KR20230003831A - Hand module for stacker crane and stacker crane device having same - Google Patents

Abstract

Disclosed is a hand module for a stacker crane capable of quickly and easily permitting and limiting relative movement of a gripper to a charging device in a horizontal direction. According to the present invention, the hand module for a stacker crane comprises: a movable frame part for a crane hand module supported to be relatively movable in a fixed frame part for a crane hand module; a gripping part for a crane supported by the moving frame part for the crane hand module and gripping a secondary battery cell; and an auto-centering part which is coupled to the fixed frame part for the crane hand module, which is connected to the movable frame part for the crane hand module, and which electromagnetically interacts with the movable frame part for the crane hand module to limit the movement of the movable frame part for the crane hand module.

Description

Hand module for stacker crane and stacker crane device having the same {Hand module for stacker crane and stacker crane device having same}

The present invention relates to a hand module for a stacker crane and a stacker crane device having the same, and more particularly, to a hand module for a stacker crane that grips and delivers a secondary battery cell and a stacker crane device having the same.

Recently, as the demand for portable electronic products such as laptop computers, video cameras, and mobile phones has rapidly increased, and development of electric vehicles, storage batteries for energy storage, robots, and satellites has been in full swing, high-performance secondary batteries capable of repeated charging and discharging are possible. Research on this is actively progressing.

Currently commercialized secondary batteries include nickel cadmium batteries, nickel hydrogen batteries, nickel zinc batteries, and lithium secondary batteries. It is in the limelight because of its very low self-discharge rate and high energy density.

In general, these secondary batteries can be classified into cylindrical or prismatic can-type secondary batteries and pouch-type secondary batteries according to exterior materials or application forms.

The secondary battery may be used in the form of a single cell or in the form of a module in which a plurality of cells are electrically connected, depending on the type of external device used.

For example, a small device such as a mobile phone can operate for a predetermined time with the output and capacity of one cell, while a notebook computer, a portable DVD (Portable DVD), a small PC (Personal Computer), an electric vehicle, and a hybrid electric vehicle. Medium-sized or large-sized devices such as the like require the use of a module including a plurality of cells due to problems of output and capacity.

A module is manufactured by connecting a protection circuit or the like to a core pack in which a plurality of cells are arranged and connected in series and/or parallel.

In the case of using a prismatic or pouch-type cell as a unit cell, it can be easily manufactured by stacking the wide surfaces facing each other and then connecting the electrode terminals with a connecting member such as a bus bar. Therefore, in the case of manufacturing a three-dimensional module having a hexahedral structure, a prismatic or pouch-type cell is advantageous as a unit cell.

Among them, the pouch-type cell uses a pouch exterior composed of a multi-layered film of a metal layer (foil) and a synthetic resin layer coated on the upper and lower surfaces of the metal layer, so the weight of the secondary battery is lower than that of a cylindrical or prismatic cell using a metal can. It can significantly reduce the weight of the secondary battery, and has the advantage of being able to change into various forms, so the amount of use is gradually increasing.

In general, a pouch-type cell is manufactured through a process of assembling the cell and a process of activating the cell. The pouch exterior material generally includes a lower exterior material in which an electrode assembly is accommodated and an upper exterior material that seals an upper portion of the lower exterior material.

After accommodating the electrode assembly in the housing of the lower housing, the edge around the housing of the lower housing and the corresponding edge of the upper housing are brought into close contact, and after heat-sealing the adhered part, an electrolyte is added and the remaining portion is vacuum-sealed. are assembled

On the other hand, since the secondary battery cells are assembled in a discharged state, they can function as batteries only when they are first charged and activated after assembling the secondary battery cells. This is called the activation process or formation process.

In the formation process, secondary battery cells are loaded in predetermined activation process equipment for smooth current conduction, and processes such as charging and discharging are performed under conditions necessary for activation. In a secondary battery, due to its characteristics, such an activation process must be preceded in order to activate a positive electrode active material during the first cycle and to create a stable surface film (SEI, Solid Electrolyte Interface) on the negative electrode.

In the chemical conversion process, a surface film (SEI) is first formed on the surface of the anode due to the reaction between the anode active material and the electrolyte, and the physical and mechanical integrity of the surface film (SEI) determines the performance of the secondary battery until the end of its lifespan. .

In the above-described chemical process, secondary battery cells are charged in a high temperature pre-charger (HPC). Conventionally, a shuttle or stacker crane passing through the upper area of the charging device is used to charge the secondary battery in the charging device. The cells were supplied and the secondary battery cells were collected from the charging device.

On the other hand, in order to accurately place the secondary battery cell held by the gripping part of the shuttle or stacker crane onto the seating part of the charging device and to accurately pick up the secondary battery cell accommodated in the charging device by the gripping part of the shuttle or stacker crane, first, the gripping part and the charging device The device must be aligned, and after the gripper and the charging device are aligned, the gripper must maintain the aligned position.

That is, in the aligning process, the gripping part should be moved in a horizontal direction with respect to the charging device, and after the alignment is completed, the horizontal movement of the gripping part with respect to the charging device should be limited.

However, in the prior art, there is a problem in that it is inconvenient and cannot be quickly performed to allow or restrict relative movement of the gripper to the charging device in the horizontal direction.

Republic of Korea Patent Registration No. 10-2069127, (2020.01.16.)

Therefore, a technical problem to be achieved by the present invention is a stacker crane capable of quickly and conveniently allowing and restricting the relative movement of the gripping part in the horizontal direction with respect to the charging device in the process of aligning the gripping part holding the secondary battery cell and the charging device. To provide a hand module for use and a stacker crane device having the same.

According to one aspect of the present invention, the movable frame unit for the crane hand module supported to be relatively movable to the fixed frame unit for the crane hand module; a gripping part for a crane supported by the moving frame part for the crane hand module and gripping a secondary battery cell; And coupled to the fixed frame for the crane hand module and connected to the movable frame for the crane hand module, electromagnetically interacting with the movable frame for the crane hand module to limit the movement of the movable frame for the crane hand module. A hand module for a stacker crane including an auto centering unit may be provided.

The auto-centering unit may include an electromagnet for auto-centering that is in contact with the movable frame unit for the crane hand module and applies magnetic force to the movable frame unit for the crane hand module.

The crane gripping unit may include a crane gripping bracket connected to the moving frame unit for the crane hand module; and a plurality of crane unit gripping units coupled to the crane gripping bracket.

The unit gripping unit for the crane includes a pair of grippers for the crane disposed spaced apart from each other; and an actuator for a crane gripper coupled to the gripping bracket for a crane and connected to the pair of grippers for a crane and moving each of the pair of grippers for a crane in a mutually approaching and spaced direction.

It is connected to the moving frame unit for the crane hand module and may further include a guide portion for alignment formed with a guide groove for alignment into which a guide pin for alignment provided in a charging device for charging the secondary battery cell is inserted.

The aligning guide unit is coupled to the moving frame unit for the crane hand module and includes a guide rod body having a guide groove for aligning; and a guide rod head provided at a lower end region of the guide rod body and having an insertion guide hole communicating with the guide groove for alignment.

The insertion guide hole may be formed in a shape in which an inner diameter decreases from a lower side to an upper side.

An anti-swing combined anti-drop part for a crane supported by the moving frame part for the crane hand module and preventing the secondary battery cell gripped by the crane gripping part from rotating or falling may be further included.

The anti-swing combined anti-drop part for the crane may include: a horizontal bar for anti-drop that may be disposed in a lower region of the secondary battery cell gripped by the crane gripping part; a stopping member for anti-swing coupled to the anti-drop horizontal bar and disposed between the plurality of secondary battery cells gripped by the crane gripper; a connecting member for anti-swing combined anti-drop coupled to the anti-drop transverse bar and movably connected to the moving frame for the crane hand module; and the anti-drop horizontal bar coupled to the moving frame unit for the crane hand module and connected to the anti-drop combined anti-drop connection member so that the anti-drop horizontal bar enters and leaves the lower region of the secondary battery cell. It may include an actuator for anti-swing and anti-drop for moving.

