Lamination device

Abstract

The present invention relates to a stacking device. A stacking device (100) for stacking multiple workpieces (1) comprises: a plurality of supply mechanisms (10) for supplying the workpieces (1) to each of a plurality of supply positions A1 to A4; a moving mechanism (20) comprising a fixed part (21) of a linear motor having a predetermined travel track, and a movable part (22) of a linear motor capable of moving along the travel track between the plurality of supply positions A1 to A4; and a control unit for controlling at least the movable part (22). The movable part (22) comprises: a holding part for holding the workpieces (1) supplied to the supply positions A1 to A4, and a stacking platform for stacking the workpieces (1). The control unit controls the movable part (22) so that, while the holding part holds the workpieces (1) supplied to the supply position and moves them to the next supply position and stops, the relative position of the workpieces (1) relative to the stacking platform is corrected, and the workpieces with the corrected relative positions are stacked on the stacking platform.

Description

Technical Field

[0001] The present invention relates to a stacking device for stacking a plurality of workpieces. Background Art

[0002] Conventionally, there is known a stacking device that stacks a plurality of types of workpieces in a predetermined order.

[0003] As one of such stacking devices, Patent Document 1 describes a stacking device for stacking sheet-like workpieces such as positive electrodes, negative electrodes, and separators as battery materials. The stacking device comprises: a conveying mechanism for conveying the workpiece in a specified direction, a transferring mechanism for transferring the workpiece, and a stacking mechanism for stacking the workpiece, and is configured to transfer the workpiece conveyed by the conveying mechanism through the transferring mechanism, and stack the workpiece through the stacking mechanism. The transferring mechanism comprises a fixed part of a linear motor having a specified travel track and a movable part of a plurality of linear motors provided on the fixed part, and the movable part moves to the stacking mechanism while the workpiece is held by a holding part. Patent Document 1 describes that such a structure enables high-speed and continuous stacking of sheet-like workpieces.

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

[0005] However, in the stacking device described in Patent Document 1, the transfer mechanism merely transports the workpieces from the conveying mechanism to the stacking mechanism. That is, since the workpiece stacking process only involves time spent transporting the workpieces from the conveying mechanism to the stacking mechanism, there is room for improvement in order to shorten the workpiece stacking time. Summary of the Invention

[0006] The present invention solves the above-mentioned problems, and an object of the present invention is to provide a lamination device capable of shortening the time required to stack workpieces.

[0007] The stacking device of the present invention is characterized in that it stacks multiple types of workpieces and comprises:

[0008] a plurality of supply mechanisms for supplying the workpiece to each of a plurality of supply positions;

[0009] a moving mechanism including a fixed part of a linear motor having a predetermined travel track, and a movable part of the linear motor movable between the plurality of supply positions along the travel track; and

[0010] A control unit controls at least the movable member.

[0011] The movable member includes: a holding portion for holding the workpiece supplied to the supply position; and a stacking stage for stacking the workpieces.

[0012] The control unit controls the movable part so that during the period when the holding unit holds the workpiece supplied to the supply position and moves it to the next supply position and stops, the relative position of the workpiece relative to the stacking platform is corrected, and the workpiece with the corrected relative position is stacked on the stacking platform.

[0013] According to the stacking device of the present invention, workpieces supplied to a supply position are stacked on the stacking stage while the movable member's holding portion holds the workpieces and moves to the next supply position before stopping. That is, since the workpieces are stacked while the movable member is moving, the stacking time can be shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a plan view schematically showing the structure of the stacking device in the first embodiment.

[0015] Figure 2 This is a diagram schematically showing the structure of the movable element of the moving mechanism when viewed in the direction along the travel track of the fixed element.

[0016] Figure 3 This is a block diagram showing the connection relationship with the control unit.

[0017] Figure 4 (a) is a diagram for explaining a method of grasping the position and posture of a workpiece photographed by a photographing device, and (b) is a diagram for explaining a method of grasping the position and posture of a workpiece by photographing an alignment mark formed on the workpiece by a photographing device.

[0018] Figure 5 It is a diagram for explaining a method of correcting the relative position of the workpiece with respect to the lamination stage in the lamination apparatus according to the first embodiment.

[0019] Figure 6 (a) is a side view schematically showing a stacking platform having positioning pins as fixing parts, (b) is a side view showing a state in which a fixture on the stacking platform is fixed by the positioning pins, and (c) is a figure showing a state in which a fixture is discharged together with the stacked workpiece by a fixture supply and discharge mechanism, and the next fixture is supplied to the stacking platform.

[0020] Figure 7 It is a plan view schematically showing the structure of a laminating apparatus in a case where the number of movable elements is equal to the number of supply mechanisms.

[0021] Figure 8 It is a diagram for explaining a method of correcting the relative position of the workpiece with respect to the lamination stage in the lamination apparatus according to the second embodiment. DETAILED DESCRIPTION

[0022] The following shows an embodiment of the present invention and specifically describes the features of the present invention.

[0023] <First embodiment>

[0024] Figure 1 The stacking device 100 in the first embodiment is schematically shown in a top view. The stacking device 100 in the first embodiment includes a plurality of supply mechanisms 10, a moving mechanism 20, and a control unit 30 (see FIG. 2 ). Figure 3 Here, an example will be described in which the workpiece 1 , which is an object to be laminated by the laminating apparatus 100 , is a sheet-shaped battery material.

[0025] Multiple supply mechanisms 10 supply workpieces 1 to each of multiple supply positions A1 to A4. Each supply position A1 to A4 supplies 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 supply mechanisms 10 is not limited to four.

