Robot comprising a robotic arm
Patent Information
- Application Number
- ES2019879194T
- Authority / Receiving Office
- ES · ES
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2018-11-02
- Filing Date
- 2019-10-01
- Publication Date
- 2026-08-11
- Estimated Expiration
- 2039-10-01
Abstract
Description
Robot comprising a robotic arm Technology sector This disclosure relates to a robot that includes a robotic arm and, more specifically, to a manufacturing apparatus that includes a robotic arm, which improves production efficiency and enables automated production. Background of the invention Secondary batteries currently on the market include nickel-cadmium batteries, nickel-hydrogen batteries, nickel-zinc batteries, lithium-ion batteries, and similar types. Among these, the lithium-ion battery has gained particular prominence because, compared to nickel-based batteries, it exhibits virtually no memory effect, ensuring smooth charging and discharging, and also features a very low discharge rate and high energy density. The secondary lithium battery primarily uses a lithium-based oxide and a carbon material as the active material for the positive and negative electrodes, respectively. The secondary lithium battery includes an electrode assembly consisting of a positive electrode plate and a negative electrode plate, coated with the active material for the positive and negative electrodes, respectively, with a separator between them. A cylindrical battery casing serves as the outer casing, sealing and housing the electrode assembly and the electrolyte. Recently, secondary batteries have become widely used in medium and large-sized devices, such as vehicles and energy storage systems, as well as in small devices, such as portable electronics. In medium and large-sized devices, multiple secondary batteries are electrically connected to increase capacity and power output. Furthermore, in recent years, as the need for high-capacity structures and their use as energy storage sources has increased, so has the demand for battery packs that group multiple battery modules, each containing multiple secondary batteries electrically connected in series and / or parallel. Furthermore, the battery module typically includes a module housing made of plastic to protect the multiple secondary batteries from external impacts, as well as to house and store them. For example, the module housing may include a separate compartment for housing the multiple secondary batteries. However, the process of housing a plurality of cylindrical battery cells in the module housing is a cumbersome and difficult task, which cannot be easily accomplished by mechanical automation and is therefore usually carried out manually by workers. Furthermore, given that in recent years a production automation system capable of considerably increasing safety and productive efficiency has been widely used, industrial robots or similar are generally employed in each battery module manufacturing process. However, because a large number of industrial robots are required for each of the various battery module manufacturing processes, the costs of manufacturing equipment have increased considerably, which can make it difficult to ensure competitive product prices. Additional prior art includes documents KR 101405055 B1, KR 20160050899 A, WO 2017 / 178924 A1, US 2014 / 360993 A1, JP 2008194770 A, US 2012 / 133371 A1 and US 2011 / 133501 A1. Explanation of the invention Technical problem The purpose of this disclosure is to solve problems in the related art, and therefore this disclosure focuses on providing a manufacturing apparatus that includes a robotic arm, which can increase production efficiency and significantly reduce the size of manufacturing equipment. These and other objects and advantages of this disclosure can be understood from the following detailed description and will become more evident from the illustrative embodiments herein. It will also be readily apparent that the objects and advantages of this disclosure can be achieved by the means shown in the appended claims and combinations thereof. Technical solution In one aspect of this disclosure, a manufacturing apparatus is provided comprising a robotic arm for manufacturing a battery module including a plurality of cylindrical battery cells and a module housing having an upper housing and a lower housing configured to accommodate the plurality of cylindrical battery cells, wherein the robotic arm includes: a first gripping element configured to grasp or release the plurality of cylindrical battery cells; a second gripping element configured to grasp or release the upper housing; and a third gripping element configured to hold or release the lower housing. In addition, the robotic arm may also include: a plate-shaped disc, the upper and lower surfaces of which are relatively wider than its side surfaces, so that the first gripping element, the second gripping element, and the third gripping element are mounted on it; a drive shaft having a longitudinal end portion rotatably connected to the disc to rotate the disc; and a rotary drive unit configured to move the end portion of the drive shaft in an upward or downward direction. Additionally, the first gripping element may include: a plurality of first clamp units configured to grip or release the plurality of cylindrical battery cells, respectively; a plurality of first gripper drive units connected respectively to the ends of the plurality of first gripper units and configured to control the clamping and releasing operation of each of the plurality of gripper units; and a fixing frame connected to the plurality of first clamp drive units and having a part coupled to the disc. Additionally, a recessed groove can be formed in an outward direction of the first clamp unit, so as not to press on a top part of the cylindrical battery cell, on an inner side of the first clamp unit facing the cylindrical battery cell. Additionally, the mounting frame may include: a movable bar having a body part with an outer side on which the first gripper drive unit is mounted and a bolt attached to one side of the body part; a fastening element having a guide hole drilled so that a portion of the bolt is inserted therein to guide the movable bar so that it moves in the longitudinal direction of the bolt; and an elastic element configured to apply a predetermined force to the movable bar in the longitudinal direction of the bolt. Furthermore, the mounting frame may include an incorrect mounting sensor unit configured to detect incorrect mounting as the first clamp unit inserts the cylindrical battery cell into a recess formed in the lower housing. Additionally, the mismounting sensor unit may include a laser sensor arranged in the fastening element to detect if the movable bar bolt has been moved upwards. Additionally, the second gripping element may include: a second clamp unit having a plurality of pressure plates configured to press both sides of the upper housing and a movable shaft configured to move in a direction along which the plurality of pressure plates move