Secondary battery manufacturing system

Abstract

A secondary battery manufacturing system according to the present invention comprises: a collaborative robot comprising a robot base, a plurality of robot arms rotatably coupled to each other and to the robot base, and a robot mount positioned at an end of the robot arms; a cell gripper module which can be detachably mounted to the robot mount to suction-hold and move at least one of a battery case, an electrode, and a separator of a secondary battery; a pipette module which can be detachably mounted to the robot mount to inject an electrolyte into the battery case; and a control unit which controls the collaborative robot such that the collaborative robot manufactures the secondary battery by being coupled to the cell gripper module or the pipette module on the basis of a predetermined sequence.

Description

Secondary battery manufacturing system

[0001] Cross-citation with related applications

[0002] The present application claims the benefit of priority based on Korean Patent Application No. 10-2024-0195667 filed December 24, 2024 and Korean Patent Application No. 10-2025-0176302 filed November 19, 2025, and all contents disclosed in the documents of said Korean patent applications are incorporated herein as part of the specification.

[0003] Technology field

[0004] The present invention relates to a secondary battery manufacturing system.

[0005] Various experiments are being conducted to improve secondary batteries, which have recently been attracting attention. To improve the various performance characteristics of secondary batteries, it is necessary to replace various components within the battery and measure the performance resulting from the replacement of specific components. In particular, experiments can be performed to measure the effects of a modified material by changing the material of a component within the secondary battery.

[0006] When manufacturing secondary batteries in a laboratory, there is a problem with the long production time involved. Unlike mass-produced secondary batteries, the batteries required in the laboratory do not always meet the same specifications; therefore, performing each one manually requires a significant amount of time. Furthermore, manual manufacturing presents the challenge of consistently producing batteries of the same quality.

[0007] In particular, in the case of coin-type rechargeable batteries, there is a problem that it takes a long time to manufacture a single battery because the size of the coin-type rechargeable battery is small.

[0008] The aforementioned background technology is one that the inventor possessed or acquired in the process of deriving the contents of the disclosure of the present application, and it cannot be considered as prior art disclosed to the general public prior to the filing of this application.

[0009] The present invention has been devised to solve the above problems, and the objective of the present invention is to provide a secondary battery manufacturing system in which the manufacturing process of the secondary battery is automated without including a large number of devices.

[0010] The technical problems to be solved in this document are not limited to those mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which this disclosure belongs from the description below.

[0011] A secondary battery manufacturing system according to one embodiment of the present invention comprises: a robot base; a robot arm rotatably coupled to the robot base and provided in plurality and rotatably coupled to each other; a robot mounting part located at the end of the robot arm; a cell gripper module detachably mounted on the robot mounting part and configured to adsorb and move at least one of a battery case, an electrode, and a separator of a secondary battery; a pipette module detachably mounted on the robot mounting part and configured to inject an electrolyte into the battery case; and a control part configured to control the cooperative robot to manufacture the secondary battery by the cooperative robot being coupled with the cell gripper module or the pipette module based on a predetermined sequence.

[0012] The robot mounting unit is configured to move within a virtual spherical radius centered on the base, and the cell gripper module and the pipette module can be located within the virtual spherical radius of the robot mounting unit.

[0013] The above-mentioned robot mounting part may be configured to enable movement other than movement in the x, y, and z axis directions perpendicular to each other.

[0014] The above-mentioned robot mounting part may be rotatable to face directions other than the x, y, and z axes that are perpendicular to each other.

[0015] The above secondary battery manufacturing system further includes a tray gripper module that is detachably mounted on the robot mounting part and configured to grip a tray, and the tray gripper module may include a tray gripper body and a pair of tray gripper arms configured to slide relative to the tray gripper body and positioned so that a tray is positioned between them.

[0016] The tray gripper arm may include a tray insertion projection that protrudes to be inserted into the tray.

[0017] The tray gripper body includes a sensor configured to recognize a binary display of the tray when the tray is positioned between a pair of tray gripper arms, and the control unit may be configured to identify the type of configuration accommodated in the tray based on information acquired by the sensor.

[0018] The above secondary battery manufacturing system further includes a battery assembly module provided for assembling a secondary battery, and the battery assembly module may include a battery assembly station in which a concave battery assembly groove is formed to accommodate a battery case.

[0019] The battery assembly module may further include a voltage check probe configured to be able to contact the secondary battery in order to check the voltage of the secondary battery located on the battery assembly station.

[0020] The battery assembly module further includes a washer check finger configured to move to contact a washer of a secondary battery on the upper side of the battery assembly groove, and the washer check finger may be configured to be electrically connected to the voltage check probe.

[0021] The above secondary battery manufacturing system includes a crimper module configured to press a secondary battery and a crimper loader module configured to move a secondary battery from a battery assembly module to the crimper module, and the battery assembly module may be configured to be movable with respect to the crimper module with respect to the crimper module, with the crimper loader module in between.

[0022] The above-described crimper loader module may include a crimper loader module body, a cell adsorption gripper extending from the crimper loader module body and configured to fix a component of a secondary battery by adsorption, and a cell pitching gripper extending from the crimper loader module body and provided in a pair and configured to fix a component of a secondary battery between them.

[0023] The above secondary battery manufacturing system may include an electrolyte container stage configured to insert an electrolyte container, and an electrolyte cap station located adjacent to the electrolyte container stage and having a groove formed therein for positioning an electrolyte cap of the electrolyte container.

[0024] The above secondary battery manufacturing system may further include a pipette tip tray having a hole corresponding to the pipette tip for inserting the pipette tip, and a scrap box located adjacent to the pipette tip tray and capable of accommodating a plurality of pipette tips.

[0025] The secondary battery manufacturing system described above may further include a tray gripper module configured to grip a tray and detachably mounted on the robot mounting part, a battery assembly module configured to assemble a secondary battery and including a voltage check probe, and a crimper module configured to press the secondary battery, wherein the control unit is configured to control the collaborative robot so that the tray gripper module is mounted on the robot mounting part to perform a tray preparation step, and is configured to control the collaborative robot so that the cell gripper module is mounted on the robot mounting part to perform an assembly step of assembling a secondary battery, and is configured to control the battery assembly module so that the battery assembly module moves to a position adjacent to the crimper loader module to press the secondary battery, and is configured to control the voltage check module so that the voltage check probe comes into contact with the pressed secondary battery to check the voltage of the pressed secondary battery.

[0026] A method for manufacturing a secondary battery according to one embodiment of the present invention comprises: a preparation step of preparing a battery assembly module including a tray accommodating each component of the secondary battery, a collaborative robot, a cell gripper module, a pipette module, a crimper module, and a voltage check probe; an assembly step of moving each component of the secondary battery from the tray to the battery assembly module; a pressing step of pressing the secondary battery assembled by the assembly step using the crimper module; and a voltage checking step of checking the voltage of the secondary battery pressed by the pressing step using the voltage check probe.

[0027] The assembly step may include the step of placing a battery can on a battery stage including a battery assembly module, the step of stacking a positive electrode on the battery can, and the step of injecting an electrolyte into the positive electrode.

[0028] The above assembly step may include a step of receiving and stacking a gasket in the battery can so that the gasket is positioned on the separator.

[0029] The above assembly step may include the step of laminating a cathode, a spacer, and a washer on the inner side of the gasket.

[0030] A secondary battery manufacturing system according to one embodiment of the present invention comprises a robot base, a robot arm rotatably coupled to the robot base and provided in plurality and rotatably coupled to each other, and a robot mounting part located at the end of the robot arm, a cell gripper module detachably mounted on the robot mounting part and configured to adsorb and move at least one of a battery case, an electrode, and a separator of a secondary battery, a pipette module detachably mounted on the robot mounting part and configured to inject an electrolyte into the battery case, and a glove box accommodating the collaborative robot, the cell gripper module, and the pipette module.

[0031] A secondary battery manufacturing system according to one embodiment of the present invention includes a collaborative robot that can be combined with a cell gripper module and a pipette module, thereby enabling the automation of the secondary battery manufacturing process without including a large number of devices.

[0032] The effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art to which the present disclosure belongs from the description below.

[0033] FIG. 1 is an exploded view illustrating a secondary battery according to a first embodiment of the present invention.

[0034] FIG. 2 is a flowchart relating to a secondary battery manufacturing method for manufacturing the secondary battery shown in FIG. 1.

[0035] Figure 3 is a detailed flowchart of the assembly steps illustrated in Figure 2.

[0036] FIG. 4 is a perspective view of a secondary battery manufacturing system for performing the secondary battery manufacturing method illustrated in FIG. 2.

[0037] FIG. 5 is a perspective view of the tray and related configuration shown in FIG. 4.

[0038] FIG. 6 is a perspective view of the tray array stage and trays illustrated in FIG. 4.

[0039] FIG. 7 is a perspective view of the electrolyte container stage and related configuration shown in FIG. 4.

[0040] FIG. 8 is a perspective view illustrating the pipette tip stage and battery stage shown in FIG. 4.

[0041] FIG. 9 is a perspective view of the battery stage and related configuration shown in FIG. 4.

[0042] FIG. 10 is a cross-sectional view illustrating the washer check finger of the battery assembly module shown in FIG. 9 checking the washer.

[0043] FIG. 11 is a cross-sectional view illustrating the voltage check module shown in FIG. 9 checking the voltage of a secondary battery.

[0044] FIG. 12 is a perspective view showing the battery stage illustrated in FIG. 11 moved adjacent to the crimper loader module.

[0045] FIG. 13 is a perspective view of the clinker loader module shown in FIG. 12.

[0046] FIG. 14 is a front view of the collaborative robot shown in FIG. 4.

[0047] FIG. 15 is a conceptual diagram conceptually illustrating the combination of the collaborative robot and the module related thereto shown in FIG. 14.

[0048] FIG. 16 is a perspective view illustrating a tray gripper module and a tray that can be combined with the collaborative robot shown in FIG. 14.

[0049] FIG. 17 is a perspective view of a pipette module and a pipette tip that can be combined with the collaborative robot shown in FIG. 14.

[0050] FIG. 18 is a conceptual diagram showing the electrolyte injected by the pipette module shown in FIG. 17 being injected into the anode, viewed from the side.

[0051] FIG. 19 is a conceptual diagram showing the electrolyte injected into the anode shown in FIG. 18 as viewed from above.

[0052] FIG. 20 is a perspective view illustrating a cell gripper module that can be combined with the collaborative robot shown in FIG. 14.

[0053] FIG. 21 is a perspective view illustrating the cell gripper module shown in FIG. 20 transporting a configuration accommodated in a tray.

[0054] FIG. 22 is a perspective view illustrating the electrolyte cap picker of the cell gripper module shown in FIG. 20.

[0055] FIG. 23 is a perspective view illustrating the gasket picker of the cell gripper module illustrated in FIG. 20.

[0056] FIG. 24 is a cross-sectional view illustrating the operation of the gasket picker shown in FIG. 23.

[0057] FIG. 25 is a cross-sectional view illustrating the operation of the gasket picker shown in FIG. 24, enlarged with the gasket holder as the center.

[0058] FIG. 26 is a perspective view illustrating the washer picker shown in FIG. 20.

[0059] FIG. 27 is a cross-sectional view of the washer picker shown in FIG. 26.

[0060] FIG. 28 is a perspective view illustrating the normal part picker shown in FIG. 20.

[0061] FIG. 29 is a perspective view illustrating the membrane picker shown in FIG. 20.

[0062] Hereinafter, preferred embodiments of the present invention are described in detail with reference to the attached drawings so that those skilled in the art can easily implement the present invention. However, the present invention may be embodied in various different forms and is not limited or restricted by the following embodiments.

[0063] In order to clearly explain the present invention, detailed descriptions of related prior art that are irrelevant to the explanation or that may unnecessarily obscure the essence of the invention have been omitted. Furthermore, when assigning reference numerals to the components of each drawing in this specification, identical or similar reference numerals are assigned to identical or similar components throughout the entire specification.

[0064] Furthermore, terms and words used in this specification and claims should not be interpreted as being limited to their ordinary or dictionary meanings, but should be interpreted in a meaning and concept consistent with the technical spirit of the invention, based on the principle that the inventor can appropriately define the concept of the terms to best describe his invention.

[0065] The various embodiments of this document and the terms used therein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said embodiments.

[0066] In relation to the description of the drawings, similar reference numerals may be used for similar or related components.

[0067] The singular form of the noun corresponding to the item may include one or multiple items, unless the relevant context clearly indicates otherwise.

[0068] In this document, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "at least one of A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof.

[0069] The term "and / or" includes a combination of multiple related described components or any of the multiple related described components.

[0070] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from another component and do not limit the components in other aspects (e.g., importance or order).

[0071] Where any (e.g., 1st) component is referred to as "coupled" or "connected" to another (e.g., 2nd) component, with or without the terms "functionally" or "communicationly," it means that said any component may be connected to said other component directly (e.g., via a wire), wirelessly, or through a third component.

[0072] Terms such as "include" or "have" are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in this document, and do not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0073] When it is said that a component is "connected," "combined," "supported," or "in contact" with another component, this includes not only cases where the components are directly connected, combined, supported, or in contact, but also cases where they are indirectly connected, combined, supported, or in contact through a third component.

[0074] When it is said that a component is located "on" another component, this includes not only cases where one component is in contact with the other, but also cases where another component exists between the two components.

[0075] Meanwhile, terms such as "up-and-down direction," "downward side," and "front-backward direction" used in the following description are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0076] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

[0077] First embodiment

[0078] FIG. 1 is an exploded view illustrating a secondary battery (B) according to a first embodiment of the present invention.

[0079] Referring to FIG. 1, a secondary battery (B) according to the first embodiment of the present invention will be described.

[0080] A secondary battery (B) may be provided to generate electricity. The secondary battery (B) may be provided as a coin-type secondary battery (B) having a coin shape. However, the secondary battery (B) may be provided in a pouch type, prismatic type, or cylindrical type as needed. For convenience of explanation, the present disclosure assumes that the secondary battery (B) is provided in a coin type.

[0081] The secondary battery (B) may include a battery case (10), an electrode (40), a separator (50), and an electrolyte (BE).

