Method and apparatus for manufacturing pouch-type batteries

Abstract

The present invention relates to a pouch-type battery manufacturing apparatus and a gripper used therein, and more specifically, to a battery manufacturing apparatus and gripper that can perform the insertion process between the pouch and the electrode assembly more stably and efficiently while minimizing damage to the electrode assembly. According to one embodiment of the present invention, a method for manufacturing a pouch-type battery is provided, which includes: a pouch pickup step of picking up a pouch having a housing portion formed therein for inserting an electrode assembly using a gripper; a pouch cover step of moving the pouch downward from the top of the electrode assembly using the gripper to insert the top of the electrode assembly into the housing portion; an assembly pickup step of picking up the pouch and the electrode assembly together using the gripper; and a securing step of moving the gripper upside down to secure the pouch and the electrode assembly to an assembly station with the electrode assembly inserted from the top of the pouch into the housing portion of the pouch.

Description

Technical Field

[0001] The present invention relates to a pouch-type battery manufacturing apparatus and a gripper used therefor, and more specifically, to a battery manufacturing apparatus and a gripper capable of performing the insertion process of a pouch and an electrode assembly more stably and efficiently while minimizing damage to the electrode assembly.

Background Art

[0002] A secondary battery is a battery that can be repeatedly used through a discharging process of converting chemical energy into electrical energy and a charging process of converting electrical energy into chemical energy.

[0003] Secondary batteries can include nickel-cadmium (Ni-Cd) batteries, nickel-metal hydride (Ni-MH) batteries, lithium-metal batteries, lithium-ion (Li-Ion) batteries, and lithium-ion polymer batteries (hereinafter referred to as "LIPB"), etc.

[0004] Lithium secondary batteries have a cycle life of about 500 or more cycles and a short charging time of about 1 to 2 hours, are about 30% to 40% lighter than nickel-metal hydride batteries and can be made lighter, and among existing secondary batteries, have the highest voltage per unit cell (30 to 37V) and excellent energy density, and can have characteristics optimized for mobile devices.

[0005] A lithium secondary battery can be provided as a pouch-type secondary battery in which a battery cell is sealed with a pouch made of an aluminum sealing material.

[0006] A pouch-type secondary battery can include an electrode assembly housed in a pouch as a sealing material, a lead that is electrically connected to an electrode tab of an electrode provided in the electrode assembly and drawn out to the outside of the pouch, and an insulating film that electrically insulates the lead.

[0007] A pouch is typically formed from a core material in the shape of a thin aluminum sheet and an insulating film coated on the top and bottom surfaces of the core material. The insulating film is typically made of polypropylene (PP) film.

[0008] A forming process may be performed on the film-shaped pouch to insert and house the electrode assembly. The forming process is a process for forming housing sections into which the upper and lower parts of the electrode assembly are inserted and housed. Cup-shaped housing sections can be formed on both the left and right sides.

[0009] An insertion process is performed in which the electrode assembly is inserted and housed in the pouch after the forming process is complete. Subsequently, a sealing process may be performed in which the pouch is folded and the frame portion is sealed.

[0010] To achieve mass production and stable yield, packaging processes, including the insertion process, can be automated.

[0011] With reference to Figures 1 and 2, conventional manufacturing equipment and methods, particularly manufacturing equipment and methods for performing the insertion process, will be described in detail.

[0012] The completed electrode assembly 1 can be moved to an insertion station where the insertion process is performed. At this time, the electrode assembly 1 can be fixed by a picker 2 and then moved to another station. The picker 2 may be equipped with a plurality of suction nozzles 3, which, after adsorbing the upper surface of the electrode assembly 1, move the electrode assembly 1 to the insertion station 7 shown in Figure 2.

[0013] As shown in Figure 2, a pouch 5 with a housing section 5a is positioned on the insertion station 7, and the electrode assembly 1 can be inserted and secured into the housing section 5a of the pouch at the insertion station 7.

[0014] The insertion station 7 may be equipped with pickers 6 for moving the forming process pouch to the insertion station 7, or for moving the electrode assembly and pouch after the insertion process is complete to a subsequent process. The pickers 6 are provided on both the left and right sides of the pouch, allowing for stable suction and movement of the pouch.

[0015] As shown in the figure, a single pouch 5 may have housing sections 5a on both the left and right sides. The lower part of the electrode assembly 1 can be inserted and secured into the right housing section 5a, and then the upper part of the electrode assembly 1 can be inserted and secured into the left housing section 5a through a folding process.

[0016] The electrode assembly 1 is manufactured by stacking multiple negative electrodes, separator membranes, and positive electrodes, which must be tightly packed vertically and stacked with great precision. In other words, it is extremely important that the relative positions of the negative electrodes, separator membranes, and positive electrodes do not shift.

[0017] However, as shown in Figures 1 and 2, when moving the electrode assembly 1 using the upper vacuum adsorption method, there is a risk of damage to the electrode assembly. In particular, when moving a heavy electrode assembly 1, by adsorbing only the outermost separation membrane, the negative electrode, separation membrane, and positive electrode below may slip and shift relative to each other due to their own weight and the movement process.

[0018] Furthermore, after moving the electrode assembly using the upper vacuum suction method, the suction is released at the top of the pouch, and then the electrode assembly is inserted into the pouch's housing. At this time, the heavy electrode assembly 1 may experience a drop impact, which may cause the stacking to shift or damage to the frame portion of the electrode assembly 1.