[0026] The first supply mechanism 10a supplies a resin film as a workpiece 1 to the first supply position A1. The resin film is a sheet-shaped battery material that functions as a separator and is made of, for example, polyethylene. In this embodiment, the first supply mechanism 10a is a conveyor belt that transports the workpiece 1 placed on the belt and supplies it to the first supply position A1.

[0027] The second supply mechanism 10b supplies a first metal foil as a workpiece 1 to the second supply position A2. The first metal foil is a sheet-shaped 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 conveyor belt that transports the workpiece 1 placed on the belt and supplies it to the second supply position A2.

[0028] The third supply mechanism 10c supplies a resin film as the workpiece 1 to the third supply position A3. The resin film is a sheet-shaped 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 resin film as that supplied by the first supply mechanism 10a. However, a different resin film from that supplied by the first supply mechanism 10a can also be used. In this embodiment, the third supply mechanism 10c is a conveyor belt that transports the workpiece 1 placed on the belt and supplies it to the third supply position A3.

[0029] The fourth supply mechanism 10d supplies a second metal foil as a workpiece 1 to the fourth supply position A4. The second metal foil is a sheet-shaped battery material that functions as the other of the positive and negative electrodes and is made of, for example, aluminum. In this embodiment, the fourth supply mechanism 10d is a conveyor belt that transports the workpiece 1 placed on the belt and supplies it to the fourth supply position A4.

[0030] The first supply mechanism 10 a , the second supply mechanism 10 b , the third supply mechanism 10 c , and the fourth supply mechanism 10 d are not limited to conveyors, and any structure capable of conveying and supplying the workpiece 1 may be used.

[0031] Alternatively, instead of conveying the singulated workpieces 1 by the supply mechanism 10 , the long workpieces 1 may be conveyed and singulated by cutting at the supply positions A1 to A4 . In this embodiment, the workpieces 1 are rectangular, but may also be other shapes.

[0032] The moving mechanism 20 includes a fixed part 21 of a linear motor having a predetermined travel track, and a movable part 22 of a linear motor that can move between a plurality of supply positions A1 to A4 along the travel track. Figure 1 As shown in FIG, the travel track of the fixing member 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 the elliptical ring shape.

[0033] In this embodiment, the movable elements 22 include a first movable element 22a, a second movable element 22b, a third movable element 22c, a fourth movable element 22d, a fifth movable element 22e, a sixth movable element 22f, a seventh movable element 22g, and an eighth movable element 22h. In other words, the number of movable elements 22 is twice the number of supply mechanisms 10. Each movable element 22a to 22h is independently movable.

[0034] Figure 2 2 is a diagram schematically showing the structure of the movable member 22 of the moving mechanism 20 when viewed in the direction along the travel track of the fixed member 21. Figure 2 As shown, the movable member 22 includes: a holding portion 221 for holding the workpiece 1, and a stacking stage 222 for stacking the workpiece 1. Figure 2 In FIG. 1 , the X-axis direction is the direction in which the supply mechanism 10 conveys the workpiece 1, and the Y-axis direction is the direction in which the movable element 22 moves along the travel rail. The Z-axis direction is the vertical direction.

[0035] The holding portion 221 holds the workpiece 1 conveyed by the supply mechanism 10. The holding portion 221 is movable in the vertical direction. In this embodiment, the holding portion 221 descends to approach the workpiece 1 from above, and suctions and holds the workpiece 1. However, the method by which the holding portion 221 holds the workpiece 1 is not limited to suction.

[0036] The stacking table 222 is a table for stacking the workpieces 1 held by the holding portion 221. In this embodiment, the workpieces 1 are stacked by the fixture supply and discharge mechanism 50 (see FIG. Figure 6 (c)) supplies the jig 25 to the stacking stage 222, and stacks the workpiece 1 on the jig 25. Figure 6 As shown in (b) and (c) of FIG. 1 , it is preferable that the jig 25 be provided with chuck jaws 26 for holding the stacked workpieces 1 .

[0037] For example, a pair of chuck jaws 26 are provided on the fixture 25 to clamp the workpiece 1. The chuck jaws 26 have a workpiece pressing surface 26a parallel to the surface of the fixture 25 on which the workpiece 1 is stacked. The workpiece 1 is fed between the pair of chuck jaws 26 on the fixture 25, as shown in FIG. Figure 6 As shown in (c), the workpieces 1 come into contact with and are pressed by the workpiece pressing surface 26a of the chuck jaws 26 from above. The chuck jaws 26 press the stacked workpieces 1, thereby preventing positional deviation of the stacked workpieces 1. Furthermore, by pressing the workpieces 1 across the entire surface rather than at specific points, damage to the workpieces 1 can be minimized. However, the workpieces 1 can also be stacked on the stacking platform 222 without using the clamp 25.

[0038] In this embodiment, if Figure 2 As shown, the movable member 22 is mounted on two guide rails 210 of the fixed member 21 forming the travel track and moves along the guide rails 210. Figure 2 As shown, the guide rail 210 of the fixed member 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 performed 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, this does not need to be considered, making control simpler.

[0039] Figure 3 3 is a block diagram showing the connection relationship with the control unit 30. Figure 3As 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 part 22a, the second movable part 22b, the third movable part 22c, the fourth movable part 22d, the fifth movable part 22e, the sixth movable part 22f, the seventh movable part 22g, the eighth movable part 22h, the first photographing device 40a, the second photographing device 40b, the third photographing device 40c, the fourth photographing device 40d described later, and the clamp supply and discharge mechanism 50 described later.

