Stacking facility and method for manufacturing electrode assembly

Abstract

The present invention relates to a stacking facility and a method for manufacturing an electrode assembly and, more specifically, to a stacking facility capable of detecting a collision between a configuration for transporting unit cells and a configuration for fixing an electrode assembly to a pallet, in a process of manufacturing an electrode assembly by stacking a plurality of unit cells, and a method for stacking an electrode assembly. According to an embodiment of the present invention, provided are a stacking facility and a control method therefor, the stacking facility being capable of detecting a collision between a clamp and an adsorption plate when a correction amount of the adsorption plate is large enough to cause interference with the clamp in a process in which the adsorption plate stacks a second semi-finished product cell on a first semi-finished product cell.

Description

Method for manufacturing stacking equipment and electrode assembly

[0001] The present invention relates to a stacking device and a method for manufacturing an electrode assembly, and more particularly, to a stacking device and a method for laminating an electrode assembly capable of detecting a collision between a configuration for transporting a unit cell and a configuration for fixing the electrode assembly to a pallet during a process of manufacturing an electrode assembly by laminating a plurality of unit cells.

[0002] This application claims the benefit of priority to Republic of Korea Patent Application No. 10-2024-0078121, filed June 17, 2024, the entire contents of which are incorporated herein by reference.

[0003] Secondary batteries can be classified into lithium ion batteries, lithium ion polymer batteries, etc. depending on the composition of the electrode assembly (30) and the electrolyte, and can be classified into square batteries, pouch-type batteries, cylindrical batteries, etc. depending on the shape of the battery case.

[0004] The electrode assembly (30) is a power generation element capable of charging and discharging, and is structured to include a cathode (2), an anode (3), and a separator (1) interposed between the cathode (2) and the anode (3). The electrode assembly (30) is manufactured using the anode, the cathode, and the separator, and there are various manufacturing methods.

[0005] The electrode assembly (30) can be classified into a jelly roll type in which a separator (1) is interposed between a long sheet-shaped positive electrode (3) and negative electrode (2) coated with an active material, and a stack type in which a plurality of positive electrodes (3) and negative electrodes (2) are sequentially laminated in a state described in the separator (1). For example, the electrode assembly (30) can be manufactured by sequentially laminating a negative electrode, a separator, and a positive electrode. Of course, the lamination method can also be varied.

[0006] Fig. 1 schematically illustrates the configuration of an electrode assembly. Fig. 2 schematically illustrates a manufacturing flow chart of an electrode assembly, and particularly illustrates the process of manufacturing an electrode assembly through lamination.

[0007] The electrode assembly (30) is formed by stacking a plurality of unit cells (10a to 10n) and a second semi-finished cell (20). In this document, a state in which a plurality of unit cells (10a to 10n) are stacked is referred to as a "first semi-finished cell (10)." The unit cells (10a to 10n) may be mono-cells. The first semi-finished cell (10) may be a stack cell in which the mono-cells are stacked. The second semi-finished cell (20) may be a half-cell.

[0008] Referring to FIG. 2, a stacked electrode assembly (30) can be manufactured through a lamination step (S1), a stacking step (S2), and a taping step (S3). The taping step (S3) can be performed to maintain a consistent appearance of the electrode assembly (30) and maintain a stacked state by taping the outer surface of the electrode assembly (30).

[0009] The above lamination step (S1) is for manufacturing unit cells (10a to 10n) and second semi-finished cell (20).

[0010] In the lamination step (S1), the unit cells (10a to 10n) can be formed by laminating a separator (1), a cathode (2), a separator (1), and an anode (3). The second semi-finished cell (20) can be formed by laminating a separator (1), a cathode (2), and a separator (1). That is, the lamination step (S1) can be a step for sequentially laminating a separator, a cathode, and an anode formed as individual sheets to manufacture a mono-cell and a half-cell. That is, it can be a step for manufacturing a semi-finished product, which is a component for manufacturing a final electrode assembly finished product.

[0011] The above stacking step (S2) is for stacking a plurality of unit cells (10a to 10n) and then stacking a second semi-finished product cell (20) on the top of the stacked unit cells.

[0012] In the above stacking step (S2), a plurality of unit cells (10a to 10n) are sequentially stacked to form a first semi-finished cell (10). Then, a second semi-finished cell (20) is stacked on the upper surface of the first semi-finished cell (10), so that an electrode assembly (30) can be manufactured.

[0013] For example, after the first semi-finished product cell (10) is moved to the final stacking position while being fixed by a clamp, the suction plate may adsorb the second semi-finished product cell (20) to stack the second semi-finished product cell (20) on top of the first semi-finished product cell. At this time, interference may occur between the clamp and the suction plate for various reasons.

[0014] Figure 3 illustrates a problem where interference occurs between the adsorption plate and the clamp.

[0015] First, the clamp secures the first semi-finished cell (10) and is moved to a stacking position together with the first semi-finished cell (10). At the stacking position, the clamp (70) is released, and the second semi-finished cell (20) is stacked on top of the first semi-finished cell (10) via the suction plate (80). Thereafter, the clamp clamps the electrode assembly (30) on which stacking is completed and is moved to a subsequent position together with the electrode assembly. The clamp repeats clamping and unclamping through a swinging motion.

[0016] The above suction plate (80) may have an avoidance groove formed to avoid interference during the swinging motion of the clamp. However, if the alignment of the suction plate (80) is disturbed, interference may occur between the suction plate (80) and the clamp.

[0017] The clamping interference position may be a position where the suction plate (80) is placed on the upper surface of the first semi-finished product cell (10) such that the virtual center line (L3) of the suction plate (80) is offset by a predetermined angle (θ), for example, 6° or more, with respect to the virtual center line (L1) of the pallet (50). For example, if the position of the suction plate is offset by less than 6°, clamping interference may not occur.

[0018] The above first semi-finished product cell (10) is loaded onto a pallet (50) and transferred to a stacking position (X1) while being fixed to a clamp (70) mounted on the pallet (50).