[0082] The battery case (10) may include a battery cap (11) located on the upper side and a battery can (12) located on the lower side. The battery cap (11) may be formed such that its upper surface is circular and its side wall extends downward from the edge of the upper surface. The battery can (12) may be formed to correspond to the battery cap (11). The battery cap (11) and the battery can (12) may be joined together to seal the battery case (10). A space may be formed between the battery cap (11) and the battery can (12) to accommodate other components, and the battery cap (11) and the battery can (12) may protect the components accommodated inside. Furthermore, the battery cap (11) and the battery can (12) may be made of a material such as an electrically conductive metal, and may serve to transmit electricity to the components in contact with each of them. At this time, the battery cap (11) and the battery can (12) may be provided to have different polarities when completing the secondary battery (B). Accordingly, the battery cap (11) and the battery can (12) may be provided to be electrically insulated from each other. To this end, a gasket (60) described later may be provided.

[0083] The electrode (40) may be provided by applying a mixture of a substance, such as an active material, to a metal plate. The electrode (40) may be manufactured as a positive electrode (42) and a negative electrode (41), respectively, and may produce electricity through a chemical reaction via an electrolyte (BE). A separator (50) may be positioned between the positive electrode (42) and the negative electrode (41) to prevent a short circuit from occurring when the positive electrode (42) and the negative electrode (41) meet each other, and may be configured to allow ions to pass through. Here, the ions may be, for example, lithium ions. The positive electrode (42) and the negative electrode (41) may be provided in a disc shape. The positive electrode (42) may be positioned so as to face the negative electrode (41) by applying or bonding a mixture of a substance, such as an active material, to one side of a metal current collector. On the other side of the current collector, a substance of a different type from the mixture may be applied, or a different substance may not be applied. The negative electrode (41) may be provided with lithium metal. However, if necessary, the negative electrode (41) may be a material such as graphite.

[0084] The separator (50) may be provided in a disc shape. Since the separator (50) needs to prevent contact between the positive electrode (42) and the negative electrode (41), it may be provided with an area larger than that of the positive electrode (42) and the negative electrode (41).

[0085] The electrolyte (BE) may be prepared in a liquid state. However, if necessary, the electrolyte (BE) may also be prepared in a solid state.

[0086] The secondary battery (B) may further include a gasket (60), a washer (20) and / or a spacer (30).

[0087] The gasket (60) may be provided in an annular shape. The gasket (60) may be received in the battery can (12). The gasket (60) may insulate the battery cap (11) from the battery cap (11). The gasket (60) may have a cap receiving groove (61H) formed on its inner side with an open upper side. The side wall of the battery cap (11) may be received in the cap receiving groove (61H) and coupled to the gasket (60). Accordingly, the gasket (60) may be positioned between the side wall of the battery cap (11) and the side wall of the battery can (12). Furthermore, the gasket (60) may be able to combine the battery cap (11) and the battery can. The outer diameter of the gasket (60) may be provided to correspond to the inner diameter of the battery can (12) so that it can be fitted into the battery can (12). The cap receiving groove (61H) of the gasket (60) may have a width sufficient to allow the side wall of the battery cap (11) to be fitted and prevent detachment. Furthermore, the gasket (60) can prevent the electrolyte contained inside the battery case (10) from leaking out to the outside of the battery case (10).

[0088] The washer (20) may be provided in an annular shape. The washer (20) is positioned between the upper and lower surfaces of the battery cap (11) and the battery can (12) so as to reduce the transmission of impact to the other when an impact is applied to the battery cap (11) or the battery can (12). The washer (20) may act as a kind of spring or damper.

[0089] The spacer (30) may be provided in the shape of a circular plate. If a ready-made washer (20) is used, the washer (20) may not come into contact with the battery cap (11). The spacer (30) may be provided to prevent the washer (20) and the battery cap (11) from being separated.

[0090] The secondary battery (B) provided by the above configuration may be configured such that a battery can (12), a positive electrode (42), a separator (50), and a gasket (60) are stacked in a direction from bottom to top, a negative electrode (41), a spacer (30), and a washer (20) are stacked in a space formed inside the gasket (60) in a direction from bottom to top, and a battery cap (11) is positioned on the upper side of the washer (20).

[0091] In order to improve the performance of the secondary battery (B) described above, experiments such as changing the material of each component may be performed. If the process of assembling each component of the secondary battery (B) having the changed material is performed manually, it may take a long time and there is a possibility that inaccurate assembly may occur. To prevent this, a secondary battery manufacturing system (MS) and a secondary battery manufacturing method (S1) according to the first embodiment of the present invention as described below may be provided. The secondary battery manufacturing system (MS) described below can solve the above problems by automating the secondary battery manufacturing method (S1) by a control unit (900) or by assisting manual work.

[0092] FIG. 2 is a flowchart relating to a secondary battery manufacturing method (S1) for manufacturing the secondary battery (B) illustrated in FIG. 1. FIG. 3 is a detailed flowchart of the assembly step (S300) illustrated in FIG. 2.

[0093] With reference to FIGS. 2 and 3, a method (S1) for manufacturing a secondary battery according to the first embodiment of the present invention will be described.

[0094] As illustrated in FIG. 2, a secondary battery manufacturing method (S1) according to the first embodiment of the present invention can be performed.

[0095] The secondary battery manufacturing method (S1) may include a preparation step (S100), a tray preparation step (S200), an assembly step (S300), a press step (S400) and / or a voltage checking step (S500).

[0096] The preparation step (S100) may be a step of preparing various configurations for manufacturing a secondary battery (B). In the preparation step (S100), each configuration constituting the secondary battery (B) described above with reference to FIG. 1 may be prepared, and a secondary battery manufacturing system (MS) may be prepared. At this time, each configuration constituting the secondary battery (B) may be prepared by being accommodated in a tray (TR).

[0097] The tray preparation step (S200) may be a step of preparing a tray (TR) that accommodates each component of the secondary battery (B) prepared in the preparation step (S100) in a state convenient for assembly. In the aforementioned preparation step (S100), the tray (TR) may be prepared by stacking it in a corner to reduce the space occupied. The stacked tray (TR) may be spread out and arranged in a designated space to facilitate work. "Stack" can be interpreted as "to pile up" or "to accumulate."

[0098] The assembly step (S300) may be a step of assembling the secondary battery (B) by taking out each component of the secondary battery (B) from the tray (TR) prepared above. The assembly step (S300) may be performed automatically or semi-automatically by the secondary battery manufacturing system (MS) according to the first embodiment of the present invention described below.

[0099] The assembly step (S300) may include additional detailed steps, particularly as illustrated in FIG. 3. In the assembly step (S300), a step (S310) of first placing the battery can (12) onto a battery stage (B_ST), which is a space for assembly, may be performed. Then, a step (S320) of receiving and stacking a positive electrode (42) in the battery can (12) may be performed. A step (S330) of injecting an electrolyte (BE) into the stacked positive electrode (42) may be performed. Through this process, the positive electrode (42) is wet and impregnated by the electrolyte (BE), and the electrolyte (BE) may be received in the battery can (12). A step (S340) of stacking a separator (50) on the wet positive electrode (42) may be performed. A step (S350) of stacking a gasket (60) on the upper side of the separator (50) may be performed. At this stage, the gasket (60) can be received in the battery can (12). A step (S360) in which a negative electrode (41) is stacked on the upper side of the separator (50) can be performed. At this stage, the negative electrode (41) can be received in the space inside the gasket (60) and stacked on the separator (50). A step (S370) in which a spacer (30) is stacked on the upper side of the negative electrode (41) can be performed. A step (S380) in which a washer (20) is stacked on the upper side of the spacer (30) can be performed. Finally, a step (S390) in which a battery cap (11) is mounted on the gasket (60) can be performed.

[0100] When the assembly step (S300) is completed, a press step (S400) may be performed as shown in FIG. 2. The secondary battery (B) that has completed the assembly step (S300) may have loose connections between its components. By undergoing the press step (S400), which presses the battery cap (11) toward the battery can (12), the connections between the components of the secondary battery (B) can be strengthened. "Press" or "pressing" can be interpreted as meaning "to press" or "to apply pressure."

[0101] To perform the secondary battery manufacturing method (S1) described above, the following secondary battery manufacturing system (MS) may be provided. It will be explained in more detail below with reference to the related drawings.

[0102] FIG. 4 is a perspective view of a secondary battery manufacturing system (MS) for performing the secondary battery manufacturing method (S1) illustrated in FIG. 2.

[0103] With reference to FIG. 4, a secondary battery manufacturing system (MS) according to a first embodiment of the present invention will be described in detail.

[0104] As shown in FIG. 4, a secondary battery manufacturing system (MS) for performing a secondary battery manufacturing method (S1) may be provided.

[0105] The secondary battery manufacturing system (MS) may include a glove box (MS_BX). Each component of the secondary battery manufacturing system (MS) is housed within the glove box (MS_BX) to block contamination from the outside. In particular, the glove box (MS_BX) can provide an environment optimized for manufacturing the secondary battery (B) by providing appropriate air configuration and pressure for operation, thereby preventing oxidation of the positive electrode (42) or negative electrode (41) provided as components of the secondary battery (B) or preventing evaporation of the electrolyte (BE). The glove box (MS_BX) may be provided transparently so that a user can observe the manufacturing of the secondary battery (B) taking place inside.

[0106] A secondary battery manufacturing system (MS) may include stages for performing each manufacturing step. Here, a stage may refer to a space for work or a configuration that provides a space for work. For example, a stage may be a plate-shaped configuration that provides a work space on its upper side.

[0107] The secondary battery manufacturing system (MS) may include a tray stacking stage (TR_S_ST), a tray arrangement stage (TR_A_ST), an electrolyte container stage (EV_ST), a pipette tip stage (PT_ST), a battery stage (B_ST), a crimper loader module (300), a crimper module (400), a collaborative robot (1000), and / or a control box (930).

[0108] The tray stacking stage (TR_S_ST) can provide a space for stacking trays (TR) that accommodate each component of the secondary battery (B) by providing a plurality of trays (TR). As shown in FIG. 4, the trays (TR) can be stacked in the vertical direction and arranged in four sets in the front-rear direction. To this end, the tray stacking stage (TR_S_ST) can be extended in the front-rear direction. The tray stacking stage (TR_S_ST) can be positioned close to the corner of the glove box (MS_BX) to utilize the space within the glove box (MS_BX). For example, as shown in FIG. 4, the trays (TR) can be positioned close to the right corner of the glove box (MS_BX).

[0109] The tray arrangement stage (TR_A_ST) can provide a space to arrange the trays (TR) stacked on the tray stacking stage (TR_S_ST) in a way that is easy to work with. As shown in FIG. 4, six trays (TR) can be arranged in a single row in the left-right direction. To this end, the tray arrangement stage (TR_A_ST) can be extended in the left-right direction. The tray arrangement stage (TR_A_ST) can be positioned close to the tray stacking stage (TR_S_ST) so that the trays (TR) taken out of the tray stacking stage (TR_S_ST) can be arranged immediately. For example, as shown in FIG. 4, the tray arrangement stage (TR_A_ST) can be positioned to the left of the tray stacking stage (TR_S_ST).

[0110] The electrolyte container stage (EV_ST) can provide a space for an electrolyte container (EV) containing electrolyte (BE) to be positioned. To utilize space, the electrolyte container stage (EV_ST) can be positioned in front of the tray arrangement stage (TR_A_ST).

[0111] The pipette tip stage (PT_ST) can provide a space for receiving a pipette tip (PT) for extracting electrolyte (BE) from an electrolyte container (EV). To reduce the distance the pipette tip (PT) travels to the electrolyte container (EV), the pipette tip stage (PT_ST) may be located adjacent to the electrolyte container stage (EV_ST). For example, as shown in FIG. 4, the pipette tip stage (PT_ST) may be located to the left of the electrolyte container stage (EV_ST).

[0112] The battery stage (B_ST) can provide a space for assembling secondary batteries (B). The battery stage (B_ST) may be located adjacent to the tray arrangement stage (TR_A_ST) to reduce the distance traveled by each component of the secondary battery (B) removed from the tray (TR). For example, as shown in FIG. 4, the battery stage (B_ST) may be located in front of the tray arrangement stage (TR_A_ST). Furthermore, to reduce the distance traveled by the pipette tip (PT) to receive the electrolyte (BE) from the pipette tip (PT), the battery stage (B_ST) may be located adjacent to the pipette tip stage (PT_ST) or the electrolyte container stage (EV_ST). For example, as shown in FIG. 4, the battery stage (B_ST) may be located to the left of the pipette tip stage (PT_ST).

[0113] The crimper loader module (300) can be configured to transfer a secondary battery (B) located on a battery stage (B_ST) to a crimper module (400). Accordingly, the crimper loader module (300) can be located between the battery stage (B_ST) and the crimper module (400). For example, as shown in FIG. 4, the crimper module (400) can be located adjacent to the left rear corner of the glove box (MS_BX), and the crimper loader module (300) can be located in front of the crimper module (400). The battery stage (B_ST) can be configured to be movable and can be moved to the front of the crimper loader module (300).

[0114] The crimper module (400) can be configured to press the secondary battery (B). The crimper module (400) can be positioned adjacent to the left rear corner of the glove box (MS_BX) as previously described. Accordingly, a space can be provided between the crimper module (400) and the tray stacking stage (TR_S_ST). This space may be a space located at the rear relative to the glove box (MS_BX).

[0115] A collaborative robot (1000) may be provided in the space located behind the glove box (MS_BX) described above. That is, the collaborative robot (1000) may be located behind the tray arrangement stage (TR_A_ST). The collaborative robot (1000) may be a robot capable of performing multiple functions by being combined with multiple modules as needed, provided that one end of the collaborative robot (1000) is provided with a part that can be combined with other modules. The collaborative robot (1000) may include multiple robot arms (1020) that are connected so as to be rotatable with each other. Accordingly, the collaborative robot (1000) may have six degrees of freedom. In other words, the collaborative robot (1000) is configured to be capable of movement along the x-axis, y-axis, and z-axis, and to be capable of roll, pitch, and yaw, thereby enabling complex movements compared to simply moving along the x-axis, y-axis, and z-axis. Furthermore, the collaborative robot (1000) may be used with one end fixed to the floor. Accordingly, a predetermined radius centered on a fixed end may be the working radius of the collaborative robot (1000). Each component of the secondary battery manufacturing system (MS) described in the present disclosure may be positioned within the working radius of the collaborative robot (1000) when work by the collaborative robot (1000) is required.