[0040] The control unit 30 controls at least the movable member 22. Specifically, the control unit 30 controls the movable member 22 so that the relative position of the workpiece 1 with respect to the stacking stage 222 is corrected while the holder 221 holds the workpiece 1 supplied to supply positions A1 to A4 and moves to the next supply position A1 to A4 and stops, and the workpiece 1 with the corrected relative position is stacked on the stacking stage 222. In the stacking apparatus 100 of this embodiment, the control unit 30 moves at least one of the holder 221 holding the workpiece 1 and the stacking stage 222 to correct the relative position of the workpiece 1 with respect to the stacking stage 222.

[0041] The laminating apparatus 100 in this embodiment further includes an imaging device 40 for imaging the workpiece 1 supplied by the supply mechanism 10. The imaging device 40 is provided vertically above the workpiece 1 at the supply positions A1 to A4 and images the workpiece 1 supplied by the supply mechanism 10 to the supply positions A1 to A4 and stopped.

[0042] In order to grasp the position and posture of the workpiece 1, the imaging device 40 photographs the workpiece 1. For example, by photographing the rectangular workpiece 1 by the imaging device 40, as long as the first corner 1a and the second corner 1b located on the diagonal line of the periphery of the workpiece 1 can be grasped (refer to Figure 4 By simply looking at the position of (a)), the position and posture of the workpiece 1 can be grasped.

[0043] However, it is not necessary to use the imaging device 40 to capture the entire shape of the workpiece 1. As long as the position and posture of the workpiece 1 can be grasped, only a portion of the workpiece 1 may be captured. Figure 4 As shown in (b), an alignment mark 11 for grasping the position and posture of the workpiece 1 is formed on the workpiece 1, and the alignment mark 11 can also be photographed by the imaging device 40. In this case, as long as the positions of the first corner 11a and the second corner 11b located on the diagonal line of the alignment mark 11 can be grasped, the position and posture of the workpiece 1 can be grasped.

[0044] In addition, Figure 2In FIG, a portion of the movable member 22 appears to be present in the optical path during imaging by the imaging device 40 , but a cutout is provided in the movable member 22 to enable imaging of the workpiece 1 at the supply position.

[0045] In this embodiment, there are four supply positions A1 to A4 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 above the first supply position A1, a second imaging device 40b is provided vertically above the second supply position A2, a third imaging device 40c is provided vertically above the third supply position A3, and a fourth imaging device 40d is provided vertically above the fourth supply position A4.

[0046] The control unit 30 moves at least one of the holder 221 holding the workpiece 1 and the stacking platform 222 based on the image of the workpiece 1 captured by the imaging device 40, thereby correcting the relative position of the workpiece 1 relative to the stacking platform 222. By moving at least one of the holder 221 holding the workpiece 1 and the stacking platform 222 based on the image of the workpiece 1, position correction can be performed based on the actual position and posture of the workpiece 1. This allows for a stacked body that more effectively suppresses positional deviations among various workpieces 1. However, the method for correcting the relative position of the workpiece 1 relative to the stacking platform 222 is not limited to methods based on the image of the workpiece 1.

[0047] Figure 5 This is a diagram for explaining a method of correcting the relative position of the workpiece 1 with respect to the lamination stage 222 in the lamination apparatus 100 according to the first embodiment.

[0048] The stacking stage 222 is configured to be movable in the X-axis direction, which is the direction in which the workpiece 1 is conveyed by the supply mechanism 10; the Y-axis direction perpendicular to the X-axis; and the θ direction, which is the direction of rotation about the center of the stacking stage 222 in the XY plane. The holding portion 221 is configured to be movable in the Z-axis direction, that is, the vertical direction.

[0049] Based on the image of the workpiece 1 captured by the imaging device 40, the control unit 30 moves the stacking stage 222 in at least one of the X-axis, Y-axis, and θ-directions to correct the relative position of the workpiece 1 relative to the stacking stage 222. Specifically, when viewed from the Z-axis, the stacking stage 222 is moved in at least one of the X-axis, Y-axis, and θ-directions to correct the relative position of the workpiece 1 relative to the stacking stage 222 so that the workpiece 1 and the stacking stage 222 overlap. Once the relative position of the workpiece 1 relative to the stacking stage 222 has been corrected, the control unit 30 lowers the holder 221 holding the workpiece 1 to release suction, thereby stacking the workpiece 1 on the stacking stage 222, or more specifically, on the fixture 25 on the stacking stage 222. At this time, the amount of movement, or lowering, of the holder 221 in the Z-axis direction is controlled based on the number of workpieces 1 stacked on the fixture 25.

[0050] Alternatively, the stacking stage 222 may be fixed, while the holding portion 221 holding the workpiece 1 may be movable in the X-axis, Y-axis, and θ directions. In this case, the control unit 30 moves the holding portion 221 holding the workpiece 1 in at least one of the X-axis, Y-axis, and θ directions based on the image of the workpiece 1 captured by the imaging device 40, thereby correcting the relative position of the workpiece 1 with respect to the stacking stage 222.

[0051] The following describes a method for sequentially stacking four types of workpieces 1 using the stacking apparatus 100 of the first embodiment. While the operation of stacking the workpieces 1 by the first movable element 22a of the eight movable elements 22 will be described here, the operations of stacking the workpieces 1 by the other movable elements 22b to 22h are similar. Specifically, assuming that the time it takes for the first movable element 22a to orbit the travel path of the fixed element 21 is T, the eighth movable element 22h performs the same operation as the first movable element 22a at a delay of T / 8, the seventh movable element 22g at a delay of (2T) / 8, the sixth movable element 22f at a delay of (3T) / 8, the fifth movable element 22e at a delay of (4T) / 8, the fourth movable element 22d at a delay of (5T) / 8, the third movable element 22c at a delay of (6T) / 8, and the second movable element 22b at a delay of (7T) / 8.