According to another aspect of the present invention, the traveling unit for the crane traveling in the first axial direction along the traveling rail; a crane hand unit supported by the crane driving unit and holding a plurality of secondary battery cells; and an up/down movement unit for a crane coupled to the crane travel unit and connected to the crane hand unit to vertically move the crane hand unit, wherein the crane hand unit Silver, a hand module for a stacker crane holding the secondary battery cell; And a crane coupled to the up/down moving unit for the crane and connected to the hand module for the stacker crane, and moving the hand module for the stacker crane in a second axis direction crossing the first axis direction. It includes a fork module for the stacker crane, and the hand module for the stacker crane includes a fixed frame unit for the crane hand module coupled to the fork module for the crane; a movable frame unit for the crane hand module supported to be movable relative to the fixed frame unit for the crane hand module; a gripping part for a crane supported by the moving frame part for the crane hand module and gripping a secondary battery cell; And coupled to the fixed frame for the crane hand module and connected to the movable frame for the crane hand module, electromagnetically interacting with the movable frame for the crane hand module to limit the movement of the movable frame for the crane hand module. It may include an auto-centering unit that does.

The auto-centering unit may include an electromagnet for auto-centering that is in contact with the movable frame unit for the crane hand module and applies magnetic force to the movable frame unit for the crane hand module.

The gripping part for the crane includes a gripping bracket for the crane connected to the moving frame part for the crane hand module; and a plurality of crane unit gripping units coupled to the crane gripping bracket.

The unit gripping unit for the crane includes a pair of grippers for the crane disposed spaced apart from each other; and an actuator for a crane gripper coupled to the gripping bracket for a crane and connected to the pair of grippers for a crane and moving each of the pair of grippers for a crane in a mutually approaching and spaced direction.

The hand module for the stacker crane is connected to the moving frame part for the crane hand module, and further includes a guide part for alignment formed with a guide groove for alignment into which a guide pin for alignment provided in a charging device for charging the secondary battery cell is inserted. can do.

The aligning guide unit is coupled to the moving frame unit for the crane hand module and includes a guide rod body having a guide groove for aligning; and a guide rod head provided at a lower end region of the guide rod body and having an insertion guide hole communicating with the guide groove for alignment, wherein the insertion guide hole is formed in a shape in which an inner diameter decreases from lower side to upper side. can

According to the present invention, a movable frame part for a crane hand module supported by a fixed frame part for a crane hand module capable of relative movement, a gripping part for a crane supported by a movable frame part for a crane hand module and holding a secondary battery cell, It is coupled to the fixed frame for the crane hand module, connected to the movable frame for the crane hand module, and electromagnetically interacts with the movable frame for the crane hand module to limit the movement of the movable frame for the crane hand module. , Allowing and restricting the relative movement of the movable frame part for the crane hand module to the fixed frame part for the crane hand module can be quickly and easily switched, thereby aligning the charging device of the crane gripping part holding the secondary battery cell can be easily performed.

1 is a view showing a multi-stacker crane system according to an embodiment of the present invention.
Figure 2 is a plan view of Figure 1;
Figure 3 is a side view of Figure 1;
4 is a view showing the stacker crane device of FIG. 1;
Figure 5 is a side view of Figure 4;
6 is a view showing a hand module for a stacker crane of FIG. 5;
Figure 7 is a front view of Figure 6;
8 is a view showing the inside of the hand module for the stacker crane of FIG. 5;
FIG. 9 is a cross-sectional view taken along line AA of FIG. 6 .
FIG. 10 is an enlarged cross-sectional view of part 'B' of FIG. 8 .
11 is a view showing an anti-swing combined anti-drop portion for a crane of FIG. 7 .
12 is a view showing a logistics tray and a process tray used in the multi-stacker crane system of FIG. 1 .
FIG. 13 is a view showing the cell transfer device of FIG. 1;
Fig. 14 is a front view of Fig. 13;
Fig. 15 is a plan view of Fig. 13;
Fig. 16 is a side view of Fig. 13;
FIG. 17 is a view illustrating the Lee Jae-yong gripper of FIG. 13 .
Fig. 18 is a front view of Fig. 17;
FIG. 19 is a view showing a state in which the spacing of Lee Jae-yong's unit gripping parts in FIG. 18 is narrowed.
Fig. 20 is a side view of Fig. 17;
FIG. 21 is a view illustrating an anti-swing combined anti-drop unit for Lee Jae-yong of FIG. 1 .
Fig. 22 is a plan view of Fig. 21;
Fig. 23 is a side view of Fig. 21;
FIG. 24 is a view showing a state in which the shielding block unit of FIG. 21 is disposed in a lower region of a secondary battery cell.

In order to fully understand the present invention and its operational advantages and objectives achieved by the practice of the present invention, reference should be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. However, in describing the present invention, descriptions of already known functions or configurations will be omitted to clarify the gist of the present invention.

In the following drawings, the first axis direction is indicated by X, the second axis direction crossing the first axis direction is indicated by Y, and the third axis direction (vertical direction) crossing the first axis direction and the second axis direction is indicated by Y. ) is represented by Z.

1 is a view showing a multi-stacker crane system according to an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, FIG. 3 is a side view of FIG. 1, and FIG. 4 shows the stacker crane device of FIG. 1 FIG. 5 is a side view of FIG. 4, FIG. 6 is a view showing the hand module for a stacker crane of FIG. 5, FIG. 7 is a front view of FIG. 6, and FIG. 8 is a hand module for a stacker crane of FIG. 9 is a view showing a cross section taken along line A-A in FIG. 6, FIG. 10 is a cross-sectional view showing an enlarged portion 'B' in FIG. 8, and FIG. 11 is a crane in FIG. 7 12 is a view showing a logistics tray and a process tray used in the multi-stacker crane system of FIG. 1, and FIG. 13 is a view showing the cell transfer device of FIG. 1 , FIG. 14 is a front view of FIG. 13, FIG. 15 is a plan view of FIG. 13, FIG. 16 is a side view of FIG. 13, FIG. 17 is a view showing the gripper for Lee Jae-yong of FIG. 13, and FIG. 18 is a front view of FIG. , FIG. 19 is a view showing a state in which the distance between the Lee Jae-yong unit gripping parts is narrowed in FIG. 18, FIG. 20 is a side view of FIG. 17, and FIG. FIG. 22 is a plan view of FIG. 21 , FIG. 23 is a side view of FIG. 21 , and FIG. 24 is a view showing a state in which the shielding block unit of FIG. 21 is disposed in a lower region of a secondary battery cell.

As shown in FIGS. 1 to 24, the multi-stacker crane system according to the present embodiment includes a main frame MP, a first charging device 100, a second charging device 200, and a stacker crane device. 300, and a cell transfer device 400.

The main frame (MP) is formed of a multi-layered structure in which a plurality of pillars and beams are connected. A first charging device 100, a second charging device 200, a stacker crane device 300, and a cell transfer device 400 are disposed on each floor of the main frame MP.

The first charging device 100 and the second charging device 200 are supported on the main frame MP. The first charging device 100 and the second charging device 200 are devices used in a formation process for charging and activating secondary battery cells assembled in a discharged state, and the secondary battery cells from the stacker crane device 300 The battery cell is supplied and the secondary battery cell is charged.

In this embodiment, the first charging device 100 and the second charging device 200 are spaced apart from each other by a predetermined interval in the second axis direction Y, as shown in FIGS. 1 to 3 .

The first charging device 100 and the second charging device 200 are provided in plurality and are spaced apart from each other in the first axis direction X as shown in FIGS. 1 and 2 . In addition, the first charging device 100 and the second charging device 200 are provided in multiple numbers as shown in FIGS. 1 and 3 and are spaced apart from each other in the vertical direction of the third axis direction (Z).

The first charging device 100 and the second charging device 200 are formed in a rectangular box shape, and the first charging device 100 and the second charging device 200 have a seat for a rechargeable battery into which a secondary battery cell is inserted. A groove (not shown) is formed.

As shown in FIGS. 1 and 3, the upper ends of each of the first charging device 100 and the second charging device 200 are inserted into guide grooves 334c for alignment of the guide portion 334 for alignment, which will be described later. A guide pin P for alignment is provided. In FIG. 8, only parts of the first charging device 100 and the second charging device 200 are simplified and shown for convenience of illustration.

The stacker crane device 300 is supported by the main frame MP and is disposed between the first charging device 100 and the second charging device 200. The stacker crane device 300 supplies secondary battery cells to each of the first charging device 100 and the second charging device 200, and the secondary battery in each of the first charging device 100 and the second charging device 200. pick up the cell

In this embodiment, as shown in FIGS. 1 and 3, the stacker crane device 300 is provided in multiple pieces and is spaced apart from each other in the vertical direction (Z).

