Electrode stacking device

Abstract

The present invention relates to an electrode stacking device, which comprises a planar motor device (B), the planar motor device (B) comprising a flat plate-shaped stator (50) and a plurality of movable members (40), the plurality of movable members (40) being able to move in any direction along the flat surface (51) and to rotate around an axis perpendicular to the flat surface (51) in a state of being magnetically suspended from the flat surface (51) on a flat surface (51) of the stator. When a new sheet electrode (1) held by an electrode conveying device (A) arranged above the planar motor device (B) is stacked on a stacking electrode holder (60) of the movable member (40), the movable member (40) is moved synchronously with the movement of the new sheet electrode (1) so that the new sheet electrode (1) continuously faces the sheet electrode stacking position on the stacking electrode holder (60).

Description

Technical Field

[0001] The present invention relates to an electrode stack device. Background Art

[0002] The following electrode stacking device is publicly known: a sheet electrode conveying device including a linear motor having a plurality of movable parts traveling on an oblong traveling track and a stacking fixture conveying device including a linear motor having a plurality of movable parts traveling on an oblong traveling track are used, the oblong traveling track of the sheet electrode conveying device is arranged in a vertical plane and the oblong traveling track of the stacking fixture conveying device is arranged in a horizontal plane in a manner such that the straight track portion of the oblong traveling track of the stacking fixture conveying device extends in the same direction below the straight track portion of the sheet electrode conveying device (refer to, for example, Patent Gazette No. 2020-024816).

[0003] In the electrode stacking device, in the linear rail portion, the stacking fixture supported by the movable part of the stacking fixture conveying device moves synchronously with the movement of the sheet electrode held by the movable part of the sheet electrode conveying device. While the sheet electrode and the stacking fixture are moving synchronously, the sheet electrode held by the movable part of the sheet electrode conveying device is stacked in the stacking fixture. Summary of the invention

[0004] However, in such a conveying device including a linear motor, the holding position of the sheet electrode held by the movable member of the sheet electrode conveying device cannot be adjusted. As a result, when the holding position of the sheet electrode held by the movable member of the sheet electrode conveying device deviates from the position where the sheet electrode can be stacked in an aligned manner on the sheet electrode already stacked in the stacking jig, there is a problem that the sheet electrode held by the movable member of the sheet electrode conveying device cannot be stacked in an aligned manner on the sheet electrode already stacked in the stacking jig. Such a problem is difficult to solve as long as a pair of conveying devices including a linear motor as described above is used. In order to solve such a problem, a change of concept is required.

[0005] In order to solve the above-mentioned problems, according to the present invention, there is provided an electrode stacking device for stacking sheet electrodes, wherein the device comprises:

[0006] A planar motor device, comprising a flat plate-shaped stator and a plurality of movable members, the plurality of movable members being able to move in any direction along the flat surface and to rotate around an axis perpendicular to the flat surface in a state of being magnetically suspended from the flat surface on the flat surface of the stator;

[0007] An electrode transport device is disposed above the planar motor device and transports the sheet electrode while holding it along a transport path; and

[0008] A control device for controlling the planar motor device and the electrode transport device,

[0009] A stacked electrode holder for holding stacked sheet electrodes is mounted on each movable member of the planar motor device, and the sequentially stacked sheet electrodes are held by the stacked electrode holder at the sheet electrode stacking position on the stacked electrode holder.

[0010] When stacking a new sheet electrode held by the electrode transport device on the stacked electrode holder of the movable member, the control device moves the movable member in synchronization with the movement of the new sheet electrode so that the new sheet electrode continues to face the sheet electrode stacking position on the stacked electrode holder.

[0011] According to the present invention, when the holding position of the sheet electrode held by the movable part of the sheet electrode conveying device deviates from the position where it can be stacked on the already stacked sheet electrodes in an aligned manner, the holding position of the sheet electrode held by the movable part of the sheet electrode conveying device is not adjusted, but the position of the already stacked sheet electrode is adjusted, thereby making it possible to stack the sheet electrode held by the movable part of the sheet electrode conveying device in an aligned manner on the stacked sheet electrodes. In this case, such adjustment of the position of the already stacked sheet electrode can be achieved by using a planar motor device having a plurality of movable parts that can move in any direction along the flat surface in a state of magnetic levitation from the flat surface of the stator and can rotate around the vertical axis of the flat surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is an overall diagram of the electrode stacking device.

[0013] Figure 2A , 2B 2C are diagrams for explaining sheet electrodes.

[0014] Figure 3 yes Figure 1 An enlarged side view of a portion of the electrode transport device shown.

[0015] Figure 4 It is a cross-sectional view of the movable part.

[0016] Figure 5 It is a side view of the movable part.

[0017] Figure 6 It is a three-dimensional diagram of a planar motor device.

[0018] Fig. 7A , Figure 7B and Figure 7C This is a diagram for explaining the structure of a movable member of a planar motor device.

[0019] Fig. 8A, Figure 8B and Figure 8C This is a diagram for explaining the structure of a stator of a planar motor device.

[0020] Fig. 9 This is a diagram for explaining a method of controlling a movable member of a planar motor device.

[0021] Fig. 10A and Fig. 10B It is a perspective view of another example of each of the laminated electrode holders.

[0022] Fig.11 It is a diagram for explaining the operation of a clamp of a laminated electrode holder.

[0023] Fig.12 This is a diagram for explaining a method of controlling a movable member of a planar motor device.

[0024] Fig.13 It is a diagram for explaining the lamination operation of sheet electrodes.

[0025] Fig.14A and Fig. 14B It is a diagram for explaining the deviation amount of the holding position of the sheet electrode and the method of adjusting the deviation amount.

[0026] Fig.15A and Fig. 15B It is a diagram for explaining the deviation amount of the holding position of the sheet electrode and the method of adjusting the deviation amount.

[0027] Fig.16 It is a flow chart for controlling movable parts.

[0028] Fig.17 is a flow chart for detecting position deviation.

[0029] Fig.18 This is a flowchart for performing cascade processing.

[0030] Fig.19 FIG. 1 is an overall view of another embodiment of an electrode stack device.

[0031] Fig. 20A and Fig. 20B These are a cross-sectional view of the movable member and a view for explaining the operation of the clamp.

[0032] Fig.21A and Fig.21B They are respectively a perspective view of a laminated electrode holder and an explanatory view of a link mechanism.

[0033] Fig. 22 It is a diagram showing the arrangement state of the movable member of the planar motor device.

[0034] Fig.23A and Fig. 23B Each of them is a diagram showing the arrangement state of the movable member of the planar motor device.

[0035] Fig.24 It is a diagram for explaining the lamination operation of sheet electrodes.

[0036] Fig.25 It is a flow chart for controlling movable parts.

[0037] Fig.26 This is a flowchart for performing cascade processing.

[0038] Fig. 27 This is a flowchart for performing cascade processing. DETAILED DESCRIPTION

[0039] The present invention relates to an electrode stacking device for stacking sheet electrodes. In an embodiment of the present invention, an electrode stack is formed using the sheet electrodes stacked by the electrode stacking device, and a plurality of the formed electrode stacks are electrically connected in series or in parallel to form, for example, a battery mounted on a vehicle. Therefore, first, the sheet electrodes stacked in the electrode stacking device are described. Figure 2A FIG. 2 shows a top view of a sheet electrode 1 used in an embodiment of the present invention, Figure 2B and Figure 2C The diagram shows the Figure 2A The cross-sections of two representative examples of the sheet electrode 1 observed along the XX line are shown in FIG. 1. In addition, the thickness of the sheet electrode 1 is less than 1 mm. Figure 2B and Figure 2C In the figure, the thickness of each layer is shown with considerable exaggeration.

[0040] In the embodiment of the present invention, as the sheet electrode 1, either a sheet electrode 1 for a fully solid lithium ion secondary battery or a sheet electrode 1 for a lithium ion secondary battery using an electrolyte or a gel polymer electrolyte can be used. In the case where a sheet electrode 1 for a fully solid lithium ion secondary battery is used as the sheet electrode 1, the sheet electrode 1 is Figure 2B As shown, there is a positive electrode collector layer 2, a positive electrode active material layer 3, a solid electrolyte layer 4, a negative electrode active material layer 5 and a negative electrode collector layer 6. In this case, the positive electrode collector layer 2 is formed of a conductive material. In an embodiment of the present invention, the positive electrode collector layer 2 is formed of a metal foil for current collection, such as an aluminum foil. In addition, the positive electrode active material layer 3 is formed of a positive electrode active material that can absorb metal ions such as lithium ions, sodium ions, and calcium ions during discharge and release them during charging. In addition, the solid electrolyte layer 4 is formed of a material that has conductivity to metal ions such as lithium ions, sodium ions, and calcium ions and can be used as a material for an all-solid-state battery.

[0041] On the other hand, the negative electrode active material layer 5 is formed of a negative electrode active material that can release metal ions such as lithium ions, sodium ions, and calcium ions during discharge and absorb metal ions such as lithium ions, sodium ions, and calcium ions during charge. In addition, the negative electrode collector layer 6 is formed of a conductive material. In the embodiment of the present invention, the negative electrode collector layer 2 is formed of a metal foil for current collection, such as copper foil. Figure 2C In the example shown, the sheet electrode 1 is composed of an 8-layer structure including, from the top, a positive electrode collector layer 2, a positive electrode active material layer 3, a solid electrolyte layer 4, a negative electrode active material layer 5, a negative electrode collector layer 6, a negative electrode active material layer 5, a solid electrolyte layer 4 and a positive electrode active material layer 3.

[0042] On the other hand, when a sheet electrode 1 for a lithium ion secondary battery using an electrolyte solution or a gel polymer electrolyte is used as the sheet electrode 1, Figure 2B and Figure 2C In the embodiment, a separator 4 is used instead of a solid electrolyte layer 4. In this case, for example, after the stacking operation of the sheet electrodes by the electrode stacking apparatus of the present invention is completed, an electrolyte solution or a gel polymer electrolyte is injected into the positive electrode active material layer 3, the separator 4 and the negative electrode active material layer 5 of the stacked sheet electrodes. In addition, the above describes a representative sheet electrode 1, but various other forms of sheet electrodes 1 can be used.

[0043] Reference Figure 1 , Figure 1 , there are shown an electrode transport device A, a planar motor device B, and a control device C for controlling the electrode transport device A and the planar motor device B. First, the electrode transport device A will be described. Figure 3 Shows Figure 1 FIG. 1 is an enlarged side view of a portion of the electrode transport device A shown. Figure 1 and Figure 3 The electrode transport device A includes: an oblong rail 10 including a horizontal straight portion 10 a and a pair of semicircular portions 10 b spaced apart in the vertical direction in a vertical plane, and a plurality of movable members 12 that can travel on the rail 10 . Figure 4 In the figure, it is shown that Figure 3 The cross-sectional view of the movable member 12 observed along the YY line. Figure 4As shown, the movable part 12 comprises: a pair of guide rollers 13 (arranged at the front and rear relative to the traveling direction), which are rotatably mounted on the movable part 12 around an axis 13a and roll on the track 10; a pair of guide rollers 14 (arranged at the front and rear relative to the traveling direction), which are rotatably mounted on the movable part 12 around an axis 14a and roll on the track 10; a guide roller 15, which is rotatably mounted on the movable part 12 around an axis 15a and roll on the track 10; and a guide roller 16, which is rotatably mounted on the movable part 12 around an axis 16a and rolls on the track 10.

[0044] On the other hand, the movable member 12 has a pair of permanent magnets 17 and 18, and a stator 11 having a coil wound thereon is disposed in the electrode transport device A sandwiched between the permanent magnets 17 and 18. The stator 11 and the permanent magnets 17 and 18, that is, the stator 11 and the movable member 12 form a linear motor. Therefore, in the electrode transport device A, the movable member 12 of the linear motor moves on the rail 10. Figure 3 The moving member 12 moves in the conveying direction shown. The moving member 12's travel speed and the like are controlled by the control device C.

[0045] Reference Figure 3 , Figure 4 , and show Figure 4 Side view of Figure 5 A rectangular conveying plate 20 is mounted on the movable member 12. Figure 1 In the embodiment shown, the sheet electrode 1 is held on the conveying plate 20. A plurality of clamps 21 and 22 are mounted on the conveying plate 20 to hold the sheet electrode 1 on the conveying plate 20. Figure 4 and Figure 5 In the illustrated embodiment, a pair of clamps 21 are installed at intervals at the front end of the conveying plate 20 located forward relative to the traveling direction, and a pair of clamps 22 are installed at intervals at the rear end of the conveying plate 20 located rearward relative to the traveling direction. In addition, more clamps may be installed on the conveying plate 20 in addition to these clamps 21 and 22.

[0046] Figure 5 The clamp 21 is shown in the sheet electrode holding position for holding the sheet electrode 1 on the conveying plate 20. Figure 5The clamp 22 is shown in the release position for releasing (releasing) the holding action of the sheet electrode 1. These clamps 21 and 22 have the same structure, so if only the structure of the clamp 21 is described, the clamp 21 has a clamp arm 23 that is roughly L-shaped, and the central part of the clamp arm 23 is rotatably mounted on the support plate 25 fixed to the conveying plate 20 through a support pin 24. A push portion 23a extending to the surface of the conveying plate 20 is formed at one end of the clamp arm 23, and a roller 26 is installed at the other end of the clamp arm 23. The clamp arm 23 is always urged counterclockwise by a tension spring 27 installed between the clamp arm 23 and the support plate 25.

