Laminating apparatus

Abstract

This invention relates to a stacking apparatus. A stacking apparatus (100) for stacking multiple workpieces comprises: a plurality of supply mechanisms (10) for supplying workpieces (1) to each of a plurality of supply positions (A1 to A4); a moving mechanism (20) comprising a stator (21) of a linear motor having a predetermined travel path, and a movable member (22) of the linear motor capable of moving along the travel path between the plurality of supply positions (A1 to A4); and a control unit for controlling at least the movable member (22). The movable member (22) comprises a stacking table (221) for stacking the workpieces (1). The control unit controls the movable member (22) to modify the relative position of the workpieces (1) supplied to the supply positions (A1 to A4) relative to the stacking table (221), stacks the workpieces (1) with the modified relative position on the stacking table (221), and moves the movable member (22) to the next supply position (A1 to A4) after the workpieces (1) are stacked.

Description

Technical Field

[0001] This invention relates to a stacking device for stacking multiple workpieces. Background Technology

[0002] Previously, there were known stacking devices that stacked multiple workpieces in a prescribed order.

[0003] As one type of stacking device, Patent Document 1 describes a stacking apparatus for stacking sheet-shaped workpieces, such as positive electrodes, negative electrodes, and separators, which are used as battery materials. This stacking apparatus includes a conveying mechanism for transporting workpieces in a predetermined direction, a transfer mechanism for transferring workpieces, and a stacking mechanism for stacking workpieces. It is configured such that the transfer mechanism transfers the workpieces transported by the conveying mechanism, and the stacking mechanism performs the stacking. The transfer mechanism includes a stator of a linear motor with a predetermined travel path, and movable members of multiple linear motors disposed on the stator. The movable members move to the stacking mechanism while the workpieces are held by a holding member. Patent Document 1 describes a structure that enables high-speed, continuous stacking of sheet-shaped workpieces.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2019-215977

[0005] However, in the stacking apparatus described in Patent Document 1, there is room for improvement in the process of transferring the workpiece from the conveying mechanism to the transfer mechanism and the process of transferring the workpiece from the transfer mechanism to the stacking mechanism, in order to shorten the stacking time of the workpiece. Summary of the Invention

[0006] The present invention was made to solve the above-mentioned problems, and its purpose is to provide a stacking device that can shorten the stacking time of workpieces.

[0007] The stacking apparatus of the present invention is a stacking apparatus for stacking multiple workpieces, characterized in that it comprises: a plurality of supply mechanisms for supplying the workpieces to each of a plurality of supply positions; a moving mechanism having a stator of a linear motor having a predetermined travel track and a movable member of the linear motor capable of moving along the travel track between the plurality of supply positions; and a control unit for controlling at least the movable member, the movable member having a stacking stage for stacking the workpieces, the control unit controlling the movable member to modify the relative position of the workpieces supplied to the supply positions relative to the stacking stage, stacking the workpieces with modified relative positions on the stacking stage, and moving the movable member to the next supply position after the workpieces are stacked.

[0008] According to the stacking apparatus of the present invention, the relative position of the workpiece supplied to the supply position by the supply mechanism with respect to the stacking table is modified, and the workpiece with the modified relative position is stacked on the stacking table of the movable member. Then, the movable member moves to the next supply position. That is, since the process of transferring the workpiece to other mechanisms only needs to be performed once from the supply mechanism to the moving mechanism, the stacking time of the workpiece can be shortened. Attached Figure Description

[0009] Figure 1 This is a top view schematically illustrating the structure of the stacking device in the first embodiment.

[0010] Figure 2 It is a schematic diagram showing the structure of the movable part of the moving mechanism when viewed along the direction of the stator's travel track.

[0011] Figure 3 It is a block diagram showing the connection relationship with the control unit.

[0012] Figure 4 (a) is a diagram illustrating the method of determining the position and orientation of a workpiece as captured by an imaging device. Figure 4 (b) is a diagram illustrating a method for determining the position and orientation of a workpiece by photographing alignment marks formed on the workpiece using a photographing device.

[0013] Figure 5 This diagram illustrates a method for modifying the relative position of a workpiece with respect to a stacking stage in the stacking apparatus of the first embodiment.

[0014] Figure 6 (a) is a schematic side view of a stacked platform having locating pins as fixing components. Figure 6 (b) is a side view showing the fixture on the stacking table being fixed by the locating pin. Figure 6 (c) is a diagram showing the situation where the fixture is discharged together with the stacked workpieces by the fixture supply discharge mechanism, and the next fixture is supplied to the stacking table.

[0015] Figure 7 This is a top view schematically showing the structure of a stacked device where the number of movable parts is the same as the number of supply mechanisms.

[0016] Figure 8 This diagram illustrates a method for modifying the relative position of a workpiece with respect to a stacking stage in the stacking apparatus of the second embodiment.

[0017] Figure 9 This is a schematic diagram illustrating the structure of a movable part located vertically above the workpiece at the supply position when stacking workpieces. Detailed Implementation

[0018] The following describes embodiments of the present invention and provides a detailed explanation of its features.

[0019] <First Implementation>

[0020] Figure 1 This is a top view schematically illustrating the structure of the stacking apparatus 100 in the first embodiment. The stacking apparatus 100 in the first embodiment includes multiple supply mechanisms 10, a moving mechanism 20, and a control unit 30 (see reference). Figure 3 Here, an example will be given where the object being stacked by the stacking device 100, i.e., the workpiece 1, is a sheet-like battery material.

[0021] Multiple supply mechanisms 10 supply workpiece 1 to each of multiple supply positions A1 to A4. Each of the multiple supply positions A1 to A4 is supplied with a different type of workpiece 1. In this embodiment, the multiple supply mechanisms 10 include four supply mechanisms: a first supply mechanism 10a, a second supply mechanism 10b, a third supply mechanism 10c, and a fourth supply mechanism 10d. However, the number of multiple supply mechanisms 10 is not limited to four.