[0052] (S1) The control unit 30 controls the first supply mechanism 10a to supply the resin film serving as the workpiece 1 to the first supply position A1 and stops the first movable element 22a at the first supply position A1. Furthermore, the control unit 30 controls the first imaging device 40a to capture an image of the workpiece 1 while it is stopped at the first supply position A1. After the first imaging device 40a captures the image of the workpiece 1, the control unit 30 lowers the holding unit 221 to hold the workpiece 1 at the first supply position A1.

[0053] Furthermore, when the first movable element 22a stops at the first supply position A1, the third movable element 22c stops at the second supply position A2, the fifth movable element 22e stops at the third supply position A3, and the seventh movable element 22g stops at the fourth supply position A4. As will be described later, the third movable element 22c, the fifth movable element 22e, and the seventh movable element 22g, like the first movable element 22a, are stacked on the stacking stage 222 while the workpiece 1 supplied to each supply position A1 to A4 is held by the holding portion 221 and moved to the next supply position A1 to A4 and stops.

[0054] Furthermore, 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. As will be described later, the second movable member 22b, the fourth movable member 22d, the sixth movable member 22f, and the eighth movable member 22h correct the relative position of the workpiece 1 with respect to the stacking stage 222 while the workpiece 1 moves to the next supply position A1 to A4 and stops, respectively, to perform stacking.

[0055] (S2) 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. While the first movable member 22a moves from the first supply position A1 to the second supply position A2 and stops, the control unit 30 controls the first movable member 22a to correct the relative position of the workpiece 1 held by the holding unit 221 with respect to the stacking stage 222, and stack the workpiece 1 with the corrected relative position on the clamp 25 of the stacking stage 222. Specifically, based on the image of the workpiece 1 captured by the first imaging device 40a, the control unit 30 moves the stacking stage 222 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, thereby correcting the relative position of the workpiece 1 with respect to the stacking stage 222. Once the position correction is complete, the control unit 30 lowers the holding unit 221.

[0056] At this time, the control unit 30 adjusts the amount of movement in the Z-axis direction, or in other words, the amount of lowering, of the holding unit 221 based on the number of workpieces 1 stacked on the stacking stage 222, or more specifically, on the jig 25. The control unit 30 then causes the holding unit 221 to release suction from the workpieces 1 and stack the workpieces 1 on the jig 25 on the stacking stage 222. However, when the workpieces 1 are stacked on the jig 25, "on the jig 25" refers to the workpieces 1 stacked on the jig 25.

[0057] In addition, the control unit 30 not only moves the first movable part 22a from the first supply position A1 to the second supply position A2, but also moves the third movable part 22c from the second supply position A2 to the third supply position A3, moves the fifth movable part 22e from the third supply position A3 to the fourth supply position A4, and moves the seventh movable part 22g from the fourth supply position A4 to the first supply position A1.

[0058] (S3) Next, the control unit 30 controls the second supply mechanism 10b to supply the first metal foil serving as the workpiece 1 to the second supply position A2 and stops the first movable element 22a at the second supply position A2. Furthermore, the control unit 30 controls the second imaging device 40b to capture an image of the workpiece 1 at the second supply position A2. After the second imaging device 40b captures the image of the workpiece 1, the control unit 30 lowers the holding unit 221 to hold the workpiece 1 at the second supply position A2.

[0059] Furthermore, when the first movable member 22a stops at the second supply position A2, the third movable member 22c stops at the third supply position A3, the fifth movable member 22e stops at the fourth supply position A4, and the seventh movable member 22g stops at the first supply position A1. Furthermore, the second movable member 22b is located between the second supply position A2 and the third supply position A3, the fourth movable member 22d is located between the third supply position A3 and the fourth supply position A4, the sixth movable member 22f is located between the fourth supply position A4 and the first supply position A1, and the eighth movable member 22h is located between the first supply position A1 and the second supply position A2.

[0060] (S4) 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. While the first movable member 22a moves from the second supply position A2 to the third supply position A3 and stops, the control unit 30 controls the first movable member 22a to correct the relative position of the workpiece 1 held by the holding unit 221 with respect to the stacking table 222, and stack the workpiece 1 with the corrected relative position on the clamp 25 of the stacking table 222. Specifically, based on the image of the workpiece 1 captured by the second imaging device 40b, the control unit 30 moves the stacking table 222 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, thereby correcting the relative position of the workpiece 1 with respect to the stacking table 222. After the position correction, the operation of stacking the workpiece 1 on the stacking table 222, more specifically, on the clamp 25, is the same as the operation of stacking the workpiece 1 at the first supply position A1.

[0061] In addition, the control unit 30 not only moves the first movable part 22a from the second supply position A2 to the third supply position A3, but also moves the third movable part 22c from the third supply position A3 to the fourth supply position A4, moves the fifth movable part 22e from the fourth supply position A4 to the first supply position A1, and moves the seventh movable part 22g from the first supply position A1 to the second supply position A2.

[0062] (S5) Next, the control unit 30 controls the third supply mechanism 10c to supply the resin film serving as the workpiece 1 to the third supply position A3 and stops the first movable element 22a at the third supply position A3. Furthermore, the control unit 30 controls the third imaging device 40c to capture an image of the workpiece 1 stopped at the third supply position A3. After the third imaging device 40c captures the image of the workpiece 1, the control unit 30 lowers the holding unit 221 to hold the workpiece 1 at the third supply position A3.

[0063] 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. Furthermore, 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.

