Lamination device and its control method

Abstract

The lamination device control method of the present invention discloses a lamination device and a control method thereof, which includes a plurality of calibration marks arranged on the upper gripper, a vision camera for photographing the plurality of calibration marks, a correction drive unit connected to the lower gripper and the upper gripper to correct the heights of the lower gripper and the upper gripper, and a control unit for reading the plurality of calibration marks, calculating a position deviation between the actual position of the upper gripper and a preset allowable position range, and moving the lower gripper and the upper gripper to correct the position deviation.

Description

Technical Field

[0001] This application claims the benefit of priority based on Korean Patent Application No. 10-2022-0057756, filed on May 11, 2022, and all of the contents disclosed in the document of the Korean patent application are incorporated herein by reference.

[0002] The present invention relates to a lamination apparatus and a control method thereof that can eliminate a positional deviation between a lower gripper and an upper gripper.

Background Art

[0003] Generally, a secondary battery includes a positive electrode, a negative electrode, a separator, and an electrolyte, and generates electrical energy using a chemical reaction. Secondary batteries are gradually increasing in use due to the advantage of being rechargeable. Among these secondary batteries, lithium secondary batteries are widely used as a power source for electronic communication devices or as a drive source for high-output hybrid vehicles, electric vehicles, etc., because of their high energy density per unit weight.

[0004] In terms of the shape of these secondary batteries, there is an increasing demand for prismatic secondary batteries and pouch-type secondary batteries that are thin and can be applied to products such as mobile phones. In terms of the materials of secondary batteries, there is an increasing demand for lithium secondary batteries such as lithium-ion batteries and lithium-ion polymer batteries with high energy density, stable discharge voltage, and stable output.

[0005] The electrode sheet is supplied to a notching module, and the notching module forms electrode tabs at the same interval on one side in the width direction of the electrode sheet. The electrode sheet with the electrode tabs formed thereon is rewound and wound again.

[0006] Korean Patent Publication No. 2328527 discloses a lamination device. In the lamination device, an electrode sheet wound around two electrode rolls and a separator sheet wound around two separator rolls are supplied. At this time, the first cutter part cuts the first electrode sheet to form the first electrode, and then laminates it between a pair of separator sheets. The second cutter part cuts the second electrode sheet to form the second electrode, and then laminates it on the upper separator sheet. At this time, the second electrode is laminated in a one-to-one correspondence with the first electrode on the upper separator sheet.

[0007] The electrode laminate in a state where the cut first electrode and the second electrode are laminated on the separator sheet is supplied to the heater part and the laminator roller of the laminate. The heater part heats the electrode laminate, and the laminator roller pressurizes and aligns the electrode laminate. Next, the third cutter part installed on the downstream side of the laminator roller cuts the separator sheet portion between adjacent pairs of electrodes to form a monocell. A vision device is installed on the downstream side of the laminator to inspect the monocell.

[0008] The monocell supplied to the vision device may bend or twist when it is transferred at high speed in a state heated by the heater part, or when the pressure in the lamination part is excessive. Also, the electrode tabs protruding in the peripheral part of the monocell can bend upward or downward. In order to correct the shape deformation of these monocells, a gripper part for pushing the monocell is installed in the vision device. With the gripper part pushing the monocell, the vision part reads the monocell.

[0009] However, when the gripper part moves up and down at high speed, bolts and nuts may slightly come off at the assembly site of the gripper part, or the gripper part may bend. In this case, since the distance between the vision part and the monocell is changed, the vision part may have difficulty accurately reading whether there is a defect in the monocell.

[0010] In addition, when the vision unit reads the monocell in a state where the distance between the vision unit and the monocell has been changed to be greater than or equal to the allowable value, continuous mismeasurements of the monocell occur, and the defect rate of the monocell can increase significantly. Also, a monocell belonging to the allowable value range may be determined to be defective.

Summary of the Invention

Problems to be Solved by the Invention

[0011] The present invention has been devised to solve the above-described problems, and an object thereof is to provide a lamination device and a control method thereof that can eliminate the positional deviation between a lower gripper and an upper gripper.

[0012] An object of the present invention is to provide a lamination device and a control method thereof that can prevent the distance between a vision unit and a unit cell from being changed so as to deviate from the allowable value.

[0013] An object of the present invention is to provide a lamination device and a control method thereof that can prevent continuous mismeasurements of a unit cell and significantly reduce the defect rate of the unit cell.

[0014] An object of the present invention is also to provide a lamination device and a control method thereof that can prevent a unit cell belonging to the allowable value range (good product range) from being determined to be defective.

[0015] An object of the present invention is to provide a lamination device and a control method thereof that can determine whether the height of an upper gripper is changed or tilted in a direction perpendicular to the direction parallel to the transfer path of a unit cell.

[0016] The technical problems of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned can be understood from the following description and can be more clearly understood from the embodiments of the present invention. Also, it is easily understood that the objects and advantages of the present invention can be realized by the means shown in the claims and combinations thereof.

Means for Solving the Problem

[0017] In order to solve the above problems, a lamination device according to the present invention includes a lower gripper to which unit cells are supplied; an upper gripper installed above the lower gripper so as to be movable up and down along the vertical direction; and a gripper drive unit that moves the upper gripper up and down so that the upper gripper presses the unit cells.

[0018] The lower gripper and the upper gripper flatten the unit cells and the electrode tabs.

[0019] The lamination device includes a plurality of calibration marks arranged on the upper gripper; a vision camera that photographs the plurality of calibration marks; a correction drive unit connected to the lower gripper and the upper gripper so as to correct the heights of the lower gripper and the upper gripper; and a control unit that reads the plurality of calibration marks, calculates a position deviation between the actual position of the upper gripper and a preset allowable position range, and moves the lower gripper and the upper gripper so as to correct the position deviation.

[0020] An allowable image range for the plurality of calibration marks is preset in the control unit.

[0021] The control unit compares the allowable image range with the size of the actual image photographed by the vision camera, and calculates the position deviation of the upper gripper.

[0022] Some of the calibration marks may be arranged side by side at a first distance at one side end of the upper gripper, and the other calibration marks may be arranged side by side at a second distance at one side end of the upper gripper.

[0023] The upper gripper includes a transparent window through which light from the vision camera passes.

[0024] An anodizing layer may be provided around the transparent window. Form It may be provided.

[0025] The anodizing layer may be black, and the calibration mark may be white.

[0026] The calibration mark can be formed in a circular shape.

[0027] When the lowering of the upper gripper is completed, the vision camera captures the plurality of calibration marks. As a result, the vision camera can capture the calibration marks and the unit cells simultaneously.

[0028] The vision camera may be disposed above the upper gripper.