[0047] A fixed cam (not shown) capable of engaging with the roller 26 of the clamp arm 23 is provided in the travel path of the movable member 12. The roller 26 of the clamp arm 23 is usually not engaged with the fixed cam. At this time, the clamps 21 and 22 are located at the position determined by the spring force of the tension spring 27. Figure 5 On the other hand, when the roller 26 of the clamp arm 23 engages with the fixed cam, the clamps 21 and 22 rotate to the position indicated by the clamp arm 23. Figure 5 The clamp 22 is in the released position as shown.

[0048] In the embodiment of the present invention, the sheet electrode 1 is formed by prefabricating the sheet electrode 1 in the previous process. Figure 2B or Figure 2C The long strip-shaped electrode sheet having the cross-sectional structure shown is produced by cutting it into a predetermined length. Figure 1 and Figure 3 In FIG. 1 , the long strip-shaped electrode sheet 30 and the cutting device 31 are shown diagrammatically. Figure 3 As shown by arrow F, the electrode sheet 30 is continuously fed slightly below the lower horizontal straight line portion 10a of the track 10 of the electrode conveying device A, and the electrode sheet 30 is cut into a set length by the cutting device 31, thereby forming a sheet electrode 1. In this case, for example, when the front end portion of the electrode sheet 30 in the travel direction passes over the cutting device 31 and moves forward, the movable member 12 is controlled to travel synchronously with the movement of the front end portion of the electrode sheet 30 in the travel direction, so that the position of the front end portion of the electrode sheet 30 in the travel direction is maintained at a position that can be held by the clamp 21.

[0049] That is, the movable member 12 becomes a movable member between the clamps 21 and 22. Figure 5When the semicircular portion 10b of the track 10 of the electrode conveying device A is lowered in the state of the release position as shown by the clamp 22, when the position of the front end portion of the electrode sheet 30 in the traveling direction reaches a position where it can be held by the clamp 21, the clamp 21 rotates to the sheet electrode holding position, and the position of the front end portion of the electrode sheet 30 in the traveling direction is held by the clamp 21. When the position of the front end portion of the electrode sheet 30 in the traveling direction is held by the clamp 21, the electrode sheet 30 is cut into a set length by the cutting device 31, thereby forming a sheet electrode 1. Next, the clamp 22 rotates to the sheet electrode holding position, and the rear end portion of the sheet electrode 1 is held by the clamp 22. In this way, the sheet electrode 1 is held on the conveying plate 20 by the clamps 21 and 22. In addition, a guide roller 32 may be provided to guide the sheet electrode 1 while the sheet electrode 1 is held on the conveying plate 20 by the clamps 21 and 22 to prevent the sheet electrode 1 from falling. In this case, the guide roller 32 is composed of, for example, a plurality of rollers spaced apart from each other, and the clamps 21 and 22 can pass through the rollers. Figure 3 It can be seen that in the embodiment of the present invention, the direction of the arrow F is called the conveying direction.

[0050] Next, about Figure 1 The schematic diagram of the planar motor device B shown in FIG. Figure 6 to Figure 9 While explaining. Figure 6 The overall planar motor device B is shown schematically. Figure 6 The planar motor device B is composed of a flat stator 50 and a movable member 40. The movable member 40 is magnetically suspended on a flat surface 51 of the stator 50 and can move in any direction along the flat surface 51 and can rotate around an axis perpendicular to the flat surface 51. Figure 6 As shown in FIG. 4 , the movable member 40 is in the shape of a flat plate. Figure 6 As shown, the stator 50 is formed by an assembly of stator elements 52 divided into a plurality of parts.

[0051] Fig. 7A Shows Figure 6 The rear view of the movable member 40 is shown, Figure 7B Shown along Fig. 7A A longitudinal sectional view of the movable member 40 observed along the ZZ line. Fig. 7A and Figure 7B In FIG. 4, 41 indicates an elongated permanent magnet piece having a rectangular cross section, and 42A to 42D respectively indicate magnet regions where the plurality of permanent magnet pieces 41 are arranged in parallel. Fig. 7A It can be seen that the magnet regions 42A to 42D are arranged point-symmetrically with respect to the center of the movable element 40 . Figure 7C4 shows a typical magnetization direction in the permanent magnet pieces 41 arranged in parallel in each magnet region 42A to 42D (the arrow indicates the direction from the S pole to the N pole). Fig. 7A and Figure 7B As shown, the conductor 43 is arranged in the central portion of the movable element 40 surrounded by the magnet regions 42A to 42D.

[0052] on the other hand, Fig. 8A , a longitudinal cross-sectional view of each stator element 52 of the stator 50 is shown. Fig. 8A In the example shown, each stator element 52 is formed with: a coil layer 53A that interacts with the magnetic field of the permanent magnet piece 41 based on the magnet region 42A of the movable part 40, a coil layer 53B that interacts with the magnetic field of the permanent magnet piece 41 based on the magnet region 42B of the movable part 40, a coil layer 53C that interacts with the magnetic field of the permanent magnet piece 41 based on the magnet region 42C of the movable part 40, and a coil layer 53D that interacts with the magnetic field of the permanent magnet piece 41 based on the magnet region 42D of the movable part 40. In addition, Figure 8B , a top view of the coil layer 53B and the coil layer 53D is shown. Figure 8C , a top view of the coil layer 53A and the coil layer 53C is shown. Figure 8B and Figure 8C In the example shown, three coils 54A, 54B, and 54C arranged so as to be slightly staggered and partially overlapped constitute one coil group, and such coil groups are arranged in parallel in each coil layer 53A, 53B, 53C, and 53D.

[0053] Current is supplied to each coil 54A, 54B, 54C of each coil group, and the amount of current supplied to each coil 54A, 54B, 54C is controlled by the control device C. When current is supplied to the coils 54A, 54B, 54C, a magnetic field is generated, and the interaction between the magnetic field and the magnetic field of the permanent magnet piece 41 of the movable part 40 generates a force acting on the movable part 40. In this case, Figure 8A to Figure 8CIn the example shown, the force acting on the magnetic region 42A of the movable member 40 is generated by the interaction of the magnetic field generated by the coils 54A, 54B, and 54C of the coil layer 53A and the magnetic field of the permanent magnet piece 41 based on the magnetic region 42A of the movable member 40, and the force acting on the magnetic region 42B of the movable member 40 is generated by the interaction of the magnetic field generated by the coils 54A, 54B, and 54C of the coil layer 53B and the magnetic field of the permanent magnet piece 41 based on the magnetic region 42B of the movable member 40. The force B is generated by the interaction between the magnetic field generated by the coils 54A, 54B, and 54C of the coil layer 53C and the magnetic field of the permanent magnet piece 41 based on the magnet region 42C of the movable part 40, thereby generating a force acting on the magnet region 42C of the movable part 40; the force B is generated by the interaction between the magnetic field generated by the coils 54A, 54B, and 54C of the coil layer 53D and the magnetic field of the permanent magnet piece 41 based on the magnet region 42D of the movable part 40.

[0054] In this case, the force acting on the magnetic regions 42A, 42B, 42C, 42D of the movable part 40 is adjusted by controlling the amount of current supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D. This enables the movable part 40 to move in any direction along the flat surface 51 on the flat surface 51 of the stator 50 in a state of magnetic levitation from the flat surface 51, and also enables the movable part 40 to rotate around the vertical axis of the flat surface 51 on the flat surface 51 of the stator 50 in a state of magnetic levitation from the flat surface 51. It also enables the movable part 40 to be maintained at any intended position on the flat surface 51 on the flat surface 51 in a state of magnetic levitation from the flat surface 51.

[0055] On the other hand, Figure 6 to Figure 8C In the example shown, a number of magnetic sensors are dispersedly arranged on the entire flat surface 51 of the stator 50, and the position of the movable part 40 is detected based on the output of these magnetic sensors. That is, when a conductor 43 is arranged on the lower surface of the movable part 40, a magnetic circuit is generated in the conductor 43, and the magnetic field changes significantly below the conductor 43. The change in the magnetic field is reflected in the output of the magnetic sensor. Therefore, in Figure 6 to Figure 8C In the example shown, the position of the movable member 40 is detected based on the output of the magnetic sensor. In addition, there are various methods for detecting the position of the movable member 40. For example, a light-emitting body may be installed on the lower surface of the movable member 40, and a plurality of light sensors may be dispersedly arranged in the flat surface 51 of the stator 50 to detect the position of the movable member 40.

[0056] In the planar motor device B, the movable part 40 can also be maintained on the flat surface 51 of the stator 50 at any target plane position and at any target angular position. In this case, in order to maintain the movable part 40 at the target plane position and at the target angular position, the amount of current that should be supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D is known in advance. Therefore, when the target plane position and target angular position of the movable part 40 on the flat surface 51 of the stator 50 are determined, if the amount of current that should be supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D is controlled to the amount of current required to maintain the movable part 40 at the target plane position and at the target angular position, the movable part 40 can be maintained at the target plane position and at the target angular position.

[0057] In the embodiment of the present invention, this point is utilized to control the movement and rotation of the movable member 40. Fig. 9 In addition, Fig. 9 As shown in FIG. 1 , the position P on the flat surface 51 of the stator 50 is set with the xy coordinates, and the rotation angle θ of the movable member 40 is set with the x-axis as a reference. Fig. 9 In the figure, when the initial position of the movable part 40 is set to P1(x1, y1), at the beginning, the target plane positions P1(x1, y1), P2(x2, y2), P3(x3, y3), P4(x4, y4), P5(x5, y5) at each fixed time along the target moving path and the target rotation angle positions θ1, θ2, θ3, θ4, θ5 at each target plane position P1(x1, y1), P2(x2, y2), P3(x3, y3), P4(x4, y4), P5(x5, y5) are set. After these target plane positions P1, P2, P3, P4, P5 and target rotation angle positions θ1, θ2, θ3, θ4, θ5 are set, based on the set target plane positions P1, P2, P3, P4, P5 and target rotation angle positions θ1, θ2, θ3, θ4, θ5, the amount of current supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D is controlled at regular intervals so that the movable part 40 is maintained at the target plane position P1, P2, P3, P4, P5 and the target rotation angle position θ1, θ2, θ3, θ4, θ5. When the amount of current supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D is controlled in this way, the movable part 40 rotates to the target rotation angle position θ1, θ2, θ3, θ4, θ5 while moving along the target plane position P1, P2, P3, P4, P5.

[0058] A stacked electrode holder 60 for holding the stacked sheet electrodes 1 is placed on the movable member 40 of the planar motor device B. Fig. 10A and Fig. 10B While explaining. Fig. 10A , a perspective view of a diagrammatically represented laminated electrode holder 60 is shown. Fig. 10A The stacked electrode holder 60 includes a base 61, a pantograph type lifting mechanism 62 mounted on the base 61, a bottom plate 63 supported by the pantograph type lifting mechanism 62, a clamp mechanism 65 for operating a clamp 64 provided on one side of the bottom plate 63, and a clamp mechanism 67 for operating a clamp 66 provided on the other side of the bottom plate 63. The pantograph type lifting mechanism 62 includes a spring (not shown) for pushing the bottom plate 63 upward, and the bottom plate 63 is always urged upward by the spring force of the spring of the pantograph type lifting mechanism 62. The sheet-like electrode 1 is stacked on the bottom plate 63.

[0059] On the other hand, the clamp mechanism 65 and the clamp mechanism 67 have a shape symmetrical about the short dimension axis of the bottom plate 63. Fig. 10A and Fig.11 , while only the structure of the clamp mechanism 65 for operating the clamp 64 will be described, and the description of the structure of the clamp mechanism 67 for operating the clamp 66 will be omitted. Fig.11 (A) to (C) diagrammatically show the operation of the clamp mechanism 65 for operating the clamp 64. Fig.11 In (A) to (C) of FIG. 6 , a portion of the bottom plate 63 and a portion of the plurality of sheet-like electrodes 1 stacked on the bottom plate 63 are depicted.

[0060] Reference Fig.11 (A), the clamp mechanism 65 of the stacked electrode holder 60 has a tilting mechanism 68 for tilting the clamp 64 and a sliding mechanism 69 for moving the tilting mechanism 68 up and down. The sliding mechanism 69 includes: a slider 70 supported in the stacked electrode holder 60 so as to be able to slide in the up and down directions; a roller 71 rotatably mounted on the lower end of the slider 70; a compression spring 72 for urging the slider 70 upward; a cam shaft 73 supported in the stacked electrode holder 60 so as to be able to rotate; a cam 74 fixed to the cam shaft 73 and engaged with the roller 71; an arm 75 fixed to the outer end of the cam shaft 73; and a roller 76 rotatably mounted on the front end of the arm 75. The cam shaft 73 is always urged counterclockwise by the spring force of a coil spring (not shown). When Fig.11 When the camshaft 73 in (A) rotates clockwise, Fig.11As shown in (B), the slider 70 is moved upward by the spring force of the compression spring 72. That is, in the slide mechanism 69, the slider 70 is moved up and down by rotating the cam shaft 73.