As shown in FIGS. 4 and 5, the stacker crane device 300 includes a crane travel unit 310 traveling along a travel rail (not shown) coupled to the main frame MP, and a crane travel unit. The crane hand unit 320 supported by the 310 and gripping a plurality of secondary battery cells, coupled to the crane driving unit 310 and connected to the crane hand unit 320, the crane hand unit 320 ) includes an up/down moving unit 360 for a crane that moves the vertical direction (Z).

That is, the driving unit 310 for a crane is coupled to the main frame MP and travels along a driving rail (not shown) disposed between the first charging device 100 and the second charging device 200 . In this embodiment, the driving unit 310 for the crane is provided with a driving means (not shown) for movement.

The up/down movement unit 360 for the crane is coupled to the driving unit 310 for the crane. The crane up/down movement unit 360 is connected to the crane hand unit 320 to move the crane hand unit 320 in the vertical direction (the third axis direction Z). In this embodiment, the up/down movement unit 360 for a crane may be formed of a linear motor of a ball screw type.

The hand unit 320 for a crane is coupled to an up/down movement unit 360 for a crane and supported by a driving unit 310 for a crane. The hand unit 320 for a crane grips a plurality of secondary battery cells.

As shown in FIGS. 4 to 11 , the hand unit 320 for a crane according to this embodiment includes a hand module 330 for a stacker crane holding a secondary battery cell, and an up/down crane for a crane. ) A fork module 340 for a crane coupled to the moving unit 360, connected to the hand module 330 for a stacker crane, and moving the hand module 330 for a stacker crane in the second axial direction (Y).

The crane fork module 340 moves the hand module 330 for the stacker crane in the second axial direction (Y). In this embodiment, the fork module 340 for a crane is composed of a telescopic multi-arm structure, but unlike this, it may be composed of a single arm.

As shown in FIGS. 4 and 5, the fork module 340 for a crane includes a fixed arm portion 341 for a fork module coupled to an up/down moving unit 360 for a crane, A first moving arm portion 342 for fork modules connected to the fixed arm portion 341 for fork modules for relative movement, and a first moving arm portion 342 for fork modules connected to the first moving arm portion 342 for relative movement and used for stacker cranes The hand module 330 is connected to the second moving arm 343 for fork module coupled to the first moving arm 342 for fork module and moves the first moving arm 342 for fork module. It includes a one-arm moving unit 344 and a second arm moving unit 345 that is connected to the second moving arm unit 343 for fork module and moves the second moving arm unit 343 for fork module.

The first moving arm portion 342 for fork module is coupled to the fixed arm portion 341 for fork module in a sliding manner by a guide rail G mounted on the fixed arm portion 341 for fork module. In addition, the second moving arm unit 343 for fork module can be slidably moved to the first moving arm unit 342 for fork module by the guide rail G mounted on the first moving arm unit 342 for fork module. are tightly coupled

The first arm moving unit 344 moves the first moving arm unit 342 for the fork module. The first arm moving unit 344 rotates between the first arm moving rack gear 344a coupled to the lower end region of the first moving arm unit 342 for fork module and the fixed arm unit 341 for fork module. The pinion gear 344b for moving the first arm that is capable of being coupled and meshed with the rack gear 344a for moving the first arm, and the pinion gear 344b for moving the first arm that is mounted on the fixed arm part 341 for the fork module rotates It includes a driving motor (not shown) for moving the first arm.

The pinion gear 344b for moving the first arm is rotated by the operation of the driving motor (not shown) for moving the first arm, and the first moving arm 342 for the fork module is rotated by the rotation of the pinion gear 344b for moving the first arm. goes forward and backward

The second arm moving unit 345 moves the second moving arm unit 343 for the fork module. The second arm moving unit 345 is coupled to the rack gear 345b for the fixed arm coupled to the fixed arm unit 341 for the fork module and to the upper region of the second moving arm unit 343 for the fork module. The rack gear 345a for moving the second arm and the main pinion gear 345c for moving the second arm rotatably coupled to the first moving arm unit 342 for the fork module and meshed with the rack gear 345b for the fixed arm, , The second arm rotatably coupled to the first moving arm portion 342 for the fork module, connected to the main pinion gear 345c for moving the second arm, receiving rotational force, and engaged with the rack gear 345a for moving the second arm. It includes a driven pinion gear 345d for movement.

The main pinion gear 345c for moving the second arm meshed with the rack gear 345b for the fixed arm is rotated by the forward and backward movement of the first moving arm 342 for the fork module. The rotational force of the main pinion gear 345c for moving the second arm is transmitted to the driven pinion gear 345d for moving the second arm through a separate connecting gear (not shown), and the driven pinion gear 345d for moving the second arm is rotated. . The rotational force of the driven pinion gear 345d for moving the second arm is transmitted to the second moving arm 343 for fork module through the rack gear 345a for moving the second arm, so that the second moving arm 343 for fork module It can be moved relative to the first moving arm 342 for the fork module.

In this embodiment, the configuration of the first arm moving unit 344 and the second arm moving unit 345 is an example, and the second moving arm unit 343 for the fork module is the first moving arm unit for the fork module ( 342) can be applied to the fork module 340 for a crane of this embodiment.

Meanwhile, the hand module 330 for the stacker crane grips the secondary battery cell. As shown in FIGS. 6 to 11, the stacker crane hand module 330 includes a crane hand module fixed frame part 331 coupled to the crane fork module 340, and a crane hand module fixed frame. A movable frame part 332 for a crane hand module supported by the part 331 so as to be movable relative thereto, and a gripping part 333 for a crane supported by the movable frame part 332 for a crane hand module and holding a secondary battery cell, The alignment guide groove 334c is connected to the moving frame unit 332 for the crane hand module and into which the alignment guide pins P provided in the first charging device 100 and the second charging device 200 are inserted. It is coupled to the formed guide part 334 for alignment and the fixed frame part 331 for the crane hand module, connected to the movable frame part 332 for the crane hand module, and electromagnetically connected to the movable frame part 332 for the crane hand module. The auto-centering part 335 that interacts with each other to limit the movement of the moving frame part 332 for the crane hand module, and the secondary supported by the moving frame part 332 for the crane hand module and held by the gripping part 333 for the crane It includes an anti-swing combined anti-drop part 336 for a crane to prevent the battery cell from rotating or falling.

The fixed frame part 331 for the crane hand module is coupled to the second moving arm part 343 for the fork module of the fork module 340 for the crane. The fixed frame part 331 for the crane hand module passes through the through-hole 332b for auto centering formed in the moving frame body 332a for the crane hand module, which will be described later, of the moving frame part 332 for the crane hand module, which will be described later. It is connected to the inner wall of the moving frame body 332a for the crane hand module.

In the fixed frame part 331 for the crane hand module according to the present embodiment, an electromagnet 335a for auto centering, which will be described later, is disposed therein, and a protruding member for auto centering, which will be described later, formed on the movable frame part 332 for the crane hand module. An insertion groove 331a for auto centering into which 332c is inserted is formed.

The movable frame part 332 for the crane hand module is connected to the fixed frame part 331 for the crane hand module to be relatively movable.

As shown in FIGS. 6 to 10, the movable frame unit 332 for the crane hand module according to the present embodiment is coupled to the fixed frame unit 331 for the crane hand module for relative movement. It is coupled to the frame body 332a and the moving frame body 332a for the crane hand module, and the crane gripping part 333 is connected to the crane gripping part 333 for moving the crane gripping part 333 in the vertical direction Z. A crane that is coupled to the down part (not shown) and the up/down part (not shown) for the crane gripping part and the crane gripping part 333 is connected to adjust the distance between the two rows of crane gripping parts 333 It includes a dragon job changer (not shown).

The mobile frame body 332a for the crane hand module is formed in a rectangular box shape with a hollow inside and an open lower end. Four auto-centering through-holes 332b through which the fixed frame portion 331 for the crane hand module passes are formed on both side walls of the movable frame body 332a for the crane hand module.

As shown in FIG. 9, a protruding member 332c for auto-centering protrudes from the inner wall surface of the moving frame body 332a for the crane hand module. The protruding member 332c for auto-centering is in contact with an electromagnet 335a for auto-centering, which will be described later, of the auto-centering unit 335. In this embodiment, the protruding member 332c for auto centering may be made of an iron material that interacts with magnetic force.

The up/down part (not shown) for the crane gripping part is coupled to the moving frame body 332a for the crane hand module and is connected to the crane job changer (not shown) to move the crane gripping part 333 in the vertical direction (third axis). direction (Z)). In this embodiment, the up/down part (not shown) for the crane gripping part may be formed of a linear motor of a ball screw type.