[0064] (S6) 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. While the first movable member 22a moves from the third supply position A3 to the fourth supply position A4 and stops, the control unit 30 controls the first movable member 22a to correct the relative position of the workpiece 1 held by the holding unit 221 with respect to the stacking table 222, and stack the workpiece 1 with the corrected relative position on the clamp 25 of the stacking table 222. Specifically, based on the image of the workpiece 1 captured by the third imaging device 40c, the control unit 30 moves the stacking table 222 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, thereby correcting the relative position of the workpiece 1 with respect to the stacking table 222. After the position correction, the operation of stacking the workpiece 1 on the stacking table 222, more specifically, on the clamp 25, is the same as the operation of stacking the workpiece 1 at the first supply position A1.

[0065] In addition, the control unit 30 not only moves the first movable part 22a from the third supply position A3 to the fourth supply position A4, but also moves the third movable part 22c from the fourth supply position A4 to the first supply position A1, moves the fifth movable part 22e from the first supply position A1 to the second supply position A2, and moves the seventh movable part 22g from the second supply position A2 to the third supply position A3.

[0066] (S7) Next, the control unit 30 controls the fourth supply mechanism 10d to supply the second metal foil serving as the workpiece 1 to the fourth supply position A4 and stops the first movable element 22a at the fourth supply position A4. Furthermore, the control unit 30 controls the fourth imaging device 40d to capture an image of the workpiece 1 stopped at the fourth supply position A4. After the fourth imaging device 40d captures the image of the workpiece 1, the control unit 30 lowers the holding unit 221 to hold the workpiece 1 at the fourth supply position A4.

[0067] Furthermore, when the first movable member 22a stops at the fourth supply position A4, the third movable member 22c stops at the first supply position A1, the fifth movable member 22e stops at the second supply position A2, and the seventh movable member 22g stops at the third supply position A3. Furthermore, the second movable member 22b is located between the fourth supply position A4 and the first supply position A1, the fourth movable member 22d is located between the first supply position A1 and the second supply position A2, the sixth movable member 22f is located between the second supply position A2 and the third supply position A3, and the eighth movable member 22h is located between the third supply position A3 and the fourth supply position A4.

[0068] (S8) Next, 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. While the first movable member 22a moves from the fourth supply position A4 to the first supply position A1 and stops, the control unit 30 controls the first movable member 22a to correct the relative position of the workpiece 1 held by the holding unit 221 with respect to the stacking table 222, and stack the workpiece 1 with the corrected relative position on the clamp 25 of the stacking table 222. Specifically, based on the image of the workpiece 1 captured by the fourth imaging device 40d, the control unit 30 moves the stacking table 222 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, thereby correcting the relative position of the workpiece 1 with respect to the stacking table 222. After the position correction, the operation of stacking the workpiece 1 on the stacking table 222, more specifically, on the clamp 25, is the same as the operation of stacking the workpiece 1 at the first supply position A1.

[0069] In addition, the control unit 30 not only moves the first movable part 22a from the fourth supply position A4 to the first supply position A1, but also moves the third movable part 22c from the first supply position A1 to the second supply position A2, moves the fifth movable part 22e from the second supply position A2 to the third supply position A3, and moves the seventh movable part 22g from the third supply position A3 to the fourth supply position A4.

[0070] Through the above-described steps (S1) to (S8), a set of semi-finished products is obtained, in which four workpieces 1, namely, a resin film, a first metal foil, a resin film, and a second metal foil, are sequentially stacked. Subsequently, by repeating steps (S1) to (S8), a predetermined number of stacked groups of products are obtained, namely, a stacked body in which a plurality of positive and negative electrodes are alternately stacked with the resin film functioning as a separator. The stacked body is used, for example, as a component of a battery pack.

[0071] The stacking device 100 in this embodiment further includes a jig supply and discharge mechanism 50 that supplies jigs 25 for stacking workpieces 1 onto the stacking stage 222 and discharges the jigs 25 together with the stacked workpieces 1 (see FIG. Figure 6 That is, when stacking the workpieces 1, the jig 25 is supplied to the stacking stage 222 by the jig supply and discharge mechanism 50, and the various workpieces 1 are sequentially stacked on the jig 25 by the above-described method.

[0072] When a desired stacked body having multiple types of workpieces 1 is produced, the jig supply and discharge mechanism 50 discharges the stacked body having multiple types of workpieces 1 together with the jig 25 (see FIG. 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 along with the multiple workpieces 1 that have been stacked, thereby facilitating the removal of the multiple workpieces 1 that have been stacked. Furthermore, after the fixture 25 is discharged, the next fixture 25 is supplied to the stacking stage 222, allowing the immediate start of stacking of a new workpiece 1. This further improves the efficiency of stacking the workpieces 1.

[0073] Here, the stacking stage 222 includes a fixing member for fixing the jig 25. Since the stacking stage 222 includes a fixing member for fixing the jig 25, positional deviation when the workpieces 1 are stacked on the jig 25 can be further suppressed.

[0074] In this embodiment, if Figure 6 As shown in (a), the fixing member is a positioning pin 60 that can be engaged with and separated from the recess formed in the clamp 25. The positioning pin 60 is configured to be movable up and down so as to protrude and retract relative to the surface of the stacking platform 222. When fixing the clamp 25, the positioning pin 60 is engaged with the recess formed in the clamp 25 while protruding from the surface of the stacking platform 222, thereby fixing the clamp 25 (see Figure 6 (b)). This allows the jig 25 to be more reliably fixed to the stacking stage 222.

[0075] In addition, when the jig 25 is discharged or supplied, the positioning pin 60 is lowered and retracted from the surface of the stacking table 222, thereby releasing the fixed state of the jig 25 (see FIG. Figure 6 (c)). With such a structure, the supply and discharge of the clamp 25 can be easily performed.

[0076] However, the fixing member for fixing the jig 25 is not limited to the above-mentioned positioning pin 60 .

