Folding device and folding method

Abstract

The technical idea of the present invention provides a folding device comprising: a position detector configured to detect the position of a battery cell and determine a position correction value on the basis of the detected position of the battery cell and a reference position; a folding part configured to fold an edge portion of the battery cell; and a moving stage configured to move the folding part on the basis of the position correction value provided from the position detector.

Description

Folding device and folding method

[0001] The present invention relates to a folding device and a folding method.

[0002] The present disclosure claims the benefit of priority based on Korean Patent Application No. 10-2024-0173408 filed November 28, 2024, and all contents of Korean Patent Application No. 10-2024-0173408 are incorporated by reference into the present disclosure.

[0003] Rechargeable batteries are widely used as core components of portable electronic devices, energy storage devices, and electric vehicles due to their high energy density, long lifespan, and low self-discharge rate. Rechargeable batteries are primarily used in three forms: prismatic batteries, pouch batteries, and cylindrical batteries. The pouch battery comprises an electrode assembly in which a plurality of electrodes are stacked, and a pouch case that accommodates the electrode assembly. In a pouch battery, the periphery of the pouch case has a sealing portion that seals the internal space of the pouch case in which the electrode assembly is accommodated. To miniaturize the battery cell and strengthen the sealing force of the sealing portion of the pouch case, a folding operation is performed to fold the sealing portion of the pouch case.

[0004] The problem that the technical concept of the present invention aims to solve is to provide a folding device configured to fold the edge portion of a battery cell.

[0005] The problem that the technical concept of the present invention aims to solve is to provide a folding method for folding the edge portion of a battery cell.

[0006] To solve the above-mentioned problem, the technical concept of the present invention provides a folding device comprising: a position detector that detects the position of a battery cell and determines a position correction value based on the detected position of the battery cell and a reference position; a folding part configured to fold the edge portion of the battery cell; and a moving stage configured to move the folding part based on the position correction value provided by the position detector.

[0007] In exemplary embodiments, the moving stage is characterized by being configured to adjust the position according to the X-axis direction, the position according to the Y-axis direction, and the angular position according to the rotation direction having the Z-axis direction as the rotation axis of the folding part based on the position correction value.

[0008] In exemplary embodiments, the position detector is characterized by including a vision camera that photographs the battery cell and a processor configured to calculate the position correction value based on an image of the battery cell obtained from the vision camera.

[0009] In exemplary embodiments, the battery cell has a chamfered corner portion between a first edge and a second edge, and the position detector is configured to detect an intersection point where a first extension line of the first edge of the battery cell meets a second extension line of the second edge of the battery cell, and to determine the position correction value based on the difference between the intersection point and a reference point.

[0010] In exemplary embodiments, the battery cell has a first chamfered corner portion between a first edge and a second edge and a second chamfered corner portion between the second edge and a third edge, and the position detector is configured to detect a first intersection point where a first extension line of the first edge of the battery cell meets a second extension line of the second edge of the battery cell and a second intersection point where a second extension line of the second edge of the battery cell meets a third extension line of the third edge of the battery cell, and to determine the position correction value based on the first intersection point, the second intersection point, the first reference point, and the second reference point.

[0011] In exemplary embodiments, the position correction value is characterized by including a displacement along the X-axis direction between the first intersection point and the first reference point, a displacement along the Y-axis direction between the first intersection point and the first reference point, and an angular displacement between a straight line passing through the first intersection point and the second intersection point and a straight line passing through the first reference point and the second reference point.

[0012] In exemplary embodiments, the folding portion is characterized by being configured to sequentially perform a first folding of the edge portion of the battery cell by folding it 90 degrees and a second folding of the edge portion of the battery cell folded 90 degrees by folding it 180 degrees.

[0013] In exemplary embodiments, the folding portion is characterized by being configured to further perform a third folding of the edge portion of the battery cell folded at 180 degrees to 270 degrees.

[0014] In exemplary embodiments, the folding portion comprises: a lower die; an upper die; a folding die that folds the edge portion of the battery cell while the edge portion of the battery cell is supported by the lower die and the upper die; and a frame that supports the lower die, the upper die and the folding die and is coupled to the moving stage.