[0029] After the upper gripper is position-corrected, the vision camera captures the calibration mark again, and the control unit can confirm again whether the corrected position of the upper gripper belongs to the allowable position range.

[0030] The lower gripper may be fixed to a linear guide, and the upper gripper may be installed on the linear guide so as to be movable up and down.

[0031] The laminating apparatus may further include an alarm generation unit that notifies replacement of the upper gripper when the corrected position of the upper gripper is out of the allowable position range.

[0032] The control method of the laminating apparatus of the present invention includes a step of supplying a unit cell to a lower gripper and a step of lowering the upper gripper to press the unit cell.

[0033] As a result, the lower gripper and the upper gripper flatten the unit cell and the electrode tab.

[0034] The control method of the lamination device of the present invention includes the steps of: a vision camera photographing a plurality of calibration marks formed on the upper gripper and transmitting them to a control unit; the control unit reading the plurality of calibration marks and calculating a position deviation between the actual position of the upper gripper and a preset allowable position range; and when the position deviation exceeds the allowable position range, moving the lower gripper and the upper gripper to correct the position deviation.

[0035] Some of the calibration marks are arranged side by side at a first distance at one end of the upper gripper, and the other calibration marks are arranged side by side at a second distance at one end of the upper gripper.

[0036] An anodizing layer is provided around the transparent window of the upper gripper. Form formed.

[0037] The anodizing layer is black, and the calibration marks may be white.

[0038] The calibration marks can be formed in a circular shape.

[0039] The vision camera can photograph the plurality of calibration marks when the descent of the upper gripper is completed.

[0040] The control method of the lamination device may further include the step of: after the position of the upper gripper is corrected, the vision camera photographs the calibration marks again, and the control unit re-checks whether the corrected position of the upper gripper belongs to the allowable position range.

[0041] The control method of the lamination device may further include the step of: when the corrected position of the upper gripper exceeds the allowable position range, an alarm generation unit outputs an alarm signal.

Advantages of the Invention

[0042] According to the present invention, since the correction driving unit corrects the positions of the lower gripper and the upper gripper, the positional deviation between the lower gripper and the upper gripper can be eliminated.

[0043] According to the present invention, since the correction driving unit corrects the positions of the lower gripper and the upper gripper, it is possible to prevent the distance between the vision unit and the unit cell from being changed so as to deviate from the allowable value.

[0044] According to the present invention, since the position is corrected by moving only by the positional deviation between the lower gripper and the upper gripper, continuous mismeasurement of the unit cell can be prevented, and the defective rate of the unit cell can be significantly reduced.

[0045] According to the present invention, since the distance between the vision unit and the unit cell is corrected so as to fall within the allowable value range, it is also possible to prevent a unit cell corresponding to a non-defective product from being determined as defective.

[0046] According to the present invention, by calculating the actual sizes of a plurality of calibration marks located at the first distance and the second distance, it is possible to determine whether the height of the upper gripper is changed or tilted in a direction parallel to and a direction perpendicular to the transfer path of the unit cell.

[0047] The above-described effects and the specific effects of the present invention will be described and described while explaining the embodiments for carrying out the following invention.

Brief Description of the Drawings

[0048]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Embodiments for Carrying Out the Invention

[0049] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0050] The present invention is not limited to the embodiments disclosed below, and various modifications can be made and it can be embodied in various different forms. However, the present embodiments are provided to make the disclosure of the present invention complete and to fully inform those with ordinary knowledge of the scope of the invention. Therefore, the present invention is not limited to the embodiments disclosed below, and not only can the configurations of any one embodiment and the configurations of other embodiments be mutually replaced or added, but also all modifications, equivalents, or alternatives included within the scope of the technical idea of the present invention should be understood to be included.

[0051] The accompanying drawings are for facilitating the understanding of the embodiments disclosed in this specification, and it should not be understood that the technical idea disclosed in this specification is limited by the accompanying drawings, but rather all modifications, equivalents, or alternatives included within the idea and technical scope of the present invention should be understood to be included. The components in the drawings can be exaggeratedly enlarged or reduced in size and thickness for the convenience of understanding, etc., but the protection scope of the present invention should not be construed restrictively thereby.

[0052] The terms used in this specification are merely used to explain specific embodiments or examples and are not intended to limit the present invention. And singular expressions include plural expressions unless the context clearly indicates otherwise. Terms such as "including" and "comprising" in the specification are for designating the existence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. That is, it should not be understood that terms such as "including" and "comprising" in the specification preclude the existence or addition possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof in advance.

[0053] Terms including ordinal numbers such as "first", "second", etc. may be used to explain various components, but the above components are not limited by the above terms. The above terms are only used for the purpose of distinguishing one component from another.

[0054] When a component is referred to as being "coupled" or "connected" to another component, it should be understood that it may be directly coupled or connected to the other component, but other components may be present therebetween. On the other hand, when a component is referred to as being "directly coupled" or "directly connected" to another component, it should be understood that no other components are present therebetween.

[0055] When a component is referred to as being "above" or "below" another component, it should be understood that it is not only disposed directly above the other component, but other components may be present therebetween.

[0056] Unless otherwise defined, all technical and scientific terms used herein, including any terms used herein, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used terms defined in dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art, and in this application, unless clearly defined, should not be interpreted in an ideal or overly formal sense.

[0057] Hereinafter, the apparatus according to embodiments of the present invention will be described.

[0058] FIG. 1 is a drawing schematically showing a lamination apparatus according to the present invention, and FIG. 2 is a drawing schematically showing a unit cell manufactured by the lamination apparatus of FIG. 1.

[0059] Referring to FIGS. 1 and 2, in the lamination apparatus 100 according to an embodiment of the present invention, the vision unit (V) captures images of a plurality of calibration marks (C1 to C6) located on the upper gripper 173, and the control unit 191 compares the images of the calibration marks (C1 to C6) with a preset allowable position range to calculate the position deviation of the upper gripper 173. Then, the control unit moves the lower gripper 172 and the upper gripper 173 to correct the position deviation.

[0060] The lamination apparatus 100 manufactures the unit cell 10. The unit cell 10 may be any one of a mono-cell, a bi-cell, and a full cell.

[0061] A mono-cell means a cell having a structure in which a separator 13 is disposed on one outermost surface and an electrode (second electrode 12) is disposed on the other outermost surface. For example, the mono-cell may be formed by laminating a first separator 13a, a first electrode 11, a second separator 13b, and a second electrode 12. Further, the mono-cell may be composed of three or more electrodes and three or more separators 13 interposed between each electrode.