closer to or further away from each other; at least a second gripper drive unit configured to control the movement of the moving shaft; and a pressure element connected to the disc and configured to press the upper housing against the lower housing. In addition, the third gripping element may include: a third gripper unit having a plurality of curved finger units configured to move closer together or further apart, and a pressure bar connected to a terminal portion of the finger unit to press both horizontal sides of the lower housing; at least a third gripper drive unit configured to control the operation of the finger unit; and A hook connected to the pressure bar and configured to engage with a lower portion of the lower housing. Furthermore, in another aspect of this disclosure, a manufacturing method is also provided, which manufactures a battery module using the manufacturing apparatus. Furthermore, in another aspect of this disclosure, a battery module is also provided, which is manufactured using the manufacturing apparatus. Advantageous effects According to one embodiment of the present disclosure, since the recessed groove is formed in the first clamp unit of the present disclosure, it is possible to effectively prevent the cylindrical battery cell included in the battery module from being damaged or defective while the first clamp unit grips and retains the top of the cylindrical battery cell. Furthermore, according to one embodiment of this disclosure, since the clamping frame includes a movable bar that can be elastically displaced in the longitudinal direction of the bolt by means of an elastic element connected to the first gripper drive unit, the movable bar of the clamping frame can elastically absorb the impact generated while the first gripping element receives the cylindrical battery cell in the housing portion of the lower casing. That is, the manufacturing apparatus of this disclosure can reduce the impact applied to the cylindrical battery cell during the manufacturing process, thereby minimizing defects in the battery cells of the battery module. Furthermore, according to one embodiment of this disclosure, since the mounting frame includes the mismounting sensor unit, it is possible to detect mismounting while the cylindrical battery cell is being inserted into the recess formed in the lower housing. This prevents the cylindrical battery cell from exploding or burning due to an impact that might result from the mismounting of multiple cylindrical battery cells. Additionally, the manufacturing process reduces defects in the multiple cylindrical battery cells. Furthermore, according to one embodiment of this disclosure, since the second gripping element includes the pressure element configured to press the upper housing against the lower housing, it is possible to facilitate a perfect fit of the upper housing onto the top of the lower housing. Additionally, since the pressure element can press the upper housing downward when the second gripper unit places the upper housing onto the top of the lower housing, the coupling operation can be performed efficiently. Furthermore, according to one embodiment of the present disclosure, since the third gripping element includes the hook formed on the pressure bar, the pressure bar can pick up and hold the lower housing while exerting pressure on both sides of the lower housing and, at the same time, the hook can support the lower surface of the housing upwards, thus effectively preventing accidents such as the third gripper drive unit dropping the lower housing. Brief description of the drawings The accompanying drawings illustrate a preferred embodiment of the present disclosure and, together with the previous disclosure, serve to facilitate a better understanding of the technical features of the present disclosure and, therefore, should not be construed as limiting the present disclosure to the drawings. FIG.1 is a perspective view schematically showing a battery module manufactured by a manufacturing apparatus according to an embodiment of the present disclosure. FIG.2 is an exploded perspective view schematically showing the components of the battery module manufactured by the manufacturing apparatus according to an embodiment of the present disclosure. FIG.3 is a partially cross-sectional view that schematically shows the internal structure of a cylindrical battery cell, used in the battery module of FIG.2. FIG. 4 is a side view schematically showing the manufacturing apparatus according to an embodiment of the present disclosure. FIG. 5 is a partial perspective view schematically showing a part of the manufacturing apparatus according to an embodiment of the present disclosure. FIG. 6 is an exploded perspective view schematically showing a compressor and a first gripping element, used in the manufacturing apparatus according to an embodiment of the present disclosure. FIG. 7 is a partially sectional view schematically showing another operation of the manufacturing apparatus according to an embodiment of the present disclosure. FIG. 8 is a partially sectional view schematically showing another operation of the manufacturing apparatus according to an embodiment of the present disclosure. Preferred embodiment of the invention The preferred embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Before proceeding with this description, it should be understood that the terms used in the specification and in the accompanying claims are not to be interpreted as limited to their general, dictionary meanings, but rather based on the meanings and concepts relevant to the technical aspects of this disclosure, on the principle that the inventor is permitted to define terms as appropriate to provide the best explanation. Therefore, the description proposed in this document is merely a preferred example for purely illustrative purposes, without the intention of limiting the scope of disclosure, so it should be understood that other equivalents and modifications could be made without departing from the scope of disclosure. Figure 1 is a perspective view schematically showing a battery module manufactured by a manufacturing apparatus according to an embodiment of this disclosure. Figure 2 is an exploded perspective view schematically showing the components of the battery module manufactured by the manufacturing apparatus according to an embodiment of this disclosure. Figure 3 is a partial cross-sectional view schematically showing the internal structure of a cylindrical battery cell used in the battery module of Figure 2. Figure 4 is a side view schematically showing the manufacturing apparatus according to an embodiment of this disclosure. With reference to FIGS. 1 to 4, an apparatus 300 manufactured according to an embodiment of the present disclosure includes a robotic arm 310 for manufacturing a battery module 200. In this case, the battery module 200 may include a plurality of cylindrical battery cells 100 and a module housing 210. Specifically, the cylindrical battery cell 100 may include a cylindrical battery can 120 and an electrode assembly 140 (FIG. 