[0015] To solve the above-mentioned problem, the technical concept of the present invention provides a folding method comprising: a step of detecting the position of a battery cell and determining a position correction value based on the detected position of the battery cell and a reference position; a step of adjusting the position of a folding part configured to fold the edge portion of the battery cell based on the position correction value; and a step of folding the edge portion of the battery cell with the folding part.

[0016] In exemplary embodiments, the step of adjusting the position of the folding part is characterized by including adjusting the position according to the X-axis direction, the position according to the Y-axis direction, and the angular position according to the rotation direction having the Z-axis direction as the rotation axis of the folding part based on the position correction value.

[0017] In exemplary embodiments, the step of determining the position correction value comprises: photographing the battery cell with a vision camera; and calculating the position correction value based on the image of the battery cell obtained from the vision camera.

[0018] In exemplary embodiments, the battery cell has a chamfered corner portion between a first edge and a second edge, detects an intersection point where a first extension line of the first edge of the battery cell meets a second extension line of the second edge of the battery cell, and determines the position correction value based on the difference between the intersection point and a reference point.

[0019] In exemplary embodiments, the battery cell has a first chamfered corner portion between a first edge and a second edge and a second chamfered corner portion between the second edge and a third edge, detects a first intersection point where a first extension line of the first edge of the battery cell meets a second extension line of the second edge of the battery cell and a second intersection point where a second extension line of the second edge of the battery cell meets a third extension line of the third edge of the battery cell, and determines the position correction value based on the first intersection point, the second intersection point, the first reference point, and the second reference point.

[0020] In exemplary embodiments, the step of folding the edge portion of the battery cell comprises: folding the edge portion of the battery cell by 90 degrees; folding the edge portion of the battery cell folded by 90 degrees by 180 degrees; and folding the edge portion of the battery cell folded by 180 degrees by 270 degrees.

[0021] According to exemplary embodiments, a position correction value for correcting positional misalignment of a battery cell is determined based on the position of the battery cell detected using a vision camera, and based on the determined position correction value, the position of a folding part that performs a folding operation on the edge of the battery cell can be aligned with the position of the battery cell. Accordingly, the reliability of the folding operation on the edge of the battery cell can be improved.

[0022] The effects obtainable from the exemplary embodiments of the present invention are not limited to those mentioned above, and other unmentioned effects can be clearly derived and understood by those skilled in the art to which the exemplary embodiments of the present disclosure belong from the following description. That is, unintended effects resulting from the implementation of the exemplary embodiments of the present disclosure can also be derived by those skilled in the art from the exemplary embodiments of the present disclosure.

[0023] FIG. 1 is a schematic diagram showing a folding device according to exemplary embodiments.

[0024] Figure 2 is a plan view showing a battery cell inserted into a folding device.

[0025] FIG. 3 is a diagram illustrating the process of determining a position correction value in a position detector of a folding device according to exemplary embodiments.

[0026] FIG. 4 is a perspective view showing a folding part and a moving stage according to exemplary embodiments.

[0027] FIG. 5 is an exploded view showing the lower die, upper die, and folding die of a folding portion according to exemplary embodiments.

[0028] FIG. 6 is a perspective view showing an upper die, a lower die, and a folding die of a folding portion according to exemplary embodiments.

[0029] FIGS. 7 to 13 are drawings illustrating folding methods according to exemplary embodiments.

[0030] FIG. 14 is a flowchart illustrating a folding method according to exemplary embodiments.

[0031] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. Prior to this, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings. Instead, based on the principle that the inventor can appropriately define the concepts of terms to best describe his invention, they should be interpreted in a meaning and concept consistent with the technical spirit of the present invention.

[0032] Therefore, the embodiments described in this specification and the configurations illustrated in the drawings are merely the most preferred embodiments of the present invention and do not represent all of the technical ideas of the present invention; thus, it should be understood that various equivalents and modifications that can replace them may exist at the time of filing this application.

[0033] In addition, in describing the present invention, if it is determined that a detailed description of related known components or functions may obscure the essence of the invention, such detailed description is omitted.

[0034] Since embodiments of the present invention are provided to more fully explain the invention to those skilled in the art, the shapes and sizes of the components in the drawings may be exaggerated, omitted, or schematically depicted for clearer explanation. Accordingly, the size or proportion of each component does not entirely reflect the actual size or proportion.