[0019] The second semi-finished product cell (20) can be transported to the stacking position (X1) in a state in which it is absorbed by, for example, the suction plate (80) of the SCARA robot. The SCARA robot adjusts the position of the suction plate (80) above the first semi-finished product cell (10) so that the second semi-finished product cell (20) is aligned with the first semi-finished product cell (10), and then lowers the suction plate (80) so that the second semi-finished product cell (20) is accumulated on the upper surface of the first semi-finished product cell (10).

[0020] If the first semi-finished product cell (10) above is not loaded at the correct position on the XY plane of the pallet (50) but is tilted at a predetermined angle (θ), the suction plate (80) is positionally corrected to be tilted at a predetermined angle (θ) from the correct position of the pallet (50).

[0021] However, if the above suction plate (80) is positioned at a clamping interference position by being turned at a predetermined angle (θ) from the normal position of the pallet (50), the clamp (70) may collide with the suction plate (80) during the clamping operation to fix the second semi-finished product cell (20) to the upper surface of the first semi-finished product cell (10).

[0022] Such collision or interference occurs because the clamping position and clamping path of the clamp (70) on the XY plane of the pallet (50) are fixed, while the suction plate (80) is positioned according to the loading position of the first semi-finished product cell (10).

[0023] The position correction of the suction plate (80) according to the loading position of the first semi-finished product cell (10) is to stack the second semi-finished product cell (20) in a state aligned with the first semi-finished product cell (10) when the first semi-finished product cell (10) is loaded out of the correct position on the XY plane of the pallet (50) during the process of loading the first semi-finished product cell (10).

[0024] When the above-mentioned suction plate (80) is placed at a clamping interference position on the upper surface of the first semi-finished product cell (10) due to the above-mentioned position correction, the second semi-finished product cell (20) is loaded on the upper surface of the first semi-finished product cell (10), and then the clamp (70) may hit the suction plate (80) during the clamping operation of the clamp (70).

[0025] The misalignment of the first semi-finished product cell (10) with respect to the XY plane of the pallet (50) mainly occurs in the process of manufacturing the first semi-finished product cell (10) by stacking multiple unit cells (10a to 10n). If the positional correction amount of the suction plate (80) is large enough to cause interference with the clamp (70), the same problem as above may occur repeatedly when clamping the second semi-finished product cell (20) after loading it for each pallet (50) moving along the conveyor (60).

[0026] Additionally, during the process in which the clamp (70) collides with the suction plate (80), damage to the second semi-finished cell (20) may occur. Damage to the second semi-finished cell (20) may cause a deterioration in the quality of the secondary battery.

[0027] In addition, during the process in which the clamp (70) collides with the suction plate (80), the second semi-finished cell (20) may be misaligned with the first semi-finished cell (10), resulting in a positional deviation in the stacking direction. This causes a taping defect in the electrode assembly (30) in the taping step (S3). This, in turn, causes an increase in the failure rate of the secondary battery.

[0028] The present invention aims to solve problems in conventional stacking equipment and stacking methods using the same, and further in secondary battery manufacturing methods.

[0029] According to one embodiment of the present invention, when the amount of correction of the suction plate is so large as to cause interference with the clamp during the process of stacking a second semi-finished cell on a first semi-finished cell, a stacking device capable of detecting a collision between the clamp and the suction plate and a control method thereof can be provided.

[0030] According to one embodiment of the present invention, a stacking device and a control method thereof can be provided that automatically stops the operation of the stacking device when a collision between the clamp and the suction plate is detected, thereby preventing stacking failure in advance.

[0031] According to one embodiment of the present invention, a stacking device and a control method thereof can be provided that can provide a warning alarm when a collision between the clamp and the suction plate is detected.

[0032] According to one embodiment of the present invention, a stacking device and a stacking method of an electrode assembly can be provided, in which a sensor is installed in an interference area where a collision with a clamp is likely to occur when the correction amount of the suction plate is large, and the suction plate is positioned on the upper surface of the first semi-finished product cell, thereby detecting whether the clamp enters the interference area.

[0033] According to one embodiment of the present invention, a stacking facility and a method for stacking electrode assemblies can be provided that can prevent the production of defective electrode assemblies in advance by stopping the production of electrode assemblies when a collision between the clamp and the suction plate is detected.

[0034] According to one embodiment of the present invention, a stacking device or stacking equipment may be provided, including a suction plate for stacking a second semi-finished cell on a first semi-finished cell, a clamp for pressing the upper portion of the second semi-finished cell after the second semi-finished cell is stacked to press the cell in which the stacking is completed, and a sensor for detecting a collision between the clamp and the suction plate during a clamping operation of the clamp or for detecting the collision in advance.

[0035] The above-mentioned suction plate may be provided to place the second semi-finished cell on top of the first semi-finished cell at a stacking position after suction-transferring the second semi-finished cell. That is, by releasing the suction, the suction plate and the second semi-finished cell can be separated. At this time, the suction release is preferably performed after the clamp operates to press and clamp the second semi-finished cell from top to bottom.

[0036] The above-mentioned suction plate is provided to absorb only a portion of the upper surface of the second semi-finished product cell, and the clamp can clamp a portion of the remaining portion that is not absorbed. That is, an opening is formed in the above-mentioned suction plate, and clamping can be performed by the clamp entering and exiting the opening.

[0037] The open area is a fixed area on the suction plate, and the clamping operation area is also fixed. However, the open area may vary relative to the clamping operation area due to left-right positional and misalignment deviations of the suction plate. In particular, if these deviations increase, the open area and the clamping operation area may overlap, resulting in a collision between the two.

[0038] If a collision occurs between the suction plate and the clamp during the stacking process, the stacking position of the second semi-finished product cell may become misaligned, and the stacking position of the first semi-finished product cell may also become misaligned. Therefore, by preventing such collisions in advance, production efficiency can be improved.

[0039] According to one embodiment of the present invention, a stacking device includes a pallet on which a first semi-finished product cell is loaded, a clamping device configured to fix the first semi-finished product cell to the pallet, a transporter configured to transport the pallet to a stacking position, and an adsorption plate having an opening through which a clamp of the clamping device is configured to enter and an adsorption surface on which a second semi-finished product cell is adsorbed, and a pickup device configured to stack the second semi-finished product cell on an upper surface of the first semi-finished product cell, and the pickup device may include a sensor configured to detect the clamp in an interference area of ​​the opening.