[0019] Therefore, there is a need for a manufacturing apparatus and method that can perform an insertion process that stably and efficiently inserts and secures the electrode assembly into the pouch housing while effectively reducing damage to the electrode assembly 1. [Overview of the Initiative] [Problems that the invention aims to solve]

[0020] The present invention aims to solve the problems of the prior art.

[0021] Through one embodiment of the present invention, we aim to provide a manufacturing apparatus and method that can mitigate the problems of the insertion process using an upper vacuum suction method for electrode assemblies.

[0022] Through one embodiment of the present invention, we aim to provide a manufacturing apparatus and method that enables efficient and continuous insertion of an insertion process using a self-gripping gripper and a robot capable of moving / rotating the gripper with a high degree of freedom.

[0023] Through one embodiment of the present invention, we aim to provide a manufacturing apparatus and method that can fundamentally eliminate the problem of misalignment of the stacking between the positive electrode, separator membrane, and negative electrode that may occur when the electrode assembly is moved, by supporting the weight of the heavy electrode assembly from below and moving the electrode assembly while the electrode assembly is tightly supported vertically.

[0024] The present invention aims to provide a manufacturing apparatus and method that can prevent damage to the electrode assembly by eliminating the possibility of the electrode assembly falling out during the insertion process in which the electrode assembly is inserted into the housing portion of the pouch.

[0025] Through one embodiment of the present invention, we aim to provide a manufacturing apparatus and method that can significantly reduce the required adsorption structure and capacity by adsorbing and transferring only the pouch, and not the electrode assembly, during the insertion step in which the electrode assembly is inserted into the pouch housing. [Means for solving the problem]

[0026] In order to achieve the above object, according to an embodiment of the present invention, there are provided a pouch pick-up step of picking up a pouch in which a housing portion for inserting an electrode assembly is formed by using a gripper, a pouch cover step of lowering the pouch by using the gripper from above the electrode assembly and inserting the upper portion of the electrode assembly into the housing portion, an assembly pick-up step of picking up the pouch and the electrode assembly together by using the gripper, and a landing step of turning the gripper upside down and landing the pouch and the electrode assembly on an assembly station in a state where the electrode assembly is inserted into the housing portion of the pouch from the upper portion of the pouch. A method for manufacturing a pouch-type battery including these steps may be provided.

[0027] The gripper may be moved upside down between the landing step and the pouch pick-up step, and between the pouch pick-up step and the pouch cover step.

[0028] The pouch pick-up step may be performed at a pouch station where the pouch is loaded, and the pouch cover step may be performed at an electrode station where the electrode assembly is loaded.

[0029] Preferably, the gripper is provided to be movable and reversibly movable between the pouch station, the electrode station, and the assembly station.

[0030] Preferably, the gripper is an end effector provided at the end of a multi-joint robot.

[0031] In the pouch pick-up step, it is preferable to adsorb the pouch through a vacuum adsorption nozzle provided in the pouch gripper of the gripper.

[0032] In the assembly pickup step, it is preferable to move the electrode gripper of the gripper that supports the electrode assembly from below toward the pouch gripper so that the pouch and electrode assembly are supported vertically. Through this, the pouch and electrode assembly are firmly fixed inside the gripper, and the firm fixation can be continuously maintained despite the movement and reversal rotation of the gripper.

[0033] To achieve the aforementioned objectives, according to one embodiment of the present invention, a pouch-type battery manufacturing apparatus can be provided, comprising an articulated robot and a gripper provided at the end of the articulated robot, wherein the gripper includes a pouch gripper for adsorbing a pouch having a housing portion formed therein, a cell gripper provided at a vertical distance from the pouch gripper so as to be inserted into the gripper and supporting the lower surface of the electrode assembly, and a coupling gripper provided to connect the pouch gripper and the cell gripper and to be coupled to the end of the articulated robot, wherein the gripper is inverted vertically after the electrode assembly is inserted into and fixed in the housing portion of the pouch between the pouch gripper and the cell gripper.

[0034] Here, the movement and vertical rotation of the entire gripper can be performed through the articulated robot.

[0035] The pouch gripper can hold the pouch in place so that the housing faces downward, and move the pouch from above to below the electrode assembly so that the electrode assembly is inserted into the housing.

[0036] When the electrode assembly is inserted into the housing, the cell gripper moves the electrode assembly from below to above, so that the two can be tightly fixed together vertically with the electrode assembly inserted into the housing. In this state, the entire gripper can move backward or upward and then backward.

[0037] Preferably, the cell gripper is provided in the connecting gripper so as to be movable in order to increase or decrease the vertical separation distance between it and the pouch gripper.

[0038] The pouch gripper is preferably fixed to the coupling gripper.

[0039] It is preferable that the pouch gripper and the cell gripper are arranged in parallel. That is, the pouch gripper and the cell gripper are arranged facing each other, and the cell gripper can move towards or away from the pouch gripper.

[0040] Preferably, the gripper includes a linear moving device that drives the cell gripper to move. The linear moving device can be considered a separate drive device from the articulated robot.

[0041] The linear moving device is preferably provided on the coupling gripper. Therefore, the linear moving device can be moved together with the coupling gripper and the entire gripper.

[0042] Preferably, the gripper moves in conjunction with the movement of the end of the articulated robot. It is also preferable that the gripper is rotatable via the end of the articulated robot. Preferably, the gripper rotates with respect to the extending direction or longitudinal direction of the pouch gripper and the cell gripper.

[0043] The pouch gripper preferably includes a plurality of extensions that are spaced apart from each other and extend from the connecting gripper. The extensions are formed like the branches or teeth of a fork structure, and gaps may be formed between the extensions.