[0116] In other words, the movement of the collaborative robot (1000) according to the first embodiment of the present invention described above, compared to having simple axial movement, can be a vector-shaped movement having a combination of x-axis components, y-axis components, and z-axis components, in addition to implementing movement only in the x-axis direction, movement only in the y-axis direction, and movement only in the z-axis direction. For example, when moving from a point (0,0,0) to a point (1,1,1) in spatial coordinates, if the robot is capable of moving only in the x-axis, y-axis, and z-axis, it must move 1 unit in the x-axis, then move 1 unit in the y-axis, and then move 1 unit in the z-axis to move a total distance of 3 units to reach the target position. However, the collaborative robot (1000) according to the first embodiment of the present invention can move from (0,0,0) to (1,1,1) in one go, so it can move a total distance less than 3 units. Furthermore, while moving, the collaborative robot (1000) may be able to move along a curved path as well as a straight path. When moving along a curved path, the path can be further optimized.

[0117] A tray gripper module (1100), a pipette module (1200), and / or a cell gripper module (1300) may be provided so as to be combined with a collaborative robot (1000). At this time, the collaborative robot (1000) and the tray gripper module (1100), the pipette module (1200), and / or the gripper module may be mechanically combined and simultaneously combined to transmit pneumatic pressure from the collaborative robot (1000). Furthermore, they may be electrically connected to the collaborative robot (1000) to transmit electrical power or electrical signals, thereby enabling control of the tray gripper module (1100), the pipette module (1200), and / or the gripper module.

[0118] The tray gripper module (1100) may be configured to grip and move the tray (TR). The pipette module (1200) may be configured to inject the electrolyte (BE). The cell gripper module (1300) may be configured to grip and move each component of the secondary battery (B). The tray gripper module (1100), the pipette module (1200), and / or the cell gripper module (1300) may be positioned adjacent to the collaborative robot (1000) to facilitate coupling with the collaborative robot (1000). At this time, the tray gripper module (1100) may be positioned adjacent to the tray stacking stage (TR_S_ST) or the tray arrangement stage (TR_A_ST) so that the position is close to the tray (TR). For example, as illustrated in FIG. 4, the tray gripper module (1100) may be located to the left of the tray stacking stage (TR_S_ST), behind the tray arrangement stage (TR_A_ST), and to the right of the collaborative robot (1000). The pipette module (1200) may be located close to the pipette tip stage (PT_ST) because it is coupled with the pipette tip (PT) to extract the electrolyte (BE). For example, as illustrated in FIG. 4, it may be located behind the tray arrangement stage (TR_A_ST) at a position corresponding to the pipette tip stage (PT_ST). The cell gripper module (1300) may be located adjacent to the tray arrangement stage (TR_A_ST) to facilitate gripping each component of the secondary battery (B). For example, the cell gripper module (1300) may be located behind the tray arrangement stage (TR_A_ST). Additionally, the positions of the tray gripper module (1100), pipette module (1200), and cell gripper module (1300) described above may be the positions where they are placed when not combined with the collaborative robot (1000), and when used in combination with the collaborative robot (1000), they may be temporarily positioned at a different location than the positions described above.

[0119] Each component of the secondary battery manufacturing system (MS) described above can perform the secondary battery manufacturing method (S1) automatically or semi-automatically. To this end, the secondary battery manufacturing system (MS) may include a control unit (900).

[0120] The control unit (900) may include a memory (920). The memory (920) may include volatile memory (920), such as S-RAM (Static Random Access Memory) and D-RAM (Dynamic Random Access Memory), for temporarily storing data. Additionally, the memory (920) may include non-volatile memory (920), such as ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory), for long-term storage of data.

[0121] The control unit (900) may include a processor (910). The processor (910) may generate control signals to control the operation of a drive device, shaft, and / or cam based on instructions, applications, data, and / or programs stored in memory (920). The processor (910) may be hardware and may include logic circuits and arithmetic circuits. The processor (910) may process data according to programs and / or instructions provided from memory (920) and generate control signals according to the processing results. Memory (920) and the processor (910) may be implemented as a single control circuit or as multiple circuits. For example, the processor (910) may be implemented as a CPU (Central Processing Unit), an AP (application processor), or a microprocessor (910).

[0122] The program described above may include program(s) implemented in at least one form among BIOS, device driver, operating system, firmware, platform, and application program. Data of the application program may be downloaded from an external server, such as an application market (app store), to a nidding device or nidding system. Such an external server is an example of the computer program product of the present invention, but is not limited thereto.

[0123] The control unit (900) can acquire information identified by a sensor or input unit that a person skilled in the art would think could be included in the present invention, whether or not described in the present disclosure, and can transmit a signal to command each component of the secondary battery manufacturing system (MS) to perform an appropriate operation based on the acquired information. For example, if a command to move a tray (TR) from a tray stacking stage (TR_S_ST) to a tray arrangement stage (TR_A_ST) is input to the input unit, the control unit (900) can transmit a command signal based on the input information to cause a collaborative robot (1000) to combine with a tray gripper module (1100) to move the tray (TR) from the tray stacking stage (TR_S_ST) to the tray arrangement stage (TR_A_ST).

[0124] As previously mentioned, the control unit (900) described above can be implemented as a processor (910) such as a CPU (Central Processing Unit), an AP (application processor), or a microprocessor (910), and such a control unit (900) can be housed in a control unit box (930) inside a glove box (MS_BX).

[0125] Below, each component of the secondary battery manufacturing system (MS) is explained in more detail.

[0126] FIG. 5 is a perspective view of the tray (TR) and related configurations shown in FIG. 4. FIG. 6 is a perspective view of the tray array stage (TR_A_ST) and the tray (TR) shown in FIG. 4.

[0127] Referring to FIGS. 5 and 6, a tray (TR) and a tray arrangement stage (TR_A_ST) according to a first embodiment of the present invention will be described.

[0128] As illustrated in FIG. 5, a tray (TR) may be provided to accommodate each component of a secondary battery (B). The tray (TR) may have a roughly rectangular plate shape. The tray (TR) may include a component receiving portion (TR_110), a binary display portion (TR_120), a projection insertion groove (TR_130H), and a stacking guide projection (TR_140).

[0129] The component receiving portion (TR_110) prevents the components of the secondary battery (B) from falling out and forms a space for the tweezers to enter when attempting to pick up the components with tweezers. The component receiving portion (TR_110) may form a space that is recessed inward. In this case, the component receiving portion (TR_110) may be defined by a component receiving hole formed through and a component receiving groove (TR_111H) formed only in a concave shape without being through. The component receiving hole and the component receiving groove (TR_111H) may each be provided in multiple numbers so as to be included in a single tray (TR). For example, as illustrated in FIG. 5, a total of 40 component receiving portions (TR_110) arranged in a matrix form are formed in the tray (TR), and 20 component receiving portions (TR_110) located on the left are provided as component receiving holes, and 20 component receiving portions (TR_110) located on the right are provided as component receiving grooves (TR_111H). At this time, the component located in the component receiving hole may be an annular component such as a washer (20) or a gasket (60). The washer (20) or gasket (60) being positioned in the configuration receiving hole may be due to the fact that the washer picker (1323) for gripping the washer (20) and the gasket picker (1322) for gripping the gasket (60) of the cell gripper module (1300) described below grip the washer (20) or gasket (60) in a manner that penetrates the washer (20) and the gasket (60). That is, a configuration receiving hole may be provided to secure a space for the ends of the washer picker (1323) and the gasket picker (1322) to be positioned. On the other hand, the configuration positioned in the configuration receiving groove (TR_111H) may be a battery can (12), a positive electrode (42), a separator (50), a negative electrode (41), a spacer (30), and / or a battery cap (11). These configurations may be configurations in which one side is closed rather than open.Furthermore, the normal part picker (1324) and the separator picker (1325) of the cell gripper module (1300) that grip these components may grip these components by means of adsorption. During adsorption, the pad for adsorption may temporarily press these components. Considering this, the closed lower surface of the component receiving groove (TR_111H) can support these components from below so that they can be stably adsorbed. In particular, in the case of the separator (50), since it is a thin film and easily deformed, support from the tray (TR) may be further required for gripping by adsorption as described above. FIG. 5 illustrates, as an example of the above description, that a gasket (60) may be received in the component receiving hole and an electrode (40) may be received in the component receiving groove (TR_111H).

[0130] Furthermore, the component receiving portion (TR_110) of the tray (TR) according to the first embodiment of the present invention may not be provided in a size for accommodating each component separately, but rather the component receiving hole may contain a washer (20) or a gasket (60), and the component receiving groove (TR_111H) may contain a battery can (12), a positive electrode (42), a separator (50), a negative electrode (41), a spacer (30), and / or a battery cap (11). In other words, the component receiving hole and the component receiving groove (TR_111H) may each be provided in a single size. Accordingly, the tray (TR) may be used universally for each component of the secondary battery (B) rather than being provided separately according to each component of the secondary battery (B). However, if necessary, the component receiving hole and the component receiving groove (TR_111H) may be formed in a size corresponding to the size of each component of the secondary battery (B).

[0131] A binary display unit (TR_120) may be positioned on the outer side of a tray (TR) to indicate what configuration the tray (TR) accommodates. For example, as shown in FIG. 5, the binary display unit (TR_120) may be positioned between a plurality of configuration receiving holes and a plurality of configuration receiving grooves (TR_111H). A plurality of binary display units (TR_120) may be provided, and a display that distinguishes a part of the plurality of binary display units (TR_120) from the remainder may be provided. For example, as shown in FIG. 5, five binary display units (TR_120) are arranged in the front-rear direction, and among them, the second and third binary display units (TR_120) from the front to the rear are distinguished from other binary display units (TR_120). The five binary display units (TR_120) can correspond to values ​​displayed in binary, and the displayed binary numbers can indicate corresponding configurations. Accordingly, it is possible to determine what configuration is accommodated in the corresponding tray (TR) by the part that recognizes the binary display units (TR_120). At this time, metal protrusions may be used to distinguish multiple binary display units (TR_120) from other binary display units (TR_120).

[0132] A concave projection insertion groove (TR_130H) may be formed on one side of the tray (TR). Preferably, the projection insertion groove (TR_130H) may be formed on the side of the edge of the tray (TR). As shown in FIG. 5, the projection insertion groove (TR_130H) may be formed on the front and rear of the tray (TR). The projection insertion groove (TR_130H) may be provided as a pair on the front and rear of the tray (TR) and distributed to the left and right. The projection insertion groove (TR_130H) may be configured to receive the tray insertion projection (1121) of the tray gripper module (1100) described later. At this time, the projection insertion groove (TR_130H) may be formed as a hole, regardless of its name, as needed.

[0133] The stacking guide projection (TR_140) may protrude outward from the tray (TR). For example, as shown in FIG. 5, the stacking guide projection (TR_140) may be provided to protrude upward. The stacking guide projection (TR_140) may be provided in multiple numbers and positioned adjacent to the edge of the tray (TR). In particular, as shown in FIG. 5, the stacking guide projection (TR_140) may be provided in four numbers corresponding to the four corners of the tray (TR) and positioned adjacent to each corner of the tray (TR). The stacking guide projection (TR_140) may be provided to guide stacking with the tray (TR) located on the upper side when the tray (TR) is provided in multiple numbers and stacked on the tray stacking stage (TR_S_ST). A tray (TR) located on the upper side may have a groove formed on its lower side corresponding to a stacking guide projection (TR_140) of a tray (TR) located on the lower side, and the stacking guide projection (TR_140) may be inserted into the groove of the tray (TR) located on the upper side to help the trays (TR) be aligned in one direction when stacked.

[0134] The trays (TR) described above may be provided in multiple numbers and arranged in a row on a tray array stage (TR_A_ST) as shown in FIG. 6. For example, as shown in FIG. 6, the trays (TR) may be provided in six numbers and arranged adjacent to each other in the left-right direction. Among the six trays (TR) arranged on the tray array stage (TR_A_ST) shown in FIG. 6, the five trays (TR) located on the right may be selected and arranged to include all components of the secondary battery (B) without omission. In this process, the types of components accommodated in the trays (TR) can be identified by the aforementioned binary display unit (TR_120) to select the trays (TR) so that no types of components are omitted. Among the trays (TR) arranged in FIG. 5, the tray (TR) located on the far left may be positioned as an empty tray (TR) when initially arranged, and may be provided to accommodate the secondary battery (B) completed by the secondary battery manufacturing method (S1). That is, multiple trays (TR) are arranged in a row and used to manufacture a secondary battery (B), but some of the trays (TR) may have the role of accommodating the finished secondary battery (B) rather than accommodating each component of the secondary battery (B).

[0135] At this time, the tray arrangement stage (TR_A_ST) is connected to the tray arrangement stage transfer rail (TR_A_ST_RL) and can be moved by the tray arrangement stage transfer rail (TR_A_ST_RL). As shown in FIG. 6, the tray arrangement stage (TR_A_ST) can be moved forward or backward by the tray arrangement stage transfer rail (TR_A_ST_RL). By doing so, the tray arrangement stage (TR_A_ST) can be adjusted to a position suitable for operation.

[0136] FIG. 7 is a perspective view of the electrolyte container stage (EV_ST) and related configurations shown in FIG. 4.

[0137] Referring to FIG. 7, an electrolyte container stage (EV_ST) and a related configuration according to a first embodiment of the present invention will be described.

[0138] As illustrated in FIG. 7, an electrolyte container (EV) may be provided to accommodate an electrolyte (BE). The electrolyte container (EV) may have the shape of a test tube. In other words, the electrolyte container (EV) may have an opening on one side and may have the shape of a long cylindrical tube. The opening of the electrolyte container (EV) may be sealed by an electrolyte cap (EV_C). The electrolyte cap (EV_C) may be attached to the electrolyte container (EV) by a fitting method. If the electrolyte cap (EV_C) is attached to the electrolyte container (EV) by a rotational method such as screw fastening, it may be difficult to detach the electrolyte cap (EV_C) from the electrolyte container (EV) by the collaborative robot (1000) as described later. Therefore, the electrolyte cap (EV_C) may be attached by a simple fitting method to seal the electrolyte container (EV) and facilitate the detachment process. In order for the electrolyte cap (EV_C) to seal the electrolyte container (EV), the electrolyte cap (EV_C) may include a rubber packing.