[0040] The above pickup can be stopped when the above sensor detects the clamp.

[0041] The above clamping device can be stopped when the sensor detects the clamp.

[0042] The above pickup may be arranged to provide a warning alarm when the sensor detects the clamp.

[0043] The sensor may be mounted on the suction plate to form a line-shaped sensing line in the interference area of ​​the opening, and may be arranged to detect the clamp when the sensing line is broken.

[0044] The above interference area includes a first open surface facing the entry side of the opening and a periphery of the first open surface, and may be an area that can collide with the clamp when the clamp enters the opening depending on the tilt angle of the virtual center line of the suction plate with respect to the virtual center line of the pallet.

[0045] The above opening is provided so that a portion of the second semi-finished product cell that is not adsorbed on the adsorption surface is exposed to the outside, and the sensor can be mounted on the adsorption plate so that a sensing line is formed on the upper portion of the second semi-finished product cell exposed through the opening.

[0046] The sensor includes a light emitter that emits light and a light receiver that receives the light, and can form a sensing line, which is a line of light emitted from the light emitter and reaching the light receiver.

[0047] The above light emitter and the above light receiver may be mounted on an adsorption plate facing each other in the opening portion and spaced apart from the first open surface and the adsorption surface of the opening portion, respectively.

[0048] The above sensing line may be parallel to the virtual center line of the suction plate.

[0049] The above sensing line may be formed along the boundary between the adsorption surface of the adsorption plate and the first open surface and spaced apart from the first open surface by a predetermined interval.

[0050] The above sensor may include a light-transmitting sensor.

[0051] The above clamping device may include a clamping drive unit mounted on one side of the pallet and configured to raise and lower the clamp along a height direction perpendicular to the pallet.

[0052] The above clamping drive unit may be provided to rotate the clamp at a predetermined angle so that the clamp is parallel or perpendicular to the virtual center line of the pallet.

[0053] The above clamp is arranged to be in contact with a portion of the upper surface of the first semi-finished product cell loaded on the pallet, and can be mounted on the clamping drive unit parallel to the pallet.

[0054] The stacking equipment may include a vision inspection device that inspects the misalignment of the first semi-finished product cell with respect to the pallet based on the XY plane of the pallet by photographing and analyzing the image of the first semi-finished product cell loaded on the pallet coaxially with the stacking position.

[0055] A method for stacking an electrode assembly according to one embodiment of the present invention may include a second semi-finished cell stacking step in which a pallet loaded with a first semi-finished cell moves to a stopped stacking position while a suction plate of a pickup device is in a state of adsorbing a second semi-finished cell, and the second semi-finished cell is stacked on an upper surface of the first semi-finished cell; a second semi-finished cell clamping step in which a clamp of a clamping device mounted on the pallet enters an opening of the suction plate while the suction plate is positioned on the upper surface of the first semi-finished cell to fix the second semi-finished cell to the upper surface of the first semi-finished cell; and a collision detection step in which a collision between the clamp and the suction plate is detected through a sensor mounted on the suction plate.

[0056] The above collision detection step can be performed during the second semi-finished product cell clamping step.

[0057] The above collision detection step may be a step of detecting whether the clamp enters the interference area of ​​the opening when the clamp enters the opening while the suction plate is positioned on the upper surface of the first semi-finished product cell.

[0058] In the above collision detection step, if the sensor detects the clamp, the pickup may provide a warning alarm.

[0059] In the above collision detection step, if the sensor detects the clamp, the stacking equipment can be stopped.

[0060] The sensor includes a light emitter that emits light and a light receiver that receives the light, and forms a sensing line, which is a line of light emitted from the light emitter and reaching the light receiver, and when the sensing line is cut by the clamp during the half-cell clamping step, the clamp can be detected.

[0061] Before the second semi-finished product cell stacking step, a vision inspection step may be included in which a vision inspector installed coaxially with the stacking position photographs a pallet on which the first semi-finished product cell is loaded, and inspects the misalignment of the first semi-finished product cell with respect to the pallet based on the XY plane of the pallet.

[0062] In the second semi-finished product cell stacking step, the suction plate can be positioned so that the virtual center line of the suction plate is parallel to the virtual center line of the first semi-finished product cell and the center of the suction plate is coaxial with the center of the first semi-finished product cell based on the misalignment angle of the first semi-finished product cell with respect to the XY plane of the pallet obtained through the vision inspection step.

[0063] A stacking device according to one embodiment of the present invention can detect a collision between the clamp and the suction plate when the correction amount of the suction plate is so large that interference with the clamp occurs during the process of the suction plate stacking the second semi-finished cell on the first semi-finished cell.

[0064] Specifically, a stacking device according to one embodiment of the present invention can detect whether the clamp enters the interference area while the suction plate is positioned on the upper surface of the first semi-finished product cell by installing a sensor in an interference area where a collision with the clamp is likely to occur when the correction amount of the suction plate is large.

[0065] The interference area of ​​the above suction plate is an area where a collision is expected during the clamping operation of the clamp when the suction plate is positioned on the upper surface of the first semi-finished product cell at a predetermined angle from the normal position of the pallet.

[0066] If the clamp is detected in the interference area of ​​the above-mentioned suction plate, the first semi-finished product cell is loaded at a predetermined angle from the correct position on the pallet, which may cause a taping defect of the electrode assembly in the subsequent taping step.

[0067] According to one embodiment of the present invention, a stacking device can automatically stop the stacking device upon detecting a collision between the clamp and the suction plate. This can prevent the occurrence of stacking defects in the electrode assembly.

[0068] That is, the present invention can reduce the defect rate of the electrode assembly by automatically stopping the stacking equipment when the clamp is detected by the sensing line of the suction plate during the process of loading and fixing the second semi-finished product cell on the upper surface of the first semi-finished product cell.

[0069] Additionally, the stacking equipment according to one embodiment of the present invention can provide a warning alarm when a collision between the clamp and the suction plate is detected. This warning alarm allows the operator to recognize equipment stoppage and stacking defects in the first semi-finished product cell, and promptly perform subsequent processing.

[0070] Figure 1 schematically illustrates the configuration of an electrode assembly.