[0022] The first supply mechanism 10a supplies a resin film as workpiece 1 to the first supply position A1. The resin film is a sheet-like battery material that functions as a separator, and is made of, for example, polyethylene. In this embodiment, the first supply mechanism 10a is a belt conveyor that transports and supplies the workpiece 1, which is adsorbed onto the lower surface of the belt, to the first supply position A1. Adsorption is performed, for example, by attracting the workpiece 1.

[0023] The second supply mechanism 10b supplies a first metal foil as workpiece 1 to the second supply position A2. The first metal foil is a sheet-like battery material that functions as one of the positive and negative electrodes, and is made of, for example, aluminum. In this embodiment, the second supply mechanism 10b is a belt conveyor that transports and supplies the workpiece 1, which is adsorbed onto the lower surface of the belt, to the second supply position A2.

[0024] The third supply mechanism 10c supplies a resin film as workpiece 1 to the third supply position A3. The resin film is a sheet-like battery material that functions as a separator, and is made of, for example, polyethylene. The resin film supplied by the third supply mechanism 10c can be the same as the resin film supplied by the first supply mechanism 10a. However, a different resin film can also be used. In this embodiment, the third supply mechanism 10c is a belt conveyor that transports and supplies the workpiece 1, which is adsorbed onto the lower surface of the belt, to the third supply position A3.

[0025] The fourth supply mechanism 10d supplies a second metal foil as workpiece 1 to the fourth supply position A4. The second metal foil is a sheet-like battery material that functions as the other electrode in the positive and negative electrode processes, and is made of, for example, aluminum. In this embodiment, the fourth supply mechanism 10d is a belt conveyor that transports and supplies the workpiece 1, which is adsorbed onto the lower surface of the belt, to the fourth supply position A4.

[0026] Furthermore, the first supply mechanism 10a, the second supply mechanism 10b, the third supply mechanism 10c, and the fourth supply mechanism 10d are not limited to belt conveyors, as long as they are structures capable of transporting and supplying workpiece 1.

[0027] Alternatively, instead of having the pre-segmented workpiece 1 transported by the supply mechanism 10, a long strip-shaped workpiece 1 can be transported and cut into segments at supply positions A1 to A4. Furthermore, in this embodiment, the workpiece 1 is rectangular, but it can also be any shape other than rectangular.

[0028] The moving mechanism 20 includes a stator 21 of a linear motor having a predetermined travel path, and a movable member 22 of the linear motor capable of moving along the travel path between multiple supply positions A1 to A4. In this embodiment, as... Figure 1 As shown, the travel track of stator 21 has an elliptical ring shape when viewed from above. However, the shape of the travel track when viewed from above is not limited to an elliptical ring shape.

[0029] In this embodiment, the movable members 22 include a first movable member 22a, a second movable member 22b, a third movable member 22c, a fourth movable member 22d, a fifth movable member 22e, a sixth movable member 22f, a seventh movable member 22g, and an eighth movable member 22h. That is, the number of movable members 22 is twice the number of supply mechanisms 10. Each movable member 22a to 22h can move independently.

[0030] Figure 2 This is a schematic diagram showing the structure of the movable element 22 of the moving mechanism 20 when viewed along the direction of the travel track of the stator 21. (See diagram for example.) Figure 2 As shown, the movable member 22 includes a stacking stage 221 for stacking the workpiece 1. Furthermore, in Figure 2 In this diagram, the X-axis is the direction in which the supply mechanism 10 conveys the workpiece 1, and the Y-axis is the direction in which the movable member 22 moves along the travel track. Additionally, the Z-axis is the vertical direction.

[0031] The stacking table 221 is used to stack the workpieces 1 supplied to the supply positions A1 to A4 by the supply mechanism 10. In this embodiment, the clamping and discharge mechanism 50 (described later) is used. Figure 6 (c) A fixture 25 is supplied to the stacking stage 221, and workpiece 1 is stacked on the fixture 25. Figure 6 (b) Figure 6 As shown in (c), the fixture 25 is preferably provided with chuck jaws 26 for holding the stacked workpieces 1.

[0032] For example, a pair of chuck jaws 26 are arranged opposite each other in the fixture 25 to clamp the workpiece 1. The chuck jaws 26 have workpiece pressing surfaces 26a parallel to the surfaces of the stacked workpieces 1 in the fixture 25. The workpiece 1 is fed between the pair of chuck jaws 26 on the fixture 25, as... Figure 6 As shown in (c), the workpiece is pressed from above by contacting the workpiece pressing surface 26a of the chuck jaws 26. By pressing the stacked workpiece 1 with the chuck jaws 26, positional displacement of the stacked workpiece 1 can be suppressed. In addition, the workpiece 1 is pressed as a surface rather than a point, thereby suppressing damage to the workpiece 1. However, the workpiece 1 can also be stacked on the stacking stage 221 without using the fixture 25.

[0033] In this embodiment, such as Figure 2 As shown, the movable element 22 is mounted on two guide rails 210 of the stator 21 that form the travel track, and moves along the guide rails 210. Figure 2 As shown, the guide rail 210 of the stator 21 is not located vertically below the movable member 22, but is located to the side. In the configuration where the guide rail 210 is located vertically below the movable member 22, control must be implemented taking into account the inner wheel difference between the two guide rails 210. However, in the configuration where the guide rail 210 is located to the side, the inner wheel difference does not need to be considered, and control becomes simpler.

[0034] Figure 3 This is a block diagram showing the connection relationship with the control unit 30. For example... Figure 3 As shown, the control unit 30 is connected to the first supply mechanism 10a, the second supply mechanism 10b, the third supply mechanism 10c, the fourth supply mechanism 10d, the first movable member 22a, the second movable member 22b, the third movable member 22c, the fourth movable member 22d, the fifth movable member 22e, the sixth movable member 22f, the seventh movable member 22g, the eighth movable member 22h, the first shooting device 40a, the second shooting device 40b, the third shooting device 40c, the fourth shooting device 40d (described later), and the clamp supply and discharge mechanism 50 (described later).

[0035] The control unit 30 controls at least the movable member 22. Specifically, the control unit 30 controls the movable member 22 to modify the relative position of the workpiece 1 supplied by the supply mechanism 10 to the supply positions A1 to A4 relative to the stacking table 221, stacks the workpiece 1 with the modified relative position on the stacking table 221, and moves the movable member 22 to the next supply position A1 to A4 after the workpiece 1 is stacked. In the stacking apparatus 100 of this embodiment, the control unit 30 moves the stacking table 221 to modify the relative position of the workpiece 1 relative to the stacking table 221.

