the pocket blank.
[0025] Corners are particularly easy to identify and still allow precise detection of the alignment of the recess of the pocket blank.
[0026] In some embodiments, the electrode stack is provided in the receiving position fixed on a stack holder for collection, wherein a release device is provided for releasing the fixation.
[0027] This ensures that the electrode stack is safely positioned for pickup at a predetermined position. Only when the electrode stack is picked up by the gripping device is the unlocking device activated to release the electrode stack.
[0028] In some embodiments, the workpiece carrier comprises a folding device for folding the pocket blank along the fold line such that the electrode stack is enclosed by the two recesses, wherein the folding device has an open state and a closed state.
[0029] Such a folding device simplifies the production of the bag from the bag blank.
[0030] In some embodiments, a sealing station is provided at which a pocket blank with an electrode stack in a workpiece carrier can be at least partially sealed in the closed state. The workpiece carrier, in the closed state, causes the pocket blank to be folded and presented for sealing in a defined position. This further improves the precision of the arrangement of the electrode stack and pocket.
[0031] In some embodiments, the carrier of the gripping device has a suction plate with vacuum openings for fixing the electrode stack to the carrier, wherein the carrier and / or the suction plate are designed such that at least corner regions of the electrode stack are visible from the side of the gripping device.
[0032] In addition to a reliable temporary attachment of the electrode stack to the carrier, this ensures that the optical position detection devices can continue to detect the position of the corners of the electrode stack.
[0033] In some embodiments, the device has a common insertion position for inserting the pocket blank into the workpiece carrier and inserting the electrode stack into the recess of the pocket blank.
[0034] This avoids having to transport the pocket blank on the workpiece carrier to the insertion position for the electrode stack. This would require the pocket blank to be removed from the workpiece carrier, for example, by suction using a vacuum. However, supplying the movable workpiece carrier with a vacuum would be quite complex, so the shared insertion position simplifies the setup and maintenance of the fixture.
[0035] In some embodiments, the device comprises a transport path having a plurality of transport segments, wherein the transport segments are arranged and configured to transport the workpiece carriers between a plurality of positions, wherein the transport path is arranged and configured to form a circuit for the workpiece carriers, and wherein at least one insertion position is arranged on or at one of the transport segments.
[0036] By creating the circuit, the workpiece carriers can be automatically reused to produce another battery. The transport line transports or conveys the workpiece carriers to various positions where a machine tool can perform a step of the battery manufacturing process. In some cases, the steps can also be performed during movement between the positions. Further features and variants of the invention are evident from the attached figures, which merely schematically depict the inventive forms of the invention. They show in detail:
[0037] Fig. 1 is an isometric view of a pocket blank;
[0038] Fig. 2 is an isometric view of an electrode stack fixed in a stack holder;
[0039] Fig. 3 is an isometric view of a workpiece carrier with a pocket blank fixed thereon;
[0040] Fig. 4 is an isometric view as in Fig. 3, wherein an electrode stack is inserted into a recess of the pocket blank;
[0041] Fig. 5 is a schematic view of an apparatus for manufacturing a battery according to an embodiment of the present invention;
[0042] Fig. 5a is a schematic view of an apparatus for manufacturing a battery according to another embodiment of the present invention;
[0043] Fig. 5b is a schematic side view of a transport device for the device according to Fig. 5b with an adapted boom;
[0044] Fig. 6 is a schematic side view of a gripping device for transporting the electrode stack;
[0045] Fig. 7 is an isometric view of a portion of an apparatus for manufacturing a battery;
[0046] Fig. 8 is a schematic view from below of the gripping device with two holding devices with optical detection devices;
[0047] Fig. 9 is an isometric view of the workpiece carrier in the open state;
[0048] Fig. 10 is an isometric view of the workpiece carrier in the closed state in which the pocket blank is folded;
[0049] Fig. 11 is an isometric view of the workpiece carrier;
[0050] Fig. 12 is a schematic view of an actuating device;
[0051] Fig. 13 is a schematic 3-D view of a holding device; Fig. 14 is a schematic 3-D view of a first optical detection device and
[0052] Fig. 15 is a schematic 3-D view of a second optical detection device.
[0053] To produce a battery, a pocket blank 10 shown in Fig. 1, which has two recesses 12 that lie against each other along a fold line 14, is used.