[0061] On the other hand, Fig.11 As shown in (A), the tilting mechanism 68 includes: a tilting head 78, which supports the clamp 64 and is rotatably mounted on the slider 70 via a rotating shaft 77; a roller 79, which is rotatably mounted on the tilting head 78; a cam shaft 80, which is rotatably supported on the slider 70; a cam 81, which is fixed to the cam shaft 80 and engaged with the roller 79; an arm 82, which is fixed to the outer end of the cam shaft 80; a roller 83, which is rotatably mounted on the front end of the arm 82; and a coil spring 84, which applies a counterclockwise force to the tilting head 78. The cam shaft 80 is always urged clockwise by the spring force of the coil spring (not shown). In addition, as follows, Fig.11 (A) or Fig.11 The position of the tilt head 78 when the clamp 64 is located above the sheet electrode 1 placed on the bottom plate 63 as shown in (C) is called the upright position. Fig.11 When the camshaft 80 rotates counterclockwise in (A), Fig.11 As shown in FIG. 5 (B), the tilt head 78 is tilted in a direction in which the clamp 64 is separated from the upper region of the sheet electrode 1 placed on the bottom plate 63 .

[0062] Fig.11 (A) shows the case where the tilt head 78 is in an upright position and the sheet electrode 1 stacked on the bottom plate 63 is pushed by the clamp 64. That is, at this time, the sheet electrode 1 stacked on the bottom plate 63 is forced upward by the pantograph type lifting mechanism 62, and at this time, the sheet electrode 1 that wants to rise is pushed by the clamp 64. When the clamp 64 releases the pushing action on the sheet electrode 1 stacked on the bottom plate 63, the cam shaft 73 rotates clockwise, and the cam shaft 80 rotates counterclockwise, thereby, as shown in FIG. Fig.11 As shown in (B), the tilt head 78 rises, and the tilt head 78 tilts in the direction in which the clamp 64 is separated from the upper area of ​​the sheet electrode 1 stacked on the bottom plate 63 (at this time, a new sheet electrode 1 is stacked on the sheet electrode 1 stacked on the bottom plate 83). Fig.11 As shown in (C), the tilt head 78 returns to the upright position, and then the tilt head 78 is lowered, whereby the sheet electrode 1 stacked on the bottom plate 83 is pushed by the clamp 64. The rotation operation of the cam shaft 73 and the cam shaft 80 is performed by the roller 76 and the roller 83 engaging with the fixed cam when the movable member 12 moves.

[0063] Fig. 10B , a modified example of the stacked electrode holder 60 is shown. In this modified example, only a clamp mechanism 65 for operating the clamp 64 is provided, and no clamp mechanism 65 is provided. Fig. 10A The clamp mechanism 67 shown is used to operate the clamp 66. In this modification, the clamp mechanism 65 also operates with Fig. 10A The clamp mechanism 65 shown is identical to Fig.11 The work shown in (A) to (C).

[0064] Next, refer to Fig.12 , while explaining the control method of the movable part 40 of the planar motor device B implemented in the first embodiment of the present invention. Fig.12 Shown from above Figure 1 A top view of the electrode stacking device shown in FIG. Fig.12 In FIG. 5 , a plurality of movable members 40 moving on a flat surface 51 of a stator 50 and a plurality of movable members 40 fixed on each movable member 40 are shown. Fig. 10A The laminated electrode holder 60 shown in FIG. 1 and the sheet-like electrode 1 held by the laminated electrode holder 60. Fig.12 In FIG. 1 , the position of the electrode transport device A is shown by a single dotted line. Fig.12 As shown, in this first embodiment, each sheet-like electrode 1 is held by a pair of laminated electrode holders 60 fixed to a pair of movable members 40 arranged in parallel.

[0065] In the first embodiment, the new sheet electrode 1 held by the electrode conveying device A is stacked on a pair of stacked electrode holders 60 fixed to a pair of movable members 40 directly below the electrode conveying device A. The pair of movable members 40 is arranged in the conveying direction (in the Fig.12 A pair of movable members 40 are moved in a parallel arrangement state (in the direction from the top to the bottom in the electrode conveying device A). In addition, the following describes the movement control of the movable member 40 by taking the case where the long dimension axis of the electrode conveying device A is the y-axis direction of the position coordinate on the flat surface 51 of the stator 50 and the short dimension axis of the electrode conveying device A is the x-axis direction of the position coordinate on the flat surface 51 of the stator 50 as an example. In this case, when the new sheet electrode 1 held by the electrode conveying device A is stacked on the pair of stacked electrode holders 60 below the electrode conveying device A, the pair of movable members 40 moves toward the negative direction of the y-axis.

[0066] In the embodiment of the present invention, the running track of the movable member 40 as a reference on the flat surface 51 of the stator 50 is pre-set in xy coordinates, and the pre-set running track of the movable member 40 as a reference is called the reference running track. In the embodiment of the present invention, the reference running track is set relative to the center of the movable member 40, and each movable member 40 is controlled by the control device C so that the center of each movable member 40 moves along the reference running track. Fig.12 In FIG. 1 , a plurality of reference travel trajectories are shown by single-dot chain lines.

[0067] Reference Fig.12 , depicts a pair of stacking reference travel rails K1 and K2 that are annular and spaced a certain distance apart in the x-axis direction, and a pair of discharge reference travel rails K3 and K4 that branch from the stacking reference travel rails K1 and K2 and extend in a straight line. When a stacking operation is performed to stack a new sheet electrode 1 on a pair of stacking electrode holders 60, the paired movable members 40 that are arranged in parallel and carry the stacking electrode holders 60 respectively move along the stacking reference travel rails K1 and K2 in a paired state without rotating each movable member 40. In this case, in the lower area of ​​the electrode conveying device A where the stacking operation is performed, the stacking reference travel rails K1 and K2 are set to extend linearly in the y-axis direction at equal distances from the long-dimensional axis of the electrode conveying device A to opposite sides. When the stacking operation is performed, the paired movable parts 40 are moved synchronously with the movement of the new sheet electrode 1 so that the new sheet electrode 1 held by the electrode conveying device A continues to face the sheet electrode stacking position on the stacking electrode holding member 60.

[0068] In the lower area of ​​the electrode conveying device A performing the stacking operation, a plurality of pairs of movable members 40 move at equal intervals in the y-axis direction, and perform the stacking operation of new sheet electrodes 1 on the stacking electrode holder 60 one by one. The pair of movable members 40 of the stacking electrode holder 60 carrying the stacking operation of the new sheet electrode 1 moves at a high speed along the stacking reference travel rails K1 and K2 to the back of the pair of movable members 40 running in front in order to perform the next stacking operation of the new sheet electrode 1. When the pair of movable members 40 arrives behind the pair of movable members 40 running in front, the pair of movable members 40 then moves following the pair of movable members 40 running in front.

[0069] When the stacking operation of the preset number of new sheet electrodes 1 is completed, the pair of movable members 40 carrying the stacking electrode holder 60 holding the preset number of stacked sheet electrodes 1 are discharged from the electrode conveying device A along the corresponding discharge reference travel tracks K3 and K4 from the lower area of ​​the electrode conveying device A performing the stacking operation. In the case where the sheet electrode 1 for a fully solid lithium-ion secondary battery is used as the sheet electrode 1, when the stacked sheet electrode 1 is discharged from the electrode conveying device A, in the next process, the stacked sheet electrode 1 held by the stacking electrode holder 60 is compressed by a punching device, and the side portions of the compressed stacked sheet electrode 1 are fixed to each other by resin adhesion. Next, after other processes, a stack of sheet electrodes 1 is formed. After the stack of sheet electrodes 1 is completed, the stack of sheet electrodes 1 is taken out from the stacked electrode holder 60 , and the pair of movable members 40 carrying the empty stacked electrode holder 60 moves to the waiting area Q.

[0070] On the other hand, when a sheet electrode 1 for lithium ion secondary battery using an electrolyte or a gel polymer electrolyte is used as the sheet electrode 1, after the stacked sheet electrode 1 is discharged from the electrode conveying device A, in the next process, after the one side surface of the compressed stacked sheet electrode 1 is fixed to each other by resin adhesion, the electrolyte or gel polymer electrolyte is injected into the positive electrode active material layer 3, the separator 4 and the negative electrode active material layer 5 from the peripheral portion of the stacked sheet electrode 1 that is not fixed by resin adhesion. Then, through other processes, a stack of sheet electrodes 1 is formed. After the stack of sheet electrodes 1 is formed, the stack of sheet electrodes 1 is taken out from the stacked electrode holder 60, and the pair of movable members 40 carrying the empty stacked electrode holder 60 moves to the waiting area Q.

[0071] On the other hand, after the stacked sheet electrode 1 is discharged from the electrode conveying device A, the pair of movable members 40 carrying the empty stacking electrode holder 60 waiting in the waiting area Q moves at a high speed to the back of the pair of movable members 40 in front running along the stacking reference running rails K1 and K2. Next, when the pair of movable members 40 carrying the empty stacking electrode holder 60 arrives behind the pair of movable members 40 running in front, the pair of movable members 40 carrying the empty stacking electrode holder 60 moves with the pair of movable members 40 running in front.

[0072] Thus, in the first embodiment, the movable member 40 moves along the pre-set stacking reference travel tracks K1, K2 and the discharge reference travel tracks K3, K4. In this case, in the embodiment of the present invention, the xy coordinates at each fixed time on the stacking reference travel tracks K1, K2 and the discharge reference travel tracks K3, K4 corresponding to the movement requirements of the movable member 40 are set as the target plane position of the movable member 40, and the rotation angle position of the movable member 40 relative to the x-axis of the xy coordinates is set as the target rotation angle position. In this case, the amount of current supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D of the stator 50 is controlled by the control device C at each fixed time so that the movable member 40 is maintained at the target plane position and the target rotation angle position.

[0073] Next, refer to Fig.13 , while explaining the stacking operation of the new sheet electrode 1 on the stacking electrode holder 60 in the lower area of ​​the electrode conveying device A. Fig.13 In the figure, the clamping action of the clamps 21 and 22 mounted on the conveying plate 20 of the electrode conveying device A on the sheet electrode 1 and the clamping action of the clamps 64 and 66 of the stacked electrode holder 60 carried by the movable part 40 of the planar motor device B on the sheet electrode 1 are illustrated. Fig.13 In the figure, the pantograph type lifting mechanism 62 which applies force upward to the bottom plate 63 of the stacked electrode holder 60 is depicted by a spring. Fig.13 The state in which the sheet-shaped electrode 1 is already stacked on the bottom plate 63 is shown.

[0074] During the stacking operation, the paired movable members 40 move synchronously with the movement of the new sheet electrode 1 so that the new sheet electrode 1 held by the electrode transport device A continuously faces the sheet electrode stacking position on the stacking electrode holder 60 . Fig.13 (A) shows the beginning of the stacking operation. At this time, the new sheet electrode 1 is held on the conveying plate 20 by the clamps 21 and 22, and the stacked sheet electrode 1 is held on the bottom plate 63 by the clamps 64 and 66. Fig.13 As shown in (B), the clamp 22 holds one side of the new sheet electrode 1 on the conveying plate 20, and the clamps 66 of the pair of movable members 40 hold one side of the stacked sheet electrode 1 on the bottom plate 63, and the holding action of the clamps 21 and 64 is released. At this time, the other side of the new sheet electrode 1 falls onto the stacked sheet electrode 1.

[0075] Next, if Fig.13As shown in (C), the other end of the new sheet electrode 1 dropped onto the stacked sheet electrode 1 is held by the clamp 64 on the stacked sheet electrode 1. Fig.13 As shown in (D), the other end of the new sheet electrode 1 dropped onto the stacked sheet electrode 1 is held by the clamp 64 on the stacked sheet electrode 1, and the holding function of the clamp 22 and the clamp 65 is released. At this time, the new sheet electrode 1 drops onto the stacked sheet electrode 1 as a whole. Next, as Fig.13 As shown in (E), the stacked sheet electrode 1 is held on the bottom plate 63 by clamps 64 and 66. Fig.13 In (A) to (E), the clamping action and the clamping release action achieved by the clamps 21 and 22 installed on the conveying plate 20 are performed by engaging the roller 26 with the fixed cam during the movement of the conveying plate 20, and the clamping action and the clamping release action achieved by the clamps 64 and 66 of the stacked electrode holder 60 are performed by engaging the rollers 76 and 83 of the stacked electrode holder 60 with the fixed cam during the movement of the movable part 40.

[0076] Thus, in the embodiment of the present invention, it can be seen that: during the stacking operation of the sheet electrode 1, the new sheet electrode 1 is held by at least one of the clamps 21, 22 installed on the conveying plate 20 or the clamps 64, 66 of the stacking electrode holder 60 until it is stacked on the stacking electrode holder 60.