[0044] It is preferable that multiple suction nozzles are provided in the longitudinal direction of the extension of the multiple extensions.

[0045] The cell grippers preferably have a predetermined distance from each other and include a plurality of extensions extending from the coupling gripper.

[0046] It is preferable that the extension length of the cell gripper extension is even smaller than the extension length of the pouch gripper extension. This is because the area of ​​the pouch is larger than the area of ​​the electrode assembly.

[0047] The manufacturing apparatus includes an electrode station on which the electrode assembly is supported before it is coupled with the gripper.

[0048] The electrode station may include a plurality of extensions spaced apart from each other at predetermined intervals along the longitudinal direction of the electrode assembly. The extensions may be provided on the upper part of the support base of the electrode station. In particular, the extensions may be formed extending from the upper part of the support base in the width direction of the electrode assembly.

[0049] The cell gripper extension can be formed to pass vertically between the extensions of the electrode station.

[0050] The electrode assembly is placed on the upper part of the electrode station extension, and therefore the electrode station extension can support the electrode assembly at predetermined intervals along the width direction. That is, the cell gripper extension can partially or completely penetrate the gap between the electrode station extensions from bottom to top. Through this, the cell gripper can support the electrode assembly separately from the electrode station extension.

[0051] The assembly station and pouch station may also be formed with the same or similar structure as the electrode station.

[0052] Therefore, the pickup and attachment of an object via a gripper can be performed by the same mechanism.

[0053] Preferably, the gripper is formed such that the left, right, and front sides are open, allowing the pouch and electrode assembly to be inserted into the gripper in the left-right and forward directions. Therefore, a variety of articulated robot drive motions can be applied to position the pouch or electrode assembly inside the gripper through the drive of the articulated robot.

[0054] The articulated robot may be equipped to perform an insertion drive to move the electrode assembly or pouch inside the gripper, a fixing drive to move the pouch to the upper surface of the electrode assembly, and an inversion drive to invert the gripper upside down.

[0055] The reversal drive of the gripper may be performed when the electrode assembly and the pouch are inserted and coupled to each other, or it may be performed after the pouch has been adsorbed but before it is coupled to the electrode assembly.

[0056] To achieve the aforementioned objectives, according to one embodiment of the present invention, a gripper for a pouch-type battery manufacturing apparatus is provided, comprising: a pouch gripper that adsorbs a pouch having a housing portion formed therein and secures it to the upper surface of an electrode assembly; a cell gripper provided at a vertical distance from the pouch gripper and supporting the lower surface of the electrode assembly; a coupling gripper that connects the pouch gripper and the cell gripper; and a linear moving device that drives the separation distance between the pouch gripper and the cell gripper to increase or decrease, wherein the pouch gripper, cell gripper, coupling gripper, and linear moving device are provided to be moved together by a gripper moving device coupled to the coupling gripper.

[0057] The gripper, when connected to an articulated robot, such as a collaborative robot, can move and rotate in three dimensions with a very high degree of freedom.

[0058] The pouch gripper adsorbs the pouch so that the housing portion faces downward, and the electrode assembly can be inserted into the housing portion from below upward through the downward movement of the pouch gripper.

[0059] Preferably, the gripper is provided to rotate to invert the pouch and the electrode assembly once the electrode assembly has been inserted into the housing. Of course, it is preferable that the inverting rotation of the gripper is performed after the gripper has been removed from the electrode station where the electrode assembly is located.

[0060] The gripper can be inverted vertically by rotation with respect to a vertical axis relative to the coupling gripper. The coupling gripper may be provided to extend vertically and connected at the top to the pouch gripper and at the bottom to the cell gripper.

[0061] Therefore, the gripper can rotate in the direction of the vertical axis relative to the binding gripper, i.e., the horizontal direction, causing the entire gripper to be inverted vertically.

[0062] The pouch gripper and the cell gripper each have a predetermined distance from each other and include a plurality of extensions extending from the coupling gripper, and it is preferable that the pouch gripper extensions and the cell gripper extensions are formed to overlap each other vertically.

[0063] In other words, although the pouch gripper extension and the cell gripper extension each have a fork shape, it is preferable that they do not intersect vertically. This is because they simultaneously support the electrode assembly and the pouch, which are inserted and coupled through the pouch gripper extension and the cell gripper extension. Therefore, since the electrode assembly and the pouch are simultaneously fixed via opposing support lines or support points, displacement of the electrode assembly due to deviations in the support lines or support points is prevented, and stable support can be achieved. [Effects of the Invention]

[0064] Through one embodiment of the present invention, a manufacturing apparatus and method can be provided that can solve the problem of the insertion process using an upper vacuum suction method for electrode assemblies.

[0065] Through one embodiment of the present invention, a manufacturing apparatus and method can be provided that enables an efficient and continuous insertion process through a self-gripping gripper and a robot capable of moving / rotating the gripper with a high degree of freedom.

[0066] Through one embodiment of the present invention, a manufacturing apparatus and method can be provided that fundamentally solves the problem of misalignment of the stacked layers between the positive electrode, separator membrane, and negative electrode that can occur when the electrode assembly is moved, by supporting the weight of the heavy electrode assembly from below and providing close support from above and below.

[0067] Through one embodiment of the present invention, a manufacturing apparatus and method can be provided that enables the economical production of pouch-type secondary batteries by using a single collaborative robot in which a reference point or support is fixed and the end portion can be arbitrarily moved in three-dimensional space, so that the gripper sequentially approaches a pouch station, an electrode station, and a folding station.