[0139] At this time, the electrolyte container stage (EV_ST) may have a container receiving hole (EV_ST_100H) formed therein. The container receiving hole (EV_ST_100H) may be provided to have a diameter into which an electrolyte container (EV) can be inserted. At this time, the container receiving holes (EV_ST_100H) may be provided in multiple numbers and arranged in a row. As shown in FIG. 7, the container receiving holes (EV_ST_100H) may be arranged left and right along the extension direction of the electrolyte container stage (EV_ST). However, the arrangement direction of the multiple container receiving holes (EV_ST_100H) may be a direction other than left and right as necessary. Since the electrolyte container (EV) may have various sizes, the multiple container receiving holes (EV_ST_100H) may have various sizes to correspond to this. For example, as shown in FIG. 7, the ones located on the left side of the plurality of container receiving holes (EV_ST_100H) may be arranged to have a slightly larger diameter, and the ones located on the right side may have a slightly smaller size. The electrolyte container stage (EV_ST) may have a plate provided on the lower side of the container receiving hole (EV_ST_100H) to prevent the electrolyte container (EV) that has passed through the container receiving hole (EV_ST_100H) from moving downward.

[0140] As previously mentioned, the electrolyte cap (EV_C) must be separated from the electrolyte container (EV) to extract the electrolyte (BE) from the electrolyte container (EV). However, since the electrolyte (BE) may be highly volatile, the electrolyte cap (EV_C) needs to be reattached to the electrolyte container (EV) after the electrolyte (BE) is extracted from the electrolyte container (EV). At this time, an electrolyte cap station (EV_C_ST) on which the electrolyte cap (EV_C) is placed may be provided to facilitate the reattachment of the electrolyte cap (EV_C) to the electrolyte container (EV). The electrolyte cap station (EV_C_ST) may be coupled to the electrolyte container stage (EV_ST). Furthermore, the electrolyte cap station (EV_C_ST) may be located adjacent to the receiving hole of the electrolyte container (EV). At this time, the electrolyte cap station (EV_C_ST) may be provided with a groove or a hole to accommodate the electrolyte cap (EV_C). The electrolyte cap (EV_C) may be accommodated in the electrolyte cap station (EV_C_ST) such that the lower surface of the electrolyte cap (EV_C) faces. At this time, the electrolyte cap station (EV_C_ST) may be provided with a material having low reactivity with the electrolyte (BE), so that when the electrolyte cap (EV_C) is reattached to the electrolyte container (EV), contamination of the electrolyte (BE) contained in the electrolyte container (EV) can be minimized.

[0141] FIG. 8 is a perspective view illustrating the pipette tip stage (PT_ST) and battery stage (B_ST) shown in FIG. 4.

[0142] Referring to FIG. 8, a pipette tip stage (PT_ST) and a related configuration according to a first embodiment of the present invention will be described.

[0143] In the above, the configuration related to the electrolyte container (EV) has been described with reference to FIG. 7. In order to extract the electrolyte (BE) from the electrolyte container (EV), a pipette tip (PT) may be coupled to the pipette module (1200). The pipette tip stage (PT_ST) may be a configuration related to the pipette tip (PT).

[0144] A pipette tip tray (PT_TR) and / or a scrap box (PT_BX) may be provided on the pipette tip stage (PT_ST). A pipette tip (PT) may be attached to the pipette module (1200) to extract the electrolyte (BE) from the electrolyte container (EV) and discard it. Then, when extracting the electrolyte (BE) again from the electrolyte container (EV), a new pipette tip (PT) may be attached to the pipette module (1200). This may be because it is necessary to minimize contamination during the process of injecting the electrolyte (BE). At this time, a groove or hole may be formed in the pipette tip tray (PT_TR) to receive the pipette tip (PT), so that the pipette tip (PT) can be inserted. Since the pipette tip (PT) can be mounted on the pipette tip tray (PT_TR) so as to extend upward, the pipette module (1200) can be easily coupled with the pipette tip (PT) inserted into the pipette tip tray (PT_TR). As previously described, used pipette tips (PT) need to be discarded. At this time, a scrap box (PT_BX) can provide a space for collecting discarded pipette tips (PT). The scrap box (PT_BX) can be positioned adjacent to the pipette tip tray (PT_TR) to reduce the distance from using the pipette tip (PT) to discarding it.

[0145] A battery stage (B_ST) may be provided on one side of the pipette tip stage (PT_ST).

[0146] FIG. 9 is a perspective view of the battery stage (B_ST) and its associated configuration shown in FIG. 4. FIG. 10 is a cross-sectional view showing the washer check finger (130) of the battery assembly module (100) shown in FIG. 9 checking the washer (20). FIG. 11 is a cross-sectional view showing the voltage check module (200) shown in FIG. 9 checking the voltage of the secondary battery (B). "Check" or "checking" can be interpreted as "verify," "confirm," "inspect," or "inspect" any variable or quantity.

[0147] With reference to FIGS. 9 to 11, a battery stage (B_ST) and a related configuration according to a first embodiment of the present invention will be described.

[0148] As illustrated in FIG. 9, in relation to the battery stage (B_ST), a battery assembly module (100) and a voltage check module (200) coupled with the battery stage (B_ST) may be provided.

[0149] The battery assembly module (100) may include a battery assembly case (110), a battery assembly station (120), and / or a washer check finger (130). The voltage check module (200) may include a voltage check probe (210) and / or a voltage checker (220).

[0150] The battery assembly case (110) may be a part where the battery assembly module (100) and the battery stage (B_ST) are combined. The battery assembly case (110) may have a rectangular plate shape. The battery assembly case (110) may be positioned above the battery stage (B_ST) and positioned off to one side of the battery stage (B_ST) so that the voltage check module (200) can be combined with the battery station. For example, as shown in FIG. 9, the battery assembly case (110) may be positioned close to the front end of the battery stage (B_ST).

[0151] As shown in FIG. 8, the battery assembly station (120) may have a concave groove or hole formed so that a secondary battery (B) can be positioned. The battery assembly station (120) may provide space for each component of the secondary battery (B) to be stacked. Each component of the secondary battery (B) can be moved to the battery assembly station (120) and assembled by a collaborative robot (1000).

[0152] As shown in FIG. 10, the washer check finger (130) can be positioned through the battery assembly case (110). As shown in FIG. 10 to FIG. 11, the washer check finger (130) can be coupled to the battery assembly case (110) so that it can move. At this time, the washer check finger (130) is provided as a pair and can be moved in a direction closer to each other or in a direction further apart from each other. The washer check finger (130) may include a portion that is bent and extended toward the battery assembly station (120) from the upper end of the portion penetrating the battery assembly case (110), and a portion that is bent and extended toward the battery assembly station (120) from the lower end of the portion penetrating the battery assembly case (110). That is, the washer check finger (130) may have a shape formed by rotating a U shape by 90°. A pair of washers (20) can be arranged so that their U-shaped open portions face each other.

[0153] At this time, the function of the washer check finger (130) is explained with reference to the illustration in FIG. 10. FIG. 9 illustrates a washer (20) being connected to a washer picker (1323) of a cell gripper module (1300) and moving toward a battery assembly station (120). A washer picker (1323) is positioned above the battery assembly station (120) and can be moved toward the battery assembly station (120). At this time, a washer (20) can be connected to the end of the washer picker (1323). The washer picker (1323) may not be provided with a means to sense whether the washer (20) is connected to the washer picker (1323). Therefore, even if the washer picker (1323) performs the action of gripping the washer (20), it may not be possible to determine whether the washer (20) is properly gripped by the washer picker (1323) alone. At this time, when the washer picker (1323) is positioned close to the upper side of the battery assembly station (120), a pair of washer check fingers (130) can be moved toward the washer (20). By contacting the washer (20) with the pair of washer check fingers (130), it is possible to check whether the washer (20) is gripped by the washer picker (1323) by checking whether current flows. More specifically, the pair of washer check fingers (130) can be electrically connected to a voltage checker (220). Also, a pair of washer check fingers (130) may be made of metal and may be electrical conductors. A washer (20) may be made of metal and may be an electrical conductor. Therefore, when a pair of washer check fingers (130) and a washer (20) come into contact, an electrical closed circuit can be formed in which the voltage checker (220) passes through the washer check fingers (130), passes through the washer (20), passes through another washer check finger (130), and returns to the voltage checker (220). By forming such a closed circuit, electricity flows, and by confirming the flowing electricity, the voltage checker (220) can check whether the washer (20) is gripped by the washer picker (1323).The washer picker (1323) receives the washer (20) into the battery cap (11) through the operation described below, and can move away from the voltage assembly station with the washer (20) separated from the washer picker (1323). At this time, in order to check whether the washer (20) has been properly separated from the washer picker (1323), the washer check finger (130) can be moved to come into contact with the washer picker (1323) again. When the washer check finger (130) comes into contact with the washer picker (1323), it can be confirmed that the washer (20) has been separated from the washer picker (1323) by confirming that no current flows this time, unlike before.

[0154] Referring to FIG. 11, the voltage of the secondary battery (B) is checked by the voltage check module (200). It is assumed that the situation in which the voltage of the secondary battery (B) is checked is when the secondary battery (B) is assembled and the press step (S400) is completed, and the secondary battery (B) is received again in the voltage assembly station. Of course, the operation method described below may also be applied to check the voltage of the secondary battery (B) in other cases. Furthermore, the voltage to be checked may be the Open Circuit Voltage (OCV). Checking the voltage of the secondary battery (B) may be a process to verify whether the secondary battery (B) generates the intended voltage, to check whether it is a defective product, and to check the insulation of the battery cap (11) and the battery can (12).

[0155] The voltage check module (200) may include a voltage check probe (210) extended in the vertical direction. As shown in FIG. 8, the voltage check probe (210) may be rotated to be positioned away from the battery assembly station (120) so as not to interfere with the assembly of the secondary battery (B) at the battery assembly station (120) when the voltage checking step (S500) is not performed. However, when the voltage checking step (S500) is performed, the voltage check probe (210) may be rotated to be positioned above the completed secondary battery (B). The voltage check probe (210) is configured to conduct electricity and may be electrically connected to a voltage checker (220). When the secondary battery (B) is positioned at the battery assembly station (120), the end of the voltage check probe (210) may come into contact with the upper surface of the secondary battery (B).

[0156] The lower surface of the completed secondary battery (B) may come into contact with a battery assembly station (120). The battery assembly station (120) may be provided with an electrically conductive material. At this time, a voltage checker (220) may be electrically connected to the battery assembly station (120). The upper surface of the completed secondary battery (B) may be formed by a battery cap (11), and the lower surface may be formed by a battery can (12). At this time, since the battery cap (11) and the battery can (12) are insulated by a gasket (60), the battery cap (11) and the battery can each need to be electrically connected to a configuration for checking the voltage of the secondary battery (B). In the voltage checking step (S500) according to the first embodiment of the present invention, the battery can (12) is in contact with the voltage check probe (210), and the battery can (12) is in contact with the battery assembly station (120), so that the voltage checker (220) can measure the voltage of the secondary battery (B).

[0157] At this time, referring to FIG. 8, the battery stage (B_ST) can be combined with the battery transfer rail (B_RL). After the assembly step (S300) for the secondary battery (B) is completed, the battery stage (B_ST) can be moved by the battery transfer rail (B_RL) to perform the next secondary battery (B) manufacturing step. For example, as shown in FIG. 8, the battery stage (B_ST) can be moved to the left.

[0158] FIG. 12 is a perspective view showing the battery stage (B_ST) shown in FIG. 11 moved adjacent to the crimper loader module (300). FIG. 13 is a perspective view of the crimper loader module (300) shown in FIG. 12.

[0159] Referring to FIGS. 12 and 13, a crimper loader module (300) and a crimper module (400) according to a first embodiment of the present invention will be described.

[0160] As illustrated in FIG. 8, a battery stage (B_ST) may be transported and positioned in front of a crimper loader module (300). The crimper loader module (300) may be positioned between the transported battery stage (B_ST) and the crimper module (400). The crimper loader module (300) may be configured to transport a secondary battery (B) located on the battery assembly station (120) to the crimper module (400). The secondary battery (B) may be transported into the crimper module (400) by the crimper loader module (300) and compressed by the crimper module (400).

[0161] At this time, the crimper module (400) may include a crimper press (410), a crimper station (420), and a crimper station groove (421H). The crimper station (420) may provide a lower surface on which a secondary battery (B) is positioned. At this time, the crimper station (420) may have a crimper station groove (421H) formed so that the secondary battery (B) is positioned at a preset location. However, the crimper station groove (421H) may be provided as a hole, regardless of its name, as needed. The crimper press (410) may be positioned on the upper side of the crimper station (420). The crimper press (410) may be moved toward the crimper station (420). Based on the positioning of the secondary battery (B) in the crimper station home (421H), the crimper press (410) is moved toward the secondary battery (B), thereby allowing the secondary battery (B) to be pressed. The secondary battery (B) that has been pressed can be moved from the crimper module (400) to the battery assembly station (120) by the crimper loader module (300). The secondary battery (B) transferred to the battery assembly station (120) can be checked for defects by checking the OCV voltage by the voltage check module (200) as described above. The secondary battery (B) that is determined not to be defective is identified as a finished product and can be received in a prepared tray (TR).

[0162] At this time, the crimper loader module (300) may have a shape as shown in FIG. 13. As shown in FIG. 13, the crimper loader module (300) may include a crimper loader module body (310), a cell pitching gripper (320), a cell adsorption gripper (330), and / or a crimper loader transfer rail (300_RL).