[0077] If the new sheet electrode 1 is not held at the standard holding position by the clamps 21 and 22 on the conveying plate 20, when the new sheet electrode 1 is stacked on the stacked sheet electrode 1 held by the stacked electrode holder 60, the stacking position of the new sheet electrode 1 deviates from the stacking position of the stacked sheet electrode 1, and the new sheet electrode 1 cannot be stacked on the stacked sheet electrode 1 in an aligned manner. Therefore, in an embodiment of the present invention, when the new sheet electrode 1 is stacked on the stacked sheet electrode 1 held by the stacked electrode holder 60, when the stacking position of the new sheet electrode 1 deviates from the stacking position of the stacked sheet electrode 1, the moving position and the rotation angle position of the movable part 40 of the planar motor device B are controlled so that the new sheet electrode 1 can be stacked on the stacked sheet electrode 1 in an aligned manner.

[0078] Next, regarding the control of the moving position and the rotation angle position of the movable member 40 of the planar motor device B, referring to Figures 14A to 15B While explaining. Fig.14A The bottom view of the transfer plate 20 is shown when the movable element 12 of the electrode transfer device A is located on the horizontal straight line portion 10 a below the rail 10 . Fig.14AIn FIG. 1 , a new sheet electrode 1 is shown which is held by clamps 21 and 22 on a conveying plate 20. Fig.14A The arrow in the middle shows the moving direction of the conveying plate 20. On the other hand, Fig. 14B Shown with Fig.14A The illustrated plan view shows a pair of movable members 40 that move in sync with the movement of the transfer plate 20. Fig. 14B In FIG. 1 , the stacked sheet electrodes 1 held by the clamps 64 and 66 are shown at the sheet electrode stacking position on the stacked electrode holder 60 carried by each movable member 40 .

[0079] on the other hand, Fig.14A In the figure, a standard holding position required for aligning the new sheet electrode 1 with the sheet electrode stacking position on the stacking electrode holder 60 is shown by a single-dot chain line R. When the new sheet electrode 1 is held at the standard holding position R on the conveying plate 20, when the new sheet electrode 1 is stacked on the stacked sheet electrode 1 held by the stacking electrode holder 60, the new sheet electrode 1 is stacked on the stacked sheet electrode 1 held by the stacking electrode holder 60 in an aligned manner. In the embodiment of the present invention, the standard holding position R is preset.

[0080] Fig.14A The following situation is shown: the center of the new sheet electrode 1 held on the conveying plate 20 is deviated from the center O0 of the standard holding position R to Oc as shown by the arrow, and the rotation angle position of the new sheet electrode 1 is deviated from the standard holding position by an angle α. In addition, these deviation amounts are exaggerated for easy understanding. In this case, in the embodiment of the present invention, as shown in FIG. Fig. 14B As shown in FIG. 1 , the position of one movable element 40 is changed from the set position O1 on the stacking reference travel rail K1 to the position O d Then, one movable member 40 is rotated by an angle α from the reference rotation angle position, and the position of the other movable member 40 is changed from the set position O2 on the stacking reference travel rail K2 to the position O e The other movable element 40 is also rotated by the angle α from the reference rotation angle position so that the new sheet-like electrode 1 is aligned and stacked on the stacked sheet-like electrode 1 held by the stacked electrode holder 60 .

[0081] In this case, the changed setting position O of one movable element 40 is d The coordinates (x d ,y d ) and the changed setting position O of the other movable member 40 in this case e The coordinates (x e ,y e ) is shown in Fig.15A and Fig. 15B That is, if Fig.15A As shown in the figure, the deviations in the x-axis direction and the y-axis direction when the center of the new sheet electrode 1 held on the conveying plate 20 deviates from the center O0 of the standard holding position R to Oc are denoted as Δx and Δy. Fig. 15B As shown in FIG. 1 , the coordinates of the reference position O1 set on the stacking reference travel track K1 of one movable member 40 are set to (x1, y1), and the coordinates of the reference position O2 set on the stacking reference travel track K2 of the other movable member 40 are set to (x2, y2). Fig. 15B As shown below, the changed setting position O of the movable member 40 can be calculated using the deviation Δx, Δy, the rotation angle α, the coordinate values ​​x1, y1 of the reference position O1, and the coordinate values ​​x2, y2 of the reference position O2. d The coordinates (x d ,y d ) and the changed setting position O of the movable member 40 on the other side e The coordinates (x e ,y e ). In addition, Fig. 15B In, O m The coordinates (x0, y0) represent the midpoint between the reference position O1 (x1, y1) and the reference position O2 (x2, y2), that is, the center of the laminated sheet electrode 1, and S represents the coordinates from the center O m The distance from (x0, y0) to the reference position O1 (x1, y1) and the reference position O2 (x2, y2).

[0082] exist Figure 1 In the first embodiment shown, in order to Fig.14A In order to detect the occurrence of deviation of the new sheet electrode 1 on the conveying plate 20 from the standard holding position R as shown in the figure, a camera 33 is provided for photographing the new sheet electrode 1 held on the conveying plate 20, and the image captured by the camera 33 is used to detect the occurrence of deviation of the new sheet electrode 1 on the conveying plate 20. Fig.15A After detecting these deviations Δx, Δy, α, the deviations Δx, Δy, α are detected and then used according to these deviations Δx, Δy, α. Fig. 15B The calculation formula shown below calculates the changed setting position O of the movable member 40 on one side. d The coordinates (x d ,y d ) and the changed setting position O of the movable member 40 on the other side e The coordinates (x e ,y e ). When these coordinates (x d ,y d) and coordinates (x e ,y e ), the control device C controls the movement of the movable member 40 so that each movable member 40 passes through these coordinates (x d ,y d ) and coordinates (x e ,y e ).

[0083] Fig.16 The movable element control routine for controlling the movement of each pair of movable elements in the first embodiment is shown. According to the movable element control routine, the movement control of all movable elements 40 in the electrode lamination device is repeatedly performed for each movable element.

[0084] Reference Fig.16 In step 100, it is determined whether the movable member 40 that has become the control target in this processing cycle is in the process of stacking the new sheet electrode 1 held on the conveying plate 20 on the stacking electrode holder 60 on the movable member 40. If it is determined that the stacking process is in progress on the stacking electrode holder 60 on the movable member 40 that has become the control target, the process proceeds to step 101 to continue the stacking process. This stacking process is performed by Fig.18 The cascade processing routine shown is executed.

[0085] Next, in step 102, it is determined whether the stacking process on the stacking electrode holder 60 on the movable member 40 to be controlled is completed. When it is determined that the stacking process on the stacking electrode holder 60 on the movable member 40 to be controlled is not completed, the process proceeds to step 103, and a return process is performed for returning the movable member 40 to be controlled to the stacking start position along the stacking reference travel rails K1 and K2. On the other hand, when it is determined in step 102 that the stacking process on the stacking electrode holder 60 on the movable member 40 to be controlled is completed, the process proceeds to step 104, and a discharge process is performed for causing the movable member 40 to be controlled to proceed to the next process along the discharge reference travel rails K3 and K4.

[0086] On the other hand, when it is determined in step 100 that the stacking process on the stacking electrode holder 60 on the movable member 40 to be controlled is not in progress, the process proceeds to step 105 to determine whether the movable member 40 to be controlled is following a pair of movable members 40 moving in front on the stacking reference travel rails K1 and K2. When it is determined that the movable member 40 to be controlled is following a pair of movable members 40 moving in front, the process proceeds to step 106 to determine whether the movable member 40 to be controlled has reached the stacking start position. When it is determined that the movable member 40 to be controlled has reached the stacking start position, the process proceeds to step 107 to start the stacking process on the stacking electrode holder 60 on the movable member 40 to be controlled.

[0087] On the other hand, if it is determined in step 105 that the movable member 40 to be controlled is not following the pair of movable members 40 moving in front, the process proceeds to step 108, and the movable member 40 to be controlled is moved at a high speed toward the pair of movable members 40 moving in front until it approaches the pair of movable members 40 moving in front from behind. The high-speed travel of the movable member 40 is performed when the return process is started in step 103 and when the pair of movable members 40 carrying the empty stacking electrode holder 60 are fed into the stacking reference travel rails K1 and K2. Next, in step 109, it is determined whether the movable part 40 that has become the control object has reached a follow-up position that is a certain distance away from a pair of movable parts 40 moving in front on the stacking reference travel rails K1 and K2. When it is determined that the movable part 40 that has become the control object has reached the follow-up position, the process proceeds to step 110 to perform a follow-up process in which the movable part 40 that has become the control object moves following the pair of movable parts 40 moving in front.

[0088] Fig.17 The following is a position deviation detection routine for detecting the occurrence of a deviation of a new sheet electrode 1 from a standard holding position on the conveying plate 20. This detection routine is repeatedly executed.

[0089] Reference Fig.17 In step 120, it is determined whether it is the detection timing. When it is determined that it is the detection timing, the process proceeds to step 121, and the camera 33 captures an image of the new sheet electrode 1 held on the conveying plate 20. Next, in step 122, based on the captured image, image processing is performed to recognize the shape of the sheet electrode 1 and the holding position of the sheet electrode 1, for example, using an object detection method.

[0090] Next, in step 123, based on the result of image processing, it is determined whether the new sheet electrode 1 on the conveying plate 20 has deviated from the standard holding position R. If it is determined that the new sheet electrode 1 on the conveying plate 20 has deviated from the standard holding position R, the process proceeds to step 124 to calculate the value of the new sheet electrode 1 on the conveying plate 20. Fig.15A The deviation amounts Δx, Δy, and α shown are correction values ​​Δx, Δy, and α used to correct the set position of the movable member 40. Next, in step 125, the correction values ​​Δx, Δy, and α are stored in the control device C. Next, in step 126, a correction request indicating that the set position of the movable member 40 should be corrected is issued.

[0091] Fig.18 Shown in Fig.16 The stacking process routine is executed in step 101 of the movable member control routine shown in FIG. This stacking process routine is repeatedly executed.

[0092] Reference Fig.18 In step 140, the coordinate values ​​of the next reference position O1 (x1, y1) on the stacking reference running track K1 relative to the movable member 40 as one of the control objects and the coordinate values ​​of the next reference position O2 (x2, y2) on the stacking reference running track K2 relative to the movable member 40 as the other control object are calculated. Next, in step 141, it is determined whether the movable member 40 is at the next reference position O1 (x1, y1) on the stacking reference running track K1. Fig.17 In the position deviation detection routine shown, whether a correction request is issued or not. If it is determined that a correction request is issued, the process proceeds to step 142 .

[0093] In step 142, the correction values ​​Δx, Δy, and α stored in the control device C are read. Next, in step 143, Fig. 15B As shown in FIG. 1 , based on these correction values ​​Δx, Δy, and α, the changed set position O of one movable element 40 is calculated. d (x d ,y d ) and the changed set position O of the other movable member 40 e (x e ,y e) is the value of the coordinates of the stacking reference travel track K1. Next, proceed to step 144. On the other hand, when it is determined in step 141 that no correction request is issued, jump to step 144. In step 144, when no correction request is issued, the control device C controls the amount of current supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D of the stator 50 so that the moving position of each movable part 40 becomes the next reference position O1 (x1, y1) on the stacking reference travel track K1 and the next reference position O2 (x2, y2) on the stacking reference travel track K2, respectively. When a correction request is issued, the control device C controls the amount of current supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D of the stator 50 so that the moving position of each movable part 40 becomes the changed set position O1 (x1, y1) on the stacking reference travel track K1 and the next reference position O2 (x2, y2) on the stacking reference travel track K2, respectively. d (x d ,y d ) and the changed setting position O e (x e ,y e ).

[0094] Next, in step 145, wait until a predetermined time has passed. When the predetermined time has passed, proceed to step 146 to determine whether the stacking operation of a new sheet electrode 1 has been completed. If it is determined that the stacking operation of a new sheet electrode 1 has not been completed, return to step 140 to continue the movement control of each movable part 40. On the other hand, if it is determined in step 146 that the stacking operation of a new sheet electrode 1 has been completed, proceed to step 147 to complete the stacking operation of the new sheet electrode 1. Next, proceed to step 148. Fig.16 Step 102 of the movable member control routine is shown.

[0095] Thus, in the first embodiment of the present invention, an electrode stacking device for stacking sheet electrodes 1 comprises: a planar motor device B, which is composed of a flat stator 50 and a plurality of movable members 40, wherein the plurality of movable members 40 are able to move in any direction along the flat surface 51 and rotate around a vertical axis of the flat surface 51 in a state of being magnetically suspended from the flat surface 51 on the flat surface 51 of the stator 50; an electrode conveying device A, which is arranged above the planar motor device B and conveys the sheet electrode 1 while holding it along a conveying path; and a control device C, which is used to control the planar motor device B. And an electrode conveying device A, a stacked electrode holder 60 for holding the stacked sheet electrodes 1 is installed on each movable part 40 of the planar motor device B, the sheet electrodes 1 stacked in sequence are held by the stacked electrode holder 60 at the sheet electrode stacking position on the stacked electrode holder 60, and when a new sheet electrode 1 held by the electrode conveying device A is stacked on the stacked electrode holder 60 of the movable part 40, the movable part 40 is moved synchronously with the movement of the new sheet electrode 1 through the control device C, so that the new sheet electrode 1 continues to face the sheet electrode stacking position on the stacked electrode holder 60.