3) housed in the battery can 120. In this case, the 120-ohm battery can may contain a material with high electrical conductivity. For example, the 120-ohm battery can may contain aluminum or copper. Furthermore, the battery can 120 can be configured to stand upright in an elongated shape in both an upward and downward direction. Similarly, the battery can 120 can have a cylindrical shape extending in both an upward and downward direction. Additionally, electrode terminals 111 and 112 can be formed on the upper and lower portions of the battery can 120, respectively. Specifically, a first electrode terminal 111 can be formed projecting upward on a flat, circular upper surface at the top of the battery can 120, and a second electrode terminal 112 can be formed on a flat, circular lower surface at the bottom of the battery can 120. Furthermore, the cylindrical battery cells 100 can be arranged in a plurality of columns and rows in a horizontal direction. In this case, the horizontal direction can refer to a direction parallel to the ground when the cylindrical battery cell 100 is placed on the ground, and it can also refer to at least one direction in a plane perpendicular to the upward and downward directions. For example, as shown in FIG.2, the 200 battery module may include a plurality of cylindrical 100 battery cells arranged in four columns in the front and rear W direction and in seven or six rows in the left and right V direction. Furthermore, the electrode assembly 140 (FIG. 3) may be formed in a structure in which a positive electrode and a negative electrode are wound in a coiled manner with a separator interposed between them. A positive electrode tab 170 may be attached to the positive electrode (not shown) and connected to the first electrode terminal 111 at the top of the battery can 120. A negative electrode tab (not shown) may be attached to the negative electrode (not shown) and connected to the second electrode terminal 112 located at the bottom of the battery can 120. With reference to FIG.3 together with FIG.2, in the cylindrical battery cell 100, a top cap is formed with a protruding design to form the electrode terminal 111, and a portion of the top cap is perforated when the internal gas reaches a specific air pressure or higher. Furthermore, the cylindrical battery cell 100 may include a safety element 122 (e.g., a positive temperature coefficient (PTC) element, a thermal cutoff (TCO), or similar) to block current by significantly increasing the battery's resistance when the temperature inside the battery cell rises. Additionally, the cylindrical battery cell 100 may feature a safety vent structure 130 which, under normal conditions, has a downward-protruding shape but protrudes and ruptures to expel gas when the pressure inside the battery increases. However, the battery module 200 according to this disclosure is not limited to the aforementioned cylindrical battery cell 100, and various cylindrical battery cells 100 known at the time of filing this application may be used. Furthermore, the module housing 210 may include an upper housing 210A and a lower housing 210B. In addition, the upper housing 210A and the lower housing 210B of the module housing 210 may include housing parts 212A and 212B to accommodate the cylindrical battery cell 100, respectively. Specifically, the housing parts 212A and 212B may have a plurality of recesses H2 formed to surround the outer surfaces of the cylindrical battery cells 100. In addition, the module accommodation 210 can include a first exterior wall 210a, a second exterior wall 210b, a third exterior wall 210c, and a fourth exterior wall 210d, configured to form an interior space and arranged on the front, rear, left, and right sides. With reference to FIG.4 again, the robotic arm 310 may include a pillar part 311, a first connecting part 312, a second connecting part 313, a third connecting part 314, a fourth connecting part 315, a rotating drive unit 316 (FIG.7) and a drive shaft 317. Specifically, pillar part 311 can be a part connected to a lower surface on which the robotic arm 310 is mounted. Furthermore, pillar part 311 can be configured to allow the first connecting part 312 of the robotic arm 310 to rotate about a rotating shaft E1 in the upward and downward directions (Z-axis direction). For example, pillar part 311 can incorporate an electric motor (not shown). Furthermore, the first connecting part 312 can be connected to an upper portion of the pillar part 311. Additionally, the first connecting part 312 can be configured to move up and down along a terminal portion 313a (an upper portion) of the second connecting part 313, on a side corresponding to the direction in which the first connecting part 312 is located. To this end, the first connecting part 312 can be connected to an end (a lower portion) of the second connecting part 313. Furthermore, the first connecting part 312 can be equipped with an electric motor (not shown) to rotate the second connecting part 313 by means of a rotating shaft E2 in the Y-axis direction. Furthermore, the second connecting part 313 can be configured to move up and down a terminal part 314a of the third connecting part 314, on a side corresponding to the direction in which the second connecting part 313 is located. To this end, the second connecting part 313 can be connected to one end of the third connecting part 314. Additionally, the second connecting part 313 can include an electric motor (not shown) for rotating the third connecting part 314 by means of a rotating shaft E3 in the Y-axis direction. Furthermore, the third connecting part 314 can be connected to one end of the fourth connecting part 315. Additionally, the third connecting part 314 can be equipped with an electric motor (not shown) to rotate the fourth connecting part 315 via a rotating shaft E4 in the X-axis direction. Furthermore, the fourth connecting part 315 can be connected to both sides (see 316 in FIG. 7) of the rotating drive unit 316. The fourth connecting part 315 can be equipped with an electric motor (not shown) for rotating the rotating drive unit 316 about a rotating shaft E5 in the Y-axis direction. Additionally, the apparatus 300 of manufacture described herein includes a central control unit (not shown). The central control unit can be configured to control the rotation of the first connecting part 312, the second connecting part 313, the third connecting part 314, and the fourth connecting part 315. Furthermore, the central control unit can be configured to control the operation of the drive shaft 317 and the rotating drive unit 316.The central control unit is configured to control the operation of a first gripping element 320, a second gripping element 330, and a third gripping element 340, as explained below. In addition, the central control unit can be connected to a handling unit directly controlled by a worker. The central control unit operates according to a program that includes the robotic arm's execution instructions necessary for the manufacturing process. Furthermore, the rotary drive unit 316 may be configured