[0163] The crimper loader module body (310) may be configured to be rotatable. The crimper loader module body (310) may be moved in an up-and-down direction. The up-and-down movement of the crimper loader module body (310) may be achieved by means of a cylinder, etc. A cell pitching gripper (320) may be attached to one side of the crimper loader module body (310), and a cell adsorption gripper (330) may be attached to the other side.

[0164] The cell pitching gripper (320) is provided in pairs and can grip the secondary battery (B) by pressing and gripping the side of the secondary battery (B). The cell adsorption gripper (330) can grip the secondary battery (B) by adsorbing it. In particular, the cell adsorption gripper (330) is provided so that its adsorption surface faces downward, allowing it to adsorb the upper surface of the secondary battery (B). When the secondary battery (B) is positioned in the battery assembly station (120), it is received and positioned by a concave groove, and when it is positioned within the crimper module (400), it is received and positioned in the crimper station groove (421H). Therefore, the adsorption method may be a more suitable method for gripping than the gripping method. However, in the case of a secondary battery (B) that has not yet undergone the press step (S400) at the battery assembly station (120), the battery cap (11) is in a state where it is easy to separate, so the crimper loader module (300) may take a method of gripping the secondary battery (B) by gripping the battery can (12) rather than gripping the secondary battery (B) by adsorbing the battery cap (11). However, since there is less possibility of problems occurring even if the secondary battery (B) is gripped by the adsorption method after the press of the secondary battery (B) is completed, when the secondary battery (B) is transferred from the crimper module (400) back to the battery assembly station (120), the crimper loader module (300) may grip the secondary battery (B) by the adsorption method. In order to grip the secondary battery (B) using both the gripping by adsorption and gripping methods described above, the crimper loader module (300) may include both a cell pitching gripper (320) and a cell adsorption gripper (330).

[0165] Furthermore, as previously mentioned, the crimper loader module body (310) can be rotated to transport the gripped secondary battery (B) to a desired location. Furthermore, a crimper loader transfer rail (300_RL) may be provided for the forward and backward movement of the crimper loader module body (310).

[0166] Using the configuration described above, the process of receiving a secondary battery (B) in the crimper module (400), taking it out again, and transferring it to the battery assembly station (120) is described as follows. As shown in FIG. 12, the battery assembly station (120) can be moved so that it is positioned in front of the crimper loader module (300). The crimper loader module (300) is moved close to the battery station by the crimper loader transfer module, and the cell pitching gripper (320) of the crimper loader module (300) can grip the battery can (12) to hold the secondary battery (B). The crimper loader module body (310) is rotated to position the secondary battery (B) toward the crimper module (400), and the crimper loader module (300) can be moved toward the crimper module (400) by the crimper loader transfer rail (300_RL). Based on the secondary battery (B) being positioned corresponding to the crimper station groove (421H) of the crimper station (420), the crimper loader module (300) can release the gripping of the secondary battery (B). Afterward, the crimper module (400) can press the secondary battery (B) using the crimper press (410). The crimper loader module (300) can be rotated again so that the cell adsorption gripper (330) is positioned toward the secondary battery (B) housed in the crimper module (400). The crimper loader module (300) can be moved toward the crimper module (400) by the crimper loader transfer rail (300_RL) so that the cell adsorption gripper (330) is positioned to a location corresponding to the secondary battery (B). When the cell adsorption gripper (330) adsorbs the secondary battery (B), the crimper loader module (300) can again be moved toward the battery assembly station (120) by the crimper loader transfer rail (300_RL). In the process, the crimper loader module body (310) can be rotated so that the cell adsorption gripper (330) is positioned toward the battery assembly station (120).When a secondary battery (B) is positioned on the upper side of the battery assembly station (120), the cell suction gripper (330) releases the grip on the secondary battery (B) so that the secondary battery (B) can be positioned on the battery assembly station (120). After that, the voltage of the secondary battery (B) can be checked by the voltage check module (200).

[0167] In the above description, the method of moving the tray (TR), the method of injecting the electrolyte (BE), and the detailed method of moving each component of the secondary battery (B) from the tray (TR) to the battery assembly station (120) are omitted. The omitted descriptions are explained in detail below.

[0168] FIG. 14 is a front view of the collaborative robot (1000) shown in FIG. 4. FIG. 15 is a conceptual diagram conceptually illustrating the combination of the collaborative robot (1000) shown in FIG. 14 and the modules related thereto.

[0169] With reference to FIGS. 14 and 15, the operation of a collaborative robot (1000) according to a first embodiment of the present invention will be described.

[0170] As illustrated in FIG. 14, a collaborative robot (1000) may be provided. The collaborative robot (1000) may include a robot base (1010), a robot arm (1020), and / or a robot mounting part (1030). The robot base (1010) may be a configuration for fixing and supporting the collaborative robot (1000). The robot base (1010) may be coupled to the bottom surface of a secondary battery manufacturing system (MS). The robot arm (1020) may include a first robot arm (1021) rotatably coupled to the robot base (1010) and a second robot arm (1022) rotatably coupled to the first robot arm (1021). The second robot arm (1022) may be coupled to the end of the first robot arm (1021). A robot mounting part (1030) can be rotatably coupled to the end of the second robot arm (1022) so as to be rotatably coupled to the second robot arm (1022). Accordingly, the collaborative robot (1000) can be a robot with 6 degrees of freedom. Each module capable of performing various roles when coupled with the collaborative robot (1000) can be coupled to the robot mounting part (1030). The robot mounting part (1030) can be configured to transmit power and signals to the module coupled with the collaborative robot (1000). At this time, the power transmitted by the robot mounting part (1030) to the module may be pneumatic and electrical energy. However, if necessary, the power transmitted by the robot mounting part (1030) to the module may be other energy such as hydraulic power.

[0171] More specifically, as shown in FIG. 15, the collaborative robot (1000) can be coupled to a tray gripper module (1100), a pipette module (1200) and / or a cell gripper module (1300).

[0172] The tray gripper module (1100) may include a tray gripper module adapter (1100_AD) that can be coupled with the robot mounting part (1030) of the collaborative robot (1000). The pipette module (1200) may include a pipette module (1200) adapter that can be coupled with the robot mounting part (1030) of the collaborative robot (1000). The cell gripper module (1300) may include a cell gripper module adapter (1300_AD) that can be coupled with the robot mounting part (1030) of the collaborative robot (1000). The tray gripper module adapter (1100_AD), the pipette module (1200) adapter, and the cell gripper module adapter (1300_AD) may be positioned so as to face upward to facilitate coupling with the robot mounting part (1030).

[0173] The tray gripper module (1100) may be a module for transporting the tray (TR). The pipette module (1200) may be a module for injecting the electrolyte (BE). The cell gripper module (1300) may be a module for transporting each component of the secondary battery (B) from the tray (TR) to the battery assembly station (120). In particular, the cell gripper module (1300) may include a plurality of gripper arms (1320) and be configured to have a shape and operation suitable for various components of the secondary battery (B).

[0174] Each component of the secondary battery (B) can be assembled and pressed according to the above description, and then completed through a voltage checking step (S500) to complete quality verification. The final completed secondary battery (B) can be received in a tray (TR) shown on the lower side of FIG. 15 and wait to be shipped.

[0175] Each module combined with the collaborative robot (1000) will be described in more detail below.

[0176] FIG. 16 is a perspective view illustrating a tray gripper module (1100) and a tray (TR) that can be combined with the collaborative robot (1000) shown in FIG. 14.

[0177] Referring to FIG. 16, a tray gripper module (1100) according to a first embodiment of the present invention will be described.

[0178] As illustrated in FIG. 16, a tray gripper module (1100) may be provided to grip a tray (TR). The tray gripper module (1100) may include a tray gripper body (1110), a tray gripper arm (1120), and a tray gripper module adapter (1100_AD).

[0179] The tray gripper body (1110) may be provided to extend in one direction. For example, as shown in FIG. 16, the tray gripper body (1110) may be provided to extend in the front-rear direction. When the tray gripper module (1100) grips the tray (TR), the tray gripper body (1110) may be positioned to face the binary display (TR_120) of the tray (TR). The tray gripper body (1110) may include a sensor capable of identifying the binary display (TR_120). Accordingly, when the tray gripper module (1100) grips the tray (TR), it is possible to know which configuration of secondary battery (B) the tray (TR) accommodates.

[0180] Furthermore, a tray gripper module adapter (1100_AD) can be coupled to the upper side of the tray gripper body (1110). Accordingly, the tray gripper module adapter (1100_AD) can be arranged to face upward.

[0181] The tray gripper arm (1120) can be movably coupled to the tray gripper body (1110). The tray gripper arm (1120) is coupled to the lower end of the tray gripper body (1110) and can be moved in a direction closer to or further away from the tray (TR). At this time, the tray gripper arm (1120) is provided in a pair, and the tray (TR) can be positioned between the pair of tray gripper arms (1120). The tray (TR) can be gripped by the tray gripper module (1100) by being supported on both sides by the pair of tray gripper arms (1120). At this time, the tray gripper arm (1120) may include a portion that extends along the extension direction of the tray (TR). For example, the tray gripper arm (1120) may include a portion that extends in the left-right direction, as shown in FIG. 16. Accordingly, the tray gripper arm (1120) may have a shape that is an inverted T-shape.

[0182] The tray gripper arm (1120) may include a tray insertion projection (1121). As previously described, the tray (TR) may have a projection insertion groove (TR_130H) formed therein. The tray insertion projection (1121) may have a shape corresponding to the projection insertion groove (TR_130H) so as to be inserted into the projection insertion groove (TR_130H). The tray insertion projection (1121) may be formed at an extended end of the tray gripper arm (1120) to provide stable support for the tray (TR). Accordingly, a pair of tray insertion projections (1121) corresponding to each end may be provided on a single tray gripper arm (1120). However, the tray insertion projections (1121) may be a single one or multiple rather than a pair, as needed. A tray insertion projection (1121) is formed on each of a pair of tray gripper arms (1120), and the tray insertion projections (1121) formed on each tray gripper arm (1120) can be positioned to face each other.

[0183] To summarize, the tray gripper module (1100) can grip the tray (TR) by bringing a pair of tray gripper arms (1120) closer together, and can release the tray (TR) by bringing a pair of tray gripper arms (1120) further apart.

[0184] FIG. 17 is a perspective view of a pipette module (1200) and a pipette tip (PT) that can be combined with the collaborative robot (1000) shown in FIG. 14. FIG. 18 is a conceptual diagram showing the electrolyte injected by the pipette module (1200) shown in FIG. 17 being injected into the anode (42) from a side view. FIG. 19 is a conceptual diagram showing the electrolyte injected into the anode (42) shown in FIG. 18 being viewed from above.

[0185] Referring to FIGS. 17 to 19, a pipette module (1200) and an electrolyte (BE) injection method by the pipette module (1200) according to a first embodiment of the present invention will be described.

[0186] As illustrated in FIG. 17, the previously described pipette tip (PT) may be mounted on the lower end of the pipette module (1200). The pipette tip (PT) may be precisely designed to discharge an accurate amount of the target electrolyte in response to a sensitive reaction. At this time, the pipette module (1200) may be operated by electrical energy for precise movement rather than by pneumatic operation. A motor may be located inside the pipette module (1200) to operate by receiving electrical energy. Furthermore, if the pipette tip (PT) needs to be separated from the pipette module (1200), it needs to be pressurized, so the pipette module (1200) may be provided to perform an operation for pressurizing to separate the pipette tip (PT).

[0187] As shown in FIGS. 18 to 19, the method by which the pipette module (1200) injects the electrolyte (BE) may be based on a preset method.

[0188] As previously explained, the positive electrode (42) may have different materials applied to the upper and lower surfaces of the current collector, or an active material mixture may be applied only to the upper surface. This can cause different tensions to be generated on the upper and lower surfaces of the positive electrode (42), thereby causing the positive electrode (42) to bend. When the positive electrode (42) bends, the alignment with the subsequently stacked separator (50) or the alignment with the negative electrode (41) may be misaligned, which may cause problems such as the secondary battery (B) not generating electricity or the secondary battery (B) not generating the desired voltage even after the secondary battery (B) is completed. Therefore, it is necessary to prevent problems caused by the bending of the positive electrode (42) during the manufacturing process of the secondary battery (B). "Bending" can be interpreted as meaning "to bend" or "to extend in different directions."

[0189] Furthermore, when the electrolyte (BE) is injected into the anode (42), the anode (42) becomes wet with the electrolyte (BE), and the bending of the anode (42) may be intensified. The electrolyte (BE) injection method according to the first embodiment of the present invention may adopt an electrolyte (BE) injection method to alleviate the above-mentioned anode (42) bending problem.

[0190] As illustrated in FIG. 18, the positive electrode (42) may be provided in a bent form. Although only the positive electrode (42) is illustrated in FIG. 18, the step of injecting the electrolyte (BE) illustrated in FIG. 18 may occur at the point when the positive electrode (42) is received in the battery can (12). In particular, the positive electrode (42) may be bent upward convexly as the tension at the bottom is stronger than the tension at the top. When administering the electrolyte (BE) to the positive electrode (42), the electrolyte (BE) may be administered in drops. If the electrolyte (BE) is administered all at once, strong tension is generated at the injected area, and in severe cases, a problem may occur where the positive electrode (42) curls up. To prevent this, the electrolyte (BE) needs to be administered in a dispersed manner. For example, as shown in FIG. 18, when the electrolyte (BE) is administered to the left side of the anode (42), the electrolyte (BE) is administered to the right side of the anode (42) so that the tension on both sides of the anode (42) can be adjusted relatively uniformly.

[0191] More specifically, as shown in FIG. 19, a small amount of electrolyte (BE) may first be administered to the center of the electrode (40), and then the electrolyte (BE) may be administered to a position located at a predetermined distance (D) away from the center of the electrode (40). After that, the electrolyte (BE) may be administered again to a position located on the opposite side of the center of the electrode (40) at a predetermined distance (D) away from the previously administered electrolyte (BE). In this manner, the electrolyte (BE) may be administered to positions 1 through 5 as shown in FIG. 19. Accordingly, bending of the electrode (40) may be minimized.

[0192] The administration of the electrolyte (BE) may continue until the anode (42) is completely impregnated with the electrolyte (BE). After the administration of the electrolyte (BE) is finished, a separator (50) may be laminated on the anode (42). However, if necessary, the above process may be carried out such that the separator (50) is laminated on the anode (42) first, and the electrolyte (BE) is administered over the separator (50).