[0068] Through one embodiment of the present invention, a manufacturing apparatus and manufacturing method can be provided that can reduce the number of pickers for moving electrode assemblies and pouches, and the number of stations on which electrode assemblies and pouches are placed.

[0069] Through one embodiment of the present invention, a manufacturing apparatus and method can be provided that significantly reduces the required adsorption structure and capacity by adsorbing and transferring only the pouch, and not the electrode assembly, during the insertion step in which the electrode assembly is inserted into the pouch housing. [Brief explanation of the drawing]

[0070] [Figure 1] This figure shows how an electrode assembly is adsorbed into a pouch in a conventional manufacturing apparatus.

[0071] [Figure 2] This diagram shows how the electrode assembly is inserted into the pouch in a conventional manufacturing apparatus.

[0072] [Figure 3] This figure shows a top view of a manufacturing apparatus according to one embodiment of the present invention.

[0073] [Figure 4] This figure shows a side view of a manufacturing apparatus according to one embodiment of the present invention.

[0074] [Figure 5] This diagram shows the gripper moving in order to insert the electrode assembly inside the gripper.

[0075] [Figure 6] This diagram shows the gripper in a position where it has moved and the electrode assembly has been inserted inside.

[0076] [Figure 7] This figure shows the gripper moving downwards and the electrode assembly being inserted into the pouch.

[0077] [Figure 8] This figure shows the cell gripper moved upward, with the electrode assembly and pouch fixed to the gripper.

[0078] [Figure 9] This diagram shows the gripper inverted and rotated, with the electrode assembly inserted and secured to the top of the pouch.

[0079] [Figure 10] This diagram shows the detailed steps of the process of inserting the electrode assembly and pouch using a gripper. [Modes for carrying out the invention]

[0080] A gripper and a pouch-type battery manufacturing apparatus including the same, according to one embodiment of the present invention, will be described in detail below with reference to the attached drawings.

[0081] The manufacturing apparatus in this embodiment may be a manufacturing apparatus that performs an insertion process during the packaging process of the electrode assembly and pouch.

[0082] Figure 3 shows a top view of a manufacturing apparatus according to one embodiment of the present invention, and Figure 4 shows a side view of the manufacturing apparatus according to one embodiment of the present invention.

[0083] The manufacturing apparatus 100 may include a gripper 20. More specifically, the manufacturing apparatus 100 may include a gripper transfer device 10.

[0084] The gripper 20 may be configured to adsorb and transport the pouch 5. The gripper 20 may also be configured to transport the electrode assembly 1. Here, it is preferable that the gripper 20 is configured to transport the electrode assembly 1 while supporting it from below, rather than transporting the electrode assembly 1 by adsorption.

[0085] Furthermore, the gripper 20 may be configured to insert the electrode assembly 1 into the housing portion 5a (see Figure 2) of the pouch 5. In particular, the electrode assembly 1 may not be inserted into the housing portion 5a from top to bottom, but rather from bottom to top. In other words, the gripper 20 can cover the pouch 5 from above the electrode assembly, so that the electrode assembly is inserted into the housing portion 5a of the pouch.

[0086] Therefore, the gripper 20 prevents the upper part of the electrode assembly 1 from being attracted to and moving. Furthermore, the gripper 20 prevents the electrode assembly 1 from falling downward and being inserted. Through this, damage to the electrode assembly during the movement and insertion process can be effectively and efficiently prevented.

[0087] When the electrode assembly 1 is adsorbed and moved from above, an adsorption structure and capacity that can overcome the weight of the electrode assembly 1 are required. The gripper 20 allows the pouch to be moved upward. Therefore, if the required adsorption structure can be simplified, a very small adsorption capacity can be achieved.

[0088] Specifically, the gripper 20 may be formed by including a pouch gripper 30, a bound gripper 40, and a cell gripper 50.

[0089] The pouch gripper 30, the coupling gripper 40, and the cell gripper 50 can form one gripper 20 in a single assembly. Furthermore, as described later, the gripper 20 can be moved as a whole by the gripper moving device 10.

[0090] The pouch gripper 30 and the cell gripper 50 may be positioned so that they are horizontal to each other vertically. An open space 70 may be provided between the pouch gripper 30 and the cell gripper 50. A pouch held by the pouch gripper 30 may be located within the open space 70, and an electrode assembly 1 supported from below by the cell gripper 50 may also be located within the open space 70.

[0091] More specifically, it is preferable that the space 70 is open so that the pouch 5 and electrode assembly can be inserted into the space 70 from the front and left and right. That is, the path through which the pouch 5 and electrode assembly can be inserted into the space 70 through such an opening, i.e., the degree of freedom of movement can be increased. However, the rear of the space 70 may be blocked by the coupling gripper 40.

[0092] The coupling gripper 40 can function as a frame that supports the pouch gripper 30 and the cell gripper 50. Furthermore, the gripper 20 can be coupled to the gripper moving device 10 through the coupling gripper 40.

[0093] As shown in the figure, the coupling gripper 40 may be formed in the shape of a vertically standing plate. A pouch gripper 30 may be provided extending from the upper part of the coupling gripper 40, and a cell gripper 50 may be provided extending from the lower part of the coupling gripper 40.

[0094] Specifically, the pouch gripper 30 may include a plurality of extensions 31. Each extension 31 may be spaced apart from each other at a predetermined distance. That is, the extensions 31 may be spaced apart from adjacent extensions in a direction perpendicular to the extending direction. That is, upper and lower openings 32 may be formed between the extensions 31.