[0062] A bi-cell means a cell having a structure in which electrodes of the same polarity are disposed on both outermost surfaces. The bi-cell may be formed by laminating a first electrode 11, a first separator 13a, a second electrode 12, a second separator 13b, and a first electrode 11. Further, the mono-cell may be composed of five or more odd-numbered electrodes and three or more separators 13 laminated between each electrode.

[0063] A full cell means a cell having a structure in which electrodes of opposite polarities are disposed on both outermost surfaces. The full cell may be formed by laminating a first electrode 11, a first separator 13a, and a second electrode 12. Further, the mono-cell may be composed of four or more even-numbered electrodes and three or more separators 13 laminated between each electrode.

[0064] The lamination device 100 of the present invention can manufacture any one of a monocell, a bicell, and a full cell. Further, depending on the type of the unit cell 10, the number of installed electrode rolls (first electrode roll 110, second electrode roll 120) and separation membrane rolls 130 can be changed. In FIGS. 1 and 2, an example of the lamination device 100 for manufacturing a monocell is shown.

[0065] The lamination device 100 includes a first electrode roll 110 around which a first electrode sheet 111 is wound. The first electrode sheet 111 is fed out from the first electrode roll 110 and supplied to the pinch roller 133 side. An active material is coated on one or both surfaces of the first electrode sheet 111.

[0066] The lamination device 100 includes a second electrode roll 120 around which a second electrode sheet 121 is wound. The second electrode sheet 121 is fed out from the second electrode roll 120 and supplied to the lamination unit 150 side. An active material is coated on one or both surfaces of the second electrode sheet 121.

[0067] The first electrode sheet 111 may be a negative electrode sheet coated with a negative electrode active material, and the second electrode sheet 121 may be a positive electrode sheet coated with a positive electrode active material. Further, the first electrode sheet 111 may be a positive electrode sheet coated with a positive electrode active material, and the second electrode sheet 121 may be a negative electrode sheet coated with a negative electrode active material.

[0068] The lamination device 100 includes a plurality of separation membrane rolls 130 around which a separation membrane sheet 131 is wound. The plurality of separation membrane rolls 130 can include a first separation membrane roll 130a around which a first separation membrane sheet 131a is wound and a second separation membrane roll 130b around which a second separation membrane sheet 131b is wound.

[0069] Between the first separation membrane roll 130a and the second separation membrane roll 130b, a pinch roller 133 is installed so that the first separation membrane sheet 131a and the second separation membrane sheet 131b overlap. Between the first electrode roll 110 and the pinch roller 133, a first cutter unit 141 is installed. The first cutter unit 141 cuts the first electrode sheet 111 fed out from the first electrode roll 110 to form the first electrode 11. The first electrode 11 is laminated at regular intervals between the first separation membrane sheet 131a and the second separation membrane sheet 131b. The pinch roller 133 presses toward the first electrode 11 side so that the first separation membrane sheet 131a and the second separation membrane sheet 131b are laminated. As long as the pinch roller 133 presses to laminate the first separation membrane sheet 131a and the second separation membrane sheet 131b, at least two or more can be installed. Also, the pinch roller 133 is configured to change the transfer direction of the separation membrane sheet 131, and the number of pinch rollers 133 can be changed according to the number of installed separation membrane rolls 130.

[0070] The separation membrane sheet 131 is laminated on both sides of the first electrodes 11 arranged in a row. For example, the first separation membrane sheet 131a is laminated on one side of the first electrodes 11 arranged in a row, and the second separation membrane sheet 131b is laminated on the other side of the first electrodes 11 arranged in a row.

[0071] On the inlet side of the second electrode 12 of the lamination unit 150, a second cutter unit 143 is arranged. The second cutter unit 143 cuts the second electrode sheet 121 fed out from the second electrode roll 120 and attaches it to the upper surface of the second separation membrane sheet 131b. Thereby, the electrode laminate 102 has a structure in which a plurality of first electrodes 11 are arranged between the first separation membrane sheet 131a and the second separation membrane sheet 131b, and a plurality of second electrodes 12 are arranged on the upper surface of the second separation membrane sheet 131b.

[0072] In the above-described electrode laminate 102, as shown in FIG. 1, one first electrode sheet 111, one second electrode sheet 121, and two separator sheets 131 may be laminated. Further, in the electrode laminate 102, two or more first electrode sheets 111, two or more second electrode sheets 121, and four or more separator sheets 131 may be laminated. The number of laminations of the electrode sheets (first electrode sheet 111, second electrode sheet 121) and the separator sheet 131 can be variously changed.

[0073] In the present invention, the positive electrode active material coated on the first electrode sheet 111 and the negative electrode active material coated on the second electrode sheet 121 can be used indefinitely as long as they are known active materials in the art.

[0074] The positive electrode active material is a layered compound such as lithium cobalt oxide (LiCoO2), lithium nickel oxide (LiNiO2), or a compound substituted with one or more transition metals; chemical formula Li 1+x Mn 2x O4 (where x is 0 to 0.33), lithium manganese oxides such as LiMnO3, LiMn2O3, LiMnO2 (LiMnO2); lithium copper oxide (Li2CuO2); vanadium oxides such as LiV3O8, LiFe3O4, V2O5, Cu2V2O7; chemical formula LiNi 1-x M x O2 (where M = Co, Mn, Al, Cu, Fe, Mg, B or Ga, and x = 0.01 to 0.3) represented by nickel-site type lithium nickel oxide (lithiated nickel oxide); chemical formula LiMn 2-x M xLithium manganese composite oxides represented by O2 (where M = Co, Ni, Fe, Cr, Zn or Ta and x = 0.01 to 0.1), or Li2Mn3MO8 (where M = Fe, Co, Ni, Cu or Zn); LiMn2O4 in which part of the lithium in the chemical formula is substituted with alkaline earth metal ions; disulfide compounds; Fe2(MoO4)3, or composite oxides formed by combinations thereof, etc., can have a lithium intercalation material as the main component. Among the cathode active materials, there are those of the above types, but they are not limited thereto.

[0075] The cathode current collector has, for example, a thickness of 3 to 500 μm. These cathode current collectors are not particularly limited as long as they do not cause a chemical change in the battery and have conductivity. For example, the cathode current collector can be made of stainless steel, aluminum, nickel, titanium, plastic carbon, or those obtained by surface-treating the surface of aluminum or stainless steel with carbon, nickel, titanium, silver, etc. The cathode current collector can also form fine irregularities on its surface to enhance the adhesive force of the cathode active material. These cathode current collectors can have various forms such as films, sheets, foils, nets, porous bodies, foams, non-woven bodies, etc.