[0193] FIG. 20 is a perspective view illustrating a cell gripper module (1300) that can be combined with the collaborative robot (1000) illustrated in FIG. 14. FIG. 21 is a perspective view illustrating the cell gripper module (1300) illustrated in FIG. 20 transporting a configuration received in a tray (TR).

[0194] Referring to FIGS. 20 and 21, a cell gripper module (1300) according to a first embodiment of the present invention will be described.

[0195] As illustrated in FIG. 20, a cell gripper module (1300) for gripping and transporting each component of a secondary battery (B) may be provided. The cell gripper module (1300) may be coupled with a collaborative robot (1000) and driven by receiving pneumatic and electrical energy from the collaborative robot (1000).

[0196] The cell gripper module (1300) may include a rotatable cell gripper body (1310) and a gripper arm (1320) extending from the cell gripper body (1310). The gripper arm (1320) may be provided in multiple numbers and may have different shapes for each role. Since the gripper arm (1320) can perform its role when positioned in a downward direction, the gripper body may be rotated to position the gripper arm (1320) to be used so that it faces downward. At this time, the gripper body may be rotated counterclockwise or clockwise, as shown in FIG. 20. Since rotating the gripper body in only one direction may cause various lines adjacent to the cell gripper module (1300) to become twisted or the durability of the gripper body itself to be rapidly lost, it may be rotated in a way that appropriately mixes clockwise and counterclockwise directions.

[0197] Furthermore, as illustrated in FIG. 21, when one gripper arm (1320) is used and another gripper arm (1320) is to be used, the gripper body is rotated while moving to the position where the other gripper arm (1320) is to be used, thereby positioning the other gripper arm (1320) at the lower side so that rotation and movement occur simultaneously, thereby reducing the time required to transport each component of the secondary battery (B).

[0198] As illustrated in FIG. 20, a plurality of gripper arms (1320) may be provided in five types and arranged circumferentially at equal intervals from one another. The plurality of gripper arms (1320) may include an electrolyte cap picker (1321), a gasket picker (1322), a washer picker (1323), a normal part picker (1324), and / or a separator picker (1325). Each gripper arm (1320) may perform a respective role. The electrolyte cap picker (1321) may be configured to separate the electrolyte cap (EV_C) from the electrolyte container (EV). The gasket picker (1322) may be configured to grip and transport the gasket (60). The washer picker (1323) may be configured to grip and transport the washer (20). The normal part picker (1324) may be configured to grip and transport components other than the gasket (60), washer (20), and separator (50). In other words, the normal part picker (1324) may be configured to grip and transport the battery can (12), positive electrode (42), negative electrode (41), spacer (30), and / or the battery can (12). The separator picker (1325) may be configured to grip and transport the separator (50).

[0199] The detailed configuration and operation of each component of the multiple gripper arms (1320) will be explained further below with reference to the drawings.

[0200] FIG. 22 is a perspective view illustrating an electrolyte cap picker (1321) of a cell gripper module (1300) illustrated in FIG. 20.

[0201] Referring to FIG. 22, an electrolyte cap picker (1321) according to the first embodiment of the present invention will be described.

[0202] As illustrated in FIG. 22, the electrolyte cap picker (1321) may include an electrolyte cap finger (1321_100) configured to be movable. The electrolyte cap finger (1321_100) is provided in a pair and can be positioned to be close to each other or far apart from each other. The pair of electrolyte cap fingers (1321_100) can grasp the electrolyte cap (EV_C) by bringing the electrolyte cap (EV_C) between them as they get closer to each other. When the pair of electrolyte cap fingers (1321_100) grasp the electrolyte cap (EV_C), the electrolyte cap picker (1321) can move away from the electrolyte container (EV) to remove the electrolyte cap (EV_C) from the electrolyte container (EV).

[0203] FIG. 23 is a perspective view illustrating a gasket picker (1322) of a cell gripper module (1300) illustrated in FIG. 20. FIG. 24 is a cross-sectional view illustrating the operation of the gasket picker (1322) illustrated in FIG. 23. FIG. 25 is a cross-sectional view illustrating the operation of the gasket picker (1322) illustrated in FIG. 24, enlarged with respect to the gasket holder (1322_200).

[0204] Referring to FIGS. 23 to 25, a gasket picker (1322) according to the first embodiment of the present invention will be described.

[0205] As illustrated in FIG. 23, a gasket picker (1322) may be provided to grasp the gasket (60) and receive it into the battery cap (11). The gasket picker (1322) may be moved to receive the gasket (60) into the battery can (12) after the positive electrode (42) and the separator (50) are received into the battery can (12). The gasket picker (1322) according to the first embodiment of the present invention not only simply moves the gasket (60), but also provides a method to resolve the bending of the electrode (40), which is the aforementioned problem, while the gasket (60) is received into the battery can (12). For the purpose of explanation, the configuration of the gasket picker (1322) is described below.

[0206] The gasket picker (1322) may include a gasket stripper (1322_100), a gasket picker body (1322_100), a gasket holder (1322_200), a gasket holder shaft (1322_300) and / or a gasket holder damper (1322_400).

[0207] The gasket stripper (1322_100) may be located on the lower side of the gasket picker body (1322_100). Furthermore, the gasket stripper (1322_100) and the gasket picker body (1322_100) may be provided as a single unit and configured to move as a single unit. However, if necessary, the gasket stripper (1322_100) and the gasket picker body (1322_100) may be provided as separate units and configured to be combined. A space may be formed between the gasket stripper (1322_100) and the gasket picker body (1322_100), and a gasket holder damper (1322_400) may be located in the formed space. The gasket holder damper (1322_400) may be, for example, a spring. The gasket holder damper (1322_400) can reduce the impact applied to the gasket holder (1322_200) described later. Furthermore, the gasket holder damper (1322_400) can provide elastic force to elastically bias the gasket holder (1322_200) downward.

[0208] The gasket holder (1322_200) may be positioned through the gasket stripper (1322_100). The gasket holder (1322_200) may be configured such that one end is exposed to the lower side of the gasket stripper (1322_100). Furthermore, the gasket holder (1322_200) may be coupled to the gasket stripper (1322_100) so that it can move independently of the gasket stripper (1322_100). That is, as illustrated in FIG. 23, the gasket holder (1322_200) can be fitted from the upper side to the lower side with respect to the gasket stripper (1322_100), and in order to prevent the gasket holder (1322_200) from moving upward from the gasket stripper (1322_100) and detaching from the gasket stripper (1322_100), the gasket holder (1322_200) can receive an elastic force downward by the gasket holder damper (1322_400) described above.

[0209] At this time, as shown in FIG. 23, the gasket (60) can be inserted through the lower side and adjacent end of the stripper of the gasket holder (1322_200) so that the gasket (60) can be moved.

[0210] As illustrated in FIGS. 24 and 25, a gasket (60) can be transported by a gasket picker (1322). A gasket receiving groove (1322_211H) may be formed in the gasket holder (1322_200) so that the gasket (60) can be received. Furthermore, a negative pressure communication channel (1322_212H) may be formed on the inner side of the gasket holder (1322_200) so that pneumatic pressure provided by the collaborative robot (1000) can be communicated. Negative pressure may be generated in the negative pressure communication channel (1322_212H) by the collaborative robot (1000). The negative pressure communication channel (1322_212H) may be in communication with the gasket receiving groove so that negative pressure is generated in the gasket receiving groove (1322_211H). The gasket (60) can be received in the gasket receiving groove (1322_211H) as shown in the leftmost drawing of FIG. 25 or the second drawing from the left. At this time, since negative pressure is formed in the gasket receiving groove (1322_211H), the gasket (60) can be prevented from being removed from the gasket receiving groove (1322_211H). Furthermore, a sensor for checking the pressure formed in the gasket receiving groove (1322_211H) can be installed in the gasket picker (1322). When the gasket (60) is received in the gasket receiving groove (1322_211H), the pressure in the gasket receiving groove (1322_211H) changes, so the sensor can sense the changed pressure to identify whether the gasket (60) is received in the gasket receiving groove (1322_211H). Through the above process, the gasket (60) can be held in the gasket picker (1322).

[0211] After the gasket picker (1322) grasps the gasket (60), it can move from the upper side of the battery can (12) to the lower side of the battery can (12). The battery can (12) may already contain an electrode (40) and a separator (50). At this time, the end of the gasket holder (1322_200) can be moved downward to press the positive electrode (42) toward the battery can (12). In this process, the bending of the positive electrode (42) can be released and flattened. When the gasket holder (1322_200) presses the positive electrode (42) and the positive electrode (42) is set in a flattened state, the gasket picker body (1322_100) and the gasket stripper (1322_100) can be moved toward the battery can (12). At this time, since the gasket holder (1322_200) is continuously subjected to downward force by the gasket holder shaft (1322_300), the positive electrode (42) can be continuously pressed while the gasket picker body (1322_100) and the gasket stripper (1322_100) are moving. While the gasket stripper (1322_100) is moving downward, the gasket stripper (1322_100) can press the gasket (60) fitted into the gasket holder (1322_200) to move downward, and the gasket (60) can be moved downward and received into the battery can (12) and fitted into the battery can (12). At this time, the gasket (60) is formed with an inner diameter sufficient to press the positive electrode (42) and the separator (50), so that when the gasket (60) is received in the battery can (12), the positive electrode (42) and the separator (50) are pressed by the gasket (60), thereby preventing bending. Furthermore, since the gasket (60) is formed with an outer diameter to prevent detachment from the battery can (12), once the gasket (60) is inserted into the battery can (12), it may be difficult for the gasket (60) to be separated from the battery can (12). In other words, once the gasket (60) is inserted into the battery can (12), the positive electrode (42) and the separator (50) are continuously pressed, thereby preventing bending again.

[0212] Furthermore, as shown in the third drawing from the left in FIG. 25, once the gasket (60) is inserted into the battery can (12), the gasket (60) is disengaged from the gasket receiving groove (1322_211H), so the pressure in the gasket receiving groove (1322_211H) may change. The sensor can identify that the gasket (60) has been disengaged from the gasket receiving groove (1322_211H) based on the change in pressure in the gasket receiving groove (1322_211H).

[0213] As shown in the rightmost drawing of FIG. 25, after the gasket (60) is inserted into the battery can (12), the gasket picker (1322) can be removed from the battery can (12) in a direction away from it. In this case, the gasket stripper (1322_100) is first moved upward, and during the initial section where the gasket stripper (1322_100) is moved, the gasket holder (1322_200) can still press the positive electrode (42). Then, after the gasket stripper (1322_100) is raised for a predetermined section, the gasket stripper (1322_100) and the gasket holder (1322_200) are moved upward together and can be removed from the battery can (12).

[0214] Through the process described above, the gasket picker (1322) can receive the gasket (60) into the battery can (12) while preventing bending by pressing the positive electrode (42).

[0215] FIG. 26 is a perspective view illustrating the washer picker (1323) illustrated in FIG. 20. FIG. 27 is a cross-sectional view of the washer picker (1323) illustrated in FIG. 26.

[0216] Referring to FIGS. 26 and 27, a washer picker (1323) according to the first embodiment of the present invention will be described.

[0217] As illustrated in FIG. 26, a washer picker (1323) may be provided to grip and move a washer (20). The washer picker (1323) may include a washer picker body (1323_100), a washer grip jaw (1323_200), a jaw actuation rod (1323_300), and an O-ring (1323_400).

[0218] The washer grip jaw (1323_200) can be extended downward from the washer picker body (1323_100). The washer grip jaw (1323_200) is provided in multiple numbers, so that the ends come together to reduce the overall outer diameter, or the ends spread apart to increase the overall outer diameter. At this time, when the ends of the multiple washer grip jaws (1323_200) come together to reduce the overall outer diameter, it becomes smaller than the inner diameter of the washer (20) and can penetrate the washer (20). When the ends of the multiple washer grip jaws (1323_200) move apart to increase the overall outer diameter, it is inserted into the washer (20). In this case, the washer (20) is pressed by the multiple washer grip jaws (1323_200), preventing the washer (20) from being detached from the washer picker (1323).

[0219] As illustrated in FIG. 27, a jaw actuation rod (1323_300) may be inserted into the inner side of a plurality of washer grip jaws (1323_200). The jaw actuation rod (1323_300) may be moved downward to push the washer grip jaws (1323_200) radially outward. When the jaw actuation rod (1323_300) is moved upward, the washer grip jaws (1323_200) may not be subjected to force by the jaw actuation rod (1323_300). At this time, as shown in FIG. 26, since an O-ring (1323_400) is provided to surround the outer side of a plurality of washer grip jaws (1323_200), the washer grip jaws (1323_200) may receive an inward force through the O-ring (1323_400). Therefore, when the jaw actuation rod (1323_300) moves upward, the plurality of washer grip jaws (1323_200) may be deformed by receiving an inward force in the radial direction through the O-ring (1323_400).

[0220] FIG. 28 is a perspective view illustrating the normal part picker (1324) illustrated in FIG. 20. FIG. 29 is a perspective view illustrating the membrane picker (1325) illustrated in FIG. 20.

[0221] Referring to FIGS. 28 to 29, a normal part picker (1324) and a separator picker (1325) according to a first embodiment of the present invention will be described.

[0222] A normal part picker (1324) may be provided to pick up and transport each component of the secondary battery (B), excluding the gasket (60), washer (20), and separator (50), namely the battery cap (11), battery can (12), spacer (30) and / or negative electrode (41).

[0223] The normal part picker (1324) may include a normal part picker body (1324_100) and a normal part picker pad (1324_200) located at the end of the normal part picker (1324). The normal part picker (1324) can grasp each component of the secondary battery (B), excluding the gasket (60), washer (20), and separator (50), by adsorption. At this time, fine holes may be formed in the normal part picker pad (1324_200) to transmit suction force for adsorption.