[0095] A pouch gripper 30 having such an extension 31 can have a fork shape. Figure 3 illustrates an example with four fork branches or teeth. The upper and lower openings 32 between the fork branches can form passages through which other fork branches can intersect vertically. That is, fork shapes and fork-shaped structures can intersect vertically while intersecting each other.

[0096] The lower surface of the pouch gripper 30 may be equipped with a plurality of suction nozzles 33. Specifically, the plurality of suction nozzles 33 may be arranged along the longitudinal direction of the extension 31. Therefore, the area over which the pouch 5 is adsorbed can be increased through the plurality of suction nozzles 33.

[0097] The pouch gripper 30 may be configured to attract the upper surface of the pouch 5 after approaching the station on which the pouch 5 is placed. Here, it is preferable that the housing portion 5a of the pouch 5 faces downward.

[0098] Generally, after the forming process that creates the storage section in the pouch, the pouch may be placed on a station so that the storage section faces upward. Therefore, inverting the pouch so that the storage section faces downward and then gripping it with the pouch gripper 30 may require additional equipment and processes. However, this can be done effectively and easily through the features of the fork-shaped pouch gripper 30 and the features of the movement and rotation of the gripper 20 through the gripper moving device 10. This is because, with the pouch storage section facing upward, the pouch gripper 30 can grip the bottom surface of the pouch and then invert it. Further details on this will be described later.

[0099] The cell gripper 50 may be provided parallel to the pouch gripper 30, and a separation distance or space is formed between the cell gripper 50 and the pouch gripper 30.

[0100] Here, it is preferable that the cell gripper 50 is movable to decrease or increase the distance between it and the pouch gripper 30. More specifically, it is preferable that the cell gripper 50 is linearly moved closer to the pouch gripper 30 and linearly moved away from it.

[0101] Specifically, it is preferable that the pouch gripper 30 is fixed to the coupling gripper 40, and the cell gripper 50 is provided so as to be linearly movable relative to the coupling gripper 40. The maximum separation distance and proximity distance due to such linear movement can be predetermined.

[0102] A linear moving device 60 or a linear actuator may be provided for the linear movement of the cell gripper 50. The linear moving device 60 can move the cell gripper 50 through a drive.

[0103] The linear moving device 60 may be provided in various shapes and may include a linear motor.

[0104] In this embodiment, a linear moving device 60 in the shape of a hydraulic cylinder may be provided, including an actuator body 61 and a piston 62. The actuator body 61 may be coupled and fixed to the coupling gripper 40, and one end of the piston 62 may be coupled to the cell gripper 50. Therefore, when the piston 62 is driven to extend, the piston 62 pushes the cell gripper 50, and consequently the distance between the cell gripper 50 and the pouch gripper 30 decreases. Conversely, when the piston 62 is driven to retract, the piston 62 pulls the cell gripper 50, and consequently the distance between the cell gripper 50 and the pouch gripper 30 increases. The maximum and minimum distances between the cell gripper 50 and the pouch gripper 30 can be preset through the specification of the separation distance of the piston 62.

[0105] The shape of the cell gripper 50 may be the same as the shape of the pouch gripper 30. That is, the extension 51 of the cell gripper 50 may be formed in the same way as the extension 31 of the pouch gripper 30. The cell gripper 50 may also be formed in a fork shape. In this case, the cell gripper 50 may be provided so as to overlap the pouch gripper 30 vertically.

[0106] Specifically, it is preferable that the extension 31 of the pouch gripper 30 and the extension 51 of the cell gripper 50 overlap vertically. This means that the support points or support lines of the pouch 5 and electrode assembly 1 fixed between the pouch gripper 30 and the cell gripper 50 can coincide. In other words, with the electrode assembly 1 inserted into the housing portion 5a of the pouch 5, both can be pressed and fixed vertically via the same support points or support lines. Therefore, damage to the electrode assembly during the movement process after the insertion process can be prevented.

[0107] On the other hand, the fork-shaped cell gripper 50 allows the cell gripper 50 to easily support the electrode assembly from below while moving the electrode assembly 1.

[0108] According to this embodiment, a gripper moving device 10 can be included that can move and rotate the gripper 20 as a whole. The moving device is connected to a coupling portion 41 provided on the coupling gripper 40, and can move and rotate the coupling gripper 40.

[0109] The gripper moving device 10 may be an articulated robot. The articulated robot may include a plurality of arms 11, with the last arm having an end 12. The gripper moving device 10 can move the end 12 in six axes. That is, it can be moved in three axes (up, down, left, right, forward, and backward) and three axes (rotation) along the x, y, and z axes.

[0110] The gripper moving device 10 has a very high degree of freedom relative to the support portion 13, allowing it to move and rotate the gripper 20.

[0111] Various stations may be provided in the vicinity of the gripper moving device 10. First, there may be a pouch station where pouches are placed after they have been formed, an electrode station where completed electrode assemblies are placed, and an assembly station where completed electrode assemblies and pouches are placed.

[0112] The pouch station may contain unit pouches for which the pouch forming process has been completed. The electrode station may contain electrode assemblies for which the electrode assembly manufacturing process has been completed. The assembly station may contain secondary batteries in which the electrode assemblies have been inserted into the pouch housing and temporarily assembled. Subsequently, processes such as pouch folding, electrolyte filling, and sealing may be carried out in order.