[0036] The stacking apparatus 100 of this embodiment also includes a photographing device 40 for photographing the workpiece 1 supplied by the supply mechanism 10. The photographing device 40 is disposed vertically below the workpiece 1 at the supply positions A1 to A4 (see reference). Figure 2 The workpiece 1 is photographed when it is supplied to the supply positions A1 to A4 by the supply mechanism 10 and then stops.

[0037] To determine the position and orientation of workpiece 1, the imaging device 40 captures images of workpiece 1. For example, if the imaging device 40 can capture images of a rectangular workpiece 1, it can determine the first angle 1a and the second angle 1b located on the diagonal of the outer perimeter of workpiece 1 (see reference). Figure 4 If the position of (a) is known, then the position and posture of workpiece 1 can be determined.

[0038] However, it is not necessary to photograph the entire shape of workpiece 1 using the imaging device 40. As long as the position and posture of workpiece 1 can be determined, it is also possible to photograph only a portion of workpiece 1. As an example, such as Figure 4 As shown in (b), alignment marks 11 for determining the position and orientation of workpiece 1 can also be formed on workpiece 1, and the alignment marks 11 can be photographed using the imaging device 40. In this case, if the positions of the first corner 11a and the second corner 11b located on the diagonal of the alignment marks 11 can be determined, the position and orientation of workpiece 1 can be determined.

[0039] Furthermore, the photographing of workpiece 1 by the photographing device 40 is performed before the movable member 22 moves to the supply positions A1 to A4. That is, in Figure 2 The image shows the state where the workpiece 1 is photographed by the imaging device 40, and then the movable part 22 moves to the supply position A1 to A4.

[0040] In this embodiment, four supply positions A1 to A4 are provided for supplying four types of workpieces 1. Therefore, four imaging devices 40 are provided corresponding to the four supply positions A1 to A4. Specifically, a first imaging device 40a is provided vertically below the first supply position A1, a second imaging device 40b is provided vertically below the second supply position A2, a third imaging device 40c is provided vertically below the third supply position A3, and a fourth imaging device 40d is provided vertically below the fourth supply position A4.

[0041] The control unit 30 moves the stacking stage 221 based on an image of the workpiece 1 captured by the imaging device 40, thereby modifying the relative position of the workpiece 1 with respect to the stacking stage 221. By moving the stacking stage 221 based on the image of the workpiece 1, positional modifications corresponding to the actual position and posture of the workpiece 1 can be performed. This allows for a more effective suppression of various positional shifts of the workpiece 1. However, the method for modifying the relative position of the workpiece 1 with respect to the stacking stage 221 is not limited to a method based on an image of the workpiece 1.

[0042] Figure 5 This is a diagram used to explain a method for modifying the relative position of workpiece 1 with respect to the stacking stage 221 in the stacking apparatus 100 of the first embodiment.

[0043] The stacking stage 221 is configured to move in the X-axis direction, which is the direction in which the workpiece 1 is transported by the supply mechanism 10, the Y-axis direction, which is orthogonal to the X-axis, the Z-axis direction, which is the vertical direction, and the θ direction, which is the direction of rotation about the center of the stacking stage 221 in the XY plane.

[0044] Based on an image of the workpiece 1 captured by the imaging device 40, the control unit 30 moves the stacking stage 221 in at least one of the X-axis, Y-axis, and θ directions, thereby modifying the relative position of the workpiece 1 with respect to the stacking stage 221. Specifically, the stacking stage 221 is moved in at least one of the X-axis, Y-axis, and θ directions such that, when viewed from the Z-axis direction, the workpiece 1 overlaps with the stacking stage 221, thus modifying the relative position of the workpiece 1 with respect to the stacking stage 221. Then, when the modification of the relative position of the workpiece 1 with respect to the stacking stage 221 is completed, the control unit 30 raises the stacking stage 221 until the workpiece 1 at the supply positions A1 to A4 contacts the workpiece 1 stacked on the clamp 25 on the stacking stage 221. However, if the workpiece 1 is not stacked on the clamp 25, the stacking stage 221 is raised until the workpiece 1 at the supply positions A1 to A4 contacts the clamp 25. At this time, based on the number of workpieces 1 stacked on the stacking stage 221, the amount of movement of the stacking stage 221 in the Z-axis direction, i.e. the amount of rise, is controlled.

[0045] Then, the control unit 30 controls the supply mechanism 10 to release the suction of the workpiece 1 at the supply positions A1 to A4, thereby causing the workpiece 1 to be stacked on the stacking table 221, or more specifically, on the clamp 25 on the stacking table 221.

[0046] The following describes a method for sequentially stacking four types of workpieces 1 using the stacking device 100 of the first embodiment. Here, the operation of the first movable member 22a among the eight movable members 22 in stacking workpiece 1 will be described, but the operation of the other movable members 22b to 22h in stacking workpiece 1 is the same. That is, if the time for the first movable member 22a to travel one revolution around the stator 21 is set as T, then the eighth movable member 22h performs the same operation as the first movable member 22a at a delay of T / 8, the seventh movable member 22g at a delay of (2T) / 8, the sixth movable member 22f at a delay of (3T) / 8, the fifth movable member 22e at a delay of (4T) / 8, the fourth movable member 22d at a delay of (5T) / 8, the third movable member 22c at a delay of (6T) / 8, and the second movable member 22b at a delay of (7T) / 8.

[0047] (S1) The control unit 30 controls the first supply mechanism 10a to supply the resin film, which is the workpiece 1, to the first supply position A1. In addition, the control unit 30 controls the first imaging device 40a to take a picture of the workpiece 1 that is stopped at the first supply position A1.