to move a terminal portion 317a of the drive shaft 317 upward or downward. Likewise, the rotary drive unit 316 may be shaped so that one end of the drive shaft 317 is inserted into it. Furthermore, the drive shaft 317 can be configured to rotate about a rotating shaft E6 in the X-axis direction. That is, the drive shaft 317 can move in two directions, so that the end portion 317a moves in the upward and downward direction (the Z-axis direction) and clockwise or counterclockwise with respect to the X-axis direction. FIG. 5 is a partial perspective view schematically showing a part of the manufacturing apparatus according to an embodiment of the present disclosure. With reference to FIG. 5 in conjunction with FIGS. 1 and 4, the robotic arm 310 may include a first gripping element 320, a second gripping element 330, and a third gripping element 340. Furthermore, the first gripping element 320 may be configured to grasp or release the plurality of cylindrical battery cells 100. Likewise, the second gripping element 330 may be configured to grasp or release the upper housing 210A. In addition, the third gripping element 340 may be configured to grasp or release the lower housing 210B. Furthermore, the robotic arm 310 may include a disk 350 on which the first gripping element 320, the second gripping element 330, and the third gripping element 340 are mounted. Specifically, the disk 350 may be plate-shaped, with upper and lower surfaces 350a and 350b that are relatively wider than its side surfaces. In addition, an end portion of the drive shaft 317 in an axial direction may be connected to a wide surface 350a of the disk 350 by means of a coupling element 352. Furthermore, the drive shaft 317 can be configured to rotate about the rotating shaft E6 in the X-axis direction of FIG. 4, so that the disk 350 rotates. Likewise, the end portion of the drive shaft 317 moves along the rotating shaft E5 in the upward and downward direction (Z-axis direction), and the wide upper and lower surfaces 350a and 350b of the disk 350 can be shaped to stand upright in a direction perpendicular to the floor G1 or to be parallel to the floor G1. However, the rotation directions of the first connection part 312, the second connection part 313, the third connection part 314, the fourth connection part 315, the rotating drive unit 316, and the drive shaft 317 are not limited to the X-axis direction, the Y-axis direction, or the Z-axis direction. Depending on the situation, whenever the positions of the first connection part 312, the second connection part 313, the third connection part 314, the fourth connection part 315, the rotating drive unit 316, and the drive shaft 317 of the robotic arm 310 are modified, the rotation directions of the components can be modified three-dimensionally. More specifically, the first gripping element 320 may include a plurality of first gripper units 321, a plurality of first gripper drive units 323, and a fixing frame 325. In this case, when viewed in direction F of FIG. 5, the plurality of first clamp units 321 can be configured to grip or release the plurality of cylindrical battery cells 100, respectively. Specifically, the first clamp unit 321 can include a pair of fingers 321a, 321b extending longitudinally. Furthermore, an upper portion of the finger pair 321a, 321b, extending longitudinally, can be connected to the first clamp drive unit 323. Likewise, by means of the first clamp drive unit 323, a lower portion of the finger pair 321a, 321b can be configured to grip or release a cylindrical battery cell 100. Likewise, a recessed H1 groove, recessed in an outward direction, can be formed on an inner side of the first clamp unit 321 facing the cylindrical battery cell 100 so as not to press on a top part of the cylindrical battery cell 100. That is, the top of the cylindrical battery cell 100 is a region where components such as a safety element and a safety vent structure are located, which can be easily damaged or fail even with a slight impact, and these components could be damaged simply by the pressure force exerted by the first clamp unit 321 when gripping the top of the cylindrical battery cell 100. For example, as shown in FIG. 5, the first clamp unit 321 may include a pair of fingers 321a, 321b. In addition, recessed H1 grooves, recesses in the outward direction, may be formed on the inner sides of the finger pair 321a, 321b facing the top of the cylindrical battery cell 100. Thus, according to this configuration of the present disclosure, since the recessed H1 groove is formed in the first clamp unit 321 of the present disclosure, it is possible to prevent the top of the cylindrical battery cell 100 from being pressed while the first clamp unit 321 holds and retains the cylindrical battery cell 100, thereby reducing damage or defects to the safety element 122 and the safety vent structure 130 of the cylindrical battery cell 100. Furthermore, the first gripper drive unit 323 can be configured to control the clamping and release operation of each of the plurality of first gripper units 321. For example, the first gripper drive unit 323 can include a pneumatic cylinder 324. Additionally, a piston (not shown) of the pneumatic cylinder 324 can be connected to the top of each of the plurality of first gripper units 321. Furthermore, the pneumatic cylinder 324 can have an injection port 324c through which air is injected or drawn in. If air is injected into the injection port 324c, the cylinder can move so that the two fingers 321a, 321b of the first gripper unit 321 move away from each other, and if air is drawn in from the injection port, the cylinder can move so that the pair of fingers 321a, 321b of the first gripper unit 321 move closer together. Figure 6 is an exploded perspective view schematically showing a compressor and a first gripping element used in the manufacturing apparatus according to one embodiment of the present disclosure. For ease of description, an air hose for connecting the air discharge port of compressor 390 and the injection port of the pneumatic cylinder is not shown. With reference to FIG. 6 in conjunction with FIG. 5, the apparatus 300 of manufacture described herein may include a compressor 390 configured to supply compressed air to the injection port 324c of the pneumatic cylinder 324. Specifically, the compressor 390 may draw in outside air, compress the outside air, and supply the compressed air to the injection port 324c of the pneumatic cylinder 324 through an air discharge port 391. In addition, the compressor 390 may have separate injection ports 392 and 393, formed to supply compressed air to a pneumatic cylinder 334 (FIG. 8) of the second gripping element 330 and to a pneumatic cylinder 344 (FIG. 8) of the third gripping element 340, as will be explained later. Furthermore, a portion of the fixing frame 325 can be coupled to the disc 350. In addition, the fixing frame 325 can be connected to the plurality of first clamp drive units 323. Specifically, the mounting frame 325 may include a movable bar 326, a mounting element 325b, and a spring element 