[0113] Here, the gripper moving device 10 can move between multiple stations, enabling the manufacturing process of pouch-type secondary batteries to be carried out continuously and efficiently. In particular, according to this embodiment, the insertion station 7 shown in Figure 2, i.e., the station where the insertion process is performed, can be omitted. This is because the insertion process can be performed not at a separate station, but through the driving of the gripper 20 itself. In other words, the insertion process can be performed by the gripper itself, which moves along an already set path, rather than by a station fixed at any one position.

[0114] The operation of the manufacturing apparatus and the manufacturing method according to this embodiment will be described in detail below with reference to Figures 5 to 9.

[0115] As shown in Figure 5, the gripper moving device 10 first holds the pouch 5 in its grasp and then moves the gripper 20 to the electrode station where the electrode assembly 1 is located. In other words, it brings the gripper 20 closer to the electrode assembly 1. This can be described as forward drive via the gripper moving device 10.

[0116] As shown in Figure 6, the electrode assembly 1 is inserted and positioned within the internal space of the gripper 20, i.e., the open space 70, through the forward movement of the gripper moving device 10. At this time, the pouch gripper 30 is adsorbing the pouch so that the pouch's housing portion faces downward. The pouch gripper 30 is positioned away from the upper part of the electrode assembly 1. The cell gripper 50 is positioned away from the lower part of the electrode assembly 1.

[0117] The electrode station 80 may be formed including a support base 81 and an extension 82. The extension 82 may be provided extending from the top of the support base 81 toward the gripper 20.

[0118] The forward movement of the gripper 20 can be performed so that the electrode assembly 1 and the housing 5a are aligned vertically. In other words, the entire gripper 20 can be moved so that precise alignment is achieved.

[0119] As shown in Figure 7, after the electrode assembly 1 is inserted into the gripper 20, an insertion process may be performed in which the electrode assembly 1 is inserted into the housing.

[0120] At this time, the gripper moving device 10 can move the pouch gripper 30 downward so that the upper part of the electrode assembly 1 is inserted and secured in the housing 5a. More specifically, the entire gripper can be moved downward. At this time, the weight of the electrode assembly 1 is still supported from below by the extension 82. However, only a weak force that pushes the pouch vertically can be applied to the upper surface of the electrode assembly 1. Thus, the possibility of damage to the electrode assembly 1 during the assembly process can be eliminated.

[0121] As shown in Figure 8, once the insertion process is complete, the cell gripper 50 can be raised. That is, the pouch gripper 30 remains stationary while the cell gripper 50 is raised. At this time, the movement of the gripper 20 through the gripper moving device 10 is stopped, and the cell gripper 50 can move through the linear moving device 60.

[0122] As the cell gripper 50 rises, the electrode assembly 1 and pouch 5 are fixed between the cell gripper 50 and the pouch gripper 30. At this time, the cell gripper 50 can move the electrode assembly 1 upward so that the electrode assembly 1 rises relative to the extension 82. That is, with the electrode assembly 1 and pouch 5 fixed between the cell gripper 50 and the pouch gripper 30, the entire gripper 20 can move backward and detach from the electrode station 80. Of course, the entire gripper 20 can also move backward after it has risen. That is, as shown in Figure 8, after inserting the electrode assembly 1 into the pouch 5 through the gripper 20, the gripper moving device 10 can move backward.

[0123] Therefore, after the linear moving device 60 is driven to fix the electrode assembly 1 and pouch 5 together with the gripper 20, the gripper 20 can be detached from the electrode station 80 by driving the gripper moving device 10.

[0124] Subsequently, the entire gripper 20 can be rotated so that it is inverted. As shown in Figure 9, the inverted rotation of the gripper can be switched to a configuration in which the electrode assembly 1 is inserted into the housing from the top of the pouch 5.

[0125] When the entire gripper 20 rotates in an inverted position, the electrode assembly 1 and pouch 5 are fixed in place by the gripper 20, so that the electrode assembly 1 and pouch 5 remain in close contact with each other and are stably fixed and supported by the gripper 20 during and after the inverted rotation. Such an inverted rotation can be performed through the gripper moving device 10. In particular, the gripper 20 can be rotated in an inverted position relative to the gripper moving device 10. Such an inverted rotation results in the pouch 5 being positioned at the bottom and the electrode assembly 1 being inserted and secured at the top. That is, the insertion process shown in Figure 2 is finally completed.

[0126] On the other hand, with the pouch 5 positioned at the bottom and the electrode assembly 1 inserted from the top, a folding process can then be performed. Therefore, the gripper 20 shown in Figure 9 can move to the assembly station and secure the pouch 5 and electrode assembly 1, after the insertion process is complete, to the assembly station.

[0127] Specifically, the linear movement device 60 can be driven so that the cell gripper 50 returns to its original position after the gripper 20 has moved to the assembly station. That is, only the cell gripper 50 can be raised to the reference point shown in Figure 9. Then, as the entire gripper 20 descends from the insertion station, the pouch 5 and electrode assembly 1 can be secured to the insertion station. At this time, the insertion station may have the same or a similar structure as the electrode station 80 shown in Figure 8, although it is not shown. That is, interference between the two is eliminated through a fork-shaped structure that intersects with each other, allowing the objects, namely the electrode assembly 1 and pouch 5, to be secured to the folding station.

[0128] Subsequently, a folding process is performed at the assembly station, and the gripper 20 may be moved to grip the pouch as shown in Figure 9. That is, the formed pouch is moved to the pouch station where it has been secured, and the gripper moves from bottom to top to grip the bottom surface of the pouch, which has a housing section formed at the top. After that, the gripper 20 may be released from the pouch station and rotated upside down again. The state of the gripper at this time is shown in Figure 5 or Figure 6. That is, the gripper 20 grips and fixes the pouch so that the housing section faces downwards.