[0048] (S2) Next, the control unit 30 controls the first movable member 22a to stop the first movable member 22a at the first supply position A1. Based on the image of the workpiece 1 captured by the first imaging device 40a, the control unit 30 modifies the relative position of the workpiece 1 with respect to the stacking table 221, and stacks the workpiece 1 with the modified relative position on the clamp 25 on the stacking table 221. Specifically, based on the image of the workpiece 1 captured by the first imaging device 40a, the control unit 30 moves the stacking table 221 in at least one of the X-axis direction, Y-axis direction, and θ direction, thereby modifying the relative position of the workpiece 1 with respect to the stacking table 221. When the position modification is completed, the control unit 30 raises the stacking table 221 until the workpiece 1 on the clamp 25 (the clamp 25 if the workpiece 1 is not stacked) abuts against the workpiece 1 at the first supply position A1. At this time, the control unit 30 controls the amount of movement, i.e. the amount of rise, of the stacking stage 221 in the Z-axis direction based on the number of workpieces 1 stacked on the stacking stage 221, or more specifically, on the fixture 25.

[0049] Then, the control unit 30 causes the first supply mechanism 10a to release its grip on the workpiece 1 at the first supply position A1. As a result, the workpiece 1 at the first supply position A1 is stacked on the clamp 25 on the stacking stage 221. At this time, it is preferable that the workpiece 1 is held by the chuck jaws 26 of the clamp 25.

[0050] Furthermore, when the first movable member 22a stops at the first supply position A1, the third movable member 22c stops at the second supply position A2, the fifth movable member 22e stops at the third supply position A3, and the seventh movable member 22g stops at the fourth supply position A4. The third movable member 22c, the fifth movable member 22e, and the seventh movable member 22g, like the first movable member 22a, modify the relative position of the workpiece 1 supplied to each supply position A1 to A4 with respect to the stacking table 221, stack the workpiece 1 on the stacking table 221, and, as described later, move to the next supply position A1 to A4.

[0051] In addition, when the first movable member 22a stops at the first supply position A1, the second movable member 22b is located between the first supply position A1 and the second supply position A2, the fourth movable member 22d is located between the second supply position A2 and the third supply position A3, the sixth movable member 22f is located between the third supply position A3 and the fourth supply position A4, and the eighth movable member 22h is located between the fourth supply position A4 and the first supply position A1.

[0052] (S3) Next, the control unit 30 moves the first movable member 22a along the travel track from the first supply position A1 to the second supply position A2. At this time, the control unit 30 not only moves the first movable member 22a from the first supply position A1 to the second supply position A2, but also moves the third movable member 22c from the second supply position A2 to the third supply position A3, moves the fifth movable member 22e from the third supply position A3 to the fourth supply position A4, and moves the seventh movable member 22g from the fourth supply position A4 to the first supply position A1.

[0053] (S4) Next, the control unit 30 controls the second supply mechanism 10b to supply the first metal foil, which is the workpiece 1, to the second supply position A2. In addition, the control unit 30 controls the second imaging device 40b to take a picture of the workpiece 1 that is stopped at the second supply position A2.

[0054] (S5) Next, the control unit 30 controls the first movable member 22a to stop at the second supply position A2. Based on the image of the workpiece 1 captured by the second imaging device 40b, the control unit 30 modifies the relative position of the workpiece 1 with respect to the stacking table 221, and stacks the workpiece 1 with the modified relative position onto the fixture 25 on the stacking table 221. Specifically, based on the image of the workpiece 1 captured by the second imaging device 40b, the control unit 30 moves the stacking table 221 in at least one of the X-axis, Y-axis, and θ-axis directions, thereby modifying the relative position of the workpiece 1 with respect to the stacking table 221. When the position modification is complete, the control unit 30 raises the stacking table 221 until the workpiece 1 on the fixture 25 abuts against the workpiece 1 at the second supply position A2. At this time, the control unit 30 controls the amount of movement, i.e., the amount of rise, of the stacking table 221 in the Z-axis direction based on the number of workpieces 1 stacked on the stacking table 221, or more specifically, on the fixture 25.

[0055] Then, the control unit 30 causes the second supply mechanism 10b to release the gripping of the workpiece 1 at the second supply position A2. As a result, the workpiece 1 at the second supply position A2 is stacked on the stacking table 221, and more specifically, on the workpiece 1 on the clamp 25. At this time, it is preferable that after temporarily releasing the clamp 25's chuck jaws 26 from holding the workpiece 1 to allow the workpiece 1 at the second supply position A2 to be stacked, the chuck jaws 26 then re-hold all the stacked workpieces 1.

[0056] Furthermore, when the first movable element 22a stops at the second supply position A2, the third movable element 22c stops at the third supply position A3, the fifth movable element 22e stops at the fourth supply position A4, and the seventh movable element 22g stops at the first supply position A1. Additionally, the second movable element 22b is located between the second supply position A2 and the third supply position A3, the fourth movable element 22d is located between the third supply position A3 and the fourth supply position A4, the sixth movable element 22f is located between the fourth supply position A4 and the first supply position A1, and the eighth movable element 22h is located between the first supply position A1 and the second supply position A2.

[0057] (S6) Next, the control unit 30 moves the first movable member 22a along the travel track from the second supply position A2 to the third supply position A3. At this time, the control unit 30 not only moves the first movable member 22a from the second supply position A2 to the third supply position A3, but also moves the third movable member 22c from the third supply position A3 to the fourth supply position A4, moves the fifth movable member 22e from the fourth supply position A4 to the first supply position A1, and moves the seventh movable member 22g from the first supply position A1 to the second supply position A2.

[0058] (S7) Next, the control unit 30 controls the third supply mechanism 10c to supply the resin film, which is the workpiece 1, to the third supply position A3. In addition, the control unit 30 controls the third imaging device 40c to take a picture of the workpiece 1 that is stopped at the third supply position A3.