[0076] A conductive material can be further mixed into the cathode active material particles. These conductive materials are added, for example, in an amount of 1 to 50% by weight based on the total weight of the mixture containing the cathode active material. These conductive materials are not particularly limited as long as they do not cause a chemical change in the battery and have high conductivity. For example, the conductive materials can be graphite such as natural graphite and artificial graphite; carbon blacks such as carbon black, acetylene black, ketjen black, channel black, furnace black, lamp black, summer black; conductive fibers such as carbon fibers and metal fibers; metal powders such as carbon fluoride, aluminum, and nickel powder; conductive whiskers such as zinc oxide and potassium titanate; conductive oxides such as titanium oxide; conductive materials such as polyphenylene derivatives, etc.

[0077] Further, the negative electrode sheet is manufactured by applying and drying negative electrode active material particles on a negative electrode current collector, and may further contain components such as the above-described conductive material, binder, solvent, etc. as necessary.

[0078] The negative electrode current collector has a thickness of, for example, 3 to 500 μm. These negative electrode current collectors are not particularly limited as long as they do not cause a chemical change in the battery and have conductivity. For example, the negative electrode current collector can be made of copper, stainless steel, aluminum, nickel, titanium, plastic carbon, or a material obtained by surface-treating the surface of copper or stainless steel with carbon, nickel, titanium, silver, etc., or an aluminum-cadmium alloy. Also, similar to the positive electrode current collector, fine irregularities can be formed on the surface to strengthen the binding force of the negative electrode active material, and it can be used in various forms such as films, sheets, foils, nets, porous bodies, foams, non-woven fabrics.

[0079] The negative electrode active material is, for example, carbon such as graphitizable carbon, graphite-based carbon; Li x Fe2O3 (0 ≦ x ≦ 1), Li x WO2 (0 ≦ x ≦ 1), Sn x Me 1-x Me'yO z (Me: Mn, Fe, Pb, Ge; Me': Al, B, P, Si, Group 1, Group 2, Group 3 elements of the periodic table, halogen; 0 < x ≦ 1; 1 ≦ y ≦ 3; 1 ≦ z ≦ 8) metal composite oxides; lithium metal; lithium alloys; silicon-based alloys; tin-based alloys; oxides such as SnO, SnO2, PbO, PbO2, Pb2O3, Pb3O4, Sb2O3, Sb2O4, Sb2O5, GeO, GeO2, Bi2O3, Bi2O4, Bi2O5; conductive polymers such as polyacetylene; Li-Co-Ni-based materials, etc. can be used.

[0080] The binder polymer that can be used for the electrode sheet (first electrode 11, second electrode 12) is a component that helps bind electrode active material particles and conductive materials, etc., and also helps bind to the electrode current collector. For example, based on the total weight of the mixture containing the electrode active material, 1 to 50% by weight is added. Examples of these binder polymers include polyvinylidene fluoride-co-hexafluoropropylene (PVdF), polyvinylidene fluoride-co-trichloroethylene, polymethylmethacrylate, polybutylacrylate, polyacrylonitrile, polyvinylpyrrolidone, polyvinylacetate, polyethylene-co-vinyl acetate, polyethylene oxide, polyarylate, cellulose acetate, cellulose acetate butyrate, cellulose acetate propionate, cyanoethylpullulan, cyanoethylpolyvinylalcohol, cyanoethylcellulose, cyanoethylsucrose, pullulan, and carboxyl methyl cellulose. Any binder polymer selected from the group consisting of these, or a mixture of two or more of them can be used, but it is not limited thereto.

[0081] In non-limiting examples of the solvent used in the production of the electrode, there are acetone, tetrahydrofuran, methylene chloride, chloroform, dimethylformamide, N-methyl-2-pyrrolidone (NMP), cyclohexane, water, or a mixture thereof. These solvents provide an appropriate level of viscosity so that a slurry coating layer is formed at a desired level on the surface of the electrode current collector.

[0082] The separation membrane 13 has a porous polymer substrate and a porous coating layer containing inorganic particles and a binder polymer, which is located on both surfaces of the porous polymer substrate.

[0083] The porous polymer substrate may be a polyolefin-based porous substrate.

[0084] The polyolefin porous substrate may be in the form of a film or a non-woven web. In this way, by having a porous structure, the electrolyte movement between the positive electrode and the negative electrode can be smoothly carried out. The porous structure also increases the electrolyte impregnation property of the substrate itself, can ensure excellent ion conductivity, prevent an increase in the internal resistance of the electrochemical element, and prevent a decrease in the performance of the electrochemical element.

[0085] Any of the polyolefin porous substrates used in the present invention can be used as long as it is a planar porous substrate commonly used in electrochemical elements, and various selections can be made according to the purpose in terms of its material and form.

[0086] The polyolefin porous substrate may be, but is not limited to, a film or non-woven web formed from, without limitation, high-density polyethylene, low-density polyethylene, linear low-density polyethylene, ultra-high molecular weight polyethylene, polypropylene, or a mixture of two or more of these.

[0087] When using the separation membrane 13 according to an embodiment of the present invention, since porous coating layers are provided on both sides of the porous polymer substrate, a uniform solid electrolyte interface layer can be formed by improving the impregnation property with respect to the electrolyte, and excellent air permeability can be ensured compared to the conventional cross-sectional inorganic coating separation membrane 13. For example, it may be within 120 s / 100 cc. Also, even if inorganic porous coating layers are provided on both sides, the thickness of the conventional cross-sectional inorganic coating separation membrane can be achieved.

[0088] Also, when using the separation membrane 13 according to an embodiment of the present invention, the stability of the separation membrane 13 is improved, and heat resistance and compression resistance characteristics can be ensured. Specifically, heat resistance characteristics with a heat shrinkage characteristic of within 5% based on 180 °C can be ensured, and a puncture strength physical property of 550 gf or more can be ensured. Among the cycles of the secondary battery employing these separation membranes 13, when core deformation occurs, damage or penetration of the separation membrane 13 at the step portion can be prevented.

[0089] The lamination device 100 includes a lamination unit 150, a final cutter 160, and a vision unit (V).

[0090] The lamination unit 150 includes a heater unit 151 and a laminating roller unit 153.

[0091] The heater unit 151 heats the separation membrane sheet 131 and the electrodes (the first electrode 11 and the second electrode 12). The heater unit 151 is disposed on both sides of the separation membrane sheet 131 so as to heat the separation membrane sheet 131 and the electrodes (the first electrode 11 and the second electrode 12) on both sides. The heater unit 151 is installed at a distance from the separation membrane sheet 131 on both sides of the first electrode sheet 111. The heater unit 151 can be formed longer than the width of the separation membrane sheet 131 so as to uniformly heat the electrodes (the first electrode 11 and the second electrode 12) and the separation membrane sheet 131 as a whole.