[0224] A membrane picker (1325) may be provided to grasp and transport the membrane (50). The membrane picker (1325) may include a membrane picker body (1325_100) and / or a membrane picker pad (1325_200) located at the end of the membrane picker (1325). The membrane picker (1325) may grasp the membrane (50) by adsorption. That is, the method of grasping the components by the membrane picker (1325) and the normal part picker (1324) may be the same or similar. However, since the membrane (50) is more flexible and easily deformed than other components, the membrane (50) pad may be designed separately considering the characteristics of the membrane (50) to form a pattern distinct from the normal part picker pad (1324_200).

[0225] The secondary battery manufacturing system (MS) or secondary battery manufacturing method (S1) described above can be seen to have the following characteristics.

[0226] A secondary battery manufacturing system (MS) comprises a robot base (1010), a robot arm (1020) rotatably coupled to the robot base (1010) and provided in plurality and rotatably coupled to each other, and a robot mounting part (1030) located at the end of the robot arm (1020), a cell gripper module (1300) detachably mounted to the robot mounting part (1030) and configured to adsorb and move at least one of a battery case (10), an electrode (40), and a separator (50) of a secondary battery (B), a pipette module (1200) detachably mounted to the robot mounting part (1030) and configured to inject an electrolyte (BE) into the battery case (10), and the cooperative robot (1000) is coupled to the cell gripper module (1300) or the pipette module (1200) based on a predetermined order to manufacture the secondary battery (B). It may include a control unit (900) configured to control the robot (1000).

[0227] The robot mounting part (1030) is configured to move within a virtual spherical radius centered on the base, and the cell gripper module (1300) and the pipette module (1200) can be positioned within the virtual spherical radius of the robot mounting part (1030).

[0228] The above-mentioned robot mounting part (1030) can be configured to enable movement other than movement in the x, y, and z axis directions perpendicular to each other.

[0229] The robot mounting part (1030) may be rotatable to face directions other than the x, y, and z axes that are perpendicular to each other.

[0230] The device further includes a tray gripper module (1100) that is detachably mounted on the robot mounting part (1030) and configured to grip a tray (TR), and the tray gripper module (1100) may include a tray gripper body (1110) and a tray gripper arm (1120) provided as a pair so as to slide relative to the tray gripper body (1110) and position the tray (TR) between them.

[0231] The tray gripper arm (1120) may include a tray insertion projection (1121) that protrudes to be inserted into the tray (TR).

[0232] The tray gripper body (1110) includes a sensor configured to recognize a binary display unit (TR_120) of the tray (TR) when the tray (TR) is positioned between a pair of tray gripper arms (1120), and the control unit (900) may be configured to identify the type of configuration accommodated in the tray (TR) based on information acquired by the sensor.

[0233] The battery assembly module (100) is further provided to be assembled with a secondary battery (B), and the battery assembly module (100) may include a battery assembly station (120) in which a concave battery assembly groove is formed to accommodate a battery case (10).

[0234] The battery assembly module (100) may further include a voltage check probe (210) configured to be able to contact the secondary battery (B) to check the voltage of the secondary battery (B) located on the battery assembly station (120).

[0235] The battery assembly module (100) further includes a washer check finger (130) configured to move to contact a washer (20) of a secondary battery (B) on the upper side of the battery assembly groove, and the washer check finger (130) may be configured to be electrically connected to the voltage check probe (210).

[0236] It includes a crimper module (400) configured to press a secondary battery (B) and a crimper loader module (300) configured to move the secondary battery (B) from the battery assembly module (100) to the crimper module (400), and the battery assembly module (100) may be configured to be movable with respect to the crimper module (400) with the crimper loader module (300) in between.

[0237] The above crimper loader module (300) may include a crimper loader module body (310), a cell pitching gripper (330) extending from the crimper loader module body (310) and configured to fix a component of a secondary battery (B) by adsorption, and a cell pitching gripper (320) extending from the crimper loader module body (310) and provided as a pair to fix a component of a secondary battery (B) between them.

[0238] It may include an electrolyte container stage (EV_ST) configured to allow an electrolyte container (EV) to be inserted, and an electrolyte cap (EV_C) station located adjacent to the electrolyte container stage (EV_ST) and having a groove formed therein for the electrolyte cap (EV_C) of the electrolyte container (EV) to be positioned.

[0239] It may further include a pipette tip tray (PT_TR) having a hole corresponding to the pipette tip (PT) for inserting the pipette tip (PT), and a scrap box (PT_BX) located adjacent to the pipette tip tray (PT_TR) and capable of accommodating a plurality of pipette tips (PT).

[0240] A secondary battery manufacturing system (MS) comprises a tray gripper module (1100) configured to grip a tray (TR) and detachably mounted on the robot mounting unit (1030), a battery assembly module (100) provided for assembling a secondary battery and including a voltage check probe (210), a crimper module (400) configured to press a secondary battery (B), and a control unit (900) configured to control the collaborative robot (1000) so that the tray gripper module (1100) is mounted on the robot mounting unit (1030) to perform a tray preparation step (S200), and configured to control the collaborative robot (1000) so that the cell gripper module (1300) is mounted on the robot mounting unit (1030) to perform an assembly step (S300) for assembling a secondary battery (B), and the battery assembly module (100) is configured to press the secondary battery (B) using the crimper loader The battery assembly module (100) may be configured to be controlled to move to a position adjacent to the module (300), and the voltage check module (200) may be configured to be controlled so that the voltage check probe (210) comes into contact with the pressed secondary battery (B) to check the voltage of the pressed secondary battery (B).

[0241] A secondary battery manufacturing method (S1) may include a preparation step (S100) of preparing a battery assembly module (100) comprising a tray (TR) in which each component of the secondary battery (B) is accommodated, a collaborative robot (1000), a cell gripper module (1300), a pipette module (1200), a crimper module (400), and a voltage check probe (210); an assembly step (S300) of moving each component of the secondary battery (B) from the tray (TR) to the battery assembly module (100); a press step (S400) of pressing the secondary battery (B) assembled by the assembly step (S300) by the crimper module (400); and a voltage checking step (S500) of checking the voltage of the secondary battery (B) pressed by the press step (S400) by the voltage check probe (210).

[0242] The assembly step (S300) may include the step of placing a battery can (12) on a battery stage that includes a battery assembly module (100), the step of stacking a positive electrode (42) on the battery can (12), and the step of injecting an electrolyte (BE) into the positive electrode (42).

[0243] The assembly step (S300) above may include the step of receiving and stacking the gasket (60) in the battery can (12) so that the gasket (60) is positioned on the separator (50).

[0244] The assembly step (S300) above may include the step of stacking a cathode (41), a spacer (30), and a washer (20) on the inside of the gasket (60).

[0245] A secondary battery manufacturing system (MS) may include a robot base (1010), a robot arm (1020) rotatably coupled to the robot base (1010) and provided in plurality and rotatably coupled to each other, a robot mounting part (1030) located at the end of the robot arm (1020), a cell gripper module (1300) detachably mounted to the robot mounting part (1030) and configured to adsorb and move at least one of a battery case (10), an electrode (40), and a separator (50) of a secondary battery (B), a pipette module (1200) detachably mounted to the robot mounting part (1030) and configured to inject an electrolyte (BE) into the battery case (10), and a glove box (MS_BX) accommodating the cooperative robot (1000), the cell gripper module (1300), and the pipette module (1200).

[0246] A secondary battery manufacturing system (MS) comprises a collaborative robot (1000) configured to assemble a secondary battery (B) and a cell gripper module (1300) that can be mounted on the collaborative robot (1000) and configured to grip each component of the secondary battery (B). The cell gripper module (1300) comprises a cell gripper module (1300) body and a plurality of gripper arms (1320) that extend from the cell gripper module (1300) body and are provided in multiple numbers. Each of the plurality of gripper arms (1320) may have a different shape.

[0247] The above gripper arm (1320) may include a normal part picker (1324) configured to adsorb and hold at least one of the battery case (10), electrode (40), and spacer (30) of the secondary battery (B). "Hold" can be interpreted as "fix" or "maintain a constant position."

[0248] The gripper arm (1320) is configured to adsorb and hold the separator (50) of the secondary battery (B), and may further include a separator picker (1325) having a pattern different from that of the normal part picker (1324) on the side provided to face the separator (50).

[0249] The gripper arm (1320) includes a washer picker (1323) configured to hold a washer (20) of a secondary battery (B), and the washer picker (1323) may be inserted into the washer (20) to hold the washer (20).

[0250] The washer picker (1323) includes a plurality of washer grip jaws (1323_200) that can be inserted into a washer (20), and when the washer (20) is inserted into the washer picker (1323), the plurality of washer grip jaws (1323_200) may be configured to hold the washer (20) at a first grip jaw position that is spaced apart from each other.

[0251] The plurality of washer grip jaws (1323_200) may be configured to be separable from the washer (20) at a position closer to each other than the position of the first grip jaw.

[0252] The above gripper arm (1320) includes a gasket picker (1322) configured to hold a gasket (60) of a secondary battery (B), and the gasket picker (1322) may include a gasket holder (1322_200) configured to be inserted into the gasket (60) and hold the gasket (60).

[0253] The above gasket holder (1322_200) may be configured to press the electrode (40) inside the battery case (10) while the gasket (60) is separated from the gasket picker (1322) and inserted into the battery case (10).

[0254] The above gasket holder (1322_200) has a gasket receiving groove (1322_211H) formed to receive a gasket (60), and the gasket receiving groove (1322_211H) can be configured to form negative pressure.

[0255] The above gasket picker (1322) covers the outer surface of the gasket holder (1322_200) and further includes a gasket stripper (1322_110) coupled to allow the gasket holder (1322_200) to move relatively, and the gasket stripper (1322_110) may be configured to move relatively with respect to the gasket holder (1322_200) to press the gasket (60) located on the outer surface of the gasket holder (1322_200) to separate the gasket (60).

[0256] The above gasket picker (1322) may further include an elastic member configured to elastically bias the gasket holder (1322_200) so that the end of the gasket holder (1322_200) is positioned away from the gasket stripper (1322_110).

[0257] The gripper arm (1320) may further include an electrolyte cap picker (1321) configured to receive an electrolyte (BE) and to separate the electrolyte cap (EV_C) from an electrolyte container (EV) containing an electrolyte cap (EV_C), and the electrolyte cap picker (1321) may include a pair of electrolyte cap fingers (1321_100) configured to hold the electrolyte cap (EV_C) by bringing them close to each other.

[0258] The cell gripper body (1310) may be configured to rotate so that the positions of the plurality of gripper arms (1320) are rotated.

[0259] The cell gripper module (1300) is configured to be movable by the collaborative robot (1000), and the cell gripper body (1310) may be configured to be rotatable while the cell gripper module (1300) is moved.

[0260] The cell gripper body (1310) can be configured to rotate in the forward and reverse directions while manufacturing the secondary battery (B).

[0261] The cell gripper module (1300) includes a cell gripper module (1300) body and a plurality of gripper arms (1320) extending from the cell gripper module (1300) body, and the plurality of gripper arms (1320) may each have a different shape.

[0262] The above gripper arm (1320) may include a normal part picker (1324) configured to adsorb and hold at least one of the battery case (10), electrode (40), and spacer (30) of the secondary battery (B).

[0263] The gripper arm (1320) is configured to adsorb and hold the separator (50) of the secondary battery (B), and may further include a separator picker (1325) having a pattern different from that of the normal part picker (1324) on the side provided to face the separator (50).

[0264] The gripper arm (1320) includes a washer picker (1323) configured to hold a washer (20) of a secondary battery (B), and the washer picker (1323) may be inserted into the washer (20) to hold the washer (20).

[0265] A cell gripper module (1300) includes a cell gripper module (1300) body and a gripper arm (1320) extending from the cell gripper module (1300) body, and the gripper arm (1320) includes a gasket holder (1322_200) configured to be inserted into a gasket (60) and to hold the gasket (60), and the gasket holder (1322_200) may be configured to press an electrode (40) inside the battery case (10) while the gasket (60) is separated from the gripper arm (1320) and inserted into the battery case (10).

[0266] A secondary battery manufacturing system (MS) comprises a collaborative robot (1000) configured to assemble a secondary battery (B), a pipette module (1200) that can be mounted on the collaborative robot (1000) and configured to inject an electrolyte (BE), and a control unit (900) configured to control the movement of the collaborative robot (1000). The control unit (900) may be configured to control the collaborative robot (1000) so that the pipette module (1200) injects the electrolyte (BE) by dispersing it onto the electrode (40) of the secondary battery (B).

[0267] The control unit (900) may be configured to control the cooperative robot (1000) so that the pipette module (1200) injects the electrolyte (BE) into the electrode (40) multiple times.

[0268] The control unit (900) may be configured to control the cooperative robot (1000) so that the pipette module (1200) first injects the electrolyte (BE) at the highest top position of the electrode (40).

[0269] The control unit (900) may be configured to control the collaborative robot (1000) so that after the pipette module (1200) injects the electrolyte (BE) at the top position of the electrode (40), the electrolyte (BE) is injected at a first peripheral position of the electrode (40) spaced apart from the top position.

[0270] The control unit (900) may be configured to control the cooperative robot (1000) so that the pipette module (1200) injects an electrolyte (BE) into a second peripheral position located on the opposite side of the first peripheral position with respect to the top position of the electrode (40).

[0271] The control unit (900) may be configured to control the cooperative robot (1000) such that the second peripheral position is positioned at a distance corresponding to a predetermined distance from the top position to which the first peripheral position is separated.

[0272] The above-described collaborative robot (1000) comprises a plurality of robot arms (1020) that are rotatably coupled to each other and a robot mounting part (1030) that is rotatably positioned at the end of the robot arm (1020) and configured to be coupled to the pipette module (1200). The robot mounting part (1030) is configured such that, by rotating with respect to the robot arm (1020), the angle formed by the end of the pipette module (1200) with the electrode (40) at the position corresponding to the first peripheral position is different from the angle formed by the electrode (40) at the position corresponding to the top position. The control part (900) may be configured to control the robot mounting part (1030) so that the pipette module (1200) injects an electrolyte (BE) in a direction toward the electrode (40) at the top position and the first peripheral position of the electrode (40).

[0273] The control unit (900) may be configured to control the cooperative robot (1000) so that the end of the pipette module (1200) moves within a predetermined distance from the surface of the electrode (40) while the pipette module (1200) injects the electrolyte (BE) into the electrode (40).