[0035]

[0036] (1st embodiment)

[0037] FIG. 1 is a schematic diagram showing a folding device (100) according to exemplary embodiments. FIG. 2 is a plan view showing a battery cell (BC) inserted into the folding device (100).

[0038] Referring to FIGS. 1 and FIGS. 2, the folding device (100) can perform a folding process of folding the edge portion (TR) of a battery cell (BC).

[0039] A battery cell (BC) may constitute a secondary battery and may include an electrode assembly, an electrolyte, and a pouch case (PC). The electrode assembly housed in the pouch case (PC) may include a positive electrode, a negative electrode, and a separator interposed between the positive and negative electrodes. Depending on the assembly form, the electrode assembly may be either a jelly-roll type or a stack type. A jelly-roll type electrode assembly may include a wound structure of a positive electrode, a negative electrode, and a separator interposed between them. A stack type electrode assembly may include a plurality of positive electrodes, a plurality of negative electrodes, and a plurality of separators interposed between them, which are sequentially stacked. The positive electrode may include a positive current collector and a positive active material. The negative electrode may include a negative current collector and a negative active material. The battery cell (BC) may have an electrode lead (LD) protruding from at least one of the two ends of the pouch case (PC) and connected to the electrode assembly.

[0040] A pouch case (PC) may be manufactured from a laminate sheet. The laminate sheet may have a multilayer structure including a resin layer. The pouch case (PC) may provide a storage space in which an electrode assembly is housed. The pouch case (PC) may include a sealing portion for sealing the storage space in which the electrode assembly is housed. The sealing portion of the pouch case (PC) may be provided on the edge portion (TR) of the pouch case (PC). The sealing portion of the pouch case (PC) may be formed by heat-fusing two parts of the laminate sheet. In the present disclosure, the edge portion (TR) of the battery cell (BC) may refer to the edge portion (TR) of the pouch case (PC), and sealing the edge portion (TR) of the battery cell (BC) may refer to folding the edge portion (TR) of the pouch case (PC) provided with the sealing portion.

[0041] The battery cell (BC) may have four chamfered corner portions (CN1, CN2, CN3, CN4). The corner portions (CN1, CN2, CN3, CN4) of the battery cell (BC) may have a chamfered shape through corner cutting that cuts each of the corner regions of the rectangular pouch case (PC). When viewed in a planar view, the battery cell (BC) may have a chamfered corner portion (CN1) between the first edge (E1) and the second edge (E2), a chamfered corner portion (CN2) between the second edge (E2) and the third edge (E3), a chamfered corner portion (CN3) between the third edge (E3) and the fourth edge (E4), and a chamfered corner portion (CN4) between the fourth edge (E4) and the first edge (E1).

[0042] The folding device (100) may include a cell stage (110), a position detector (120), a folding section (200), and a moving stage (140).

[0043] The cell stage (110) can support the battery cell (BC). The cell stage (110) can be configured to support the battery cell (BC) and transport the battery cell (BC) along a predetermined path.

[0044] The position detector (120) can detect the position of a battery cell (BC) placed on the cell stage (110). The position detector (120) can determine a position correction value based on the detected position of the battery cell (BC) and a predetermined reference position.

[0045] The position detector (120) may include a vision camera (121) and a processor (123). The vision camera (121) may be placed on a cell stage (110). The vision camera (121) may capture or photograph a battery cell (BC) placed on the cell stage (110) and may generate an image of the battery cell (BC). The processor (123) may process the image of the battery cell (BC) generated by the vision camera (121) to detect the position of the battery cell (BC) placed on the cell stage (110) and calculate a position correction value based on the detected position of the battery cell (BC) and a predetermined reference position. The reference position may be a position set during the initial setup of the vision camera (121). Alternatively, the reference position may be a position corresponding to a mark provided on a fixed body (e.g., cell stage (110)) within the field of view of the vision camera (121), or a position determined based on the position corresponding to the mark.

[0046] The vision camera (121) may include a camera and / or an image sensor. The processor (123) may be implemented in hardware, firmware, software, and a combination thereof. For example, the processor (123) may include a computing device such as a workstation computer, a desktop computer, a laptop computer, or a tablet computer. The processor (123) may include any one of a simple controller, a complex processor such as a microprocessor, a CPU, a GPU, etc., a processor configured by software, dedicated hardware, and firmware. The processor (123) may be implemented by, for example, a general-purpose computer or by application-specific hardware such as a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), and an Application Specific Integrated Circuit (ASIC).