[0092] The laminator unit 153 presses the separation membrane sheet 131 and the electrodes (the first electrode 11 and the second electrode 12). The laminator unit 153 includes an upper laminator 153a and a lower laminator 153b disposed on both sides of the separation membrane sheet 131 so as to press the separation membrane sheet 131 and the electrodes (the first electrode 11 and the second electrode 12) on both sides.

[0093] The final cutter 160 is disposed on the downstream side of the laminator unit 153. The final cutter 160 cuts the separation membrane sheet 131 and the electrodes (the first electrode 11 and the second electrode 12) to form the unit cell 10. At this time, the final cutter 160 cuts the portion of the separation membrane sheet 131 between two adjacent electrodes (the first electrode 11 and the second electrode 12).

[0094] The vision unit (V) is disposed on the downstream side of the final cutter 160 and captures an image of the unit cell 10. These vision units (V) irradiate light onto the unit cell 10 cut by the final cutter 160, measure the light reflected by the unit cell 10, and capture an image of the unit cell 10.

[0095] FIG. 3 is a perspective view schematically showing the vision unit in the laminating apparatus of FIG. 1, FIG. 4 is a side view schematically showing the vision unit in the laminating apparatus of FIG. 1, FIG. 5 is a plan view schematically showing a state in which calibration marks are formed on the upper surface of the upper gripper in the vision unit of FIG. 4, and FIG. 6 is a view of the upper surface of the upper gripper in the vision unit of FIG. 4, where calibration marks and an anodizing layer are FormFIG. 6 is a cross-sectional view schematically showing the state, FIG. 7 is a perspective view schematically showing the correction driving unit in the lamination apparatus of FIG. 1, and FIG. 8 is a block diagram schematically showing the lamination apparatus according to the present invention.

[0096] Referring to FIGS. 3 to 8, the vision unit (V) of the lamination apparatus 100 includes a linear guide 171, a lower gripper 172, an upper gripper 173, and a gripper driving unit 176.

[0097] The linear guide 171 is disposed on one side of the vision camera 177. The linear guide 171 is installed on one side in the width direction of the transfer path so as to avoid the transfer path of the unit cell 10. The linear guide 171 can be installed in a vertically standing state. By adjusting the height of the linear guide 171, the heights of the lower gripper 172 and the upper gripper 173 are simultaneously adjusted.

[0098] The lower gripper 172 is fixedly installed on the linear guide 171. The lower gripper 172 is disposed below the transfer path of the unit cell 10. The unit cell 10 cut by the final cutter 160 is supplied to the lower gripper 172. At this time, the lower gripper 172 can also be supplied with one unit cell 10 per 0.2 to 0.3 seconds. The unit cell 10 may have a thickness of 100 to 500 μm and can be transferred at a speed of 300 to 500 mm / s. The unit cell 10 can be supplied to the lower gripper 172 at least two or more at a time. The transfer speed of the unit cell 10 can be appropriately changed in consideration of the size, thickness, etc. of the unit cell 10.

[0099] The upper gripper 173 is installed above the lower gripper 172 so as to be movable up and down along the vertical direction (Z-axis direction). The upper gripper 173 is arranged above the transfer path of the unit cell 10. The upper gripper 173 descends and presses the unit cell 10 supplied to the lower gripper 172. As a result, when the unit cell 10 is vented or displaced, the lower gripper 172 presses the unit cell 10 to flatten the unit cell 10. Further, when the electrode tabs (not shown) of the unit cell 10 are lifted excessively or droop, the electrode tabs can be stretched uniformly by the pressurization of the lower gripper 172.

[0100] When two unit cells 10 are supplied to the lower gripper 172 at intervals of 0.2 to 0.3 seconds, the upper gripper 173 repeats a reciprocating motion in the vertical direction approximately every 0.4 to 0.6 seconds. Considering that the average daily production volume is 10 units, the lower gripper 172 will move up and down about 50,000 times a day. The lifting speed of these upper grippers 173 can be variously changed according to the supply speed of the unit cell 10.

[0101] The gripper drive unit 176 moves the upper gripper 173 up and down so that the upper gripper 173 presses the unit cell 10. In the gripper drive unit 176, a servo motor or a cylinder unit can be applied. The gripper drive unit 176 is installed on the linear guide 171. Since the gripper drive unit 176 reciprocates the upper gripper 173 at high speed, the upper gripper 173 and its assembled structure are more likely to be repositioned or deformed compared to other components. Also, the bolts and nuts for assembling the upper gripper 173 to the linear guide 171 may come loose.

[0102] The vision unit (V) includes a plurality of calibration marks (C1 to C6), a vision camera 177, a correction drive unit 180, and a control unit 191.

[0103] A plurality of calibration marks (C1 to C6) are arranged on the upper gripper 173. The calibration marks (C1 to C6) can be applied to the upper surface of the upper gripper 173. The plurality of calibration marks (C1 to C6) may be arranged at equal intervals on the upper surface of the upper gripper 173. The size of the calibration marks (C1 to C6) can be variously changed in consideration of the separation distance between the upper gripper 173 and the vision camera 177, the overall width of the vision camera 177, the reading precision of the vision camera 177, and the like.

[0104] The vision camera 177 is arranged above the upper gripper 173 so as to photograph a plurality of calibration marks (C1 to C6). The vision camera 177 can photograph the calibration marks (C1 to C6) approximately every 0.4 to 0.6 seconds. These vision cameras 177 transmit the photographed images of the calibration marks (C1 to C6) to the control unit 191. At this time, the larger the distance between the vision camera 177 and the calibration marks (C1 to C6), the smaller the size of the photographed image of the calibration marks (C1 to C6), and the closer the distance between the vision camera 177 and the calibration marks (C1 to C6), the larger the size of the photographed image of the calibration marks (C1 to C6).

[0105] The correction drive unit 180 is connected to the lower gripper 172 and the upper gripper 173 so as to correct the heights of the lower gripper 172 and the upper gripper 173. The correction drive unit 180 can adjust the heights of the lower gripper 172 and the upper gripper 173 by moving the linear guide 171 in the vertical direction. The correction drive unit 180 can precisely adjust the height in units of 1 / 100 mm to 1 / 200 mm.

[0106] The control unit 191 reads a plurality of calibration marks (C1 to C6) and calculates the position deviation between the actual position of the upper gripper 173 and the preset allowable position range. When the position deviation exceeds the allowable position range, the control unit 191 moves the lower gripper 172 and the upper gripper 173 to correct the position deviation. At this time, the upper gripper 173 and the lower gripper 172 are moved until the captured image of the calibration marks (C1 to C6) has the same size as the reference image within the allowable image range.