[0071] Figure 2 schematically illustrates the manufacturing flow chart of an electrode assembly.

[0072] FIG. 3 is a drawing for explaining a problem that occurs during a clamping operation to fix a second semi-finished product cell to a first semi-finished product cell when a conventional suction plate is stacked on a first semi-finished product cell at a clamping interference position.

[0073] Figure 4 is a planar layout diagram of each component of a stacking facility according to one embodiment of the present invention.

[0074] FIG. 5 is a schematic diagram illustrating the arrangement of a pallet, an adsorption plate, and a vision inspector mounted on a conveyor according to one embodiment of the present invention.

[0075] FIG. 6 is an operation state diagram of a clamping machine according to one embodiment of the present invention, wherein FIG. 6(a) is an operation state diagram in which the clamp fixes the first semi-finished product cell to the pallet, and FIG. 6(b) is an operation state diagram in which the clamp releases the fixation of the first semi-finished product cell.

[0076] FIG. 7 schematically illustrates a plan view of an adsorption plate equipped with a sensor according to one embodiment of the present invention.

[0077] FIG. 8 schematically illustrates a cross-sectional side view of an adsorption plate equipped with a sensor according to one embodiment of the present invention.

[0078] FIG. 9 is a drawing for explaining the operating state of the suction plate and clamping device of the pickup device in the second semi-finished product cell stacking step according to one embodiment of the present invention.

[0079] Fig. 10 is a diagram of the operating state between the clamp and the suction plate when the clamp clamps the second semi-finished product cell while the suction plate according to the present embodiment is placed in the correct position on the pallet.

[0080] Fig. 11 is a diagram of the operating state between the clamp and the suction plate when the clamp clamps the second semi-finished product cell while the suction plate according to the present embodiment is placed at the clamping interference position.

[0081] FIG. 12 is a drawing for explaining a method of laminating an electrode assembly according to one embodiment of the present invention.

[0082] Hereinafter, with reference to the attached drawings, a stacking device and a method for stacking electrode assemblies according to a preferred embodiment of the present invention will be described.

[0083] FIG. 1 is a schematic diagram of a configuration of an electrode assembly, FIG. 4 is a planar layout diagram of each component of a stacking device according to one embodiment of the present invention, and FIG. 5 is a schematic diagram of a layout diagram of a pallet, an adsorption plate, and a vision inspector mounted on a conveyor according to one embodiment of the present invention.

[0084] The above stacking equipment (1000) includes a pallet (150) loaded with a first semi-finished product cell (10) and a clamping device (170) provided to fix the first semi-finished product cell (10) to the pallet (150), a transporter (100) provided to transport the pallet (150) to a stacking position (X1), and an adsorption plate (220) having an opening (226) into which a clamp (173) of the clamping device (170) can enter and an adsorption surface (221) on which a second semi-finished product cell (20) is adsorbed, and a pickup device (200) provided to stack the second semi-finished product cell (20) on the upper surface of the first semi-finished product cell (10), and the pickup device (200) may include a sensor (250) provided to detect the clamp (173) in an interference area of ​​the opening (226).

[0085] Referring to FIGS. 4 and 5, the stacking equipment (1000) includes a conveyor (100), a pickup (200), a vision inspector (300), a unit cell stacker (500), a taping machine (900), and a controller (800).

[0086] The above transporter (100) includes a pallet (150) loaded with a first semi-finished product cell (10) and a clamping device (170) configured to fix the first semi-finished product cell (10) to the pallet (150), and is configured to transport the pallet (150) to a stacking position (X1). The transporter (100) may be a linear motion system (LMS).

[0087] The above pickup device (200) includes an adsorption plate (220) and a sensor (250), and is arranged to adsorb the second semi-finished product cell (20) and transport it to the pallet (150). The pickup device (200) can stack the second semi-finished product cell (20) on the upper surface of the first semi-finished product cell (10) through the adsorption plate (220). The pickup device (200) may be a SCARA robot.

[0088] The above stacking equipment (1000) is a device that loads the first semi-finished cell (10) onto the pallet (150) through the unit cell stacker (500), stacks the second semi-finished cell (20) on the upper surface of the first semi-finished cell (10) through the pickup device (200) at the stacking position (X1), and then manufactures an electrode assembly (30) by taping the first semi-finished cell (10) and the second semi-finished cell (20) through the taping device (900).

[0089] Referring to Fig. 1, the electrode assembly (30) includes a plurality of unit cells (10a to 10n, see Fig. 1) and one second semi-finished cell (20). The electrode assembly (30) is formed by sequentially stacking a cathode (2) and an anode (3) with a separator (1) as a medium.

[0090] The above unit cells (10a to 10n, see Fig. 1) are semi-finished products in which a separator (1), a cathode (2), a separator (1), and an anode (3) are sequentially laminated. The first semi-finished cell (10) is formed by laminating a plurality of unit cells (10a to 10n, see Fig. 1). In addition, the second semi-finished cell (20) is a semi-finished product in which a separator (1), a cathode (2), and a separator (1) are sequentially laminated.

[0091] Hereinafter, the transporter will be described with reference to FIGS. 4 to 6.

[0092] FIG. 6 is an operation state diagram of a clamping device (170) according to one embodiment of the present invention. FIG. 6(a) is an operation state diagram in which a clamp (173) fixes a first semi-finished product cell (10) to a pallet (150), and FIG. 6(b) is an operation state diagram in which a clamp (173) releases the fixation of the first semi-finished product cell (10).

[0093] The above transporter (100) includes a pallet (150) equipped with the clamping device (170), a rail (130) on which the pallet (150) is movably mounted, and a transport drive unit (110) that provides driving force to the pallet (150). The transport drive unit (110) may be a motor.

[0094] Referring to Fig. 4, the transporter (100) is inline connected to the unit cell stacker (500) and the taping machine (900). The transporter (100) can transport the pallet (150) from the unit cell stacker (500) to the stacking position (X1) and from the stacking position (X1) to the taping machine (900).

[0095] The above-mentioned stacking position (X1) is a point of the rail (130), between the unit cell stacker (500) and the taping machine (900). The above-mentioned stacking position (X1) is a position where the second semi-finished product cell (20) is stacked on the upper surface of the first semi-finished product cell (10) loaded on the pallet (150). The rail (130) is arranged parallel to the X-axis direction.