[0096] In this case, in the embodiment of the present invention, as the holding position of the new sheet electrode 1 by the electrode conveying device A, a standard holding position R required for aligning the new sheet electrode 1 with the sheet electrode stacking position on the stacking electrode holder 60 is pre-set, and a deviation amount detection device for detecting the deviation of the holding position of the new sheet electrode 1 from the standard holding position R is provided, and based on the deviation amount, the moving position and the rotation angle position of each movable member 60 are controlled by the control device C so that the new sheet electrode 1 is stacked on the stacking electrode holder 60 in alignment with the sheet electrode stacking position on the stacking electrode holder 60. In this case, in the embodiment of the present invention, the above-mentioned deviation amount detection device includes a camera 33 for photographing the new sheet electrode 1 held by the electrode conveying device A, and the deviation amount is detected based on the image photographed by the camera 33.

[0097] On the other hand, in the embodiment of the present invention, the electrode transport device A includes a linear motor device having a plurality of movable members 12 that move along a transport path, and a new sheet electrode 1 is held by clamps 21 and 22 on a transport plate 20 mounted on each movable member 12 of the linear motor. In this case, in the embodiment of the present invention, the stacked electrode holder 60 of the movable member 40 of the planar motor device B includes clamps 64 and 66, and when the movable member 40 of the planar motor device B moves synchronously with the movement of the new sheet electrode 1, the new sheet electrode 1 held on the transport plate 20 is stacked on the stacked electrode holder 60 while the peripheral portion of the new sheet electrode 1 is held by any one of the clamps 21 and 22 of the transport plate and the clamps 64 and 66 of the stacked electrode holder.

[0098] Furthermore, in the embodiment of the present invention, the sheet-like electrode 1 is held by a plurality of movable members 40 of the planar motor device B. In addition, in the embodiment of the present invention, when the movable member 40 of the planar motor device B holding the sheet-like electrode 1 is caused to travel along a curved travel path, the moving position and the rotational position of the movable member 40 are controlled by the control device C so that the movable member 40 of the planar motor device B does not rotate.

[0099] Next, refer to Figure 19 to Figure 27 , while explaining the second embodiment of the present invention. The second embodiment is suitable for the following case: a sheet electrode 1 for a lithium ion secondary battery using an electrolyte or a gel polymer electrolyte is used as the sheet electrode 1, and the size of the stacked sheet electrode 1 is large. In addition, in the second embodiment, the same reference numerals as those in the first embodiment are used for the same components as those in the first embodiment, and the description thereof is omitted.

[0100] Reference Fig.19 In the second embodiment, unlike the first embodiment, a pair of electrode conveying devices, namely, the first electrode conveying device A1 and the second electrode conveying device A2, are used, and these first electrode conveying devices A1 and the second electrode conveying devices A2 are arranged side by side symmetrically with respect to the symmetry axis II and spaced apart from each other. Therefore, in the second embodiment, the size of the flat surface 51 of the planar motor device B is larger than that of the first embodiment. In addition, in the second embodiment, the size of the sheet electrode 1 is larger than that of the first embodiment, and therefore, the lateral width of the long strip-shaped electrode sheet 30 and the lateral width of the cutting device 31 are also larger. In addition, in the second embodiment, a control device C and a camera 33 are also provided. However, in the second embodiment, the camera 33 is arranged above the sheet electrode 1.

[0101] The first electrode conveying device A1 and the second electrode conveying device A2 have Figure 1 The electrode transport device A has the same overall shape as Figure 1The electrode transport device A also includes a linear motor having a stator 11 and a movable part 12 . Fig. 20A Shown along Fig.19 A cross-sectional view of the movable member 12 of the first electrode transport device A1 observed along the line XX-XX. Fig. 20A It can be seen that the movable member 12 has the same structure as the movable member 12 of the first embodiment. Fig. 20A As shown, in the second embodiment, unlike the first embodiment, the conveying plate 20 mounted on the movable member 12 is composed of a lower plate 20a fixed to the movable member 12 and an upper plate 20b supported on the lower plate 20a so as to be slidable. A thick wall portion 20c capable of engaging with the outer end surface of the lower plate 20a is formed at the outer end of the upper plate 20b.

[0102] like Fig. 20A As shown, a clamp 19 is installed at the outer end of the upper plate 20b. The clamp 19 has a clamp arm 23 that is roughly L-shaped, and the central part of the clamp arm 23 is rotatably installed on a support plate 25 fixed to the upper plate 20b through a support pin 24. A push portion 23a extending to the surface of the conveying plate 20 is formed at one end of the clamp arm 23, and a roller 26 is installed at the other end of the clamp arm 23. The clamp arm 23 is always urged clockwise by the spring force of a compression spring 29 installed between the support plate 28 fixed to the lower plate 20a and the clamp arm 23. In addition, a cam that can engage with the roller 26 of the clamp arm 23 is arranged on the travel path of the movable part 12.

[0103] exist Fig. 20A When the roller 26 is pressed toward the right by the cam, the thick wall portion 20c of the upper plate 20b engages with the outer end surface of the lower plate 20a, and the clamp arm 23 is as shown in FIG. Fig. 20B The clamp 19 is released by rotating counterclockwise as shown in (A). Next, the sheet electrode 1 is placed on the upper plate 20b, and when the engagement between the roller 26 and the cam is released in this state, the clamp arm 23 rotates clockwise by the spring force of the compression spring 29. At this time, first, as Fig. 20B As shown in (B), the sheet electrode 1 is pushed on the upper side plate 20b by the clamp arm 23. Next, in this state, the sheet electrode 1 is Fig. 20B As shown in (C), the effect is to make it together with the upper side plate 20b Fig. 20A The force moving in the left direction.

[0104] On the other hand, the conveying plate 20 mounted on the movable member 12 of the second electrode conveying device A2 is also formed by Fig. 20A As shown in the figure, the lower side plate 20a and the upper side plate 20b are composed of Fig. 20A The clamp 19 shown is mounted on the outer end of the upper side plate 20b (at Fig.19That is, the entire structure of the conveying plate 20 of the first electrode conveying device A1 having the clamp 19 and the entire structure of the conveying plate 20 of the second electrode conveying device A2 having the clamp 19 are symmetrical about the symmetry axis I-I.

[0105] On the other hand, in this second embodiment, the planar motor device B also has a plurality of movable parts 40 on the flat surface 51 of the stator 50 that can move in any direction along the flat surface 51 and can rotate around an axis vertical to the flat surface 51 in a state of being magnetically suspended from the flat surface 51. Fig.21A FIG. 2 shows a perspective view of a laminated electrode holder 60 mounted on the movable member 40 in the second embodiment. Fig.21A and Fig. 10B By comparison: Fig.21A The laminated electrode holder 60 shown is Fig. 10B The illustrated laminated electrode holder 60 has almost the same configuration. Fig.21A The laminated electrode holder 60 shown is Fig. 10B The laminated electrode holder 60 shown differs only in that: Fig.21A In the stacked electrode holder 60 shown, an arm 75 and a roller 76 for rotationally driving the cam shaft 73 and an arm 82 and a roller 83 for rotationally driving the cam shaft 80 are arranged on an end plate 85 on the clamp 64 side, and the cam shaft 73 and the arm 75, and the cam shaft 80 and the arm 82 are connected via a link mechanism.

[0106] Fig.21B An example of a link mechanism connecting the cam shaft 80 and the arm 82 is illustrated. In this example, the arm 82 is fixed to one end of an arm shaft 86 rotatably supported in the end plate 85, and a link arm 87 fixed to the other end of the arm shaft 86 and a link arm 88 fixed to the cam shaft 80 are connected to each other via a connecting rod 89. Therefore, when the arm shaft 86 rotates in the direction of the arrow, the cam shaft 80 rotates in the direction of the arrow. The link mechanism connecting the cam shaft 73 and the arm 75 also has the same Fig.21B The same structure as the connecting rod mechanism shown in FIG. When the camshaft 73 and the camshaft 80 rotate, the clamp 64 Fig.11 In addition, Fig.21A In the illustrated laminated electrode holder 60 , the cam shafts 73 and 80 are also rotated by the rollers 76 and 83 engaging with the cams while the movable member 40 is moving.

[0107] In the second embodiment, the sheet electrode 1 is also obtained by cutting the sheet electrode 1 which has been previously manufactured in the previous process by using the cutting device 31. Figure 2B or Figure 2C The long strip-shaped electrode sheet 30 having the cross-sectional structure shown is produced by cutting into a predetermined length. Fig.19 , the long strip-shaped electrode sheet 30 and the cutting device 31 are illustrated. In the second embodiment, the electrode sheet 30 is continuously fed slightly below the lower horizontal straight line portion 10a of the track 10 of the first electrode conveying device A1 and the second electrode conveying device A2, and the electrode sheet 30 is cut into a set length by the cutting device 31, thereby forming a sheet electrode 1. In this case, for example, when the front end portion of the electrode sheet 30 in the travel direction passes over the cutting device 31 and moves forward, the movable member 12 of the first electrode conveying device A1 and the movable member 12 of the second electrode conveying device A2 are controlled to travel synchronously with the movement of the front end portion of the electrode sheet 30 in the travel direction, so that the position of the front end portion of the electrode sheet 30 in the travel direction is maintained at a position that can be held by each clamp 19. In addition, at this time, the movable member 12 of the first electrode conveying device A1 and the movable member 12 of the second electrode conveying device A2 travel in a parallel state.

[0108] That is, the movable member 12 of the first electrode conveying device A1 and the movable member 12 of the second electrode conveying device A2 are formed in each clamp 19. Fig. 20B In the state of the release position as shown in (A), the semicircular portion 10b of the track 10 of the first electrode conveying device A1 and the second electrode conveying device A2 is lowered, and when the position of the front end of the electrode sheet 30 in the traveling direction reaches a position where it can be held by the clamp 19, the clamp 19 is rotated until Fig. 20B In the sheet electrode holding position shown in (B), both sides of the front end of the electrode sheet 30 in the traveling direction are held by the clamps 19. When both sides of the front end of the electrode sheet 30 in the traveling direction are held by the clamps 19, in each clamp 19, as shown in FIG. Fig. 20B As shown in (C), the spring force of the compression spring 29 acts to move the clamp 19 outward, and as a result, a force is generated at the front end of the electrode sheet 30 in the traveling direction to stretch the electrode sheet 30 in the lateral direction. Thus, the central part of the front end of the electrode sheet 30 in the traveling direction is prevented from sagging.

[0109] Next, both side portions of the electrode sheet 30 slightly behind the front end portion in the traveling direction of the electrode sheet 30 are held by the following clamps 19. In this way, both side portions of the electrode sheet 30 are held by a plurality of clamps 19 that move at equal intervals in the traveling direction. Fig.19In the example shown, both sides of the electrode sheet 30 are finally held by the clamp 19 supported by the five movable members 12 of the first electrode conveying device A1 and the clamp 19 supported by the five movable members 12 of the second electrode conveying device A2. When the both sides of the electrode sheet 30 are held by the clamp 19 supported by the five movable members 12 of the first electrode conveying device A1 and the clamp 19 supported by the five movable members 12 of the second electrode conveying device A2, the electrode sheet 30 is cut into a set length by the cutting device 31, thereby manufacturing the sheet electrode 1. Therefore, in Fig.19 In the example shown, both sides of the manufactured sheet electrode 1 are held by a clamp 19 supported by five movable members 12 of a first electrode transport device A1 and a clamp 19 supported by five movable members 12 of a second electrode transport device A2.

[0110] On the other hand, in the second embodiment, the first movable members 40, the same number as the movable members 12, used to hold the manufactured sheet electrode 1, are arranged in a row in the conveying direction below the first electrode conveying device A1, and the second movable members 40, the same number as the movable members 12, used to hold the manufactured sheet electrode 1, are arranged in a row in the conveying direction below the second electrode conveying device A2. Fig.21A The stacked electrode holder 60 shown is a stacked electrode holder 60 on which a new sheet electrode 1 is held by the clamp 19 of the first electrode conveying device A1 and the clamp 19 of the second electrode conveying device A2. The stacked electrode holder 60 is fixed to the first movable member 40 and the second movable member 40 which are aligned and arranged below the first electrode conveying device A1 and the second electrode conveying device A2. Fig.19 The state where the new sheet-shaped electrode 1 is stacked on the stacked electrode holder 60 fixed to the first movable element 40 and the second movable element 40 is shown.

[0111] Fig. 22 Shown in Fig.19 The first electrode conveying device A1 and the second electrode conveying device A2 are removed. Fig. 22 It can be seen that when a new sheet electrode 1 is stacked on the stacked electrode holder 60, one side of the sheet electrode 1 is held by the stacked electrode holders 60 on the five aligned first movable members 40, and the other side of the sheet electrode 1 is also held by the stacked electrode holders 60 on the five aligned second movable members 40. In order to hold the sheet electrode 1 by the clamp 19 in this way, each movable member 40 is arranged so that the clamp 19 is located on the outside.