[0047] The position correction value generated by the position detector (120) may include displacement along the X-axis direction, displacement along the Y-axis direction, and angular displacement along the rotation direction (RD) having the Z-axis direction as the rotation axis.

[0048] A folding unit (200) may be positioned on one side of a cell stage (110) and may fold the edge portion (TR) of a battery cell (BC) placed on the cell stage (110). The folding unit (200) may include at least one die (290) for supporting and pressing the edge portion (TR) of the battery cell (BC), an actuator for moving the at least one die (290), and a frame (210) equipped with the at least one die (290) and the actuator. The folding unit (200) may fold the edge portion (TR) of the battery cell (BC) by operating the at least one die (290) according to a predetermined folding sequence.

[0049] In exemplary embodiments, the folding unit (200) may be configured to sequentially perform a first folding operation of folding the edge portion (TR) of the battery cell (BC) to 90 degrees, a second folding operation of folding the edge portion (TR) of the battery cell (BC) folded to 180 degrees, and a third folding operation of folding the edge portion (TR) of the battery cell (BC) folded to 270 degrees. In some exemplary embodiments, the folding unit (200) may be a single device that performs the first folding operation, the second folding operation, and the third folding operation according to a predetermined folding sequence. In some exemplary embodiments, the folding unit (200) may include a folding module configured to perform the first folding operation, a folding module configured to perform the second folding operation, and a folding module configured to perform the third folding operation, and said folding modules may be arranged sequentially along the transport path of the battery cell (BC) provided by the cell stage (110).

[0050] The moving stage (140) can move the folding part (200). The moving stage (140) can linearly move the folding part (200) in the X-axis direction and the Y-axis direction, and rotate it with respect to the Z-axis direction. The moving stage (140) can adjust the position of the folding part (200) according to the X-axis direction, the position according to the Y-axis direction, and the angular position according to the rotation direction (RD) having the Z-axis direction as the rotation axis.

[0051] The moving stage (140) may include a connecting plate (141) fixedly coupled to the frame (210) of the folding section (200) and a main body (143) equipped with a plurality of actuators. The connecting plate (141) can move integrally with the frame (210) of the folding section (200). The plurality of actuators mounted on the main body (143) can move the connecting plate (141) and the frame (210) of the folding section (200). Each of the plurality of actuators mounted on the main body (143) may include a motor, a hydraulic cylinder, a pneumatic cylinder, or a combination thereof. A plurality of actuators mounted on the main body (143) may include an actuator responsible for linear movement along the X-axis direction of the folding part (200), an actuator responsible for linear movement along the Y-axis direction of the folding part (200), and an actuator responsible for rotation having the Z-axis direction of the folding part (200) as a rotation axis.

[0052] The moving stage (140) may be configured to move the folding part (200) based on the position correction value provided by the position detector (120). The moving stage (140) may move the folding part (200) based on the position correction value provided by the position detector (120) to adjust the position according to the X-axis direction, the position according to the Y-axis direction, and the angular position according to the rotation direction (RD) having the Z-axis direction as the rotation axis. The moving stage (140) may move the folding part (200) based on the position correction value provided by the position detector (120) to align the folding part (200) to a working position for performing a folding operation on the edge part (TR) of the battery cell (BC).

[0053] According to exemplary embodiments, a position correction value for correcting the positional misalignment of a battery cell (BC) is determined based on the position of the battery cell (BC) detected using a vision camera (121), and based on the determined position correction value, the position of a folding part (200) that performs a folding operation on the edge portion (TR) of the battery cell (BC) can be aligned with the position of the battery cell (BC). Accordingly, the reliability of the folding operation on the edge portion (TR) of the battery cell (BC) can be improved.

[0054]

[0055] (2nd Example)

[0056] FIG. 3 is a diagram illustrating the process of determining a position correction value in a position detector (120) of a folding device (100) according to exemplary embodiments.