[0096] Referring to Fig. 6, the pallet (150) is provided in a plate-shaped structure so that the first semi-finished product cell (10) can be loaded thereon. Referring to Fig. 4, the pallet (150) can sequentially move along the rail (130) to the unit cell stacker (500), the stacking position (X1), and the taping machine (900).

[0097] Referring to Fig. 6, a clamping device (170) is mounted on the pallet (150). The clamping device (170) can be individually mounted on each pallet (150).

[0098] The above clamping device (170) is a device for fixing the first semi-finished product cell (10) to the pallet (150). The clamping device (170) is movable together with the pallet (150). The clamping device (170) includes a clamping drive unit (172) and a clamp (173).

[0099] In this document, with reference to FIG. 6(a), the position where the clamp (173) is perpendicular to the imaginary center line (L1) of the pallet (150) and can contact the upper surface of the first semi-finished product cell (10) is referred to as a “clamping position.”

[0100] And, in this document, with reference to FIG. 6(b), the position where the clamp (173) is higher than the height of the upper surface of the first semi-finished product cell (10) in the height direction (z) of the pallet and spaced parallel to the imaginary center line (L1) of the pallet (150) is referred to as an “unclamping position.”

[0101] The clamping drive unit (172) may be mounted on one side of the pallet (150) and may be configured to raise and lower the clamp (173) along the height direction (z) perpendicular to the pallet (150). The clamping drive unit (172) may be configured as a cylinder type.

[0102] In addition, the clamping driving unit (172) may be provided to rotate the clamp (173) at a predetermined angle so that the clamp (173) is parallel or perpendicular to the virtual center line (L1) of the pallet (150). Hereinafter, for convenience of explanation, the operation of fixing the first semi-finished product cell (10) or the electrode assembly (30) to the pallet (150) is referred to as a “clamping operation.”

[0103] The clamp (173) may be provided so as to be in surface contact with a portion of the first semi-finished product cell (10). The clamp (173) may be provided in a bar shape. The portion of the clamp (173) that comes into contact with the first semi-finished product cell (10) may be provided with a rubber material. The clamp (173) may be mounted on the drive shaft of the clamping drive unit (172) in parallel with the pallet (150).

[0104] Additionally, the pallet (150) may be equipped with a pair of clamping machines (170, 170a).

[0105] The above pair of clamping devices (170, 170a) can be operated so that the pair of clamps (173) are positioned at a clamping position (see FIG. 6a) where the clamps (173) are perpendicular to the imaginary center line (L1) of the pallet (150) and press the upper surface of the first semi-finished product cell (10), and then rotate 90° in a direction away from the first semi-finished product cell to be positioned parallel to the imaginary center line (L1) of the pallet (150) in a straight line (see FIG. 6(b)).

[0106] Hereinafter, the pickup device (200) will be described with reference to FIGS. 4, 7, and 8.

[0107] FIG. 7 schematically illustrates a plan view of an adsorption plate equipped with a sensor according to one embodiment of the present invention, and FIG. 8 schematically illustrates a side cross-sectional view of an adsorption plate equipped with a sensor according to one embodiment of the present invention.

[0108] The above pickup device (200) includes an adsorption plate (220) and a sensor (250).

[0109] The above pickup (200) is provided to be able to move up and down along the height direction (z) perpendicular to the floor surface of the suction plate (220) and to move back and forth between the second semi-finished product cell magazine (600) and the rail (130). The height direction (z) is parallel to the stacking direction of the first semi-finished product cell.

[0110] The above pickup device (200) is provided to move the suction plate (220) in a direction different from the driving direction (MD) of the pallet (150). The pickup device (200) is provided to move the suction plate (220) in the Y-axis direction and the Z-axis direction. In addition, the pickup device (200) is provided so that the suction plate (220) can be adjusted to a predetermined angle on the XY plane.

[0111] The above second semi-finished product cell magazine (600) and the above buffer table (700) can be spaced apart in the Y-axis direction.

[0112] The second semi-finished product cell magazine (600) is a box in which the second semi-finished product cell (20) is loaded. A buffer table (700) is placed between the second semi-finished product cell magazine (600) and the rail (130). The buffer table (700) is a table on which the second semi-finished product cell (20) transported from the second semi-finished product cell magazine (600) is placed. The buffer table (700) is provided to prevent the second semi-finished product cell (20) mounted on the upper surface of the first semi-finished product cell (10) from being stacked.

[0113] The suction plate (220) sucks the second semi-finished product cell (20) loaded on the top of the second semi-finished product cell magazine (600) and transports it to the buffer table (700), and releases the suction of the second semi-finished product cell (20) from the buffer table (700). Then, one sheet of the second semi-finished product cell (20) placed on the buffer table (700) can be sucked and moved to the upper portion of the stacking position (X1).

[0114] Referring to FIGS. 7 and 8, the suction plate (220) has a suction surface (221) provided with a plurality of holes (222), a vacuum line (230) that provides vacuum pressure to the plurality of holes (222), and an opening (226).

[0115] The above opening (226) is provided so that the clamp (173) can enter. The opening (226) has a first opening surface (225) facing the entry side through which the clamp (173) enters, a second opening surface (223) and a third opening surface (224) connected to the first opening surface (225) and facing each other. The first opening surface (225) to the third opening surface (224) are connected in the circumferential direction of the suction plate (220). The opening (226) is a space surrounded by the first opening surface (225) to the third opening surface (224).

[0116] The above adsorption plate (220) is arranged so that a portion of the second semi-finished product cell (20) is adsorbed to the adsorption surface (221), and the remaining portion of the second semi-finished product cell (20) that is not adsorbed to the adsorption surface (221) is exposed to the outside through the opening (226).

[0117] The above suction plate (220) is provided so as to be angle-adjustable while being parallel to the XY plane of the pallet (150). The position correction of the suction plate (220) is to stack the second semi-finished product cell (20) in a state aligned with the first semi-finished product cell (10) when the first semi-finished product cell (10) is loaded out of its correct position on the XY plane of the pallet (150) during the process of loading it onto the pallet (150).