[0112] Next, refer to Fig.19 and Fig. 22, as in the first embodiment, the movement control of the movable member 40 is described by taking the case where the long-dimension axis of the electrode conveying devices A1 and A2 is the y-axis direction of the position coordinate on the flat surface 51 of the stator 50 and the short-dimension axis of the electrode conveying devices A1 and A2 is the x-axis direction of the position coordinate on the flat surface 51 of the stator 50 as an example. In this case, when the new sheet electrode 1 held by the first electrode conveying device A1 and the second electrode conveying device A2 is stacked on the stacking electrode holder 60, the first movable member 40 and the second movable member 40 also move in the negative direction of the y-axis.

[0113] In the second embodiment, the reference travel trajectories of the first movable member 40 and the second movable member 40 as a reference are also set in advance in xy coordinates on the flat surface 51 of the stator 50. In this case, in the second embodiment, the reference travel trajectories are also set relative to the centers of the first movable member 40 and the second movable member 40, and each movable member 40 is also controlled by the control device C so that the center of each movable member 40 moves along the reference travel trajectories. Fig. 22 In FIG. 1 , a plurality of reference travel paths are indicated by single-dot chain lines.

[0114] Reference Fig. 22 , a pair of U-shaped stacking reference travel rails K5 and K6 spaced apart in the x-axis direction and a stacking auxiliary reference travel rail K7 extending linearly between the stacking reference travel rails K5 and K6 are depicted. When a stacking operation is performed to stack a new sheet electrode 1 on the stacking electrode holder 60, the first movable member 40 carrying the stacking electrode holder 60 is moved along the inner stacking reference travel rail K5 at equal intervals in the y-axis direction in the lower area of ​​the first electrode conveying device A1, and the second movable member 40 carrying the stacking electrode holder 60 is moved along the inner stacking reference travel rail K6 at equal intervals in the y-axis direction in the lower area of ​​the second electrode conveying device A2. In this case, when performing the stacking operation, the first movable member 40 and the second movable member 40 are moved synchronously with the movement of the new sheet electrode 1 so that the new sheet electrode 1 held by the first electrode conveying device A1 and the second electrode conveying device A2 continues to face the sheet electrode stacking position on the stacking electrode holder 60.

[0115] In the second embodiment, the stacking operation of the sheet electrodes 1 is performed by reciprocating the first movable member 40 carrying the stacking electrode holder 60 along the inner stacking reference running track K5 under the first electrode conveying device A1 in an aligned state, and reciprocating the second movable member 40 carrying the stacking electrode holder 60 along the inner stacking reference running track K6 under the second electrode conveying device A2 in an aligned state, as described later. When the stacking operation of a predetermined number of new sheet electrodes 1 is completed, the first movable member 40 and the second movable member 40 carrying the stacking electrode holder 60 holding the predetermined number of stacked sheet electrodes 1 are respectively discharged from the lower area of ​​the first electrode conveying device A1 and the second electrode conveying device A2 along the inner stacking reference running track K5 and K6, and proceed to the next process. In the next step, for example, after one side of the compressed stacked sheet electrodes 1 is adhered and fixed to each other by resin, an electrolyte solution or a gel polymer electrolyte is injected into the positive electrode active material layer 3, the separator 4, and the negative electrode active material layer 5 from the peripheral portion of the stacked sheet electrodes 1 that is not adhered and fixed by resin. Then, through other processes, a stack of sheet electrodes 1 is manufactured.

[0116] When the stack of sheet electrodes 1 is formed, the stack of sheet electrodes 1 is taken out from the stacking electrode holder 60, and the movable member 40 carrying the empty stacking electrode holder 60 moves along the outer stacking reference running rails K5 and K6 to the waiting area Q. On the other hand, when the stacking operation of a predetermined number of new sheet electrodes 1 is completed and the movable member 40 carrying the stacking electrode holder 60 holding the predetermined number of stacked sheet electrodes 1 is discharged from the lower area of ​​the first electrode conveying device A1 and the second electrode conveying device A2, as shown in FIG. Fig.19 As shown, the movable member 40 carrying the empty stacking electrode holder 60 waiting in the waiting area Q moves to the area below the first electrode conveying device A1 and the second electrode conveying device A2 for laminating the sheet-like electrodes 1 .

[0117] On the other hand, in the second embodiment, if Fig. 22 As shown, in order to prevent the sheet electrode 1 from sagging, a plurality of support platforms 90 for supporting the sheet electrode 1 from below are provided between the first movable member 40 and the second movable member 40. These support platforms 90 are carried on the movable member 40, and the movable member 40 carrying the support platforms 90 moves along the stacking auxiliary reference travel rail K7 in synchronization with the movement of the sheet electrode 1. The movable member 40 carrying the support platforms 90 is referred to as a supporting movable member 40.

[0118] Next, refer to Fig.23A, a sheet electrode sagging prevention method performed in the second embodiment in order to further prevent the sheet electrode 1 from sagging will be described. Fig.23A Shown with Fig. 22 In addition, in the following description, as required, Fig.23A As shown, the first movable part 40 aligned and arranged below the first electrode conveying device A1 is sequentially referred to as movable part A1, movable part A2, movable part A3, movable part A4, and movable part A5, starting from the front end portion in the conveying direction of the sheet electrode 1, that is, the front end portion in the traveling direction when the stacking operation of the sheet electrode 1 is performed. The second movable part 40 aligned and arranged below the second electrode conveying device A2 is sequentially referred to as movable part B1, movable part B2, movable part B3, movable part B4, and movable part B5, starting from the front end portion in the conveying direction of the sheet electrode 1, that is, the front end portion in the traveling direction when the stacking operation of the sheet electrode 1 is performed.

[0119] In such a case, Fig.23A As shown in FIG. 1 , among the clamping forces of the clamp 64 of the stacked electrode holder 60 carried by each of the movable members A1, A2, A3, A4, A5, B1, B2, B3, B4, and B5 on the sheet electrode 1, the clamping force of the movable member A1 or the movable member B1 at the front end in the conveying direction of the sheet electrode 1 is the largest. Fig.23A In the example shown, the clamping force of the movable member B1 at the front end of the sheet electrode 1 in the conveying direction is maximized. Fig.23A In the example shown, in the second movable member 40, the clamping force in the movable members B2, B3, B4, and B5 other than the movable member B1 is made lower than the maximum clamping force, and the clamping force in the movable members A1, A2, A3, A4, and A5 is made even lower. In addition, the clamping force in each movable member is adjusted by adjusting the spring force of the spring provided in the pantograph type lifting mechanism 62 in each stacked electrode holder 60 in order to push the bottom plate 63 upward.

[0120] in addition, Fig.23AThe arrows f in FIG. 1 show the direction in which the movable parts B2, B3, B4, B5 and the movable parts A1, A2, A3, A4 and A5 other than the movable part B1 are slightly moved relative to the set reference position on the inner stacking reference travel rails K5 and K6 in order to apply tension to the sheet electrode 1 to prevent the sheet electrode 1 from sagging. At this time, the adjustment movement amounts in the x-axis and y-axis directions relative to the reference position required to prevent the sheet electrode 1 from sagging are preset for the movable parts B2, B3, B4, B5 and the movable parts A1, A2, A3, A4 and A5 other than the movable part B1.

[0121] In this way, the clamping force in the second movable member 40 located at the front end in the conveying direction is the largest, and the clamping force in the remaining second movable members 40 is lower than the maximum clamping force, and the clamping force in the first movable member 40 is lower still. Furthermore, the moving positions of the first movable member 40 and the second movable member 40 are controlled to the positions required for preventing the sheet electrode 1 from sagging, thereby being able to appropriately prevent the sheet electrode 1 from sagging.

[0122] Next, refer to Fig. 23B , while explaining the moving cam device, the moving cam device is used to: engage the cam with the rollers 76, 83 in order to drive the cam shafts 73, 80 of each stacked electrode holder 60 carried by the first movable member 40 and the second movable member 40, and engage the cam with the roller 26 of the clamp 19 installed on the conveying plate 20 of the first electrode conveying device A1 and the second electrode conveying device A2. In addition, Fig. 23B Shown with Fig. 22 In the second embodiment, the moving cam device 91 is composed of a cam movable member 40 having a cam 92. Fig. 23B In the example shown, the moving cam device 91 is provided with two, Fig. 23B , a pair of annular cam reference travel rails K8 and K9 are shown relative to these movable cam devices 91. The inner track of the cam reference travel rail K8 is arranged so that the cam 92 is engaged with the rollers 76 and 83 of each stacked electrode holder 60 carried by the first movable member 40 and the roller 26 of the clamp 19 mounted on the conveying plate 20 of the first electrode conveying device A1. Fig. 23B The cam 92 is arranged to extend linearly along the outer side of the first movable member 40, and the cam 92 is arranged to be connected to the rollers 76 and 83 of each stacked electrode holder 60 carried by the second movable member 40 and the roller 26 of the clamp 19 installed on the conveying plate 20 of the second electrode conveying device A2. Fig. 23BThe second movable element 40 extends linearly along the outer side of the second movable element 40. On the other hand, the outer side of the cam reference travel rails K8 and K9 is a return rail for moving the cam device 91 so as not to engage with the rollers 76, 83, and 26.

[0123] In the second embodiment, the xy coordinates at each fixed time on the stacking reference travel rails K5, K6, the stacking auxiliary reference travel rails K7, and the cam reference travel rails K8, K9 corresponding to the movement requirements of each movable member 40 are also set as the target plane position of the movable member 40, and the rotation angle position of the movable member 40 relative to the x-axis of the xy coordinates is also set as the target rotation angle position. In this case, in the second embodiment, the amount of current supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D of the stator 50 is also controlled by the control device C at each fixed time so that the movable member 40 is maintained at the target plane position and the target rotation angle position.

[0124] Fig.24 FIG. 2 is a diagram for explaining the lamination operation of the sheet-like electrodes 1 in the second embodiment. Fig.24 , the transport plates 20 of the electrode transport device A1 and the electrode transport device A2 are shown schematically. Fig.23A The movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5, movable cam device 91, cutting device 31, long strip-shaped electrode sheet 30, and sheet electrode 1 are shown. In addition, when the electrode sheet 30 or sheet electrode 1 is held by the clamp 19 on the conveying plate 20, Fig.24 In the figure, the electrode sheet 30 or the sheet electrode 1 is shown in contact with the conveying plate 20. When the sheet electrode 1 is held by the clamp 64 on the stacked electrode holder 60 fixed to the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5, Fig.24 In FIG. 1 , the electrode sheet 30 is shown to be placed on the movable elements A1 , B1 , the movable elements A2 , B2 , the movable elements A3 , B3 , the movable elements A4 , B4 , and the movable elements A5 , B5 .

[0125] Fig.24(A) shows the start of the stacking operation of the sheet electrode 1. At this time, the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5 stop at the stacking start position, and the moving cam device 91 stops at the waiting position. When the electrode sheet 30 is sent out in the conveying direction, the electrode sheet 30 is held on the conveying plate 20 by the clamp 19 at equal intervals in the conveying direction. When the electrode sheet 30 of a predetermined length passes through the cutting device 31, the electrode sheet 30 is cut by the cutting device 31. Thus, the sheet electrode 1 is generated. Next, as Fig.24 As shown in (B), the plurality of conveying plates 20 holding the generated sheet electrodes 1 are moved to positions aligned in the vertical direction with the corresponding movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5.

[0126] Next, if Fig.24 (B)~ Fig.24 As shown in (E), the plurality of conveying plates 20 holding the sheet electrode 1 are moved at equal intervals in the conveying direction. At this time, the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5 are aligned with the corresponding conveying plates 20 in the vertical direction and move synchronously with the movement of the conveying plates 20. That is, the first movable part 40 and the second movable part 40 move synchronously with the movement of the sheet electrode 1 so that the sheet electrode 1 continues to face the sheet electrode stacking position on the stacking electrode holder 60 of the first movable part 40 and the stacking electrode holder 60 of the second movable part 40. During this period, the moving cam device 91 moves in the direction opposite to the conveying direction, and the sheet electrode 1 is transferred between the movable part 40 reached by the moving cam device 91 and the conveying plate 20 aligned with the movable part 40 in the vertical direction.

[0127] In this case, the sheet electrode 1 is transferred from the conveying plate 20 to the corresponding stacked electrode holder 60 as follows. That is, first, the holding action of the clamp 19 of the conveying plate 20 on the sheet electrode 1 is released by the moving cam device 91, and the clamp 64 of the stacked electrode holder 60 carried by the movable member 40 aligned in the vertical direction with the conveying plate 20 is moved to the release position by the moving cam device 91. At this time, the portion of the sheet electrode 1 originally held by the clamp 19 falls onto the stacked electrode holder 60 carried by the movable member 40. When the portion of the sheet electrode 1 originally held by the clamp 19 falls onto the stacked electrode holder 60 carried by the movable member 40, the clamp 64 of the stacked electrode holder 60 rotates onto the fallen sheet electrode 1, and the fallen sheet electrode 1 is held on the stacked electrode holder 60 by the clamp 64.