[0057] Referring to FIGS. 1 to 3, the position detector (120) can process an image of a battery cell (BC) generated by a vision camera (121) to detect a virtual intersection where the extensions of two edges of the battery cell (BC) meet, and calculate a position correction value based on the difference between the virtual intersection and a predetermined reference point. For example, the reference point may be a position set during the initial setup of the vision camera (121). The position correction value may include displacement along the X-axis direction, displacement along the Y-axis direction, and angular displacement along the rotation direction (RD) having the Z-axis direction as the rotation axis.

[0058] In exemplary embodiments, the position detector (120) can detect a first intersection point (DP1) where the extension line (EL1) of the first edge (E1) of the battery cell (BC) meets the extension line (EL2) of the second edge (E2), and can detect a second intersection point (DP2) where the extension line (EL2) of the second edge (E2) of the battery cell (BC) meets the extension line of the third edge (E3). Based on the first intersection point (DP1), the second intersection point (DP2), the first reference point (RP1), and the second reference point (RP2), the position detector (120) can determine a displacement along the X-axis direction, a displacement along the Y-axis direction, and an angular displacement along the rotation direction (RD) having the Z-axis direction as the rotation axis, for aligning the position of the folding part (200) with the position of the battery cell (BC). For example, the first reference point (RP1) and the second reference point (RP2) may be positions set during the initial setup of the vision camera (121). The displacement along the X-axis direction for aligning the position of the folding part (200) with the position of the battery cell (BC) may be determined by the difference between the X-axis coordinate of the first intersection point (DP1) and the X-axis coordinate between the first reference point (RP1). Alternatively, the displacement along the X-axis direction for aligning the position of the folding part (200) with the position of the battery cell (BC) may be determined by the difference between the X-axis coordinate of the second intersection point (DP2) and the X-axis coordinate between the second reference point (RP2). The displacement along the Y-axis direction for aligning the position of the folding part (200) with the position of the battery cell (BC) may be determined by the difference between the Y-axis coordinate of the first intersection point (DP1) and the Y-axis coordinate between the first reference point (RP1). Alternatively, the displacement along the Y-axis direction for aligning the position of the folding part (200) with the position of the battery cell (BC) can be determined by the difference between the Y-axis coordinate of the second intersection point (DP2) and the Y-axis coordinate between the second reference point (RP2).The angular displacement for aligning the position of the folding part (200) with the position of the battery cell (BC) can be determined by the angle (A1) between the straight line (RL) passing through the first reference point (RP1) and the second reference point (RP2) and the straight line (DL) passing through the first intersection point (DP1) and the second intersection point (DP2).

[0059]

[0060] (3rd Example)

[0061] FIG. 4 is a perspective view showing a folding section (200) and a moving stage (140) according to exemplary embodiments. FIG. 5 is an exploded view showing an upper die (220), a lower die (230), and a folding die (240) of a folding section (200) according to exemplary embodiments. FIG. 6 is a perspective view showing an upper die (220), a lower die (230), and a folding die (240) of a folding section (200) according to exemplary embodiments.

[0062] Referring to FIGS. 4 to 6, the folding part (200) may include a frame (210), an upper die (220), a lower die (230), and a folding die (240).

[0063] The frame (210) can support the upper die (220), the lower die (230), and the folding die (240). The frame (210) can be fixedly connected to the connecting plate (141) of the moving stage (140) and can move together with the connecting plate (141) when the connecting plate (141) moves.

[0064] The upper die (220) may be installed on the front of the frame (210) to access the edge portion (TR) of the battery cell (BC). The upper die (220) may extend along the edge portion (TR) of the battery cell (BC) in a horizontal direction (e.g., the Y-axis direction). The upper die (220) may be installed on the frame (210) so that it can be raised and lowered in the Z-axis direction. The upper die (220) may be moved in the Z-axis direction by an actuator.

[0065] The lower die (230) may be installed on the front of the frame (210) to access the edge portion (TR) of the battery cell (BC). The lower die (230) may extend along the edge portion (TR) of the battery cell (BC) in a horizontal direction (e.g., the Y-axis direction). The lower die (230) may be installed on the frame (210) so that it can be raised and lowered in the Z-axis direction. The lower die (230) may be moved in the Z-axis direction by an actuator. The lower die (230) may be positioned below the upper die (220) and may face it in the Z-axis direction. The lower die (230) and the upper die (220) may form a gap into which the edge portion (TR) of the battery cell (BC) is inserted.