[0059] (S8) Next, the control unit 30 controls the first movable member 22a to stop at the third supply position A3. Based on the image of the workpiece 1 captured by the third imaging device 40c, the control unit 30 modifies the relative position of the workpiece 1 with respect to the stacking table 221, and stacks the workpiece 1 with the modified relative position onto the fixture 25 on the stacking table 221. Specifically, based on the image of the workpiece 1 captured by the third imaging device 40c, the control unit 30 moves the stacking table 221 in at least one of the X-axis, Y-axis, and θ-axis directions, thereby modifying the relative position of the workpiece 1 with respect to the stacking table 221. When the position modification is complete, the control unit 30 raises the stacking table 221 until the workpiece 1 on the fixture 25 abuts against the workpiece 1 at the third supply position A3. At this time, the control unit 30 controls the amount of movement, i.e., the amount of rise, of the stacking table 221 in the Z-axis direction based on the number of workpieces 1 stacked on the stacking table 221, or more specifically, on the fixture 25.

[0060] Then, the control unit 30 causes the third supply mechanism 10c to release the gripping of the workpiece 1 at the third supply position A3. As a result, the workpiece 1 at the third supply position A3 is stacked on the stacking table 221, and more specifically, on the workpiece 1 on the clamp 25. At this time, it is preferable that after temporarily releasing the clamp 25 from holding the workpiece 1 to allow the workpiece 1 at the third supply position A3 to be stacked, the clamp 26 then holds all the stacked workpieces 1 again.

[0061] Furthermore, when the first movable member 22a stops at the third supply position A3, the third movable member 22c stops at the fourth supply position A4, the fifth movable member 22e stops at the first supply position A1, and the seventh movable member 22g stops at the second supply position A2. Additionally, the second movable member 22b is located between the third supply position A3 and the fourth supply position A4, the fourth movable member 22d is located between the fourth supply position A4 and the first supply position A1, the sixth movable member 22f is located between the first supply position A1 and the second supply position A2, and the eighth movable member 22h is located between the second supply position A2 and the third supply position A3.

[0062] (S9) Next, the control unit 30 moves the first movable member 22a along the travel track from the third supply position A3 to the fourth supply position A4. At this time, the control unit 30 not only moves the first movable member 22a from the third supply position A3 to the fourth supply position A4, but also moves the third movable member 22c from the fourth supply position A4 to the first supply position A1, moves the fifth movable member 22e from the first supply position A1 to the second supply position A2, and moves the seventh movable member 22g from the second supply position A2 to the third supply position A3.

[0063] (S10) Next, the control unit 30 controls the fourth supply mechanism 10d to supply the second metal foil, which is the workpiece 1, to the fourth supply position A4. In addition, the control unit 30 controls the fourth imaging device 40d to take a picture of the workpiece 1 that is stopped at the fourth supply position A4.

[0064] (S11) The control unit 30 controls the first movable member 22a to stop at the fourth supply position A4. Based on the image of the workpiece 1 captured by the fourth imaging device 40d, the control unit 30 modifies the relative position of the workpiece 1 with respect to the stacking table 221, and stacks the workpiece 1 with the modified relative position onto the fixture 25 on the stacking table 221. Specifically, based on the image of the workpiece 1 captured by the fourth imaging device 40d, the control unit 30 moves the stacking table 221 in at least one of the X-axis, Y-axis, and θ-axis directions, thereby modifying the relative position of the workpiece 1 with respect to the stacking table 221. When the position modification is complete, the control unit 30 raises the stacking table 221 until the workpiece 1 on the fixture 25 abuts against the workpiece 1 at the fourth supply position A4. At this time, the control unit 30 controls the amount of movement, i.e., the amount of rise, of the stacking table 221 in the Z-axis direction based on the number of workpieces 1 stacked on the stacking table 221, or more specifically, on the fixture 25.

[0065] Then, the control unit 30 causes the fourth supply mechanism 10d to release the gripping of the workpiece 1 at the fourth supply position A4. As a result, the workpiece 1 at the fourth supply position A4 is stacked on the stacking table 221, and more specifically, on the workpiece 1 on the clamp 25. At this time, it is preferable that after temporarily releasing the chuck jaws 26 of the clamp 25 from holding the workpiece 1 to allow the workpiece 1 at the fourth supply position A4 to be stacked, the chuck jaws 26 then re-hold all the stacked workpieces 1.

[0066] (S12) The control unit 30 moves the first movable member 22a along the travel track from the fourth supply position A4 to the first supply position A1. At this time, the control unit 30 not only moves the first movable member 22a from the fourth supply position A4 to the first supply position A1, but also moves the third movable member 22c from the first supply position A1 to the second supply position A2, moves the fifth movable member 22e from the second supply position A2 to the third supply position A3, and moves the seventh movable member 22g from the third supply position A3 to the fourth supply position A4.

[0067] Through the processes (S1) to (S12) described above, a set of semi-finished products is obtained, which consists of four types of workpiece 1, namely, resin film, first metal foil, resin film, and second metal foil, stacked sequentially. Then, by repeatedly performing processes (S1) to (S12), a product with a predetermined number of stacked layers is obtained, namely, a laminate in which multiple positive and negative electrodes are alternately stacked with resin films that function as separators. This laminate can be used, for example, as a constituent material of a battery pack.

[0068] The stacking apparatus 100 of this embodiment also includes a clamp supply and discharge mechanism 50, which supplies clamps 25 for stacking workpieces 1 to the stacking table 221 and discharges the clamps 25 together with the various workpieces 1 that have been stacked (see reference). Figure 6 (c)). That is, when stacking workpiece 1, the fixture 25 is supplied to the stacking table 221 by the fixture supply and discharge mechanism 50, and the various workpieces 1 are stacked on the fixture 25 in sequence using the above method.

[0069] Additionally, when manufacturing a desired stack of multiple workpieces 1, the fixture supply and discharge mechanism 50 discharges the stack of multiple workpieces 1 together with the fixture 25 (see reference). Figure 6 (c) The operation of the fixture supply and discharge mechanism 50 is controlled by the control unit 30. The fixture supply and discharge mechanism 50 discharges the fixture 25 together with the stacked workpieces 1, thereby facilitating the removal of the stacked workpieces 1. In addition, after the fixture 25 is discharged, the next fixture 25 is supplied to the stacking table 221, thereby enabling the immediate start of stacking a new workpiece 1, thus further improving the stacking efficiency of the workpieces 1.

[0070] Here, the stacking stage 221 has a fixing member for fixing the fixture 25. Since the stacking stage 221 has a fixing member for fixing the fixture 25, it is possible to further suppress positional displacement when the workpiece 1 is stacked on the fixture 25.