[0128] Such a transfer operation of the sheet-like electrode 1 is performed sequentially every time the moving cam device 91 reaches the movable element A1, B1, the movable element A2, B2, the movable element A3, B3, the movable element A4, B4, and the movable element A5, B5. That is, first, the sheet electrode 1 is handed over from the conveying plate 20 aligned with the movable parts A1 and B1 to the stacked electrode holder 60 of the movable parts A1 and B1. Next, the sheet electrode 1 is handed over from the conveying plate 20 aligned with the movable parts A2 and B2 to the stacked electrode holder 60 of the movable parts A2 and B2. Next, the sheet electrode 1 is handed over from the conveying plate 20 aligned with the movable parts A3 and B3 to the stacked electrode holder 60 of the movable parts A3 and B3. Next, the sheet electrode 1 is handed over from the conveying plate 20 aligned with the movable parts A4 and B4 to the stacked electrode holder 60 of the movable parts A4 and B4. Next, the sheet electrode 1 is handed over from the conveying plate 20 aligned with the movable parts A5 and B5 to the stacked electrode holder 60 of the movable parts A5 and B5. While the delivery operation of the sheet-like electrode 1 is being performed, the electrode sheet 30 is continuously fed out in the conveying direction and is held on the conveying plate 20 at equal intervals in the conveying direction by the grippers 19 of the conveying plate 20 that is successively moved.

[0129] Fig.24 (E) shows that the entire sheet electrode 1 originally held by the conveying plate 20 is transferred to the stacked electrode holder 60 of the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5. When the entire sheet electrode 1 originally held by the conveying plate 20 is transferred to the stacked electrode holder 60 of the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5, the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5 holding the sheet electrode 1 on the stacked electrode holder 60 are stacked with the new sheet electrode 1 on the held sheet electrode 1, as shown in FIG. Fig.24 (E)~ Fig.24 As shown in (H), it returns to the direction opposite to the conveying direction. Fig.24 At this time, the moving cam device 91 returns to the waiting position.

[0130] Thus, in the second embodiment, the stacking operation of the sheet electrodes 1 is performed by reciprocating the movable members A1, B1, movable members A2, B2, movable members A3, B3, movable members A4, B4, movable members A5, B5. In this case, when the movable cam device 91 is used as the cam that engages with the rollers 76, 83 of each stacking electrode holder 60 and the roller 26 of the clamp 19 mounted on each conveying plate 20, the distance that the movable members A1, B1, movable members A2, B2, movable members A3, B3, movable members A4, B4, movable members A5, B5 have to reciprocate is shorter than when a fixed cam is used, so the time required for the stacking operation of the sheet electrodes 1 can be shortened. In the second embodiment, the positions of the movable elements A1 , B1 , movable elements A2 , B2 , movable elements A3 , B3 , movable elements A4 , B4 , and movable elements A5 , B5 are also adjusted based on the image captured by the camera 33 .

[0131] Fig.25 The movable element control routine for controlling the movement of each movable element 40 in the second embodiment is shown. According to the movable element control routine, the movement control of all movable elements 40 in the electrode stacking device is repeatedly performed for each movable element.

[0132] Reference Fig.25 In step 200, it is determined whether it is the beginning of the stacking process of stacking the new sheet electrode 1 held on the conveying plate 20 on the stacked electrode holder 60 carried by the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5. In the case where it is determined that it is the beginning of the stacking process of the stacked electrode holder 60 carried by the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5, the process proceeds to step 201, and the movable parts 40 carrying the empty stacked electrode holder 60 are moved from the waiting position to the stacking start position. In this case, in the second embodiment, the five movable parts 40 carrying the empty stacked electrode holders 60 are moved from the waiting position to the stacking start position, and the movable parts 40 at this time are in Fig.24 In (A), movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5 are shown.

[0133] Next, in step 202, the movable member 40 carrying the empty stacking electrode holder 60 is moved to the waiting position. Next, in step 203, a stacking process is performed to stack the new sheet electrode 1 held on the conveying plate 20 on the stacking electrode holder 60 carried by the movable members A1, B1, movable members A2, B2, movable members A3, B3, movable members A4, B4, movable members A5, B5. On the other hand, if it is determined in step 200 that the stacking process of the sheet electrode 1 is not started, the process jumps to step 203 and the stacking process of the sheet electrode 1 is performed. This stacking process is performed by Fig.16 and Fig. 27 The cascade processing routine shown is executed.

[0134] Next, in step 204, it is determined whether the stacking process of the sheet electrode 1 is completed. When it is determined that the stacking process of the sheet electrode 1 is completed, the process proceeds to step 205, and a discharge process is performed for moving the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5 to the next process. Next, in step 204, the stacking process of the next new sheet electrode 1 is started.

[0135] On the other hand, in the second embodiment, Fig.17 The position deviation detection routine shown calculates correction values ​​Δx, Δy, and α used for correcting the set positions of the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, and B5 when it is determined based on the image captured by the camera 33 that the new sheet electrode 1 on the conveying plate 20 has deviated from the standard holding position R. Then, these correction values ​​Δx, Δy, and α are stored in the control device C, and a correction request indicating that the set positions of the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, and B5 should be corrected is issued.

[0136] Fig.26 and Fig. 27 Shown in Fig.25 The stacking process routine is executed in step 203 of the movable member control routine shown in FIG. The movable member control routine is repeatedly executed.

[0137] Reference Fig.26 and Fig. 27 In step 220, it is determined whether a return process is being performed, which is used to stack a new sheet electrode 1 on the retained sheet electrode 1. Fig.24 (E)~ Fig.24As shown in (H), the movable parts A1, B1, movable parts A2, B2, movable parts A3, B3, movable parts A4, B4, movable parts A5, B5 are returned to the direction opposite to the conveying direction. Fig.24 When it is determined that the return process is not being performed, the process proceeds to step 221 to calculate the xy coordinate values ​​of the next reference position on the stacking reference travel track K5 for the movable parts A1, A2, A3, A4, and A5 as the control objects, and the xy coordinate values ​​of the next reference position on the stacking reference travel track K6 for the movable parts B1, B2, B3, B4, and B5 as the control objects.

[0138] Next, in step 222, it is determined that Fig.17 In the position deviation detection routine shown in FIG. 2 , it is determined whether a correction request is issued. When it is determined that a correction request is issued, the process proceeds to step 223 to read the correction values ​​Δx, Δy, and α stored in the control device C. Next, in step 224, among the movable members A1, A2, A3, A4, A5, B1, B2, B3, B4, and B5, the movable member that is being held by the clamp 64 of the stacked electrode holder 60 is extracted. Next, in step 225, in order to prevent the sheet electrode 1 from sagging, the adjustment movement amounts in the x-axis and y-axis directions of the movable part in the electrode holding extracted in step 224 are read in, from the adjustment movement amounts in the x-axis and y-axis directions pre-set for movable part A1, movable part A2, movable part A3, movable part A4, movable part A5, movable part B1, movable part B2, movable part B3, movable part B4, and movable part B5.

[0139] Next, in step 226, the xy coordinate values ​​of the changed set positions of the electrode holding movable members A1, A2, A3, A4, A5, B1, B2, B3, B4, and B5 are calculated based on these correction values ​​Δx, Δy, and α and the adjustment movement amounts in the x-axis and y-axis directions. At this time, for example, the x coordinate value of the changed set position is calculated by adding the adjustment movement amount in the x-axis direction to the correction value Δx, and the y coordinate value of the changed set position is calculated by adding the adjustment movement amount in the y-axis direction to the correction value Δy. Next, in step 227, the xy coordinate values ​​of the next reference positions on the cam reference travel rails K8 and K9 for the pair of cam movable members 40 and the xy coordinate values ​​of the next reference position on the stacking auxiliary reference travel rail K7 for the support movable member 40 are calculated.

[0140] Next, in step 228, the movement of each movable member 40 is controlled. At this time, regarding the movable members A1, A2, A3, A4, A5, B1, B2, B3, B4, and B5 for electrode holding, the control device C controls the amount of current supplied to each coil 54A, 54B, and 54C in each coil layer 53A, 53B, 53C, and 53D of the stator 50 so that the movement position of each movable member 40 becomes the changed set position, and regarding the movable member 40 for cam and the movable member 40 for support, the control device C controls the amount of current supplied to each coil 54A, 54B, and 54C in each coil layer 53A, 53B, 53C, and 53D of the stator 50 so that the movement position of each movable member 40 becomes the set reference position. In this case, the set position of the cam movable part 40 can be changed relative to the reference position based on the above-mentioned correction values ​​Δx, Δy, α and the adjustment movement amounts in the x-axis and y-axis directions, so that the cam movable part 40 moves along the changed set position.

[0141] Next, in step 229, wait until a predetermined time has passed. When the predetermined time has passed, proceed to step 230 to determine whether the stacking operation of a new sheet electrode 1 has been completed. When it is determined that the stacking operation of a new sheet electrode 1 has not been completed, return to step 220 to continue the movement control of each movable part 40. Next, when it is determined in step 230 that the stacking operation of a new sheet electrode 1 has been completed, proceed to step 231 to determine whether the stacking operation of all the set number of new sheet electrodes 1 has been completed. When it is determined that the stacking operation of not all the set number of new sheet electrodes 1 has been completed, proceed to step 232 to start the return process. On the other hand, when it is determined that the stacking operation of all the set number of new sheet electrodes 1 has been completed, in step 233, the stacking operation of the sheet electrodes 1 is completed.

[0142] When the return process is executed, the process proceeds from step 220 to step 234, and the xy coordinate values ​​of the next set positions of the electrode holding movable member A1, movable member A2, movable member A3, movable member A4, movable member A5, movable member B1, movable member B2, movable member B3, movable member B4, movable member B5, cam movable member 40, and supporting movable member 40 during the return process are calculated. Next, in step 235, the control device C controls the amount of current supplied to each coil 54A, 54B, 54C in each coil layer 53A, 53B, 53C, 53D of the stator 50 so that the movement position of each movable member 40 becomes the set position.

[0143] Next, in step 236, wait until a predetermined time has passed. When a predetermined time has passed, proceed to step 237 to determine whether all of the electrode holding movable parts A1, movable part A2, movable part A3, movable part A4, movable part A5, movable part B1, movable part B2, movable part B3, movable part B4, and movable part B5 have returned to the stacking start position. When it is determined that not all of the electrode holding movable parts have returned to the stacking start position, return to step 234. In contrast, when it is determined that all of the electrode holding movable parts have returned to the stacking start position, proceed to step 238, and the movement of all of the electrode holding movable parts stops. Next, the return process ends in step 239. When the return process ends, the next stacking operation begins.

[0144] Thus, in the second embodiment of the present invention, it also comprises: a planar motor device B, which is composed of a flat stator 50 and a plurality of movable parts 40, and the plurality of movable parts 40 are able to move in any direction along the flat surface 51 and rotate around the vertical axis of the flat surface 51 in a state of being magnetically suspended from the flat surface 51 on the flat surface 51 of the stator 50; electrode conveying devices A1, A2, which are arranged above the planar motor device B and convey the sheet electrode 1 while holding it along the conveying path; and a control device C, which is used to control the planar motor device B and the electrode conveying devices A1, A2, a stacked electrode holder 60 for holding the stacked sheet electrodes 1 is installed on each movable part 40 of the planar motor device B, and the sheet electrodes 1 stacked in sequence are held by the stacked electrode holder 60 at the sheet electrode stacking position on the stacked electrode holder 60. When a new sheet electrode 1 held by the electrode conveying devices A1 and A2 is stacked on the stacked electrode holder 60 of the movable part 40, the movable part 40 is moved synchronously with the movement of the new sheet electrode 1 through the control device C, so that the new sheet electrode 1 continues to face the sheet electrode stacking position on the stacked electrode holder 60.

[0145] In this case, in the second embodiment, the electrode conveying device is composed of a first electrode conveying device A1 and a second electrode conveying device A2 which are arranged at intervals on both sides of the conveying direction, and the first electrode conveying device A1 and the second electrode conveying device A2 respectively hold both ends of a new sheet electrode 1 located on both sides relative to the conveying direction, and below the first electrode conveying device A1, a plurality of first movable members 40 of a planar motor device B are aligned in the conveying direction in order to hold one end of the sheet electrode 1, and below the second electrode conveying device A2, a plurality of second movable members 40 of a planar motor device B are aligned in the conveying direction in order to hold the other end of the sheet electrode 1, and the sheet electrodes 1 stacked in sequence are moved by the first movable member 40. The stacked electrode holder 60 of the first movable member 40 and the stacked electrode holder 60 of the second movable member 40 are held on the sheet electrode stacking position on the stacked electrode holder 60 of the first movable member 40 and the stacked electrode holder 60 of the second movable member 40. When a new sheet electrode 1 held by the first electrode conveying device A1 and the second electrode conveying device A2 is stacked on the stacked electrode holder 60 of the first movable member 40 and the stacked electrode holder 60 of the second movable member 40, the first movable member 40 and the second movable member 40 are moved synchronously with the movement of the new sheet electrode 1 through the control device C, so that the new sheet electrode 1 continues to face the sheet electrode stacking position on the stacked electrode holder 60 of the first movable member 40 and the stacked electrode holder 60 of the second movable member 40.