A job changer (not shown) for a crane is coupled to an up/down portion (not shown) for a crane gripping part. The crane gripper 333 is connected to the crane job changer (not shown). As will be described later, in this embodiment, the gripping parts 333 for cranes are spaced apart in the second axial direction (Y) and disposed in two rows so as to grip both edges of the secondary battery cells. The crane job changer (not shown) is connected to each of the crane gripping parts 333 arranged in two rows and moves each of the crane gripping parts 333 in the second axial direction (Y) so as to move the crane grippers arranged in two rows. Spacing between branches 333 may be adjusted.

By such a job changer (not shown), the distance between the crane gripping parts 333 spaced apart in two rows in the second axial direction (Y) can be adjusted, and accordingly, various lengths of the secondary battery cells (second The distance between the gripping parts 333 for cranes arranged in two rows is adjusted corresponding to the length in the axial direction (Y), so that secondary battery cells of various sizes can be easily gripped.

In this embodiment, the crane job changer (not shown) may be formed of a ball screw type linear motor.

The gripping part 333 for the crane is coupled to the crane job changer (not shown) of the moving frame part 332 for the crane hand module. The gripping part 333 for the crane grips the secondary battery cell. As described above, the gripping parts 333 for cranes are provided in a pair so as to grip both edges of the secondary battery cells and are spaced apart from each other in the second axial direction (Y).

As shown in FIG. 8, the crane gripping unit 333 according to the present embodiment includes a crane gripping bracket 333a connected to the moving frame unit 332 for a crane hand module, and a crane gripping bracket 333a. ) and includes a plurality of crane unit gripping parts 333b coupled to.

The crane holding bracket 333a is coupled to the crane job changer (not shown) of the moving frame unit 332 for the crane hand module.

A plurality of unit gripping parts 333b for cranes are provided and coupled to the gripping bracket 333a for cranes. As shown in FIG. 8, the crane unit gripping part 333b according to the present embodiment is coupled to a pair of crane grippers 333c disposed spaced apart from each other and a crane gripping bracket 333a, It is connected to the pair of grippers for cranes 333c and includes actuators for crane grippers 333d for moving each of the pair of grippers for cranes 333c in a mutually approaching and spaced direction.

An upper end region of a secondary battery cell may be disposed between the pair of grippers 333c for a crane that are spaced apart from each other.

The crane gripper actuator 333d is coupled to the crane gripping bracket 333a and moves each pair of crane grippers 333c in a mutually approaching and spaced direction so that the pair of crane grippers 333c is a secondary battery to grip the cell. In this embodiment, the actuator 333d for the crane gripper is made of a pressure cylinder.

The alignment guide part 334 is coupled to the moving frame body 332a for the crane hand module of the moving frame part 332 for the crane hand module. A guide groove 334c for alignment is formed in the guide portion 334 for alignment into which guide pins P for alignment coupled to the upper ends of each of the first charging device 100 and the second charging device 200 are inserted. .

As shown in FIGS. 7, 8 and 10, the alignment guide unit 334 according to the present embodiment is coupled to the moving frame unit 332 for the crane hand module and has a guide groove 334c for alignment. It includes a guide rod body 334a and a guide rod head 334b provided at a lower end of the guide rod body 334a and having an insertion guide hole 334d communicating with the guide groove 334c for alignment.

The guide rod body 334a is formed in a long rod shape. The upper end of the guide rod body 334a is coupled to the moving frame body 332a for the crane hand module, and a guide groove 334c for alignment is formed inside the guide rod body 334a.

The guide rod head 334b is coupled to the lower end area of the guide rod body 334a. An insertion guide hole 334d communicating with the guide groove 334c for alignment is formed in the guide bar head 334b.

As shown in FIG. 10, the insertion guide hole 334d is formed in a shape in which the inner diameter decreases from the lower side to the upper side. In this way, since the insertion guide hole 334d is formed in a shape in which the inner diameter decreases from the lower side to the upper side, the guide pin P for alignment can be guided to be easily inserted into the guide groove 334c for alignment.

The auto centering unit 335 is coupled to the fixed frame unit 331 for the crane hand module and connected to the moving frame unit 332 for the crane hand module. The auto centering unit 335 electromagnetically interacts with the moving frame unit 332 for the crane hand module to limit the movement of the moving frame unit 332 for the crane hand module.

The auto centering unit 335 includes an electromagnet 335a for auto centering that contacts the moving frame unit 332 for the crane hand module and applies magnetic force to the moving frame unit 332 for the crane hand module.

The electromagnet 335a for auto-centering is disposed inside the insertion groove 331a for auto-centering of the fixed frame part 331 for the crane hand module. A protruding member 332c for auto-centering is slidably connected to the upper surface of the electromagnet 335a for auto-centering.

The inner diameter of the insertion groove 331a for auto centering is larger than the outer diameter of the protrusion member 332c for auto centering, so that the protrusion member 332c for auto centering is a predetermined distance in the horizontal direction from the inside of the insertion groove 331a for auto centering. can be moved as much as The movement of the protruding member 332c for auto centering is the same as the movement of the entire moving frame part 332 for the crane hand module, and the moving frame part 332 for the crane hand module is controlled by the guide part 334 for alignment. In the process of being aligned with each of the first charging device 100 and the second charging device 200, the moving frame unit 332 for the crane hand module is horizontally moved. In the process of aligning the movable frame part 332 for the crane hand module with each of the first charging device 100 and the second charging device 200, the electromagnet 335a for auto centering does not apply magnetic force, so that auto centering The protruding member 332c can freely move in the horizontal direction inside the insertion groove 331a for auto centering.

After the movable frame part 332 for the crane hand module is aligned with each of the first charging device 100 and the second charging device 200, that is, the guide groove for alignment into which the guide pin P for alignment is inserted ( 334c), by applying magnetic force from the electromagnet 335a for auto-centering, the protruding member 332c for auto-centering is fixed to the electromagnet 335a for auto-centering by the magnetic force of the electromagnet 335a for auto-centering. The protruding member 332c for auto-centering does not move horizontally inside the insertion groove 331a for auto-centering.

In this way, by providing an auto centering unit 335 that electromagnetically interacts with the moving frame unit 332 for the crane hand module according to the present embodiment to limit the movement of the moving frame unit 332 for the crane hand module, the crane Allowing and restricting movement in the horizontal direction of the movable frame part 332 for the hand module can be easily switched, and accordingly, auto centering and alignment of the movable frame part 332 for the crane hand module can be performed quickly and simply. can

The crane anti-swing combined anti-drop unit 336 is supported by the moving frame unit 332 for the crane hand module. The crane anti-swing combined anti-drop part 336 prevents the secondary battery cell gripped by the crane gripping part 333 from rotating or falling. In this embodiment, anti-swing anti-drop parts 336 for cranes are provided as a pair and are spaced apart from each other in the second axial direction (Y).

As shown in FIGS. 6 to 8 and 11 , the anti-swing anti-drop part 336 for the crane may be disposed in the lower region of the secondary battery cell gripped by the gripping part 333 for the crane. An anti-swing stopping member (336b) coupled to the anti-drop horizontal bar (336a) and the anti-drop horizontal bar (336a) and disposed between a plurality of secondary battery cells gripped by the crane gripping part (333) And, an anti-swing combined anti-drop connecting member 336c coupled to the anti-drop horizontal bar 336a and slidably connected to the moving frame unit 332 for the crane hand module, the moving frame unit for the crane hand module ( 332) and is connected to the anti-swing combined anti-drop connection member 336c and moves the anti-drop horizontal bar 336a so that the anti-drop horizontal bar 336a enters and leaves the lower region of the secondary battery cell. An actuator 336d for anti-swing and anti-drop is included.

The anti-drop horizontal bar 336a may be disposed in a lower region of the secondary battery cell gripped by the crane gripper 333 . The anti-drop horizontal bar 336a is formed in a rectangular bar shape having a long length in the first axial direction (X).

The anti-swing stopping member 336b is coupled to the anti-drop horizontal bar 336a. A plurality of anti-swing stopping members 336b are provided and spaced apart from each other.

In the anti-swing stopping member 336b according to the present embodiment, when the anti-drop horizontal bar 336a enters the lower region of the secondary battery cell gripped by the crane gripping unit 333, the crane gripping unit 333 ), by being disposed between the plurality of secondary battery cells gripped by the stacker crane device 300, rotation of the secondary battery cells gripped by the crane gripper 333 is prevented by inertial force while the stacker crane device 300 is moving.