[0054] To produce the battery, an electrode stack 16 shown in Fig. 2 is inserted into the pocket blank 10. The electrode stack 16 is prepared and fixed on a stack holder 18 by means of a fixing device 20 arranged on the stack holder 18.
[0055] The fixing device 20 can have clamping devices 21, which are assigned to one another in pairs, for example. In the present exemplary embodiment, two pairs of clamping devices 21, i.e., a total of four clamping devices 21, are shown. A different number, for example, two, six, eight, or more, is possible. The clamping devices 21 are movable, for example, pivotally mounted, between a clamping position, which is shown in Fig. 2, and an open position. The electrode stack 16 can be removed when the clamping devices 21 are in the open position and is fixed when the clamping devices 21 are in the clamping position.
[0056] Similarly, as shown in Fig. 3, the pocket blank 10 is arranged on a workpiece carrier 22. The pocket blank 10 can be fixed, for example, by means of a suction device 24, which can suction the pocket blank 10 to the workpiece carrier 22 using a vacuum.
[0057] The workpiece carrier 22 has a folding device and can be constructed, for example, in multiple parts, for example in two parts, wherein at least one of the parts, for example a support surface for the pocket blank 10, is arranged so as to be rotatable or pivotable, so that the pocket blank 10 can be folded in the workpiece carrier 22 along the fold line 14. In this case, the folding device is transferred, for example, from an open state to a closed state. To carry out the folding process, an adjusting element, in particular an adjusting wheel 26, is provided on the workpiece carrier 22, by means of which a folding actuator can effect the folding process from the outside.
[0058] One or more of the parts of the workpiece carrier 22 can have a holding device, for example one or more magnets, for example to hold the workpiece carrier 22 in a folded state. The workpiece carrier 22 has a receiving area for receiving one or more recesses 12 of the pocket blank 10. The receiving area can further have one or more webs for subdividing the receiving area and / or for positioning the pocket blank 10. The holding device can be arranged in an area that is adjacent to or adjacent to the receiving area and projects above the receiving area in a vertical direction.
[0059] Before the pocket blank 10 is folded, the electrode stack 16 is removed from the stack holder 18 in a step and, as shown in Fig. 4, inserted into one of the recesses 12.
[0060] The positioning of the electrode stack 16 in the recess 12 has a decisive influence on the quality of the battery produced.
[0061] For efficient and precise performance of these and other steps of the method for producing a battery, a device 28 for producing a battery, as shown in Fig. 5, can be used, for example.
[0062] The device 28 for producing a battery shown in Fig. 5 has a transport path 30 for transporting workpiece carriers 22. The workpiece carriers 22 can be moved between several positions by means of the transport path 30.
[0063] The transport path 30 has a first transport segment 76, a second transport segment 78, a third transport segment 80, and a fourth transport segment 82, each of which has a conveyor device for moving the workpiece carriers 22 along a straight line. The first transport segment 76 and the third transport segment 80, as well as the second transport segment 78 and the fourth transport segment 82, are each spaced apart from one another and arranged parallel to one another, resulting in a rectangular floor plan of the transport path 30 in the present embodiment. As a result, the workpiece carriers 22 are conveyed on the first and third transport segments 76, 80 parallel to one another but in opposite directions. The same applies to the second and fourth transport segments 78, 82.
[0064] The ends of the transport segments 76, 78, 80, 82 are connected to one another in such a way that a workpiece carrier 22 at one end of a transport segment 76, 78, 80, 82 is transferred to another transport segment 76, 78, 80, 82. As a result, the workpiece carriers 22 can be conveyed by means of the transport segments 76, 78, 80, 82 in such a way that, upon leaving the fourth and thus final transport segment 82, they can be transferred back to the first transport segment 76. In this case, a workpiece carrier 22, after the pocket produced with it has been removed from it, is moved empty back to the beginning of the production process so that another battery can be produced. The transport segments 76, 78, 80, 82 thus form a circuit for the workpiece carriers 22.
[0065] Each transport segment 76, 78, 80, 82 can have one or more positions at which one or more steps of a method for manufacturing a battery are performed. For this purpose, the workpiece carrier 22 can be stopped at these positions or one or more steps can be performed during the movement of the workpiece carrier 22.
[0066] In further embodiments, the device 28 can, for example, have more or fewer than four transport segments 76, 78, 80, 82. In further embodiments, the transport segments 76, 78, 80, 82 can allow transport along any curve instead of a straight line, for example, along an elliptical or circular segment. In further embodiments, one or more of the transport segments 76, 78, 80, 82 and the conveying path of the transport device 34 are arranged collinearly.