[0107] For example, when the allowable image range is set to A ± 5%, if the size of the actual image is outside A ± 5%, the control unit 191 can adjust the heights of the lower gripper 172 and the upper gripper 173 until the captured image has the same size as the intermediate image (A) within the allowable position range.

[0108] Thereby, when position deviations such as those in the assembled state of the upper gripper 173, the lower gripper 172, and their assembled structure, and setting assembly tolerances occur, the correction drive unit 180 can eliminate the position deviation.

[0109] In addition, it is possible to prevent the distance between the vision unit (V) and the unit cell 10 from being changed so as to deviate from the allowable value, prevent continuous mismeasurement of the unit cell 10, and significantly reduce the defect rate of the unit cell 10. It is also possible to prevent the unit cell 10 belonging to the allowable value range (good product range) from being determined as defective.

[0110] Some calibration marks (C2, C4, C6) are arranged side by side at a first distance (L1) at one end of the upper gripper 173. The other calibration marks (C1, C3, C5) are arranged side by side at a second distance (L2) at one end of the upper gripper 173. Some calibration marks (C2, C4, C6) and the other calibration marks (C1, C3, C5) may be arranged side by side with the transfer path of the unit cell 10. Thereby, the control unit 191 calculates the actual sizes of the plurality of calibration marks (C1 to C6), so that it can be determined whether the height of the upper gripper 173 has been changed or tilted in a direction parallel or perpendicular to the transfer path.

[0111] A transparent window 175 is formed in the upper gripper 173 so that the light of the vision camera 177 can pass through it. An anodizing layer (AD) is Form formed on the frame portion 174 around the transparent window 175. Here, anodizing means that when an electric current is passed through the frame portion 174 as the positive electrode in an electrolytic solution, the surface of the frame portion 174 is oxidized by the oxygen generated at the positive electrode, and a positive electrode oxide film is formed. As the material of the surface of the frame portion 174, aluminum (Al), magnesium (Mg), zinc (Zn), titanium (Ti), hafnium (Hf), niobium (Nb) alloy, etc. can be applied. The anodizing layer (AD) is a porous film, which can be dyed in various hues, has a smooth surface, and is easy to identify the image read by the vision camera 177.

[0112] The anodizing layer (AD) is black, and the calibration marks (C1 to C6) may be white. In the image captured by the vision camera 177, the anodizing layer (AD) serves as the background screen, and the white marks correspond to the subject. When the background screen of the captured image is black, the subject and its boundary become distinct, and the dimensions of the subject are clearly shown. On the other hand, when the background screen of the captured image is white or colored, the subject and its boundary become dim, and the dimensions of the subject are not clearly shown. In the present invention, since the white calibration marks (C1 to C6) are applied to the black anodizing layer (AD), the size of the calibration marks (C1 to C6) can be read more accurately. By accurately reading the size of the calibration marks (C1 to C6), the height of the upper gripper 173 can be corrected more accurately.

[0113] The calibration marks (C1 to C6) can be formed in a circular shape. The diameter of the calibration marks (C1 to C6) is formed to be about 2 to 5 mm. Since the circular calibration marks (C1 to C6) have the same diameter in all directions, the size of the captured image of the calibration marks (C1 to C6) can be read more accurately. If the shape around the calibration marks (C1 to C6) is irregular, it becomes difficult to accurately read the size of the calibration marks (C1 to C6).

[0114] When the lowering of the upper gripper 173 is completed, the vision camera 177 captures a plurality of calibration marks (C1 to C6). For example, when the upper gripper 173 descends at intervals of approximately 0.4 to 0.6 seconds, the vision camera 177 captures a plurality of calibration marks (C1 to C6) approximately every 0.4 to 0.6 seconds. As a result, by the vision camera 177 irradiating light, the calibration marks (C1 to C6) and the unit cell 10 can be captured simultaneously. Also, compared to the method of separately capturing the calibration marks and the unit cell 10, the imaging cycle of the vision camera 177 can be reduced by half, and an increase in the power consumption of the vision camera 177 can be prevented.

[0115] Since the above-described upper gripper 173 reciprocates at high speed, there is the highest possibility that bolts and nuts at the assembly site of the upper gripper 173 will become slightly detached, or that the upper gripper 173 or the lower gripper 172 will bend. With the upper gripper 173 pressing the unit cell 10, the operation error (operation height error) of the upper gripper 173 can also be accurately measured in order to simultaneously capture the calibration marks (C1 to C6) and the unit cell 10.

[0116] After the position of the upper gripper 173 is corrected, the vision camera 177 captures the calibration marks (C1 to C6) again, and the control unit 191 checks again whether the corrected position of the upper gripper 173 belongs to the allowable position range. As a result, it is possible to check whether the height correction of the upper gripper 173 has been accurately performed.

[0117] The lamination device further includes an alarm generation unit 193 that notifies replacement of the upper gripper 173 when the correction position of the upper gripper 173 is outside the allowable position range. The alarm generation unit 193 is electrically connected to the control unit 191. When the control unit 191 transmits an alarm signal to the alarm generation unit 193, the alarm generation unit 193 outputs the alarm signal. When the alarm unit outputs the alarm signal, the control unit 191 stops the lamination device 100. As a result, the operator can hear the alarm signal and check whether the upper gripper 173 and the lower gripper 172 themselves are deformed, and can quickly replace the grippers (upper gripper 172, lower gripper 173). Also, it is possible to interrupt the continuous occurrence of defects in the unit cell 10.

[0118] The correction drive unit 180 includes a case unit 181, a correction motor unit 182, a ball screw 183, and a slider 185.

[0119] The case unit 181 is fixed in position by a peripheral structure (not shown). Inside the case unit 181, a correction motor unit 182 is installed. In the correction motor unit 182, a step motor that can precisely adjust the height in units of 1 / 100 mm to 1 / 200 mm is applied. The ball screw 183 is connected to the rotating shaft of the correction motor unit 182. The slider 185 is installed so as to be movable along the length direction of the case unit 181 when the ball screw 183 rotates. The slider 185 is screw-coupled to the ball screw 183 and movably coupled to a rotation prevention rod 184 aligned with the ball screw 183. A linear guide 171 is connected to the slider 185. As a result, when the correction motor unit 182 is driven and the ball screw 183 rotates, the slider 185 moves. As the slider 185 moves, the height of the linear guide 171 is corrected. The linear guide 171, the lower gripper 172, and the upper gripper 173 move together with the slider 185.