[0066] The folding die (240) can be mounted on the frame (210) so as not to overlap with the upper die (220) and the lower die (230) in the Z-axis direction. The folding die (240) can be positioned behind the upper die (220) and the lower die (230). The folding die (240) can be installed on the frame (210) so as to be able to move up and down in the Z-axis direction. The folding die (240) can be moved in the Z-axis direction by an actuator. The folding die (240) can be configured to rotate about the Y-axis direction. For example, the folding die (240) can be mounted on the frame (210) via a bracket (241), and the folding die (240) can be mounted on the bracket (241) so as to be rotatable about the Y-axis direction. The rotation of the folding die (240) can be controlled and realized by an actuator (243). The bracket (241) can be mounted on the frame (210) so as to be movable in the Z-axis direction. The bracket (241) and the folding die (240) can move together in the Z-axis direction. The folding die (240) can press the edge portion (TR) of the battery cell (BC) while moving in the Z-axis direction and rotating about the Y-axis direction.

[0067] The folding unit (200) can fold the edge portion (TR) of the battery cell (BC) by operating the upper die (220), the lower die (230), and the folding die (240) according to a predetermined folding sequence. In exemplary embodiments, the folding unit (200) may be configured to sequentially perform a first folding operation of folding the edge portion (TR) of the battery cell (BC) to 90 degrees, a second folding operation of folding the edge portion (TR) of the battery cell (BC) folded to 180 degrees, and a third folding operation of folding the edge portion (TR) of the battery cell (BC) folded to 270 degrees.

[0068]

[0069] (Fourth Example)

[0070] FIGS. 7 to 13 are drawings illustrating folding methods according to exemplary embodiments. Hereinafter, folding methods according to exemplary embodiments will be described with reference to FIGS. 7 to 13 together with FIGS. 4 to 6.

[0071] Referring to FIG. 7, the moving stage (140) moves the folding part (200) to position the edge part (TR) of the battery cell (BC) between the upper die (220) and the lower die (230).

[0072] Referring to FIG. 8, a first folding operation is performed to fold the edge portion (TR) of the battery cell (BC) by 90 degrees.

[0073] To perform the first folding operation, the edge portion (TR) of the battery cell (BC) is fixed between the upper die (220) and the lower die (230). To fix the edge portion (TR) of the battery cell (BC), the upper die (220) descends from its initial position to contact the upper surface of the edge portion (TR) of the battery cell (BC), and the lower die (230) rises from its initial position to contact the lower surface of the edge portion (TR) of the battery cell (BC).

[0074] When the edge portion (TR) of the battery cell (BC) is fixed between the upper die (220) and the lower die (230), the folding die (240) moves upward from its initial position, pressing and deforming a portion of the edge portion (TR) of the battery cell (BC) fixed between the upper die (220) and the lower die (230). When the upward movement of the folding die (240) is completed, the portion of the edge portion (TR) of the battery cell (BC) between the folding die (240) and the upper die (220) can be folded approximately 90 degrees relative to the portion of the edge portion (TR) of the battery cell (BC) between the upper die (220) and the lower die (230). The edge portion (TR) of the battery cell (BC) pressed by the folding die (240) is plastically deformed and can be folded 90 degrees.

[0075] Referring to FIGS. 9 and 10, a second folding operation is performed to fold the edge portion (TR) of the battery cell (BC) folded at 90 degrees to 180 degrees.

[0076] As illustrated in FIG. 9, to perform the second folding operation, the upper die (220) is raised to move the upper die (220) to an initial position. As the upper die (220) is raised, a space is secured where the folding die (240) can be positioned on the edge portion (TR) of the battery cell (BC).

[0077] Subsequently, as illustrated in FIG. 10, the folding die (240) can be rotated approximately 90 degrees with respect to the Y-axis direction until a part of the folding die (240) comes into contact with the upper surface of the lower die (230). As the folding die (240) rotates and presses the edge portion (TR) of the battery cell (BC), the edge portion (TR) of the battery cell (BC), which is folded 90 degrees, can be folded an additional 90 degrees to be folded for a total of 180 degrees.

[0078] Referring to FIGS. 11 to 13, a third folding operation is performed to fold the edge portion (TR) of a battery cell (BC) folded 180 degrees to 270 degrees.