[0067] The empty workpiece carrier 22 is first moved to a first position 32 of the first transport segment 76. At position 32, a pocket blank 10 is taken from a supply device 36 in a process step by means of a transport device 34 and placed on the workpiece carrier 22.
[0068] In a further method step, the suction device 24 of the workpiece carrier 22 generates a negative pressure so that the pocket blank 10 is fixed to the workpiece carrier 22.
[0069] The workpiece carrier 22 is then moved to a second position 38 of the second transport segment 78. While the workpiece carrier 22 is being moved to the second position 38 or when it has arrived at the second position 38, a position, i.e., a position and / or a rotation, of the pocket blank 10 is detected by means of a first optical position detection device 40. The first optical position detection device 40 performs this detection with reference to a reference system relative to which the position and / or the rotation is detected.
[0070] For this purpose, the first optical position detection device 40 captures, for example by means of one or more cameras, images of the pocket blank 10 in the visible and / or invisible area in which structures of the pocket blank 10, for example one, two or more corners of the recess 12 and / or one or more edges of the recess 12, are visible.
[0071] Using a control device running image processing software, for example, the position of the structures within the image is first determined. Algorithms for corner and edge detection are well known, such as the Hough transform, template matching, or structure tensors. Artificial intelligence methods, particularly CNNs, can also be used.
[0072] From the optical properties of the cameras used and the known arrangement of the camera on the device 28, a position of the pocket blank 10 relative to a reference system can then be determined from the positions of the structures.
[0073] In the present embodiment, the position of at least two corners of the recess 12 is determined, wherein the corners are arranged, for example, opposite one another or diagonally on the recess 12.
[0074] In a further method step, a gripping device 42, for example a pick-and-placer, picks up a prepared electrode stack 16 from the stack holder 18 at a receiving position 44 and transports it to the workpiece carrier 22, which is waiting at the second position 38. One of the recesses 12 of the pocket blank 10, which is fixed on the workpiece carrier 22, defines an insertion position for the electrode stack 16.
[0075] The insertion position is the position into which the electrode stack 16 must be placed in order to be correctly arranged within the recess 12 of the pocket blank 10. A correct arrangement can be defined by various criteria, for example by the side walls of the electrode stack 16 being aligned parallel to the side walls of the recess 12, or by the corners of the electrode stack 16 being arranged adjacent to the corners of the recess 12. A correct arrangement ensures, in particular, that the pocket blank 10 is foldable so that the two recesses 12 enclose the electrode stack 16 and that the pocket blank 10 can be sealed in the folded state to form a battery. Furthermore, with a correct arrangement, for example, terminals of the electrode stack 16 are arranged such that, when the pocket blank 10 is in the folded state, they can be reached from the outside at predetermined positions on the battery.
[0076] While the electrode stack 16 is transported from the receiving position 44 to the insertion position, a position of the electrode stack 16 on the gripping device 42 is detected by means of a second optical position detection device 46. The detection of the position can also be carried out relative to the reference system, analogous to the detection of the position of the pocket blank 10 described above.
[0077] Before the electrode stack 16 is inserted into the insertion position, an alignment correction for the gripping device 42 is calculated by a control device from the detected position of the pocket blank 10 and the detected position of the electrode stack 16.
[0078] The gripping device 42 transports the electrode stack 16 in a y-direction using a carrier. Furthermore, the carrier is movable in a z-direction, so that the electrode stack 16 can be raised and lowered. To apply the alignment correction, the carrier is further rotatable at least about the z-direction, so that rotation of the electrode stack 16 can be corrected.
[0079] The gripping device 42 thus adjusts the position of the electrode stack 16, i.e. its position and / or rotation, during transport into the insertion position such that the electrode stack 16 is correctly arranged in the recess 12 as described above.
[0080] In further embodiments, the carrier is additionally movable in the x-direction, so that an alignment correction in the x-direction can be easily implemented.
[0081] To detect the position, the optical position detection devices 40, 46 can, for example, have a corner detection device configured to detect at least two corners and / or one side edge of the recess 12 or the electrode stack 16. The correction instructions are then calculated based on a predetermined ideal arrangement of the corners and / or side edges relative to one another.