The anti-swing and anti-drop connecting member 336c is coupled to the anti-drop horizontal bar 336a. The connecting member 336c for anti-swing and anti-drop is coupled to a guide rail (not shown) provided in the moving frame body 332a for a crane hand module to be slidably movable in the second axial direction.

The anti-swing and anti-drop actuator 336d is coupled to the moving frame body 332a for the crane hand module of the moving frame unit 332 for the crane hand module. The anti-swing-combined anti-drop actuator 336d is connected to the anti-swing-combined anti-drop connection member 336c so that the anti-drop horizontal bar 336a enters and leaves the lower region of the secondary battery cell. The bar 336a is moved in the second axis direction (Y). The actuator 336d for anti-swing and anti-drop may be formed of a ball screw-type linear motor or a pressure cylinder.

Meanwhile, the cell transfer device 400 is supported by the main frame MP. The cell transfer device 400 transfers the plurality of secondary battery cells accommodated in the distribution tray 500 to the process tray 600 by varying the separation interval. The secondary battery cells assembled in a discharged state are accommodated in the distribution tray 500, and the distribution tray 500 is transferred to a lower area of the cell transfer device 400 through a separate transfer device (not shown).

A plurality of seating grooves 510 for logistics trays spaced apart from each other are formed in the logistics tray 500 . A secondary battery cell is inserted into each of the seating grooves 510 for the distribution tray.

The process tray 600 is disposed in the lower region of the cell transfer device 400 . Secondary battery cells are accommodated in the process tray 600, and the secondary battery cells accommodated in the process tray 600 are picked up by the crane hand unit 320 of the stacker crane device 300 and transferred to the first charging device 100. It is delivered to each of the second charging devices 200.

A plurality of seating grooves 610 for process trays spaced apart from each other are formed in the process tray 600 . A secondary battery cell is inserted into each of the seating grooves 610 for the process tray.

The spacing between the seating grooves 510 for logistics trays is smaller than the spacing between the seating grooves 610 for process trays. In this way, by forming the separation distance between the seating grooves 510 for logistics trays smaller than the spacing between the seating grooves 610 for process trays, the logistics tray 500 has the same number of secondary battery cells as the process tray 600 The size of the logistics tray 500 can be formed smaller than that of the process tray 600 while accommodating the logistics tray 500, and accordingly, storage and transportation of the logistics tray 500 are easy to increase logistics convenience.

As shown in FIGS. 13 to 24 , the cell transfer device 400 according to the present embodiment includes a transfer device frame 410 connected to and supported by a main frame MP, and holding a plurality of secondary battery cells. It is coupled to the transfer hand unit 420 and the transfer device frame 410 and connected to the transfer hand unit 420, and the transfer hand unit 420 is located in the upper area of each of the distribution tray 500 and the process tray 600 A transfer unit 470 for moving the transfer hand unit 420 in the first axial direction (X) so that the transfer hand unit 420 is supported by the transfer device frame 410 and is disposed in the lower area of the transfer hand unit 420 and is used for transfer. An anti-swing combined anti-drop unit 480 for preventing the secondary battery cell held by the hand unit 420 from rotating or falling is included.

The transfer unit 470 is coupled to the transfer device frame 410 . The transfer unit 470 is connected to the transfer hand unit 420 so that the transfer hand unit 420 can be positioned in the upper area of the distribution tray 500 and the process tray 600, respectively. is moved in the first axis direction (X). In this embodiment, the transfer unit 470 for Lee Jae-yong may be formed of a linear motor of a ball screw type.

Jaeyong Lee's hand unit 420 holds a plurality of secondary battery cells. As shown in FIGS. 13 to 20 , the transfer hand unit 420 includes a fixed frame unit 430 coupled to the transfer unit 470 and a grip unit 440 for gripping a secondary battery cell. And, an up/down moving unit 450 coupled to the fixed frame unit 430 and connected to the gripping unit 440 for transferring and moving the gripping unit 440 in the vertical direction Z. includes

Jaeyong Lee's fixing frame part 430 is formed in the shape of a square plate. The fixed frame unit 430 for transferring is coupled to the moving unit 470 for transferring.

Jaeyong Lee's up/down moving unit 450 is coupled to Jaeyong Lee's fixed frame 430 . The up/down moving unit 450 for transferring is connected to the gripping unit 440 for transferring and moves the gripping unit 440 for transferring in the vertical direction (the third axis direction Z).

The up/down moving unit 450 for Lee Jae-yong according to the present embodiment is coupled to the Lee Jae-yong fixing frame 430 so as to be relatively movable in the vertical direction, and an up/down rack gear (not shown) is provided. The up/down lifting rod part 451 and the up/down pinion gear (not shown) coupled to the Lee Jae-yong fixing frame part 430 and meshed with the up/down rack gear (not shown) are rotatably coupled. It is attached to the up/down gearbox unit 452 and the Lee Jae-yong fixed frame unit 430 and is connected to the up/down gearbox unit 452 to rotate the up/down pinion gear (not shown). It includes an up/down power transmission unit 453 that provides. The power transmission unit 453 for up/down may be formed of an electric motor.

Jaeyong Lee gripping unit 440 grips the secondary battery cell. As shown in FIGS. 13 to 20, the transfer gripping unit 440 includes a transfer frame unit 441 coupled to the transfer up/down moving unit 450, and a transfer frame unit for transfer. A pair of gripping brackets 442 for transfer that are connected to 441 so as to be slidably movable in the second axis direction Y and disposed spaced apart from each other, and a pair of grips for transfer that are coupled to the moving frame unit 441 for transfer It is connected to each of the brackets 442 and is coupled to a job changer (not shown) for dissemination, which moves each of the dissemination holding brackets 442 in a mutually approaching and separated direction, and is coupled to each of the dissemination holding brackets so as to be relatively movable. A plurality of dissimilar unit gripping parts 444 that are spaced apart from each other and a dissimilar spacing control unit 445 that is connected to the dissimilar unit gripping unit 444 and changes the separation interval between the dissimilar unit gripping units 444. include

As shown in FIG. 13, the moving frame unit 441 for Lee Jae-yong is formed in the shape of a square plate. The moving frame unit 441 for transfer is coupled to the up/down lifting rod unit 451 of the up/down moving unit 450 for transfer.

The gripping brackets 442 for Lee Jae-Yong are provided as a pair and are spaced apart from each other in the second axial direction (Y). As shown in FIGS. 13 to 19 , the gripping bracket part 442 for Lee Jae-yong is a bracket that is slidably coupled to the guide rail G provided on the moving frame part 441 for Lee Jae-yong in the second axial direction (Y). It includes a body 442a and a bracket guide shaft 442b coupled to the bracket body 442a and connected to the Lee Jae-yong unit gripping part 444 to be slidably movable in the first axial direction (X).

The transfer job changer (not shown) is mounted on the transfer frame unit 441 . The transfer job changer (not shown) is connected to each of the pair of transfer gripping brackets 442 to move the transfer gripping brackets 442 in a mutually approaching and spaced direction.

The distance between the pair of gripping brackets 442 for dissemination is adjusted by the operation of the job changer for dissemination (not shown), and accordingly, the gripping unit 444 for dissemination connected to the gripping bracket unit 442 for dissemination is adjusted. The spacing (interval in the second axis direction (Y)) is adjusted.

In this embodiment, the transfer job changer (not shown) is mounted on the transfer frame unit 441 and is connected to the bracket body 442a to move the transfer unit gripping unit 444 in the second axial direction (Y). It includes a job changer actuator (not shown) for dissemination. In this embodiment, Jaeyong Lee's job changer actuator (not shown) may be formed of a linear motor.

As described above, the multi-stacker crane system according to the present embodiment is provided with a job changer (not shown) for transferring material that can adjust the distance between the material transfer unit gripping parts 444 (interval in the second axis direction (Y)). , There is an advantage in that secondary batteries of various sizes can be gripped by adjusting the distance between the Lee Jae-yong unit gripping parts 444 (interval in the second axis direction (Y)) corresponding to the length of the secondary battery cell.

On the other hand, Jaeyong Lee unit gripping parts 444 are provided in plurality and are spaced apart from each other in the first axial direction (X). As described above, the unit gripping parts 444 for transfer are provided in two rows spaced apart in the second axial direction (X), and are coupled to each of the pair of gripping brackets for transfer in the first axial direction (X) so as to be relatively movable.