[0129] Subsequently, the gripper 20 moves back to the electrode station 80 to perform the insertion process of the electrode assembly 1 and pouch.

[0130] As described above, the manufacturing apparatus including the gripper 20 and the gripper moving device 10 can be used very effectively in the manufacturing process of pouch-type secondary batteries through the six-axis movement of the gripper 20. That is, through the gripper 20 and the gripper moving device 10, the inversion of the formed pouch after adsorption, the inversion of the pouch after insertion of the electrode assembly, and the movement of the pouch and electrode assembly to the assembly stage after the insertion process is completed can be performed sequentially and continuously. At this time, the self-weight of the electrode assembly 1 is always supported from below or tightly supported from above and below, so that damage to the electrode assembly 1 due to its own weight can be prevented. Furthermore, since the electrode assembly 1 does not fall during the insertion process, damage to the electrode assembly 1 due to impact from falling can be prevented.

[0131] Furthermore, by using a highly flexible 6-axis robot, such as a collaborative robot, to move the gripper 20, a simpler, more compact, and easier-to-control manufacturing apparatus and manufacturing method can be provided.

[0132] Finally, the operation procedure of the articulated robot as an example of a gripper and gripper moving device 10 as end effectors of the articulated robot is as follows.

[0133] First, the robot moves the gripper to a pouch station equipped with a unit pouch having a housing section, and then picks up the pouch. At this time, the gripper 20 has the pouch gripper 30 positioned below the electrode gripper 50. Therefore, the pouch gripper 30 picks up the pouch from the bottom, and then the gripper 20 detaches from the pouch station as the entire gripper 20 rises.

[0134] Next, the robot moves the gripper holding the pouch to the top of the electrode assembly. That is, the gripper moves to the electrode station where the electrode assembly is located. As the gripper moves, it inverts its position vertically, and at this time the gripper 20 is positioned with the pouch gripper 30 above the electrode gripper 50.

[0135] Next, the robot lowers the gripper and covers the electrode assembly with a pouch. At this time, the top of the electrode assembly is inserted into the pouch's housing.

[0136] Next, the electrode assembly and pouch are grasped through the cell gripper. At this time, with the pouch gripper 30 positioned above and the cell gripper 50 positioned below, the cell gripper 50 moves closer to the pouch gripper 30 so that the electrode assembly and pouch can be fixed between them. Subsequently, the gripper 20 is released from the electrode station by the upward movement of the entire gripper 20 and the drive of the robot.

[0137] Next, the robot inverts the gripper 180 degrees, consequently inverting the pouch and cell 180 degrees. Such inversion may occur as the gripper 20 moves from the electrode station to the insertion station. The inversion causes the electrode assembly to be inserted into the pouch's housing from top to bottom. Subsequently, with the cell gripper 50 positioned above and the pouch gripper 30 positioned below, the cell gripper 50 may move away from the pouch gripper 30, releasing the grip between them on the electrode assembly and pouch.

[0138] Next, the gripper 20 moves from the top to the bottom of the assembly station to secure the pouch and electrode assembly to the assembly station, thereby completing the insertion process. Of course, the gripper 20 then moves back to the pouch station.

[0139] According to this embodiment, an insertion step can be performed in which the electrode assembly is inserted into the pouch through the inverted gripper 20.

[0140] The process for manufacturing pouch-type rechargeable batteries may include electrode processing, pouch processing, insertion processing, and assembly processing.

[0141] The electrode process may include manufacturing positive and negative electrodes and manufacturing electrode assemblies. The pouch process may include manufacturing unit pouches from pouch rolls and forming a housing portion into which the electrode assemblies are inserted.

[0142] The electrode process and the pouch process can each be performed in-line.

[0143] Electrode assemblies manufactured in the electrode process can be loaded into the electrode station at one-pitch intervals. That is, electrode assemblies can be loaded into the electrode station via a linear movement system (LMS).

[0144] Unit pouches manufactured in the pouching process can be fed into the pouch station at one-pitch intervals. That is, unit pouches can be fed into the pouch station via the LMS.

[0145] After the insertion process, in which the electrode assembly is inserted into the pouch housing, the pouch and electrode assembly are located in an assembly station, where the assembly process may then be carried out via LMS. The assembly process may include detailed steps such as pouch folding, top sealing, electrolyte injection, degassing, and main sealing. Subsequently, the manufacture of the pouch-type secondary battery may be completed through a chemical conversion process and an inspection process.

[0146] In this embodiment, the gripper moving device 10 may be configured to allow the gripper 20 to move between the pouch station, the electrode station, and the assembly station. By increasing the length of the robot arm, all three stations can be covered by a single robot.

[0147] As shown in Figure 10, the insertion process may consist of detailed steps.

[0148] First, a pouch can be picked up from the pouch station via the gripper 20 (S10). At this time, the pouch can be picked up by suction on its lower surface with the gripper. Pouch pickup can be performed at the pouch station.

[0149] The picked-up pouch can be moved to the electrode station. At this time, the gripper 20 can be reversed (S20). The gripper 20 covers the top of the electrode assembly with the pouch at the electrode station, so that the pouch covers the electrode assembly (S30). At this time, the top of the electrode assembly is inserted into the housing of the pouch.

[0150] The gripper 20 can pick up the pouch and the electrode assembly while they are in close contact with each other (S40). The cover (S30) and pickup (S40) can be performed at the electrode station.