327. Furthermore, the movable bar 326 may have a body part 326a with an outer side on which the first gripper drive unit 323 is mounted, and a bolt 326b attached to one side of the body part 326a. For example, as shown in FIG. 5, the body part 326a of the movable bar 326 can be separated from a wide surface 350a of the disc 350 by a predetermined distance. Furthermore, the first gripper drive unit 323 can be mounted on an outer side of the body part 326a. Additionally, a bolt 326b can be formed and arranged upright on top of the body part 326a. Furthermore, with reference to FIG. 6 in conjunction with FIG. 5, when viewed in direction F, the fastening element 325b may be plate-shaped, extending perpendicularly to a wide surface 350a of the disc 350. Additionally, both ends 325b1 and 325b2 of the fastening element 325b may be bent upwards and further bent left and right. The fastening element 325b may also have a plurality of guide holes H3 through which the bolt 326b is movably housed in the upward and downward directions to guide the movement of the bolt 326b of the movable bar 326 in the longitudinal direction. Furthermore, the guide hole H3 (FIG. 5) may be drilled in the longitudinal direction (upward and downward) of the bolt 326b, so that a portion of the bolt 326b is inserted therein. For example, as shown in FIG. 5, the fastening element 325b can be positioned on a wide surface 350a of the disc 350, extending perpendicularly to the wide surface 350a of the disc 350. Furthermore, a portion (an inner portion) of the fastening element 325b can be attached to the disc 350. Seven guide holes H3 can also be formed in the fastening element 325b. Seven bolts 326b of the first gripper drive unit 323 can be inserted into the seven guide holes H3, respectively. Furthermore, the head of bolt 326b can be locked against the periphery of guide hole H3, so that the first gripper drive unit 323 maintains a fixed shape. In other words, guide hole H3 can be smaller than the head of bolt 326b. Furthermore, the elastic element 327 can be configured to apply a predetermined force to the movable bar 326 in an upward and / or downward direction. For example, as shown in FIG. 5, the elastic element 327 can be a spring. The spring can be inserted into a shaft portion of the bolt 326b. Alternatively, the spring can be positioned between the lower portion of the clamping element 325b and the movable bar 326a of the first gripper drive unit 323. Consequently, as shown in FIG. 6, if the first gripper unit 321 of the first gripping element 320 receives a force in the upward S direction, the first gripper drive unit 323, connected to the first gripper unit 321, moves in the upward S direction. Simultaneously, the first movable bar 326, connected to the first gripper drive unit 323, may also move in the upward S direction. In this case, the elastic element 327 can be configured to apply a predetermined force in the downward direction. That is, the elastic element 327 can be designed to dampen the upward S-direction force received by the first gripper unit 321. Furthermore, the elastic element 327 can prevent the pin 326b of the movable bar 326 from moving upward beyond a predetermined height, even with a reduced force. Thus, according to the configuration described herein, since the clamping frame 325 is configured so that the movable bar 326, connected to the first clamping drive unit 323, can be elastically moved in the longitudinal (upward) direction of the bolt 326b by means of the elastic element 327, the elastic element 327 of the clamping frame 325 can absorb (dampen) the impact generated while the first gripping element 320 receives the cylindrical battery cell 100 in the housing portion 212B of the lower housing 210B. That is, the manufacturing apparatus 300 described herein can reduce the impact applied to the cylindrical battery cell 100 during the manufacturing process, thereby minimizing defects in the battery cells 100 of the battery module 200. Furthermore, with reference to FIG.5 together with FIG.2, the mounting frame 325 may include a mismounting sensor unit 328 configured to detect mismounting while the first clamp unit 321 inserts the cylindrical battery cell 100 into the recess formed in the lower housing 210B. Specifically, the mismounting sensor unit 328 may include a laser sensor 328s. Furthermore, the laser sensor 328s may include a light-emitting part 328s1 for emitting a laser and a light-receiving part 328s2 configured to detect a laser emitted by the light-emitting part 328s1. Additionally, the laser sensor 328s may be arranged on the fastening element 325b to detect whether the bolt 326b of the movable bar 326 has been moved upwards. More specifically, the light-emitting part 328s1 and the light-receiving part 328s2 of the laser sensor 328s may be arranged at opposite ends of the fastening element 325b.Furthermore, if the laser L1 emitted from the light-emitting part 328s1 does not reach the light-receiving part 328s2—that is, if the pin 326b of the movable bar 326 moves upwards to block the direction of movement of laser L1—the laser sensor 328s can detect the situation in which laser L1 has not reached the light-receiving part 328s2. For example, as shown in FIG. 5, seven movable bars 326 can be mounted on the fixing element 325b. Moreover, the seven pins 326b of the seven movable bars 326 can be inserted into seven guide holes H3 (FIG. 6) formed in the fixing element 325b. Likewise, the light-emitting part 328s1 and the light-receiving part 328s2 of the laser sensor 328s can be located at both ends 325b1, 325b2, respectively, in a direction along which the guide holes H3 of the fixing element 325b are arranged.In addition, the laser sensor 328s can be positioned to face the light-emitting part 328s1 and the light-receiving part 328s2 in order to detect if the pin 326b of the movable bar 326 has moved upwards. Thus, according to the configuration described herein, since the mounting frame 325 includes the mismounting sensor unit 328, it is possible to detect mismounting while inserting the cylindrical battery cell 100 into the recess formed in the lower housing 210B. In this way, it is possible to prevent the cylindrical battery cell 100 from exploding or burning due to an impact that might result from the mismounting of multiple cylindrical battery cells 100. Furthermore, the manufacturing device 300 has the effect of reducing defects in the multiple cylindrical battery cells 100. Figure 7 is a partial sectional view schematically showing another operation of the manufacturing apparatus according to an embodiment of this disclosure. Similarly, Figure 8 is a partial sectional view schematically showing another operation of the manufacturing apparatus according to an embodiment of this disclosure. For reference, Figure 7 shows a situation in which the robotic arm 310 moves the upper housing 210A of the module housing 210 toward the top of the lower housing 210A using the second gripping element 330. With reference to FIGS.7 and 8, the second gripping element 330 may include a second gripper unit 331, a second gripper