[0274] The control unit (900) may be configured to control the cooperative robot (1000) so that the end of the pipette module (1200) moves on a virtual curved surface having a curvature corresponding to the surface of the electrode (40).

[0275] The control unit (900) may be configured to control the cooperative robot (1000) so that hydraulic pressure connected to the cooperative robot (1000) is transmitted to the pipette module (1200) and an electrolyte (BE) is discharged from the pipette module (1200).

[0276] The control unit (900) may be configured to control the cooperative robot (1000) to position the separator (50) on the electrode (40) after injecting the electrolyte (BE) into the electrode (40).

[0277] The above control unit (900) may be configured to control the cooperative robot (1000) to inject an electrolyte (BE) onto the separator (50) after stacking the separator (50) on the electrode (40).

[0278] The control unit (900) is configured to control the cooperative robot (1000) so that the pipette module (1200) injects the electrolyte (BE) into the electrode (40) multiple times, and the cooperative robot (1000) can be configured to control the pipette module (1200) so that the electrolyte (BE) is injected first at the contact position where the electrode (40) and the separator (50) come into contact.

[0279] The control unit (900) may be configured to control the cooperative robot (1000) so that after the pipette module (1200) injects the electrolyte (BE) at the contact position of the separator (50), the electrolyte (BE) is injected at a first contact peripheral position of the separator (50) spaced apart from the contact position.

[0280] The above pipette module (1200) can be configured to be combined with a pipette tip (PT) to draw in an electrolyte (BE).

[0281] A secondary battery manufacturing system (MS) comprises a collaborative robot (1000) configured to assemble a secondary battery (B), a pipette module (1200) that can be mounted on the collaborative robot (1000) and configured to inject an electrolyte (BE), and a control unit (900) configured to control the movement of the collaborative robot (1000). The control unit (900) may be configured to control the collaborative robot (1000) so that the pipette module (1200) injects the electrolyte (BE) into the electrode (40) of the secondary battery (B) multiple times.

[0282] The control unit (900) may be configured to control the cooperative robot (1000) so that the pipette module (1200) first injects the electrolyte (BE) at the highest top position of the electrode (40).

[0283] The control unit (900) may be configured to control the collaborative robot (1000) so that after the pipette module (1200) injects the electrolyte (BE) at the top position of the electrode (40), the electrolyte (BE) is injected at a first peripheral position of the electrode (40) spaced apart from the top position.

[0284] The control unit (900) may be configured to control the cooperative robot (1000) so that the pipette module (1200) injects an electrolyte (BE) into a second peripheral position located on the opposite side of the first peripheral position with respect to the top position of the electrode (40).

[0285] A secondary battery manufacturing system (MS) comprises a collaborative robot (1000) configured to assemble a secondary battery (B), a pipette module (1200) that can be mounted on the collaborative robot (1000) and configured to inject an electrolyte (BE), and a control unit (900) configured to control the movement of the collaborative robot (1000). The control unit (900) may be configured to control the collaborative robot (1000) so that the pipette module (1200) injects the electrolyte (BE) at a top position of the electrode (40) of the secondary battery (B) and at a plurality of surrounding positions spaced apart from each other by a radially corresponding distance from the top position.

[0286] Unless explicitly stated otherwise, the embodiments described above may be combined with other embodiments. Alternatively, unless explicitly limited in the combination of any embodiment with another, it should be considered that combinations between embodiments are possible. Any combination of any embodiment with another embodiment is deemed to be disclosed herein.

[0287] Although the present invention has been described above by limited embodiments and drawings, the present invention is not limited thereto, and various implementations are possible within the scope of the technical spirit of the present invention and the equivalent scope of the claims described below by those skilled in the art to which the present invention belongs.

[0288] [Explanation of the symbol]

[0289] S1: Method for manufacturing a secondary battery

[0290] S100: Preparation stage

[0291] S200: Tray preparation stage

[0292] S300: Assembly stage

[0293] S400: Press stage

[0294] S500: Voltage checking step

[0295] B: Secondary battery

[0296] 10: Battery case

[0297] 11: Battery Cap

[0298] 12: Battery can

[0299] 20: Washer

[0300] 30: Spacer

[0301] 40: Electrode

[0302] 41: Cathode

[0303] 42: Bipolar

[0304] 50: Separator

[0305] 60: Gasket

[0306] 61H: Cap receiving groove

[0307] BE: Electrolyte

[0308] MS: Secondary battery manufacturing system

[0309] MS_BX: Glove Box

[0310] TR: Tray

[0311] TR_110: Configuration receiving section

[0312] TR_111H: Configuration receiving hole

[0313] TR_112H Configuration Acceptance Home

[0314] TR_120: Binary display

[0315] TR_130H: Protrusion insertion groove

[0316] TR_140: Lamination guide protrusion

[0317] TR_S_ST: Tray stacking stage

[0318] TR_A_ST: Tray array stage

[0319] TR_A_ST_RL: Tray array stage transfer rail

[0320] EV: Electrolyte container

[0321] EV_C: Electrolyte Cap

[0322] EV_ST: Electrolyte container stage

[0323] EV_ST_100H container receiving hole

[0324] EV_C_ST: Electrolyte Cap Station

[0325] PT_TR: Pipette Tip Tray

[0326] PT: Pipette tip

[0327] PT_BX: Scrap Box

[0328] PT_ST: Pipette Tip Stage

[0329] B_ST: Battery Stage

[0330] 100: Battery assembly module

[0331] 110: Battery Assembly Case

[0332] 120: Battery Assembly Station

[0333] 121H: Battery Assembly Home

[0334] 130: Washer check finger

[0335] 200: Voltage check module

[0336] 210: Voltage check probe

[0337] 220: Voltage checker

[0338] B_RL: Battery transfer rail

[0339] 300: Climper Loader Module

[0340] 310: Climper Loader Module Body

[0341] 320: Cell pitching gripper

[0342] 330: Cell suction gripper

[0343] 300_RL: Climper Loader Transfer Rail

[0344] 400: Climper Module

[0345] 410: Climper Press

[0346] 420: Climper Station

[0347] 421H: Climper Station Home

[0348] 900: Control unit

[0349] 910: Processor

[0350] 920: Memory

[0351] 930: Control box

[0352] 1000: Collaborative Robot

[0353] 1010: Robot Base

[0354] 1020: Robotic Arm

[0355] 1021: 1st Robotic Arm

[0356] 1022: 2nd Robotic Arm

[0357] 1030: Robot mounting part

[0358] 1100: Tray Gripper Module

[0359] 1110: Tray Gripper Body

[0360] 1120: Tray Gripper Arm

[0361] 1121: Tray insertion protrusion

[0362] 1100_AD: Tray Gripper Module Adapter

[0363] 1200: Pipette Module

[0364] 1200_AD: Pipette Module Adapter

[0365] 1300: Cell Gripper Module

[0366] 1310: Cell Gripper Body

[0367] 1300_AD: Cell Gripper Module Adapter

[0368] 1320: Gripper Arm

[0369] 1321: Electrolyte Cap Picker

[0370] 1321_100: Electrolyte Cap Finger

[0371] 1322: Gasket Picker

[0372] 1322_100: Gasket Picker Body

[0373] 1322_110: Gasket Stripper

[0374] 1322_200: Gasket Holder

[0375] 1322_211H: Gasket receiving groove

[0376] 1322_212H: Negative pressure flue flow path

[0377] 1322_300: Gasket holder shaft

[0378] 1322_400: Gasket Holder Damper

[0379] 1323: Washer Picker

[0380] 1323_100: Washer Picker Body

[0381] 1323_200: Washer Grip Jaw

[0382] 1323_300: Joe Actuation Rod

[0383] 1323_400: O-ring

[0384] 1324: Normal Part Picker

[0385] 1324_100: Normal Part Picker Body

[0386] 1324_200: Normal Part Picker Pad

[0387] 1325: Separator picker

[0388] 1325_100: Separator picker body

[0389] 1325_200: Separator Picker Pad

Claims

1. A collaborative robot comprising a robot base, a plurality of robot arms rotatably coupled to the robot base and rotatably coupled to each other, and a robot mounting portion located at the end of the robot arm; A cell gripper module that is detachably mounted on the robot mounting part and configured to adsorb and move at least one of a battery case, an electrode, and a separator of a secondary battery; A pipette module configured to be detachably mounted on the robot mounting part and to inject electrolyte into the battery case; and A secondary battery manufacturing system comprising a control unit configured to control the collaborative robot to manufacture the secondary battery by combining the collaborative robot with the cell gripper module or the pipette module based on a predetermined sequence.

2. In Paragraph 1, The robot mounting part is configured to move within a virtual spherical radius centered on the base, and The cell gripper module and the pipette module are a secondary battery manufacturing system located within the virtual spherical radius of the robot mounting part.

3. In Paragraph 1, A secondary battery manufacturing system in which the above-mentioned robot mounting part is configured to enable movement other than movement in the x, y, and z axis directions perpendicular to each other.

4. In Paragraph 1, A secondary battery manufacturing system in which the above-mentioned robot mounting part is rotatable to face directions other than the mutually perpendicular x, y, and z axis directions.

5. In Paragraph 1, It further includes a tray gripper module that is detachably mounted on the robot mounting part and configured to grip a tray, and The above tray gripper module is, Tray gripper body; and A secondary battery manufacturing system comprising a pair of tray gripper arms configured to slide relative to the tray gripper body and arranged so that a tray is positioned between them.

6. In Paragraph 5, A secondary battery manufacturing system in which the tray gripper arm includes a tray insertion projection that protrudes to be inserted into the tray.

7. In Paragraph 5, The tray gripper body includes a sensor configured to recognize a binary display portion of the tray when the tray is positioned between a pair of the tray gripper arms, and A secondary battery manufacturing system configured such that the control unit identifies the type of configuration accommodated in the tray based on information acquired by the sensor.

8. In Paragraph 1, It further includes a battery assembly module arranged to assemble a secondary battery, and The above battery assembly module is a secondary battery manufacturing system comprising a battery assembly station in which a concave battery assembly groove is formed to accommodate a battery case.

9. In Paragraph 8, A secondary battery manufacturing system comprising a battery assembly module and a voltage check probe configured to be able to contact the secondary battery to check the voltage of the secondary battery located on the battery assembly station.

10. In Paragraph 9, The battery assembly module further includes a washer check finger configured to move to contact a washer of a secondary battery on the upper side of the battery assembly groove, and A secondary battery manufacturing system in which the above washer check finger is configured to be electrically connected to the above voltage check probe.

11. In Paragraph 8, A crimper module configured to press a secondary battery; and It includes a crimper loader module configured to move a secondary battery from the battery assembly module to the crimper module, and A secondary battery manufacturing system in which the above-described battery assembly module is configured to be movable with respect to the above-described crimper module, with the crimper loader module in between.

12. In Paragraph 11, The above-mentioned crimper loader module is, Climper loader module body; A cell adsorption gripper extending from the above-mentioned crimper loader module body and configured to fix a component of a secondary battery by adsorption; and A secondary battery manufacturing system comprising a cell pitching gripper extending from the above-mentioned crimper loader module body and configured to be provided in pairs to secure a configuration of a secondary battery between them.

13. In Paragraph 1, Electrolyte container stage configured to allow the insertion of an electrolyte container; and A secondary battery manufacturing system comprising an electrolyte cap station positioned adjacent to the electrolyte container stage and having a groove formed therein for positioning the electrolyte cap of the electrolyte container.

14. In Paragraph 1, A pipette tip tray having a hole corresponding to the pipette tip for insertion of the pipette tip; and A secondary battery manufacturing system further comprising a scrap box positioned adjacent to the pipette tip tray and capable of accommodating a plurality of pipette tips.

15. In Paragraph 11, A tray gripper module that is detachably mounted on the robot mounting part and configured to grip a tray; A battery assembly module configured to assemble a secondary battery and including a voltage check probe; and It further includes a crimper module configured to press a secondary battery, and The above control unit is, The collaborative robot is configured to be controlled so that the tray gripper module is mounted on the robot mounting part to perform the tray preparation step, and The collaborative robot is configured to be controlled so that the cell gripper module is mounted on the robot mounting part to perform an assembly step for assembling a secondary battery, and The battery assembly module is configured to be controlled so that it moves to a position adjacent to the crimper loader module to press the secondary battery, and A secondary battery manufacturing system configured to control a voltage check module so that a voltage check probe comes into contact with a pressed secondary battery to check the voltage of the pressed secondary battery.

16. A preparation step for preparing a battery assembly module including a tray accommodating each component of a secondary battery, a collaborative robot, a cell gripper module, a pipette module, a crimper module, and a voltage check probe; An assembly step of moving each component of the secondary battery from the above tray to the above battery assembly module; A pressing step of pressing the secondary battery assembled by the above assembly step with the above crimper module; and A method for manufacturing a secondary battery comprising a voltage checking step of checking the voltage of the secondary battery pressed by the above-mentioned pressing step using a voltage check probe.

17. In Paragraph 16, The above assembly step is, A step of placing a battery can onto a battery stage that includes a battery assembly module; Step of laminating a positive electrode onto the above-mentioned battery can; and A method for manufacturing a secondary battery comprising the step of injecting an electrolyte into the anode.

18. In Paragraph 17, A method for manufacturing a secondary battery, comprising the step of stacking a gasket in the battery can so that the gasket is positioned on the separator in the assembly step.

19. In Paragraph 18, A method for manufacturing a secondary battery, comprising the step of stacking a negative electrode, a spacer, and a washer on the inner side of the gasket in the assembly step above.

20. A collaborative robot comprising a robot base, a plurality of robot arms rotatably coupled to the robot base and rotatably coupled to each other, and a robot mounting portion located at the end of the robot arm; A cell gripper module that is detachably mounted on the robot mounting part and configured to adsorb and move at least one of a battery case, an electrode, and a separator of a secondary battery; A pipette module configured to be detachably mounted on the robot mounting part and to inject electrolyte into the battery case; and A secondary battery manufacturing system comprising the above-mentioned collaborative robot, the above-mentioned cell gripper module, and a glove box accommodating the above-mentioned pipette module.

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