[0118] However, as shown in FIG. 10, if the suction plate (220) is placed at a clamping interference position on the upper surface of the first semi-finished product cell (10) due to the position correction, the clamp (173) may hit the suction plate (220) during the clamping operation of the clamp (173) after the second semi-finished product cell (20) is loaded on the upper surface of the first semi-finished product cell (10).

[0119] The above clamping interference position is a position where the suction plate (220) is placed on the upper surface of the first semi-finished product cell (10) such that the virtual center line (L3) of the suction plate (220) is tilted at a predetermined angle with respect to the virtual center line (L1) of the pallet (150).

[0120] When the amount of correction of the suction plate (220) is so large as to cause interference with the clamp (173), the distortion of the first semi-finished product cell (10) mainly occurs during the process of stacking multiple unit cells (10a to 10n, see FIG. 1) on the pallet (150).

[0121] If the amount of correction of the suction plate (220) is so large as to cause interference with the clamp (173), the same problem as above may occur repeatedly when clamping the second semi-finished product cell (20) after loading each pallet (150) moving along the rail (130) of the transporter (100).

[0122] To solve this problem, a sensor (250) can be mounted in the interference area of ​​the opening (226) of the suction plate (220) to detect the collision between the clamp (173) and the suction plate (220).

[0123] The above sensor (250) is mounted on the suction plate (220) to form a line-shaped sensing line (253) in the interference area of ​​the opening (226).

[0124] The above sensor (250) can be mounted on the suction plate (220) so that a sensing line (253) is formed on the upper portion of the second semi-finished product cell (20) exposed through the opening (226).

[0125] The above sensor (250) may be arranged to detect the clamp (173) when the sensing line (253) is disconnected.

[0126] The above sensor (250) includes a light emitter (251) that emits light and a light receiver (252) that receives the light.

[0127] The above light emitter (251) can be mounted on the second open surface (223) at a predetermined distance from the first open surface (225) and the adsorption surface (221).

[0128] The above-mentioned light receiver (252) can be mounted on the third open surface (224) so ​​as to face the light emitter (251). The above-mentioned light receiver (252) can be mounted on the third open surface (224) so ​​as to be spaced apart from the first open surface (225) and the adsorption surface (221) by a predetermined distance.

[0129] The sensing line (253) may be a line of light formed as light is emitted from the light emitter (251) and reaches the light receiver (252). The sensing line (253) may be parallel to the imaginary center line (L3) of the suction plate (220).

[0130] Meanwhile, FIG. 10 illustrates a case where the sensing line (253) and the clamp (173) interfere when the error correction amount of the suction plate is small. This is an exaggerated illustration of the sensing line (253) and the sensors (251, 252), and it can be said that the parallel separation between the first open surface (225) or the first open surface line and the sensing line is exaggerated. In reality, the sensing line (253) can be formed very close to the first open surface (225) or the first open surface line, and therefore, when the error correction amount of the suction plate is small, the clamp (173) and the sensing line (253) do not interfere. Of course, when the error correction amount of the suction plate, especially the distortion correction amount, increases, the clamp and the sensing line may interfere. By detecting such interference in advance, stacking failure can be prevented in advance.

[0131] The sensing line (253) may be spaced apart from the first open surface (225) by a predetermined distance (specific value) along the boundary between the adsorption surface (221) and the first open surface (225) of the open portion (226). The sensing line (253) may be formed on the upper portion of the second semi-finished product cell (20) exposed by the open portion (226).

[0132] The above sensor (250) can detect the clamp (173) when the sensing line (253) is disconnected. The sensor (250) can include a light-transmitting sensor (250).

[0133] The above interference area includes the first open surface (225) facing the entry side of the opening (226) and the periphery of the first open surface (225).

[0134] The above interference area may be an area that can collide with the clamp (173) when entering the opening (226) of the clamp (173) depending on the misalignment angle of the virtual center line (L3) of the suction plate (220) with respect to the virtual center line of the pallet (150).

[0135] The above interference area may be between the clamp (173) positioned perpendicular to the virtual center line (L1) of the pallet (150) at the opening (226) and the first open surface (225) when the virtual center line (L3) of the suction plate (220) is arranged coaxially and parallel to the virtual center line (L1) of the pallet (150).

[0136] The sensor (250) may be mounted on the suction plate (220) to detect the clamp (173) when the second semi-finished product cell clamping operation of the clamp (173) is performed in a state where the virtual center line (L3) of the suction plate (220) is offset by a predetermined distance from the virtual center line (L1) of the pallet (150). The predetermined angle may be approximately 6° or more.

[0137] The above controller (800) can operate the clamping device (170) and the pickup device (200) so that the suction plate (220) adsorbs the second semi-finished product cell (20) from the buffer table (700) and stacks it on the upper surface of the first semi-finished product cell (10) loaded on the pallet (150), and the second semi-finished product cell (20) is fixed to the upper surface of the first semi-finished product cell (10) via the clamp (173).

[0138] The controller (800) can operate the pickup (200) so that the virtual center line (L3) of the suction plate (220) is parallel to the virtual center line (L2) of the first semi-finished product cell (10) and the center of the suction plate (220) is coaxially located with the center of the first semi-finished product cell (10), based on the misalignment angle of the first semi-finished product cell (10) with respect to the XY plane of the pallet (150) obtained from the vision inspector (300).

[0139] The above vision inspector (300) is a device that performs vision inspection for misalignment of the first semi-finished product cell (10) loaded on the pallet (150) with respect to the virtual center line (L1) of the pallet (150) in the XY plane of the pallet (150) by photographing and analyzing the image. The vision inspector (300) may be installed on the upper portion of the rail (130) of the transporter (100) coaxially with the stacking position (X1).

[0140] The above controller (800) can operate the clamping device (170) and the pickup device (200) to stack the second semi-finished product cell (20) on the upper surface of the first semi-finished product cell (10) so that the suction plate (220) moves to the upper surface of the first semi-finished product cell (10) while the clamp (173) releases the first semi-finished product cell (10).