[0146] In addition, in this second embodiment, when the stacking operation of the new sheet electrode 1 on the stacked electrode holder 60 of the first movable member 40 and the stacked electrode holder 60 of the second movable member 40 is completed, in order to stack the next new sheet electrode 1 on the stacked electrode holder 60 of the first movable member 40 and the stacked electrode holder 60 of the second movable member 40, the control device C is used to return the first movable member 40 and the second movable member 40 to the stacking start position in the direction opposite to the conveying direction. In addition, in the second embodiment, there is a supporting movable member 40, which includes a supporting platform 90 for supporting the sheet electrode 1 held by the stacked electrode holding member 60 of the first movable member 40 and the stacked electrode holding member 60 of the second movable member 40 from below between the first movable member 40 and the second movable member 40. The supporting movable member 40 is moved synchronously with the movement of the sheet electrode 1 stacked on the stacked electrode holding member 60 of the first movable member 40 and the stacked electrode holding member 60 of the second movable member 40 during stacking by means of the control device C.

[0147] In addition, in the second embodiment, the first electrode conveying device A1 and the second electrode conveying device A2 include: a linear motor having a plurality of movable members 12 that move along a conveying path, each movable member 12 of the linear motor having a clamp 19 for holding a new sheet electrode 1, and a stacked electrode holder 60 of the first movable member 40 of the planar motor device B and a stacked electrode holder 60 of the second movable member 40 having a clamp 64, and the first movable member 40 and the second movable member 40 of the planar motor device B move synchronously with the movement of the new sheet electrode. When moving, starting from the movable parts 12 of each linear motor located in front of the conveying direction, the holding effect of the clamps 19 of the movable parts 12 of the linear motor on the sheet electrode 1 is released in turn, and the holding effect of the stacked electrode holder 60 of the first movable part 40 and the stacked electrode holder 60 of the second movable part 40 corresponding to the movable parts 12 of the linear motor on the sheet electrode 1 is performed, thereby, a new sheet electrode 1 is stacked on the stacked electrode holder 60 of the first movable part 40 and the stacked electrode holder 60 of the second movable part 40.

[0148] Furthermore, in the second embodiment, the first electrode conveying device A1 and the second electrode conveying device A2 are provided with a clamp 19 for holding the sheet electrode 1, and the stacking electrode holder 60 of the first movable member 40 and the second movable member 40 are provided with a clamp 64 for holding the sheet electrode 1. The holding action and release of the holding action of the sheet electrode 1 by these clamps 19 and 64 are performed by cams. When a new sheet electrode 1 is stacked on the stacking electrode holder 60 of the first movable member 40 and the stacking electrode holder 60 of the second movable member 40, the cam movable member 40 provided with a cam 92 engaged with these clamps 19 and 64 is moved in the direction opposite to the conveying direction by the control device C. In addition, in the second embodiment, each clamp 19 provided with each movable member 12 of the linear motor has a structure that generates tension on the new sheet electrode 1 in order to prevent the new sheet electrode 1 from sagging when holding the new sheet electrode 1.

[0149] In the second embodiment, as the holding position of the new sheet electrode 1 by the first electrode conveying device A1 and the second electrode conveying device A2, a standard holding position R required for aligning the new sheet electrode 1 with the sheet electrode stacking position on the stacking electrode holder 60 is set in advance, and a deviation amount detection device for detecting the deviation amount of the holding position of the new sheet electrode 1 from the standard holding position R is provided, and based on the deviation amount, the moving position and the rotation angle position of the first movable member 40 and the second movable member 40 are controlled by the control device C so that the new sheet electrode 1 is stacked on the stacking electrode holder 60 in alignment with the sheet electrode stacking position on the stacking electrode holder 60. In this case, the deviation amount detection device includes a camera 33 for photographing the new sheet electrode 1 held by the electrode conveying devices A1 and A2, and the deviation amount is detected based on the image photographed by the camera 33.

[0150] In addition, in the second embodiment, the first movable member 40 and the laminated electrode holder 60 of the second movable member 40 are provided with a clamp 64, the sheet electrode 1 is held by the clamp 64 of the laminated electrode holder 60 of the first movable member 40 and the clamp 64 of the laminated electrode holder 60 of the second movable member 40, and the moving positions of the first movable member 40 and the second movable member 40 are controlled to positions required for preventing the sheet electrode 1 from sagging by the control device C. In this case, the clamping force of the first movable member 40 located at the front end in the conveying direction is made the largest, and the clamping force of the remaining first movable members 40 is made lower than the maximum clamping force, and the clamping force of the second movable member 40 is made even lower.

Claims

1. An electrode stacking device, characterized in that: Used to stack sheet electrodes, with: A planar motor device, comprising a flat plate-shaped stator and a plurality of movable members, wherein the plurality of movable members are movable in any direction along the flat surface of the stator in a state of being magnetically suspended from the flat surface and are rotatable around an axis perpendicular to the flat surface; an electrode transport device disposed above the planar motor device and transporting the sheet electrode while holding it along a transport path; and A control device for controlling the planar motor device and the electrode transport device, A stacked electrode holder for holding stacked sheet electrodes is mounted on each movable member of the planar motor device, and the sheet electrodes stacked in sequence are held by the stacked electrode holder at the sheet electrode stacking position on the stacked electrode holder. When stacking a new sheet electrode held by the electrode conveying device on the stacking electrode holding member of the movable member, the control device moves the movable member in synchronization with the movement of the new sheet electrode so that the new sheet electrode continues to face the sheet electrode stacking position on the stacking electrode holding member. As the holding position of the new sheet electrode by the electrode conveying device, a standard holding position required to align the new sheet electrode with the sheet electrode stacking position on the stacked electrode holding member is pre-set, and the electrode stacking device is provided with a deviation detection device for detecting the deviation of the holding position of the new sheet electrode relative to the standard holding position. The control device also controls the moving position and rotation angle position of each movable part based on the deviation so that the new sheet electrode is stacked on the stacked electrode holding member in alignment with the sheet electrode stacking position on the stacked electrode holding member.

2. The electrode stacking device according to claim 1, characterized in that: The deviation amount detection device includes a camera for capturing an image of the new sheet-shaped electrode held by the electrode transport device, and detects the deviation amount based on an image captured by the camera.

3. The electrode stacking device according to claim 1, characterized in that: The electrode transport device includes a linear motor device having a plurality of movable elements that move along a transport path, and the new sheet-shaped electrode is held by a clamp on a transport plate mounted on each movable element of the linear motor device.

4. The electrode stacking device according to claim 3, characterized in that: The stacked electrode holder of the movable part of the planar motor device is provided with a clamp. When the movable part of the planar motor device moves synchronously with the movement of the new sheet electrode, the new sheet electrode held on the conveying plate is stacked on the stacked electrode holder while the peripheral portion of the new sheet electrode is held by the clamp of either the conveying plate or the clamp of the stacked electrode holder.

5. The electrode stacking device according to claim 1, characterized in that: The sheet-shaped electrodes are held by a plurality of movable members of the planar motor device.

6. The electrode stacking device according to claim 1, characterized in that: The control device controls the moving position and rotation angle position of the movable member of the planar motor device holding the sheet-shaped electrode when the movable member moves along a curved travel path so that the movable member of the planar motor device does not rotate.

7. An electrode stacking device, characterized in that: Used to stack sheet electrodes, with: A planar motor device, comprising a flat plate-shaped stator and a plurality of movable members, wherein the plurality of movable members are movable in any direction along the flat surface of the stator in a state of being magnetically suspended from the flat surface and are rotatable around an axis perpendicular to the flat surface; an electrode transport device disposed above the planar motor device and transporting the sheet electrode while holding it along a transport path; and A control device for controlling the planar motor device and the electrode transport device, A stacked electrode holder for holding stacked sheet electrodes is mounted on each movable member of the planar motor device, and the sheet electrodes stacked in sequence are held by the stacked electrode holder at the sheet electrode stacking position on the stacked electrode holder. When stacking a new sheet electrode held by the electrode conveying device on the stacking electrode holding member of the movable member, the control device moves the movable member in synchronization with the movement of the new sheet electrode so that the new sheet electrode continues to face the sheet electrode stacking position on the stacking electrode holding member. The electrode conveying device is composed of a first electrode conveying device and a second electrode conveying device which are arranged at intervals on both sides of the conveying direction, and the first electrode conveying device and the second electrode conveying device respectively hold the two end portions of a new sheet electrode located on both sides relative to the conveying direction. Below the first electrode conveying device, a plurality of first movable members of the planar motor device are aligned in the conveying direction in order to hold one end portion of the sheet electrode, and below the second electrode conveying device, a plurality of second movable members of the planar motor device are aligned in the conveying direction in order to hold the other end portion of the sheet electrode. The sheet electrodes stacked in sequence are held by the stacked electrode holding member of the first movable member and The stacked electrode holder of the second movable part is held at the sheet electrode stacking position on the stacked electrode holder of the first movable part and the sheet electrode stacking position on the stacked electrode holder of the second movable part. The control device, when stacking a new sheet electrode held by the first electrode conveying device and the second electrode conveying device on the stacked electrode holder of the first movable part and the stacked electrode holder of the second movable part, moves the first movable part and the second movable part synchronously with the movement of the new sheet electrode so that the new sheet electrode continues to face the sheet electrode stacking position on the stacked electrode holder of the first movable part and the sheet electrode stacking position on the stacked electrode holder of the second movable part.

8. The electrode stacking device according to claim 7, characterized in that: The control device, when the stacking operation of the new sheet electrode on the stacking electrode holder of the first movable member and the stacking electrode holder of the second movable member is completed, returns the first movable member and the second movable member to the stacking starting position in the direction opposite to the conveying direction in order to stack the next new sheet electrode on the stacking electrode holder of the first movable member and the stacking electrode holder of the second movable member.

9. The electrode stacking device according to claim 7, characterized in that: A supporting movable part is provided, wherein the supporting movable part has a supporting platform for supporting the sheet electrode held by the stacked electrode holding part of the first movable part and the stacked electrode holding part of the second movable part from below between the first movable part and the second movable part, and the control device causes the supporting movable part to move synchronously with the movement of the sheet electrode stacked on the stacked electrode holding part of the first movable part and the stacked electrode holding part of the second movable part during stacking.

10. The electrode stacking device according to claim 7, characterized in that: The first electrode conveying device and the second electrode conveying device include a linear motor device having a plurality of movable parts moving along a conveying path, each movable part of the linear motor device is provided with a clamp for holding the new sheet electrode, and the stacked electrode holding part of the first movable part of the planar motor device and the stacked electrode holding part of the second movable part are provided with a clamp. When the first movable part and the second movable part of the planar motor device move synchronously with the movement of the new sheet electrode, starting from the movable parts of each linear motor device located in front in the conveying direction, the holding effect of the clamp of the movable part of the linear motor device on the sheet electrode is released in sequence, and the stacked electrode holding part of the first movable part and the stacked electrode holding part of the second movable part corresponding to the movable part of the linear motor device are performed to hold the sheet electrode, thereby stacking the new sheet electrode on the stacked electrode holding part of the first movable part and the stacked electrode holding part of the second movable part.

11. The electrode stacking device according to claim 7, characterized in that: The first electrode conveying device and the second electrode conveying device are provided with clamps for holding sheet electrodes, and the stacked electrode holder of the first movable part and the stacked electrode holder of the second movable part are provided with clamps for holding sheet electrodes. The holding action of these clamps on the sheet electrodes and the release of the holding action are performed by cams. When the control device is performing the stacking operation of new sheet electrodes on the stacked electrode holder of the first movable part and the stacked electrode holder of the second movable part, the cam movable part provided with cams engaged with these clamps moves in a direction opposite to the conveying direction.

12. The electrode stacking device according to claim 7, characterized in that: The first electrode conveying device and the second electrode conveying device include a linear motor device having a plurality of movable parts that move along a conveying path, each movable part of the linear motor device having a clamp for holding the new sheet electrode, and each clamp of each movable part of the linear motor device generates tension on the new sheet electrode in order to prevent the new sheet electrode from sagging when holding the new sheet electrode.

13. The electrode stacking device according to claim 7, characterized in that: As the holding position of the new sheet electrode by the first electrode conveying device and the second electrode conveying device, a standard holding position required to align the new sheet electrode with the sheet electrode stacking position on the stacked electrode holding member is pre-set, and the electrode stacking device is provided with a deviation detection device for detecting the deviation of the holding position of the new sheet electrode relative to the standard holding position, and the control device also controls the moving position and the rotation angle position of the first movable member and the second movable member based on the deviation, so that the new sheet electrode is stacked on the stacked electrode holding member in alignment with the sheet electrode stacking position on the stacked electrode holding member.

14. The electrode stacking device according to claim 13, characterized in that: The deviation amount detection device includes a camera for capturing an image of the new sheet-shaped electrode held by the electrode transport device, and detects the deviation amount based on an image captured by the camera.

15. The electrode stacking device according to claim 7, characterized in that: The stacked electrode holder of the first movable part and the stacked electrode holder of the second movable part are provided with clamps, and the sheet electrode is held by the clamp of the stacked electrode holder of the first movable part and the clamp of the stacked electrode holder of the second movable part, and the control device controls the moving position of the first movable part and the moving position of the second movable part to the position required for preventing the sheet electrode from sagging.

16. The electrode stack device according to claim 15, characterized in that: The clamping force of the first movable element located at the front end in the conveying direction is made maximum among the first movable elements, and the clamping force of the remaining first movable elements is made lower than the maximum clamping force, and the clamping force of the second movable element is made even lower.

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