[0077] As described above, according to the stacking apparatus 100 of the first embodiment, the workpieces 1 supplied to the supply positions A1 to A4 are stacked on the stacking stage 222 while the holder 221 of the movable member 22 holds the workpieces 1 and moves to the next supply position A1 to A4 and stops. Specifically, while the movable member 22 is moving to the next supply position A1 to A4, the relative position of the workpieces 1 with respect to the stacking stage 222 is corrected for stacking, thereby shortening the time required to stack the workpieces 1.

[0078] Furthermore, according to the lamination apparatus 100 in the first embodiment, the first supply mechanism 10a, the second supply mechanism 10b, the third supply mechanism 10c, and the fourth supply mechanism 10d only need to continuously supply one type of workpiece 1, so the operation is simplified.

[0079] As described above, in the stacking apparatus 100 of this embodiment, the number of movable elements 22 is twice the number of supply mechanisms 10. While each movable element 22 is stopped at each supply mechanism 10, the other movable elements 22 can move between supply positions A1 to A4 and stack the workpieces 1, thereby further improving the stacking efficiency of the workpieces 1.

[0080] In addition, if Figure 7 As shown, the number of movable elements 22 can also be made equal to the number of supply mechanisms 10. Even in this case, workpieces 1 supplied by each supply mechanism 10 can be stacked simultaneously on each of the stacking platforms 222 of the same number of movable elements 22. Therefore, multiple types of workpieces 1 can be stacked simultaneously according to the number of supply mechanisms 10, thereby improving the efficiency of stacking workpieces 1 compared to a configuration in which the number of movable elements 22 is less than the number of supply mechanisms 10. Furthermore, since all movable elements 22 can be stopped and moved simultaneously, the possibility of collision between movable elements 22 can be reduced.

[0081] <Second embodiment>

[0082] In the lamination apparatus 100 according to the first embodiment, the lamination stage 222 is configured to move so as to correct the relative position of the workpiece 1 with respect to the lamination stage 222 .

[0083] In contrast, in the laminating apparatus 100A according to the second embodiment, the supply mechanism 10 , the movable element 22 , and the laminating stage 222 are configured to move so as to correct the relative position of the workpiece 1 with respect to the laminating stage 222 .

[0084] Figure 8 It is a diagram for explaining a method of correcting the relative position of the workpiece 1 with respect to the lamination stage 222 in the lamination apparatus 100A according to the second embodiment.

[0085] The imaging device 40 is in the conveying direction ( Figure 8 The workpiece 1 is imaged at a position closer to the supply position (in the X-axis direction). The control unit 30 performs a first control to determine the supply position based on the image of the workpiece 1 captured by the imaging device 40, and controls the supply mechanism 10 so that the workpiece 1 stops at the determined supply position. The first control adjusts the position of the workpiece 1 relative to the stacking stage 222 in the X-axis direction.

[0086] The control unit 30 also performs a second control to determine the stop position of the movable member 22 based on the 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 second control adjusts the position of the workpiece 1 relative to the stacking stage 222 in the Y-axis direction.

[0087] The control unit 30 also performs a third control to adjust the position of the holding unit 221 after the first and second controls based on the image of the workpiece 1 captured by the imaging device 40. In the third control, the holding unit 221 is moved in the θ direction, which is a rotational direction about the center of the holding unit 221 in the XY plane.

[0088] The first, second, and third controls described above correct the relative position of the workpiece 1 with respect to the stacking stage 222. Once the relative position correction of the workpiece 1 with respect to the stacking stage 222 is complete, the control unit 30 lowers the holding unit 221 to hold the workpiece 1. Subsequently, while the movable member 22 moves to the next supply position and stops, the control unit 30 lowers the holding unit 221 holding the workpiece 1 to release the suction of the workpiece 1, thereby stacking the workpiece 1 on the stacking stage 222, or more specifically, on the fixture 25 on the stacking stage 222. At this time, as in the first embodiment, the amount of movement of the holding unit 221 in the Z-axis direction, i.e., the amount of lowering, is adjusted based on the number of workpieces 1 stacked on the fixture 25.

[0089] Hereinafter, a method of sequentially stacking four types of workpieces 1 using the stacking apparatus 100A of the second embodiment will be described. Here, the operation of stacking the workpieces 1 by the first movable element 22a of the eight movable elements 22 will be described, but the operations of stacking the workpieces 1 by the other movable elements 22b to 22h are similar.

[0090] (S11) The control unit 30 controls the first imaging device 40a to image the resin film serving as the workpiece 1 at a position closer to the first supply position A1 in the direction in which the workpiece 1 is transported by the first supply mechanism 10a. The control unit 30 performs a first control to determine the first supply position A1 based on the image of the workpiece 1 captured by the first imaging device 40a and controls the first supply mechanism 10a so that the workpiece 1 stops at the determined first supply position A1. The control unit 30 performs a second control to determine 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 control unit 30 also performs a third control to control the position of the holding portion 221 in the θ direction based on the image of the workpiece 1 captured by the first imaging device 40a. The control unit 30 then lowers the holding portion 221 to hold the workpiece 1.

[0091] The positions of the other movable elements 22b to 22h when the first movable element 22a stops at the first supply position A1 are the same as those in the first embodiment.

[0092] ( S12 ) Next, the control unit 30 controls the first movable member 22 a to move from the first supply position A1 to the second supply position A2 , and to stack the workpiece 1 held by the holding unit 221 on the clamp 25 on the stacking stage 222 during the movement.