[0141] In addition, the controller (800) can operate the clamping device (170) and the pickup device (200) so that the clamp (173) of the clamping device (170) mounted on the pallet (150) enters the opening (226) of the suction plate (220) while the suction plate (220) is positioned on the upper surface of the first semi-finished product cell (10) to fix the second semi-finished product cell (20) to the upper surface of the first semi-finished product cell (10).

[0142] The controller (800) can stop the stacking equipment (100) when the sensor (250) detects the clamp (173). The pickup device (200) can be arranged to provide a warning alarm when the sensor (250) detects the clamp (173).

[0143] Hereinafter, a method of laminating an electrode assembly will be described with reference to FIGS. 4, 5, 9 to 12.

[0144] FIG. 9 is a drawing for explaining the operation state of the suction plate and clamping device of the pickup device in the second semi-finished product cell stacking step according to one embodiment of the present invention, FIG. 10 is a diagram showing the operation state between the clamp and the suction plate when the clamp clamps the second semi-finished product cell in a state where the suction plate according to the present embodiment is placed in the correct position of the pallet, and FIG. 11 is a diagram showing the operation state between the clamp and the suction plate when the clamp clamps the second semi-finished product cell in a state where the suction plate according to the present embodiment is placed in the clamping interference position. In addition, FIG. 12 is a drawing for explaining a stacking method of an electrode assembly according to one embodiment of the present invention.

[0145] The method for stacking the electrode assembly includes a second semi-finished cell stacking step (S25) in which a pallet (150) loaded with a first semi-finished cell (10) moves to a stopped stacking position (X1) while the suction plate (220) of the pickup device (200) adsorbs the second semi-finished cell (20), and stacks the second semi-finished cell (20) on the upper surface of the first semi-finished cell (10), a second semi-finished cell clamping step (S26) in which a clamp (173) of a clamping device (170) mounted on the pallet (150) enters the opening (226) of the suction plate (220) while the suction plate (220) is positioned on the upper surface of the first semi-finished cell (10) to fix the second semi-finished cell (20) to the upper surface of the first semi-finished cell (10), and a sensor (250) mounted on the suction plate (220) is used to clamp the clamp (173) and the It may include a collision detection step (S27) for detecting a collision of the suction plate (220).

[0146] The method for laminating the electrode assembly may include a transfer step (S21), a vision inspection step (S22), a position correction step (S23) of an adsorption plate (200), an unclamping step (S24), a second semi-finished cell lamination step (S25), a second semi-finished cell clamping step (S26), a collision detection step (S27), and an equipment stop step (S28).

[0147] Referring to FIGS. 4 and 5, in the transport step (S21), the pallet (150) is transported from the unit cell stacker (500) along the rail (130) to the stacking position (X1). In addition, the first semi-finished product cell (10) can be transported while being fixed to the pallet (150) via the clamp (173).

[0148] The above pallet (150) is stopped at the above stacking position (X1) for a preset time. The pallet (150) may be stopped at the above stacking position (X1) while performing the vision inspection step (S22), the position correction step (S23) of the suction plate (200), the unclamping step (S24), the second semi-finished product cell stacking step (S25), and the second semi-finished product cell clamping step (S26).

[0149] Referring to FIG. 5, when the pallet (150) loaded with the first semi-finished product cell (10) is stopped at the stacking position (X1), a vision inspection step (S22) is performed in which a vision inspection device (300) installed coaxially with the stacking position (X1) photographs the pallet (150) loaded with the first semi-finished product cell (10), and inspects the misalignment of the first semi-finished product cell (10) with respect to the pallet (150) based on the XY plane of the pallet (150).

[0150] The above vision inspection step (42) is performed before the second semi-finished product cell stacking step (S25). The vision inspector (300) can obtain the warp angle and warp direction of the virtual center line of the first semi-finished product cell (10) with respect to the virtual center line (L1) of the pallet (150).

[0151] Referring to FIG. 9, the pickup (200) can be operated so that the suction plate (220) suctions one second semi-finished product cell (20) from the buffer table (700) and moves it to the stacking position (X1).

[0152] The suction plate (220) can be positioned so that the virtual center line (L3) of the suction plate (220) is parallel to the virtual center line (L2) of the first semi-finished product cell (10) and the center of the suction plate (220) is coaxial with the center of the first semi-finished product cell (10), based on the misalignment angle of the first semi-finished product cell (10) with respect to the XY plane of the pallet (150) obtained through the vision inspection step (S22) (S23).

[0153] An unclamping step (S24) is performed before the above-mentioned suction plate (220) moves downward toward the first semi-finished product cell (10). The unclamping step (S24) is performed in a stationary state of the pallet (150).

[0154] In the above unclamping step (S24), the clamp (173) can be moved to the unclamping position by lifting and rotating from the clamping position to release the fixation to the first semi-finished product cell (10).

[0155] The above clamp (173) is positioned in an unclamped state at an unclamped position (see Fig. 6(b)) of the pallet (150). The unclamped position (see Fig. 6(b)) is parallel to the imaginary center line (L1) of the pallet (150) and is spaced apart from the first semi-finished product cell (10).

[0156] Referring to FIG. 9, the suction plate (220) moves downward toward the first semi-finished product cell (10) in the unclamped state of the clamp (173) and can be positioned on the upper surface of the first semi-finished product cell (10).

[0157] The above adsorption plate (200) can be positioned on the upper surface of the first semi-finished product cell (10) while the clamp (173) performs a clamping operation to fix the second semi-finished product cell (20) to the upper surface of the first semi-finished product cell (10).

[0158] In the second semi-finished product cell clamping step (S26), the clamping device (170) is rotated 90° in a direction in which the clamp (173) approaches the first semi-finished product cell (10) from the unclamping position, enters the opening (226) of the suction plate (220), and descends toward the second semi-finished product cell (20) adsorbed on the suction plate (220), thereby fixing the second semi-finished product cell (20) and the first semi-finished product cell (10) to the pallet (150).

[0159] The above collision detection step (S27) can be performed when the clamp (173) is detected in the interference area of ​​the opening (226) when the clamp (173) enters the opening (226) while the suction plate (220) is positioned on the upper surface of the first semi-finished product cell (10).

[0160] If the sensor (250) mounted on the suction plate (220) detects the clamp (173) during the second semi-finished product cell clamping step (S26), the controller (800) can stop the stacking equipment (1000) (S28). In addition, a warning alarm can be provided when the stacking equipment (1000) stops.