[0120] FIG. 9 is a drawing showing an example of a photographed image of a calibration mark according to the present invention, FIG. 10 is a drawing showing a case where the positions of the lower gripper and the upper gripper according to the present invention belong to the allowable position range, FIG. 11 is a drawing showing another example of a photographed image of a calibration mark according to the present invention, FIG. 12 is a drawing showing a case where the positions of the lower gripper and the upper gripper according to the present invention are out of the allowable position range, FIG. 13 is a drawing showing still another example of a photographed image of a calibration mark according to the present invention, and FIG. 14 is a drawing showing a case where the lower gripper and the upper gripper are deformed by themselves according to the present invention.

[0121] Referring to FIGS. 9 to 14, the height correction of the upper gripper 173 will be described in detail. The diameter of the calibration marks (C1 to C6) is 3 mm, and a case where six calibration marks (C1 to C6) are formed will be described as an example.

[0122] When the vision camera 177 photographs a plurality of calibration marks (C1 to C6) and transmits them to the control unit 191, the control unit 191 reads the sizes of the plurality of calibration marks (C1 to C6).

[0123] The read calibration marks (C1 to C6) may be shown as having a size of 2.99 mm for C1, 3.01 mm for C2, 3.00 mm for C3, 3.00 mm for C4, 3.00 mm for C5, and 3.06 mm for C6 (see FIG. 9). At this time, the lower gripper 172 is arranged on the same straight line as a reference line (L) preset in the control unit 191 (see FIG. 10). In this case, since the plurality of calibration marks (C1 to C6) belong to the allowable position range, the lower gripper 172 and the upper gripper 173 are regarded as being in a normal state.

[0124] In contrast, it can be shown that the size of C1 is 2.71 mm, the size of C2 is 2.72 mm, the size of C3 is 2.68 mm, the size of C4 is 2.66 mm, the size of C5 is 2.69 mm, and the size of C6 is 2.70 mm (see Fig. 11). At this time, the lower gripper 172 is arranged below the reference line (L) preset in the control unit 191 (see Fig. 12). In this case, since all calibration marks (C1 to C6) are outside the lower limit value of the allowable position range, the control unit 191 determines that the lower gripper 172 and the upper gripper 173 are below the allowable value. Next, the correction drive unit 180 is driven so that the plurality of calibration marks (C1 to C6) become the same as the size of the image in the allowable position range, and the height of the linear guide 171 is corrected.

[0125] In contrast, it can be shown that the size of C1 is 2.71 mm, the size of C2 is 3.00 mm, the size of C3 is 2.68 mm, the size of C4 is 3.01 mm, the size of C5 is 2.69 mm, and the size of C6 is 3.00 mm (see Fig. 13). At this time, the tip of the lower gripper 172 is arranged below the reference line (L) preset in the control unit 191 (see Fig. 14). In this case, the sizes of the calibration marks (C2, C4, C6) arranged at the first distance (L1) (arranged on the side closer to the linear guide 171) in the linear guide 171 belong to the allowable position range, and the calibration marks (C1, C3, C5) arranged at the second distance (L2) (arranged farther from the linear guide 171) in the linear guide 171 are outside the lower limit value of the allowable position range. Next, the control unit 191 determines that the lower gripper 172 and the upper gripper 173 themselves are bent downward, and outputs an alarm signal to the alarm generation unit 193.

[0126] A control method for a lamination apparatus according to the present invention configured as described above will be described.

[0127] Fig. 15 is a flowchart schematically showing a control method for a lamination apparatus according to the present invention.

[0128] Referring to FIG. 15, when the final cutter 160 cuts the unit cell 10, the unit cell 10 is supplied to the lower gripper 172 (S11). At this time, two unit cells 10 are supplied to the lower gripper 172 every 0.4 to 0.6 seconds.

[0129] When the gripper driving unit 176 is driven, the upper gripper 173 descends to press the unit cell 10 (S12). As a result, if the unit cell 10 is vented or displaced, the lower gripper 172 presses the unit cell 10 to flatten the unit cell 10. Also, if the electrode tab of the unit cell 10 floats up or droops excessively, the electrode tab can be stretched uniformly by the pressure of the lower gripper 172.

[0130] The vision camera 177 captures a plurality of calibration marks (C1 to C6) formed on the upper gripper 173 and transmits them to the control unit 191 (S13). The vision camera 177 can capture the calibration marks (C1 to C6) approximately every 0.4 to 0.6 seconds. At this time, the farther the distance between the vision camera 177 and the calibration marks (C1 to C6), the smaller the size of the captured image of the calibration marks (C1 to C6), and the closer the distance between the vision camera 177 and the calibration marks (C1 to C6), the larger the size of the captured image of the calibration marks (C1 to C6).

[0131] At this time, some of the calibration marks (C2, C4, C6) are arranged side by side at a first distance (L1) at one end of the upper gripper 173, and the other calibration marks (C1, C3, C5) are arranged side by side at a second distance (L2) at one end of the upper gripper 173. Thereby, the control unit 191 can calculate the actual sizes of the plurality of calibration marks (C1 to C6) to determine whether the height of the upper gripper 173 has changed or it is tilted in a direction parallel to the transfer path and a direction perpendicular thereto.

[0132] An anodizing layer (AD) is provided around the transparent window 175 of the upper gripper 173. Form At this time, the anodizing layer (AD) is black, and calibration marks (C1 to C6) are applied in white. In the image captured by the vision camera 177, the anodizing layer (AD) serves as the background screen, and the white marks correspond to the subject. When the background screen of the captured image is black, the subject and its boundaries become distinct, and the dimensions of the subject are clearly shown. This enables the size of the calibration marks (C1 to C6) to be read more accurately.

[0133] The calibration marks (C1 to C6) are formed in a circular shape. Since the circular calibration marks (C1 to C6) are formed with the same diameter in all directions, the size of the captured image of the calibration marks (C1 to C6) can be read more accurately.

[0134] When the descent of the upper gripper 173 is completed, the vision camera 177 captures a plurality of calibration marks (C1 to C6). When the upper gripper 173 descends at intervals of approximately 0.4 to 0.6 seconds, the vision camera 177 captures a plurality of calibration marks (C1 to C6) approximately every 0.4 to 0.6 seconds. This allows the vision camera 177 to irradiate light and simultaneously capture the calibration marks (C1 to C6) and the unit cell 10. This can prevent an increase in the shooting cycle of the vision camera 177 and prevent an increase in the power consumption of the vision camera 177.

[0135] The control unit 191 reads a plurality of calibration marks (C1 to C6) and calculates the position deviation between the actual position of the upper gripper 173 and a preset allowable position range (S14).

[0136] The control unit 191 determines whether the position deviation is outside the allowable position range (S15). If it is determined that the position deviation belongs to the allowable position range, the correction drive unit 180 is not operated.