[0071] In this embodiment, such as Figure 6As shown in (a), the fixing component is a locating pin 60 that can engage and disengage relative to a recess formed in the clamp 25. The locating pin 60 is configured to move vertically so as to protrude and retract relative to the surface of the stacking stage 221. When fixing the clamp 25, the locating pin 60 engages with the recess formed in the clamp 25 in a state of protruding from the surface of the stacking stage 221, thereby fixing the clamp 25 (see reference). Figure 6 (b) This allows the clamp 25 to be more reliably secured to the stacking platform 221.

[0072] Additionally, during the discharge and supply of clamp 25, the locating pin 60 descends and retracts from the surface of the stacking table 221, thereby releasing the clamp 25 from its fixed state (see reference). Figure 6 (c)). With this structure, the supply and discharge of the clamp 25 can be carried out simply.

[0073] However, the fixing component used to fix the clamp 25 is not limited to the aforementioned locating pin 60.

[0074] According to the stacking apparatus 100 of the first embodiment, the relative position of the workpiece 1 supplied by the supply mechanism 10 to the supply positions A1 to A4 relative to the stacking table 221 is modified, and the workpiece 1 with the modified relative position is stacked on the stacking table 221 of the movable member 22. Then, the movable member 22 moves to the next supply position A1 to A4. That is, the process of transferring the workpiece 1 to other mechanisms only needs to be performed once from the supply mechanism 10 to the moving mechanism 20, so the stacking time of the workpiece 1 can be shortened. In addition, when the workpiece 1 is stacked on the stacking table 221 of the movable member 22, the stacking is performed after the position modification, so no further position modification is required afterwards. Therefore, the stacking efficiency can be improved and the stacking time can be shortened.

[0075] Furthermore, according to the stacking device 100 of the first embodiment, the first supply mechanism 10a, the second supply mechanism 10b, the third supply mechanism 10c and the fourth supply mechanism 10d can each continuously supply a workpiece 1, thus simplifying the operation.

[0076] As described above, in the stacking apparatus 100 of this embodiment, the number of movable members 22 is twice the number of supply mechanisms 10. While each movable member 22 is stopped at each supply mechanism 10 and workpiece 1 is being stacked, the other movable members 22 can move between supply positions A1 to A4, thus further improving the stacking efficiency of the workpiece 1. Furthermore, while the other movable members 22 are moving between supply positions A1 to A4, the position of the stacked workpiece 1 can be modified again.

[0077] In addition, such as Figure 7As shown, the number of movable members 22 can also be the same as the number of supply mechanisms 10. In this case, the workpieces 1 supplied by each supply mechanism 10 can be simultaneously stacked on the same stacking platform 221 of each movable member 22. Therefore, multiple workpieces 1 can be stacked simultaneously depending on the number of supply mechanisms 10, thus improving the stacking efficiency of workpieces 1 compared to a structure where the number of movable members 22 is less than the number of supply mechanisms 10. In addition, since all movable members 22 can be stopped and moved simultaneously, the possibility of collisions between the movable members 22 can be reduced.

[0078] <Second Implementation>

[0079] In the stacking apparatus 100 of the first embodiment, a structure is adopted in which the stacking stage 221 is moved in order to modify the relative position of the workpiece 1 with respect to the stacking stage 221.

[0080] In contrast, in the stacking apparatus 100A of the second embodiment, a structure is adopted in which the supply mechanism 10, the movable member 22, and the stacking table 221 are moved in order to modify the relative position of the workpiece 1 with respect to the stacking table 221.

[0081] Figure 8 This is a diagram used to explain the method of modifying the relative position of workpiece 1 with respect to the stacking stage 221 in the stacking apparatus 100A of the second embodiment.

[0082] The shooting device 40 is in the conveying direction of the workpiece 1 using the supply mechanism 10 ( Figure 8 The workpiece 1 is photographed at a position closer to the feed position (in the X-axis direction) than the feed position. The control unit 30 performs a first control, which determines the feed position based on the image of the workpiece 1 captured by the imaging device 40, and controls the supply mechanism 10 to stop the workpiece 1 at the determined feed position. Through the first control, the position of the workpiece 1 in the X-axis direction relative to the stacking table 221 is adjusted.

[0083] The control unit 30 also performs a second control, which involves determining the stop position of the movable member 22 based on an image of the workpiece 1 captured by the imaging device 40, and controlling the movable member 22 to stop at the determined stop position. Through this second control, the position of the workpiece 1 relative to the stacking stage 221 in the Y-axis direction is adjusted.

[0084] The control unit 30 also performs a third control based on the image of the workpiece 1 captured by the imaging device 40 to adjust the position of the stacking stage 221. In the third control, the stacking stage 221 is moved along the rotational direction about the center of the stacking stage 221 in the XY plane, that is, the θ direction.

[0085] The relative position of workpiece 1 with respect to the stacking stage 221 is modified through the first, second, and third controls described above. When the modification of the relative position of workpiece 1 with respect to the stacking stage 221 is completed, similarly to the first embodiment, the control unit 30 raises the stacking stage 221, causing workpiece 1 to be stacked on the stacking stage 221, or more specifically, on the fixture 25 on the stacking stage 221. At this time, similarly to the first embodiment, the movement amount of the stacking stage 221 in the Z-axis direction, i.e., the rising amount, is controlled based on the number of workpieces 1 stacked on the fixture 25.

[0086] The following describes a method for sequentially stacking four types of workpieces 1 using the stacking apparatus 100A of the second embodiment. Here, the operation of the first movable member 22a among the eight movable members 22 in stacking workpiece 1 will be described, but the operation of the other movable members 22b to 22h in stacking workpiece 1 is the same.