[0082] In some embodiments, the second optical position detection device 46 captures an image of the electrode stack in a visible and / or non-visible range of light. Depending on the embodiment, for example, an image of each corner of the electrode stack 16 can be captured, each containing a picture of a corner of the electrode stack 16. In a further step, as described above, a position and / or rotation of the corner relative to the reference system is then determined from the image data.
[0083] In some embodiments, for example, two corners may be captured with each capture of an image, so that only two image captures are necessary.
[0084] The position detection devices 40, 46 can capture any number of images of the corners of the electrode stack 16 and / or the pocket blank 10 to detect their position. For example, if the size and / or shape of the electrode stack 16 and / or the pocket blank 10 is clearly known, it may be sufficient to detect two corners, for example, two corners connected by an edge, two diagonally opposite corners, or three corners.
[0085] In some embodiments, the gripper includes a pressure sensor for controlling the insertion force that the gripping device must apply to insert the electrode stack 16 into the recess 12. To prevent the electrode stack 16 or the pocket blank 10 from being damaged during insertion, the insertion process is aborted if a predetermined maximum force is exceeded.
[0086] In some embodiments, the second optical position detection device 46 is configured to check the quality of the electrode stack 16. If the quality of the electrode stack 16 is insufficient, the electrode stack 16 can be placed in a reject position (not shown) adjacent, for example, to the insertion position 38 instead of in the recess 12.
[0087] After inserting the electrode stack 16 into the recess 12, the workpiece carrier 22 is transported further. In a further position downstream of the insertion position 38 or during the movement of the workpiece carrier 22, the workpiece carrier 22 is folded by means of a first folding actuator 48, which engages the adjusting wheel 26 of the workpiece carrier 22. This moves the folding device from the open state to the closed state, thereby folding the pocket blank 10 along the fold line 14.
[0088] In a third position, a closing position 50, sections, for example, adjacent sections and / or edge sections, of the folded pocket blank 10 are at least partially connected to one another, in particular fused and / or sealed, in a further process step to form a pocket for the battery. For filling the pocket, an area in which the sections are not connected to one another can remain as a filling opening. In further embodiments, the third position 50 can be arranged on any transport segment 76, 78, 80, 82.
[0089] Subsequently, the workpiece carrier 22 is moved to a fourth position, a removal position 52. In the fourth position or on the way there, the workpiece carrier 22 is unfolded by means of a second folding actuator 48 so that the created pocket with the electrode stack 16 contained therein can be removed by a gripping device (not shown) assigned to the fourth position. The second folding actuator 48 can, for example, be integrated into the transport section or at the closing position 50 or the removal position 52. Following the removal of the pocket, the workpiece carrier 22 can be reused, and the process begins again.
[0090] In a further embodiment of the device, as shown in Fig. 5a, the first position 32 and the second position 38 are substantially identical, so that the workpiece carrier 22 is not moved after the pocket blank 10 has been deposited, but rather the electrode stack 16 is inserted in the same position 32, 38. In some embodiments, a step may be provided in which the workpiece carrier 22 performs a correction and / or adjustment of its position and / or rotation after the pocket blank 10 has been deposited thereon.
[0091] The position of the pocket blank 10 on the workpiece carrier 22 cannot change due to the airstream during movement, for example, from the first position 32 to the second position 38, since the workpiece carrier 22 is not moved with the pocket blank 10 thereon. Furthermore, in these embodiments, it is not necessary to supply the workpiece carrier 22 with a vacuum on its way from the first position 32 to the second position 38 in order to fix the pocket blank 10 thereon. Rather, it is possible to first place the pocket blank 10 on the workpiece carrier 22, then optionally fix or hold the pocket blank 10 to the workpiece carrier 22 using the suction device 24, and then insert the electrode stack 16 as already described. This simplifies the structure of the device 28.
[0092] To ensure that the pocket blank 10 can be placed under the gripping device 42 without parts of the gripping device 42 for the electrode stacks 16 and the transport device 34 for the pocket blanks 10 colliding with each other during operation, the transport device 34 is configured as shown in Fig. 5b. For transporting the pocket blanks 10 from the provision device 36 to the insertion position 38, a boom 35 is displaceably arranged on the transport device 34. The boom 35 is asymmetrical or L-shaped so that it can engage in a gap between the workpiece holder 22 and the gripping device 42.
[0093] To transport a pocket blank 10, the boom 35 is moved into a receiving position above the provision device 36 (shown in dashed lines on the far right in the figure), with a pocket blank 10 being placed on the provision device 36. The boom 35 picks up the pocket blank 10, for example by means of a vacuum, and is moved over the insertion position 38, where the pocket blank 10 is placed on the workpiece carrier 22.