drive unit 333 and a pressure element 336. Specifically, the second clamp unit 331 may include a pressure plate 331a and a movable shaft 331b. More specifically, the pressure plate 331a may be configured to press against both sides of the upper housing 210A. For example, as shown in FIG. 8, when viewed in direction F, the second clamp unit 331 may include two pressure plates 331a located on either side of the upper housing 210A of the battery module 200 in the horizontal direction (left and right). Furthermore, the pressure plates 331a may be configured to press against both sides of the upper housing 210A in the left and right directions by means of the movement of the movable shaft 331b. Furthermore, the second gripper unit 331 may include two movable shafts 331b extending longitudinally in a direction parallel to a wide surface 350a of the disc 350. Also, an outer end portion of the movable shaft 331b may be coupled to the pressure plate 331a, and an inner end portion (not shown) thereof may be connected to the second gripper drive unit 333. For example, the second gripper drive unit 333 may include a pneumatic cylinder 334. Furthermore, a cylinder (not shown) of the pneumatic cylinder 334 may be connected to the movable shaft 331b of the second gripper drive unit 331. The pneumatic cylinder 334 may also have injection ports (not shown) through which air is injected or drawn in. If air is injected into one of the two injection ports, the two pressure plates 331a of the second gripper drive unit 331 may move further apart, and if air is drawn in from the injection port, the two pressure plates 331a of the second gripper drive unit 331 may move closer together. Furthermore, the movable tree 331b can be configured so that the plurality of pressure plates 331a can be moved in a direction along which they either move closer to each other or further apart from each other. For example, as shown in FIG. 8, the second clamp unit 331 may include two movable shafts 331b. Furthermore, the two movable shafts 331b may be configured so that the plurality of pressure plates 331a may move closer to or further away from each other. Furthermore, on an inner surface of the pressure plate 331a facing the outer surface of the upper housing 210A, at least one contact element 331c may be formed having a shape that protrudes from the inner surface of the pressure plate 331a towards the upper housing 210A. Furthermore, terms indicating directions, such as front, back, left, right, up, and down, can vary depending on the observer's position or the object's shape. However, in the descriptive report, for ease of description, the directions front, back, left, right, up, and down are distinguished by taking the view in direction F as a reference. For example, as shown in FIG. 8, the second gripper unit 331 may include two pressure plates 331a. Furthermore, two contact elements 331c, shaped to project into the upper housing 210A, may be formed on the inner surfaces of the two pressure plates 331a, respectively. The contact element 331c may also be positioned so that it avoids pressing against a structure or component, such as a projection on the outer wall of the upper housing 210A. Thus, according to this configuration described in the present disclosure, because the contact element 331c is formed on the pressure plate 331a of the second gripper unit 331, damage to or dislodging of the upper housing 210A is prevented, as the second gripper element 330 would press against an inappropriate point when gripping the upper housing 210A. Furthermore, the second gripping element 330 may include a pressure element 336 configured to press the upper housing 210A against the lower housing 210B. Specifically, the pressure element 336 may be connected to the other surface 350b (the lower surface) of the disc 350. Additionally, the pressure element 336 may be configured to protrude perpendicular to the lower surface 350b, which is relatively wider than the horizontal side surface of the disc 350. For example, as shown in FIG. 8, two pressure elements 336 can be attached to the lower surface 350b of the disc 350. Furthermore, the pressure element 336 can be in the form of a rod with its two longitudinal ends bent upwards. Additionally, a damping pad 335, made of a soft material whose volume is easily modified, can be formed on the underside of the pressure element 336. Furthermore, the movable shaft 331b of the second gripper unit 331 can be positioned between the two bent ends of the pressure element 336. For example, as shown in FIG. 8, two pressure elements 336 can be formed on the lower surface 350b of the disc 350. Moreover, the movable shaft 331b of the second gripper unit 331 can be positioned to pass through the open center of the two pressure elements 336, respectively. Thus, according to the configuration described herein, since the second gripping element 330 includes the pressure element 336 configured to press the upper housing 210A against the lower housing 210B, it is possible to facilitate the secure coupling of the upper housing 210A to the top of the lower housing 210B. Furthermore, since the pressure element 336 can press the upper housing 210A downward when the second gripper unit 331 places the upper housing 210A onto the top of the lower housing 210B, the coupling operation can be performed efficiently. With reference to FIGS.7 and 8, the third gripping element 340 may include a third gripper unit, at least a third gripper drive unit 343 and a hook 341c. Specifically, the third gripper unit may include a plurality of finger units 341a and a pressure bar 341b connected to a terminal portion of the finger unit 341a in a direction (a downward direction) away from the disk 350. Furthermore, both ends of the plurality of finger units 341a may be bent downward. Additionally, the plurality of finger units 341a may be oriented toward or away from each other. Likewise, the pressure bar 341b may be shaped to extend along the outer surface of the lower housing 210B to press against both horizontal sides of the lower housing 210B. Furthermore, the third gripper drive unit 343 can be configured to control the operation of the finger unit 341a. For example, the third gripper drive unit 343 can include a pneumatic cylinder 344. Additionally, a cylinder (not shown) of the pneumatic cylinder 344 can be connected to one end of the finger unit 341a of the third gripper unit 341. Furthermore, the pneumatic cylinder 344 can have an injection port 344b through which air is injected or drawn in. If air is injected into the injection port 344b, the two finger units 341a of the third gripper unit can be moved apart, and if air is drawn in through the injection port 344b, the two finger units 341a of the third gripper unit can be moved closer together. Furthermore, hook 341c can also be connected to a lower portion of the pressure bar 341b (an end far from the disc 350). Specifically, hook 341c can protrude from the pressure bar 341b into the lower housing 210B (in a direction closer to the two-finger unit 341a), such that a portion of hook 341c contacts the