[0079] As illustrated in FIGS. 11 and 12, to perform a third folding operation, the folding die (240) and the lower die (230) are moved to an initial position. The lower die (230) may return to the initial position by descending a certain distance. The folding die (240) may return to the initial position by rotating 90 degrees with respect to the Y-axis direction and descending a certain distance. When the folding die (240) returns to the initial position, the direction of rotation of the folding die (240) may be opposite to the direction of rotation of the folding die (240) during the second folding operation.

[0080] Referring to FIG. 13, the length of the edge portion (TR) of the battery cell (BC) undergoing the first folding operation and the second folding operation is reduced compared to before the first folding operation began. The moving stage (140) advances the folding portion (200) by the length of the edge portion (TR) of the battery cell (BC) that was reduced during the first folding operation and the second folding operation. Next, the upper die (220) descends to support the edge portion (TR) of the battery cell (BC), and while the upper die (220) supports the edge portion (TR) of the battery cell (BC), the folding die (240) moves upward from its initial position, thereby pressing and deforming the edge portion (TR) of the battery cell (BC). The portion of the edge portion (TR) of the battery cell (BC) located between the folding die (240) and the upper die (220) can be folded approximately 90 degrees relative to the portion of the edge portion (TR) of the battery cell (BC) located below the upper die (220). As a result of the folding die (240) pressing the edge portion (TR) of the battery cell (BC), the edge portion (TR) of the battery cell (BC) that was folded 180 degrees can be folded an additional 90 degrees to be folded for a total of 270 degrees. After the third folding operation is completed, the upper die (220), the lower die (230), and the folding die (240) can return to their initial positions.

[0081]

[0082] (5th Example)

[0083] FIG. 14 is a flowchart illustrating a folding method according to exemplary embodiments. Hereinafter, a folding method according to exemplary embodiments will be described with reference to FIGS. 1 to 14.

[0084] First, the position of the battery cell (BC) is detected, and a position correction value is determined based on the detected position and reference position of the battery cell (BC) (S110).

[0085] Step S110 may include the step of photographing a battery cell (BC) placed on a cell stage (110) with a vision camera (121), the step of detecting the position of the battery cell (BC) by processing an image of the battery cell (BC) generated by the vision camera (121), and the step of determining a position correction value based on the detected position of the battery cell (BC) and a predetermined reference position. The position correction value may include a displacement along the X-axis direction, a displacement along the Y-axis direction, and an angular displacement along a rotation direction (RD) having the Z-axis direction as the rotation axis, for correcting the positional misalignment of the battery cell (BC) relative to the reference position.

[0086] Next, the position of the folding part (200) is adjusted based on the position correction value (S120). Step S120 may include adjusting the position of the folding part (200) according to the X-axis direction, the position according to the Y-axis direction, and the angular position according to the rotation direction (RD) having the Z-axis direction as the rotation axis. As the position of the folding part (200) is corrected based on the position correction value, the folding part (200) can be aligned to a working position suitable for performing a folding operation.

[0087] Next, the folding part (200) is operated to fold the edge part (TR) of the battery cell (BC) (S130). For example, a first folding step of folding the edge part (TR) of the battery cell (BC) to 90 degrees, a second folding step of folding the edge part (TR) of the battery cell (BC) folded to 180 degrees, and a third folding step of folding the edge part (TR) of the battery cell (BC) folded to 270 degrees can be performed in sequence.

[0088]

[0089] The present invention has been described in more detail above through drawings and embodiments. However, the configurations described in the drawings or embodiments described in this specification are merely one embodiment of the present invention and do not represent all technical concepts of the present invention; therefore, it should be understood that various equivalents and modifications that can replace them may exist at the time of filing this application.

[0090] [Explanation of the symbol]

[0091] 100: Folding device

[0092] 110: Cell Stage

[0093] 120: Position detector

[0094] 121: Vision Camera

[0095] 123: Processor

[0096] 140: Movement Stage

[0097] 141: Connecting plate

[0098] 143: Main body

[0099] 200: Folding part

[0100] 210: Frame

[0101] 220: Upper die

[0102] 230: Lower die

[0103] 240: Folding die

[0104] BC: Battery cell

[0105] TR: Border part

Claims

1. A position detector that detects the position of a battery cell and determines a position correction value based on the detected position of the battery cell and a reference position; A folding part configured to fold the edge portion of the battery cell; and A moving stage configured to move the folding part based on the position correction value provided by the position detector; A folding device including 2. In Paragraph 1, A folding device characterized by the above-described moving stage being configured to adjust the position according to the X-axis direction, the position according to the Y-axis direction, and the angular position according to the rotation direction having the Z-axis direction as the rotation axis, based on the above-described position correction value.