[0094] In some embodiments, a lifting device is arranged in the second position 38, by means of which the workpiece carrier 22 can be lifted. Furthermore, the lifting device can, for example, have prismatic, spherical, spherical, pyramidal, and / or other shaped positioning devices that engage in correspondingly shaped openings or recesses in the workpiece carrier 22 and position it precisely. As a result, it is not necessary for the transport segments 76, 78, 80, 82 to enable very precise positioning of the workpiece carrier 22. In some embodiments, the workpiece carrier 22 can be separated from the transport segments 76, 78, 80, 82 during lifting in order to position it precisely.
[0095] In some embodiments, positions 32, 38, 50, 52 are located on any transport segments 76, 78, 80, 82.
[0096] Fig. 6 shows the function of the gripping device 42 at the second position 38 in greater detail. The stack holder 18, on which the electrode stack 16 is fastened by means of the fixing device 20, has been moved into the receiving position 44 and arranged there. By means of an unlocking device 54, the clamping devices 21 of the fixing device 20 are unlocked so that a carrier 56 of the gripping device 42 can receive the electrode stack 16. The carrier 56 has, for example, a suction device for fixing the electrode stack 16 to the carrier 56.
[0097] As the carrier 56 with the electrode stack 16 is transported from the receiving position 44 to the pocket blank 10, it is moved below the second optical position detection device 46 past the latter. In other words, the second optical position detection device 46 is assigned to the side of the electrode stack 16 that rests against the carrier 56 of the gripping device 42. The carrier 56 has a shape that allows the second optical position detection device 46 to detect corners and / or edges of the electrode stack 16. For example, the carrier 56 can have a smaller silhouette than the electrode stack 16 when viewed from above. Or, in other words, the carrier 56 is small enough that the electrode stack 16 protrudes above it with at least two corners.
[0098] Another embodiment of the device 28 is shown in Fig. 7. The first optical position detection device 40 and the second optical position detection device 46 each have two optical detection devices 62, 64. Each of the optical detection devices 62, 64 can, for example, be individually attached to the device 28.
[0099] Alternatively, a first holding device 58 can be provided, to which an optical detection device 62 of the first optical position detection device 40 and an optical detection device 64 of the second optical position detection device 46 are attached. In this way, the assembly effort, for example when replacing defective components, is reduced, so that, for example, downtimes are reduced. In further embodiments, in addition to the first holding device 58, a second holding device 60 can be provided, to which two optical detection devices 62, 64 are attached, analogous to the first holding device 58.
[0100] In further embodiments, the holding device 58, 60 can, for example, comprise optical detection devices 62, 64 of the same position detection device 40, 46 or of different position detection devices 40, 46. In further embodiments, two, three, four, or more optical detection devices 62, 64 can be attached to the holding device 58, 60. The optical detection devices 62, 64 can, for example, comprise cameras, infrared cameras, or modules comprising a camera module and an illumination device.
[0101] The device 28 may have a lifting device (not further illustrated). The lifting device serves to convey a stack holder 18 from the receiving position 44 along a vertical direction after the electrode stack 16 has been removed from the stack holder 18.
[0102] Fig. 8 shows the arrangement of the first optical position detection device 40 and the second optical position detection device 46 relative to the gripping device 42 as seen from the transport path 30 or the workpiece carrier 22, i.e., from below. The first optical position detection device 40 has first detection devices 62, and the second optical position detection device 46 has second detection devices 64. The detection devices 62, 64 are arranged, for example, on two sides, in particular on two opposite sides of the gripping device 42. This improves the view of the workpiece carrier 22 from the detection devices 62, 64.
[0103] Fig. 9, Fig. 10, and Fig. 11 show various views of the workpiece carrier 22. The workpiece carrier 22, shown in Fig. 10, was folded by actuating the adjusting wheel 26, so that a pocket blank 10 arranged therein would be folded. Fig. 12 shows an actuating device 66 for actuating the adjusting wheel 26, which has a folding actuator 48, for example, an actuator wheel 68, whose teeth engage the teeth of the adjusting wheel 26 in order to fold or unfold the workpiece carrier 22. Such an actuating device 66 can be arranged either at one of the described positions 32, 38, 50, 52 or at a separate, additional position.