lower surface 210B1 of the lower housing 210B. For example, as shown in FIG. 8, two hooks 341c can be formed at either longitudinal end of the pressure bar 341b. Furthermore, the hook 341c can be positioned so that the pressure bar 341b presses against the outer surface of the lower housing 210B and, at the same time, a sharp portion of the hook 341c comes into contact with the lower surface 210B1 of the lower housing 210B. Thus, according to this configuration in the present disclosure, since the third gripping element 340 includes the hook 341c formed on the pressure bar 341b, the pressure bar 341b can pick up and hold the lower housing 210B while exerting pressure on both sides of the lower housing 210B, and simultaneously, the hook 341c can support the lower surface 210B1 of the lower housing 210B upwards, thereby effectively preventing accidents such as the third gripper drive unit 343 dropping the lower housing 210B. With reference to FIG. 8, on the other surface 350b of the disc 350, a unit 380 arrangement can be formed configured to evenly distribute the insertion heights of the plurality of cylindrical battery cells 100 housed in the lower housing 210B.Specifically, the arrangement unit 380 can have a pressure surface 380a configured to press the top of the plurality of cylindrical battery cells 100 (FIG.2) housed in the lower housing 210B (FIG.2) downwards. Furthermore, the arrangement unit 380 can be positioned in a direction that corresponds to the direction of the mounting frame 325. That is, if the mounting frame 325 is located on a lateral surface 350a (an upper surface) of the disk 350, the arrangement unit 380 can be located on the other lateral surface 350b (a lower surface) of the disk 350. For example, as shown in FIG. 8, the arrangement unit 380 can be formed on the other side surface 350b of the disk 350. Furthermore, the arrangement unit 380 can have a pressure surface 380a with a size corresponding to the top surface of the lower housing 210B. Likewise, the pressure surface 380a can be configured to press the top of the plurality of cylindrical battery cells 100 downward. Furthermore, with reference to FIG. 5 together with FIG. 2, this disclosure provides a method of manufacturing the battery module 200 by using the manufacturing apparatus 300. Specifically, the manufacturing method may include a process in which the first gripping element 320 picks up and holds a plurality of cylindrical battery cells 100 arranged in one direction, a process in which the first gripping element 320 inserts the plurality of cylindrical battery cells 100 into the H2 recesses formed in the lower housing 210B and then releases the plurality of cylindrical battery cells 100, a process in which the second gripping element 330 picks up and holds the upper housing 210A, a process in which the second gripping element 330 places the upper housing 210A on top of the lower housing 210B and presses the upper housing 210A onto the lower housing 210B, a process in which the third gripping element 340 picks up and holds the lower housing 210B onto which the upper housing 210A is mounted, and a process in which that the robotic arm 310 moves the assembled battery module 200,picked up by the third gripping element 340, to a specific location. Specifically, with reference to FIG. 5, in the process where the first gripping element 320 picks up and holds the plurality of cylindrical battery cells 100 arranged in one direction, the first gripping element 320 moves to the top of the plurality of cylindrical battery cells 100 arranged in one direction, and then the first gripper unit 321a of the first gripping element 320 can move downwards and pick up and hold the bodies of the plurality of cylindrical battery cells 100. At that moment, as shown in FIG. 5, the robotic arm 310 can move the first connecting part 312, the second connecting part 313, the third connecting part 314, the fourth connecting part 315, and the rotating drive unit 316 (FIG.7) and the drive shaft 317 so that the wide surface 350a of the disc 350 is oriented in the horizontal direction and the first gripping element 320 is located at the bottom of the disc 350. Similarly, in each manufacturing process included in the manufacturing method, the robotic arm 310 can move the first connecting part 312, the second connecting part 313, the third connecting part 314, the fourth connecting part 315, the rotating drive unit 316 (FIG.7) and the drive shaft 317 so that the first gripping element 320, the second gripping element 330 or the third gripping element 340 are moved and rotated to a suitable position. Furthermore, this disclosure may provide a battery module 200 manufactured by the manufacturing apparatus 300. In addition, this disclosure may provide a battery pack (not shown) comprising a plurality of battery modules 200. Furthermore, the battery pack may also include various devices for controlling the charging and discharging of the plurality of cylindrical battery cells 100, such as a battery management system (BMS, not shown), a current sensor (not shown), a fuse (not shown), and the like. Furthermore, the battery module 200 described in this disclosure may be applied to a vehicle, such as an electric vehicle or a hybrid electric vehicle. In other words, the vehicle described in this disclosure may include the battery module 200. Furthermore, although the descriptive report uses terms that indicate directions, such as top, bottom, left, right, front and back, it is obvious to experts in the field that these merely represent relative positions for the sake of explanation and may vary depending on the position of an observer or an object. This disclosure has been described in detail. However, it should be understood that the detailed description and specific examples, while indicating preferred embodiments of the disclosure, are provided for illustrative purposes only, as various changes and modifications within the scope of the disclosure will be evident to those skilled in the art from this detailed description. Reference signs 300: manufacturing apparatus 310: robotic arm 200: battery module 100: cylindrical battery cell 111, 112: electrode terminal 210: module housing 210A, 210B: upper housing, lower housing 320, 330, 340: first gripping element, second gripping element grip, third grip element 350: disc 317, 316: drive shaft, rotary drive unit 321, 331, 341: first clamp unit, second clamp unit clamp, third clamp unit 323, 333, 343: first gripper drive unit, second gripper drive unit, third unit of clamp drive 325: fixing frame H1: recessed slot 326: movable bar 325b: fastening element 327: Elastic element 328: Incorrectly mounted sensor unit 328s: Laser sensor 331a, 331b: Pressure plate, movable shaft 336: Pressure element 341a, 341b, 341c: Finger unit, pressure bar, hook Industrial applicability This disclosure relates to a manufacturing apparatus for the production of a battery module. This disclosure is also available to sectors related to electronic devices and vehicles equipped with the battery module manufactured by the manufacturing apparatus.