As shown in FIGS. 18 to 20 , the unit gripping unit 444 for transferring materials according to the present embodiment includes sliding block units 444a that are slidably coupled to each of the gripping brackets 442 for transferring materials, and A pair of transfer grippers 444b disposed apart from each other, coupled to the transfer sliding block 444a and connected to the pair of transfer grippers 444b, and approaching and separating the pair of transfer grippers 444b from each other and an actuator 444c for the transfer gripper that moves in the direction of

The sliding block part 444a for Lee Jae-yong is coupled to the outer circumferential surface of the bracket guide shaft 442b of the gripping bracket part 442 for Lee Jae-yong. A first spacing adjustment protruding member 444d penetrating the first spacing adjusting slit hole 445c formed in the first spacing adjusting link 445a to be described later is protruded from the sliding block portion 444a for Lee Jae-yong.

A pair of transfer grippers 444b are spaced apart from each other. An upper region of the secondary battery cells is disposed between the pair of grippers 444b for transfer, and the grippers 444b for transfer, which are spaced apart, approach each other to grip the secondary battery cells.

The transfer gripper actuator 444c is coupled to the transfer sliding block 444a. The actuator 444c for the transfer gripper is connected to the pair of transfer grippers 444b and moves the pair of transfer grippers 444b in a mutually approaching and spaced direction. In this embodiment, the actuator 444c for the transfer gripper is made of a pressure cylinder.

The Lee Jae-yong spacing adjusting unit 445 is connected to the Lee Jae-yong sliding block 444a of the Lee Jae-yong unit gripping unit 444. The Lee Jae-yong spacing adjusting unit 445 changes the spacing between the Lee Jae-yong unit gripping units 444 (the spacing in the first axial direction (X)).

As described above, the cell transfer device 400 according to the present embodiment is provided with the transfer unit gripping unit 444 for changing the separation distance between each of the transfer unit gripping units 444, so that distribution trays having different separation intervals are seated. The secondary battery cell can be easily transferred between the distribution tray 500 having the groove 510 and the seating groove 610 for the process tray and the process tray 600 .

As shown in FIGS. 17 to 19 , the gap adjusting unit 445 for Lee Jae-yong according to the present embodiment has a first gap-adjusting protruding member 444d formed in each of the Lee Jae-yong unit gripping parts 444 inserted thereto. A slit hole 445c for spacing adjustment is formed and a first link 445a for spacing adjustment connecting the adjacently arranged unit gripping parts 444 for Lee Jae-yong, and a connection part for spacing adjustment coupled to the unit gripping part 444 for Lee Jae-yong ( 445b), and the Lee Jae-yong distance adjusting driving unit coupled to the Lee Jae-yong moving frame unit 441 and connected to the distance adjusting connecting part 445b and adjusting the distance between the Lee Jae-yong unit gripping parts 444 by moving the distance adjusting connecting part 445b. (445d).

The first spacing adjusting link 445a is formed with a first spacing adjusting slit hole 445c into which the first spacing adjusting protruding member 444d of Lee Jae-yong unit gripping part 444 is inserted. The first slit hole 445c for adjusting the distance is formed in a long hole shape in the first axial direction (X).

The first link 445a for adjusting the distance is shown in FIGS. 18 and 19 through the first slit hole 445c for adjusting the distance into which the protruding member 444d for adjusting the distance of the unit gripping part 444 for Jaeyong Lee is inserted. As shown, the Lee Jae-yong unit gripping parts 444 disposed adjacent to each other are connected.

The connection part 445b for adjusting the distance is coupled to the sliding block part 444a for the material transfer unit of the gripping part 444 for the material transfer unit. In this embodiment, as shown in FIG. 18, the connection parts 445b for adjusting the distance are provided as a pair and are coupled to the two unit gripping parts 444 for disposing of the plurality of unit gripping units 444 located at both ends. .

Since the plurality of transfer unit gripping parts 444 are connected to each other by the first distance adjusting links 445a, the distance between the pair of distance adjusting connection parts 445b in the first axial direction X is narrow. As shown in FIGS. 18 and 19 , as shown in FIGS. 18 and 19 , the distance between the Lee Jae-yong unit gripping parts 444 in the first axial direction X is adjusted.

As shown in FIGS. 13, 17 and 18, the connection part 445b for adjusting the distance includes a connection fixing block 445b-1 coupled to Lee Jae-yong unit gripping part 444 and a connection fixing block 445b. -1) includes a rotating roller (445b-2) for connection rotatably coupled to.

The Lee Jae-yong spacing adjusting driving unit 445d is coupled to the Lee Jae-yong moving frame 441 . The spacing adjusting driver 445d for disposing is connected to the connecting portion 445b for adjusting the spacing and moves the connecting portion 445b for adjusting the spacing to adjust the spacing of each unit gripping portion 444 for disposing.

As shown in FIGS. 13 and 16, in the distance adjusting drive unit 445d for transfer according to the present embodiment, the rotation roller 445b-2 for connection is disposed inside, and the outer circumferential surface of the rotation roller 445b-2 for connection is A movable block 445d-1 for spacing adjustment having a cutout hole 445d-3 for connection formed with a contact inner wall, and a movable block 445d-1 for spacing adjustment coupled to the movable block 445d-1 for spacing adjustment and a driving motor 445d-2 for adjusting the distance to move.

The moving block 445d-1 for spacing adjustment is moved in the first axis direction (X). As shown in FIG. 13, a cutout hole 445d-3 for connection is formed in the moving block 445d-1 for adjusting the distance. The cutout hole 445d-3 for connection is formed to extend long in the second axial direction (Y).

The outer circumferential surface of the connecting rotary roller 445b-2 is in contact with the inner wall of the connecting cutout hole 445d-3.

In this way, the spacing adjusting driving unit 445d for transfer according to the present embodiment is a moving block 445d-3 for adjusting the spacing formed in the cutout hole 445d-3 for connecting to which the outer circumferential surface of the rotating roller 445b-2 for connecting is in contact with the inner wall. 1), the Lee Jae-yong unit gripping part 444 is moved in the second axis direction (Y) by the Lee Jae-yong job changer (not shown), and the distance adjustment moving block 445d-1 and the distance adjustment connection part 445b ) is maintained.

The driving motor 445d-2 for adjusting the distance is mounted on the moving frame unit 441 for Lee Jae-yong. The driving motor 445d-2 for adjusting the distance is coupled to the moving block 445d-1 for adjusting the distance and moves the moving block 445d-1 for adjusting the distance in the first axis direction (X). In this embodiment, the drive motor 445d-2 for adjusting the distance is formed of a linear motor of a ball screw type.

The Lee Jae-yong anti-swing combined anti-drop unit 480 is disposed in the lower area of the Lee Jae-yong hand unit 420 to prevent the secondary battery cell held by the Lee Jae-yong hand unit 420 from rotating or falling. The transfer anti-swing combined anti-drop unit 480 is supported by the transfer device frame 410 . The Lee Jae-yong anti-swing combined anti-drop unit 480 moves the Lee Jae-yong anti-swing combined anti-drop unit 481 to be described later in the first axial direction X independently of the Lee Jae-yong gripping part 440 .

As shown in FIGS. 21 to 24 , the anti-swing anti-drop unit 480 for Jae-Yong Lee according to the present embodiment is disposed in the lower region of the secondary battery cell gripped by the hand unit 420 for Jae-Yong Lee and the anti-swing combined use for Jae-Yong Lee. It is connected to the anti-drop part 481 and the anti-swing combined anti-drop part 481 for Lee Jae-yong, and the anti-drop part 481 for Jae-yong Lee is located in the upper area of the distribution tray 500 and the process tray 600, respectively. and an anti-swing combined anti-drop moving unit 482 for moving the Lee Jae-yong anti-swing combined anti-drop unit 481 in the first axial direction (X).

The moving unit 482 for anti-swing and anti-drop is coupled to the anti-drop and anti-swing unit 481 for Lee Jae-yong. The anti-swing combined anti-drop moving unit 482 is such that the anti-swing combined anti-drop unit 481 for Lee Jae-yong can be located in the upper region of the distribution tray 500 and the process tray 600, respectively. The anti-drop part 481 is moved in the first axial direction (X). In this embodiment, the moving unit 482 for anti-swing and anti-drop may be formed of a linear motor of a ball screw type.