[0087] (S21) The control unit 30 controls the first imaging device 40a to image a resin film of the workpiece 1 at a position closer to the first supply position A1 in the conveying direction of the workpiece 1 using the first supply mechanism 10a. The control unit 30 performs first control, second control, and third control. The first control determines the first supply position A1 based on the image of the workpiece 1 captured by the first imaging device 40a and controls the workpiece 1 to stop at the determined first supply position A1. The second control determines the stop position of the first movable member 22a based on the image of the workpiece 1 captured by the first imaging device 40a and controls the first movable member 22a to stop at the determined stop position. The third control adjusts the position of the stacking stage 221 in the θ direction based on the image of the workpiece 1 captured by the first imaging device 40a. Then, similarly to the first embodiment, the control unit 30 raises the stacking stage 221 and stacks the workpiece 1 on the clamp 25 on the stacking stage 221.

[0088] When the first movable member 22a stops at the first supply position A1, the positions of the other movable members 22b to 22h are the same as in the first embodiment.

[0089] (S22) Next, the control unit 30 moves the first movable member 22a from the first supply position A1 to the second supply position A2. The operation of the other movable members 22b to 22h is the same as in the first embodiment.

[0090] (S23) Next, the control unit 30 controls the second imaging device 40b to capture an image of the first metal foil of the workpiece 1 at a position closer to the second supply position A2 in the transport direction of the workpiece 1 using the second supply mechanism 10b. The control unit 30 performs first control, second control, and third control. The first control determines the supply position based on the image of the workpiece 1 captured by the second imaging device 40b and controls the workpiece 1 to stop at the determined supply position. The second control determines the stop position of the first movable member 22a based on the image of the workpiece 1 captured by the second imaging device 40b and controls the first movable member 22a to stop at the determined stop position. The third control adjusts the position of the stacking stage 221 in the θ direction based on the image of the workpiece 1 captured by the second imaging device 40b. Then, similarly to the first embodiment, the control unit 30 raises the stacking stage 221 and stacks the workpiece 1 onto the clamp 25 on the stacking stage 221.

[0091] When the first movable member 22a stops at the second supply position A2, the positions of the other movable members 22b to 22h are the same as in the first embodiment.

[0092] (S24) Next, the control unit 30 moves the first movable member 22a from the second supply position A2 to the third supply position A3. The operation of the other movable members 22b to 22h is the same as in the first embodiment.

[0093] (S25) Next, the control unit 30 controls the third imaging device 40c to capture a resin film of the workpiece 1 at a position closer to the third supply position A3 in the transport direction of the workpiece 1 using the third supply mechanism 10c. The control unit 30 performs first control, second control, and third control. The first control determines the third supply position A3 based on the image of the workpiece 1 captured by the third imaging device 40c and controls the workpiece 1 to stop at the determined third supply position A3. The second control determines the stop position of the first movable member 22a based on the image of the workpiece 1 captured by the third imaging device 40c and controls the position of the first movable member 22a to stop at the determined stop position. The third control adjusts the position of the stacking stage 221 in the θ direction based on the image of the workpiece 1 captured by the third imaging device 40c. Then, similarly to the first embodiment, the control unit 30 raises the stacking stage 221 and stacks the workpiece 1 on the clamp 25 on the stacking stage 221.

[0094] When the first movable member 22a is stopped at the third supply position A3, the positions of the other movable members 22b to 22h are the same as in the first embodiment.

[0095] (S26) Next, the control unit 30 moves the first movable member 22a from the third supply position A3 to the fourth supply position A4. The operation of the other movable members 22b to 22h is the same as in the first embodiment.

[0096] (S27) Next, the control unit 30 controls the fourth imaging device 40d to capture an image of the second metal foil of the workpiece 1 at a position closer to the fourth supply position A4 in the transport direction of the workpiece 1 using the fourth supply mechanism 10d. The control unit 30 performs a first control, a second control, and a third control. The first control determines the fourth supply position A4 based on the image of the workpiece 1 captured by the fourth imaging device 40d and controls the workpiece 1 to stop at the determined fourth supply position A4. The second control determines the stop position of the first movable member 22a based on the image of the workpiece 1 captured by the fourth imaging device 40d and controls the first movable member 22a to stop at the determined stop position. The third control adjusts the position of the stacking stage 221 in the θ direction based on the image of the workpiece 1 captured by the fourth imaging device 40d. Then, similarly to the first embodiment, the control unit 30 raises the stacking stage 221 and stacks the workpiece 1 onto the clamp 25 on the stacking stage 221.

[0097] When the first movable member 22a is stopped at the fourth supply position A4, the positions of the other movable members 22b to 22h are the same as in the first embodiment.

[0098] (S28) Next, the control unit 30 moves the first movable member 22a from the fourth supply position A4 to the first supply position A1. The operation of the other movable members 22b to 22h is the same as in the first embodiment.

[0099] Through the processes (S21) to (S28) described above, a set of semi-finished products is obtained by sequentially stacking four types of workpieces 1, namely resin film, first metal foil, resin film, and second metal foil. Then, by repeatedly performing processes (S21) to (S28), a product with a predetermined number of stacked layers is obtained, namely a laminate containing multiple positive and negative electrodes alternately stacked with resin films that function as separators.

[0100] In the stacking apparatus 100A of the second embodiment, the process of transferring workpiece 1 to other mechanisms only needs to be performed once from the supply mechanism 10 to the moving mechanism 20. In addition, when workpiece 1 is stacked on the stacking stage 221 of the movable member 22, the stacking is performed after the position is modified, so there is no need to perform another position modification afterwards. Therefore, the stacking time of workpiece 1 can be shortened.

[0101] In particular, according to the stacking apparatus 100A of the second embodiment, the control unit 30 performs first control, second control, and third control, thereby modifying the relative position of the workpiece 1 with respect to the stacking stage 221. The first control determines the supply position based on an image of the workpiece 1 captured by the imaging device 40, and controls the workpiece 1 to stop at the determined supply position. The second control determines the stop position of the movable member 22 based on an image of the workpiece 1 captured by the imaging device 40, and controls the movable member 22 to stop at the determined stop position. The third control controls the position of the stacking stage 221 based on an image of the workpiece 1 captured by the imaging device 40. In the stacking apparatus 100 of the first embodiment, a drive source is required to move the stacking stage 221 in the X-axis direction, Y-axis direction, and θ direction. However, in the stacking apparatus 100A of the second embodiment, a drive source that moves the stacking stage 221 only in the θ direction is sufficient, thus simplifying the structure of the movable member 22.