[0151] The picked-up pouch and electrode assembly can be moved to the assembly station. At this time, the gripper 20 can be reversed (S50). Such reversal creates a configuration in which the electrode assembly is inserted into the top of the pouch.

[0152] The gripper 20 can securely attach the pouch and electrode assembly to the assembly station (S60). This completes the insertion process between the pouch and the electrode assembly.

[0153] Subsequently, the gripper 20 may be moved to the pouch station for pouch pickup while performing another reversal movement (S70).

[0154] Therefore, the gripper 20 can move between the three stations, allowing the insertion process to be performed continuously and automatically. Furthermore, since the gripper can be reversed while moving between stations, the time required for the reversal movement can be eliminated.

[0155] The technical problems that can be solved through the manufacturing apparatus and manufacturing method according to the embodiments described above can be effectively achieved. [Industrial applicability]

[0156] This is described in detail in the present invention.

Claims

1. A pouch pickup step involves using a gripper to pick up a pouch in which a receiving section for inserting an electrode assembly has been formed, A pouch cover step in which the pouch is moved downward from the top of the electrode assembly using the gripper to insert the top of the electrode assembly into the housing, The assembly pickup step involves using the gripper to pick up the pouch and the electrode assembly together, A method for manufacturing a pouch-type battery, comprising: a fixing step of moving the gripper upside down so that the electrode assembly is inserted into the housing portion of the pouch from the top of the pouch, and fixing the pouch and the electrode assembly to an assembly station.

2. The method for manufacturing a pouch-type battery according to claim 1, wherein the gripper is moved inverted up and down between the securing step and the pouch pickup step, and between the pouch pickup step and the pouch cover step.

3. The method for manufacturing a pouch-type battery according to claim 1 or claim 2, wherein the pouch pickup step is performed at a pouch station into which the pouch is loaded, and the pouch cover step is performed at an electrode station into which the electrode assembly is loaded.

4. The method for manufacturing a pouch-type battery according to claim 3, wherein the gripper is provided so as to be movable and reversible between the pouch station, the electrode station, and the assembly station.

5. The method for manufacturing a pouch-type battery according to claim 4, wherein the gripper is an end effector provided at the end of a multi-joint robot.

6. The method for manufacturing a pouch-type battery according to claim 3, wherein in the pouch pickup step, the pouch is picked up through a vacuum suction nozzle provided on the pouch gripper of the gripper.

7. The method for manufacturing a pouch-type battery according to claim 6, wherein in the assembly pickup step, the electrode gripper of the gripper that supports the electrode assembly from below is moved toward the pouch gripper to support the pouch and the electrode assembly vertically.

8. Includes an articulated robot and a gripper provided at the end of the articulated robot, The aforementioned gripper is A pouch gripper that adsorbs the pouch in which the containment section is formed, A cell gripper is provided, spaced vertically apart from the pouch gripper, so that the electrode assembly is inserted into the gripper, and which supports the lower surface of the electrode assembly. A coupling gripper is provided to connect the pouch gripper and the cell gripper and to be coupled to the end of the articulated robot, The gripper is a pouch-type battery manufacturing apparatus in which the electrode assembly is inserted and fixed between the pouch gripper and the cell gripper, and then inverted upside down.

9. The pouch-type battery manufacturing apparatus according to claim 8, wherein the pouch gripper suctions the pouch and moves downward so that the housing portion faces downward, and the electrode assembly moves upward from below to be inserted into the housing portion.

10. The pouch-type battery manufacturing apparatus according to claim 8, wherein the cell gripper is movably provided on the coupling gripper so as to increase or decrease the vertical separation distance between it and the pouch gripper.

11. The pouch gripper is fixed to the coupling gripper, as described in claim 10, for the pouch-type battery manufacturing apparatus.

12. The pouch-type battery manufacturing apparatus according to claim 10, wherein the pouch gripper and the cell gripper are arranged in parallel.

13. The pouch-type battery manufacturing apparatus according to claim 10, wherein the gripper includes a linear moving device that drives the cell gripper to move.

14. The pouch-type battery manufacturing apparatus according to claim 10, wherein the gripper is moved in conjunction with the movement of the end of the articulated robot.

15. The aforementioned articulated robot is An insertion drive that moves the electrode assembly so that it is positioned inside the gripper, A fixing drive that moves so that the pouch is fixed to the upper surface of the electrode assembly, The pouch-type battery manufacturing apparatus according to claim 14, further comprising a reversal drive that inverts the gripper up and down.

16. The pouch-type battery manufacturing apparatus according to claim 8, wherein the pouch grippers are spaced apart from each other and include a plurality of extensions extending from the coupling gripper.

17. The pouch-type battery manufacturing apparatus according to claim 16, wherein a plurality of suction nozzles are provided in the longitudinal direction of the extension of the plurality of extensions.

18. The pouch-type battery manufacturing apparatus according to claim 17, wherein the cell grippers are spaced apart from each other and include a plurality of extensions extending from the coupling gripper.

19. The electrode station includes the electrode assembly being supported before the electrode assembly is coupled to the gripper, The electrode station includes a plurality of extensions spaced apart from each other at predetermined intervals along the longitudinal direction of the electrode assembly. The pouch-type battery manufacturing apparatus according to claim 18, wherein the extension of the cell gripper is formed to be able to pass vertically between the extensions of the electrode station.

20. The pouch-type battery manufacturing apparatus according to claim 8, wherein the gripper is open in the left-right and forward directions so that the pouch and the electrode assembly can be inserted into the inside of the gripper.

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