[0093] In addition, similar to the first embodiment, the control unit 30 not only moves the first movable part 22a from the first supply position A1 to the second supply position A2, but also moves the third movable part 22c from the second supply position A2 to the third supply position A3, moves the fifth movable part 22e from the third supply position A3 to the fourth supply position A4, and moves the seventh movable part 22g from the fourth supply position A4 to the first supply position A1.

[0094] (S13) Next, the control unit 30 controls the second imaging device 40b to capture an image of the first metal foil serving as the workpiece 1 at a position closer to the second supply position A2 than the second supply position A2 in the transport direction of the workpiece 1 by the second supply mechanism 10b. The control unit 30 performs a first control to determine the second supply position A2 based on the image of the workpiece 1 captured by the second imaging device 40b and controls the second supply mechanism 10b to stop the workpiece 1 at the determined second supply position A2. The control unit 30 performs a second control to determine 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 control unit 30 also performs a third control to control the position of the holding unit 221 in the θ direction based on the image of the workpiece 1 captured by the second imaging device 40b. The control unit 30 then lowers the holding unit 221 to hold the workpiece 1.

[0095] The positions of the other movable elements 22b to 22h when the first movable element 22a stops at the second supply position A2 are the same as those in the first embodiment.

[0096] ( S14 ) Next, the control unit 30 controls the first movable member 22 a to move from the second supply position A2 to the third supply position A3 , and during the movement, stacks the workpiece 1 held by the holding unit 221 on the clamp 25 on the stacking stage 222 .

[0097] In addition, similar to the first embodiment, the control unit 30 not only moves the first movable part 22a from the second supply position A2 to the third supply position A3, but also moves the third movable part 22c from the third supply position A3 to the fourth supply position A4, moves the fifth movable part 22e from the fourth supply position A4 to the first supply position A1, and moves the seventh movable part 22g from the first supply position A1 to the second supply position A2.

[0098] (S15) Next, the control unit 30 controls the third imaging device 40c to image the resin film serving as the workpiece 1 at a position closer to the third supply position A3 in the direction in which the third supply mechanism 10c transports the workpiece 1. The control unit 30 performs a first control to determine the third supply position A3 based on the image of the workpiece 1 captured by the third imaging device 40c and controls the third supply mechanism 10c so that the workpiece 1 stops at the determined third supply position A3. The control unit 30 performs a second control to determine 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 first movable member 22a to stop at the determined stop position. The control unit 30 also performs a third control to control the position of the holding unit 221 in the θ direction based on the image of the workpiece 1 captured by the third imaging device 40c. The control unit 30 then lowers the holding unit 221 to hold the workpiece 1.

[0099] When the first movable element 22a stops at the third supply position A3, the positions of the other movable elements 22b to 22h are the same as those in the first embodiment.

[0100] ( S16 ) Next, the control unit 30 controls the first movable member 22 a to move from the third supply position A3 to the fourth supply position A4 , and during the movement, stacks the workpiece 1 held by the holding unit 221 on the clamp 25 on the stacking stage 222 .

[0101] In addition, similar to the first embodiment, the control unit 30 not only moves the first movable part 22a from the third supply position A3 to the fourth supply position A4, but also moves the third movable part 22c from the fourth supply position A4 to the first supply position A1, moves the fifth movable part 22e from the first supply position A1 to the second supply position A2, and moves the seventh movable part 22g from the second supply position A2 to the third supply position A3.

[0102] (S17) Next, the control unit 30 controls the fourth imaging device 40d to capture an image of the resin film serving as the workpiece 1 at a position forward of the fourth supply position A4 in the direction in which the workpiece 1 is transported by the fourth supply mechanism 10d. The control unit 30 performs a first control to determine the fourth supply position A4 based on the image of the workpiece 1 captured by the fourth imaging device 40d and controls the fourth supply mechanism 10d to stop the workpiece 1 at the determined fourth supply position A4. The control unit 30 performs a second control to determine 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 control unit 30 also performs a third control to control the position of the holding unit 221 in the θ direction based on the image of the workpiece 1 captured by the fourth imaging device 40d. The control unit 30 then lowers the holding unit 221 to hold the workpiece 1.

[0103] When the first movable element 22a stops at the fourth supply position A4, the positions of the other movable elements 22b to 22h are the same as those in the first embodiment.

[0104] ( S18 ) Next, the control unit 30 controls the first movable element 22 a to move from the fourth supply position A4 to the first supply position A1 , and to stack the workpiece 1 held by the holding unit 221 on the clamp 25 of the stacking stage 222 during the movement.

[0105] In addition, similar to the first embodiment, the control unit 30 not only moves the first movable part 22a from the fourth supply position A4 to the first supply position A1, but also moves the third movable part 22c from the first supply position A1 to the second supply position A2, moves the fifth movable part 22e from the second supply position A2 to the third supply position A3, and moves the seventh movable part 22g from the third supply position A3 to the fourth supply position A4.

[0106] Through the above steps (S11) to (S18), a set of semi-finished products is obtained, in which the four workpieces 1, namely, the resin film, the first metal foil, the resin film, and the second metal foil, are sequentially stacked. Subsequently, by repeating the steps (S11) to (S18), a predetermined number of stacked sets of products are obtained, namely, a stacked body in which a plurality of positive and negative electrodes are alternately stacked with the resin film functioning as a separator.

[0107] The stacking apparatus 100A of the second embodiment also stacks the workpieces 1 while the movable member 22 moves to the next supply position and stops, thereby shortening the stacking time of the workpieces 1. In particular, according to the stacking apparatus 100A of the second embodiment, the control unit 30 corrects the relative position of the workpiece 1 with respect to the stacking stage 222 by performing 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 imaging device 40 and controls the feeding mechanism 10 so that the workpiece 1 stops at the determined supply position. The second control determines the stop position of the movable member 22 based on the 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 holding portion 221 holding the workpiece 1 based on the image of the workpiece 1 captured by the imaging device 40. Therefore, while the movable element 22 is moving to the next supply position, the holding portion 221 only needs to stack the workpieces 1, whose positions have been corrected, on the stacking stage 222, eliminating the need for a structure for moving the stacking stage 222. In other words, the structure of the movable element 22 can be simplified compared to the stacking apparatus 100 of the first embodiment.