[0137] When it is determined that the position deviation is outside the allowable position range, the lower gripper 172 and the upper gripper 173 are moved to correct the position deviation (S16). As a result, when a position deviation such as that between the upper gripper 173 and the lower gripper 172 and the assembled state of the assembled structure and the setting assembly tolerance occurs, the correction drive unit 180 can eliminate the position deviation. That is, the upper gripper 173 and the lower gripper 172 are moved until the captured image of the calibration marks (C1 to C6) has the same size as the reference image within the allowable image range.

[0138] After the position of the upper gripper 173 is corrected, the vision camera 177 captures the calibration marks (C1 to C6) again (S17). The vision camera 177 transmits the image captured again to the control unit 191.

[0139] The control unit 191 determines again whether the corrected position of the upper gripper 173 belongs to the allowable position range (S18). This makes it possible to confirm whether the height correction of the upper gripper 173 has been accurately performed.

[0140] When it is determined that the corrected position of the upper gripper 173 is outside the allowable position, the alarm generation unit 193 outputs an alarm signal (S19). When the alarm unit outputs an alarm signal, the control unit 191 stops the lamination device (S20). As a result, the operator can hear the alarm signal and check whether the upper gripper 173 and the lower gripper 172 themselves are deformed, and can quickly replace the gripper device. Also, the continuous occurrence of defects in the unit cell 10 can be interrupted.

[0141] As described above, the present invention has been described with reference to the exemplary drawings. However, the present invention is not limited to the embodiments and drawings disclosed herein, and it is obvious that various modifications can be made by those skilled in the art within the scope of the technical idea of the present invention. Even if the effects of the present invention due to the configuration are not explicitly described while describing the embodiments of the present invention, it is natural that the effects predictable by the configuration should also be recognized.

Explanation of Reference Numerals

[0142] 10 unit cell 11 First electrode 12 Second electrode 13 Separation membrane 13a First separation membrane 13b Second separation membrane 100 Lamination device 102 Electrode laminate 110 First electrode roll 111 First electrode sheet 120 Second electrode roll 121 Second electrode sheet 130 Separation membrane roll 130a First separation membrane roll 131 Separation membrane sheet 131a First separation membrane sheet 130b Second separation membrane roll 131b Second separation membrane sheet 133 Pinch roller 141 First cutter part 143 Second cutter part 150 Lamination part 151 Heater part 153 Lami roller part 153a Upper lami roller 153b Lower lami roller 155 Pressure adjustment part 160 Final cutter V Vision part 171 Linear guide 172 Lower gripper 173 Upper gripper 174 Frame part 175 Transparent window 176 Gripper drive part 177 Vision camera 180 Correction drive part 181 Case part 182 Correction motor part 183 Ball screw 184 Anti-rotation load 185 Slider 191 Control part 193 Alarm generation part C1, C2, C3, C4, C5, C6 Calibration marks AD anodizing layer L Reference line L1 First distance L2 Second distance

Claims

1. A lower gripper to which unit cells are supplied; An upper gripper installed above the lower gripper so as to be movable up and down along the vertical direction; A gripper drive unit that moves the upper gripper up and down so that the upper gripper presses the unit cell; A plurality of calibration marks arranged on the upper gripper; A vision camera that photographs the plurality of calibration marks; A correction drive unit connected to the lower gripper and the upper gripper so as to correct the heights of the lower gripper and the upper gripper; and A control unit that reads the plurality of calibration marks, calculates a position deviation between an actual position of the upper gripper and a preset allowable position range, and moves the lower gripper and the upper gripper to correct the position deviation; including A lamination device.

2. An allowable image range regarding the plurality of calibration marks is preset in the control unit, The control unit compares the allowable image range with the size of an actual image photographed by the vision camera, and calculates a position deviation of the upper gripper. The lamination device according to Claim 1.

3. Some of the calibration marks are arranged side by side at a first distance at one side end of the upper gripper, The other calibration marks are arranged side by side at a second distance at one side end of the upper gripper. The lamination device according to Claim 1.

4. The upper gripper includes a transparent window through which light from the vision camera passes. The lamination device according to Claim 1.

5. An anodizing layer is formed around the transparent window. The lamination device according to Claim 4.

6. The anodizing layer is black, The plurality of calibration marks are white. The lamination device according to Claim 5.

7. The plurality of calibration marks are formed in a circular shape. The lamination device according to Claim 1.

8. The vision camera photographs the plurality of calibration marks when the lowering of the upper gripper is completed. The lamination device according to Claim 1.

9. The vision camera is arranged above the upper gripper. The lamination device according to Claim 1.

10. After the position of the upper gripper is corrected, the vision camera re - photographs the plurality of calibration marks, and the control unit re - checks whether the corrected position of the upper gripper belongs to the allowable position range. The lamination device according to claim 1.

11. The lower gripper is fixed to a linear guide. The upper gripper is installed on the linear guide so as to be movable up and down. The lamination device according to claim 1.

12. When the corrected position of the upper gripper is out of the allowable position range, it further includes an alarm generation unit for notifying the replacement of the upper gripper. The lamination device according to any one of claims 1 to 11.

13. The step of supplying a unit cell to the lower gripper; The step of the upper gripper descending to press the unit cell; The step of the vision camera photographing a plurality of calibration marks formed on the upper gripper and transmitting them to the control unit; The control unit reads the plurality of calibration marks and calculates the position deviation between the actual position of the upper gripper and a preset allowable position range; and When the position deviation is out of the allowable position range, moving the lower gripper and the upper gripper to correct the position deviation; including. A control method of a lamination device.

14. Some of the calibration marks are arranged side by side at a first distance at one end of the upper gripper. The other calibration marks are arranged side by side at a second distance at one end of the upper gripper. The control method of the lamination device according to claim 13.

15. An anodizing layer is formed around the transparent window of the upper gripper. The control method of the lamination device according to claim 13.

16. The anodizing layer is black. The plurality of calibration marks are white. The control method of the lamination device according to claim 15.

17. The plurality of calibration marks are formed in a circular shape. The control method of the lamination device according to claim 13.

18. The vision camera photographs the plurality of calibration marks when the descent of the upper gripper is completed. The control method of the lamination device according to claim 13.

19. After the position of the upper gripper is corrected, the vision camera further includes a step of photographing the plurality of calibration marks again, and the control unit re-checks whether the corrected position of the upper gripper belongs to the allowable position range. The method for controlling a lamination apparatus according to any one of claims 13 to 18.

20. When the corrected position of the upper gripper is out of the allowable position range, the alarm generation unit further includes a step of outputting an alarm signal. The method for controlling a lamination apparatus according to claim 19.

Images