Claims
1. A central control unit operating according to a program that includes execution instructions, wherein the central unit is configured to control a robotic arm (310) configured to manufacture a battery module (200) that includes a plurality of cylindrical battery cells (100) and a module housing (210) having an upper housing (210A) and a lower housing (210B) configured to house the plurality of cylindrical battery cells, wherein the robotic arm includes: a first gripping element (320); a second gripping element (330); and a third gripping element (340); wherein the central control unit is configured to control: the first gripping element (320) for grasping or releasing the plurality of cylindrical battery cells; the second gripping element (330) for grasping or releasing the upper housing; and the third gripping element (340) for grasping or releasing the lower housing. 2.A battery module manufacturing robot (300) comprising the robotic arm according to claim 1 and the central control unit according to claim 1. 3.The battery module manufacturing robot according to claim 2, wherein the robotic arm further includes: a plate-shaped disk (350) with upper and lower surfaces relatively wider than its side surfaces, such that the first gripping element, the second gripping element, and the third gripping element are mounted thereon; a drive shaft (317) having a longitudinal end portion rotatably connected to the disk for rotating the disk in a direction perpendicular to the plane formed by the disk; and a rotating drive unit (316) configured to move the end portion of the drive shaft in an upward or downward direction, said upward or downward direction being along the Z-axis of the orthonormal reference frame having as its X-axis the direction perpendicular to the plane formed by the disk. 4.The battery module manufacturing robot according to claim 3, wherein the first gripping element includes: a plurality of first gripper units (321) configured to grip or release the plurality of cylindrical battery cells, respectively; a plurality of first gripper drive units (323) connected to the ends of the plurality of first gripper units and configured to control the gripping and release operation of each of the plurality of first gripper units; and a mounting frame (325) connected to the plurality of first gripper drive units and having a portion coupled to the disc.
5. The battery module manufacturing robot according to claim 4, wherein a recessed groove (H1) is formed in an outward direction of the first gripper unit on an inner side of the first gripper unit facing the cylindrical battery cell. 6.The battery module manufacturing robot according to claim 4, wherein the mounting frame includes: a movable bar (326) having a body portion with an outer side on which the first gripper drive unit is mounted and a bolt coupled to one side of the body portion; a fixing element (325b) having a guide hole drilled such that a portion of the bolt is inserted therein to guide the movable bar so that it moves in a longitudinal direction of the bolt; and an elastic element (327) configured to apply a predetermined force to the movable bar in the longitudinal direction of the bolt.
7. The battery module manufacturing robot according to claim 6, wherein the mounting frame includes a mismounting sensor unit (328) configured to detect mismounting while the first gripper unit inserts the cylindrical battery cell into a recess formed in the lower housing.
8. The battery module manufacturing robot according to claim 7, wherein the misassembly detection unit includes a laser sensor (328s) formed in the fastening element to detect whether the movable bar bolt has been displaced upwards. 9.The battery module manufacturing robot according to claim 3, wherein the second gripping element includes: a second gripper unit (331) having a plurality of pressure plates (331a) configured to press against both sides of the upper housing and a movable shaft (331b) coupled to the pressure plates by their outer end portions, configured to move in a direction along which the plurality of pressure plates move closer to or further apart from each other; at least a second gripper drive unit (333) configured to control the movement of the movable shaft; and a pressure element (336) connected to the disc, having the form of a rod whose ends are bent in a direction along the Z-axis, positioned so that the movable shaft passes through the open center of the pressure element, said pressure element being configured to press the upper housing against the lower housing. 10.The battery module manufacturing robot according to claim 2, wherein the third gripping element includes: a third gripper unit (341) having a plurality of curved finger units (341a) configured to move closer together or further apart from each other, and a pressure bar (341b) connected to a terminal portion of the finger unit for pressing both horizontal sides of the lower housing; at least one third gripper drive unit (343) configured to control the operation of the finger unit; and a hook (341c) connected to and projecting from the pressure bar, said hook being configured to engage with a lower portion of the lower housing.