[0161] By automatically stopping the stacking equipment (1000) when a collision is detected by the sensor (250), damage to the suction plate (220) due to repeated collision with the clamp (173) can be prevented. In addition, by preventing poor taping of the electrode assembly (30) due to poor lamination of the electrode assembly (30), an electrode assembly (30) of uniform quality can be produced.

[0162] If the sensor (250) mounted on the suction plate (220) does not detect the clamp (173) during the second semi-finished product cell clamping step (S26), the stacking equipment (1000) is operated normally, and the pallet (150) can be transferred to the taping machine (900) while the second semi-finished product cell (20) is fixed to the upper surface of the first semi-finished product cell (10) (S29). In addition, after the second semi-finished product cell clamping step is completed, the suction plate (220) can release the suction of the second semi-finished product cell (20) and return to its original position (S29).

[0163] The preferred embodiments of the present invention described above are disclosed for the purpose of illustration, and those skilled in the art having ordinary knowledge of the present invention will be able to make various modifications, measurements, and additions within the spirit and scope of the present invention, and such modifications, measurements, and additions should be considered to fall within the scope of the following claims.

[0164] As described in the detailed description of the invention.

Claims

1. A transporter including a pallet loaded with a first semi-finished product cell and a clamping device configured to fix the first semi-finished product cell to the pallet and configured to transport the pallet to a stacking position; and A suction plate having an opening through which a clamp of the clamping device can enter and a suction surface on which a second semi-finished product cell is suctioned, and a pickup device provided to stack the second semi-finished product cell on the upper surface of the first semi-finished product cell, A stacking device characterized in that the pickup device includes a sensor configured to detect the clamp in the interference area of ​​the opening.

2. In paragraph 1, A stacking device characterized in that the above pickup device stops operating when the above sensor detects the above clamp.

3. In paragraph 1, A stacking device characterized in that the above clamping device stops operating when the sensor detects the clamp.

4. In paragraph 1, The above pickup device is a stacking facility provided to provide a warning alarm when the above sensor detects the above clamp.

5. In paragraph 1, The above sensor is mounted on the suction plate to form a line-shaped sensing line in the interference area of ​​the opening, and the stacking equipment is provided to detect the clamp when the sensing line is broken.

6. In paragraph 1, A stacking device characterized in that the interference area includes a first open surface facing the entry side of the opening and a periphery of the first open surface, and is an area that can collide with the clamp when the clamp enters the opening according to the misalignment angle of the virtual center line of the suction plate with respect to the virtual center line of the pallet.

7. In paragraph 1, The above opening is provided so that a portion of the second semi-finished product cell that is not adsorbed on the adsorption surface is exposed to the outside, A stacking device characterized in that the sensor is mounted on the suction plate so that a sensing line is formed on the upper portion of the second semi-finished product cell exposed through the opening.

8. In paragraph 1, A stacking device characterized in that the sensor comprises a light emitter that emits light and a light receiver that receives the light, and forms a sensing line, which is a line of light emitted from the light emitter and reaching the light receiver.

9. In paragraph 8, The above-mentioned opening is an area surrounded by a first opening surface that is sunken inward from the outer surface of the suction plate and a second opening surface and a third opening surface that are provided to face each other at both ends of the first opening surface. A stacking device characterized in that the light emitter and the light receiver are respectively mounted on the second and third open surfaces and are arranged to face each other.

10. In paragraph 8, The above sensing line is provided to be parallel to the virtual center line of the suction plate, A stacking device characterized in that the sensing line is formed at a distance from the first opening surface in the opening portion.

11. In paragraph 1, A stacking device, wherein the clamping device is mounted on one side of the pallet and further includes a clamping drive unit configured to raise and lower the clamp along a height direction perpendicular to the pallet.

12. In paragraph 11, A stacking device in which the clamping drive unit is arranged to rotate the clamp at a predetermined angle so that the clamp is parallel or perpendicular to the virtual center line of the pallet.

13. In paragraph 11, A stacking device characterized in that the clamp is provided so as to be in contact with a portion of the upper surface of the first semi-finished product cell loaded on the pallet, and is mounted on the clamping drive unit parallel to the pallet.

14. In paragraph 1, A stacking facility further comprising a vision inspection device that inspects the misalignment of the first semi-finished product cell with respect to the pallet based on the XY plane of the pallet by photographing and analyzing the image of the first semi-finished product cell loaded on the pallet coaxially with the stacking position.

15. A second semi-finished product cell stacking step in which the pallet loaded with the first semi-finished product cell moves to a stacking position while the suction plate of the pickup device has absorbed the second semi-finished product cell, and then the second semi-finished product cell is stacked on the upper surface of the first semi-finished product cell; A second semi-finished product cell clamping step in which, while the suction plate is positioned on the upper surface of the first semi-finished product cell, a clamp of a clamping device mounted on the pallet enters the opening of the suction plate to fix the second semi-finished product cell to the upper surface of the first semi-finished product cell; and A method for laminating an electrode assembly, comprising a collision detection step of detecting a collision between the clamp and the suction plate through a sensor mounted on the suction plate.

16. In paragraph 15, A method for laminating an electrode assembly, characterized in that the above collision detection step is performed during the second semi-finished product cell clamping step.

17. In paragraph 16, A method for laminating an electrode assembly, characterized in that the above collision detection step is a step of detecting whether the clamp enters the interference area of ​​the opening when the clamp enters the opening while the suction plate is positioned on the upper surface of the first semi-finished product cell.

18. In paragraph 15, A method for stacking electrode assemblies, characterized in that when the sensor detects the clamp in the above collision detection step, the operation of the stacking equipment is stopped.

19. In paragraph 17, A method for laminating an electrode assembly, characterized in that it includes a vision inspection step for inspecting the warpage of the first semi-finished cell, which is performed before the second semi-finished cell lamination step.

20. In paragraph 19, A method for laminating an electrode assembly, characterized in that, in the second semi-finished product cell lamination step, the adsorption plate corrects the lamination position of the second semi-finished product cell based on the misalignment angle of the first semi-finished product cell obtained through the vision inspection step.

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