[0104] Furthermore, in some embodiments, a second actuating device 66 is provided, which is configured and arranged to open the workpiece carrier 22, in particular after the pocket blank 10 has been sealed at least in sections.
[0105] Another embodiment of a first holding device 58 with a first optical detection device 62 and a second optical detection device 64 is shown in Fig. 13. The first optical detection device 62 and the second optical detection device 64 are movably mounted on the holding device 58 and releasably secured, so that their position can be easily adjusted. Likewise, the holding devices 62 are movably mounted on the gripping device 42 and releasably secured, so that their position can be easily adjusted.
[0106] A first optical detection device 62 shown in Fig. 14 has a light source 70, for example, an array of LEDs, and a semi-transparent mirror 72, so that light incident on the pocket blank 10 in an optical axis of a camera 74 can be used to determine the position of corners and / or edges of the recess 12 of the pocket blank 10. This allows for better detection of vertical reflections from the surface of the pocket blank 10.
[0107] Light sources 70 of the second optical detection device 64 are shown in Fig. 15. The light sources 70 comprise, for example, a group of LEDs or other suitable light sources. The light sources 70 are arranged, for example, at an angle to an optical axis of a camera 74.
[0108] In some embodiments, one or more of the detection devices 62, 64 can operate in the infrared range. In some embodiments, at least one of the light sources 70 of the first and / or second optical detection devices 62, 64 is configured to emit infrared light having a wavelength between approximately 780 nm and approximately 1000 nm. If the electrode stack 16 is surrounded by a separator film, this separator film can be at least partially transparent in the infrared light range. Thus, by using infrared light and infrared cameras, the corners of the electrode stack 16 are visible with greater contrast when they are concealed by such a separator film.
[0109] In some embodiments, a control device is provided, which in particular controls and / or verifies the sequence of the manufacturing process. Furthermore, such a control device can, for example, perform image processing, in particular the detection of structures, corners, and / or edges, and / or be configured to calculate the alignment correction.
[0110] The devices and method steps mentioned here can be implemented in part as software modules, i.e., as machine-readable instructions for execution by a computer. In particular, the control of the method as well as image acquisition and processing can be implemented in this way. The devices mentioned require electrical energy to operate. For the sake of clarity, a corresponding electrical power distribution network has been omitted. Likewise, it is self-evident that the devices can be interconnected by communication, signal, and control lines, although these communication, signal, and control lines are not shown here.
[0111] List of reference symbols
[0112] 10 pocket blanks
[0113] 12 Deepening
[0114] 14 fold line
[0115] 16 electrode stacks
[0116] 18 stacking holders
[0117] 20 Fixation device
[0118] 21 Clamping device
[0119] 22 workpiece carriers
[0120] 24 Suction device
[0121] 26 Adjusting wheel (adjusting element)
[0122] 28 Device (for producing a battery)
[0123] 30 transport route
[0124] 32 first position
[0125] 34 Transport device
[0126] 35 booms
[0127] 36 Provisioning facility
[0128] 38 second position (insertion position)
[0129] 40 first optical position detection device
[0130] 42 gripping device
[0131] 44 Recording position
[0132] 46 second optical position detection device
[0133] 48 Folding actuator
[0134] 50 third position (closing position)
[0135] 52 fourth position (removal position)
[0136] 54 Unlocking device
[0137] 56 carriers
[0138] 58 first holding device
[0139] 60 second holding device
[0140] 62 first optical detection device
[0141] 64 second optical detection device
[0142] 66 Actuating device
[0143] 68 Actuator wheel (folding actuator)
[0144] 70 light source
[0145] 72 semi-transparent mirrors Camera first transport segment second transport segment third transport segment fourth transport segment
Claims
Patent claims 1. A method for producing a battery having an electrode stack (16) and a pocket for receiving the electrode stack (16), comprising the steps of: a) moving a workpiece carrier (22) with a pocket blank (10) arranged thereon into an insertion position (38); b) measuring a position of at least two structures of a recess (12) of the pocket blank (10) relative to a reference system; c) moving a carrier (56) of a gripping device (42) with the electrode stack (16) fixed to the carrier (56) from a receiving position (44) into the insertion position (38); d) during step c), measuring a position of at least two structures of the electrode stack (16) relative to the reference system;e) calculating an alignment correction for the electrode stack (16) from the positions of the structures such that when the electrode stack (16) is inserted into the recess, the structures of the electrode stack (16) and the recess (12) each lie adjacent to one another and f) rotating and / or shifting, during step c), the carrier (56) with the electrode stack (16) according to the alignment correction; 2. A method for producing a battery according to claim 1, characterized by the steps: h) before step a), picking up a pocket blank (10) from a transfer position; i) placing the pocket blank (10) on the workpiece carrier (22) and j) fixing the pocket blank (10) on the workpiece carrier (22).