[0102] This invention is not limited to the embodiments described above, and various applications and modifications can be applied within the scope of this invention. For example, the workpiece 1, which is the object of lamination, is not limited to the sheet-like battery material described above. For example, workpiece 1 may be a sheet-like conductive layer and insulating layer, and a multilayer substrate can be fabricated by laminating multiple workpieces 1. In this case, the conductive layer may be composed of, for example, copper, silver, an alloy containing copper, an alloy containing silver, or a Sn-Ag based solder, and the insulating layer may be composed of, for example, a thermoplastic resin such as a liquid crystal polymer, polyetheretherketone, polyetherimide, or polyimide, or a thermosetting resin such as epoxy resin or unsaturated polyester.

[0103] In the above embodiment, the stacking stage 221 is configured to rise and approach the supply mechanism 10 for stacking the workpiece 1, but it can also be configured to descend and approach the stacking stage 221 via the supply mechanism 10.

[0104] In the stacking apparatus 100A of the second embodiment, the supply mechanism 10 may be configured to move along the θ direction instead of the stacking stage 221 moving along the rotation direction, i.e., the θ direction.

[0105] In the above embodiment, when stacking workpiece 1, the stacking table 221 is configured to be located vertically below workpiece 1 which is supplied to supply positions A1 to A4, and approaches workpiece 1 (see reference) by rising. Figure 2 In contrast, such as Figure 9As shown, when stacking workpiece 1, the stacking table 221 can also be configured to be located vertically above the workpiece 1 being supplied to supply positions A1 to A4, and approach the workpiece 1 by descending. In this case, the supply mechanism 10 is, for example, a belt conveyor, which transports and supplies the workpiece 1 placed on the belt to supply positions A1 to A4. The stacking table 221 is equipped with chuck jaws 26 for holding the workpiece 1, which hold the stacked workpiece 1 so that it does not fall. Alternatively, the workpiece 1 can be stacked on the stacking table 221 by rising the supply mechanism 10 instead of lowering it.

[0106] In the above embodiment, the control unit 30 modifies the relative position of workpiece 1 with respect to the stacking stage 221 based on the image of workpiece 1 captured by the imaging device 40, but it can also modify the position without using the image of workpiece 1. For example, the control unit 30 stops the movable member 22 at each supply position A1 to A4 with high precision based on the encoder value representing the position information of the movable member 22, so that no positional deviation of workpiece 1 occurs, and the supply mechanism 10 transports workpiece 1. Alternatively, for example, the position of workpiece 1 can be identified by detecting the height direction using a laser sensor, and the relative position of workpiece 1 with respect to the stacking stage 221 can be modified.

[0107] Explanation of reference numerals in the attached figures

[0108] 1…Workpiece; 10…Supply mechanism; 10a…First supply mechanism; 10b…Second supply mechanism; 10c…Third supply mechanism; 10d…Fourth supply mechanism; 11…Alignment mark; 21…Stator; 22…Modible part; 22a…First movable part; 22b…Second movable part; 22c…Third movable part; 22d…Fourth movable part; 22e…Fifth movable part; 22f…Sixth movable part; 22g…Seventh movable part; 22h…Eighth movable part; 25…Clamp; 26…Chuck jaw; 26a…Workpiece pressing surface; 30…Control unit; 40…Photo capture device; 40a…First photo capture device; 40b…Second photo capture device; 40c…Third photo capture device; 40d…Fourth photo capture device; 50…Clamp supply discharge mechanism; 60…Positioning pin; 100, 100A…Stacking device; 210…Guide rail; 221…Stacking table.

Claims

1. A stacking device for stacking multiple workpieces, characterized in that, have: Multiple supply mechanisms supply the workpiece to each of multiple supply locations; The moving mechanism comprises a stator of a linear motor having a defined travel path, and a movable part of the linear motor capable of moving along the travel path between a plurality of said supply positions; as well as The control unit controls at least the movable part. There are multiple movable parts. The movable member includes a stacking platform for stacking the workpieces. The control unit controls the movable member to modify the relative position of the workpiece supplied to the supply position relative to the stacking table, stacks the workpiece with the modified relative position on the stacking table, and moves the movable member to the next supply position after the workpiece is stacked. After the control unit finishes modifying the relative position of the workpiece with respect to the stacking platform, in order to further stack the workpiece on the stacking platform, it controls the amount of rise of the stacking platform according to the number of workpieces stacked on the stacking platform.

2. The stacking device according to claim 1, characterized in that, The control unit moves the stacking stage to modify the relative position of the workpiece with respect to the stacking stage.

3. The stacking device according to claim 2, characterized in that, The stacking device also includes a camera, which takes pictures of the workpiece supplied by the supply mechanism. The control unit moves the stacking stage based on the image of the workpiece captured by the imaging device.

4. The stacking device according to claim 1, characterized in that, The stacking device also includes a camera, which takes pictures of the workpiece supplied by the supply mechanism. The control unit performs first control, second control, and third control, thereby modifying the relative position of the workpiece with respect to the stacking table. The first control determines the supply position based on an image of the workpiece captured by the imaging device and stops the workpiece at the determined supply position. The second control determines the stop position of the movable member based on an image of the workpiece captured by the imaging device and stops the movable member at the determined stop position. The third control controls the stacking table based on an image of the workpiece captured by the imaging device.

5. The stacking apparatus according to any one of claims 1 to 4, characterized in that, The number of movable parts is twice the number of the supply mechanism.

6. The stacking apparatus according to any one of claims 1 to 4, characterized in that, The number of movable parts is the same as the number of supply mechanisms.

7. The stacking apparatus according to any one of claims 1 to 4, characterized in that, The stacking device also includes a fixture supply and discharge mechanism, which supplies fixtures for stacking the workpieces onto the stacking table and discharges the fixtures together with the stacked workpieces.

8. The stacking device according to claim 7, characterized in that, The stacking platform has a fixing component for securing the clamp.

9. The stacking device according to claim 8, characterized in that, The fixing component is a locating pin that can engage and disengage relative to a recess formed in the clamp.

Images