Jaeyong Lee's anti-swing combined anti-drop unit 481 is disposed in the lower region of the secondary battery cell held by Jaeyong Lee's hand unit 420 .

As shown in FIGS. 21 to 24, the anti-swing and anti-drop unit 481 for Lee Jae-yong according to the present embodiment is a frame unit for anti-swing and anti-drop that is connected to the moving unit 482 for anti-swing and anti-drop. 481a and a plurality of anti-swing and anti-drop shields that are connected to the anti-swing and anti-drop frame part 481a to be relatively movable and shield the lower part area of the secondary battery cell gripped by the Lee Jae-yong hand unit 420 Interval adjusting unit for anti-swing combined anti-drop (which is connected to the unit 481b and the anti-swing combined anti-drop shielding unit 481b and varies the distance between each of the plurality of anti-swing combined anti-drop shielding units 481b) ( 481c).

As shown in FIGS. 21 to 24, the anti-swing and anti-drop frame unit 481a is coupled to the anti-swing and anti-drop moving unit 482, and the anti-swing and anti-drop frame body 481a-1 ) and the anti-swing combined anti-drop guide shaft 481a-2 coupled to the anti-swing combined anti-drop frame body 481a-1 and to which the anti-swing combined anti-drop shield 481b is slidably connected includes

A plurality of anti-swing and anti-drop shields 481b are provided and spaced apart from each other in the first axial direction (X). Each of the anti-swing and anti-drop shields 481b shields the lower portion of each secondary battery cell held by the Lee Jae-yong hand unit 420 .

As shown in FIGS. 21 to 24, the anti-swing and anti-drop shielding portion 481b according to the present embodiment has a cell insertion groove into which the lower region of the secondary battery cell gripped by the Lee Jae-yong hand unit 420 is inserted. (481b-2) is formed on the shielding block portion (481b-1), and the block connection portion coupled to the shielding block portion (481b-1) and slidably coupled to the anti-swing combined anti-drop frame portion (481a) (481b-3).

The block connecting portion 481b-3 is provided with a second protruding member 481b-4 for adjusting the spacing passing through a slit hole 481c-4 for adjusting the second spacing, which will be described later.

The anti-swing-combined anti-drop spacing control unit 481c is connected to the anti-swing-combined anti-drop shielding unit 481b in the first axial direction X of each of the plurality of anti-swing anti-drop shielding units 481b. change the spacing between

As shown in FIGS. 21 to 23, the anti-swing-combined anti-drop spacing adjusting part 481c is formed on each of the anti-swing-combining anti-drop shielding parts 481b and includes the second protruding members 481b-4 for adjusting the spacing. A second slit hole 481c-4 for adjusting the spacing is formed and a second link 481c-1 for adjusting the spacing 481c-1 connecting the shield 481b for anti-swing and anti-drop that is adjacently disposed, and the combination of anti-swing It is coupled to the connection block portion 481c-2 for spacing adjustment coupled to the shielding portion 481b for anti-drop and the frame portion 481a for anti-swing combined anti-drop and connected to the connection block portion 481c-2 for spacing adjustment, It includes an anti-swing combined anti-drop distance adjusting driving unit 481c-3 for adjusting the distance between the anti-swing and anti-drop shielding parts 481b by moving the connection block part 481c-2 for spacing adjustment.

A second spacing adjusting slit hole 481c-4 into which the second spacing adjusting protruding member 481b-4 of the block connecting portion 481b-3 is inserted is formed in the second spacing adjusting link 481c-1. The second slit hole 481c-4 for adjusting the distance is formed in a long hole shape in the first axial direction (X).

The second spacing adjusting link 481c-1 is disposed adjacently as shown in FIG. 22 through the second spacing adjusting slit hole 481c-4 into which the second spacing adjusting protruding member 481b-4 is inserted. The anti-swing and anti-drop shielding portion 481b is connected.

The connection block portion 481c-2 for spacing adjustment is coupled to the block connection portion 481b-3 of the anti-swing and anti-drop shielding portion 481b. In this embodiment, as shown in FIG. 22, the connection block 481c-2 for adjusting the distance is provided in a pair and includes two anti-swing combined anti-drop shields located at both ends of a plurality of anti-swing combined anti-drop shielding parts 481b. It is coupled to the drop shield (481b).

Since the plurality of anti-swing and anti-drop shielding parts 481b are connected to each other by the second spacing adjusting links 481c-1, the first axis between the pair of spacing adjusting connecting block parts 481c-2 As the distance in the direction (X) narrows or widens, the distance between the anti-swing and anti-drop shields 481b in the first axial direction (X) is adjusted.

The Lee Jae-yong spacing adjusting driving unit 445d is coupled to the Lee Jae-yong moving frame 441 . The spacing adjusting driver 445d for disposing is connected to the connecting portion 445b for adjusting the spacing and moves the connecting portion 445b for adjusting the spacing to adjust the spacing of each unit gripping portion 444 for disposing.

The anti-swing and anti-drop spacing adjustment driving unit 481c-3 is coupled to the anti-swing and anti-drop frame unit 481a. The anti-swing and anti-drop spacing control drive unit 481c-3 is connected to the spacing control connection block 481c-2 and moves the spacing control connection block 481c-2, thereby shielding the anti-swing and anti-drop. The interval of each part 481b is adjusted. In this embodiment, the anti-swing and anti-drop spacing adjusting driving unit 481c-3 is formed of a ball screw-type linear motor.

Hereinafter, the operation of the multi-stacker crane system and the cell transfer method using the multi-stacker crane system according to this embodiment will be described with reference to FIGS. 1 to 24 .

A cell transfer method using a multi-stacker crane system includes a cell transfer step in which a cell transfer device 400 transfers a plurality of secondary battery cells accommodated in a distribution tray 500 to a process tray 600, and a first charging device 100 ) And the stacker crane device 300 disposed between the second charging device 200 disposed spaced apart in the second axial direction (Y) intersecting the first axial direction (X) with respect to the first charging device 100 ) is a first cell transfer step of supplying the secondary battery cells accommodated in the process tray 600 to the first charging device 100, and the stacker crane device 300 supplies the secondary battery cells accommodated in the process tray 600 to the second A second cell transfer step of supplying the cells to the charging device 200 is included.

In the cell transfer step, the cell transfer device 400 grips a plurality of secondary battery cells accommodated in the distribution tray 500 and transfers them to the process tray 600 . As described above, since the separation interval between the seating groove 510 for the logistics tray of the logistics tray 500 and the seating groove 610 for the process tray of the process tray 600 are different from each other, a plurality accommodated in the logistics tray 500 In the process of transferring the secondary battery cells to the process tray 600, the spacing between the unit gripping units 444 is adjusted by the separation adjusting unit 445 for the transfer unit.

In addition, the Lee Jae-yong anti-swing combined anti-drop unit 480 prevents the secondary battery cell held by the Lee Jae-yong hand unit 420 from rotating or falling during the transfer process.

In the first cell transfer step, the secondary battery cells accommodated in the process tray 600 are picked up by the stacker crane device 300 and supplied to the first charging device 100 . The secondary battery cell gripped by the crane gripping unit 333 is prevented from rotating or falling during the movement of the stacker crane device 300 by the anti-swing combined anti-drop unit 336 for the crane.

In the second cell transfer step, the secondary battery cells accommodated in the process tray 600 are picked up by the stacker crane device 300 and supplied to the second charging device 200 .

As such, the multi-stacker crane system according to the present embodiment includes a first charging device 100, a second charging device 200 positioned horizontally apart from the first charging device 100, and a first charging device 200. It is disposed between the device 100 and the second charging device 200 and supplies secondary battery cells to the first charging device 100 and the second charging device 200, and the first charging device 100 and the second charging device By providing the stacker crane device 300 for collecting the secondary battery cells in the device 200, space utilization can be increased and foreign substances can be prevented from falling into the charging device.

In addition, the multi-stacker crane system is supported by the movable frame part 332 for the crane hand module, which is supported by the fixed frame part 331 for the crane hand module so as to be movable relative to it, and the movable frame part 332 for the crane hand module, and is supported by the secondary A gripping part 333 for a crane holding a battery cell, coupled to a fixed frame part 331 for a crane hand module, connected to a moving frame part 332 for a crane hand module, and a moving frame part 332 for a crane hand module By providing an auto-centering unit 335 that electromagnetically interacts with and limits the movement of the moving frame unit 332 for the crane hand module, the moving frame for the crane hand module relative to the fixed frame unit 331 for the crane hand module. It is possible to quickly and conveniently switch between permitting and restricting the relative movement of the unit 332, and accordingly, it is possible to easily align the charging devices 100 and 200 of the crane gripping unit 333 holding the secondary battery cell. can

Although the present embodiment has been described in detail with reference to the drawings, the scope of rights of the present embodiment is not limited to the above-described drawings and description.