3. A method for producing a battery according to one of the preceding claims, characterized by the steps: k) before step c) moving a stack holder (18) on which the electrode stack is secured (16) into the receiving position (44); l) unlocking the securing of the electrode stack (16) to the stack holder (18); and m) receiving the electrode stack (16) by means of the carrier (56).
4. Method according to one of the preceding claims, characterized in that in step b) at least one image of one or more structures of the recess (12) of the pocket blank (10) is created by a first camera (74) and / or a second camera (74) of a first optical position detection device (40) and / or in step d) at least one image of one or more corners of the electrode stack (16) is created by a first camera (74) and / or a second camera (74) of a second optical position detection device (46), wherein the measuring is carried out by means of image processing on the basis of the image recordings.
5. A device for producing a battery, which has an electrode stack (16) and a pocket, which can be produced from a pocket blank (10) with at least one recess (12) by folding along a fold line (14), for receiving the electrode stack (16), comprising a plurality of movable workpiece carriers (22), on each of which a pocket blank (10) can be arranged, a gripping device (42) with a carrier (56) that can be positioned in two spatial directions and is rotatable about one of the spatial directions for transporting the electrode stack (16) from a receiving position (44) to an insertion position (38) in one of the recesses (12), a first optical position detection device (40) for detecting a position of the pocket blank (10) arranged on one of the workpiece carriers (22) relative to a reference system,a second optical position detection device (46) for detecting a position of the electrode stack (16) relative to the reference system and a control device for determining an alignment correction for the carrier (56) and / or the workpiece carrier (22), comprising translation and / or rotation information for positioning the electrode stack (16) in the recess (12).
6. Device for producing a battery according to claim 5, characterized in that the second optical position detection device (46) is arranged and configured to detect the position during the transport of the electrode stack (16) from the receiving position (44) to the insertion position (38).
7. Device for producing a battery according to claim 5 or 6, characterized in that the second optical position detection device (46) on a side of the electrode stack (16) facing the gripping device (42).
8. Device for producing a battery according to one of claims 5 to 7, characterized in that the second optical position detection device (46) is arranged and configured to detect the positions of at least two corners of the electrode stack (16).
9. Device for producing a battery according to one of claims 5 to 8, characterized in that the first optical position detection device (40) is arranged and configured to detect the positions of at least two corners of a recess (12) of the pocket blank (10).
10. Device for producing a battery according to one of claims 5 to 9, characterized in that the electrode stack (16) is fixed in the receiving position (44) on a stack holder (18) for collection, wherein an unlocking device (54) is provided for releasing the fixation.
11. Device for producing a battery according to one of claims 5 to 10, characterized in that the workpiece carrier (22) has a folding device for folding the pocket blank (10) along the fold line (14) such that the electrode stack (16) is enclosed by the two recesses (12), the folding device having an open state and a closed state.
12. Device for producing a battery according to claim 11, characterized in that a sealing station is provided at which a pocket blank (10) with an electrode stack (16) in a workpiece carrier (22) can be at least partially sealed in the closed state.
13. Device for producing a battery according to one of claims 5 to 12, characterized in that the carrier (56) of the gripping device (42) has a suction plate with vacuum openings for fixing the electrode stack (16) to the carrier (56), wherein the carrier (56) and / or the suction plate are designed such that at least corner regions of the electrode stack (16) are visible from the side of the gripping device (42). 14 Device for producing a battery according to one of claims 5 to 13, characterized by a common insertion position (32, 38) for inserting of the pocket blank (10) into the workpiece carrier (22) and inserting the electrode stack (16) into the recess (12) of the pocket blank (10).
15. Device for producing a battery according to one of claims 5 to 14, characterized by a transport path (30) which has a plurality of transport segments (76, 78, 80, 82), wherein the transport segments (76, 78, 80, 82) are arranged and configured to transport the workpiece carriers (22) between a plurality of positions, wherein the transport path (30) is arranged and configured to form a circuit for the workpiece carriers (22) and wherein at least one insertion position (32, 38) is arranged on or at one of the transport segments (76, 78, 80, 82).