[0108] The present invention is not limited to the above-mentioned embodiments, and various applications and modifications can be applied within the scope of the present invention. For example, the workpiece 1 as the stacking object is not limited to the above-mentioned sheet-shaped battery material. For example, multiple workpieces 1 are sheet-shaped conductive layers and insulating layers, and a multilayer substrate can be produced by stacking multiple workpieces 1. In this case, the conductive layer is composed of, for example, copper, silver, an alloy containing copper, an alloy containing silver, or a Sn-Ag solder, and the insulating layer is composed of, for example, a thermoplastic resin such as a liquid crystal polymer, polyetheretherketone, polyetherimide, or polyimide, or a thermosetting resin such as an epoxy resin or an unsaturated polyester.

[0109] In the above embodiment, the control unit 30 corrects the relative position of the workpiece 1 with respect to the stacking stage 222 based on the image of the workpiece 1 captured by the imaging device 40. However, position correction can also be performed without using the image of the workpiece 1. For example, the supply mechanism 10 can transport the workpiece 1, and the retaining portion 221 of the movable member 22 can retain the workpiece 1, so as to prevent positional deviation of the workpiece 1. The control unit 30 can precisely stop the movable member 22 at each supply position A1 to A4 based on the encoder value representing the position information of the movable member 22. In this case, the control unit 30 can also fine-tune the relative position of the workpiece 1 with respect to the stacking stage 222 based on the image of the workpiece 1 captured by the imaging device 40.

[0110] In the above embodiment, the holding portion 221 is configured to be lowered to hold the workpiece 1 and to approach the supply mechanism 10 . However, the supply mechanism 10 may be configured to be raised to approach the holding portion 221 .

[0111] In the lamination apparatus 100A of the second embodiment, the supply mechanism 10 may be configured to move in the θ direction instead of moving the lamination stage 222 in the θ direction which is the rotation direction.

[0112] Description of Reference Numerals

[0113] 1…workpiece; 10…feeding mechanism; 10a…first feeding mechanism; 10b…second feeding mechanism; 10c…third feeding mechanism; 10d…fourth feeding mechanism; 11…alignment mark; 21…fixed member; 22…movable member; 22a…first movable member; 22b…second movable member; 22c…third movable member; 22d…fourth movable member; 22e…fifth movable member; 22f…sixth movable member; 22g…seventh movable member; 22h…eighth movable part; 25…clamp; 26…chuck claw; 26a…workpiece pressing surface; 30…control unit; 40…photographing device; 40a…first photographing device; 40b…second photographing device; 40c…third photographing device; 40d…fourth photographing device; 50…clamp supply and discharge mechanism; 60…positioning pin; 100, 100A…stacking device; 210…guide rail; 221…holding unit; 222…stacking platform.

Claims

1. A stacking device for stacking multiple workpieces, characterized in that: The stacking device comprises: a plurality of supply mechanisms for supplying the workpiece to each of a plurality of supply positions; a moving mechanism including a fixed part of a linear motor having a predetermined travel track, and a movable part of the linear motor movable between the plurality of supply positions along the travel track; and A control unit controls at least the movable member. The movable member includes: a holding portion for holding the workpiece supplied to the supply position; and a stacking stage for stacking the workpieces. The control unit controls the movable part so that during the period when the holding unit holds the workpiece supplied to the supply position and moves it to the next supply position and stops, the relative position of the workpiece relative to the stacking platform is corrected, and the workpiece with the corrected relative position is stacked on the stacking platform.

2. The stacking device according to claim 1, wherein: The control unit moves at least one of the holding unit holding the workpiece and the stacking stage to correct a relative position of the workpiece with respect to the stacking stage.

3. The stacking device according to claim 2, wherein: It also includes a photographing device for photographing the workpiece supplied by the supply mechanism. The control unit moves at least one of the holding unit holding the workpiece and the stacking stage based on the image of the workpiece captured by the imaging device.

4. The stacking device according to claim 1, wherein: It also includes a photographing device for photographing the workpiece supplied by the supply mechanism. The control unit corrects the relative position of the workpiece with respect to the stacking platform by performing a first control, a second control, and a third control, wherein the first control determines the supply position based on the image of the workpiece captured by the camera, and controls the supply mechanism so that the workpiece stops at the determined supply position; the second control determines the stop position of the movable part based on the image of the workpiece captured by the camera, and controls the movable part to stop at the determined stop position; the third control controls the position of the holding part based on the image of the workpiece captured by the camera, after the first and second controls.

5. The lamination device according to any one of claims 1 to 4, characterized in that: The number of the movable members is twice the number of the supply mechanisms.

6. The lamination device according to any one of claims 1 to 4, characterized in that: The number of the movable members is the same as the number of the supply mechanisms.

7. The lamination device according to any one of claims 1 to 4, characterized in that: The stacking device further includes a jig supply and discharge mechanism for supplying jigs for stacking the workpieces onto the stacking stage and discharging the jigs together with the stacked plurality of workpieces.

8. The stacking device according to claim 7, wherein: The stacking table includes a fixing member for fixing the jig.

9. The stacking device according to claim 8, characterized in that The fixing member is a positioning pin that can be fitted into and separated from a recess formed in the jig.

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