As such, the present invention is not limited to the described embodiments, and it is obvious to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such modifications or variations should fall within the scope of the claims of the present invention.

100: first charging device 200: second charging device
300: stacker crane device 310: driving unit for crane
320: hand unit for crane 330: hand module for stacker crane
331: Fixed frame for crane hand module
332: moving frame part for crane hand module
332a: moving frame body for crane hand module
333: gripping part for crane 333a: gripping bracket for crane
333b: unit gripping part for crane 333c: gripper for crane
333d: actuator for crane gripper 334: guide for alignment
334a: guide rod body 334b: guide rod head
334c: guide groove for alignment 334d: insertion guide hole
335: auto-centering unit 335a: electromagnet for auto-centering
336: anti-swing combined anti-drop for crane
336a: horizontal bar for anti-drop 336b: stopping member for anti-swing
336c: connecting member for anti-swing and anti-drop
336d: Actuator for anti-swing and anti-drop
340: fork module for crane
360: up/down movement unit for crane
400: cell transfer device 410: transfer device frame
420: Lee Jae-yong hand unit 430: Lee Jae-yong fixed frame
440: Lee Jae-yong gripping part 441: Lee Jae-yong moving frame part
442: Jaeyong Lee gripping bracket part 444: Jaeyong Lee unit gripping part
444a: Jaeyong Lee sliding block part 444b: Jaeyong Lee gripper
444c: Actuator for different material gripper 444d: Protruding member for adjusting the first distance
445: Lee Jae-yong spacing adjusting unit 445a: first spacing adjusting link
445b: connection part for adjusting spacing 445b-1: fixed block for connection
445b-2: Rotating roller for connection 445c: Slit hole for first spacing adjustment
445d: Lee Jae-yong spacing adjustment driving unit 445d-1: moving block for spacing adjustment
445d-3: cutout hole for connection 445d-2: drive motor for spacing adjustment
450: Jaeyong Lee up / down moving unit 470: Jaeyong Lee moving unit
480: Lee Jae-yong anti-swing anti-drop unit
481: Lee Jae-yong anti-swing combined anti-drop part
481a: Frame part for anti-swing and anti-drop
481b: shield for anti-drop combined with anti-swing
481b-1: block portion for shielding 481b-2: cell insertion groove
481b-3: block connection part 481b-4: protruding member for second spacing adjustment
481c: Spacing control unit for anti-swing and anti-drop
481c-1: Link for second spacing adjustment
481c-2: connection block for spacing adjustment
481c-3: Spacing driving unit for anti-swing and anti-drop
481c-4: slit hole for second spacing adjustment
482: moving part for anti-swing and anti-drop
500: logistics tray 510: seating groove for logistics tray
600: process tray 610: seating groove for process tray
MP: Main frame P: Guide pin for alignment

Claims (15)

A movable frame unit for a crane hand module that is movably supported by a fixed frame unit for a crane hand module;
a gripping part for a crane supported by the moving frame part for the crane hand module and gripping a secondary battery cell; and
It is coupled to the fixed frame for the crane hand module and connected to the movable frame for the crane hand module, and electromagnetically interacts with the movable frame for the crane hand module to limit the movement of the movable frame for the crane hand module A hand module for a stacker crane including an auto-centering unit. According to claim 1,
The auto centering unit,
A hand module for a stacker crane including an electromagnet for auto centering that is in contact with the movable frame part for the crane hand module and applies a magnetic force to the movable frame part for the crane hand module. According to claim 1,
The gripping part for the crane,
a gripping bracket for a crane connected to the mobile frame for the crane hand module; and
A hand module for a stacker crane including a plurality of crane unit gripping parts coupled to the crane gripping bracket. According to claim 3,
The unit gripping part for the crane,
A pair of grippers for cranes disposed spaced apart from each other; and
A hand module for a stacker crane including a crane gripper actuator coupled to the crane gripping bracket, connected to the pair of crane grippers, and moving each of the pair of crane grippers in a mutually approaching and spaced direction. According to claim 1,
A hand module for a stacker crane, which is connected to the moving frame unit for the crane hand module and further comprises a guide portion for alignment having a guide groove for alignment into which a guide pin for alignment provided in a charging device for charging the secondary battery cell is inserted. According to claim 5,
The alignment guide part,
a guide rod body coupled to the moving frame for the crane hand module and having a guide groove for alignment; and
A hand module for a stacker crane comprising a guide rod head provided at a lower end region of the guide rod body and having an insertion guide hole communicating with the guide groove for alignment. According to claim 6,
The insertion guide hole is a hand module for a stacker crane, characterized in that formed in a shape in which the inner diameter decreases from the lower side to the upper side. According to claim 1,
The hand module for a stacker crane, further comprising an anti-swing combined anti-drop part for a crane supported by the moving frame part for the crane hand module and preventing the secondary battery cell gripped by the crane gripping part from rotating or falling. According to claim 8,
The anti-swing combined anti-drop part for the crane,
a horizontal bar for anti-drop that can be disposed in a lower region of the secondary battery cell gripped by the crane gripper;
a stopping member for anti-swing coupled to the anti-drop horizontal bar and disposed between the plurality of secondary battery cells gripped by the crane gripper;
a connecting member for anti-swing combined anti-drop coupled to the anti-drop transverse bar and movably connected to the moving frame for the crane hand module; and
The anti-drop horizontal bar is coupled to the moving frame unit for the crane hand module and connected to the anti-drop combined anti-drop connection member so that the anti-drop horizontal bar enters and leaves the lower region of the secondary battery cell. A hand module for a stacker crane that includes an actuator for anti-swing and anti-drop that moves. A traveling unit for a crane traveling in a first axis direction along a traveling rail;
a crane hand unit supported by the crane driving unit and holding a plurality of secondary battery cells; and
An up/down moving unit for a crane coupled to the crane traveling unit and connected to the crane hand unit, and vertically moving the crane hand unit,
The hand unit for the crane,
a hand module for a stacker crane holding the secondary battery cell; and
For a crane that is coupled to the up/down movement unit for the crane and connected to the hand module for the stacker crane, and moves the hand module for the stacker crane in a second axis direction crossing the first axis direction. Including a fork module,
The hand module for the stacker crane,
a fixed frame for a crane hand module coupled to the crane fork module;
a movable frame unit for the crane hand module supported to be movable relative to the fixed frame unit for the crane hand module;
a gripping part for a crane supported by the moving frame part for the crane hand module and gripping a secondary battery cell; and
It is coupled to the fixed frame for the crane hand module and connected to the movable frame for the crane hand module, and electromagnetically interacts with the movable frame for the crane hand module to limit the movement of the movable frame for the crane hand module A stacker crane device including an auto-centering unit. According to claim 10,
The auto centering unit,
A stacker crane device including an electromagnet for auto centering that is in contact with the moving frame unit for the crane hand module and applies a magnetic force to the moving frame unit for the crane hand module. According to claim 10,
The gripping part for the crane,
A gripping bracket for a crane connected to a mobile frame for a crane hand module; and
A stacker crane device including a plurality of crane unit gripping parts coupled to the crane gripping bracket. According to claim 12,
The unit gripping part for the crane,
A pair of grippers for cranes disposed spaced apart from each other; and
A stacker crane device comprising a crane gripper actuator coupled to the crane gripping bracket and connected to the pair of crane grippers and moving each of the pair of crane grippers in a mutually approaching and spaced direction. According to claim 10,
The hand module for the stacker crane,
The stacker crane device is connected to the moving frame unit for the crane hand module and further includes a guide portion for alignment formed with a guide groove for alignment into which a guide pin for alignment provided in a charging device for charging the secondary battery cell is inserted. According to claim 14,
The alignment guide part,
a guide rod body coupled to the moving frame for the crane hand module and having a guide groove for alignment; and
A guide rod head provided at a lower end of the guide rod body and having an insertion guide hole communicating with the guide groove for alignment;
The insertion guide hole is a stacker crane device, characterized in that formed in a shape in which the inner diameter decreases from the lower side to the upper side.

Images