3. In Paragraph 1, A folding device characterized by comprising a position detector that includes a vision camera for photographing the battery cell and a processor configured to calculate the position correction value based on an image of the battery cell obtained from the vision camera.

4. In Paragraph 1, The above battery cell has a chamfered corner portion between the first edge and the second edge, A folding device characterized by the above position detector being configured to detect an intersection point where a first extension line of the first edge of the battery cell and a second extension line of the second edge of the battery cell meet, and to determine a position correction value based on the difference between the intersection point and a reference point.

5. In Paragraph 1, The above battery cell has a first chamfered corner portion between a first edge and a second edge and a second chamfered corner portion between the second edge and a third edge, A folding device characterized by the above position detector detecting a first intersection point where a first extension line of the first edge of the battery cell meets a second extension line of the second edge of the battery cell and a second intersection point where a second extension line of the second edge of the battery cell meets a third extension line of the third edge of the battery cell, and determining the position correction value based on the first intersection point, the second intersection point, the first reference point, and the second reference point.

6. In Paragraph 5, A folding device characterized in that the above position correction value includes displacement along the X-axis direction between the first intersection point and the first reference point, displacement along the Y-axis direction between the first intersection point and the first reference point, and angular displacement between a straight line passing through the first intersection point and the second intersection point and a straight line passing through the first reference point and the second reference point.

7. In Paragraph 1, A folding device characterized in that the above folding part is configured to sequentially perform a first folding of folding the edge portion of the battery cell by 90 degrees and a second folding of folding the edge portion of the battery cell folded by 90 degrees by 180 degrees.

8. In Paragraph 7, A folding device characterized in that the above folding part is configured to further perform a third folding of the edge portion of the battery cell folded at 180 degrees to 270 degrees.

9. In Paragraph 1, The above folding part is, Lower die; Upper die; A folding die that folds the edge portion of the battery cell while the edge portion of the battery cell is supported by the lower die and the upper die; and A frame that supports the lower die, the upper die, and the folding die, and is coupled to the moving stage; A folding device characterized by including 10. A step of detecting the position of a battery cell and determining a position correction value based on the detected position of the battery cell and a reference position; A step of adjusting the position of a folding part configured to fold the edge portion of the battery cell based on the above position correction value; and A step of folding the edge portion of the battery cell with the above folding portion; A folding method including 11. In Paragraph 10, A folding method characterized by the step of adjusting the position of the folding part, wherein the position according to the X-axis direction, the position according to the Y-axis direction, and the angular position according to the rotation direction having the Z-axis direction as the rotation axis are adjusted based on the position correction value.

12. In Paragraph 10, The step of determining the above position correction value is, A step of photographing the above battery cell with a vision camera; and A step of calculating the position correction value based on the image of the battery cell obtained from the vision camera; A folding method characterized by including 13. In Paragraph 10, The above battery cell has a chamfered corner portion between the first edge and the second edge, A folding method characterized by detecting an intersection point where a first extension line of a first edge of the battery cell meets a second extension line of a second edge of the battery cell, and determining a position correction value based on the difference between the intersection point and a reference point.

14. In Paragraph 10, The above battery cell has a first chamfered corner portion between a first edge and a second edge and a second chamfered corner portion between the second edge and a third edge, A folding method characterized by detecting a first intersection point where a first extension line of the first edge of the battery cell meets a second extension line of the second edge of the battery cell and a second intersection point where a second extension line of the second edge of the battery cell meets a third extension line of the third edge of the battery cell, and determining a position correction value based on the first intersection point, the second intersection point, the first reference point, and the second reference point.

15. In Paragraph 10, The step of folding the edge portion of the battery cell above is, A step of folding the edge portion of the battery cell by 90 degrees; A step of folding the edge portion of the battery cell folded at 90 degrees to 180 degrees; and A step of folding the edge portion of the battery cell folded at 180 degrees to 270 degrees; A folding method characterized by including

Images